CN110482089B

CN110482089B - Intelligent sorting system and method, warehousing robot and processing terminal

Info

Publication number: CN110482089B
Application number: CN201910704536.4A
Authority: CN
Inventors: 陈宇奇; 李小龙
Original assignee: Hai Robotics Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2019-07-31
Filing date: 2019-07-31
Publication date: 2021-09-21
Anticipated expiration: 2039-07-31
Also published as: CN113830476A; CN113830476B; CN110482089A

Abstract

The application relates to the technical field of intelligent logistics and discloses an intelligent sorting system, a method, a warehousing robot and a processing terminal, wherein the system comprises the warehousing robot, and the system comprises: the warehousing robot is used for receiving a first conveying instruction, the first conveying instruction comprises first bin information and/or goods information which are conveyed, the first bin information and/or goods information are conveyed according to the first conveying instruction, the first bin information and/or the goods are conveyed to a preset position on a preset shelf, the preset position is used for placing the first bin information and/or the goods, the preset position corresponds to a delivery destination of the first bin information and/or the goods, bin and/or goods conveying operation by the aid of the robot is achieved, and goods sorting efficiency is improved.

Description

Intelligent sorting system and method, warehousing robot and processing terminal

Technical Field

The application relates to the field of intelligent logistics, in particular to an intelligent sorting system, an intelligent sorting method, a warehousing robot and a processing terminal.

Background

With the increasing development of artificial intelligence and online shopping, a great development opportunity is brought to the intelligentization of warehousing, sorting and logistics of goods, and in recent years, the technology for transporting goods and sorting goods based on a warehousing robot is increasingly mature. In the prior art, a warehousing robot can transport goods according to a predetermined route in a warehouse for warehousing the goods, for example, the goods are transported to an operation table from a goods shelf, and the goods are sorted according to orders by a human, during the sorting process, bar codes of bins need to be scanned or input by a human to determine the sorting destination, and meanwhile, bins to be sorted are moved to a tray or a temporary storage position corresponding to the delivery destination according to the destination by a human.

In the process of implementing the application, the inventor finds that in the related art, the efficiency of sorting the goods is influenced mainly by manually moving the material boxes to the trays or temporary storage positions corresponding to the delivery destinations.

Disclosure of Invention

The embodiment of the application provides a system and a method for intelligently sorting goods, a warehousing robot and a processing terminal, wherein the robot is used for carrying out bin and/or goods conveying operation, and the goods sorting efficiency is improved.

The embodiment of the application provides an intelligence letter sorting system, the system includes: the warehousing robot is used for receiving a first conveying instruction, the first conveying instruction comprises first bin information and/or goods information which are conveyed, the first bin information and/or goods information are conveyed according to the first conveying instruction, the first bin information and/or the goods are conveyed to a preset position on a preset shelf, the preset position is used for placing the preset position of the first bin information and/or the goods, and the preset position corresponds to a delivery destination of the first bin information and/or the goods.

Optionally, the preset location includes a plurality of storage units, each storage unit is used for storing the first bin and/or the goods, and the plurality of storage units in the preset location correspond to the same delivery destination.

Optionally, the system further comprises:

and the goods transferring device is used for transferring the goods in the goods boxes at the preset positions of the preset goods shelves into the corresponding containers respectively so as to facilitate the transportation of the goods to the first goods box and/or the delivery destination corresponding to the goods.

Optionally, the system further comprises:

and the empty box collecting device is used for collecting the empty boxes at all preset positions after the goods are transferred by the goods transferring device, so that the warehousing robot can convey the empty boxes to preset destinations.

Optionally, the preset shelf is a fluent shelf, the fluent shelf includes a plurality of layers of shelves, each layer of shelves includes a plurality of preset positions, and each preset position is used for accommodating the first bin and/or the goods corresponding to the preset position.

Optionally, the first bin information and/or the cargo information include first identification information of the first bin and/or the cargo, the system further includes a preset shelf, each preset position on the preset shelf includes second identification information, and the first identification information corresponds to the second identification information.

Optionally, the warehousing robot is further configured to:

receiving a bin replacement instruction, and replacing the target bin with a second bin according to the bin replacement instruction.

Optionally, the bin change instruction further comprises second bin storage location information,

the warehousing robot is further used for moving to the second bin storage position according to the bin replacement instruction and indicating the carrying assembly to store the second bin to the bin storage unit.

Optionally, the first bin information includes a sorting bin in which the first bin is located, the bin storing unit further includes a first bin storing unit,

the warehousing robot is specifically configured to: and according to the bin replacement instruction, moving to the sorting grid where the first bin is located, instructing the carrying assembly to carry the first bin to the first bin storage unit, and carrying the second bin to the sorting grid.

Optionally, the system further comprises:

and the sorting robot is used for receiving a second sorting instruction and conveying the sorted goods to the target bin according to the second sorting instruction, wherein the sorted goods are taken out from the goods to be sorted and/or the containers storing the goods to be sorted.

Optionally, the warehousing robot is further configured to:

receiving a first sorting instruction, and conveying goods to be sorted and/or containers storing the goods to be sorted to a goods sorting area according to the first sorting instruction.

Optionally, the system further comprises:

and the processing terminal is used for sending the first conveying instruction so that the warehousing robot conveys the first bin and/or the goods to a preset shelf according to the first conveying instruction.

Optionally, the processing terminal is further configured to:

and sending the first sorting instruction to enable the warehousing robot to convey the goods to be sorted and/or the containers storing the goods to be sorted to a goods sorting area according to the first sorting instruction.

Optionally, the processing terminal is further configured to:

sending the second sorting instruction to enable the sorting robot to convey the sorted goods to the target bin according to the second sorting instruction, wherein the sorted goods are taken out from the goods to be sorted and/or the containers storing the goods to be sorted; and/or the presence of a gas in the gas,

and sending a bin replacement instruction so that the storage robot can replace the target bin with a second bin according to the bin replacement instruction.

The embodiment of the application provides an intelligent sorting method, which is applied to a warehousing robot and comprises the following steps:

receiving a first delivery instruction comprising first bin information and/or cargo information for delivery,

and according to the first conveying instruction, conveying the first bin and/or goods to a preset position on a preset shelf, wherein the preset position is used for placing the first bin and/or goods, and the preset position corresponds to a delivery destination of the first bin and/or goods.

Optionally, the first bin and/or cargo information comprises a storage location of the first bin and/or cargo, the warehousing robot comprises a storage unit and a handling assembly, the method further comprises:

instructing the handling assembly to carry the first bin and/or cargo from the storage location to the storage unit according to the first carrying instruction.

Optionally, the method further comprises:

receiving a first sorting instruction, and conveying goods to be sorted and/or containers storing the goods to be sorted to a goods sorting area according to the first sorting instruction, and/or,

The embodiment of the application provides an intelligent sorting method, which is applied to a processing terminal and comprises the following steps:

sending the first conveying instruction, wherein the first conveying instruction comprises conveyed first bin information and/or conveyed goods information, so that the warehousing robot conveys the first bin and/or the goods to a preset position on a preset shelf according to the first conveying instruction, the preset position is used for placing the first bin and/or the goods, and the preset position corresponds to a delivery destination of the first bin and/or the goods.

Optionally, the first bin information and/or the cargo information includes first identification information of the first bin and/or the cargo, and each preset position on the preset shelf includes second identification information, and the method further includes:

and establishing a corresponding relation between the first bin and/or the goods and the preset position according to the first identification information and the second identification information.

Optionally, the method further comprises:

The embodiment of the application provides a storage robot, includes:

at least one processor; and the number of the first and second groups,

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the intelligent sorting method as described above as applied to a warehousing robot.

The embodiment of the present application provides a processing terminal, which includes:

at least one processor; and the number of the first and second groups,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the intelligent sorting method applied to a processing terminal as described above.

Embodiments of the present application provide a non-transitory computer-readable storage medium having stored thereon computer-executable instructions for causing a computer to perform an intelligent sorting method as described above.

Embodiments of the present application also provide a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the intelligent sorting method as described above.

The system of intelligence letter sorting goods that this application embodiment provided includes: the warehousing robot is used for receiving a first conveying instruction, the first conveying instruction comprises first bin information and/or goods information which are conveyed, the first bin information and/or goods information are conveyed according to the first conveying instruction, the first bin information and/or the goods are conveyed to a preset position on a preset shelf, the preset position is used for placing the first bin information and/or the goods, the preset position corresponds to a delivery destination of the first bin information and/or the goods, bin and/or goods conveying operation by the aid of the robot is achieved, and goods sorting efficiency is improved.

Drawings

One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.

Fig. 1 is a schematic diagram of an intelligent sorting system provided in an embodiment of the present application;

fig. 2 is a schematic flow chart of an intelligent sorting method provided in the embodiments of the present application;

fig. 3 is a schematic flow chart of another intelligent sorting method provided in the embodiments of the present application;

fig. 4 is a schematic diagram of a sorting robot provided in an embodiment of the present application;

fig. 5 is a schematic diagram of a processing terminal according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items, and the terms "first, second, third, etc. as used herein do not denote any order or importance, but rather the skilled person will understand that such terms are used for convenience of description.

The system for intelligently sorting goods provided herein can be applied to any suitable industry field or technical field, such as the field of intelligent warehousing, the field of intelligent logistics, and the like. The embodiment of the application takes a system which is applied to the field of intelligent warehousing and can intelligently sort goods according to goods orders as an example for explanation.

Referring to fig. 1, the intelligent sorting system 100 includes a warehousing robot 10, the warehousing robot 10 is configured to receive a first transportation instruction, the first transportation instruction includes first bin information and/or goods information to be transported, and according to the first transportation instruction, the first bin and/or goods are transported to a preset position on a preset shelf, the preset position is used for placing the first bin and/or goods, and the preset position corresponds to a delivery destination of the first bin and/or goods. Meanwhile, in order to achieve that the first bin and/or the goods are placed at the corresponding preset positions, the corresponding relation between the first bin and/or the goods and the preset positions can be established through the identification information, for example, the first bin information and/or the goods information comprises first identification information of the first bin and/or the goods, each preset position comprises respective second identification information, and the corresponding relation between the first bin and/or the goods and the preset positions is established by establishing the corresponding relation between the first identification information and the second identification information. In order to realize that the delivery destinations of the order goods are centralized at one preset position, each preset position can comprise a plurality of storage units, each storage unit is used for storing the first bin and/or the goods, and meanwhile, the plurality of storage units at each preset position correspond to the same delivery destination, so that the time for conveying the first bin and/or the goods to the transport vehicle corresponding to the delivery destination can be further saved. The warehousing robot 10 may include a storage unit and a handling assembly, the first bin and/or cargo information may include a storage location of the first bin and/or cargo, and the warehousing robot 10 may be further configured to instruct the handling assembly to handle the first bin and/or cargo from the storage location to the storage unit according to the first transportation instruction. For the first bin and/or goods to be transported, the first bin and/or goods may also be manually transported from the location where the first bin and/or goods are stored to the storage unit of the warehousing robot 10, wherein the first bin and/or goods may be traveled by the warehousing robot 10 to the location where the first bin and/or goods are stored before the first bin and/or goods are manually transported, and of course, the first bin and/or goods may also be transported by a robot, such as a robotic arm, to the storage unit of the warehousing robot 10.

In this embodiment, in order to place the transported first bin and/or goods to the corresponding delivery location, the first bin information and/or goods information may include first identification information of the first bin and/or goods, and at the same time, each preset location on the preset shelf may include second identification information, and the first identification information corresponds to the second identification information, where when the preset location includes a plurality of storage units, the plurality of first identification information may correspond to one piece of second identification information, and at this time, the number of the first identification information is consistent with the number of the storage units at the preset location, so as to ensure that each first bin and/or goods has a corresponding storage unit. Therefore, as the preset position corresponds to the delivery destination of the first bin and/or the goods, the first bin and/or the goods can be placed to the corresponding delivery area only by placing the first bin and/or the goods to the preset position corresponding to the second identification information according to the first identification information.

In this application embodiment, intelligence letter sorting system still includes preset goods shelves 60, for the efficiency of further promotion goods letter sorting, and this preset goods shelves can be fluent goods shelves, and, this fluent goods shelves 60 include multilayer goods shelves, and every layer goods shelves include a plurality of preset positions, and every preset position is used for holding rather than corresponding first workbin and/or goods, every layer goods shelves comprises many fluent strips, and there is certain slope in every fluent strip both ends, so that first workbin and/or goods are by the free landing of the higher relative one end of fluent strip to the lower relative one end because fluent goods shelves itself have certain slope, like this, first workbin and/or goods on transporting the goods shelves can utilize the gravity of first workbin and/or goods to slide downwards by oneself.

In an implementation of the present application, the system further includes: the goods transfer device is used for transferring goods in goods boxes at preset positions of preset goods shelves into corresponding containers respectively so as to convey the goods to a delivery destination corresponding to a first goods box and/or the goods, the containers can be various boxes suitable for packaging and transporting the goods, for example, cartons, and equipment for transporting the containers can be various robots or AGV trolleys with transportation functions.

In an implementation of the present application, the system further includes: and the empty box collecting device is used for collecting the empty boxes at all preset positions after the goods are transferred by the goods transferring device, so that the warehousing robot can convey the empty boxes to preset destinations. In order to facilitate the collection and management of the empty containers after the goods in the containers at the preset positions of the preset goods shelves are transferred to the corresponding containers, the empty containers can be collected through an empty container collecting device, and then the collected empty containers are conveyed to a preset destination by the storage robot.

In the embodiment of the present application, the warehousing robot 10 is further configured to: receiving a first sorting command, and transporting the goods to be sorted and/or the containers storing the goods to be sorted to a goods sorting area according to the first sorting command, wherein the goods sorting area is located in the position area of the supply console 40 and/or the robot arm. When carrying out the goods letter sorting, need will wait to sort the goods and transport to the position region of operation panel or arm to can sort the goods through operation panel or arm.

In an embodiment of the present application, the system may further comprise a fixed rack and/or a mobile rack, the containers comprise the mobile rack, containers located on the fixed rack and/or containers located on the mobile rack, the warehousing robot 10 comprises a first warehousing robot and/or a second warehousing robot,

conveying goods to be sorted and/or containers storing goods to be sorted to a goods sorting area according to the first sorting instruction, comprising:

the first warehousing robot carries the goods to be sorted from the fixed shelf to a goods sorting area according to the first sorting instruction, and/or

The first warehousing robot carries the container storing the goods to be sorted from the fixed shelf to a goods sorting area according to the first sorting instruction, and/or

The second warehousing robot carries the movable shelf storing the goods to be sorted to a goods sorting area according to the first sorting instruction, and/or

And the second warehousing robot carries the movable goods shelf storing the goods containers to be sorted to a goods sorting area according to the first sorting instruction.

In an embodiment of the present application, the intelligent sorting system may further include: a sorting robot 20, said sorting robot 20 being operable to receive a second sorting instruction and to deliver sorted goods, which are taken from goods to be sorted and/or containers storing goods to be sorted, to a target bin according to said second sorting instruction.

In an embodiment of the application, the second sorting instruction comprises a sorting goods receiving sub-instruction, the sorting robot being configured to: and receiving the sorted goods receiving sub-instruction, and receiving the sorted goods taken out from the goods to be sorted and/or the container storing the goods to be sorted according to the sorted goods receiving sub-instruction.

In the embodiment of the present application, the sorted goods receiving sub-instruction may be received after the sorting robot 20 delivers the sorted goods to the sorting compartment 50, and when the sorting robot 20 receives the sorted goods sub-instruction, the sorted goods will travel from the sorting compartment to a goods sorting area, such as a goods supply console or a mechanical arm area, so as to receive the sorted goods taken out from the goods to be sorted by the goods supply console or the mechanical arm.

In an embodiment of the application, the second sorting instruction further comprises a sorting goods delivery sub-instruction, the sorting robot being configured to: and receiving the sorting goods conveying sub-instruction, and conveying the sorting goods to a target bin according to the sorting goods conveying sub-instruction.

In the embodiment of the present application, the sorting goods transporting sub-instruction may be received after the sorting robot 20 receives the sorting goods, and after the sorting robot 20 receives the sorting goods transporting sub-instruction, the sorting goods is transported from the location where the sorting goods are received to the location where the target bin is located, that is, the sorting grid where the target bin is located.

In the present embodiment, the target bin is located in the sorting bin 50. After the goods to be sorted are sorted at the operation table 40 or the mechanical arm, the sorted goods can be conveyed to the sorting gates 50 through the sorting robot 20, a goods bin can be placed at each sorting gate, and the bin can correspond to a goods receiving party. After sorting is complete, the bins may be transported to an delivery area for delivery.

In the embodiment of the present application, the warehousing robot 10 may further be configured to: and receiving a bin replacement command, and replacing the target bin with a second bin according to the bin replacement command, wherein the second bin can be an empty bin.

In the embodiment, the intelligent sorting system further includes a processing terminal 30, the warehousing robot 10 may be connected to the processing terminal 30 through a network, the network may be a wired network or a wireless network, and the warehousing robot 10 may receive the first transportation instruction through the network, and the first transportation instruction is sent to the warehousing robot by the processing terminal 30 through the network.

In this embodiment of the present application, the processing terminal 30 may further be configured to:

and sending a first sorting instruction to enable the warehousing robot to convey the goods to be sorted and/or the containers storing the goods to be sorted to the goods sorting area.

sending a second sorting instruction to enable the sorting robot to convey the sorted goods to the target bin according to the second sorting instruction, wherein the sorted goods are taken out from the goods to be sorted and/or the containers storing the goods to be sorted. Wherein the second sort instruction includes a sort goods receiving sub-instruction and a sort goods delivery sub-instruction.

the bin replacement instruction comprises replaced target bin information, and the warehousing robot is instructed to replace the target bin with a second bin which can be an empty bin according to the bin replacement instruction.

In the embodiment of the present application, the bin replacing command may be a bin replacing command received by the warehousing robot 10, for example, the bin replacing command may include information on an empty bin storage position, a sorting grid where a target bin is located, identification information of the target bin, and/or information on a destination of delivery of the target bin, and instruct the warehousing robot 10 to perform corresponding processes according to corresponding various information. The first sorting instruction may be a first sorting instruction received by the warehousing robot 10, and the second sorting instruction may be various second sorting instructions received by the sorting robot 20 to instruct the warehousing robot to carry the goods to be sorted according to the first sorting instruction and instruct the sorting robot 20 to sort the goods according to the second sorting instruction, respectively.

In the embodiment of the present application, the bin replacing command can be sent to the warehousing robot 10 by the processing terminal 30, the processing terminal 30 can send the bin replacing command when the bin is full, overweight or sorted, and of course, can also send the bin replacing command when any bin needs to be replaced, wherein, whether the bin is full or overweight, etc., can be sensed by the sensor, and send a sensing signal to indicate a corresponding state, for example, a full signal or an overweight signal, so as to be reported to the processing terminal 30, and the processing terminal 30 can trigger the bin replacing command after receiving the corresponding signal. In order to determine which bin is full or overweight, when the bin needs to be replaced, the bin replacement instruction may include target bin information that needs to be replaced, and the target bin information may include position information of the target bin, for example, a sorting cell of the target bin, so that the warehousing robot 10 may find the replaced target bin according to the position information, and at the same time, the sorting cell of the target bin may be locked to stop sorting the goods of the target bin. The target bin information may further include target bin identification information, and the identification information may be used to confirm whether the target bin identification information included in the replacement instruction is consistent with the identification information on the target bin, so as to determine the target bin to be replaced, and/or to align the position of the target bin according to the identification information. In addition, in order to align the position of the target bin, the position of the target bin may also be aligned by a visual identification method, and the warehousing robot may include a visual identification device, for example, a camera, and acquire image information of the target bin through the camera, align the target bin according to the image information, where the image information may be image frames in a recorded video, and determine the position of the target bin through changes of the image frames during the moving process of the warehousing robot.

In this application embodiment, the bin replacement instruction may further include empty bin storage position information, and the warehousing robot is further configured to travel to the empty bin storage position according to the bin replacement instruction, and instruct the carrying assembly to store the empty bin to the storage unit. The storage position of the empty bin may be a designated location where the empty bin is specially stored, the warehousing robot 10 may travel to the location, the handling assembly may grab the empty bin, and place the empty bin to the storage unit, in some embodiments, the storage unit may be multiple, in the process, the warehousing robot may grab one empty bin at a time at the storage location of the empty bin, place the empty bin to the corresponding storage unit, and grab the empty bin according to the number of target bins to be replaced as required, so as to improve the efficiency of replacing the bins.

In this embodiment, the bin storage unit of the warehousing robot 10 may be used to place a second bin, or may be used to place a first bin, and when placing a first bin, the first bin storage unit may be called as a first bin storage unit, and the first bin storage unit needs to be in an empty state before the warehousing robot 10 replaces the first bin, so that the warehousing robot 10 instructs the handling assembly to carry the first bin to the first bin storage unit.

In an embodiment of the present application, the target bin information may include a sorting cell where the target bin is located, and the sorting cell is in a locked state, and the warehousing robot 10 is specifically configured to: and according to the bin replacement instruction, the bin is moved to the sorting grid where the target bin is located, the carrying assembly is instructed to carry the target bin to a storage unit, and the empty bin is carried to the sorting grid. Wherein, when there are a plurality of target bins to be replaced, the warehousing robot 10 can go to the sorting cell of each target bin, complete the target bin replacement at the sorting cell, and then proceed to the next sorting cell.

In the embodiment of the present application, the warehousing robot 10 is further configured to: and after the empty bin is conveyed to the sorting grid, sending a sorting grid release instruction and/or a bin replacement completion instruction to release the sorting grid. Wherein, in the process of replacing the material box, the sorting grid is in a locked state. Wherein, before sending the change instruction, can lock the letter sorting bin that the target workbin that needs to be changed place, accomplish target workbin and change the back, can remove this letter sorting bin of locking, when letter sorting bin is in the locking state, no longer carry out the goods letter sorting to this letter sorting bin, at this moment, the letter sorting bin of this locking will not be as the destination of marcing of letter sorting robot, can not carry out the goods letter sorting to this letter sorting bin of locking promptly. When the first target material box is replaced by an empty material box, the locking state of the corresponding sorting grid can be released, and the goods can be sorted again by the unlocked sorting grid.

In this application embodiment, the bin change instruction further includes: the target bin delivery destination information, the warehousing robot further to: and according to the bin change instruction, conveying the target bin to the destination, wherein the destination can comprise a delivery temporary storage position or a delivery packing position of the target bin. The temporary delivery position or the loading position of the target material box and the target material box have a preset corresponding relation, so that the receiving address of the goods in the target material box can be determined according to the goods order information, and different receiving addresses correspond to corresponding delivery areas or delivery positions, so that the target material box with the goods can be delivered to a delivery area through the warehousing robot 10, the human input is further liberated, and the intelligent degree of the logistics of the goods is enhanced.

The intelligent sorting system that the embodiment of the application provided, including the storage robot, the storage robot is used for receiving first instruction of transporting, first instruction of transporting is including the first workbin and/or the goods information of transporting, and according to first instruction of transporting, will first workbin and/or goods transport to the preset position on predetermineeing the goods shelves, preset the position and be used for placing first workbin and/or goods, preset the position with the delivery destination of first workbin and/or goods corresponds, has realized utilizing the robot to carry out workbin and/or goods and has transported the operation, has promoted the efficiency of goods letter sorting.

Please refer to fig. 2, which is a flowchart illustrating an intelligent sorting method according to an embodiment of the present application. The method is applied to the warehousing robot and the processing terminal in the above embodiment of the intelligent sorting system, as shown in fig. 2, the method includes:

s201, sending a first conveying instruction, wherein the first conveying instruction comprises information of a conveyed first bin and/or goods, so that the warehousing robot conveys the first bin and/or goods to a preset position of a preset shelf according to the first conveying instruction, the preset position is used for placing the first bin and/or goods, and the preset position corresponds to a delivery destination of the first bin and/or goods.

In the embodiment of the present application, this step may be performed by a processing terminal.

The processing terminal is used for executing the following steps of:

In this embodiment of the application, the processing terminal may store, in advance, second identification information of each preset position, where the second identification information corresponds to a delivery destination of the goods, and information of the delivery destination may be derived from an order of the goods, and meanwhile, the first identification information of the first bin and/or the goods is also associated with the goods of the order, for example, a destination to which the goods stored in the first bin are to be sent corresponds to the preset position corresponding to the second identification information.

In this embodiment, the processing terminal may further perform the following steps:

sending the first sorting instruction to enable the warehousing robot to convey goods to be sorted and/or containers storing the goods to be sorted to a goods sorting area according to the first sorting instruction; and/or the presence of a gas in the gas,

and sending a bin replacement instruction so that the storage robot can replace the target bin with an empty bin according to the bin replacement instruction.

S203, receiving a first conveying instruction, wherein the first conveying instruction comprises information of a conveyed first bin and/or goods, and conveying the first bin and/or goods to a preset position on a preset shelf according to the first conveying instruction, wherein the preset position is used for placing the first bin and/or goods, and the preset position corresponds to a delivery destination of the first bin and/or goods.

In the present embodiment, this step may be performed by a warehousing robot, wherein,

the first bin and/or goods information comprises a storage position of the first bin and/or goods, the warehousing robot comprises a storage unit and a handling assembly, and the warehousing robot is further used for executing the following steps:

In an embodiment of the present application, the warehousing robot may further perform the following steps:

receiving a bin replacement instruction, and replacing the target bin with an empty bin according to the bin replacement instruction.

It should be noted that, in the above various steps, the various steps executed by the same executing entity, for example, a warehousing robot or a processing terminal, may individually or in combination constitute different embodiments of the present application, and those skilled in the art can understand different protection scopes supported by different embodiments.

Because the embodiment of the intelligent sorting method and the intelligent sorting system are based on the same inventive concept, the corresponding content and the beneficial effects of the embodiment of the intelligent sorting system are also applicable to the embodiment of the intelligent sorting method, and detailed description is omitted here.

Fig. 3 is a schematic flow chart of an intelligent sorting method according to another embodiment of the present application. The method is applied to each device in the above-mentioned embodiment of the intelligent sorting system, for example, a warehousing robot, a sorting robot and a processing terminal, and the method of the intelligent sorting according to the embodiment of the present application may include instructing, by the processing terminal, the warehousing robot to perform transportation of goods to be sorted, for example, transporting a container storing the goods to be sorted to a goods sorting area, instructing, by the processing terminal, the sorting robot to transport sorted goods sorted from the goods to be sorted to a target bin, instructing, after the target bin is filled with the goods, the warehousing robot to replace the target bin filled with the goods with an empty bin, and, at the same time, instructing, by the processing terminal, the warehousing robot to transport the target bin to a preset shelf. As shown in fig. 3, the method includes:

and S301, sending a first sorting instruction.

In an embodiment of the present application, the step is performed by a processing terminal, and a first sorting instruction is sent to the warehousing robot, where the first sorting instruction is used to instruct the warehousing robot to transport a container storing goods to be sorted to the goods sorting console.

S302, receiving a first sorting command, and transporting a container storing goods to be sorted to a goods sorting console according to the first sorting command.

In the embodiment of the present application, this step is performed by a warehousing robot, which receives the first sorting command sent by the processing terminal, and conveys the containers storing the goods to be sorted to a goods sorting console, such as a supply console, according to the first sorting command, and sorts the sorted goods from the containers storing the goods to be sorted by the supply console.

Meanwhile, the warehousing robot can also execute the following steps: transporting containers storing goods to be sorted to a supply station according to the first sorting instruction, comprising:

the first warehousing robot carries the goods to be sorted from the fixed shelf to a goods supply operation table according to the first sorting instruction, and/or

The first warehousing robot carries the containers storing the goods to be sorted from the fixed shelves to the goods supply operation table according to the first sorting instruction, and/or

The second warehousing robot carries the movable shelf storing the goods to be sorted to a goods supply operation table according to the first sorting instruction, and/or

And the second warehousing robot carries the movable goods shelf storing the goods containers to be sorted to the goods supply operation table according to the first sorting instruction.

Wherein the content of the first and second substances,

the container comprises a movable shelf, a container positioned on a fixed shelf and/or a container positioned on the movable shelf, and the storage robot comprises a first storage robot and/or a second storage robot.

The quantity of the goods to be sorted is determined according to the quantity of the goods required by the order, and the quantity of the goods to be sorted is not less than the quantity of the goods required by the order.

In this embodiment, after the sorting is completed, the warehousing robot may further perform the following steps:

the first warehousing robot receives a sorting completion instruction, and if goods to be sorted remain in the containers and/or the first warehousing robot after sorting is completed, the containers and/or the remaining goods to be sorted are conveyed to the original storage position and/or a new storage position; and/or the presence of a gas in the gas,

and the second warehousing robot receives a sorting completion instruction, and if goods to be sorted remain in the mobile goods shelf and/or the goods box on the mobile goods shelf after sorting is completed, the mobile goods shelf is conveyed to the original position and/or the new storage position of the mobile goods shelf, and/or the goods box of the mobile goods shelf is conveyed to the new storage position.

S303, sending a second sorting instruction.

In an embodiment of the application, this step is performed by the processing terminal sending a second sorting instruction to the sorting robot, the second sorting instruction being for instructing the sorting robot to transport the sorted goods to the target bin.

In this embodiment of the application, the processing terminal may count the quantity of various types of goods on the order to be sorted, so as to determine the quantity of various types of goods to be sorted. Before sending the first sorting instruction and the second sorting instruction, the processing terminal may determine the number of sorted goods directly according to the quantity information of the goods on the order or the capacity information of the sorting robot, wherein the sorted goods are taken out from the goods to be sorted; the processing terminal can determine a material supply operation table according to the container information of the goods to be sorted, different containers of the goods to be sorted can have different material supply operation tables, and the processing terminal can also determine the target bin according to the order destination; different orders have different delivery destinations, and therefore the target bins are also located at different sorting bays. The processing terminal may further send the second sorting instruction according to the sort goods type, the sort goods quantity and the target bin, and the second sorting instruction may include a sort goods delivery sub-instruction and a sort goods receiving sub-instruction.

In the embodiment of the application, after the goods of the order are sorted, the completion of the sorting task can be determined through the sorting completion instruction, and the sorting completion instruction can be sent by the warehousing robot, the operation terminal of the goods supply operation console and the processing terminal.

S304, receiving a second sorting instruction, and conveying the sorted goods to a target bin according to the second sorting instruction.

In an embodiment of the application, this step is performed by a sorting robot, which receives the second sorting command sent by the processing terminal and delivers the sorted goods to a target bin located at the sorting bay for receiving the sorted goods on the sorting robot according to the second sorting command.

Meanwhile, the sorting robot can also execute the following steps:

the goods arrive at the goods supply operation desk according to the second sorting instruction to receive the sorted goods,

the transporting the sorted goods to a target bin according to the second sorting instruction includes:

and conveying the sorted goods to the target bin from the supply operation platform.

Wherein the second sorting instruction comprises position information of a material supplying operation platform and position information of a target bin,

in an embodiment of the present application, the sorting robot may further perform the following steps:

and receiving the sorting goods receiving sub-instruction, and advancing to a material supply operation table according to the sorting goods receiving sub-instruction so as to receive the sorting goods.

Wherein the second sort instruction further includes a sort goods receiving sub-instruction.

and receiving the sorting goods conveying sub-instruction, and conveying the sorting goods to a target bin according to the sorting goods conveying sub-instruction.

Wherein the second sort instructions further include a sort goods delivery sub-instruction.

receiving sorted goods and judging whether the received sorted goods are matched with the sorted goods types and/or the goods quantity; and if the goods are matched, the sorted goods are conveyed to the target bin.

Wherein the second sort instructions further comprise: sort goods type and/or sort goods quantity.

S305, obtaining target bin replacement information.

In the embodiment of the present application, the target bin replacement information may include position information of the target bin, for example, a sorting cell of the target bin, so that the warehousing robot can find the replaced target bin according to the position information, and at the same time, the sorting cell of the target bin may be locked to stop sorting the goods of the target bin. The target bin information may further include target bin identification information, which may be used to confirm whether the target bin is consistent with the identification information on the target bin, and/or to align the location of the target bin according to the identification information. The target bin information may be actively reported to the processing terminal by the target bin, or may be obtained by the processing terminal from corresponding information configured in its operating system.

S306, sending a bin replacement instruction.

In this application, this step is executed by the processing terminal, can include target workbin change information in the workbin change instruction, and the workbin change instruction can be sent to the storage robot by the processing terminal, and the processing terminal can send when the workbin is full, overweight or letter sorting is accomplished the workbin change instruction, of course, also can send when any needs change workbin the workbin change instruction, wherein, whether the workbin is full or overweight circumstances such as can respond to through the sensor, sends the corresponding state of sensing signal instruction, for example, full signal or overweight signal to report to the processing terminal, after the processing terminal received corresponding signal, can trigger the workbin change instruction.

S307, receiving a bin replacement instruction, and replacing the target bin with an empty bin according to the bin replacement instruction.

In an embodiment of the present application, this step is performed by a warehousing robot that includes a bin storage unit and a handling assembly. The bin replacement command may include target bin information to be replaced, for example, when the target bin information includes a sorting cell where the target bin is located, the target bin may be moved to the sorting cell where the target bin is located according to the bin replacement command, the carrying assembly may be instructed to carry the target bin to the target bin storage unit, and the empty bin may be carried to the sorting cell. It should be noted that the target bin is a bin located at the sorting grid and needs to be replaced by an empty bin, which may be referred to as a replacement target bin.

And S308, acquiring the target bin conveying information.

In the embodiment of the present application, the step is performed by the processing terminal, the target bin shipping information may include a shipped target bin identifier for identifying the target bin to be shipped, and the target bin shipping information may further include a destination of the target bin shipment, such as a specific location of a preset shelf. It should be noted that the target bin may be the first bin in the above method embodiment, for example, a bin which is full and needs to be transported to a preset shelf corresponding to the delivery destination of the goods, and may be referred to as a transport target bin, and in some embodiments, the transport target bin may be a replacement target bin, that is, a target bin whose sorting grid is full is replaced with an empty bin, and a replacement target bin which is replaced is transported to a preset shelf, so as to transport the sorted goods to the delivery destination of the goods.

S309, sending a bin conveying instruction.

In this embodiment, the step is performed by the processing terminal, and the bin transport instruction includes transport information of the target bin, so that the warehousing robot can transport the target bin to the temporary storage shelf according to the bin transport instruction, which may be the first transport instruction in the above method embodiment, and the first transport instruction is used for transporting the target bin.

S310, receiving a bin conveying instruction, and conveying the target bin to a preset position on a preset shelf according to the bin conveying instruction.

In this embodiment, this step is performed by a warehousing robot, which may include a carrying assembly and a storage unit, and the warehousing robot may carry the target bin from the storage location of the target bin through the carrying device according to the bin conveying instruction or directly place the target bin to the storage unit of the warehousing robot through a manual operation or a transportation device, and then convey the carried target bin to a preset shelf, where the preset shelf includes a preset location where the target bin is placed, and the preset location corresponds to the delivery destination of the target bin.

It should be noted that, in the above various steps, the steps executed by the same executing entity, for example, a warehousing robot, a sorting robot or a processing terminal, may individually or in combination constitute different embodiments of the present application, and those skilled in the art can understand different protection scopes supported by the different embodiments. Meanwhile, because the embodiment of the intelligent sorting method and the intelligent sorting system are based on the same inventive concept, the corresponding content and the beneficial effects of the embodiment of the intelligent sorting system are also applicable to the embodiment of the intelligent sorting method, and detailed description is omitted here.

Fig. 4 is a schematic diagram of a warehousing robot provided in the embodiment of the present application, where the warehousing robot 10 may be a robot with processing capability and can execute the method for intelligently sorting goods provided in the corresponding method embodiment.

Specifically, referring to fig. 4, the warehousing robot 10 includes:

one or more processors 101 and a memory 102 communicatively coupled to the at least one processor 101, as illustrated in FIG. 4 for one processor 101.

The processor 101 and the memory 102 may be connected by a bus or other means, such as the bus connection in fig. 3.

The memory 102, as a non-transitory computer readable storage medium, may be used to store a non-transitory software program, a non-transitory computer executable program, which may perform the respective steps of the intelligent sorting method (e.g., S203 shown in fig. 2, S302, S307, and S310 shown in fig. 3). The processor 101 executes the intelligent sorting method, i.e. implements the intelligent sorting method described above in relation to the corresponding method embodiment, by running a non-transitory software program or instructions stored in the memory 102.

The memory 102 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created by performing the above-described intelligent sorting method, and the like. Further, the memory 102 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 102 may optionally include memory remotely located from the processor 101, which may be connected to the warehousing robot 10 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The one or more modules are stored in the memory 102, and when executed by the one or more processors 101, perform the intelligent sorting method in the corresponding method embodiment described above, e.g., perform S203 shown in fig. 2, S302, S307, and S310 shown in fig. 3 described above.

The warehousing robot may execute the intelligent sorting method in the corresponding method embodiment, and has corresponding equipment and beneficial effects of the execution method, and reference may be made to the description in the corresponding intelligent sorting system embodiment for technical details that are not described in detail in the intelligent sorting method embodiment.

Fig. 5 is a schematic structural diagram of a processing terminal provided in an embodiment of the present application, where the processing terminal 30 may be any type of electronic device, such as: the intelligent sorting method provided by the corresponding method embodiment can be executed by a background server, a computer device with processing capability, a terminal device with a computing function or a scheduling function, and the like.

Specifically, referring to fig. 5, the processing terminal 30 includes:

one or more processors 301 and a memory 302 communicatively coupled to the at least one processor 301, as illustrated in fig. 5 for one processor 301.

The processor 301 and the memory 302 may be connected by a bus or other means, such as the bus connection in fig. 5.

The memory 302, as a non-transitory computer readable storage medium, may be used to store a non-transitory software program, a non-transitory computer executable program, which may perform the respective steps of the intelligent goods sorting method (e.g., S201 shown in fig. 2, S301, S303, S305, S306, S308, S309 shown in fig. 3). The processor 301 executes the intelligent sorting method, i.e. implements the intelligent sorting method described above in relation to the corresponding method embodiment, by running a non-transitory software program or instructions stored in the memory 302.

The memory 302 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created by performing the above-described intelligent sorting of the goods, and the like. Further, the memory 302 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 302 may optionally include memory located remotely from processor 301, which may be connected to processing terminal 30 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The one or more modules are stored in the memory 302 and when executed by the one or more processors 301, perform the intelligent cargo sorting method in the corresponding method embodiments described above, e.g., performing S201 shown in fig. 2, S301, S303, S305, S306, S308, S309 shown in fig. 3 and described above.

The processing terminal may execute the intelligent sorting method in the corresponding method embodiment, and has corresponding equipment and beneficial effects of the execution method, and reference may be made to the description in the corresponding intelligent sorting system embodiment for technical details that are not described in detail in the intelligent sorting method embodiment.

The embodiment of the application also provides a non-transitory computer-readable storage medium, which stores computer-executable instructions for causing a computer to execute the intelligent sorting method in the above method embodiment. For example, execution of the computer-executable instructions by one or more processors, such as by one processor 101 in fig. 4, one processor 301 in fig. 5, may cause the one or more processors to perform the intelligent sorting method in the corresponding method embodiment described above, e.g., performing the functions of method steps S201, S203 in fig. 2, S301-S310 in fig. 3, etc., described above, may cause the one or more processors to perform the intelligent sorting method in the corresponding method embodiment described above.

Embodiments of the present application also provide a computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, which, when executed by a computer, cause the computer to perform the intelligent goods sorting method in the above-mentioned method embodiments. For example, the above described functions of method steps S201, S203 in fig. 2, S301-S310 in fig. 4, etc. are performed.

The above-described embodiments of the apparatus or device are merely illustrative, wherein the unit modules described as separate parts may or may not be physically separate, and the parts displayed as module units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network module units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. Based on such understanding, the above technical solutions substantially or contributing to the related art may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes several instructions for enabling a computer device (which may be a robot, a personal computer, a processing terminal, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; within the context of the present application, where technical features in the above embodiments or in different embodiments can also be combined, the steps can be implemented in any order and there are many other variations of the different aspects of the present application as described above, which are not provided in detail for the sake of brevity; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An intelligent sortation system, said system comprising: the warehousing robot is used for receiving a first conveying instruction, the first conveying instruction comprises conveyed first bin information and/or conveyed goods information, and conveying the first bin and/or the conveyed goods to a preset position on a preset shelf according to the first conveying instruction, the preset position is used for placing the first bin and/or the conveyed goods, and the preset position corresponds to a delivery destination of the first bin and/or the conveyed goods;

the warehousing robot is further configured to: locking the sorting grid opening where the target material box to be replaced is located, and moving to the sorting grid opening where the target material box is located according to the material box replacement instruction; after the empty bin is conveyed to the sorting cell, sending a sorting cell releasing instruction and/or a bin replacing completion instruction to release the sorting cell, wherein the sorting cell is in a locking state in the bin replacing process;

the workbin is changed the instruction and is deposited position information including empty workbin, the storage robot still is used for: according to the bin replacement command, the empty bin storage position is reached, and a carrying assembly is instructed to store the empty bin to a storage unit; the storage robot grabs one empty bin at a storage place of the empty bins, places the corresponding storage unit, and grabs the empty bins according to the number of target bins to be replaced;

the bin change instruction further comprises: the target bin delivery destination information, the warehousing robot further to: according to the bin replacement instruction, the target bin is conveyed to the destination, wherein the destination comprises a delivery temporary storage position or a delivery boxing position of the target bin, a preset corresponding relation exists between the delivery temporary storage position or the delivery boxing position of the target bin and the target bin, a receiving address of goods in the target bin is determined according to goods order information, and different receiving addresses correspond to corresponding delivery areas or delivery positions;

the first bin information and/or the goods information comprise first identification information of a first bin and/or goods, each preset position on the preset shelf comprises second identification information, and the first identification information corresponds to the second identification information; the preset position comprises a plurality of storage units, a plurality of first identification information correspond to one second identification information, and the number of the first identification information is consistent with that of the storage units at the preset position, so that each first bin and/or goods is guaranteed to have the corresponding storage unit.

2. The system of claim 1, further comprising:

3. The system of claim 2, further comprising:

4. The system of claim 1, wherein the preset racking is a fluent racking, the fluent racking comprising a plurality of levels, each level comprising a plurality of preset positions, each preset position for receiving the first bin and/or product corresponding thereto.

5. The system of any one of claims 1-4, wherein the warehousing robot is further configured to:

6. The system of claim 5, wherein the bin change instructions further include second bin storage location information,

7. The system of claim 5, wherein the first bin information includes a sorting bin in which the first bin is located, the bin storage unit further includes a first bin storage unit,

8. The system of claim 7, further comprising:

9. The system of claim 8, wherein the warehousing robot is further configured to:

10. The system of claim 9, further comprising:

11. The system of claim 10, wherein the processing terminal is further configured to:

12. The system of claim 11, wherein the processing terminal is further configured to:

13. An intelligent sorting method is applied to a warehousing robot, and comprises the following steps:

according to the first conveying instruction, conveying the first bin and/or goods to a preset position on a preset shelf, wherein the preset position is used for placing the first bin and/or goods, and the preset position corresponds to a delivery destination of the first bin and/or goods;

locking the sorting grid opening where the target material box to be replaced is located, and moving to the sorting grid opening where the target material box is located according to the material box replacement instruction; after the empty bin is conveyed to the sorting cell, sending a sorting cell releasing instruction and/or a bin replacing completion instruction to release the sorting cell, wherein the sorting cell is in a locking state in the bin replacing process;

the bin replacement instruction comprises information of the storage position of an empty bin; according to the bin replacement command, the empty bin storage position is reached, and a carrying assembly is instructed to store the empty bin to a storage unit; the storage robot grabs one empty bin at a storage place of the empty bins, places the corresponding storage unit, and grabs the empty bins according to the number of target bins to be replaced;

14. The method of claim 13, wherein the first bin information and/or cargo information includes a storage location for the first bin and/or cargo, the warehousing robot includes a storage unit and a handling assembly, the method further comprising:

15. The method according to claim 13 or 14, characterized in that the method further comprises:

16. An intelligent sorting method is applied to a processing terminal, and comprises the following steps:

sending a first conveying instruction, wherein the first conveying instruction comprises conveyed first bin information and/or conveyed goods information, so that a warehousing robot conveys the first bin and/or the conveyed goods to a preset position of a preset shelf according to the first conveying instruction, the preset position is used for placing the first bin and/or the conveyed goods, and the preset position corresponds to a delivery destination of the first bin and/or the conveyed goods;

before a bin replacement instruction is sent, sending a locking instruction for locking a sorting cell where a target bin to be replaced is located, so that the warehousing robot moves to the sorting cell where the target bin is located according to the bin replacement instruction, and receiving a sorting cell release instruction and/or a bin replacement completion instruction after an empty bin is conveyed to the sorting cell, wherein the sorting cell is in a locking state in the bin replacement process;

the bin replacement instruction includes empty bin storage location information for the warehousing robot is also used for: according to the bin replacement command, the empty bin storage position is reached, and a carrying assembly is instructed to store the empty bin to a storage unit; the storage robot grabs one empty bin at a storage place of the empty bins, places the corresponding storage unit, and grabs the empty bins according to the number of target bins to be replaced;

17. The method of claim 16, further comprising:

sending a first sorting instruction so that the warehousing robot conveys goods to be sorted and/or containers storing the goods to be sorted to a goods sorting area according to the first sorting instruction.

18. The method of claim 17, further comprising:

sending a second sorting instruction to enable the sorting robot to convey the sorted goods to the target bin according to the second sorting instruction, wherein the sorted goods are taken out from the goods to be sorted and/or the containers storing the goods to be sorted; and/or the presence of a gas in the gas,

19. A warehousing robot, comprising:

at least one processor; and the number of the first and second groups,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the intelligent sorting method of any of claims 13-15.

20. A processing terminal, comprising:

at least one processor; and the number of the first and second groups,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the intelligent sorting method of any of claims 16-18.