WO2019061303A1

WO2019061303A1 - Cargo classification and transport method and system, and storage device

Info

Publication number: WO2019061303A1
Application number: PCT/CN2017/104411
Authority: WO
Inventors: 张�浩
Original assignee: 深圳蓝胖子机器人有限公司
Priority date: 2017-09-29
Filing date: 2017-09-29
Publication date: 2019-04-04
Also published as: CN109414729A; CN109414729B

Abstract

Disclosed are a cargo classification and transport method and system, and a storage device. The method comprises: acquiring target sorting location information about cargo to be sorted on a transport mechanism; determining whether there is a storage pile matching the target sorting location information about the cargo to be sorted; and if the determination result is that there is a storage pile matching the target sorting location information about the cargo to be sorted, placing the cargo to be sorted in the matched storage pile. In this way, according to the present application, errors caused by manual identification classification in the traditional logistics industry can be avoided, the efficiency of classification and transport in the logistics industry can be improved, human resources can be saved on and costs can be reduced.

Description

Method, system and storage device for classifying goods

【技术领域】[Technical Field]

The present application relates to the field of intelligent robot technology, and in particular, to a method, system and storage device for classifying and transporting goods.

【背景技术】【Background technique】

Sorting operations are an important part of most streamlined production lines, especially for the logistics and transportation industry.

At present, the warehouse distribution center of the logistics industry and the method of sorting goods when sending and transporting are still old-fashioned sorting cabinets, manual judgment, sorting, printing of package cards, etc., which have higher skill requirements for operators and manual operations. The method is inefficient, the accuracy is difficult to guarantee, and the workload is large. In addition, sorting transmission requires a large number of operators, and the labor costs increase, which also increases the cost of the logistics industry.

【发明内容】 [Summary of the Invention]

The application provides a method, a system and a storage device for classifying and transporting goods, which can avoid errors caused by manual identification and classification of the traditional logistics industry, improve the efficiency of classified transportation in the logistics industry, save human resources and reduce costs.

In order to solve the above technical problem, another technical solution adopted by the present application is to provide a method for classifying and transporting goods, the method comprising: acquiring target sorting information of the goods to be sorted on the transport mechanism; determining whether there is any A storage heap that matches the target sorting location information of the sorted goods; if the determination is yes, the goods to be sorted are placed in the matching storage stack.

In order to solve the above technical problem, another technical solution adopted by the present application is to provide a system for classifying and transporting goods, the system comprising a control center, a transmitting mechanism, a sorting mechanism and at least two storage stacks, wherein the control center a target sorting location information for obtaining goods to be sorted on the transport mechanism, determining whether there is a storage heap matching the target sorting location information of the goods to be sorted; when the determination is yes, controlling by the control center The sorting mechanism places the goods to be sorted into the matched storage stack.

In order to solve the above technical problem, another technical solution adopted by the present application is to provide a storage device that stores instructions for executing any of the above-described methods for classifying goods.

The utility model has the beneficial effects of providing a method, a system and a storage device for classifying and transporting goods, obtaining information of the goods to be sorted on the transport mechanism, and judging whether there is a storage pile matched thereto according to the information of the goods to be sorted In order to classify and transmit the goods to be sorted, the errors caused by the manual identification of the traditional logistics industry can be avoided, the efficiency of the classified transportation of the logistics industry can be improved, the human resources can be saved, and the cost can be reduced.

【附图说明】 [Description of the Drawings]

1 is a schematic flow chart of a first embodiment of a method for classifying and transporting goods according to the present application;

2 is a schematic flow chart of a second embodiment of the method for classifying and transporting goods according to the present application;

3 is a schematic flow chart of an embodiment of step S22 in FIG. 2;

4 is a schematic flow chart of an embodiment of step S221 in FIG. 3;

5 is a schematic flow chart of a third embodiment of the method for classifying and transporting goods according to the present application;

6 is a schematic structural view of a first embodiment of a classified transport cargo system of the present application;

Figure 7 is a schematic structural view of a second embodiment of the classified transport cargo system of the present application;

Figure 8 is a schematic structural view of a third embodiment of the classified transport cargo system of the present application;

Figure 9 is a schematic structural view of a fourth embodiment of the classified transport cargo system of the present application;

FIG. 10 is a schematic structural diagram of an embodiment of a storage device of the present application.

【具体实施方式】【Detailed ways】

The technical solutions in the embodiments of the present application are clearly and completely described in the following with reference to the drawings in the embodiments of the present application. It is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present application without departing from the inventive scope are the scope of the present application.

Please refer to FIG. 1 and FIG. 1 , which are schematic flowcharts of a first embodiment of a method for classifying and transporting goods according to the present application. The method for automatically classifying and transporting goods used in this application is applicable to various logistics sorting centers, warehouse distribution centers, storage centers and other processing centers that need to classify goods, and it is necessary to accurately classify different goods from different transportation places and Each shipment is shipped to a different target sorting location. Among them, the distribution center includes a storage center to classify and store the delivered goods. Moreover, the method for automatically classifying and transporting goods in the application adopts intelligent classification and transmission, which can greatly improve the efficiency of classification and transportation of goods, save human resources, and accelerate the operation efficiency of the logistics industry.

S10. Obtain target sorting location information of the goods to be sorted on the transport mechanism.

In an application scenario of the present application, the transport mechanism may be a conveyor belt, and the conveyor belt may directly dock the cargo tank for loading cargo, and may also directly interface with the processing center of the cargo to transport the cargo unloaded in the cargo tank to the processing center through the conveyor belt. And directly sort and transfer the unloaded goods to be sorted. Among them, the goods unloaded in the cargo hold may be the goods to be sorted, and may also include the goods to be sorted and the goods that need not be sorted. Among them, the cargo compartment includes the cabin of the land truck, the trailer (Trailor). In addition, it can also include a container, which can be carried by land, sea, and air by loading on a vehicle, a ship, or an airplane. When the goods to be sorted are transported through the conveyor belt, the target sorting location information of the goods to be sorted is further obtained. The obtaining of the information of the target sorting location of the goods to be sorted can be obtained as follows:

1. Obtained by the identification device, which can be a scanning device, a vision sensor, binocular stereo vision (Binocular Stereo) Vision), camera, optical character recognition device (Optical Character Recognition, OCR), as well as a radio frequency identifier, etc., identify the identification information on the goods to be sorted by the above-mentioned identification device, for example, may be a one-dimensional barcode, a two-dimensional code, and an identifiable character on the goods to be sorted, for example, by optical character recognition ( Optical Character Recognition, OCR) technology, etc., to obtain the target sorting location information of the goods to be sorted. In some applications, the identification information may also be a specific symbol, a texture, a pattern, or the like, and the target sorting location information corresponding to the to-be-sorted goods may be directly or indirectly obtained through the identification information. The target sorting location information may be the final target location information to be delivered by the goods to be sorted and/or the next target location information corresponding to the current sorting task of the goods to be sorted. The final destination information may be an address including a mailing. According to the transportation rule of the logistics transmission system, the next target location information corresponding to each sorting may be obtained, and the next target location includes the current processing center. The input destination of the picking link can also be the output destination of the current processing center, such as the cargo compartment for transporting, the conveyor belt for transporting the cargo tank, etc., or the storage area. The target sorting location information may also directly be the next target location information corresponding to the current sorting task of the goods to be sorted, and the target sorting location information may be customized for the target sorting, or may be customizable. The only form of data corresponding to the target sorting relationship. The identification device may be disposed in the transport mechanism, the storage stack, and one or more of the sorting mechanisms for placing the items to be sorted on the transport mechanism into the sorting stack.

2. The target sorting location information of the goods to be sorted may be stored in the control center of the classified transport cargo system. During the sorting and transmission of the goods, the control center directly informs the classified sorting information of the goods to be sorted. The organization, the sorting institution puts the goods to be sorted into the corresponding storage pile according to the sorting information of the target. The control center may also control the classification mechanism to place the goods to be sorted into the storage heap corresponding to the target sorting location information according to the target sorting location information. When the transport mechanism is connected to the sorting mechanism and in the example having the control sorting mechanism, the control center may also inform the transport mechanism of the target sorting information, and the transport mechanism may control or inform the sorting institution connected thereto or the like. It can be understood that the notification can be actively notified by the control center, or can be notified after the request of the classification institution and the transmission organization. In the embodiment, the control center of the identification device or system disposed on the transport mechanism directly acquires the target sorting information of the goods to be sorted, thereby avoiding the error caused by the manual identification and classification of the traditional logistics industry, and improving the logistics industry. The efficiency of classified transportation saves human resources and reduces costs.

The control center may also be integrated into one of the transport mechanism, the sorting mechanism, the storage stack, or may be integrated into the entire logistics system covering the distribution center, or the logistics system of the distribution center, when the distribution center has multiple sorting tasks. When corresponding to a plurality of systems for classifying goods, the control center can also be integrated into the system for classifying the goods. The control center may also be a stand-alone device or devices that are communicatively connected to each other, may be in communication with the identification device and the above-mentioned various mechanisms and devices, and may also be in communication with the aforementioned logistics system.

S11. Determine whether there is a storage heap that matches the target sorting location information of the goods to be sorted.

In this embodiment, the goods unloaded in the cargo hold directly docked with the transport mechanism need to be transported into the processing center through the transport mechanism, and the goods can be classified in the same link to facilitate the transportation at the collection center. The goods to be sorted are divided into N storage piles in advance, and N may be an integer such as 1, 2, 3, etc., and each storage pile corresponds to information of different target sorting places, and each storage pile The corresponding target sorting location information may be allocated by the control center of the system according to the target sorting location information of the goods to be sorted, or may be implemented by being implemented according to the goods to be sorted, or may be correspondingly defined for the storage heap. The target sorting location information, for example, each storage stack includes an identifier, and the target sorting location information corresponding to the storage heap is obtained by the identification identifier.

For example, in an application scenario of the present application, the storage heap of the goods is set to three, and of course, it may be two, six, ten, etc., and is not specifically limited herein. The control center associates three different target sorting information in the first M items to be sorted in order with the three storage piles. Among them, in the process of matching the target sorting information of the goods to be sorted and the storage heap, the following situations may exist. For example, in an application scenario, the first M items to be sorted may have the same information of the target sorting location in which a plurality of goods to be sorted continuously appear, so the first item to be sorted is included therein. A storage heap is associated, and the goods to be sorted with the same target sorting information appearing thereafter can be judged to have a matching storage heap according to the target sorting information.

Further, the goods to be sorted having different target sorting locations appearing thereafter are associated with the different target sorting grounds to one of the other two temporarily unrelated storage piles. It can be understood that the number of storage heaps can also be the maximum storage heap number set. According to the foregoing implementation principle, the actual operation may include a situation of less than or equal to the maximum storage heap number.

In another application scenario of the present application, after acquiring the target sorting location information of the goods to be sorted according to the number of storage piles, the sorting information according to different target sortings may be arranged according to the preset order of the storage stack. The sequence associates the storage heap with the target sorting location information of the goods to be sorted. The information about the target sorting location of the goods to be sorted may be the unloading process, and the control center acquires the destination sorting information of each unloaded cargo, and the unloaded goods are sequentially unloaded to the transporting mechanism. That is, the control center can know the target sorting location information of all the goods to be sorted unloaded to the transporting institution, and can also know the order of the goods to be unloaded, so that the target sorting of the goods to be unloaded can be planned to be sequentially entered into the sorting institution. The local information is associated with the storage heap. For example, different target sorting information corresponding to the number of storage heaps may be sequentially associated to one storage heap. In other embodiments, it is also possible to randomly assign both associations. The goods to be sorted are sequentially placed in the storage pile, and the control center, the sorting institution and/or the storage pile record and associate the target sorting land information of the goods to be sorted, and the continuous sorting goods of the same target sorting information enter The same storage heap.

Optionally, after the storage heap is associated with the target sorting location information, the control center determines the target sorting location information of the goods to be sorted on the transporting mechanism, and whether there is information about the target sorting location of the goods to be sorted. If the determination is yes, the process proceeds to step S12, where the determination condition includes if the target sorting location information of the goods to be sorted belongs to one of the preset storage stacks.

S12, placing the goods to be sorted into a matching storage heap.

When it is judged that there is a storage heap that matches the target sorting location information of the goods to be sorted, the goods to be sorted are placed in a storage heap that matches the information of the target sorting location. In this embodiment, the goods to be sorted can be directly placed into the corresponding storage pile by the sorting mechanism, for example, the sorting mechanism is a robot, including a robot arm and an end effector connecting the arm, and the goods to be sorted are obtained, and Place the goods to be sorted into the corresponding storage heap. The robot can obtain the target sorting information of the goods to be sorted through the control center, or can identify the identification information of the goods to be sorted by the identification device set on the robot to obtain the target sorting land information. In another embodiment, the control center may also control the sorting mechanism to place the goods to be sorted into a corresponding storage pile, wherein the sorting mechanism may be a push rod, and the push rod may be disposed at the end of the transport mechanism, and is acquired After sorting the destination information of the goods, the control center controls the putter to push the goods to be sorted into the matching storage pile.

In the above embodiment, by automatically acquiring the information of the goods to be sorted on the transport mechanism and performing the classified transmission, the errors caused by the manual identification of the traditional logistics industry can be avoided, the efficiency of the classified transportation of the logistics industry can be improved, and the manpower is saved. Resources and cost reduction.

Please refer to FIG. 2. FIG. 2 is a schematic flow chart of a second embodiment of a method for classifying and transporting goods according to the present application. The embodiment is the same as that in the first embodiment, and is not described here again. The specific process is as follows:

S20. Acquire a target sorting location information of the goods to be sorted on the transport mechanism.

S21: Determine whether there is a storage heap that matches the target sorting information of the goods to be sorted.

S22. If the determination is no, release at least one of the goods in the storage stack.

In step S21, when it is determined that the target sorting location information of the goods to be sorted does not match any of the associated target sorting location information in all the storage piles, at this time, it is necessary to release the goods in the at least one storage pile. Place the information with the new target sorting information to be sorted. It can be seen from the above embodiment that, if the number of the storage heaps is three, and the acquired target sorting location information of the goods to be sorted does not belong to any one of the target sorting ground information associated with the three storage piles, At this point, the goods in one of the three storage heaps are released. After release, the target sorting location information associated with the release storage stack is disassociated (ie, the original sorted destination sorting location information is cleared), and then the new target sorting location information, that is, the target of the current to be sorted goods is sorted. The sorting location information is associated with the released storage heap. Of course, the control center may directly control the information about the target sorting location of the released storage heap and the goods to be sorted, or may be automatically obtained after the goods to be sorted enter the released storage heap. Sort and sort the information of the destination of the goods. For example, the storage stack is provided with an identification device that can acquire the target sorting location information of the goods to be sorted, for example, the identification device identifies the identification information of the goods to be sorted to obtain the target sorting location information. Further, the information acquired by the identification device and the associated information may also be reported to the control center of the system. Of course, in other embodiments of the present application, when it is determined that the target sorting location information of the goods to be sorted does not belong to any one of the target sorting land information associated with all the storage heaps, the preset storage heap may also be released. The goods in the storage heap or the goods in all the storage piles are released, which is not specifically limited herein.

Optionally, referring to FIG. 3, step S22 further includes the following sub-steps:

S221, selecting a storage heap to be released.

Referring to FIG. 4, step S221 further includes the following sub-steps:

S2211: Determine whether the goods in the storage heap meet the preset condition.

In this embodiment, when it is determined that the target sorting location information of the goods to be sorted does not match any of the storage stacks, the storage heap to be released needs to be selected according to the preset condition, and the preset condition is met. The body may be at least one of a storage stack with the largest number of goods, a storage heap with the largest cargo volume, a storage heap with the highest orientation or the last storage volume, and a storage heap with the heaviest weight of the goods. Of course, if the number of selected storage heaps is selected to be multiple, the specific preset condition may be an arrangement combination of the foregoing preset conditions. Of course, in other embodiments, the control center can also randomly release the goods in any one of the storage stacks. Further, it is also possible to select the released storage heap according to the current picking device. For example, the picking device includes a plurality of types of transport capabilities, such as different volume specifications, material specifications, conveying speed specifications, priority settings, etc., according to the current type of picking device, selecting the goods in the storage stack and the type The release is released.

S2212, the selected storage heap is released.

In step S2212, if the goods in the storage heap meet the preset condition, the storage heap is selected and the goods on the storage heap are released, and the storage stack on the storage stack may be matched with the storage heap. Disassociate and move the goods out of the heap. In this embodiment, the release of the cargo may specifically release the selected storage stack through a pair of joint mechanisms, wherein the docking mechanism may be a push rod, a pop-up device, a shipping passage, and a slide disposed on the storage stack. One can also be a robot.

Specifically, if the docking mechanism is a robot, the control center cancels the association relationship between the target sorting location information of the cargo on the storage stack and the storage heap, and controls the robot arm to directly move the goods in the storage stack out of the storage stack. . In another embodiment of the present application, if the docking mechanism is a putter disposed on the storage stack, when the storage heap needs to be released, the control center releases the target sorting information and the storage heap of the cargo on the storage stack. The relationship and control the putter to move the goods out of the storage heap. If the docking mechanism is a slide disposed on the released storage stack, the control center releases the relationship between the target sorting location information of the cargo on the storage stack and the storage heap, and controls the tilt of the slide to move the goods out of the storage stack. Moreover, if the docking mechanism is a shipping lane disposed on the released storage stack, after the relationship between the target sorting location information of the cargo on the storage stack and the storage heap is released, the control center controls the shipping channel. The opening is such that the goods on the storage stack are released through the shipping lane. Of course, in other embodiments, the goods on the storage stack can also be released by other means, which is not further limited in this application.

S222, notifying the picking device to pick up the goods.

After the storage heap that needs to be released is selected, the control center notifies the picking device corresponding to the released storage stack to pick up the goods through the communication device, wherein the picking device can pick up the truck for the intelligent robot. And the corresponding relationship between the pickup truck and the storage stack may be that the control center pre-associates according to the target sorting information of the goods to be sorted. Alternatively, after selecting the storage heap to be released, the control center notifies the nearest picking device near the released storage heap to pick up the goods, and at this time the picking device is not associated with any storage heap. After receiving the released goods, the pick-up device automatically associates with the target sorting information of the picked goods.

S223. After the pick-up device senses the goods, the goods are transported to the next target location.

In this embodiment, when all the goods of the released storage stack are released to the picking device, the picking device transports the goods to the next target ground corresponding to the target sorting location information. Wherein, in a specific embodiment, the control center may control the picking device to transport the goods to the next target location, including the control center notifying the picking device that the storage pile is to be released to the next target location, and the picking device is based on The next target autonomous navigation of the transport of goods. It may also include that the control center may directly inform the picking device that the loading of the goods is completed, and further control the picking device to transport the goods to the next destination. After the goods are sensed by the pick-up device, the goods are automatically transported to the next target location, including but not limited to, the pick-up position corresponding to different storage piles has a corresponding next target location, and the pick-up device receives the goods according to the current destination. Location, you can transport the goods to the next destination location corresponding to the receiving location. It may also include that the picking device is provided with an identification device that can obtain the next target location by identifying the loaded goods.

In other embodiments, a sensing device may be disposed on the pick-up device, and may specifically include one of a weight sensor and a pressure sensor, and the system control center informs the pick-up device that the storage stack is released from the cargo. In the case of a specific weight and/or quantity, when the picking device senses that the weight and/or quantity of the goods matches by the sensing device, the picking device transports the goods to the next destination.

S23, placing the goods to be sorted in the released storage heap.

Optionally, after the storage stack is released, the goods to be sorted on the transport mechanism are placed into the released storage pile, and the target sorting information of the goods to be sorted and the released storage pile are The association is performed, and the associated method can be referred to the above description, and details are not described herein again. The released goods can be transported to the next target location corresponding to the cargo target sorting location information by the above-mentioned pick-up device. That is, in the subsequent sorting process, the automatic sorting transmission process of the goods to be sorted can refer to the description of the above embodiment.

In the above embodiment, by automatically acquiring the information of the goods to be sorted on the transport mechanism and classifying and transporting the goods to be sorted by the pick-up device, the errors caused by the manual identification of the traditional logistics industry can be avoided, and the logistics industry can be improved. The efficiency of classified transportation saves human resources and reduces costs.

Please refer to FIG. 5. FIG. 5 is a schematic flowchart of a third embodiment of a method for classifying a transported cargo according to the present application. The embodiment is the same as that in the first embodiment, and is not described here again. The specific process is as follows:

S30. Acquire a target sorting location information of the goods to be sorted on the transport mechanism.

S31. Determine whether there is a storage heap that matches the target sorting information of the goods to be sorted.

S32. If the determination is no, it is determined whether there is an unrelated storage heap.

In the application scenario of the present application, if it is determined in step S31 that there is no storage heap in the current storage heap that matches the target sorting location information of the goods to be sorted, the control center further determines whether there is an unrelated storage heap, that is, the storage heap. It is not associated with the target sorting location information of any goods to be sorted. If yes, the process proceeds to step S33, and if not, the process proceeds to step S34.

S33, the unassociated storage heap and the target sorting location information of the goods to be sorted are associated, and the goods to be sorted are placed in the storage heap.

After determining that there is an unrelated storage heap, the target sorting information of the goods to be sorted is associated with the same, and the specific association method may refer to the specific descriptions of the foregoing first and second embodiments, and details are not described herein again. After the target sorting information of the goods to be sorted is associated with the storage pile, the goods to be sorted are placed in the storage pile, and the goods to be sorted can be directly placed into the corresponding storage pile by the sorting mechanism, for example, the classification mechanism is a robot. , including a robot arm and an end effector that connects the robot arm, can obtain the goods to be sorted by placing the goods to be sorted, and place the goods to be sorted into the corresponding storage pile. The robot can obtain the target sorting information of the goods to be sorted through the control center, or can identify the identification information of the goods to be sorted by the identification device set on the robot to obtain the target sorting land information. In another embodiment, the goods to be sorted may be directly placed into the corresponding storage pile by the robot arm, or the sorting mechanism may be controlled by the control center to put the goods to be sorted into the corresponding storage pile, wherein the classification mechanism may For the push rod, the push rod can be disposed at the end of the conveying mechanism, and after acquiring the target sorting information of the goods to be sorted, the control center controls the putter to push the goods to be sorted to the matching storage pile, where No further restrictions.

S34, releasing the goods in the at least one storage pile, associating the released storage pile with the target sorting information of the goods to be sorted, and placing the goods to be sorted into the storage pile.

In step S32, if it is determined that there is no unrelated storage heap, then the goods in the at least one storage heap need to be released to place the information to be sorted with the new target sorting information, and the description of the specific implementation of step S34 may be For details, refer to the detailed description of the second embodiment above, and details are not described herein again.

Please refer to FIG. 6. FIG. 6 is a schematic structural diagram of a first embodiment of a classified transport cargo system according to the present application. As shown in FIG. 6, the system 10 includes a control center 11, a transport mechanism 12, a sorting mechanism 13, and at least two storage stacks 14.

The control center 11 is configured to acquire the target sorting location information of the goods to be sorted on the transport mechanism 12, and determine whether there is a storage heap 14 matching the target sorting location information of the goods to be sorted. When the determination is yes, the control is performed. The center 11 controls the sorting mechanism 13 to place the goods to be sorted into the matching storage stack 14. The control center 11 is further configured to control release of the goods in the at least one storage stack 14 when determining that there is no storage heap matching the target sorting location information, and control the classification mechanism 13 to place the goods to be sorted in the Released in the storage heap 14.

Optionally, referring to FIG. 7, FIG. 7 is a schematic structural diagram of a second embodiment of a classified transport cargo system according to the present application. The system 10 includes an identification device A for scanning and acquiring target sorting location information for different goods on the transport mechanism 12. And the identification device A may specifically be one of a scanning device, a visual sensor, a camera, and a radio frequency identifier mounted on the conveying mechanism 12. By directly scanning the one-dimensional bar code, the two-dimensional code or the identifiable characters, textures, patterns and the like on the goods to be sorted, the target sorting information of the goods to be sorted is directly obtained. The target sorting location information of the goods to be sorted in the present application may also be directly stored in the control center 11, and the target sorting location may be the final destination information to be shipped and/or the current goods to be sorted. The next target location information corresponding to the sorting task. ,

Referring further to FIG. 7, the sorting mechanism 13 may be a push rod or sorting mechanism 13 disposed on the transport mechanism 12 or a robot, both of which are used to sort the goods to be sorted according to the target of the goods to be sorted. Into the storage heap 14 corresponding to its target sorting location information. The classification mechanism 13 includes passively controlling the control center to complete the above classification task, and also includes actively controlling the classification task according to the obtained target sorting information.

Optionally, referring to FIG. 8, FIG. 8 is a schematic structural diagram of a third embodiment of a classified transport cargo system according to the present application. The system 10 further includes a picking device 17 for carrying the released cargo in the storage stack 14. The picking device 17 in this embodiment may be an intelligent robot picking truck. When the control center (not shown) selects the storage stack 14 to be released, the control center notifies the station through the communication device (not shown). The picking up device 17 performs picking up. Further, the picking device 17 is further provided with a sensing device B, including but not limited to one of a gravity sensing and a pressure sensor, for controlling the picking device 17 to be released through the control center 11 after sensing the cargo. The goods are shipped to the next destination. The sensing device B of the pickup device 17 may also include a radar, a ranging sensor, a visual sensor, etc. for sensing the surrounding environment for autonomous navigation. In this embodiment, the picking device 17 can obtain the next sorting location for the storage stack to release the goods through the control center. In another embodiment, when the picking location corresponding to the storage stack corresponds to the next sorting location, the picking device 17 can learn the next sorting location according to the current picking location. In still another embodiment, the picking device 17 is defined to be associated with the next sorting location. In this manner, the picking device 17 can only perform the next sorting location corresponding to the target sorting location information associated with the released storage stack 14. Pick up. In still another embodiment, the picking device 17 can be defined to associate the picking location with the next sorting location, and then perform a fixed transport path. The next target corresponds to the target sorting location information. When the target sorting location information is the final destination information to be delivered by the goods to be sorted, the next destination location corresponding to the current current sorting task may be obtained according to the final destination information. When the target sorting location information is the next target location information corresponding to the current sorting task of the goods to be sorted, the corresponding next target location can be directly obtained.

Further, the system 10 further includes a docking mechanism 19 that interfaces with the pick-up device 17, wherein the docking mechanism 19 is configured to place the released cargo in the storage stack 14 into the pick-up device 17, and the docking mechanism 19 It may be one of a robot, a push rod, a pop-up device, a shipping channel, and a slide. In the embodiment shown in FIG. 8, the docking mechanism 19 is a shipping channel.

In other embodiments, when the docking structure is a robot, the robot includes a robot arm and an end effector coupled to the robot arm, and the end effector acquires the cargo to be released in the storage stack 14 and moves the goods to the fetching The cargo device 17 is used to carry the cargo area and place the cargo, thereby enabling the cargo to be placed in the pick-up device 17. The push rod can be arranged corresponding to the storage stack 14 to push the goods into the picking device 17 by actuating the push rod movement. The pop-up device is disposed corresponding to the storage stack 14, including the pop-up device disposed on the storage stack 14, and the cargo placed in the matching storage stack 14 is placed on the pop-up device, and when the cargo of the storage stack 14 is released, the pop-up device When the pick-up device 17 is bounced, the goods on it are placed in the pick-up device 17. It is also possible to combine the pop-up device with the push rod, the shipping channel or the slide, ie the load is moved to the pop-up device by means of a push rod, a shipping channel or a slide, and the pick-up device 17 is placed by the pop-up device. In this manner, one or more pop-up devices may be provided, and are not limited to one-to-one correspondence with the storage stack 14. The shipping lane may also include an inlet that interfaces with the storage stack 14, and an outlet for the docking trolley. When the released storage stack 14 is executed to release the cargo, the released cargo may enter the passage through the inlet of the shipping lane and enter through the exit. Docking pick-up device 17. Each of the storage stacks 14 may be provided with a shipping channel, or the shipping channel may include a plurality of inlets and an outlet, wherein the plurality of inlets are respectively connected to one storage stack 14. It is of course also possible to include a plurality of outlets, but is not limited to one-to-one correspondence with the storage stack 14. The slide can be a fixed slide. Referring to FIG. 9, one end is corresponding to the storage stack 14, and the other end corresponds to the pick-up device 17. The goods can be placed in the pick-up device 17 directly according to the slide. It is also possible to be a movable slide. For example, one end of the slide is connected to the storage stack 14. When the storage stack 14 is not releasing the cargo, the horizontal state is maintained, the cargo state is released, and the other end of the slide is lowered to the position where the pick-up device 17 is docked. The slide is tilted so that the cargo slides into the pickup device 17. It can be understood that the solution includes a plurality of ways of releasing the released goods in the storage stack 14 and placing the released goods into the picking device 17. The above is merely an exemplary description, and those skilled in the art do not pay according to the above principles. The manner in which creative labor is obtained is within the scope of protection of the present invention.

It should be noted that, in the embodiment, each device in the system performs the operation steps in the foregoing method items, and the detailed method flow may be further referred to the above description, and details are not described herein again.

In the above embodiment, by automatically acquiring the information of the goods to be sorted on the transport mechanism and classifying and transporting the sorted goods through the pick-up device, the errors caused by the manual identification of the traditional logistics industry can be avoided, and the logistics industry can be improved. The efficiency of classified transportation saves human resources and reduces costs.

Please refer to FIG. 10. FIG. 10 is a schematic structural diagram of an embodiment of a storage device according to the present application. The storage device of the present application stores a program file 21 capable of implementing all of the above methods, wherein the program file 21 may be stored in the storage device in the form of a software product, including a plurality of instructions for making one or more passable A computer device (which may be a personal computer, a server, or a network device, etc.) or a processor performs all or part of the steps of the methods of the various embodiments of the present invention. The foregoing storage device includes: a U disk, a mobile hard disk, a read only memory (ROM, Read-Only) Memory), random access memory (RAM, Random Access Memory, memory, or optical disk, etc., which can store program code, or terminal devices such as computers, servers, mobile phones, and tablets.

In summary, those skilled in the art will readily understand that the present application provides a method, system, and storage device for classifying and transporting goods, by automatically acquiring information of the goods to be sorted on the transport mechanism, and treating the goods by the pick-up device. Sorting goods for classification and transmission can avoid the errors caused by the manual identification of traditional logistics industry, improve the efficiency of classified transportation in the logistics industry, save human resources and reduce costs.

The above description is only the embodiment of the present application, and thus does not limit the scope of the patent application, and the equivalent structure or equivalent process transformation of the specification and the drawings of the present application, or directly or indirectly applied to other related technologies. The fields are all included in the scope of patent protection of this application.

Claims

A method of classifying goods for transport, characterized in that the method comprises:

Obtaining target sorting location information of the goods to be sorted on the transport mechanism;

Determining whether there is a storage heap that matches the target sorting location information of the goods to be sorted;

If the determination is yes, the goods to be sorted are placed in the matching storage heap.
The method according to claim 1, wherein the determining whether there is a storage heap matching the target sorting location information of the goods to be sorted further includes

If the determination is no, releasing at least one of the goods in the storage heap;

The item to be sorted is placed in the released storage stack.
The method according to claim 1, wherein the determining whether there is a storage heap matching the target sorting location information of the goods to be sorted further includes

If the determination is no, it is determined whether there is an unrelated storage heap;

If yes, correlating the unassociated storage heap with the target sorting location information of the goods to be sorted, and placing the to-be-sorted goods into the storage heap;

If not, releasing at least one of the goods in the storage pile, associating the released storage pile with the target sorting information of the goods to be sorted, and placing the goods to be sorted into the Storage heap.
The method of claim 2 wherein said releasing said at least one of said goods in said storage stack comprises:

Selecting the storage heap to be released;

Notifying the pick-up device to pick up the goods;

After the picking device senses the goods, the goods are transported to a next target location corresponding to the target sorting location information.
The method of claim 4 wherein said selecting said storage heap to be released comprises:

Determining whether the goods of the storage heap meet predetermined conditions;

If so, the storage heap is selected for release.
The method according to claim 5, wherein said predetermined condition comprises a maximum quantity of goods of said storage stack, a maximum volume of goods of said storage pile, a front or rear of said storage stack, and said At least one of the most important weights of the storage stack.
The method according to claim 1, wherein said target sorting location information comprises final destination information of said goods and/or next target location information corresponding to said current sorting task of said goods.
The method according to claim 1, wherein the target sorting location information is stored in a control center, and the target sorting location information of the goods to be sorted is acquired by the control center.
The method according to claim 1, wherein said target sorting location information is obtained by identifying identification information of said goods to be sorted.
A system for classifying a transported cargo, characterized in that the system comprises a control center, a transport mechanism, a sorting mechanism and at least two storage stacks, wherein the control center is configured to obtain a target score of the goods to be sorted on the transport mechanism Picking information, determining whether there is a storage heap matching the target sorting location information of the goods to be sorted; when the determination is yes, controlling the sorting institution to place the to-be-sorted goods into the matching storage stack.
The system according to claim 10, wherein said control center is further configured to control said release of at least one of said storage stacks when it is determined that there is no storage heap matching said target sorting location And controlling the sorting mechanism to place the to-be-sorted goods in the released storage stack.
The system according to claim 10, wherein said system comprises identification means for identifying identification information of said goods to be sorted, and obtaining said target sorting location information of said goods to be sorted.
The system according to claim 10, characterized in that the target sorting location information of the goods to be sorted is stored in the control center.
The system according to claim 10, wherein said sorting mechanism is one of a push rod or a robot arm for using said target sorting location information of said goods to be sorted The sorted goods are placed in the storage stack corresponding to the information of the target sorting location.
The system of claim 10 wherein said system includes a picking device for carrying said cargo being released from said stack.
A system according to any one of claims 10-15, wherein said system comprises communication means for notifying said picking device for picking up when said storage stack to be released is selected .
The system of claim 16 wherein said system includes a docking mechanism for placing the released cargo in the stack into said picking device.
The system of claim 17 wherein said docking mechanism is one of a robotic arm, a pusher, a pop-up, a shipping lane, and a slide.
The system according to any one of claims 15-17, wherein the picking device is provided with a sensing device, and after the sensing device obtains the released goods in the storage stack, the The goods are shipped to the next destination.
A storage device, characterized in that the storage device stores instructions for performing the method of classifying the transport of goods according to any one of claims 1-9.