Three-dimensional sorting method, three-dimensional sorting robot, and three-dimensional sorting system

Abstract

A three-dimensional sorting method, a three-dimensional sorting robot, and a three-dimensional sorting system are provided. The method includes an acquisition step (S11) of acquiring property information of a target sorting cargo shelf, a linking step (S12) of linking 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 by a server, and a sorting step (S13) of sorting cargo waiting for sorting based on the property information of the sorting cargo shelf in processing a sorting task of the target order, 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. In the three-dimensional sorting system, sorting can be realized by a sorting control method that identifies information of different cargo cages or sorting cargo shelves for different cargo cages or sorting cargo shelves, or for sorting cargo shelves with complex and disorderly structures, and three-dimensional sorting that is not limited by cargo cages or sorting cargo shelves can be realized.

Description

[Technical Field]

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

[0002] (CROSS-REFERENCE TO RELATED APPLICATIONS) 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 202110920773.1 and entitled "Three-dimensional sorting method, three-dimensional sorting robot and three-dimensional sorting system," the entire contents of which are incorporated herein by reference. [Background technology]

[0003] A sorting robot is a robot equipped with a sensor and an identification mechanism that performs sorting operations, and is used to quickly sort cargo.

[0004] Conventional sorting robots include platform-based sorting robots or sorting robot arms. In distribution centers, the robots place cargo from a bag onto a conveyor, travel to the location of the sorting bag corresponding to the destination, and then drop or grasp the cargo from the conveyor to place it into the sorting bag corresponding to the destination, thereby sorting it.

[0005] Current sorting robots can achieve relatively high sorting efficiency after they are configured, but because they need to be standardized to fit the sorting bags on a flat surface and be configured in a way that limits their position, they cannot meet the needs for more efficient sorting. Summary of the Invention

[0006] The embodiments of the present application provide a three-dimensional sorting method, a three-dimensional sorting robot, and a three-dimensional sorting system, thereby achieving the technical objective of improving sorting efficiency and space efficiency of sorting.

[0007] A three-dimensional sorting method including: an acquisition step of acquiring property information of a target sorting cargo shelf; a linking step of linking the property information of the target sorting cargo shelf with information of a three-dimensional sorting robot, and optionally associating the linking relationship based on a target order by a server; and a sorting step of sorting cargo awaiting sorting based on the property information of the sorting cargo shelf in processing a sorting task for the target order, wherein the property information includes at least one of structural data of the sorting cargo shelf and positional information of cargo car units on the cargo shelf.

[0008] Optionally, the method further includes the steps of acquiring attribute data of cargo car units on the sorting cargo shelf, and matching cargo awaiting sorting in the target order based on the attribute data, and generating a correspondence table between the cargo awaiting sorting and the cargo car units, wherein the attribute data includes one or a combination of dimension data, volume data, and type data.

[0009] Optionally, the obtaining step comprises:

[0010] The method further includes reading a tag attached to the target sorting cargo shelf by RFID to obtain the property information, the tag including at least one of structural data of the sorting cargo shelf and positional information of the cargo car unit, the structural data of the sorting cargo shelf indicating the vertical and horizontal structure of the sorting cargo shelf and positional information of the usable cargo car unit, and the positional information of the cargo car unit indicating the position of the cargo car unit in a coordinate system established by the sorting cargo shelf.

[0011] Optionally, in processing the sorting task for the target order, the step of sorting the cargo awaiting sorting based on property information of the sorting cargo shelf includes the steps of analyzing sorting information including a correspondence between the cargo awaiting sorting and a certain cargo car unit on the sorting cargo shelf, searching the correspondence table to obtain coordinate values ​​of the cargo car unit in a three-dimensional coordinate system constructed by the sorting cargo shelf, and indexing the coordinate values ​​to identify a position and placing the cargo awaiting sorting into the cargo car unit.

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

[0013] Optionally, the method further includes an order updating step, which includes the steps of updating the current order status to "completed" after sorting of all cargo of the target order is completed, and releasing the linking relationship between the current cargo shelf and the sorting robot.

[0014] Optionally, there are a plurality of said sorting robots, and during processing of said target order, there is a unique association between said sorting robot and said target sorting bin.

[0015] A three-dimensional sorting robot comprising 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, the linking unit links the property information of the target sorting cargo shelf with information of the three-dimensional sorting robot, and the linking relationship is configured to be associated based on a target order from a server, and the sorting unit is configured to sort cargo awaiting sorting based on the property information of the sorting cargo shelf in processing a sorting task of the target order, and the property information includes at least one of structural data of the sorting cargo shelf and positional information of a cargo car unit on the sorting cargo shelf.

[0016] Optionally, the acquisition unit is further configured to acquire attribute data of cargo car units on the sorting cargo shelf, match cargo awaiting sorting in the target order based on the attribute data, and generate a correspondence table between the cargo awaiting sorting and the cargo car units, wherein the attribute data includes one or a combination of dimension data, volume data, and type data.

[0017] Optionally, the acquisition unit uses an RFID reader to acquire information in the following manner: read a tag installed on the target sorting shelf to acquire the property information, the tag including at least one of structural data of the sorting shelf and location information of the cargo car unit, the structural data of the sorting shelf indicating the vertical and horizontal structure of the sorting shelf and location information of the available cargo car unit, and the location information of the cargo car unit indicating the location of the cargo car unit in a coordinate system established by the sorting shelf.

[0018] Optionally, the sorting unit is further configured to analyze sorting information including a correspondence between the cargo awaiting sorting and a certain cargo car unit on the sorting cargo shelf, search the correspondence table, obtain coordinate values ​​of the cargo car 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 awaiting sorting into the cargo car unit.

[0019] Optionally, there are a plurality of said three-dimensional sorting robots, and there is only one linkage between said three-dimensional sorting robot and said target sorting cargo shelf while said sorting unit processes said target order.

[0020] A three-dimensional sorting system includes a sorting robot, a server, and a sorting cargo shelf, wherein the sorting robot executes an acquisition step of acquiring property information of a target sorting cargo shelf, a linking step of linking the property information of the target sorting cargo shelf with sorting robot information, and optionally, the linking relationship is established by the server by associating the linking relationship with a target order, and a sorting step of sorting cargo awaiting sorting based on the property information of the sorting cargo shelf in processing a sorting task for the target order, wherein the property information includes at least one of structural data of the sorting cargo shelf and positional information of cargo car units on the cargo shelf.

[0021] Optionally, the sorting robot performs an acquisition step in the following manner: read a tag installed on the target sorting cargo shelf by RFID to obtain the property information, the tag including at least one of structural data of the sorting cargo shelf and location information of the cargo car unit, the structural data of the sorting cargo shelf indicating the vertical and horizontal structure of the sorting cargo shelf and location information of the available cargo car unit, and the location information of the cargo car unit indicating the location of the cargo car unit in a coordinate system established by the sorting cargo shelf.

[0022] Optionally, the three-dimensional sorting robot performs a sorting step in the following manner: analyze the sorting information of the cargo awaiting sorting, where the sorting information includes a correspondence with a certain cargo car unit on the sorting cargo shelf; search the correspondence table to obtain the coordinate value of the cargo car unit in the three-dimensional coordinate system established by the sorting cargo shelf; index the coordinate value to identify the location; and place the cargo awaiting sorting into the cargo car unit.

[0023] Optionally, the three-dimensional sorting robot performs a sorting step in the following manner: analyze the sorting information of the cargo awaiting sorting, where the sorting information includes a correspondence with a certain cargo car unit on the sorting cargo shelf; search the correspondence table to obtain the coordinate value of the cargo car unit in the three-dimensional coordinate system established by the sorting cargo shelf; index the coordinate value to identify the location; and place the cargo awaiting sorting into the cargo car unit.

[0024] Optionally, the server executes an order update step, which includes the steps of updating the current order status to "completed" after sorting of all cargo of the target order is completed, and releasing the linking relationship between the current cargo shelf and the sorting robot.

[0025] A computing device comprising 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 above-mentioned three-dimensional sorting method is performed by the at least one processor.

[0026] The three-dimensional sorting method, three-dimensional sorting robot, and three-dimensional sorting system according to the present application acquire property information of a target sorting cargo shelf, link the property information of the target sorting cargo shelf with sorting robot information, associate it with a target order, and sort cargo awaiting sorting based on the property information of the sorting cargo shelf in processing the sorting task of the target order. In the three-dimensional sorting system, sorting can be achieved using a sorting control method that identifies information about different cargo cars or sorting cargo shelves, even for sorting cargo shelves with complex or disordered structures, thereby achieving three-dimensional sorting that is not limited by cargo cars or sorting cargo shelves. [Brief explanation of the drawings]

[0027] The drawings described are intended as a part of this application and for understanding the application, and the illustrative embodiments and descriptions thereof are intended to interpret the 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 flow chart of a three-dimensional sorting method according to an embodiment of the present application. [Figure 1c] 1 is a schematic diagram illustrating a configuration of a three-dimensional sorting cargo shelf according to an embodiment of the present application. [Figure 1d] 1 is a schematic diagram illustrating a configuration of a three-dimensional sorting cargo shelf according to an embodiment of the present application. [Figure 2] 1 is a schematic flow chart of a three-dimensional sorting method according to an embodiment of the present application. [Figure 3] 1 is a schematic flow chart of a three-dimensional sorting method according to an embodiment of the present application. [Figure 4] 1 is a schematic flow chart of a three-dimensional sorting method according to an embodiment of the present application. [Figure 5] 1 is a schematic flow chart of a three-dimensional sorting method 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] 1 is a schematic flowchart of the execution process of a three-dimensional sorting system according to an embodiment of the present application. [Figure 8] 1 is a schematic block diagram of a computing device according to an embodiment of the present application; [Figure 9] 1 is a schematic diagram of a readable medium according to an embodiment of the present application; DETAILED DESCRIPTION OF THE INVENTION

[0028] The embodiments of the present application provide a three-dimensional sorting method, a three-dimensional sorting robot, and a three-dimensional sorting system, thereby achieving the technical objective of improving sorting efficiency and space efficiency of sorting.

[0029] A three-dimensional sorting system according to an embodiment of the present application will now be described with reference to FIG. 1a. In this application, the three-dimensional sorting system includes a three-dimensional sorting robot 1, a server 2, and a sorting shelf 3. In one alternative embodiment, multiple three-dimensional sorting robots 1 are installed and actively attached to the sorting area via a bus (e.g., CAN). The sorting shelf is configured to communicate with the three-dimensional sorting robot by inserting and removing it from the three-dimensional sorting robot. However, the configuration may also be such that data is exchanged wirelessly and without contact, and this is not a limitation. The sorting robot 1 performs identification and sorting tasks on a multi-tiered three-dimensional sorting shelf using 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 for placing cargo on the sorting shelf, and the sorting robot 1 can cooperate with a tabletop sorting robot or a flat-surface sorting robot to perform sorting tasks based on orders for a specific batch. The server 2 controls a sorting batch, a sorting order, a plurality of three-dimensional sorting robots within a local area network or region, and controls the linking relationship between the three-dimensional sorting robots and the sorting cargo shelves, where the linking relationship is based on a specific order of a specific batch.

[0030] Based on this, as shown in FIG. 1b, the three-dimensional sorting method according to the present application includes the following steps:

[0031] Acquisition step S11: Acquire property information of a target sorting cargo shelf, and the property information includes at least one of structural data of the sorting cargo shelf and position information of a cargo car unit on the sorting cargo shelf.

[0032] As shown in FIG. 1c, the multi-level sorting system has multiple sorting shelves. For example, the current target sorting shelf is numbered 001, and its property information includes at least the structure data of the sorting shelf. For example, if the structure of shelf 001 is 4 rows and 3 columns, and after the multi-level sorting robot identifies the shelf, if the cargo to be sorted is to be placed in the cargo car in the third row and second column, the multi-level sorting robot can place the cargo according to the structure and position. The structure data can be distinguished by the type of sorting shelf. For example, model number X001 is a rectangular sorting shelf with 4 rows and 3 columns, and model number Y001 is a rectangular sorting shelf with 8 rows and 5 columns.

[0033] Linking step S12: The property information of the target sorting cargo shelf and the information of the three-dimensional sorting robot are linked, and the linking relationship is associated based on the target order from the server.

[0034] For the sorting task of a certain order A002, there are 10,000 sorting tasks for this order A002, and for this 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.

[0035] In a system controlled by cooperation between a server and a CAN bus, the linking relationship between the current cargo shelf and the sorting robot is realized by inserting the current cargo shelf into the work station of the sorting robot.

[0036] The server side manages and collects data on batches, orders, and order completion status. In this embodiment, the server stores property information for each sorting shelf or cargo car, and stores and updates the relationship between the three-dimensional sorting robot, the order being processed, and the associated sorting shelf or cargo car.

[0037] Sorting step S13: In processing the sorting task for the target order, cargo waiting to be sorted is sorted based on the property information of the sorting cargo shelf.

[0038] In this embodiment, the three-dimensional sorting robot is configured to operate under the control of a server with respect to orders and sorting tasks to be processed. The three-dimensional sorting robot is configured to sort cargo objects whose positions are determined by the above-described property information of the sorting cargo shelves or cargo baskets.

[0039] 1d and 1c, the sorting shelf in the present application can be a sorting shelf or a cargo car of any structure or shape. A general sorting shelf or a cargo car is arranged based on the cargo or the sorting line, and the sorting shelf is often formed by connecting multiple cargo shelves, rather than having the same structure. In this embodiment, the following steps are further included to obtain more detailed information about the sorting shelf:

[0040] Please refer to Figure 2.

[0041] S21: Obtain attribute data of the cargo car unit of the sorting cargo shelf, the attribute data including one or a combination of dimension data, volume data, and type data.

[0042] The size, volume and type of each cargo car unit are obtained and a sorting task is assigned accordingly, so that the cargo waiting for allocation can be sorted easily, quickly and allocated to a cargo car suitable for sorting.

[0043] S22: Based on the attribute data, cargoes waiting to be sorted in the target order are matched, and a correspondence table between the cargoes waiting to be sorted and the cargo car units is generated.

[0044] Each cargo to be sorted has a correspondence relationship with one or more cargo car units based on a sorting task, and the sorting robot performs accurate sorting based on the correspondence relationship.

[0045] In the acquisition step shown in FIG. 1, a tag installed on the target sorting cargo shelf is read using RFID to acquire the property information, and the tag includes at least one of structural data of the sorting cargo shelf and location information of the cargo car unit.

[0046] Of course, only the ID of the target sorting cargo shelf may be stored on 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 car unit may be stored in a server so that it can be acquired by the three-dimensional sorting robot.

[0047] The sorting cargo shelf configuration data indicates the vertical and horizontal configuration of the sorting cargo shelf and information on available cargo cages.

[0048] The position information of the cargo car unit indicates the position of the cargo car unit in a coordinate system established by the sorting cargo shelf.

[0049] The above-mentioned method of reading RFID tags is a preferred mode when movable sorting shelves are installed in a three-dimensional sorting system. When sorting robot No. 001 receives the sorting task for order A002, in order to efficiently complete the sorting, nine movable sorting shelves (No. X010 to No. X090) are provided for sorting robot No. 001 to process the order.

[0050] When a movable sorting cargo shelf with model number X001 is used for sorting, the No. 001 sorting robot reads the RFID tag of the No. X010 movable sorting cargo shelf to confirm that the target rectangular sorting cargo shelf is model number X001 (model number X001 is a rectangular sorting cargo shelf with 4 rows and 3 columns). 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 available cargo cages, if the target sorting cargo shelf is represented by the 12 available 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.

[0051] 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 sorting onto movable sorting cargo shelf X010, sorting onto movable sorting cargo shelf X020 is performed by the No. 001 sorting robot.

[0052] As shown in FIG. 3, the sorting step is carried out in the following manner.

[0053] S31: Analyze the sorting information of the cargo waiting to be sorted, and the sorting information includes a correspondence relationship with a certain cargo car unit on the sorting cargo shelf.

[0054] S32: The correspondence table is searched to obtain the coordinate values ​​of the cargo car unit in the three-dimensional coordinate system constructed by the sorting cargo shelves.

[0055] S33: The coordinate values ​​are searched to identify the location, and the cargo waiting to be sorted is placed into the cargo car unit.

[0056] The above steps can be performed according to the contents and examples shown in Figures 1 and 2, and of course, sorting cargo awaiting sorting is not limited to the method of reading property information using RFID and searching a correspondence table.

[0057] FIG. 4 shows the process for identifying sorting bins according to the present application, which includes the following steps:

[0058] S41: Check the sorting rack number corresponding to the cargo currently waiting to be sorted.

[0059] S42: If the number of the sorting cargo shelf matches the number of the linked sorting cargo shelf, it is determined to place the cargo in the sorting cargo shelf.

[0060] Before the sorting robot performs the sorting operation according to the contents and corresponding explanations shown in FIG. 3, it executes the steps shown in FIG.

[0061] In the above example, before sorting robot No. 001 sorts a certain cargo awaiting sorting, it must check whether the sorting cargo shelf or sorting cargo basket where the cargo basket into which the cargo is to be placed is the linked one. If the wrong sorting cargo shelf or sorting cargo basket is identified, a reconfirmation or a fault alarm will be issued, thereby preventing incorrect placement.

[0062] FIG. 5 illustrates a process for identifying sorting bins according to the present application, which includes an order updating step.

[0063] S51: After all cargoes in the target order have been sorted, the current order status is updated to "completed."

[0064] After sorting robot 001 completes the sorting task for order 002, the server updates the status of order 002 to "completed" and proceeds to process the other orders in the batch.

[0065] S52: The current link between the cargo shelf and the sorting robot is released.

[0066] Optionally, in a system controlled by cooperation between a server and a CAN bus, the linking relationship between the current cargo shelf and the sorting robot is realized by inserting the current cargo shelf into the work station of the sorting robot, and the linking relationship between the current cargo shelf and the sorting robot is released by removing the current cargo shelf from the sorting robot. This method is one preferred embodiment.

[0067] In order to easily manage orders, when order 002 is completed, the link between the sorting robot and the current cargo shelf is released. If there is a sorting task for the next order, the sorting robot executes the steps and the description thereof shown in FIG. 1, and the description thereof is omitted in this embodiment.

[0068] 6 shows a sorting robot, which includes an acquisition unit 61, a linking unit 62, and a sorting unit 63.

[0069] The acquisition unit 61 is configured to acquire property information of a target sorting cargo shelf, the property information including at least one of structure data of the sorting cargo shelf and position information of a cargo car unit on the cargo shelf.

[0070] Preferably, the acquiring unit uses an RFID reader to acquire information in the following manner:

[0071] The property information is acquired by reading a tag attached to the target sorting cargo shelf, the tag including at least one of structural data of the sorting cargo shelf and position information of the cargo car unit.

[0072] The sorting cargo shelf configuration data indicates the vertical and horizontal configuration of the sorting cargo shelf and information on available cargo cages.

[0073] The position information of the cargo car unit indicates the position of the cargo car unit in a coordinate system established by the sorting cargo shelf.

[0074] Of course, the method for acquiring the property information of the sorting cargo shelf is not limited to this, and there are various hardware ideas corresponding to the acquisition unit, such as remote reading, contact reading, visual recognition, etc.

[0075] The linking unit 62 is configured to link the property information of the target sorting cargo shelf with the information of the sorting robot, and the linking relationship is associated based on the target order from the server.

[0076] Optionally, in a system controlled by cooperation between a server and a CAN bus, the linking relationship between the current cargo shelf and the sorting robot is realized by inserting the current cargo shelf into the work station of the sorting robot, and the linking relationship between the current cargo shelf and the sorting robot is released by removing the current cargo shelf from the sorting robot. This method is one preferred embodiment.

[0077] The server may be implemented by a computing device. The server manages and collects data on batches, orders, and order completion statuses. In this embodiment, the server stores property information for each sorting shelf or cargo car, and stores and updates the relationships between the three-dimensional sorting robot, the order being processed, and the associated sorting shelf or cargo car.

[0078] The sorting unit 63 is configured to sort cargo waiting to be sorted based on the property information of the sorting cargo shelf in processing the sorting task of the target order.

[0079] The sorting unit 63 is further configured to analyze sorting information including the correspondence between the cargo awaiting sorting and a certain cargo car unit on the sorting cargo shelf, search the correspondence table, obtain the coordinate values ​​of the cargo car unit in the three-dimensional coordinate system constructed by the sorting cargo shelf, index the coordinate values ​​to identify the position, and place the cargo awaiting sorting into the cargo car unit.

[0080] 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 using a lateral movement mechanism and a vertical movement mechanism via a supporter.The sorting robot 1 is also equipped with a rotating plate or a device for placing cargo on the sorting cargo shelf, and the sorting robot 1 can cooperate with a tabletop sorting robot or a flat-surface sorting robot to perform sorting tasks based on orders for a specific batch.

[0081] Referring to FIG. 7 and FIG. 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, a server, and a sorting cargo shelf, and the sorting robot performs the following steps:

[0082] Acquisition step 71: Acquire property information of the target sorting cargo shelf, the property information including at least one of the structure data of the sorting cargo shelf and the position information of the cargo car unit on the cargo shelf.

[0083] The sorting robot performs the acquisition step in the following manner.

[0084] The property information is obtained by reading a tag attached to the target sorting cargo shelf using RFID, and the tag includes at least one of structural data of the sorting cargo shelf and location information of the cargo car unit.

[0085] The sorting cargo shelf configuration data indicates the vertical and horizontal configuration of the sorting cargo shelf and information on available cargo cages.

[0086] The position information of the cargo car unit indicates the position of the cargo car unit in a coordinate system established by the sorting cargo shelf.

[0087] Linking step 72: The property information of the target sorting cargo shelf is linked to the sorting robot information, and the server associates the linking relationship with the target order.

[0088] Sorting step 73: In processing the sorting task of the target order, the cargo waiting for sorting is sorted based on the property information of the sorting cargo shelf. The sorting robot executes the sorting step in the following manner.

[0089] The sorting information of the cargo waiting to be sorted is analyzed, and the sorting information includes a correspondence with a certain cargo car unit on the sorting cargo shelf.

[0090] The correspondence table is searched to obtain the coordinate values ​​of the cargo car unit in the three-dimensional coordinate system constructed by the sorting cargo shelves.

[0091] The coordinate values ​​are referenced to identify the location, and the cargo waiting to be sorted is placed in the cargo car unit.

[0092] After sorting of all cargo of the target order is completed, the server 2 executes an order update step in which the server 2 updates the current order status to "completed" and releases the linking relationship between the current cargo shelf and the sorting robot.

[0093] Optionally, in a system controlled by cooperation between a server and a CAN bus, the linking relationship between the current cargo shelf and the sorting robot is realized by inserting the current cargo shelf into the work station of the sorting robot, and the linking relationship between the current cargo shelf and the sorting robot is released by removing the current cargo shelf from the sorting robot. This method is one preferred embodiment.

[0094] FIG. 8 shows a computing device 80 corresponding to the method shown in FIGS.

[0095] 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.

[0096] 8, the server is realized in the form of a general-purpose computing device 80. The configuration of the computing device 80 includes, but is not limited to, at least one processor 81 as described above, at least one memory 82 as described above, and a bus 83 connecting different system elements (including the memory 82 and the processor 81).

[0097] Bus 83 may be 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.

[0098] The memory 82 includes a readable medium in the form of volatile memory including, for example, random access memory (RAM) 821 and / or cache memory 822, and optionally, read-only memory (ROM) 823.

[0099] The memory 82 may further include a program / utility 825 comprising a set (at least one) program module 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, any one or particular combination of which examples may comprise an implementation of a network environment.

[0100] Computing device 80 may communicate with one or more external devices 84 (e.g., keyboard, pointing device, etc.), one or more devices that enable user interaction with computing device 80, and / or any device (e.g., router, modem, etc.) that enables computing device 80 to communicate with one or more other computing devices. Such communication is achieved through input / output (I / O) interface 85. Computing device 80 may also 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 network adapter 88. As shown in the drawing, network adapter 88 may communicate with other modules used in computing device 80 via bus 83. Although not shown, other hardware and / or software modules may be used in combination with 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, etc.

[0101] In some embodiments, a computing device according to the present application includes at least one processor and at least one memory (e.g., a first server), and the memory stores program code that, when executed by the processor, causes the processor to perform the steps of the system authority access methods described above according to various exemplary embodiments of the present application.

[0102] 9, the three-dimensional sorting method according to FIGS. 1 to 5 and the corresponding embodiments may be realized by a computer-readable medium 91. As shown in FIG. 9, computer-executable commands are stored, i.e., program commands executed by a three-dimensional sorting robot according to the method of the present application, and the computer-executable commands or high-speed chip-executable commands execute the three-dimensional sorting method according to the above embodiments.

[0103] A readable signal medium includes a data signal transmitted in baseband or as part of a carrier wave, having readable program code embodied 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, that can dispatch, spread, or transmit a program for use with or in connection with a command execution system, apparatus, or device.

[0104] 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, etc., or any suitable combination thereof.

[0105] The 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 computing device, partially on the user device, as a separate software package, partly on the user computing device and partly on a remote computing device, or entirely on a remote computing device or a server. In the case of a remote computing device, the remote computing device may be connected to the user computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., utilizing an Internet connection through a service provider).

[0106] 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. Readable storage media include, for example, but are not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, controllers or devices, or any suitable combination thereof. More specific examples (but not all) of readable storage media include one or more wire connectors, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof.

[0107] A program product for system authorization access according to an embodiment of the present application may employ a portable compact disc read-only memory (CD-ROM), contain program code, and be operable 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.

[0108] 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 are 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 in the flowcharts and / or in one or more blocks in the block diagrams.

[0109] These computer program commands may 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 that includes command means for implementing particular functions in one or more processes of the flowcharts and / or one or more blocks of the block diagrams.

[0110] These computer program commands may be loaded into a computer or other programmable data processing device and cause the computer or other programmable device to perform a series of operational steps to realize computer-implemented processes, with the commands executed by the computer or other programmable device providing steps for implementing a particular function in one or more processes of the flowcharts and / or one or more blocks of the block diagrams.

[0111] 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 cover the preferred embodiments and all changes and modifications that fall within the scope of the present application.

[0112] Those skilled in the art may make modifications and variations to the present application without departing from the spirit and principles of the present application. If these modifications and variations to the present application fall within the scope of the claims of the present application and the technical scope equivalent thereto, the present application will include these modifications and variations.

[0113] Industrial Applicability This application discloses a three-dimensional sorting method, a three-dimensional sorting robot, and a three-dimensional sorting system. The three-dimensional sorting method includes the following steps: Acquisition step: Acquires property information of a target sorting cargo shelf, the property information including at least one of structural data of the sorting cargo shelf and positional information of cargo car units on the cargo shelf; Linking step: Links the property information of the target sorting cargo shelf with information of the three-dimensional sorting robot, and the linking relationship is established based on the target order by the server; Sorting step: In processing the sorting task for the target order, sorts cargo awaiting sorting based on the property information of the sorting cargo shelf. In the three-dimensional sorting system, sorting is achieved using a sorting control method that identifies information about different cargo cars or sorting cargo shelves, even for sorting cargo shelves with complex and disordered structures, thereby enabling three-dimensional sorting that is not limited by cargo cars or sorting cargo shelves.

[0114] The three-dimensional sorting method, three-dimensional sorting robot, and three-dimensional sorting system according to the present application can be implemented and applied to various industrial applications. For example, the three-dimensional sorting method, three-dimensional sorting robot, and three-dimensional sorting system according to the present application can be applied to the technical field of sorting robots.

Claims

1. A three-dimensional sorting method performed by a three-dimensional sorting robot, comprising: an acquisition step for acquiring property information of a target sorting cargo shelf; a linking step in which property information of the target sorting cargo shelf is linked to information of the three-dimensional sorting robot, and the linking relationship is associated based on a target order by a server; a sorting step for realizing three-dimensional sorting in which, in processing the sorting task of the target order, the cargo waiting to be sorted is sorted based on property information of the sorting cargo shelf, and the cargo waiting to be sorted is sorted into cargo car units on the sorting cargo shelf; the property information includes at least one of structural data of the sorting cargo shelf and positional information of a cargo car unit on the sorting cargo shelf, the sorting step includes a step of analyzing sorting information including a correspondence between the cargo waiting to be sorted and a certain cargo car unit on the sorting cargo shelf, A three-dimensional sorting method characterized by the above.

2. acquiring attribute data of the cargo car units of the sorting cargo shelf; and further comprising: a step of matching cargo awaiting sorting in the target order based on the attribute data, and generating a correspondence relationship table between the cargo awaiting sorting and the cargo car unit; The attribute data includes one or a combination of dimension data, volume data, and type data.

2. The three-dimensional sorting method according to claim 1.

3. The obtaining step includes: The method further includes reading a tag attached to the target sorting cargo shelf by RFID to obtain the property information; the tag includes at least one of structural data of the sorting cargo shelf and location information of the cargo car unit; the sorting cargo shelf structure data indicates the vertical and horizontal structure of the sorting cargo shelf and position information of available cargo car 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 cargo shelf.

3. The three-dimensional sorting method according to claim 2.

4. In the processing of the sorting task of the target order, the step of sorting cargo waiting for sorting based on property information of the sorting cargo shelf includes: searching the correspondence table to obtain coordinate values ​​of the cargo car unit in a three-dimensional coordinate system constructed by the sorting cargo shelves; and further comprising the step of searching the coordinate values ​​to identify the location and placing the cargo waiting to be sorted into the cargo car unit.

4. The three-dimensional sorting method according to claim 3.

5. checking 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 linked sorting cargo shelf, determining to place the cargo in the sorting cargo shelf.

5. The three-dimensional sorting method according to claim 4.

6. The method further includes an order updating step, wherein the order updating step includes: After all the cargoes in the target order have been sorted, updating the current order status to "completed"; and a step of releasing the current association between the cargo shelf and the sorting robot. The three-dimensional sorting method according to any one of claims 1 to 5.

7. There are a plurality of sorting robots, and during the processing of the target order, there is only one linking relationship between the three-dimensional sorting robot and the target sorting cargo shelf.

7. The three-dimensional sorting method according to claim 6.

8. A three-dimensional sorting robot, The system includes an acquisition unit, a linking unit, and a sorting unit, The acquisition unit is configured to acquire property information of the target sorting cargo shelf; the linking unit links 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 from a server; the sorting unit is configured to realize three-dimensional sorting in which, in processing the sorting task of the target order, the cargo awaiting sorting is sorted based on property information of the sorting cargo shelf, and the cargo awaiting sorting is sorted into cargo car units on the sorting cargo shelf; the property information includes at least one of structural data of the sorting cargo shelf and positional information of a cargo car unit on the sorting cargo shelf, The sorting unit is further configured to analyze sorting information including a correspondence between the cargo waiting to be sorted and a certain cargo car unit on the sorting cargo shelf. A three-dimensional sorting robot characterized by:

9. the acquisition unit is further configured to acquire attribute data of the cargo car units on the sorting cargo shelf, match cargo awaiting sorting in the target order based on the attribute data, and generate a correspondence relationship table between the cargo awaiting sorting and the cargo car units; The attribute data includes one or a combination of dimension data, volume data, and type data.

9. The three-dimensional sorting robot according to claim 8.

10. The acquisition unit uses an RFID reader to acquire information in the following manner: The property information is acquired by reading a tag installed on the target sorting cargo shelf, the tag including at least one of structural data of the sorting cargo shelf and positional information of the cargo car unit; the sorting cargo shelf structure data indicates the vertical and horizontal structure of the sorting cargo shelf and position information of available cargo car 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 cargo shelf.

10. The three-dimensional sorting robot according to claim 9.

11. The sorting unit is further configured to search the correspondence table, obtain coordinate values ​​of the cargo car unit in a three-dimensional coordinate system constructed by the sorting cargo shelves, index the coordinate values ​​to identify a position, and place the cargo waiting to be sorted into the cargo car unit.

11. The three-dimensional sorting robot according to claim 9 or 10.

12. There are a plurality of the three-dimensional sorting robots, and while the sorting unit processes the target order, there is only one linking relationship between the three-dimensional sorting robot and the sorting cargo shelf. The three-dimensional sorting robot according to any one of claims 8 to 11.

13. A three-dimensional sorting system, The system includes a three-dimensional sorting robot, a server, and a sorting cargo shelf, and the sorting robot includes: an acquisition step for acquiring property information of a target sorting cargo shelf; a linking step of linking property information of the target sorting cargo shelf with sorting robot information, and associating the linking relationship with the target order by the server; a sorting step for realizing three-dimensional sorting in which, in processing the sorting task of the target order, the cargo awaiting sorting is sorted based on property information of the sorting cargo shelf, and the cargo awaiting sorting is sorted into cargo car units on the sorting cargo shelf; the property information includes at least one of structural data of the sorting cargo shelf and positional information of the cargo car unit on the cargo shelf; the sorting step includes a step of analyzing sorting information including a correspondence between the cargo waiting to be sorted and a certain cargo car unit on the sorting cargo shelf, A three-dimensional sorting system characterized by:

14. The sorting robot performs the acquiring step in the following manner: reading a tag attached to the target sorting cargo shelf by RFID to acquire the property information; the tag includes at least one of structural data of the sorting cargo shelf and location information of the cargo car unit; the sorting cargo shelf structure data indicates the vertical and horizontal structure of the sorting cargo shelf and position information of available cargo car 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 cargo shelf.

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

15. The obtaining step includes: acquiring attribute data of the cargo car units of the sorting cargo shelf; and further comprising: a step of matching cargo awaiting sorting in the target order based on the attribute data, and generating a correspondence relationship table between the cargo awaiting sorting and the cargo car unit; the attribute data includes one or a combination of dimension data, volume data, and type data; The sorting step includes: searching the correspondence table to obtain coordinate values ​​of the cargo car unit in a three-dimensional coordinate system constructed by the sorting cargo shelves; and further comprising the step of: indexing the coordinate values ​​to identify a location and placing the cargo waiting for sorting into the cargo car unit.

15. The three-dimensional sorting system according to claim 13 or 14.

16. The sorting robot performs the sorting step in the following manner: Analyzing sorting information of the cargo waiting to be sorted, the sorting information including a correspondence relationship with a certain cargo car unit on the sorting cargo shelf; searching the correspondence table to obtain coordinate values ​​of the cargo car unit in a three-dimensional coordinate system constructed by the sorting cargo shelves; The coordinate values ​​are searched to identify the location, and the cargo waiting to be sorted is placed in the cargo car unit.

16. The three-dimensional sorting system according to claim 15.

17. The server executes an order updating step, the order updating step including: After all the cargoes in the target order have been sorted, updating the current order status to "completed"; and a step of releasing the current association between the cargo shelf and the sorting robot. The three-dimensional sorting system according to any one of claims 13 to 16.

18. at least one processor; a memory communicatively coupled to 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 three-dimensional sorting method according to any one of claims 1 to 7 is performed by the at least one processor. A computing device characterized by:

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