WO2021223466A1

WO2021223466A1 - Robot seeding and/or sorting system having height-adjustable mechanism

Info

Publication number: WO2021223466A1
Application number: PCT/CN2021/073192
Authority: WO
Inventors: 俞冠廷; 周佳骥; 张晓荣; 马言平
Original assignee: 星猿哲科技(上海)有限公司
Priority date: 2020-05-08
Filing date: 2021-01-22
Publication date: 2021-11-11
Also published as: CN113619986A

Abstract

A robot seeding and/or sorting system having a height-adjustable mechanism (151), providing a robot-based automatic sorting solution and achieving the function of executing seeding operations entirely by an automated device. The sorting system greatly expands the sorting capacity of the device due to introduction of a robot unit (14); the sorting system also greatly reduces an error rate and avoids misoperations or wrong order sorting caused by manual operations in conventional seeding and sorting systems.

Description

Robot seeding and/or sorting system with lifting mechanism

Technical field

The invention relates to the field of logistics technology, in particular to a robot seeding and/or sorting system with a lifting mechanism.

Background technique

In the e-commerce warehouse system, the throughput of goods out of the warehouse is large and there are many types of goods. At present, the selection of goods for different orders is completely completed by manpower. The work content is simple and repetitive, which not only consumes a lot of manpower but also has high labor intensity.

At present, seed picking is a more commonly used method of product picking. Seed picking is to gather multiple orders (that is, the demand for goods from multiple customers) into a batch. All customers carry out the distribution of goods, which is similar to sowing, so it is also called "commodity distribution and distribution". Therefore, the characteristic of seed picking is that it needs to process multiple orders or multiple customers each time; the operation is complicated and the difficulty coefficient is large, and it is suitable for picking with a large number of orders.

Since seed picking can efficiently process batches of orders, the average time to complete an order is less than fruit picking, so the current major e-commerce warehousing companies are gradually changing the traditional fruit picking method to seed picking. Pick. However, seed picking has its inherent shortcomings: first, seed picking is difficult and labor-intensive. Due to the need to process multiple orders at the same time, there are various differences between orders, and frequent switching between different positions of the material frame It will make the operators very tired, so the overall operation of the sorting process is difficult; secondly, the management of the process is very difficult, and the requirements for the management of the sorting process are higher, and the management information system, personnel, rules and regulations are higher. Require.

In view of this, the sorting field urgently needs a way to realize the automatic delivery of goods in the warehouse and online goods, and the goods are automatically picked to the order box instead of manual sorting.

Summary of the invention

In view of the above-mentioned shortcomings of the prior art, the present invention provides a robot seeding and/or sorting system with a lifting mechanism to solve the problems of low sorting efficiency in the prior art.

In order to achieve the above objective, the first aspect of the present invention provides a robotic seeding and/or sorting system with a lifting mechanism, including: a storage unit for storing multiple types of multiple pieces or single type multiple pieces of materials; a material conveying unit , Used to output materials from the storage unit and/or transport materials to the storage unit; visual analysis unit, the visual scanning range includes at least part of the conveying section of the material conveying unit, used to collect and convey The material image of the material is used to analyze and obtain material information; the material information includes the material's grasping point position information, grasping posture information, and target position information; a robot unit, which is connected to the visual analysis unit in communication; the robot The unit receives the position information of the grasping point and the grasping posture information of the material, and then grasps the material and transfers it to the elevating discharge unit; the elevating discharge unit is in communication connection with the visual analysis unit; The elevating unloading unit performs an up and down movement along the height of the transfer rack unit, and after receiving the target position information, it lifts the material to the target position and unloads the material to the corresponding shelf in the transfer rack unit; The transfer rack unit is equipped with multi-layer racks for transferring materials to the downstream conveying system.

In a preferred embodiment of the present invention, the method for acquiring the position information of the grasping point and the grasping posture information includes: the visual analysis unit obtains the spatial geometric information of the material by scanning the outline of the material, and then obtains the information based on the analysis. The material's grasping point location information and grasping posture information.

In a preferred embodiment of the present invention, the method for obtaining the target position information includes any one or a combination of the following: Method 1) The visual analysis unit obtains the shape information of the material by scanning the shape contour of the material, and According to the analysis of the shape information, the target position information related to the shape category of the material is obtained; wherein the transfer rack unit is provided with multiple shelves, and the shelves of different layers are used to accommodate materials of different shape categories; mode 2) the vision The analysis unit reads the target location information of the material by scanning the scan code on the surface of the material.

In a preferred embodiment of the present invention, the elevating type unwinding unit includes: an elevating mechanism; an unloading mechanism, which is arranged on the elevating mechanism and driven by the elevating mechanism to make a lifting movement; the unloading mechanism It is used to carry materials and pour them out after they are driven to the target position; the chute mechanism includes a multi-layer inclined downward chute for the pour mechanism to pour materials in and then slide out.

In a preferred embodiment of the present invention, the material dumping mechanism includes a turnover mechanism or a conveyor belt mechanism; the turnover mechanism includes one or more material carrying parts, which pour materials into the chute mechanism after being turned over; The conveyor belt mechanism sends materials into the chute mechanism.

In a preferred embodiment of the present invention, the system further includes: a monitoring device for monitoring whether the material is correctly placed in the corresponding material carrying part, and/or whether the material is removed after the material carrying part is turned over. Pour into the shelf to detect the abnormal condition of the material; wherein, the abnormal condition includes the material jam and/or fall.

In a preferred embodiment of the present invention, the transfer rack unit is provided with multiple layers of shelves; the material supporting plate of each layer of shelves is arranged obliquely upward.

In a preferred embodiment of the present invention, the shelf grid of the shelf is provided with a light curtain to detect whether the material enters the corresponding grid correctly; wherein, the shelf grid of each shelf in the transfer shelf unit There is an independent light curtain; or the shelf grids of each row of shelves share a light curtain; or the shelf grids of each row of shelves share a light curtain.

In a preferred embodiment of the present invention, the system further includes: a chassis for carrying the storage unit, the material conveying unit, the visual analysis unit, the robot unit, the elevating unwinding unit, and the transfer rack unit.

In a preferred embodiment of the present invention, the robot unit is provided with the elevating unwinding unit and the transfer rack unit in one or more of the forward, backward, left, and directional directions of its operation. And/or, the material conveying unit is respectively provided in the left and right directions of the operation of the robot unit.

In a preferred embodiment of the present invention, the conveyor unit includes a roller conveyor line; the robot unit includes: a multi-axis robot, a robot with multiple rotary joints, or a Delta robot.

As mentioned above, the robot seeding and/or sorting system with a lifting mechanism related to the present invention has the following beneficial effects: the present invention realizes the function of performing seeding operations entirely by automated equipment, and not only greatly improves the work efficiency, but also The information of the entire sorting process can be traced to realize the control and supervision of the whole process; the sorting system has greatly expanded the sorting capacity of the equipment due to the introduction of the robot unit; the sorting system also greatly reduces the error rate and avoids the traditional seeding and sorting Misoperations or wrong orders caused by manual operations in the picking system; and due to the reduction of operators, the operation process has been simplified to the greatest extent, so that the management cost of the enterprise has been greatly reduced.

Description of the drawings

Fig. 1 shows a top view of a robot seeding and/or sorting system with a lifting mechanism in an embodiment of the present invention.

Fig. 2 is a schematic diagram of the structure of the lifting type unwinding unit in the robot seeding and/or sorting system in an embodiment of the present invention.

Fig. 3 shows a side view of a robot seeding and/or sorting system with a lifting mechanism in an embodiment of the present invention.

Detailed ways

The following specific examples illustrate the implementation of the present invention. Those familiar with the technology can easily understand the other advantages and effects of the present invention from the content disclosed in this specification.

It should be noted that the structures, proportions, sizes, etc. shown in the accompanying drawings in this specification are only used to match the content disclosed in the specification for people familiar with this technology to understand and read, and are not intended to limit the implementation of the present invention. Limited conditions, so it has no technical significance. Any structural modification, proportional relationship change or size adjustment should still fall under the present invention without affecting the effects and objectives that can be achieved by the present invention. The disclosed technical content must be within the scope of coverage. The following detailed description should not be considered restrictive, and the scope of the embodiments of the present application is limited only by the claims of the published patent. The terminology used here is only for describing specific embodiments, and is not intended to limit the application. Space-related terms, such as "upper", "lower", "left", "right", "below", "below", "lower", "above", "upper", etc., can be used in the text for ease of explanation The relationship between one element or feature shown in the figure and another element or feature.

In the present invention, unless otherwise clearly defined and defined, the terms "installed", "connected", "connected", "fixed", "fixed" and other terms should be understood in a broad sense. For example, it can be a fixed connection or a fixed connection. It is a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components. For those of ordinary skill in the art, the specific meanings of the above-mentioned terms in the present invention can be understood according to specific situations.

Furthermore, as used herein, the singular forms "a", "an" and "the" are intended to also include the plural forms, unless the context dictates to the contrary. It should be further understood that the terms "including" and "including" indicate the presence of the described features, operations, elements, components, items, types, and/or groups, but do not exclude one or more other features, operations, elements, components, The existence, appearance or addition of items, categories, and/or groups. The terms "or" and "and/or" used herein are interpreted as inclusive or mean any one or any combination. Therefore, "A, B or C" or "A, B and/or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B and C" . An exception to this definition will only occur if the combination of elements, functions, or operations is inherently mutually exclusive in some way.

At present, the sorting methods involved in warehouse management usually include seed sorting and fruit picking sorting. Seeding sorting is to gather multiple orders (that is, the requirements of multiple customers) into a batch, first collect the quantity of each product separately, and then divide the goods for all customers one by one, similar to seeding; The characteristic of picking is that it processes multiple orders at a time, which is complicated and difficult. Fruit picking sorting is for each order (that is, each customer) to pick, picking personnel or equipment circulates in each cargo storage location, and takes out the required goods, which looks like they have been picked; the characteristic of fruit picking People only process one order at a time, which is simple and easy to operate.

Of course, whether it is seeding sorting or fruit picking sorting in the prior art, there are many shortcomings. The efficiency of fruit picking sorting is low, the operation of seeding sorting is difficult, and the labor intensity is high. Sorting process management has higher requirements, and has higher requirements on management information systems, personnel, rules and regulations, etc.

In view of this, the present invention provides a robot seeding and/or sorting system with a lifting mechanism, which aims to provide a robot-based automatic picking scheme, which realizes the function of fully automated equipment to perform the seeding operation, not only working efficiency It is greatly improved, and the information of the entire sorting process can be traced to realize the control and supervision of the whole process; the sorting system has greatly expanded the sorting capacity of the equipment due to the introduction of the robot unit; the sorting system has also greatly reduced the error rate, Avoid misoperations or wrong orders caused by manual operations in the traditional seeding and sorting system; and due to the reduction of operators, the operation process has been simplified to the greatest extent, so that the management cost of the enterprise has been greatly reduced.

In order to make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be further described in detail through the following embodiments in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to explain the present invention, but not used to limit the present invention.

As shown in Fig. 1, a top view of a robot seeding and/or sorting system with a lifting mechanism in an embodiment of the present invention is shown. The robotic seeding and/or sorting system shown in this embodiment specifically includes: a storage unit 11, a material conveying unit 12, a visual analysis unit 13, a robot unit 14, an elevating unwinding unit 15 and a transfer rack unit 16.

The storage unit 11 is used to store various types of materials. Specifically, a material frame or a tray can be selected to realize the material storage function, which is not limited in this embodiment. It should be understood that the materials involved in the present invention include not only express products in the e-commerce warehousing field, but also all materials circulating in the production field, such as raw materials, fuels, parts, semi-finished products, finished products, outsourced parts, and corners. Remaining materials or waste materials, etc. This embodiment also does not limit the production fields to which the materials belong, including but not limited to: electronic materials, optical materials, plastic materials, metal materials, packaging materials, or auxiliary materials, and so on.

The material conveying unit 12 is used to output materials from the material storage unit 11 and/or transport materials to the material storage unit 11. Specifically, the material transfer between the storage unit 11 and the material conveying unit 12 can be accomplished by manpower, or a mechanical device can be used to realize automatic material conveying, which is not limited in this embodiment.

In the preferred implementation of this embodiment, since the conveying unit 12 conveys multiple types of materials with different volumes and weights, the load generated on the conveying unit 12 when being transferred from the storage unit 11 to the conveying unit 12 is different, so the conveying unit 12 The unit 12 preferably includes, but is not limited to, a roller conveyor line of a roller conveyor, which is suitable for transporting various materials with different sizes and weights (such as boxes, bags, pallets, etc.), capable of transporting heavier items, and has excellent load impact resistance. , And the rollers can be better connected, so that the conveyor can better transport complex and stacked items. However, it should be noted that the conveying unit 12 in this embodiment can also use a belt conveyor, a screw conveyor, a plate chain conveyor, a mesh belt conveyor, or a chain conveyor, etc., which is not limited in this embodiment.

The visual scanning range of the visual analysis unit 13 includes at least a part of the conveying section of the material conveying unit 12. The preferred visual scanning range is the box area directly in front of the robot, for example, the storage unit 11 in FIG. 1 is located in front of the robot. Box. Specifically, in the process of material being transported, for example, from the right part of the material conveying unit 12 in Figure 1 to the left part of the material conveying unit 12, the material path is located in the box directly in front of the robot, that is, the visual analysis unit. 13 visual scanning area. The visual analysis unit 13 is used to collect the material image of the conveyed material to analyze and obtain material information; the material information includes the material's grasping point position information, grasping posture information and target position information.

Optionally, the visual analysis unit 13 may be a camera module, and the camera module includes a camera device, a storage device, and a processing device. The camera device includes, but is not limited to: a camera, a video camera, a camera module integrated with an optical system or a CCD chip, a camera module integrated with an optical system and a CMOS chip, and the like. In order to increase the size of the visual scanning area, the visual analysis unit 13 can select a wide-angle lens or a fisheye lens, which is not limited in this embodiment.

In an optional implementation manner of this embodiment, the method for acquiring the position information of the grasping point and the grasping posture information is: the visual analysis unit 13 acquires the spatial geometric information of the material by scanning the outline of the material (including but not limited to: The length, angle, or the relationship between points, lines and planes, colors, etc.), based on this analysis, obtains the position information of the grasping point and grasping posture information suitable for grasping the material, and these information are transmitted to the robot unit 14 through the communication network, The robot unit 14 can then perform the corresponding grasping action.

In an optional implementation of this embodiment, the target location information is acquired in a manner that the visual analysis unit 13 acquires the shape information of the material by scanning the outline of the material (including but not limited to the shape of a rectangular parallelepiped, a sphere, or a cylindrical shape). Etc.), and obtain the target location information associated with the shape category of the material according to the analysis of the shape information; wherein, the transfer rack unit is provided with multi-layer shelves, and the shelves of different layers are used to accommodate different types of materials. Therefore, after obtaining the shape information of the material, the target location information of the material can be analyzed.

In an optional implementation manner of this embodiment, the method for acquiring the target location information is: the visual analysis unit 13 reads the target location information of the material by scanning the scan code on the surface of the material. For example, the surface of each material is attached with a scan code (including but not limited to two-dimensional code, one-dimensional code or bar code, etc.) pre-stored with the target location information of the material (such as the Nth shelf of the transfer shelf unit) , The visual analysis unit 13 can obtain the information after scanning and interpretation.

The robot unit 14 is communicatively connected with the visual analysis unit 13, and is used to receive the grasping point position information and grasping posture information of the material from the visual analysis unit 13, according to which the material is grasped and transferred to the elevating type discharging Unit 15.

It should be noted that the robot unit involved in this embodiment includes, but is not limited to: multi-axis robots capable of achieving multiple degrees of freedom (such as XYZ three-axis robots, four-axis robots, six-axis robots, or even eight-axis robots, etc.), The 3 rotary joints can be applied to Scara robots for assembly operations, or Delta robots that can achieve high-precision picking, and so on. In actual application scenarios, any automation device that can realize the functions of grabbing and transportation can be applied to the technical solution of the present invention.

It is worth noting that the existing seeding sorting system usually completes the sorting manually, but due to the limited weight that manpower can bear, it can only sort about 1KG of products each time; and the present invention uses The robot seeding and/or sorting system can lift at least 2KG and above products due to the robot's excellent carrying capacity, thus greatly improving the sorting capacity of the sorting system.

The elevating discharge unit 15 is in communication connection with the visual analysis unit 13; the elevating discharge unit 15 moves up and down along the height of the transfer rack unit 16, which lifts the material after receiving the target position information Go to the target location and place materials on the corresponding shelf in the transfer shelf unit 16.

In order to facilitate the understanding of those skilled in the art, the elevating discharge unit in this embodiment will be further explained and described below in conjunction with FIG. 2. The elevating unwinding unit 15 is provided with an elevating mechanism 151, a discharging mechanism 152 and a slideway mechanism 153. The material unloading mechanism 152 is installed on the lifting mechanism 151, which is driven by the lifting mechanism 151 to perform lifting motion; out.

Optionally, the material dumping mechanism 152 in this embodiment may adopt a turning mechanism or a small conveyor belt. The turning mechanism includes one or more material carrying parts, which pour the materials into the chute mechanism 153 after turning; and the small conveyor belt can transfer the materials to the chute mechanism 153. Take the turning mechanism as an example, as shown in Fig. 2 of the elevating type unwinding unit, the turning mechanism can be reversed in the direction of arrow C to pour out the material. The chute mechanism 153 includes a multi-layer chute arranged obliquely downward, for materials to flow down the chute to the shelf after being poured by the material dumping mechanism 152.

Preferably, the robotic seeding and/or sorting system further includes one or more monitoring devices, such as monitoring cameras, which are used to monitor whether materials are correctly placed in the corresponding material carrying parts, and/or It is stated whether the material is poured into the shelf after the material carrying part is turned over, so as to detect the abnormal condition of the material and help the user to find the abnormal condition in time. The abnormal conditions include, but are not limited to, material jams, material falling, etc., and this embodiment does not make specific restrictions.

Preferably, the transfer rack unit 16 is provided with multiple layers of shelves, and the material support plate 161 of each layer of shelves is inclined upward to hold the material. . More preferably, the shelf grid opening of the shelf is provided with a light curtain to detect whether the material enters the corresponding grid opening correctly, so as to help the user to find the abnormal situation that the material does not enter the grid opening correctly in time. It should be noted that an independent light curtain can be set on the shelf grid of each shelf in the transfer shelf unit to ensure that each shelf grid has independent monitoring and avoid monitoring loopholes; but in order to reduce costs, it can also be used The shelf grids of each row of shelves share a light curtain, or the shelf grids of each row of shelves share a light curtain.

In an optional implementation of this embodiment, the robotic seeding and/or picking system further includes a chassis 17 as the main frame of the system for carrying the storage unit 11, the material conveying unit 12, and the visual analysis unit. 13. The robot unit 14, the elevating unwinding unit 15 and the transfer rack unit 16.

In a preferred implementation of this embodiment, the robot unit 14 is provided with the elevating unwinding unit 15 and the transfer rack unit 16 in one or more of the forward, backward, left, and directed directions. That is, the system layout diagram shown in Figure 1), forming a pattern around the robot unit, so that the robot unit can operate more shelves and improve the efficiency of picking.

In a preferred implementation of this embodiment, the material conveying unit 12 is provided in the left and right directions of the operation of the robot unit 14 respectively, and two conveying lines can be used to increase the sorting of materials and improve the sorting efficiency.

It should be understood that the above examples are provided for illustrative purposes, and the above examples should not be construed as limiting. Likewise, the robotic seeding and/or sorting system may additionally or alternatively include other features or include fewer features without departing from the scope of the present application.

To sum up, the present invention provides a robot seeding and/or sorting system with a lifting mechanism, which aims to provide a robot-based automatic picking scheme, which realizes the function of performing seeding operations entirely by automated equipment. The efficiency is greatly improved, and the information of the entire sorting process can be traced to realize the control and supervision of the whole process; the sorting system has greatly expanded the sorting capacity of the equipment due to the introduction of the robot unit; the sorting system has also greatly reduced the error rate , To avoid erroneous operations or wrong orders caused by manual operations in the traditional seeding and sorting system; and due to the reduction of operators, the operation process has been simplified to the greatest extent, so that the management cost of the enterprise has been greatly reduced. Therefore, the present invention effectively overcomes various shortcomings in the prior art and has a high industrial value.

The above-mentioned embodiments only exemplarily illustrate the principles and effects of the present invention, but are not used to limit the present invention. Anyone familiar with this technology can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed in the present invention should still be covered by the claims of the present invention.

Claims

A robot seeding and/or sorting system with a lifting mechanism is characterized in that it comprises:

Storage unit, used to store multiple types of multiple pieces or single type multiple pieces of materials;

A material conveying unit for outputting materials from the storage unit and/or transporting materials to the storage unit;

The visual analysis unit, the visual scanning range includes at least part of the conveying section of the material conveying unit, and is used to collect the material image of the conveyed material to analyze and obtain material information; the material information includes the location information of the material grabbing point, Grab posture information and target location information;

The robot unit is communicatively connected with the visual analysis unit; the robot unit receives the position information of the grasping point and the grasping posture information of the material, and then grasps the material and transfers it to the elevating unloading unit;

The elevating unloading unit is communicatively connected with the visual analysis unit; the elevating unloading unit moves up and down along the height of the transfer rack unit, and lifts the material to the target position after receiving the target position information , And put materials on the corresponding shelf in the transfer shelf unit;

The transfer rack unit is provided with multi-layer racks for transferring materials to the downstream conveying system.
The robot seeding and/or sorting system according to claim 1, wherein the method for acquiring position information of the grasping point and grasping posture information comprises: the visual analysis unit obtains the information by scanning the outline of the material The spatial geometric information of the material is analyzed to obtain the material's grasping point position information and grasping posture information.
The robot seeding and/or sorting system according to claim 1, wherein the method for acquiring the target position information includes any one or a combination of the following:

Mode 1) The visual analysis unit obtains the shape information of the material by scanning the contour of the material, and analyzes the shape information to obtain target position information related to the shape category of the material; wherein, the transfer rack unit is provided with multiple layers Shelves, different layers of shelves are used to hold materials of different shapes and categories;

Manner 2) The visual analysis unit reads the target location information of the material by scanning the scan code on the surface of the material.
The robotic seeding and/or sorting system according to claim 1, wherein the lifting type unwinding unit comprises:

Lifting mechanism

The material dumping mechanism is arranged on the lifting mechanism and is driven by the lifting mechanism to make a lifting movement; the material dumping mechanism is used to carry materials and pour the materials out after driving the materials to the target position;

The chute mechanism includes a multi-layer inclined downward chute for the material dumping mechanism to pour in the material and slide it out.
The robotic seeding and/or sorting system according to claim 4, wherein the material dumping mechanism includes a turnover mechanism or a conveyor belt mechanism; the turnover mechanism includes one or more material carrying parts, which after turning over The material is poured into the chute mechanism; the conveyor belt mechanism passes the material into the chute mechanism.
The robotic seeding and/or sorting system according to claim 5, wherein the system further comprises:

One or more monitoring devices for monitoring whether the material is correctly placed in the corresponding material carrying part, and/or whether the material is poured into the shelf after the material carrying part is turned over, so as to detect the abnormal condition of the material; Wherein, the abnormal situation includes material jam and/or falling.
The robotic seeding and/or sorting system according to claim 1, wherein the transfer rack unit is provided with multi-layer racks; and the material supporting plate of each rack is arranged obliquely upward.
The robot seeding and/or sorting system according to claim 7, characterized in that the shelf grid opening of the shelf is provided with a light curtain for detecting whether materials have entered the corresponding grid opening correctly; wherein, the transfer The shelf grid of each shelf in the shelf unit is provided with an independent light curtain; or the shelf grids of each row of shelves share a light curtain; or the shelf grids of each row of shelves share a light curtain.
The robotic seeding and/or sorting system according to claim 1, wherein the system further comprises:

The underframe is used to carry the storage unit, the material conveying unit, the visual analysis unit, the robot unit, the elevating unwinding unit and the transfer rack unit.
The robot seeding and/or sorting system according to claim 1, characterized in that:

The robot unit is provided with the elevating unloading unit and the transfer rack unit in one or more of the forward, backward, left, and directional directions of its operation; and/or, the robot unit operates The material conveying unit is respectively provided in the left direction and the right direction.
The robot seeding and/or sorting system according to claim 1, wherein the conveying unit comprises a roller conveying line; the robot unit comprises: a multi-axis robot, a robot with multiple rotary joints, or a Delta robot.