Data processing method by three-dimensional sorting robot and three-dimensional sorting robot

Abstract

A data processing method, a three-dimensional sorting robot, and a system using the three-dimensional sorting robot are provided. A processor (11) and a sorting device are installed in the three-dimensional sorting robot (1). The data processing method includes an acquisition step of acquiring property information of a target sorting cargo shelf (2) in real time, a linking step of linking the property information of the target sorting cargo shelf (2) with information of the three-dimensional sorting robot (1) and associating the linking relationship based on a target order executed by the three-dimensional sorting robot (1), and a sorting step of completing sorting of cargo waiting to be sorted based on the property information of the cargo shelf (2) by the processor (11) in a sorting task of the target order, the sorting being executed by the sorting device, the property information including at least one of structural data of the sorting cargo shelf (2) and positional information of a cargo cage unit in the cargo shelf (2). The three-dimensional sorting robot (1) can perform real-time interaction based on the order, no setting of a control system is required, and the efficiency of data transmission and sorting can be improved.

Description

[Technical field]

[0001] The present application relates to the technical field of sorting robots, and in particular to a data processing method for a three-dimensional sorting robot and a three-dimensional sorting robot.

[0002] (CROSS REFERENCE TO RELATED APPLICATIONS)

[0003] This application claims priority based on a Chinese application filed with the State Intellectual Property Office of China on August 11, 2021, bearing application number 202110920784.X and entitled "Data processing method by three-dimensional sorting robot and three-dimensional sorting robot," the entire contents of which are incorporated herein by reference. [Background technology]

[0004] A sorting robot is a robot equipped with a sensor and an identification mechanism to perform sorting operations and quickly sort cargo. Conventional sorting robots include platform-based sorting robots and sorting robot arms. In a collection and distribution center, a sorting robot places cargo from a bag onto a conveyor, travels to the position of the sorting bag corresponding to the destination, and then drops or grasps the cargo from the conveyor to place it into the sorting bag corresponding to the destination, thereby sorting it.

[0005] Current two-dimensional sorting systems can achieve relatively high sorting efficiency once they are in place. Three-dimensional sorting is becoming more and more popular because it can improve sorting efficiency. In particular, three-dimensional sorting requires the identification ID, structure or interactive characteristics of the order and the sorting shelf to be registered one by one, which is disadvantageous to improving sorting efficiency. Summary of the Invention

[0006] The embodiments of the present application provide a data processing method for a three-dimensional sorting robot and a three-dimensional sorting robot, which can effectively increase the efficiency of three-dimensional sorting and achieve the technical effect of quick arrangement.

[0007] A data processing method using a three-dimensional sorting robot, in which a processor and a sorting device are installed in the three-dimensional sorting robot, the data processing method includes an acquisition step of acquiring property information of a target sorting cargo shelf in real time, a linking step of linking the property information of the target sorting cargo shelf with information of the three-dimensional sorting robot, and optionally associating the linking relationship based on a target order executed by the three-dimensional sorting robot, and a sorting step of, in a sorting task of the target order, optionally completing sorting of cargo waiting to be sorted based on the property information of the sorting cargo shelf by the processor, and the sorting being executed by the sorting device, wherein the property information includes at least one of structural data of the sorting cargo shelf and positional information of cargo cage units on the cargo shelf.

[0008] Optionally, the method includes the steps of acquiring attribute data of cargo cage units of the sorting cargo shelf; and matching cargo waiting to be sorted in the target order based on the attribute data, and generating a correspondence between the cargo waiting to be sorted and the cargo cage units, wherein the attribute data includes one or a combination of dimension data, volume data, and type data.

[0009] Optionally, the acquiring step further includes acquiring the property information of the target sorting cargo shelf by an identification device connected to the processor, the property information including, but not limited to, at least one of structural data of the sorting cargo shelf and positional information of the cargo cage units, the structural data of the sorting cargo shelf indicating the vertical and horizontal structure of the sorting cargo shelf and positional information of available cargo cage units, and the positional information of the cargo cage units indicating the position of the cargo cage units in a coordinate system constructed by the sorting cargo shelf.

[0010] Optionally, in the sorting task of the target order, the processor completes sorting of the cargo waiting to be sorted based on property information of the sorting cargo shelf, and the sorting is performed by the sorting device, including a step of analyzing sorting information including a correspondence between the cargo waiting to be sorted and a cargo cage unit on the sorting cargo shelf, a step of searching for the correspondence and obtaining coordinate values ​​of the cargo cage unit in a three-dimensional coordinate system constructed by the sorting cargo shelf, and a step of indexing the coordinate values ​​to identify a position and placing the cargo waiting to be sorted into the cargo cage unit.

[0011] Optionally, the correspondence is stored in the three-dimensional sorting robot, and the sorting step further includes searching the correspondence table in a format based on the completion status of the order, thereby sorting the cargo waiting to be sorted.

[0012] Optionally, the data processing method further includes the steps of: checking a sorting bin number corresponding to the cargo currently waiting to be sorted; and, if the sorting bin number matches a linked sorting bin number, deciding to place the cargo in the sorting bin.

[0013] Optionally, the method further includes an order updating step, which includes a step of updating a current order status to "completed" after sorting of all cargo of the target order is completed, and a step of releasing the linking relationship between the current sorting cargo shelf and the three-dimensional sorting robot, and the three-dimensional sorting robot then processes the next order and links it to property information of a new sorting cargo shelf.

[0014] Optionally, a linking relationship between the current sorting cargo shelf and the three-dimensional sorting robot is realized by inserting the current sorting cargo shelf into the work station of the three-dimensional sorting robot, and the linking relationship between the current sorting cargo shelf and the three-dimensional sorting robot is released by removing the current sorting cargo shelf from the three-dimensional sorting robot.

[0015] Optionally, during processing of the target order, a binding relationship between the three-dimensional sorting robot and the target sorting bin is unique.

[0016] Optionally, there are multiple sorting cargo shelves, and the three-dimensional sorting robot acquires property information of each sorting cargo shelf or cargo cage unit in real time, and stores and updates the relationship between the three-dimensional sorting robot, the order being processed, and the sorting cargo shelf or cargo cage unit to which it is linked.

[0017] The sorting robot comprises an acquisition unit, a linking unit, and a sorting unit, wherein the acquisition unit is configured to acquire property information of a target sorting cargo shelf in real time, the property information including at least one of structural data of the sorting cargo shelf and positional information of a cargo cage unit on the cargo shelf, the linking unit is configured to link the property information of the target sorting cargo shelf with information of the sorting robot, and the linking relationship is associated based on a target order to be executed by the three-dimensional sorting robot, and the sorting unit is configured to complete sorting of the cargo waiting to be sorted by the processor based on the property information of the sorting cargo shelf in the sorting task of the target order.

[0018] Optionally, the acquisition unit is further configured to acquire attribute data of cargo cage units of the sorting cargo shelf, match cargo waiting to be sorted in the target order based on the attribute data, and generate a correspondence between the cargo waiting to be sorted and the cargo cage units, wherein the attribute data includes one or more combinations of dimension data, volume data, and type data.

[0019] Optionally, the acquisition unit is realized by an RFID reader, and the acquisition unit is further configured to read a tag installed on the sorting cargo shelf to acquire the property information, the structural data of the sorting cargo shelf indicates the vertical and horizontal structure of the sorting cargo shelf and information of available cargo cage units, and the position information of the cargo cage units indicates the position of the cargo cage units in a coordinate system constructed by the sorting cargo shelf.

[0020] Optionally, the sorting unit is further configured to analyze sorting information including a correspondence between the cargo waiting to be sorted and a certain cargo cage unit on the sorting cargo shelf, search for the correspondence, obtain coordinate values ​​of the cargo cage unit in a three-dimensional coordinate system constructed by the sorting cargo shelf, index the coordinate values ​​to identify a location, and place the cargo waiting to be sorted into the cargo cage unit.

[0021] A three-dimensional sorting system includes a three-dimensional sorting robot and a sorting cargo shelf, and the three-dimensional sorting robot executes the above-mentioned data processing method by the three-dimensional sorting robot.

[0022] The computing device comprises at least one processor and a memory communicatively connected to the at least one processor, wherein commands executable by the at least one processor are stored in the memory, and when the commands are executed by the at least one processor, the data processing method by the above-mentioned three-dimensional sorting robot is executed by the at least one processor.

[0023] The data processing method, three-dimensional sorting robot, and system according to the present application obtain property information of a target sorting cargo shelf in real time, link the property information of the target sorting cargo shelf with sorting robot information, and associate it with a target order. In the sorting task of the target order, the processor completes sorting of the cargo waiting to be sorted based on the property information of the cargo shelf, and the sorting is performed by the sorting device. The present application allows the sorting robot to identify information on different cargo cages or sorting cargo shelves, or on sorting cargo shelves with complex and disordered structures, to accomplish sorting. The sorting robot then performs real-time interaction based on the order, eliminating the need to set up a control system and reducing the risk of reduced sorting efficiency due to inappropriate data transmission and identification. [Brief description of the drawings]

[0024] The drawings described are intended as a part of this application and for the understanding of this application, and the illustrative embodiments and the description thereof are intended for the interpretation of this application and are not intended to limit the application. [Figure 1a] 1 is a schematic configuration diagram of a three-dimensional sorting system according to an embodiment of the present application. [Figure 1b] 1 is a schematic flowchart of a data processing method by a three-dimensional sorting robot according to an embodiment of the present application. [Figure 1c] FIG. 1 is a schematic configuration diagram of a three-dimensional sorting cargo shelf according to an embodiment of the present application. [Figure 1d] FIG. 1 is a schematic configuration diagram of a three-dimensional sorting cargo shelf according to an embodiment of the present application. [Diagram 2] 1 is a schematic flowchart of a data processing method by a three-dimensional sorting robot according to an embodiment of the present application. [Diagram 3] 1 is a schematic flowchart of a data processing method by a three-dimensional sorting robot according to an embodiment of the present application. [Figure 4]1 is a schematic flowchart of a data processing method by a three-dimensional sorting robot according to an embodiment of the present application. [Diagram 5] 1 is a schematic flowchart of a data processing method by a three-dimensional sorting robot according to an embodiment of the present application. [Figure 6] 1 is a schematic configuration diagram of a three-dimensional sorting robot according to an embodiment of the present application. [Figure 7] FIG. 2 is a schematic diagram of a readable medium according to an embodiment of the present application. [Figure 8] FIG. 1 is a schematic block diagram of a computing device according to an embodiment of the present application. [Figure 9] FIG. 2 is a schematic diagram of a readable medium according to an embodiment of the present application. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0025] The embodiments of the present application provide a data processing method for a three-dimensional sorting robot, a three-dimensional sorting robot, and a system thereof, which can effectively increase the efficiency of three-dimensional sorting and achieve the technical effect of quick arrangement.

[0026] Hereinafter, a three-dimensional sorting system according to an embodiment of the present application will be described with reference to FIG. 1a. In the present application, the three-dimensional sorting system includes a three-dimensional sorting robot 1 and a sorting cargo shelf 2. As an optional embodiment, a plurality of the three-dimensional sorting robots 1 are installed and are attached to the sorting site in an active manner by a bus (e.g., CAN). The sorting cargo shelf is configured to perform contact communication by inserting and removing it from the three-dimensional sorting robot, but of course, it may be configured to exchange data in a wireless manner without contact, and is not limited thereto. The sorting robot 1 performs identification and sorting tasks on a three-dimensional sorting cargo shelf having multiple layers by a lateral movement mechanism and a vertical movement mechanism via a supporter. Then, a rotating plate 12 or a device for putting cargo into the sorting cargo shelf is installed on the sorting robot 1, and the sorting robot 1 can cooperate with a tabletop sorting robot 3 or a flat sorting robot to sort based on a specific batch order. Furthermore, through the processing of sorting batches and sorting orders by processor 11, the three-dimensional sorting robot can link the three-dimensional sorting robot with the sorting cargo shelf in real time in response to a specific order of a specific batch. This enables the three-dimensional sorting robot to achieve linked control between an order and the sorting cargo shelf with which it is linked in real time, significantly improving both the convenience of placement and the rhythm of sorting.

[0027] Based on this, as shown in FIG. 1b, the data processing method for a three-dimensional sorting robot according to the present application includes the following steps:

[0028] Acquiring step S11: Property information of a target sorting cargo shelf is acquired in real time, and the property information includes at least one of structural data of the sorting cargo shelf and positional information of a cargo cage unit on the cargo shelf.

[0029] As shown in FIG. 1c, there may be a plurality of sorting cargo shelves in the three-dimensional sorting system. For example, the current target sorting cargo shelf is numbered 001, and its property information includes at least the structure data of the sorting cargo shelf. For example, if the structure of cargo shelf 001 is 4 rows and 3 columns, and after the three-dimensional sorting robot identifies the cargo shelf, the cargo to be sorted is placed in the cargo cage in the third row and the second column, the three-dimensional sorting robot processes the orders to be processed in the order of, for example, order A001 to order A010. At the sorting site, the three-dimensional sorting robot communicates in real time with the sorting cargo shelf of the other party of the three-dimensional sorting robot, thereby realizing the exchange of property information with the sorting cargo shelf by a processor, and the sorting device puts the cargo in according to the structure data and position information. The structure data may be classified according to the type of sorting cargo shelf, for example, model number X001 is a rectangular sorting cargo shelf with 4 rows and 3 columns, and model number Y001 is a rectangular sorting cargo shelf with 8 rows and 5 columns.

[0030] Linking step S12: Linking the property information of the target sorting cargo shelf with information of the three-dimensional sorting robot, and the linking relationship is based on the target order to be executed by the three-dimensional sorting robot.

[0031] For a sorting task for an order A002, there are 10,000 sorting tasks for the order A002. For the task for the order A002, the three-dimensional sorting robot needs to be linked to the target sorting cargo shelf 001 during the sorting process so as to accurately sort the cargo.

[0032] The three-dimensional sorting robot manages and collects data on batches, orders, and order completion status. In this embodiment, the three-dimensional sorting robot acquires property information of each sorting cargo shelf or cargo car in real time, and stores and updates the relationship between the three-dimensional sorting robot, the order being processed, and the sorting cargo shelf or cargo car to which it is linked.

[0033] Sorting step S13: In the sorting task of the target order, the processor completes sorting of the cargo waiting to be sorted based on the property information of the cargo shelf, and the sorting is executed by the sorting device.

[0034] 1d and 1c, the sorting shelf in the present application can be any structure or shape of sorting shelf or cargo cage. A common sorting shelf or cargo cage is arranged according to cargo or sorting line, and the sorting shelf is often formed by connecting multiple cargo shelves, not having the same structure. In this embodiment, the method further includes the following steps to obtain more detailed information of the sorting shelf:

[0035] Please refer to Figure 2.

[0036] S21: Obtain attribute data of a cargo cage unit of the sorting cargo shelf, the attribute data including one or a combination of multiple items of dimension data, volume data, and type data.

[0037] The dimensions, volume and type of each cargo cage unit are obtained and a sorting task is assigned accordingly so that the cargo waiting for allocation can be assigned to a cargo cage that can be easily sorted, quickly sorted and suitable for sorting.

[0038] S22: Based on the attribute data, the cargo waiting to be sorted in the target order is matched, and a correspondence relationship between the cargo waiting to be sorted and the cargo cage unit is generated.

[0039] Each cargo waiting for sorting has a corresponding relationship with one or more cargo cage units based on a sorting task. The sorting robot uses the property information and the linking relationship acquired in real time according to the task of the current order to achieve accurate sorting.

[0040] For the acquisition step shown in FIG. 1, the property information of the target sorting cargo shelf is acquired by an identification device connected to the processor, and the property information includes, but is not limited to, at least one of structural data of the sorting cargo shelf and positional information of the cargo cage unit.

[0041] The sorting cargo shelf structure data may indicate the vertical and horizontal structure of the sorting cargo shelf and information on available cargo cages.

[0042] The position information of the cargo car unit may indicate the position of the cargo car unit in a coordinate system established by the sorting shelf.

[0043] The way in which the three-dimensional sorting robot obtains sorting cargo shelf property information in real time can be realized by reading RFID. That is, the processor of the three-dimensional sorting robot controls an RFID reading module, which is a preferred way when movable sorting cargo shelves are arranged in the three-dimensional sorting system. When the No. 001 three-dimensional sorting robot performs the sorting task of order A002, at least nine three-dimensional sorting cargo shelves (sorting cargo shelves) are required for the three-dimensional sorting robot to process the order.

[0044] When the model number X001 three-dimensional sorting cargo shelf is used for sorting, the No. 001 three-dimensional sorting robot automatically reads the RFID tag of the No. X010 three-dimensional sorting cargo shelf in real time, and exchanges information with the three-dimensional sorting robot in real time using a rail system (not limited to this) used for automatic transport of sorting cargo shelves. Of course, only the ID of the target sorting cargo shelf may be stored in the RFID tag card placed on the target sorting cargo shelf, and at least one of the structural data of the target sorting cargo shelf and the positional information of the cargo cage unit may be stored in the processor of the three-dimensional sorting robot, and matching may be performed based on the ID.

[0045] When the No. 001 three-dimensional sorting robot reads the target rectangular sorting cargo shelf and confirms that it is model number X001 (model number X001 is a rectangular sorting cargo shelf with 4 rows and 3 columns), and when the reading acquires information that the target rectangular sorting cargo shelf is arranged in 4 rows and 3 columns and has a total of 12 usable cargo cages, if the target sorting cargo shelf is represented as each of the 12 usable cargo cages based on the coordinate system, X1Y1 (1, 1) represents the cargo cage in the first row and first column, X1Y2 (1, 2) represents the cargo cage in the first row and second column, and so on until X4Y3 (4, 3) represents the cargo cage in the fourth row and third column.

[0046] During the processing of the target order, order A002, there is a unique link between the three-dimensional sorting robot and the target sorting cargo shelf; that is, after the No. 001 three-dimensional sorting robot finishes sorting to the No. X010 three-dimensional sorting cargo shelf, it then identifies the subsequent three-dimensional sorting cargo shelf and processes the target order, A002.

[0047] As shown in FIG. 3, the sorting step is carried out in the following manner.

[0048] S31: Analyze sorting information of the cargo waiting to be sorted, and the sorting information includes a correspondence relationship with a certain cargo cage unit on the sorting cargo shelf.

[0049] S32: The correspondence is searched for, and the coordinate values ​​of the cage unit in the three-dimensional coordinate system constructed by the sorting rack are obtained.

[0050] S33: The coordinate value is searched to identify the position, and the cargo waiting to be sorted is placed into the cargo cage unit.

[0051] The above steps can be performed in accordance with the contents and examples shown in Figures 1 and 2, and of course, the method of sorting a certain cargo waiting to be sorted is not limited to the method of reading property information by RFID and searching for a correspondence relationship. The correspondence relationship may be stored in the three-dimensional sorting robot, and the cargo waiting to be sorted may be sorted by searching based on the correspondence relationship table format based on the completion status of the order.

[0052] FIG. 4 shows a process for identifying sorting bins according to the present application, which includes the following steps:

[0053] S41: The sorting rack number corresponding to the cargo currently waiting to be sorted is checked.

[0054] S42: If the number of the sorting cargo shelf matches the number of the linked sorting cargo shelf, it is decided to place the cargo in the sorting cargo shelf.

[0055] Before the sorting robot performs a sorting operation related to the contents and corresponding explanations shown in FIG. 3, it executes the steps shown in FIG.

[0056] In the above example, before the No. 001 three-dimensional sorting robot sorts a certain cargo waiting to be sorted, it needs to check whether the sorting cargo shelf or sorting cargo cage in which the cargo cage into which the cargo is to be placed is the linked one. If the wrong sorting cargo shelf or sorting cargo cage is identified, a recheck or a fault alarm is issued, thereby preventing incorrect placement.

[0057] FIG. 5 illustrates a process for identifying sorting bins according to the present application, which includes an order updating step.

[0058] S51: After sorting of all cargoes in the target order is completed, the current order status is updated to "Completed".

[0059] After the No. 001 three-dimensional sorting robot completes the sorting task for the No. 002 order, the No. 001 three-dimensional sorting robot updates the current status of the No. 002 order from "in process" to "completed," and then proceeds to process other orders in the batch.

[0060] S52: The link between the current cargo shelf and the sorting robot is released, and the sorting robot then processes the next order and is linked to the property information of the new sorting cargo shelf.

[0061] Optionally, in a system based on a bus structure, the binding relationship between the current cargo shelf and the sorting robot may be realized by inserting the current cargo shelf into a work station of the sorting robot, and the binding relationship between the current cargo shelf and the sorting robot may be released by removing the current cargo shelf from the sorting robot. This method is one preferred embodiment.

[0062] In order to easily manage the orders, when the 002 order is completed, the sorting robot is released from the current cargo shelf. If there is a sorting task for the next order, the sorting robot executes the steps shown in FIG. 1 and the description thereof, which are omitted in this embodiment.

[0063] 6 shows a sorting robot. The sorting robot includes an acquisition unit 61, a linking unit 62, and a sorting unit 63.

[0064] The acquisition unit 61 is configured to acquire property information of a target sorting cargo shelf in real time, where the property information includes at least one of structure data of the sorting cargo shelf and position information of a cargo cage unit on the cargo shelf.

[0065] The acquisition unit is preferably realized by an RFID reader, and is further configured to read tags installed on the target sorting cargo shelves to acquire the property information, the property information including but not limited to at least one of structure data of the sorting cargo shelves and location information of the cargo cage units.

[0066] The sorting cargo shelf structure data may indicate the vertical and horizontal structure of the sorting cargo shelf and information on available cargo cage units.

[0067] The position information of the cargo car unit may indicate the position of the cargo car unit in a coordinate system established by the sorting shelf.

[0068] Of course, the method of acquiring the property information of the sorting cargo shelf is not limited to the above, and there are various hardware ideas corresponding to the acquisition unit, such as a remote reading device, a contact reading device, a visual recognition module, etc.

[0069] The linking unit 62 is configured to link property information of the target sorting cargo shelf with information of the sorting robot, and the linking relationship is based on a target order to be executed by the three-dimensional sorting robot.

[0070] The sorting robot is implemented using a processor + memory system and performs management and data collection for batches, orders, and order completion status. In this embodiment, the sorting robot obtains property information of each sorting cargo shelf or cargo car in real time, and stores and updates the relationship between the three-dimensional sorting robot and the orders it is processing and the sorting cargo shelves or cargo cars it is linked to.

[0071] The sorting unit 63 is configured to complete sorting of cargo waiting for sorting by the processor based on property information of the cargo shelf in the sorting task of the target order, and the sorting is executed by the sorting device.

[0072] The sorting unit 63 is further configured to analyze sorting information including a correspondence between the cargo awaiting sorting and a certain cargo cage unit on the sorting cargo shelf, search for the correspondence, obtain coordinate values ​​of the cargo cage unit in a three-dimensional coordinate system constructed by the sorting cargo shelf, index the coordinate values ​​to identify a position, and place the cargo awaiting sorting into the cargo cage unit.

[0073] As hardware corresponding to the sorting unit, the sorting robot 1 can be configured to perform identification and sorting tasks on a multi-tiered three-dimensional sorting cargo shelf by a lateral movement mechanism and a vertical movement mechanism via a supporter. The sorting robot 1 is equipped with a rotating plate or a device 12 for putting cargo on the sorting cargo shelf, and the sorting robot 1 can cooperate with a tabletop sorting robot or a flat sorting robot to perform a sorting task based on a specific batch order.

[0074] Referring to Figures 7 and 1a, in a three-dimensional sorting system according to an embodiment of the present application, the three-dimensional sorting system includes a three-dimensional sorting robot and a sorting cargo shelf, and in the sorting area, a plurality of three-dimensional sorting robots are installed, and the sorting robot 1 performs the following steps by a processor 11 or a computing device.

[0075] Obtaining step 71: Obtaining property information of a target sorting cargo shelf in real time, where the property information includes at least one of structural data of the sorting cargo shelf and positional information of a cargo cage unit on the cargo shelf.

[0076] The sorting robot executes the acquisition step, which is specifically as follows:

[0077] The property information of the target sorting cargo shelf is obtained in real time by an identification device connected to the processor 11, and the property information includes at least one of structural data of the sorting cargo shelf and positional information of the cargo cage unit, but is not limited to these.

[0078] The sorting cargo shelf structure data may indicate the vertical and horizontal structure of the sorting cargo shelf and information on available cargo cages.

[0079] The position information of the cargo car unit may indicate the position of the cargo car unit in a coordinate system established by the sorting shelf.

[0080] The linking step 72 links the property information of the target sorting cargo shelf with the sorting robot information, and executes the linking relationship by associating the target order with the linking relationship by the three-dimensional sorting robot.

[0081] In the sorting step 73, the processor completes sorting the cargo waiting for sorting based on the property information of the cargo shelf in the sorting task of the target order, and the sorting is performed by the sorting device. The sorting robot executes the sorting step, which is specifically as follows:

[0082] Sorting information of the cargo waiting to be sorted is analyzed, and the sorting information includes a correspondence with a certain cargo cage unit on the sorting cargo shelf.

[0083] The corresponding relationship is searched for, and the coordinate values ​​of the cage unit in the three-dimensional coordinate system constructed by the sorting shelves are obtained.

[0084] The coordinate values ​​are indexed to identify the location, and the cargo waiting to be sorted is placed into the cargo cage unit.

[0085] The three-dimensional sorting robot further executes an order updating step.

[0086] After sorting of all cargo for the target order is completed, the current order status is updated to "Completed."

[0087] The linking relationship between the current cargo shelf and the sorting robot is released, and the sorting robot then processes the next order and is linked to the property information of a new sorting cargo shelf.

[0088] FIG. 8 illustrates a computing device 80 that corresponds to the method illustrated in FIGS.

[0089] The computing device 80 shown in FIG. 8 is merely exemplary and does not limit the functionality and scope of use of the embodiments of the present application.

[0090] 8, the three-dimensional sorting robot is realized in the form of a general-purpose computing device 80. The computing device 80 includes, but is not limited to, at least one processor 81 described above, at least one memory 82 described above, and a bus 83 connecting different system elements (including the memory 82 and the processor 81).

[0091] Bus 83 may represent one or more of several types of bus structures, including a memory bus or memory controller, a bus for peripherals, a processor, or a local bus using any of a variety of bus structures.

[0092] The memory 82 includes a readable medium in the form of a volatile memory including, for example, at least one of a random access memory (RAM) 821 and a cache memory 822 , and optionally, a read only memory (ROM) 823 .

[0093] Memory 82 may further include programs / utilities 825 comprising a set (at least one) of program modules 824. Such program modules 824 include, but are not limited to, an operating system, one or more application programs, other program modules and program data, although any one or a particular combination of these examples may include an implementation of a network environment.

[0094] The computing device 80 may communicate with one or more external devices 84 (e.g., keyboard, pointing device, etc.), one or more devices that allow a user to interact with the computing device 80, and / or any device (e.g., router, modem, etc.) that allows the computing device 80 to communicate with one or more other computing devices. Such communication is performed by an input / output (I / O) interface 85. The computing device 80 may then communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 88. As shown in the drawing, the network adapter 88 may communicate with other modules used in the computing device 80 via a bus 83. Although not shown, other hardware and / or software modules may be used in combination with the computing device 80, including, but not limited to, microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, data archive storage systems, and the like.

[0095] In some possible implementations, the computing device according to the present application includes at least one processor and at least one memory (installed in the processor of the three-dimensional sorting robot). The memory stores program code, which, when executed by the processor, causes the processor to execute the steps in the above-mentioned system authority access method according to various exemplary embodiments of the present application herein.

[0096] 9, the data processing method by the three-dimensional sorting robot according to the embodiments of the present application and the computer executable commands are stored, i.e., program commands to be executed by the three-dimensional sorting robot, and the computer executable commands or high speed chip executable commands are written into a processor or computing device of the three-dimensional sorting robot to execute the data processing method by the three-dimensional sorting robot according to the embodiments of the present application.

[0097] A readable signal medium includes a data signal transmitted in baseband or as part of a carrier wave, having readable program code therein. Such transmitted data signals may take a variety of forms, including, but not limited to, electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may be any readable medium other than a readable storage medium, capable of dispatching, disseminating, or transmitting a program for use with or in conjunction with a command execution system, apparatus, or device.

[0098] The program code contained in the readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical cable, RF, or the like, or any suitable combination thereof.

[0099] Program code for carrying out the operations of the present application may be written in any combination of one or more programming languages, including object-oriented programming languages, such as Java, C++, and the like, as well as conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partially on the user's device, as a separate software package, or partly on the user's computing device and partly on a remote computing device.

[0100] The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, but is not limited to, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, controller or device, or any suitable combination thereof. More specific examples (not all) of the readable storage medium include one or more wire connectors, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0101] The program product for system authority access according to the embodiment of the present application may be implemented on a portable compact disk read-only memory (CD-ROM), contain program code, and run on a computing device. However, the program product according to the present application is not limited thereto, and in this context, a readable storage medium may be any tangible medium that contains or stores a program that can be used with or in conjunction with a command execution system, control device, or device.

[0102] The present application is described with reference to flowcharts and / or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the present application. Each process and / or block in the flowcharts and / or block diagrams and combinations of processes and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program commands. These computer program commands can be applied to a processor of a general purpose computer, special purpose computer, embedded processor device or other programmable data processing device to configure the device, whereby the commands executed by the processor of the computer or other programmable data processing device implement a particular function in one or more processes of the flowcharts and / or in one or more blocks of the block diagrams.

[0103] These computer program instructions may also be stored in a computer-readable memory that can instruct a computer or other programmable data processing device to function in a particular manner, such that the commands stored in the computer-readable memory result in an article of manufacture including command means for implementing particular functions in one or more processes of the flowcharts and / or one or more blocks of the block diagrams.

[0104] These computer program commands may be loaded into a computer or other programmable data processing device and a series of operational steps may be executed on the computer or other programmable device to achieve computer-implemented processing, with the commands executed on the computer or other programmable device providing steps for implementing a particular function in one or more processes of the flowcharts and / or in one or more blocks of the block diagrams.

[0105] Although the preferred embodiments of the present application have been described, other changes and modifications can be made to these embodiments once those skilled in the art understand the basic inventive concept. Therefore, the claims are intended to include the preferred embodiments and all changes and modifications that fall within the scope of the present application.

[0106] Those skilled in the art may make modifications and variations to this application without departing from the spirit and principles of this application. If these modifications and variations to this application are within the scope of the claims of this application and the technical scope equivalent thereto, this application will include these modifications and variations.

[0107] Industrial Applicability

[0108] This application discloses a data processing method, a three-dimensional sorting robot, and a system using the three-dimensional sorting robot. A processor and a sorting device are installed in the three-dimensional sorting robot, and the data processing method includes the following steps. Acquisition step: Acquire property information of a target sorting cargo shelf in real time, and the property information includes at least one of structural data of the sorting cargo shelf and position information of a cargo cage unit on the cargo shelf. Linking step: Link the property information of the target sorting cargo shelf with information of the three-dimensional sorting robot, and the linking relationship is associated based on a target order executed by the three-dimensional sorting robot. Sorting step: In a sorting task of the target order, the processor completes sorting of cargo waiting to be sorted based on the property information of the cargo shelf, and the sorting is executed by the sorting device. The sorting robot can perform real-time interaction based on an order, no control system setting is required, and the efficiency of data transmission and sorting can be improved.

[0109] The data processing method, the three-dimensional sorting robot, and the system according to the present application are feasible and can be applied to various industrial applications. For example, the data processing method, the three-dimensional sorting robot, and the system according to the present application can be applied to the technical field of sorting robots.

Claims

1. A data processing method for a three-dimensional sorting robot, the three-dimensional sorting robot being provided with a processor and a sorting device, the data processing method comprising: An acquisition step of reading a tag installed on a target sorting cargo shelf to acquire property information of the target sorting cargo shelf in real time; a linking step of linking property information of the target sorting cargo shelf with information of the three-dimensional sorting robot, the linking relationship being based on a target order to be executed by the three-dimensional sorting robot; A sorting step in which, in the sorting task of the target order, the processor completes sorting of the cargo waiting to be sorted based on the property information of the sorting cargo shelf, and the sorting is performed by the sorting device; The property information includes at least one of configuration data of the sorting cargo shelf and position information of a cargo cage unit on the sorting cargo shelf. A data processing method for a three-dimensional sorting robot.

2. acquiring attribute data of a cargo cage unit of the sorting cargo shelf; and matching the cargo waiting to be sorted in the target order based on the attribute data, and generating a correspondence between the cargo waiting to be sorted and the cargo cage unit. The attribute data includes one or more combinations of dimensional data, volume data, and type data.

2. A data processing method for a three-dimensional sorting robot according to claim 1.

3. The acquiring step includes: The method further includes acquiring the property information of the target sorting shelf by an identification device connected to the processor; the sorting cargo shelf structure data indicates a longitudinal and lateral structure of the sorting cargo shelf and position information of a usable cargo cage unit; The position information of the cargo car unit indicates a position of the cargo car unit in a coordinate system established by the sorting shelf.

3. A data processing method for a three-dimensional sorting robot according to claim 1 or 2.

4. In the sorting task of the target order, the processor completes sorting of the cargo waiting to be sorted based on the property information of the sorting cargo shelf, and the sorting is executed by the sorting device, Analyzing sorting information including a correspondence between the cargo waiting for sorting and a certain cargo cage unit on the sorting cargo shelf; searching the correspondence relationship and acquiring coordinate values ​​of the cage unit in a three-dimensional coordinate system constructed by the sorting rack; and indexing the coordinate values ​​to identify a location and placing the cargo waiting to be sorted into the cargo cage unit.

4. A data processing method for a three-dimensional sorting robot according to claim 3.

5. The correspondence is stored in the three-dimensional sorting robot, and the sorting step further includes searching the correspondence table based on a completion status of the order, thereby sorting the cargo waiting to be sorted.

5. A data processing method for a three-dimensional sorting robot according to claim 4.

6. determining the sorting bin number corresponding to the cargo currently waiting to be sorted; and if the number of the sorting cargo shelf matches the number of the associated sorting cargo shelf, determining to place the cargo in the sorting cargo shelf.

6. A data processing method for a three-dimensional sorting robot according to claim 4 or 5.

7. The method further includes an order updating step, the order updating step including: updating the current order status to "completed" after all cargo items in the target order have been sorted; and releasing the linking relationship between the current sorting cargo shelf and the three-dimensional sorting robot, and the three-dimensional sorting robot subsequently processes the next order and links the next order to the property information of the new sorting cargo shelf.

7. A data processing method for a three-dimensional sorting robot according to claim 1.

8. A linking relationship between the current sorting cargo shelf and the three-dimensional sorting robot is realized by inserting the current sorting cargo shelf into the work station of the three-dimensional sorting robot, and the linking relationship between the current sorting cargo shelf and the three-dimensional sorting robot is released by removing the current sorting cargo shelf from the three-dimensional sorting robot.

8. A data processing method for a three-dimensional sorting robot according to claim 7.

9. During the processing of the target order, the binding relationship between the three-dimensional sorting robot and the target sorting cargo shelf is unique.

9. A data processing method for a three-dimensional sorting robot according to claim 7 or 8.

10. The sorting cargo shelves are multiple, and the three-dimensional sorting robot acquires property information of each sorting cargo shelf or cargo car unit in real time, and stores and updates the relationship between the three-dimensional sorting robot, the order being processed, and the sorting cargo shelf or cargo car unit to be linked. A data processing method for a three-dimensional sorting robot according to any one of claims 1 to 9.

11. A three-dimensional sorting robot equipped with a processor, The system includes an acquisition unit, a linking unit, and a sorting unit, The acquisition unit is configured to read a tag installed on a target sorting cargo shelf to acquire property information of the target sorting cargo shelf in real time, and the property information includes at least one of structural data of the sorting cargo shelf and positional information of a cargo cage unit on the sorting cargo shelf; the linking unit is configured to link property information of the target sorting cargo shelf with information of the three-dimensional sorting robot, and the linking relationship is associated based on a target order to be executed by the three-dimensional sorting robot; The sorting unit is configured to complete sorting of cargo waiting for sorting by the processor based on property information of the sorting cargo shelf in the sorting task of the target order. A three-dimensional sorting robot characterized by the above.

12. The acquisition unit further comprises: Acquire attribute data of a cargo cage unit of the sorting cargo shelf; The system is configured to match cargo waiting to be sorted in the target order based on the attribute data, and generate a correspondence between the cargo waiting to be sorted and the cargo car unit; The attribute data includes one or more combinations of dimensional data, volume data, and type data. The three-dimensional sorting robot according to claim 11.

13. The acquiring unit is realized by an RFID reader; the sorting cargo shelf structure data indicates information on the longitudinal and lateral structure of the sorting cargo shelf and available cargo cage units; The position information of the cargo car unit indicates the position of the cargo car unit in a coordinate system established by the sorting shelf.

13. The three-dimensional sorting robot according to claim 12.

14. The sorting unit further comprises: Analyzing sorting information including a correspondence between the cargo waiting to be sorted and a certain cargo cage unit on the sorting cargo shelf; Searching for the correspondence relationship and obtaining coordinate values ​​of the cargo cage unit in a three-dimensional coordinate system constructed by the sorting cargo shelves; The coordinate values ​​are indexed to identify the location, and the cargo waiting to be sorted is placed in the cargo cage unit.

14. The three-dimensional sorting robot according to claim 13.

15. The present invention relates to a three-dimensional sorting robot and a sorting cargo shelf, the three-dimensional sorting robot executing the data processing method by the three-dimensional sorting robot according to any one of claims 1 to 10. A three-dimensional sorting system characterized by the above.

16. At least one processor; a memory in communication with the at least one processor; A command executable by the at least one processor is stored in the memory, and when the command is executed by the at least one processor, the data processing method by the three-dimensional sorting robot according to any one of claims 1 to 10 is executed by the at least one processor. A computing device comprising:

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