CN113335808B

CN113335808B - Robot control method, control terminal and automatic goods sorting system

Info

Publication number: CN113335808B
Application number: CN202110461231.2A
Authority: CN
Inventors: 杨穗梅
Original assignee: Hai Robotics Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2021-04-27
Filing date: 2021-04-27
Publication date: 2023-03-21
Anticipated expiration: 2041-04-27
Also published as: CN113335808A

Abstract

The embodiment of the invention relates to the technical field of warehousing management, in particular to a robot control method, a control terminal and an automatic goods sorting system. The method comprises the following steps: determining an operation area where a robot is currently located, wherein the robot comprises a first robot and a second robot with a smaller size, and the operation area comprises an independent operation area and a mixed operation area; controlling the first robot in a first control mode when the first robot is in the independent operation area and the hybrid operation area; and when the second robot is in the independent operation area, controlling the second robot in a second control mode, and when the second robot is in the mixed operation area, controlling the second robot in a first control mode so as to ensure that the second robot keeps a safe distance with the first robot. When the robots of different models are in a mixed operation area, the control mode of the robots is adjusted, so that the mixed control of the robots is realized at low cost.

Description

Robot control method, control terminal and automatic goods sorting system

[ technical field ] A method for producing a semiconductor device

The invention relates to the technical field of warehousing management, in particular to a robot control method, a control terminal and an automatic goods sorting system.

[ background of the invention ]

With the increasing enhancement and development of social business trade, the importance and concern of logistics and warehousing management is also increasing. How to provide fast and efficient logistics and warehouse management services is a current hot issue.

By means of the development of electronic information technology, for example, industrial robots and other automation industries, when warehouse management is performed on a plurality of existing goods warehouses, a mode that robots, conveying lines or other automation equipment are matched with one another is adopted, so that efficient goods or warehouse management is achieved.

To meet the use requirements of cargo diversity, automated sorting systems typically require the provision of a variety of different models of robots. For an automatic sorting system comprising a plurality of robots with different models, the method of directly using hybrid control usually requires very large calculation overhead, and causes great limitation to practical application.

Therefore, the control logic is simplified by adopting the independent control modes of various types of robots. However, such an independent control method has many disadvantages, and cannot well meet the requirements of actual use.

[ summary of the invention ]

In order to solve the technical problem, embodiments of the present invention provide a robot control method, a control terminal, and an automatic cargo sorting system thereof, which can implement hybrid control of multiple types of robots with low computation overhead.

In order to solve the above technical problems, embodiments of the present invention provide the following technical solutions: a robot control method. The robot control method includes:

determining an operation area where a robot is currently located, wherein the robot comprises a first robot and a second robot, and the operation area comprises an independent operation area and a mixed operation area;

controlling the first robot in a first control mode while the first robot is in the independent operation area and the hybrid operation area;

controlling the second robot in a second control mode when the second robot is in the independent operation area, the second robot being smaller in size than the first robot;

and when the second robot is in the mixed operation area, controlling the second robot in the first control mode so as to keep a safe distance between the second robot and the first robot.

Optionally, the controlling the first robot in the first control mode specifically includes: controlling a distance between adjacent robots to be kept within a first threshold range;

the controlling the second robot in the second control mode specifically includes: controlling the distance between adjacent robots to be kept within a second threshold range.

Optionally, the operation area is composed of a first independent operation area in which the first robot operates independently, a second independent operation area in which the second robot operates independently, and a hybrid operation area in which the first robot and the second robot operate in hybrid.

Optionally, the determining the current operation area of the robot specifically includes:

acquiring the current position coordinate of the second robot;

judging whether the second robot is in the second independent operation area or not according to the position coordinate of the second robot;

and if not, determining that the second robot is in the mixed operation area.

In order to solve the above technical problems, embodiments of the present invention further provide the following technical solutions: a control terminal. Wherein, this control terminal includes: a processor and a memory communicatively coupled to the processor;

the memory has stored therein computer program instructions which, when invoked by the processor, cause the processor to perform the robot control method as described above.

In order to solve the above technical problem, the embodiments of the present invention further provide the following technical solutions: an automatic cargo sorting system. This goods automatic sorting system includes:

a cargo storage area divided into a first independent operation area, a second independent operation area and a mixed operation area; the goods storage area stores goods with at least two different sizes;

a plurality of first robots operating in the first independent operating area and the hybrid operating area; the first robot is used for carrying large-size goods;

a plurality of second robots operating in the second independent operating area and the mixed operating area; the second robot is used for carrying small-size cargoes;

the conveying line structure is connected with the mixed operation area and consists of a plurality of conveying lines;

the control terminal as described above; the control terminal is used for respectively controlling the first robot and the second robot to carry the large-size goods and the small-size goods between the conveying line structure and the goods storage area.

Optionally, the goods storage area comprises a plurality of large-size goods shelves for storing large-size goods and small-size goods shelves for storing small-size goods;

a tunnel formed between the adjacent large racks is the first independent operation area, and a tunnel formed between the adjacent small racks is the second independent operation area;

and a common passage communicating the first independent operation area, the second independent operation area and the transmission line structure is the mixed operation area.

Optionally, the first robot moves the large-sized cargo between the conveyor line structure and the large racks through the hybrid operation area and the first independent operation area;

the second robot moves the small-sized goods between the conveyor line structure and the small-sized shelf through the hybrid operation area and the second independent operation area.

Optionally, the first robot has a corresponding first projected area, and the first projected area is a projected area of the first robot on the ground; the second robot is provided with a corresponding second projection area, and the second projection area is the projection area of the second robot on the ground; the first projected area is larger than the second projected area.

Optionally, the conveyor line structure includes:

a first conveyor line having a first width, the first conveyor line comprising: the goods placing stations and the large-size goods taking stations are respectively arranged at two ends of the first conveying line;

a second conveyor line having a second width, the second conveyor line comprising: the goods placing station and the small-size goods taking station are respectively arranged at two ends of the second conveying line;

a third conveyor line having a first width, the third conveyor line comprising: the goods placing station and the goods taking station are respectively arranged at two ends of the third conveying line;

the pick-up station of the third conveyor line comprises: a large-size goods taking station and a small-size goods taking station; the small-size goods taking station is arranged close to the side edge of the third conveying line and is overlapped with at least one part of the large-size goods taking station;

the goods positioning mechanism is arranged on the third conveying line and used for driving small-size goods matched with the second width to move to the small-size goods taking station.

Optionally, the cargo positioning mechanism comprises: a goods pushing device and an in-place detection device;

the in-place detection device is arranged on the third conveying line and used for triggering an in-place signal when goods enter a goods taking station of the third conveying line;

the goods pushing device is arranged on the side edge of the third conveying line, which is away from the small-size goods taking work site;

the goods pushing device is in communication connection with the in-place detection device and used for pushing the small-size goods to the small-size goods taking station when the in-place signal is triggered.

Optionally, the cargo pushing device comprises:

the gas nozzles are formed in the side edge, away from the small-size goods taking place, of the third conveying line;

and the high-pressure gas source is connected with the gas nozzle and is used for providing gas with preset gas pressure.

Optionally, the cargo pushing device comprises:

a drive motor having a power output shaft that outputs a rotational torque;

the transmission mechanism comprises at least one transmission rod, is connected with the power output shaft and is used for converting the rotary motion of the power output shaft into the reciprocating motion of the transmission rod;

and the pushing plate is driven by the transmission rod to reciprocate along the horizontal plane direction of the third conveying line.

Optionally, the in-place detection device includes:

the infrared emission unit is arranged on the side edge of the area where the goods taking station of the third conveying line is located;

and the infrared receiving unit is arranged on the opposite side of the infrared transmitting unit and triggers the in-place signal when being shielded.

Optionally, the in-place detection device includes: and the pressure sensors are distributed at the goods taking station of the third conveying line.

Optionally, the first conveyor line, the second conveyor line and the third conveyor line are all roller conveyor lines.

Optionally, the automatic cargo sorting system further comprises:

a plurality of third robots for transporting the large size goods and the small size goods between a goods sorting area and the goods conveyor line.

Optionally, the third robot comprises:

the robot comprises a robot body, wherein a moving mechanism for driving the robot to move is arranged on the robot body;

the loading mechanism is positioned at the top end of the robot body and is used for loading the large-size goods or the small-size goods;

and the lifting mechanism is arranged between the loading mechanism and the robot body and is used for adjusting the height of the loading mechanism.

Optionally, the first conveyor line of the cargo conveyor line structure comprises: the sunken part is arranged at the tail end of the first conveying line, has a size matched with the loading mechanism and forms the large-size goods taking station;

the second conveyor line of the cargo conveyor line structure includes: the sunken part is arranged at the tail end of the second conveying line, has a size matched with the cargo-carrying mechanism and forms the small-size cargo taking station;

the third conveyor line of the cargo conveyor line structure includes: and the sunken part is arranged at the tail end of the third conveying line, has a size matched with the loading mechanism and forms the goods placing station.

Optionally, the put-in station of the first conveyor line is arranged at the head of the first conveyor line; the goods placing station of the second conveying line is arranged at the head part of the second conveying line; and the goods taking station of the third conveying line is arranged at the head part of the third conveying line.

Optionally, the first robot is used for placing the large-size goods taken out of the goods storage area at the goods placing station of the first conveying line, and taking out the large-size goods at the large-size goods taking station of the third conveying line and recycling the large-size goods to the goods storage area;

and the second robot places the small-size goods taken out of the goods storage area at the goods placing station of the second conveying line, takes out the small-size goods at the small-size goods taking station of the third conveying line and recovers the small-size goods to the goods storage area.

According to the robot control method provided by the embodiment of the invention, when the robots of different models are in a mixed operation area, the control mode of the robots is adjusted, so that the mixed control of multiple robots is realized at low cost.

[ description of the 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 view of an application scenario of a cargo sorting system according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a third robot according to an embodiment of the present invention;

fig. 3 is a schematic diagram of an application process of a third robot provided in the embodiment of the present invention;

FIG. 4 is a flowchart of a method of controlling a robot according to an embodiment of the present invention;

fig. 5 is a flowchart of a method of controlling a robot according to another embodiment of the present invention;

fig. 6 is a functional block diagram of a robot control apparatus according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a processing terminal according to an embodiment of the present invention;

FIG. 8 is a schematic structural diagram of a transmission line structure according to an embodiment of the present invention;

FIG. 9 is a schematic structural diagram of a cargo positioning mechanism according to an embodiment of the present invention;

fig. 10 is a schematic structural view of a cargo pushing device according to an embodiment of the present invention;

fig. 11 is a schematic view illustrating an application process of the transmission line structure according to the embodiment of the present invention.

[ detailed description ] A

In order to facilitate an understanding of the invention, the invention is described in more detail below with reference to the accompanying drawings and specific examples. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. As used in this specification, the terms "upper," "lower," "inner," "outer," "bottom," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention and simplicity in description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

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 invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.

Sorting of goods refers to the process of retrieving goods corresponding to an order from a warehouse or other type of goods storage area and forming an order package in the sorting area. The goods sorting system is an integrated system which relies on automatic equipment such as robots and conveying lines and realizes automatic transportation of goods between a storage area and a sorting area.

Fig. 1 is an application scenario of a cargo sorting system according to an embodiment of the present invention. As shown in fig. 1, the application scenario can be roughly divided into three different areas, namely, a cargo storage area 10, a conveyor line structure 20 and a cargo sorting area 30.

The cargo storage area 10 is an area for storing cargo. In the goods storage area, the goods may in particular be stored or stored in any suitable form. For convenience of description, the square container and the storage rack are described in the application scenario as an example, but those skilled in the art can apply the storage rack to other storage racks, and the storage rack is not limited to the storage rack and the storage rack.

Generally, the types of goods stored in the goods storage area 10 are various and have sizes or shapes different from each other. In some embodiments, to accommodate different sizes and shapes of cargo, a plurality of large pallets 11 and small pallets 12 may be provided in the cargo storage area 10 to accommodate the storage of large and small cargo containers, respectively.

Each goods shelf is provided with a plurality of containers which are the same or different according to a specific storage rule. Each container holds a plurality of identical items. Which marks the goods specifically stored by the container by means of a feature on the exterior of the container, such as a two-dimensional code or a bar code or similar identification.

With continued reference to fig. 1, the shelves in the cargo storage area 10 are spaced to form a plurality of lanes or similar travel paths having a width such that a robot or the like may move to a particular location to retrieve or place a cargo container.

The lane formed by the interval between two adjacent large-sized shelves 11 belongs to a first independent operation area A1, and the lane formed by the interval between two adjacent small-sized shelves 12 belongs to a second independent operation area A2. Between the roadways, there is also a common channel connecting or communicating the individual roadways, which common channel is connected to the conveyor line structure 20 and belongs to the mixed operating area A3.

The goods sorting area 30 is another outside area different from the goods storage area 10, named according to its function. Generally, one or more goods sorting operations of taking goods out of the goods box, sorting and packaging the goods or forming an order package corresponding to the order can be performed in the goods sorting area 30, which is determined by a technician according to the needs of the actual situation (such as picking efficiency or factory space). The above sorting work of one or more goods can be realized by any type of operation mode, such as an automatic mode, a semi-automatic mode and even a full-worker operation mode.

The conveyor line structure 20 is a device that establishes a container transport path between the cargo storage area 10 and the cargo sorting area 30. In the present application, the conveyor line structure 20 includes two oppositely directed conveying paths for outgoing and incoming containers.

Specifically, the first conveying path a for outputting the containers is: the containers removed from the cargo storage area 10 may be transported by the conveyor line structure 20 to the cargo sorting area 30 where one or more cargo sorting operations, such as removal of the cargo, may be performed at the cargo sorting area 30. The second input path B for inputting the containers is as follows: after a particular number of items are removed from the item sorting area 30, the containers need to be transported back to the item storage area 10 for storage by the conveyor line structure 20.

With continued reference to fig. 1, in the application scenario, the automatic cargo sorting system may utilize three different robots (41,42,43) and the processing terminal 50 to achieve automatic cargo box handling.

Among them, the first robot 41 and the second robot 42 are automatic load handling apparatuses (such as AGV carts, etc.) deployed in the load storage area 10. The cargo container handling system includes one or more functional components such as a traveling mechanism and a cargo storage mechanism, and is capable of moving and transporting a cargo container between the conveyor line structure 20 and the racks in the cargo storage area 10 under the control of the processing terminal 50.

It should be noted that the "first" and the "second" in the present embodiment are only used to distinguish the container size corresponding to the robot, and are not used to specifically limit the robot. In this embodiment, two different sizes of containers are placed in the cargo storage area 10, corresponding to different types and sizes of cargo. The first robot 41 is designed to handle large-sized cargo containers (hereinafter, referred to as large-sized cargo containers) and the second robot 42 is designed to handle small-sized cargo containers (hereinafter, referred to as small-sized cargo containers).

In the actual operation process, the first robot 41 operates only in the first independent operation area A1 and the mixed operation area A3, and is responsible for the carrying work of the large-sized cargo box. The second robot 42 operates only in the second independent operation area A2 and the mixed operation area A3, and is responsible for the handling work of the small-sized cargo box.

Specifically, the first robot 41 and the second robot 42 may have a similar structure (e.g., have a specific number of loads, and can transport a plurality of containers at a time between the racks and the conveyor line structure), and have only a size difference, so as to match the transportation requirements of a large-sized container or a small-sized container.

The size difference between the first robot 41 and the second robot 42 can be represented or explained by a projected area on the ground. The first projection area corresponding to the first robot 41 is larger than the second projection area corresponding to the second robot 42. The "projected area" refers to the area occupied by the projection onto the ground at an angle directly above the robot (i.e., vertical projection). The projected area represents the space occupied by the robot in the horizontal direction, and is closely related to parameters such as the spacing required to be kept between adjacent robots and the like for avoiding collision. For example, a larger projected area requires a larger distance between the center points of adjacent robots.

The third robot 43 is an automated cargo handling apparatus deployed in the cargo sorting area 30. Which, like the first robot 41 or the second robot 42, can move and handle containers between the conveyor line structure 20 and the goods sorting area 30 under the control of the processing terminal 50.

Specifically, the third robot 43 may have the same or similar structure as the first robot 41 and the second robot 42, or may have a structure independently designed and different from the first robot 41 and the second robot 42 according to the characteristics of the goods sorting area 30.

Fig. 2 is a schematic structural diagram of a third robot according to an embodiment of the present invention. The third robot 43 is used in a top-loading manner to transport large-sized containers or small-sized containers between the conveyor line and the goods sorting area 30. As shown in fig. 2, the third robot 43 may include: a robot body 431, a loading mechanism 432, and a lifting mechanism 433.

The robot body 341 is a main structure of the third robot 43, and may be any suitable shape or size. A traveling mechanism 434 (such as wheels, rollers, or tracks) for driving the robot to move may be provided at the bottom thereof, so as to realize the movement of the robot 43 in various directions.

The cargo carrying mechanism 342 is a load bearing structure for carrying cargo containers, which may be a pallet or similar load bearing structure, having an area sized to be supported on the bottom surface of a cargo container for compatible carrying of various cargo containers of different sizes.

The lifting mechanism 433 is a lifting mechanism provided between the cargo mechanism 432 and the robot body 431, and can be raised or lowered to adjust the height of the cargo mechanism 432, thereby achieving the functions of taking out and placing the containers on the conveying line. Specifically, the lifting mechanism 433 can be implemented by using a hydraulic, pneumatic or electric lifting device according to the actual requirement.

In some embodiments, the conveyor line used in the conveyor line structure may be provided with a recess at the pick-up station or the put-off station that is compatible with the third robot shown in fig. 2. As shown in fig. 3, the depressed portion K is provided at one end of the conveyor line, and forms a structure similar to a "concave" shape at the end of the conveyor line, having a size adapted to the loading mechanism 342 of the third robot.

With continued reference to fig. 2 and 3, the third robot 43 may perform a put process including: first, the container is held by the loading mechanism 432 of the third robot 43, and the third robot 43 moves to the position of the dent of the transfer line. Then, the lifting mechanism 433 lowers the height of the cargo mechanism 432 below the height of the conveyor line. At this point, the container is disengaged from the loading mechanism 433 and brought into contact with the conveyor line into the put-away station. Finally, the third robot 43 leaves the conveyor line and the containers are transferred by the conveyor line from the put-in station.

In contrast to the operation steps of the put process, the pick process of the third robot 43 includes: firstly, a container on the conveying line is positioned at a goods taking station where the concave part is positioned. The third robot 43 first moves to the position of the dent of the conveyor line. The lifting mechanism 433 then lifts the cargo-carrying mechanism 432 to a height above the conveyor line. At this point, the container is held by the cargo mechanism 432 and is disengaged from the conveyor line. Finally, the third robot 43 leaves the pick-up station of the conveyor line.

As can be seen from the third robot and conveyor line structure shown in fig. 2 and 3, the third robot in this application scenario can only transport one container at a time. However, it is compatible with containers of different sizes at the same time. That is, the size of the containers does not need to be identified or identified when the containers of the conveyor line structure 20 are transferred to the goods sorting area 30 or the containers of the goods sorting area 30 are returned to the conveyor line structure 20.

It should be noted that, based on the specific examples of the third robot and the conveying line provided in fig. 2 and 3, the structure of the robot or the conveying line may be adjusted, modified or replaced according to actual situations, such as adding an in-position sensor that ensures that the third robot can be aligned with the recess. All such modifications, adaptations, or alternatives are intended to be within the scope of this disclosure.

In some embodiments, the robot (41,42,43) may be a robot that is powered. Accordingly, a charging area for charging the robot (41,42,43) can be further provided, the robot (41,42,43) starts from the charging area to work, and can return to the charging area for charging when the electric quantity is insufficient.

Of course, those skilled in the art can also choose to place more containers of different sizes in the cargo storage area 10 and correspondingly deploy more robots, as the actual situation requires, and is not limited to the two types of large-sized containers and small-sized containers shown in fig. 1.

The processing terminal 50 is a control core of the entire article sorting system. It may be embodied in any type of electronic computing platform or server device having storage space and computing power to meet the needs of the actual situation to provide one or more application services or functions. The present invention is not limited to a specific implementation of the processing terminal 50.

The first robot, the second robot, and the third robot (41,42,43) are all connected to the processing terminal 50 in a communication manner. The processing terminal 50 performs operations such as path planning of the robot based on information such as the position and function index of the robot (41,42,43) and controls the robot to carry the large-size cargo box and the small-size cargo box. The functional indexes include, but are not limited to, the cargo capacity (i.e., the maximum number of containers that can be loaded at a time), the size of the robot, the driving range, the guiding manner, the container pick-and-place speed, and the operation speed.

In some embodiments, the number of the first robots 41 and the second robots 42 deployed in the cargo storage area 10 may be larger to satisfy higher handling efficiency. In this way, the processing terminal 50 needs to orderly control the first robot 41 and the second robot 42 to ensure that the robots do not collide with each other, block the robots, or the like, which may reduce the transportation efficiency.

Here, in the first and second independent operation areas A1 and A2, since there is only one type of robot (i.e., the first and second robots). The processing terminal 50 may design a corresponding control mode according to respective characteristics of the first robot 41 and the second robot 42 to ensure that the first robot 41 can operate in the first independent operation area A1 and the second robot 42 can operate in the second independent operation area A2 sequentially, thereby efficiently completing the cargo handling work.

In the mixed operation area A3, two different types of robots, namely, the first robot 41 and the second robot 42, exist at the same time, and the processing terminal 50 needs to bear huge calculation overhead or use complex control logic to realize the ordered control and path planning of the two robots.

Conventionally, the processing terminal 50 would process the first robot 41 and the second robot 42 separately to run in separate paths. That is, the mixing operation region A3 is also substantially two relatively independent operation regions rather than substantial mixing control.

In order to realize the real hybrid control, the robot control method provided by the embodiment of the present invention may be applied, and the second robot 42 with a smaller size is regarded as the first robot 41 in the hybrid operation area A3 to perform the control such as path planning and safe distance maintenance.

Accordingly, the processing terminal 50 may be considered to be a robot type in which only the first robot 41 needs to be controlled in the hybrid operation area A3, and only a small amount of computation performance is required, and the control logic to be implemented is also simple.

Fig. 4 is a flowchart of a method of controlling a robot according to an embodiment of the present invention. The robot control method can be executed by the processing terminal 50, and can achieve the ordered control of the first robot 41 and the second robot 42, and achieve the purpose of realizing the hybrid control on the premise of simple logic control. As shown in fig. 4, the robot control method includes:

100. and determining the current operation area of the robot.

Wherein the robot is an automatic walking device controlled by the processing terminal 50 for performing a specific cargo (such as a cargo box in the application scenario of fig. 1) handling function. Which may include a first robot and a second robot having different sizes in the application scenario shown in fig. 1. Of course, other robots of more different types can be included according to different practical application scenarios.

The "operation area" refers to an area where the robot travels or operates in carrying goods. I.e. the passable area. As shown in the application scenario of fig. 1, both independent operation regions and hybrid operation regions may be included. The "independent operation area" refers to an area where only one robot travels. The "hybrid operation area" is an area where there are a plurality of different robots to walk.

200. The first robot is controlled in a first control mode when the first robot is in the independent operation area and the hybrid operation area.

The "first control mode" refers to a sum of control logics or control references of the processing terminal 50 for the first robot in the moving operation process, such as one or more of a distance to be kept between the robots, a moving speed of the robots, a path planning manner, and an obstacle avoidance mechanism of the robots.

For example, in the first control mode, the processing terminal 50 needs to control the distance between the adjacent robots to be kept within the first threshold range. In the second control mode, the processing terminal 50 needs to control the distance between the adjacent robots to be kept within the second threshold range.

The "first threshold range" and the "second threshold range" may be ranges of values that are shifted up or down by a certain ratio (e.g., 5%) or a value (e.g., ± 10%) based on a specific value. The threshold range is an empirical value and can be set by the skilled person as required by the actual situation. For example, for a first robot with a larger size, the reference value of the first threshold range required for avoiding collision may be larger than the reference value of the second threshold range corresponding to the second robot.

300. And controlling the second robot in a second control mode when the second robot is in the independent operation area.

The "second control mode" is another control mode different from the first control mode, and is adapted to the second robot. The difference between the two robots is formed by the difference of a series of robot physical characteristics such as the size, the moving speed and the steering capacity of the first robot and the second robot.

Of course, when there are more models of robots, the processing terminal 50 may also have more different control modes, respectively corresponding to the robots. In other words, in the process terminal 50, each robot has its own corresponding control mode.

400. And when the second robot is in the mixed operation area, controlling the second robot in a first control mode so as to ensure that the second robot maintains a safe distance with the first robot.

As shown in the application scenario of fig. 1, the second robot may operate in the independent operation area A2 or the hybrid operation area A3. The processing terminal 50 may keep controlling the second robot using the first control mode while the second robot is in the hybrid operation area.

Therefore, while the processing terminal 50 realizes the hybrid control of the two robots, only one control mode (namely, the first control mode) is actually used, so that the logic of the hybrid control is effectively simplified, and the operation overhead is reduced.

The "safe distance" is the distance that needs to be maintained to ensure that the two robots maintain an orderly and stable state of operation (e.g., do not collide with each other). Since the first robot has a larger size than the second robot. Therefore, when the second robot is controlled in the first control mode corresponding to the first robot, on the premise that the requirement of the first robot is met, the second robot and the first robot can certainly keep orderly operation (i.e. have larger margin).

According to the robot control method provided by the embodiment of the invention, the first control mode is applied to the second robot control mode, so that the difficulty in realizing hybrid control is effectively reduced, enough margin can be ensured between the second robot and the first robot, and the robot control method can operate orderly in a hybrid operation area.

It should be noted that, based on the characteristics of the robot control method disclosed in the embodiment of the present invention (applying a robot control mode with a higher requirement or a larger size to a smaller robot to realize hybrid control of the smaller robot and a larger robot), a person skilled in the art may also adjust, change or alternatively apply the robot control method disclosed in the above embodiment to other application scenarios with similar characteristics according to the actual application scenarios. All such modifications, changes or substitutions are intended to be included within the scope of the present invention as defined by the appended claims

In some embodiments, when the application scenario shown in fig. 1 is adopted, the complete operation area is composed of a first independent operation area A1 in which the first robot operates independently, a second independent operation area A2 in which the second robot operates independently, and a mixed operation area A3 in which the first robot and the second robot operate in a mixed manner.

Correspondingly, the processing terminal 50 may determine the current operation area of the robot by using the position coordinates and execute the robot control method provided by the above embodiment. As shown in fig. 5, the method includes:

510. the position coordinates at which the second robot 42 is currently located are acquired.

The position coordinates may be any form of position data or position data established based on any reference system, and only need to be able to indicate the current position of each second robot 42.

520. It is determined whether the second robot is in the second independent operation area A2. If yes, go to step 530; if not, go to step 540.

The second independent operating area A2 is an area predetermined or defined according to an actual application scenario. As shown in fig. 1, the small racks are arranged at intervals to form lanes.

530. The second robot 42 is controlled in a second control mode.

In the second independent operation area A2, there is only one kind of the second robot 42. Thus, the processing terminal 50 can control the robot using the second control mode.

540. It is determined that the second robot 42 is in the hybrid operation region. Since the second robot 42 operates only in two regions, the second independent operation region and the mixed operation region. Therefore, when it is determined that the vehicle does not belong to the second independent operation region, it is determined that the vehicle belongs to the mixed operation region.

550. The second robot 42 is controlled in the first control mode.

In the hybrid operation area, the first robot and the second robot exist due to the hybrid. Accordingly, the processing terminal 50 can switch the control of the second robot using the first control mode. In brief, the second robot is controlled as the first robot from the viewpoint of the processing terminal 50. In this way, it is ensured that the first robot and the second robot can operate in order in the mixed operation area A3, and at the same time, the control logic is not too complex and a large amount of calculation is not consumed.

In the present embodiment, since the first robot does not change the control mode regardless of the operation area. Therefore, in order to reduce the operation consumption and simplify the control logic, the processing terminal 50 may determine only the operation area where the second robot is located, and switch the control mode according to the different operation areas, without monitoring the operation area of the first robot.

In the preferred embodiment, it is only necessary to determine whether the hybrid operation region is present. Therefore, the processing terminal 50 may determine or determine the area where the second robot is currently located simply by whether the second robot crosses the boundary line between the hybrid operation area and the second independent operation area.

Based on the robot control method provided by the embodiment, the embodiment of the invention further provides a robot control device. The robot control means may be implemented by the processing terminal 50 to perform control of the first robot and the second robot. Fig. 6 is a robot control apparatus according to an embodiment of the present invention. As shown in fig. 6, the robot controller 600 includes: an operation region detection module 610, a first control module 620, and a second control module 630.

The operation area detection module 610 is configured to determine an operation area where the robot is currently located. Wherein, the robot includes first robot and second robot, the size of second robot is less than first robot, the operation region includes independent operation region and mixed operation region. The first control module 620 is used to control the robot in a first control mode. The second control module 630 is used to control the robot in a second control mode.

In an actual operation process, when the operation region detection module 610 determines that the first robot is in the independent operation region and the hybrid operation region, the first robot is controlled in a first control mode through the first control module 620. The operation region detection module 610 controls the second robot in a second control mode through the second control module 630 when it is determined that the second robot is in the independent operation region. And when the second robot is in the hybrid operation area, the operation area detection module 610 controls the second robot in the first control mode through the first control module 620, so that the second robot maintains a safe distance from the first robot.

In some embodiments, the first control module 620 is specifically configured to control the distance between adjacent said robots to be maintained within a first threshold range. The second control module 630 is specifically configured to control the distance between adjacent robots to be kept within a second threshold range.

In some embodiments, the operation area includes a first independent operation area in which the first robot operates independently, a second independent operation area in which the second robot operates independently, and a mixed operation area in which the first robot and the second robot operate in a mixed manner, and the operation area detection module 610 is specifically configured to: acquiring the current position coordinate of the second robot; judging whether the second robot is in the second independent operation area or not according to the position coordinate of the second robot; and if not, determining that the second robot is in the mixed operation area.

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses and modules may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. Those of ordinary skill in the art will appreciate that the various illustrative components and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the components and steps of the various examples have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention. The computer software may be stored in a computer readable storage medium, and when executed, may include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a read-only memory or a random access memory.

Fig. 7 shows a schematic structural diagram of a processing terminal 50 according to an embodiment of the present invention. As shown in fig. 7, the processing terminal 50 may include: a processor (processor) 502, a Communications Interface 504, a memory 506, and a communication bus 508.

Wherein: the processor 502, communication interface 504, and memory 506 communicate with one another via a communication bus 508. A communication interface 504 for communicating with network elements of other devices, such as clients or other servers. The processor 502 is configured to execute the program 510, and may specifically execute the relevant steps in the robot control method embodiment described above.

In particular, program 510 may include program code that includes computer operating instructions.

In the embodiment of the present invention, the Processor 502 may be a Central Processing Unit (CPU), and the Processor 702 may also be other general-purpose processors, digital Signal Processors (DSPs), application Specific Integrated Circuits (ASICs), field-Programmable Gate arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, etc. according to the type of hardware used.

The memory 506 is used to store a program 510. The memory 506 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory. The program 510 may specifically be adapted to cause the processor 502 to perform the robot control method in any of the method embodiments described above.

The embodiment of the invention also provides a computer readable storage medium. The computer readable storage medium may be a non-volatile computer readable storage medium. The computer-readable storage medium stores a computer program.

Wherein, the computer program is executed by a processor to realize one or more steps of the data automatic association method disclosed by the embodiment of the invention. The complete computer program product is embodied on one or more computer readable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing the computer program disclosed by the embodiments of the invention.

With continued reference to fig. 1, in other embodiments, the conveyor line structure 20 is configured to satisfy a transport path a (hereinafter referred to as a first transport path) for moving containers from the cargo storage area 10 to the cargo sorting area 30 and a transport path B (hereinafter referred to as a second transport path) for returning containers from the cargo sorting area 30 to the cargo storage area 10.

Conventionally, on the premise that two containers with different sizes are included in an application scene, in order that the two robots designed for containers with different sizes, namely the first robot 41 and the second robot 42, can simply and accurately align with the conveying lines to complete the tasks of picking and placing goods, the conveying line structure 20 needs to be provided with at least two conveying lines for containers with each size respectively, and the conveying lines are used for meeting the first conveying path a and the second conveying path B respectively.

That is, the first transport path a requires the use of two conveyor lines corresponding to the large-sized cargo box and the small-sized cargo box, respectively, and the first robot 41 and the second robot 42 put the cargo at the different conveyor lines, respectively. The second transport path B also requires the use of two conveyor lines corresponding to the large-sized and the small-sized containers, respectively, and the first robot 41 and the second robot 42 take the goods at the different conveyor lines, respectively.

However, the conveyor line structure provided by the embodiment of the invention can reduce the number of the conveyor lines required to be used while maintaining approximately similar conveying efficiency by sharing the conveyor lines, thereby achieving the effect of simplifying the conveyor line structure.

Fig. 8 is a schematic diagram of a transmission line structure according to an embodiment of the present invention. The conveyor line configuration can meet the practical use requirements for transporting containers of two sizes to and from the cargo storage area 10 and the cargo sorting area 30. Of course, in the case of a larger scale, two or more sets of conveyor line structures may be used to improve the transmission efficiency of the container, and are not limited to the set of conveyor line structures shown in fig. 1.

As shown in fig. 8, the conveyor line structure 20 includes: a first conveyor line 21, a second conveyor line 22, a third conveyor line 23, and a cargo positioning mechanism 24.

Wherein the first conveyor line 21 has a first width adapted to a larger size of the container. The large-size cargo conveying system comprises a goods placing station 21a and a large-size goods taking station 21b which are arranged at two ends of a first conveying line and used for realizing a first conveying path A of large-size cargo containers.

The "first width" is a width slightly larger than the length or width of a large-size container, and can accommodate the large-size container to be transported one by one on the conveying line.

The second conveyor line 22 has a second width compatible with smaller size containers. Similarly, it comprises a put-out station 22a and a pick-up station 22b of small size, respectively, arranged at the two ends of the second conveyor line, to realize the first transport path a of small size containers.

The "second width" refers to a width slightly larger than the length or width of the small-sized cargo box, i.e., a difference therebetween is smaller than a certain value. Obviously, the first width should be larger than the second width.

The third transfer line 23 has a first width. The containers are transported in the opposite direction to the first and second conveyor lines 21, 22 (i.e. the placing station 23a and the picking station 23B are located at opposite ends to the first conveyor line 21) to realize a second transport path B for large and small containers.

In some embodiments, for ease of presentation, the portion or end of the conveyor line structure 20 that may interface with the cargo storage area 10 may be referred to as a conveyor line head. And the portion or end of the conveyor line structure 20 that meets the goods sorting area 30 is referred to as the end of the conveyor line.

Therefore, the head parts of the first conveying line 21 and the second conveying line 22 are put stations, and the tail parts of the third conveying line 23 are taken stations, and are matched with the first robot 41 and the second robot 42. The tail parts of the first conveying line 21 and the second conveying line 22 are goods taking stations, and the head parts of the third conveying line 23 are goods placing stations, and are matched with the third robot 43 for use.

Specifically, when the robot of the lifting structure shown in fig. 2 is used, the end portions of the first conveyor line 21 and the second conveyor line 22 may be provided with the recessed portion K shown in fig. 3 to form the above-mentioned pickup station for the third robot 43. The line head of the third line 23 may be provided with the above-described recessed portion K in the same manner, and may be engaged with the third robot 43.

With continued reference to fig. 3, on the third conveyor line 23, the pickup station 23b includes a small-size pickup station 23b1 and a large-size pickup station 23b2, which are respectively engaged with the first robot 41 and the second robot 42. That is, the first robot 41 takes away the large-sized container at the large-sized pickup station 23b1 and recovers to the cargo storage area 10, and the second robot 42 takes away the small-sized container at the small-sized pickup station 23b2 and recovers to the cargo storage area 10.

Wherein, the small-size goods taking station 23b1 is overlapped with at least one part of the large-size goods taking station 23b2 and is arranged close to one side edge of the third conveying line 23. In other words, there is an overlapping area between the large-size pickup station 23b2 and the small-size pickup station 23b 1.

Specifically, the small-size pickup station 23b1 may also be a part of the large-size pickup station 23b2, and the edge in the width direction coincides with the large-size pickup station 23b2 (i.e., one of the side edges of the third conveying line 23).

The goods positioning mechanism 24 is an actuating mechanism which is installed or arranged on the third conveying line 23 and is used for driving the small-size packing boxes to move and position to the small-size goods taking station 23b 1. In the present embodiment, named after the cargo positioning function that the mechanism needs to perform, those skilled in the art can choose to use any type of one or more devices to implement the cargo positioning mechanism 24 in various forms, such as pushing, pulling, etc., according to the needs of the actual situation.

Fig. 9 is a schematic structural diagram of the cargo positioning mechanism 24 according to the embodiment of the present invention. The cargo positioning mechanism may be generally composed of two parts, a position detecting device 241 and a cargo pushing device 242.

The reach detecting device 241 is a detecting sensor for detecting whether the cargo has reached a predetermined position. It can trigger when the packing box gets into or arrives the goods station of getting of third transfer chain, and the signal that puts in place that produces correspondingly to realize the goods and put in place the function that detects.

Specifically, the in-place detection device may be implemented based on the infrared principle. For example, as shown in fig. 9, the paired infrared emitting units 241a and the infrared receiving units 241b are respectively arranged at two sides of the third conveying line, and after the container enters the area where the goods taking station is located, the infrared emitting units 241a block infrared rays emitted by the infrared emitting units 241a, and when the infrared receiving units 241b cannot receive the infrared rays, the container can be determined to have arrived, so that corresponding in-place signals are triggered.

In other embodiments, the in-position detection means may also be implemented based on a pressure sensor. The pressure sensor may be arranged in the region of the pick-up station of the third conveyor line. After the container enters the pick-up station, the pressure sensor can detect the increase in applied pressure, thereby triggering a corresponding in-place signal.

It should be noted that, based on the principles disclosed in the above embodiments, a person skilled in the art may also modify, adjust or replace the in-place detection device according to the needs of the actual situation, for example, a plurality of sets of infrared transmitting units and infrared receiving units located at different positions are provided, so as to improve the accuracy of in-place detection.

The cargo pushing device 242 is a pushing device that pushes a small-sized cargo container to move in a specific direction. It may be provided at a side remote from the small size pick station and pushed into the small size pick station by applying a pushing force to a small size container entering the pick station.

The in-place detection device 241 is in communication with the cargo pushing device 242, and the in-place signal controls the cargo pushing device 242 to apply pushing force. That is, upon triggering the go to position signal, the cargo pushing device 242 is activated to apply a pushing force.

As shown in fig. 9, the small-sized pick-up station is disposed adjacent to the side edge of the third transfer line. Therefore, the side edge of the third conveying line can provide good supporting and positioning propping functions.

The design can make the range of the thrust that the goods thrust device 242 allows to exert great, need not carry out accurate control to thrust, only need simple will enter into get the position that the small-size packing box of goods station pushes to the position of hugging closely with the third transfer chain, also need not extra device to guarantee the displacement distance of small-size packing box yet.

Specifically, the cargo pushing device 242 may be an actuating device that applies sufficient pushing force to a small-sized cargo container using high-pressure gas. As shown in fig. 9, the cargo pushing device 242 may include: a plurality of gas jets 242a and a high pressure gas source 242b.

A plurality of gas nozzles 242a may be provided, and are disposed on the side of the third conveying line where the goods taking station is located in a specific manner, and a high-pressure gas source 242b (such as a high-pressure gas tank and an air pressure pump) is connected to the gas nozzles 242a through a connecting member such as a connecting pipe, and supplies gas with a predetermined pressure.

The specific parameters such as the predetermined air pressure and the number of gas jets are empirical values that can be determined by a technician based on the actual conditions (e.g., the weight of the cargo box) and need only be able to push the cargo box.

In practical use, after the in-place signal is triggered, high-pressure gas is sprayed out from the gas nozzle 242a to push the small-size container to move to a position close to the side edge of the third conveying line, so that the small-size container is accurately positioned on a corresponding small-size station.

In other embodiments, the cargo pushing device 242 may be a device that applies pushing force via a push rod or other actuating mechanism. For example, as shown in fig. 10, it may be composed of a driving mechanism composed of a driving motor 2421, a cam 2422 and an action mechanism composed of a pushing plate 2423.

Among them, the drive motor 2421 has a power output shaft that outputs a rotational torque. Cam 2422 is connected to the power take-off shaft. The driving motor 2421 is started after the in-position signal is triggered, and drives the cam 2422 to rotate. One end of a transmission rod 2424 in the transmission mechanism is hinged with the cam, the other end of the transmission rod 2424 is hinged with the pushing plate 2423, the pushing plate 2423 is driven to be pushed outwards along with the rotation of the cam 2423, and therefore the small-size container is pushed to a position tightly attached to the edge of the third conveying line.

After the small-size container is in place, the driving motor 2421 continues to operate, the cam 2423 continues to rotate to drive the pushing plate 2423 to accelerate recovery, and the pushing plate returns to the edge of the third conveying belt to avoid interference on movement of the large-size container.

Of course, those skilled in the art may also use any other suitable type of transmission mechanism capable of converting the rotational motion of the power output shaft of the driving motor into the reciprocating motion of the push plate, without being limited to the cam structure shown in fig. 8.

Fig. 11 is a schematic diagram of a transmission line structure provided in an embodiment of the present invention in a practical application process. In the application scene, the first conveying line, the second conveying line and the third conveying line used by the conveying line structure all adopt roller type conveying lines consisting of a series of rollers with specific lengths. One or more of these rollers can freely control the direction of rolling or whether they roll.

Of course, the conveyor line structure can be applied to any other suitable type of conveyor line by those skilled in the art based on the inventive concept disclosed in the present application, and is not limited to the roller type conveyor line described above.

As shown in fig. 11, the first robot 41 and the second robot 42 respectively transfer the large-sized cargo box and the small-sized cargo box from the racks of the cargo storage area 10 to the put-out stations of the first conveyor line 21 and the second conveyor line 22.

The first conveyor line 21 transfers the large-size containers placed at the put-out station to the pick-up station, and the third robot 43 transfers the large-size containers to the goods sorting area 30 for picking, sorting, order packing, and the like.

The second conveyor line 22 transfers the small size containers placed at the put station to the pick station, where the small size containers are also carried by the third robot 43 into the goods sorting area 30 for pick and sort operations.

Both the large-sized and small-sized containers after the completion of the picking in the cargo sorting area 30 are carried to the put-out station of the third conveyor line 23 by the third robot 43.

For the large-size containers, the third conveying line 23 transfers the large-size containers to the large-size goods taking station, and the first robot 41 conveys the large-size containers from the large-size goods taking station and returns the large-size containers to the corresponding racks in the goods storage area 10.

And for small size containers the third conveyor line 23 also transfers them to the area where the large size pick-up station is located. At this point, the small size containers are pushed onto the small size pick station (i.e., against the side of the third conveyor line) by the cargo positioning mechanism 24 disposed on the third conveyor line 23.

The second robot 42 removes the small size container at the small size pick station and carries it back to the cargo storage area 10 for storage.

In the application scenario shown in fig. 11, the first robot 41 and the second robot 42 can only receive a large-sized cargo box and a small-sized cargo box, respectively, due to the presence of the first robot 41 and the second robot 42. Therefore, in the conventional conveyor line structure, it is generally necessary to provide separate conveyor lines for the first robot 41 and the second robot 42, respectively, to receive the large-sized containers and the small-sized containers returned from the goods sorting area 30.

In the conveying line structure provided by the embodiment of the present invention, considering that the third robot 43 may have universality and may be compatible with the characteristics of taking and placing containers of different sizes, the small-size goods taking station and the goods positioning mechanism, which are arranged close to the side edge of the third conveying line, are matched to enable the large-size containers and the small-size containers returned from the goods sorting area 30 to share one conveying line (the first robot 41 and the second robot 42 only need to take corresponding containers of corresponding sizes at the large-size goods taking station and the small-size goods taking station corresponding to the third conveying line, respectively), so that an effect of simplifying the conveying line structure is achieved.

It should be noted that, based on the application scenario features of the transmission line structure disclosed in the embodiment of the present invention (one side of the third robot 43 can be compatible with transporting containers of different sizes, and the first robot 41 and the second robot 42 can only transport containers of large size and containers of small size, respectively), those skilled in the art can also adjust, change or replace the transmission line structure disclosed in the above embodiment according to the actual application scenario to apply to other application scenarios with similar features. All such modifications, changes or substitutions are intended to be included within the scope of the present invention, as they come within the spirit and scope of the present invention.

In summary, the robot control method provided in the embodiment of the present invention implements hybrid control of two or more robots in a hybrid operation area by switching the robot control modes, and ensures that the robots do not collide with each other.

The conveying line structure provided by the embodiment of the invention has the advantages that through the ingenious arrangement of the goods taking stations and the matching of the conveying line pushing device with a simple structure, containers with different sizes can share the same conveying line, so that the effects of reducing the cost, simplifying the structural design and the like are achieved.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will 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 these modifications or substitutions do not depart from the spirit of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A robot control method, comprising:

determining a current operation area of a robot, wherein the robot comprises a first robot and a second robot, and the size of the second robot is smaller than that of the first robot; the operation area comprises an independent operation area and a mixed operation area;

wherein the first control mode is formed according to the physical characteristics of the first robot and is used for controlling the sum of control logics or control references of the first robot in the moving operation process;

controlling the second robot in a second control mode while the second robot is in the independent operation area;

controlling the second robot in the first control mode to maintain a safe distance from the first robot when the second robot is in the hybrid operating zone;

wherein the second control mode is formed according to the physical characteristics of the second robot and is used for controlling the sum of control logics or control references of the second robot in the moving operation process.

2. A robot control method according to claim 1, wherein said controlling the first robot in the first control mode specifically comprises: controlling a distance between adjacent robots to be kept within a first threshold range;

3. The robot control method according to claim 1, wherein the operation region is composed of a first independent operation region in which the first robot operates independently, a second independent operation region in which the second robot operates independently, and a hybrid operation region in which the first robot and the second robot operate in hybrid.

4. The robot control method according to claim 3, wherein the determining of the current operation area of the robot specifically includes:

acquiring the current position coordinate of the second robot;

and if not, determining that the second robot is in the mixed operation area.

5. A control terminal, comprising: a processor and a memory communicatively coupled to the processor;

stored in the memory are computer program instructions which, when called by the processor, cause the processor to carry out the robot control method according to any of claims 1-4.

6. An automatic cargo sorting system, comprising:

a plurality of second robots operating in the second independent operating area and the mixed operating area; the second robot is used for carrying small-size goods;

the control terminal of claim 5; the control terminal is used for respectively controlling the first robot and the second robot to carry the large-size goods and the small-size goods between the conveying line structure and the goods storage area.

7. The automatic cargo sorting system according to claim 6, wherein the cargo storage area includes a plurality of large-sized shelves for storing large-sized cargo and small-sized shelves for storing small-sized cargo;

a roadway formed between the adjacent large-sized shelves is the first independent operation area, and a roadway formed between the adjacent small-sized shelves is the second independent operation area;

8. The automated cargo sorting system according to claim 7, wherein the first robot moves the large-size cargo between the conveyor line structure and the large-size rack through the hybrid operation area and the first independent operation area;

9. The automated cargo sorting system of claim 6, wherein the first robot has a corresponding first projected area, the first projected area being a projected area of the first robot on the floor; the second robot is provided with a corresponding second projection area, and the second projection area is the projection area of the second robot on the ground; the first projected area is larger than the second projected area.

10. The automated cargo sorting system of claim 6, wherein the conveyor line structure comprises:

a third transfer wire having a first width, the third transfer wire comprising: the goods placing station and the goods taking station are respectively arranged at two ends of the third conveying line;

11. The automated cargo sorting system of claim 10, wherein the cargo positioning mechanism comprises: a goods pushing device and an in-place detection device;

the goods pushing device is arranged on the side edge of the third conveying line, which is away from the small-size goods taking position;

12. The automated cargo sorting system according to claim 11, wherein the cargo pushing device comprises:

the high-pressure gas source is connected with the gas nozzle and is used for providing gas with preset gas pressure;

the in-place detection device includes:

13. The automated cargo sorting system according to claim 11, wherein the cargo pushing device comprises:

the gas nozzles are arranged on the side edge, away from the small-size goods taking position, of the third conveying line;

the in-place detection device includes: and the pressure sensors are distributed at the goods taking station of the third conveying line.

14. The automated cargo sorting system according to claim 10, further comprising:

a plurality of third robots for carrying the large-sized goods and the small-sized goods between the goods sorting area and the goods conveying line;

the third robot includes:

15. The automated cargo sorting system of claim 14, wherein the first conveyor line of the cargo conveyor line structure comprises: the sunken part is arranged at the tail end of the first conveying line, has a size matched with the loading mechanism and forms the large-size goods taking station;

the second conveyor line of the cargo conveyor line structure includes: the sunken part is arranged at the tail end of the second conveying line, has a size matched with the loading mechanism and forms the small-size goods taking station;

the third conveyor line of the cargo conveyor line structure includes: the sunken part is arranged at the tail end of the third conveying line, has a size matched with the loading mechanism and forms the goods placing station;

the goods placing station of the first conveying line is arranged at the head part of the first conveying line; the goods placing station of the second conveying line is arranged at the head part of the second conveying line; and the goods taking station of the third conveying line is arranged at the head part of the third conveying line.

16. The automatic cargo sorting system according to claim 15, wherein the first robot is configured to place the large-size cargo taken out of the cargo storage area at the put-out station of the first conveyor line and take out the large-size cargo at the large-size pick-up station of the third conveyor line for recycling to the cargo storage area;