WO2023015916A1 - 一种立体分拣方法、立体分拣机器人和系统 - Google Patents

一种立体分拣方法、立体分拣机器人和系统 Download PDF

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Publication number
WO2023015916A1
WO2023015916A1 PCT/CN2022/084621 CN2022084621W WO2023015916A1 WO 2023015916 A1 WO2023015916 A1 WO 2023015916A1 CN 2022084621 W CN2022084621 W CN 2022084621W WO 2023015916 A1 WO2023015916 A1 WO 2023015916A1
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WIPO (PCT)
Prior art keywords
sorting
shelf
dimensional
information
robot
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PCT/CN2022/084621
Other languages
English (en)
French (fr)
Inventor
夏慧玲
朱建强
徐珏晶
马鸣
Original Assignee
浙江立镖机器人有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 浙江立镖机器人有限公司 filed Critical 浙江立镖机器人有限公司
Priority to EP22854921.8A priority Critical patent/EP4365110A1/en
Priority to KR1020247005494A priority patent/KR20240035579A/ko
Publication of WO2023015916A1 publication Critical patent/WO2023015916A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1378—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on fixed commissioning areas remote from the storage areas
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0285—Postal items, e.g. letters, parcels
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40078—Sort objects, workpieces
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45047—Sorting

Definitions

  • the present application relates to the technical field of sorting robots, in particular to a three-dimensional sorting method, a three-dimensional sorting robot and a system.
  • Sorting robot is a kind of robot equipped with sensors, recognition mechanism and performing sorting action, which is used for fast sorting of goods.
  • Embodiments of the present application provide a three-dimensional sorting method, a three-dimensional sorting robot and a system, so as to achieve the technical purpose of improving sorting efficiency and sorting space utilization.
  • a three-dimensional sorting method may include:
  • the obtaining step is to obtain the identity information of the target sorting shelf
  • the identity information may include: the structural data of the sorting shelf and/or the position information of the basket unit in the shelf;
  • the binding step is to bind the identity information of the target sorting shelf with the information of the three-dimensional sorting robot, and the binding relationship can be associated through the target order of the server;
  • the goods to be sorted are sorted according to the identity information of the shelf.
  • the method may also include:
  • the attribute data may include: one or more combinations of size data, volume data and type data;
  • the obtaining step also includes:
  • the label may carry the structural data of the sorting shelf and/or the position information of the basket unit;
  • the sorting The structural data of the shelf can indicate the vertical and horizontal structure of the sorting shelf and the position information of the available basket unit;
  • the position information of the basket unit may indicate the position of the basket unit in the coordinate system formed by the sorting rack.
  • the goods to be sorted are sorted according to the identity information of the shelf in the following manner, including:
  • the sorting information may carry a corresponding relationship with a certain basket unit in the sorting shelf;
  • the coordinate value is indexed and positioned, and the goods to be sorted are delivered to the basket unit.
  • the method may also include:
  • the method may also include: an order update step,
  • the sorting robot may have a unique binding relationship with the target sorting shelf.
  • a three-dimensional sorting robot, the three-dimensional sorting robot may include:
  • An acquisition unit the acquisition unit may be configured to acquire the identity information of the target sorting shelf, the identity information may include: the structural data of the sorting shelf and/or the location information of the basket unit in the sorting shelf;
  • a binding unit can be configured to bind the identity information of the target sorting shelf with the information of the three-dimensional sorting robot, and the binding relationship is associated through the target order of the server;
  • a sorting unit the sorting unit may be configured to sort the goods to be sorted according to the identity information of the shelf under the sorting task of the target order.
  • the acquisition unit may also be configured to:
  • the attribute data may include: one or more combinations of size data, volume data and type data;
  • the acquisition unit may be implemented by an RFID reader in the following manner:
  • the label may carry the structural data of the sorting shelf and/or the position information of the basket unit;
  • the structural data of the sorting shelf may indicate the vertical and horizontal structure of the sorting shelf and the position information of the available basket units;
  • the position information of the basket unit may indicate the position of the basket unit in the coordinate system formed by the sorting rack.
  • the sorting unit can also be configured to:
  • the sorting information may carry a corresponding relationship with a certain basket unit in the sorting shelf;
  • the coordinate value is indexed and positioned, and the goods to be sorted are delivered to the basket unit.
  • the binding relationship between the three-dimensional sorting robot and the target sorting shelf may be unique.
  • a three-dimensional sorting system may include: a sorting robot, a server and a sorting shelf, and the sorting robot may perform the following steps:
  • the obtaining step is to obtain the identity information of the target sorting shelf
  • the identity information may include: the structural data of the sorting shelf and/or the position information of the basket unit in the shelf;
  • the binding step is to bind the identity information of the target sorting shelf with the information of the sorting robot, and the binding relationship can be executed by the server to associate the target order and the binding relationship;
  • the goods to be sorted are sorted according to the identity information of the shelf.
  • the sorting robot can perform the obtaining step in the following manner:
  • the label may carry the structural data of the sorting shelf and/or the position information of the basket unit;
  • the sorting The structural data of the shelf can indicate the vertical and horizontal structure of the sorting shelf and the position information of the available basket unit;
  • the position information of the basket unit may indicate the position of the basket unit in the coordinate system formed by the sorting rack.
  • the three-dimensional sorting robot can perform the sorting step in the following manner:
  • the sorting information may carry a corresponding relationship with a certain basket unit in the sorting shelf;
  • the coordinate value is indexed and positioned, and the goods to be sorted are delivered to the basket unit.
  • the three-dimensional sorting robot can perform the sorting step in the following manner:
  • the sorting information may carry a corresponding relationship with a certain basket unit in the sorting shelf; look up the corresponding relationship table, and obtain the The coordinate value of the three-dimensional coordinate system formed by the sorting rack;
  • the coordinate value is indexed and positioned, and the goods to be sorted are delivered to the basket unit.
  • the server may perform the step of canceling the order update
  • a computing device that may include:
  • the memory stores instructions executable by the at least one processor, the instructions are executed by the at least one processor to enable the at least one processor to perform the method as described above.
  • the three-dimensional sorting method, three-dimensional sorting robot and system disclosed in this application bind the identity information of the target sorting shelf with the information of the sorting robot by acquiring the identity information of the target sorting shelf, and Associating, under the sorting task of the target order, the goods to be sorted are sorted according to the identity information of the shelf.
  • sorting can be completed by a sorting control method that recognizes the information of different bins or sorting racks. Realize three-dimensional sorting that is not limited to baskets or sorting racks.
  • Figure 1a is a schematic structural diagram of the three-dimensional sorting and sorting system in the embodiment of the present application.
  • Figure 1b is a schematic flow diagram of the three-dimensional sorting method in the embodiment of the present application.
  • Figure 1c is a schematic structural view of the three-dimensional sorting shelf in the embodiment of the present application.
  • Figure 1d is a schematic structural diagram of the three-dimensional sorting shelf in the embodiment of the present application.
  • Fig. 2 is a schematic flow chart of the three-dimensional sorting method in the embodiment of the present application.
  • Fig. 3 is a schematic flow chart of the three-dimensional sorting method in the embodiment of the present application.
  • Fig. 4 is a schematic flow chart of the three-dimensional sorting method in the embodiment of the present application.
  • Fig. 5 is a schematic flow chart of the three-dimensional sorting method in the embodiment of the present application.
  • FIG. 6 is a schematic structural view of a three-dimensional sorting robot in an embodiment of the present application.
  • FIG. 7 is a schematic diagram of the execution flow of the three-dimensional sorting system in the embodiment of the present application.
  • FIG. 8 is a schematic structural diagram of a computing device in an embodiment of the present application.
  • FIG. 9 is a schematic structural diagram of a readable medium in an embodiment of the present application.
  • a three-dimensional sorting method, three-dimensional sorting robot and system are provided to achieve the technical purpose of improving sorting efficiency and sorting space utilization.
  • the three-dimensional sorting system includes a three-dimensional sorting robot 1, a server 2 and a sorting shelf 3.
  • the three-dimensional sorting robot 1 is provided with a plurality, and is installed in the sorting field in an active manner through a bus (such as CAN), and the sorting shelf is in contact communication with the three-dimensional sorting robot through a plug-in method,
  • the data exchange can also be completed in a wireless and contactless manner, which is not limited here.
  • the sorting robot 1 can identify and perform sorting tasks on sorting shelves with multi-layer three-dimensional structures through a support frame and a horizontal movable mechanism and a vertical movable mechanism. At the same time, the sorting robot 1 can be provided with a turning plate or a structural assembly for putting goods into the sorting rack. It can cooperate with desktop sorting robot or flat sorting robot to sort tasks based on a certain wave of orders.
  • the server 2 is used to control sorting waves, sorting orders, multiple three-dimensional sorting robots in the local area network or area, and at the same time, for the binding relationship between the three-dimensional sorting robot and the sorting shelf, for a certain The binding of an order for the wave.
  • the three-dimensional sorting method of the present application includes:
  • Obtaining step S11 acquiring the identity information of the target sorting shelf, the identity information may include: the structural data of the sorting shelf and/or the location information of the basket unit in the sorting shelf;
  • the current target sorting shelf is marked as 001
  • its identity information includes at least the structural data of the sorting shelf, such as 001
  • the structure of the No. 1 shelf is 4 rows and 3 rows.
  • the goods to be sorted need to be put into the baskets that are inverted in three rows and two rows.
  • the three-dimensional sorting robot only needs to sort the goods according to the structure and position. put in.
  • the structural data can also be distinguished by the type of the sorting shelf, for example, the X001 type is a rectangular sorting shelf with 4 rows and 3 columns, and the Y001 type is a rectangular sorting shelf with 8 rows and 5 columns.
  • Binding step S12 Bind the identity information of the target sorting shelf with the information of the three-dimensional sorting robot, and the binding relationship is associated through the target order of the server;
  • the order A002 has a sorting task of 10,000 pieces.
  • the three-dimensional sorting robot needs to sort with the target during the sorting process.
  • Rack 001 is bound to complete accurate cargo sorting.
  • the binding relationship between the current shelf and the sorting robot is realized by inserting the current shelf into the sorting robot station.
  • the server needs to store the identity information of each sorting shelf or basket, and associate the three-dimensional sorting person with the Store and update the relationship between the order, the bound sorting shelf or the basket.
  • Sorting step S13 under the sorting task of the target order, sort the goods to be sorted according to the identity information of the shelf.
  • the three-dimensional sorting robot needs to control the orders and sorting tasks to be completed by the server.
  • the three-dimensional sorting robot sorts the goods, and the target position is completed based on the identity information of the above sorting shelves or baskets. .
  • the sorting rack can be a sorting rack or basket of any structure or shape. configuration, but often the structure of the sorting shelves is not uniform, and even multiple shelves are spliced together.
  • the sorting shelf in order to obtain more detailed information of the sorting shelf, it also includes:
  • the attribute data includes: one or more combinations of size data, volume data and type data;
  • Each item to be sorted has a corresponding relationship with one or more basket units based on the sorting task, and the sorting robot completes precise sorting based on the corresponding relationship.
  • the identity information can be obtained by reading the label set on the target sorting shelf through RFID, and the label can carry the structural data of the sorting shelf and/or the basket location information of the unit;
  • the RFID tag card configured on the target sorting rack may only have the ID of the target sorting rack, and its structural data and/or position information of the basket unit can be stored in the server for all The three-dimensional sorting robot is obtained.
  • the structural data of the sorting shelf indicates the vertical and horizontal structure of the sorting shelf and the information of available baskets
  • the position information of the basket unit indicates the position of the basket unit in the coordinate system formed by the sorting rack.
  • the above-mentioned form of reading RFID is preferred for the configuration of movable sorting shelves in the three-dimensional sorting system.
  • the No. 001 sorting robot receives the sorting task of an A002 order, in order to complete the sorting efficiently, the No. 001 sorting robot 9 active sorting racks (numbers X010-X090) were allocated to complete the order.
  • the No. 001 sorting robot reads that the target rectangular sorting rack is the X001 type by reading the RFID tag of the X010 active sorting rack (the X001 type is Rectangular sorting rack with 4 rows and 3 columns), it is obtained by reading that the target rectangular sorting rack has 12 available baskets, distributed in four horizontal and three vertical directions, and the target sorting rack is divided based on the coordinate system, then 12
  • the available baskets can be marked as X1Y1(1,1) to represent a row of baskets, X1Y2(1,2) to represent a row of two rows, until X4Y3(4,3) to represent four rows of hashed baskets.
  • the binding relationship between the three-dimensional sorting robot and the target sorting shelf is unique, that is, the No. 001 sorting robot completes the sorting of the X010 activity After the sorting of the sorting rack, the sorting of the active sorting rack No. X020 is carried out.
  • the sorting step can be performed in the following ways:
  • S32 Search the correspondence table, and obtain the coordinate values of the three-dimensional coordinate system formed by the basket unit on the sorting rack;
  • S33 index the coordinate value and locate, and deliver the goods to be sorted to the basket unit.
  • FIG. 4 it shows the process of identifying sorting racks in this application, including:
  • the No. 001 sorting robot delivers a certain item to be sorted, it needs to confirm whether the sorting shelf or sorting basket where the basket is placed is the one that is bound. If it is identified, it is an error. When the sorting shelf or sorting basket is selected, a second confirmation or fault alarm is performed to avoid delivery errors.
  • FIG. 5 it shows the process of identifying the sorting shelf in this application, including: an order update step,
  • the binding relationship between the current shelf and the sorting robot is realized by inserting the current shelf into the sorting robot station, and the current shelf is released from the sorting robot.
  • the binding relationship of the sorting robot is realized by pulling out the current shelf from the sorting robot. It should be emphasized that this mode is a preferred mode.
  • sorting robot In order to facilitate order management, it is necessary to unbind the sorting robot from the current shelf when order No. 002 is completed. If there is a sorting task for the next order, the sorting robot will execute the steps and descriptions shown in FIG. 1 , which will not be repeated in this embodiment.
  • Figure 6 shows a sorting robot, including:
  • An acquisition unit 61 configured to acquire the identity information of the target sorting shelf, the identity information may include: the structural data of the sorting shelf and/or the location information of the basket unit in the shelf;
  • the acquisition unit can preferably be implemented by an RFID reader in the following manner:
  • the label may carry the structural data of the sorting shelf and/or the location information of the basket unit;
  • the structural data of the sorting shelf indicates the vertical and horizontal structure of the sorting shelf and the information of available baskets
  • the position information of the basket unit indicates the position of the basket unit in the coordinate system formed by the sorting rack.
  • the hardware solution corresponding to the acquisition unit can be implemented in various ways, such as remote reading, contact reading, visual recognition, and the like.
  • a binding unit 62 the binding unit 62 is configured to bind the identity information of the target sorting shelf with the information of the sorting robot, and the binding relationship is associated through the target order of the server;
  • the binding relationship between the current shelf and the sorting robot is realized by inserting the current shelf into the sorting robot station, and the current shelf is released from the sorting robot.
  • the binding relationship of the sorting robot is realized by pulling out the current shelf from the sorting robot. It should be emphasized that this mode is a preferred mode.
  • the server can be implemented by a computing device.
  • the server needs to store the identity information of each sorting shelf or basket, and The relationship between the three-dimensional sorter and the order being executed, the bound sorting shelf or basket is stored and updated.
  • a sorting unit 63 the sorting unit 63 is configured to sort the goods to be sorted according to the identity information of the shelf under the sorting task of the target order.
  • the sorting unit 63 is also configured to:
  • the sorting information carries a corresponding relationship with a certain basket unit in the sorting shelf;
  • the coordinate value is indexed and positioned, and the goods to be sorted are delivered to the basket unit.
  • the hardware configuration corresponding to the sorting unit can be selected.
  • the sorting robot 1 can identify and perform sorting tasks on sorting shelves with a multi-layer three-dimensional structure through a support frame, a horizontal movable mechanism and a vertical movable mechanism.
  • the sorting robot 1 can be provided with a turning plate or a structural assembly for putting goods into the sorting rack. It can cooperate with desktop sorting robot or flat sorting robot to sort tasks based on a certain wave of orders.
  • the three-dimensional sorting system includes a three-dimensional sorting robot, a server and a sorting shelf, and the sorting robot performs:
  • Obtaining step 71, obtaining the identity information of the target sorting shelf, the identity information may include: the structural data of the sorting shelf and/or the location information of the basket unit in the shelf;
  • the sorting robot performs the acquisition step in the following manner:
  • the label may carry the structural data of the sorting shelf and/or the position information of the basket unit;
  • the structural data of the sorting shelf indicates the vertical and horizontal structure of the sorting shelf and the information of available baskets
  • the position information of the basket unit indicates the position of the basket unit in the coordinate system formed by the sorting rack.
  • Binding step 72 binding the identity information of the target sorting shelf with the information of the sorting robot, and the binding relationship is executed by the server to associate the target order and the binding relationship;
  • Sorting step 73 under the sorting task of the target order, sort the goods to be sorted according to the identity information of the shelf.
  • the sorting robot performs the sorting steps in the following manner:
  • the sorting information carries a corresponding relationship with a certain basket unit in the sorting shelf;
  • the coordinate value is indexed and positioned, and the goods to be sorted are delivered to the basket unit.
  • the server 2 executes the step of canceling the order update
  • the binding relationship between the current shelf and the sorting robot is realized by inserting the current shelf into the sorting robot station, and the current shelf is released from the sorting robot.
  • the binding relationship of the sorting robot is realized by pulling out the current shelf from the sorting robot. It should be emphasized that this mode is a preferred mode.
  • Figure 8 shows a computing device 80 that matches the method of Figures 1-5.
  • computing device 80 shown in FIG. 8 is only an example, and should not limit the functions and scope of use of this embodiment of the present application.
  • the server takes the form of a general-purpose computing device 80 .
  • Components of the computing device 80 may include, but are not limited to: at least one processor 81 , at least one memory 82 , and a bus 83 connecting different system components (including the memory 82 and the processor 81 ).
  • Bus 83 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a processor, or a local bus using any of a variety of bus structures.
  • Memory 82 may include readable media in the form of volatile memory, such as random access memory (RAM) 821 and/or cache memory 822 , and may optionally include read only memory (ROM) 823 .
  • RAM random access memory
  • ROM read only memory
  • Memory 82 may also include programs/utilities 825 having a set (at least one) of program modules 824 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, which Each or some combination of the examples may include the implementation of a network environment.
  • Computing device 80 may also communicate with one or more external devices 84 (e.g., keyboards, pointing devices, etc.), and may also communicate with one or more devices that enable a user to interact with computing device 80, and/or enable the computing device 80 communicates with any device (eg, router, modem, etc.) capable of communicating with one or more other computing devices. Such communication may occur through input/output (I/O) interface 85 . Also, computing device 80 may also communicate with one or more networks (eg, a local area network (LAN), a wide area network (WAN), and/or a public network, such as the Internet) via network adapter 88 . As shown, network adapter 88 communicates with other modules for computing device 80 over bus 83 . It should be understood that although not shown, other hardware and/or software modules may be used in conjunction with computing device 80, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives And data backup storage system, etc.
  • a computing device may include at least one processor, and at least one memory (such as a first server).
  • the memory stores program codes, and when the program codes are executed by the processor, the processor is made to execute the steps in the method for unlocking the system authority according to various exemplary embodiments of the present application described above in this specification.
  • the three-dimensional sorting method shown in Figs. 1-5 and the corresponding embodiment can also be realized through a computer-readable medium 91.
  • computer-executable instructions are stored, that is, the three-dimensional sorting robot according to the method of the present application
  • Program instructions to be executed, the computer or the high-speed chip can execute the instructions to implement the three-dimensional sorting method described in the above embodiments.
  • a readable signal medium may include a data signal carrying readable program code in baseband or as part of a carrier wave. Such propagated data signals may take many forms, including - but not limited to - electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • a readable signal medium may also be any readable medium other than a readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device.
  • Program code embodied on a readable medium may be transmitted using any appropriate medium, including - but not limited to - wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
  • Program codes for performing the operations of the present application can be written in any combination of one or more programming languages, including object-oriented programming languages—such as Java, C++, etc., as well as conventional procedural programming Language - such as "C" or similar programming language.
  • the program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server to execute.
  • the remote computing device may be connected to the user computing device through any kind of network, including a local area network (LAN) or a wide area network (WAN), or, alternatively, may be connected to an external computing device (e.g., using an Internet service Provider via Internet connection).
  • LAN local area network
  • WAN wide area network
  • an external computing device e.g., using an Internet service Provider via Internet connection.
  • a program product may take the form of any combination of one or more readable media.
  • the readable medium may be a readable signal medium or a readable storage medium.
  • the readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, control device, or device, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: electrical connection with one or more conductors, portable disk, hard disk, random access memory (RAM), read only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.
  • the program product for unlocking system privileges in the embodiments of the present application may adopt a portable compact disk read-only memory (CD-ROM) and include program codes, and may run on a computing device.
  • CD-ROM portable compact disk read-only memory
  • the program product of this application is not limited thereto.
  • a readable storage medium may be any tangible medium containing or storing a program, and the program may be used by or in combination with an instruction execution system, a control device, or a device.
  • These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions
  • the device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.
  • the present application discloses a three-dimensional sorting method, a three-dimensional sorting robot and a system.
  • the method includes: an acquisition step of acquiring the identity information of the target sorting shelf, and the identity information may include: the structural data of the sorting shelf and/or Or the position information of the basket unit in the shelf; the binding step is to bind the identity information of the target sorting shelf with the three-dimensional sorting robot information, and the binding relationship is associated through the target order of the server; sorting Step, under the sorting task of the target order, sort the goods to be sorted according to the identity information of the shelf.
  • the sorting control method can be used to identify the information of different baskets or sorting racks.
  • Three-dimensional sorting that is not limited to baskets or sorting racks.
  • the three-dimensional sorting method, three-dimensional sorting robot and system of the present application are reproducible and can be used in various industrial applications.
  • the three-dimensional sorting method, three-dimensional sorting robot and system of the present application can be used in the technical field of sorting robots.

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Abstract

一种立体分拣方法、立体分拣机器人和系统，方法包括：获取步骤（S11），获取目标分拣货架的身份信息，所述身份信息可包括：该分拣货架的结构数据和/或该货架中货筐单元的位置信息；绑定步骤（S12），将所述目标分拣货架的身份信息与立体分拣机器人信息进行绑定，所述绑定关系通过服务器的目标订单进行关联；分拣步骤（S13），在所述目标订单的分拣任务下，将待分拣的货品按照所述货架的身份信息进行分拣。在立体分拣系统中，面对不同货筐或分拣架，或者结构复杂、凌乱的分拣架，均可通过识别不同货筐或分拣架的信息的分拣控制方法完成分拣，实现不局限货筐或分拣架的立体分拣。

Description

一种立体分拣方法、立体分拣机器人和系统
相关申请的交叉引用
本申请要求于2021年08月11日提交中国国家知识产权局的申请号为202110920773.1、名称为“一种立体分拣方法、立体分拣机器人和系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及分拣机器人技术领域，尤其涉及一种立体分拣方法、立体分拣机器人和系统。
背景技术
分拣机器人(Sorting robot)，是一种配备传感器、识别机构并执行分拣动作的机器人，用于快速进行货物分拣。
相关的分拣机器人分为平台式分拣机器人或分拣机械臂。在集散中心，将快递包裹从袋子里放到传送带上，行走到目的地对应分拣袋的位置后，从传送带上翻落或抓取投入目的地的分拣袋中，以此完成分拣。
当前的分拣机器人在部署完成后可完成较为高效的分拣，需要对分拣袋进行基于平面的标准化及位置限定的部署，从而无法满足更为高效的分拣需求。
发明内容
本申请实施例提供一种立体分拣方法、立体分拣机器人和系统，实现提高分拣效率及分拣空间利用度的技术目的。
一种立体分拣方法，该立体分拣方法可以包括：
获取步骤，获取目标分拣货架的身份信息，所述身份信息可包括：该分拣货架的结构数据和/或该货架中货筐单元的位置信息；
绑定步骤，将所述目标分拣货架的身份信息与立体分拣机器人信息进行绑定，所述绑定关系可以通过服务器的目标订单进行关联；
分拣步骤，在所述目标订单的分拣任务下，将待分拣的货品按照所述货架的身份信息进行分拣。
可选地，该方法还可以包括：
获取所述分拣货架的货筐单元的属性数据，属性数据可以包括：尺寸数据、容积数据和类型数据的一种或多种的组合；
根据所述属性数据，匹配所述目标订单中待分拣货品，生成待分拣货品与所述货筐单元的对应关系表。
可选地，所述获取步骤还包括：
通过RFID读取所述目标分拣货架上设置的标签获取所述身份信息，所述标签可携带有所述分拣货架的结构数据和/或所述货筐单元的位置信息；所述分拣货架的结构数据可以指示所述分拣货架的纵横结构及可用的货筐单元的位置信息；
所述货筐单元的位置信息可以指示该货筐单元在分拣货架构成的坐标系中的位置。
可选地，在所述目标订单的分拣任务下，将待分拣的货品按照所述货架的身份信息以下述方式进行分拣，包括：
解析所述待分拣货品的分拣信息，所述分拣信息可以携带有与该分拣货架中某货筐单元的对应关系；
查找所述对应关系表，获取所述货筐单元在所述分拣货架构成的立体坐标系的坐标值；
索引该坐标值并定位，将所述待分拣货品投递至该货筐单元。
可选地，该方法还可以包括：
查询当前待分拣的货品对应的分拣货架编号；
当所述该分拣货架编号与绑定的分拣货架编号一致，则准备投入至该分拣货架。
可选地，该方法还可以包括：订单更新步骤，
当所述目标订单的所有货品均投递完成后，更新当前订单状态为完成；
解除当前货架与分拣机器人的绑定关系。
可选地，所述分拣机器人可以有多台，在所述目标订单的执行期间，所述分拣机器人可以与所述目标分拣货架的绑定关系唯一。
一种立体分拣机器人，立体分拣机器人可以包括：
获取单元，获取单元可以配置成用于获取目标分拣货架的身份信息，所述身份信息可包括：该分拣货架的结构数据和/或该分拣货架中的货筐单元的位置信息；
绑定单元，绑定单元可以配置成用于将所述目标分拣货架的身份信息与立体分拣机器人信息进行绑定，所述绑定关系通过服务器的目标订单进行关联；
分拣单元，分拣单元可以配置成用于在所述目标订单的分拣任务下，将待分拣的货品按照所述货架的身份信息进行分拣。
可选地，所述获取单元还可以配置成用于：
获取所述分拣货架的货筐单元的属性数据，所述属性数据可以包括：尺寸数据、容积数据和类型数据的一种或多种的组合；
根据所述属性数据，匹配所述目标订单中的待分拣货品，生成待分拣货品与所述货筐单元的对应关系表。
可选地，所述获取单元可以通过RFID读取器以下述方式来实现：
读取所述目标分拣货架上设置的标签获取所述身份信息，所述标签可携带有所述分拣 货架的结构数据和/或所述货筐单元的位置信息；
所述分拣货架的结构数据可以指示所述分拣货架的纵横结构及可用的货筐单元的位置信息；
所述货筐单元的位置信息可以指示该货筐单元在分拣货架构成的坐标系中的位置。
可选地，所述分拣单元还可以配置成用于：
解析所述待分拣货品的分拣信息，所述分拣信息可以携带有与该分拣货架中某货筐单元的对应关系；
查找所述对应关系表，获取所述货筐单元在所述分拣货架构成的立体坐标系的坐标值；
索引该坐标值并定位，将所述待分拣货品投递至该货筐单元。
可选地，所述立体分拣机器人可以有多台，在所述分拣单元执行所述目标订单期间，所述立体分拣机器人可以与所述目标分拣货架的绑定关系是唯一的。
一种立体分拣系统，该立体分拣系统可以包括：分拣机器人、服务器及分拣货架，所述分拣机器人可以执行下述步骤：
获取步骤，获取目标分拣货架的身份信息，所述身份信息可包括：该分拣货架的结构数据和/或该货架中货筐单元的位置信息；
绑定步骤，将所述目标分拣货架的身份信息与分拣机器人信息进行绑定，所述绑定关系可以通过所述服务器执行将目标订单及绑定关系进行关联；
分拣步骤，在所述目标订单的分拣任务下，将待分拣的货品按照所述货架的身份信息进行分拣。
可选地，所述分拣机器人可以以下述方式执行获取步骤：
通过RFID读取所述目标分拣货架上设置的标签获取所述身份信息，所述标签可携带有所述分拣货架的结构数据和/或所述货筐单元的位置信息；所述分拣货架的结构数据可以指示所述分拣货架的纵横结构及可用的货筐单元的位置信息；
所述货筐单元的位置信息可以指示该货筐单元在分拣货架构成的坐标系中的位置。
可选地，所述立体分拣机器人可以以下述方式执行分拣步骤：
解析所述待分拣货品的分拣信息，所述分拣信息可以携带有与该分拣货架中某货筐单元的对应关系；
查找所述对应关系表，获取所述货筐单元在所述分拣货架构成的立体坐标系的坐标值；
索引该坐标值并定位，将所述待分拣货品投递至该货筐单元。
可选地，所述立体分拣机器人可以以下述方式执行分拣步骤：
解析所述待分拣货品的分拣信息，所述分拣信息可以携带有与该分拣货架中某货筐单元的对应关系；查找所述对应关系表，获取所述货筐单元在所述分拣货架构成的立体坐标 系的坐标值；
索引该坐标值并定位，将所述待分拣货品投递至该货筐单元。
可选地，所述服务器可以执行解除订单更新步骤，
当所述目标订单的所有货品均投递完成后，更新当前订单状态为完成；
解除当前货架与分拣机器人的绑定关系。
一种计算设备，该计算设备可以包括：
至少一个处理器；以及
与所述至少一个处理器通信连接的存储器；其中，
所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行如上所述的方法。
本申请所披露的立体分拣方法、立体分拣机器人和系统，通过获取目标分拣货架的身份信息，将所述目标分拣货架的身份信息与分拣机器人信息进行绑定，并于目标订单关联，在所述目标订单的分拣任务下，将待分拣的货品按照所述货架的身份信息进行分拣。在立体分拣系统中，面对不同货筐或分拣架，或者结构复杂、凌乱的分拣架，均可通过识别不同货筐或分拣架的信息的分拣控制方法完成分拣。实现不局限货筐或分拣架的立体分拣。
附图说明
此处所说明的附图用来提供对本申请的进一步理解，构成本申请的一部分，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中：
图1a为本申请实施例中的的立体分拣分拣系统结构示意图；
图1b为本申请实施例中的立体分拣方法的流程示意图；
图1c为本申请实施例中的立体分拣货架的结构示意图；
图1d为本申请实施例中的立体分拣货架的结构示意图；
图2为本申请实施例中的立体分拣方法的流程示意图；
图3为本申请实施例中的立体分拣方法的流程示意图；
图4为本申请实施例中的立体分拣方法的流程示意图；
图5为本申请实施例中的立体分拣方法的流程示意图；
图6为本申请实施例中的基于立体分拣机器人的结构示意图；
图7为本申请实施例中的立体分拣系统的执行流程示意图；
图8为本申请实施例中的计算设备的结构示意图；
图9为本申请实施例中的可读介质结构示意图。
具体实施方式
本申请实施例中提供一种立体分拣方法、立体分拣机器人和系统，实现提高分拣效率 及分拣空间利用度的技术目的。
下面结合参照附图1a对本申请实施例提供的立体分拣系统进行说明，在本申请中，立体分拣系统包括立体分拣机器人1、服务器2及分拣货架3，作为一种可选方式，所述立体分拣机器人1设置有多个，并通过总线(如CAN)有源方式安装在分拣场内，所述分拣货架通过插拔方式与所述立体分拣机器人进行接触性通讯，当然也可以通过无线方式无接触方式完成数据交换，在此不做限定。所述分拣机器人1可以是通过支撑架，通过横向活动机构和纵向活动机构对具有多层立体结构的分拣货架进行识别和分拣任务的执行。同时，所述分拣机器人1可设置翻转板或者向分拣货架投入货物的结构总成。其可与桌面分拣机器人或平面分拣机器人配合基于某波次订单的分拣任务。所述服务器2用于对分拣波次、分拣订单、该局域网或区域内的多个立体分拣机器人进行控制，同时对立体分拣机器人与分拣货架之间的绑定关系，针对某波次某订单的绑定。
基于此，参考图1b，本申请的立体分拣方法包括：
获取步骤S11：获取目标分拣货架的身份信息，所述身份信息可包括：该分拣货架的结构数据和/或该分拣货架中货筐单元的位置信息；
参考图1c的图示，在一个立体分拣系统中，所述分拣货架为多个，如当前目标分拣货架标号为001，其身份信息中至少包含该分拣货架的结构数据，如001号货架的结构是4排3列，在立体分拣机器人对其识别后，待分拣货品需要投入倒3排2列的货筐内，则立体分拣机器人仅需按照该结构及位置进行货品投入。所述结构数据也可以通过针对分拣货架的类型进行区分，如X001型为4排3列的矩形分拣架，Y001型为8排5列的矩形分拣架。
绑定步骤S12：将所述目标分拣货架的身份信息与立体分拣机器人信息进行绑定，所述绑定关系通过服务器的目标订单进行关联；
需要说明的是，在某个订单A002的分拣任务下，该订单A002有一万件的分拣任务，在该订单A002任务下，立体分拣机器人在分拣过程中,需要与目标分拣货架001进行绑定而完成精准地货物分拣。
作为以服务器与CAN总线配合控制的系统中，所述当前货架与分拣机器人的绑定关系是通过所述当前货架插入所述分拣机器人工位实现。
在服务器侧，为了对波次、订单和订单的完成情况进行管理和数据采集，在本实施例中，服务器需存储各个分拣货架或货筐的身份信息，并将立体分拣人与正在执行的订单、所绑定的分拣货架或货筐的关系进行存储及更新。
分拣步骤S13,在所述目标订单的分拣任务下，将待分拣的货品按照所述货架的身份信息进行分拣。
在该实施例中，立体分拣机器人需按照服务器对其所要完成的订单和分拣任务的控制，立体分拣机器人分拣目标是货物，目标位置基于以上分拣货架或货筐的身份信息完成。
参考图1d，结合图1c，在本申请中，所述分拣货架可以是任意结构或形状的分拣货架或者货筐，常规的分拣货架或货筐会根据不同货品或不同分拣线进行配置，而往往分拣货架的结构并不统一，甚至是多个货架拼接而成。在本实施例中，为了获取分拣货架的更细节信息，还包括：
参考图2，
S21:获取所述分拣货架的货筐单元的属性数据，属性数据包括：尺寸数据、容积数据和类型数据的一种或多种的组合；
为了对待分配货物进行便于分拣快速分拣适于分拣的货筐分配，需要对各个货筐单元的尺寸、容积和类型进行获取，以进行对应的分拣任务分配。
S22:根据所述属性数据，匹配所述目标订单中待分拣货品，生成待分拣货品与所述货筐单元的对应关系表。
每个待分拣货品均与一个或多个货筐单元具有基于分拣任务的对应关系，所述分拣机器人基于该对应关系，完成精准分拣。
对于图1中的获取步骤，可通过RFID读取所述目标分拣货架上设置的标签获取所述身份信息，所述标签可携带有所述分拣货架的结构数据和/或所述货筐单元的位置信息；
当然，配置于所述目标分拣货架的RFID的标签卡，可能仅存有该目标分拣货架的ID，而其结构数据和/或所述货筐单元的位置信息可存储于服务器中供所述立体分拣机器人获取。
所述分拣货架的结构数据指示所述分拣货架的纵横结构及可用货筐信息；
所述货筐单元的位置信息指示该货筐单元在分拣货架构成的坐标系中的位置。
上述读取RFID的形式为立体分拣系统中配置活动分拣货架所优选的，当001号分拣机器人接收某个A002订单的分拣任务，为了高效完成分拣，为该001号分拣机器人分配了9个活动分拣架(X010-X090号)完成该订单。
当X001型的活动分拣架参与分拣，所述001号分拣机器人通过读取所述X010号活动分拣架的RFID标签，读取到该目标矩形分拣架为X001型(X001型为4排3列的矩形分拣架)，通过读取获取到该目标矩形分拣架有12个可用货筐，四横三纵的分布，该目标分拣架进行基于坐标系的划分，则12个可用货筐分别可标记为X1Y1(1,1)表征一排一列货筐,X1Y2(1,2)表征一排二列货筐，直至X4Y3(4,3)表征四排散列货筐。
需要特别指出的是，在所述目标订单A002订单的执行期间，所述立体分拣机器人与所述目标分拣货架的绑定关系唯一，也就是该001号分拣机器人完成对X010号活动分拣架 的分拣后，再进行X020号活动分拣架的分拣。
参考图3，分拣步骤可通过如下实现方式进行：
S31:解析所述待分拣货品的分拣信息，所述分拣信息携带有与该分拣货架中某货筐单元的对应关系；
S32:查找所述对应关系表，获取所述货筐单元在所述分拣货架构成的立体坐标系的坐标值；
S33:索引该坐标值并定位，将所述待分拣货品投递至该货筐单元。
以上步骤可基于以上针对图1-2图示及其举例进行，当然，并不局限于通过RFID读取身份信息和通过查找对应关系表的方式完成针对某待分拣货品的投递。
参考图4，示出了本申请中关于分拣货架识别的流程，包括：
S41:查询当前待分拣的货品对应的分拣货架编号；
S42:当所述该分拣货架编号与绑定的分拣货架编号一致，则准备投入至该分拣货架。
在分拣机器人执行图3图示及对应说明的分拣动作前，执行图4步骤。
承接如上例子，在001号分拣机器人进行针对某待分拣货品的投递前，需要确认所投入货筐所在的分拣货架或分拣货筐是否是绑定的那一个，如经过识别是错误的分拣货架或者分拣货筐时，即进行二次确认或报警故障，而以免发生投递错误的现象。
参考图5，示出了本申请中关于分拣货架识别的流程，包括：订单更新步骤，
S51:当所述目标订单的所有货品均投递完成后，更新当前订单状态为完成；
在001号分拣机器人完成002号订单的投递任务后，在服务器侧更新002号订单状态为完成，并进行该波次的其他订单的执行。
S52:解除当前货架与分拣机器人的绑定关系。
可选地，作为以服务器与CAN总线配合控制的系统中，所述当前货架与分拣机器人的绑定关系是通过所述当前货架插入所述分拣机器人工位实现，而解除当前货架与分拣机器人的绑定关系，通过所述当前货架从分拣机器人拔出实现。需要强调的是，该方式是一种优选方式。
为了便于订单管理，需要在002号订单完成时，解除分拣机器人于当前货架的绑定关系。如有下一订单的分拣任务，所述分拣机器人将执行图1所示步骤及说明，本实施例中不再赘述。
图6示出了一种分拣机器人，包括：
获取单元61，获取单元61配置成用于获取目标分拣货架的身份信息，所述身份信息可包括：该分拣货架的结构数据和/或该货架中货筐单元的位置信息；
所述获取单元可优选通过RFID读取器以下述方式实现：
读取所述目标分拣货架上设置的标签获取所述身份信息，所述标签可携带有所述分拣货架的结构数据和/或所述货筐单元的位置信息；
所述分拣货架的结构数据指示所述分拣货架的纵横结构及可用货筐信息；
所述货筐单元的位置信息指示该货筐单元在分拣货架构成的坐标系中的位置。
当然并不局限于该种获取分拣货架身份信息的方式，对应所述获取单元的硬件方案可通过多种方式，如远程读取、接触式读取、视觉识别等方式进行。
绑定单元62，绑定单元62配置成用于将所述目标分拣货架的身份信息与分拣机器人信息进行绑定，所述绑定关系通过服务器的目标订单进行关联；
可选地，作为以服务器与CAN总线配合控制的系统中，所述当前货架与分拣机器人的绑定关系是通过所述当前货架插入所述分拣机器人工位实现，而解除当前货架与分拣机器人的绑定关系，通过所述当前货架从分拣机器人拔出实现。需要强调的是，该方式是一种优选方式。
服务器可通过计算设备实现，在服务器侧，为了对波次、订单和订单的完成情况进行管理和数据采集，在本实施例中，服务器需存储各个分拣货架或货筐的身份信息，并将立体分拣人与正在执行的订单、所绑定的分拣货架或货筐的关系进行存储及更新。
分拣单元63，分拣单元63配置成用于在所述目标订单的分拣任务下，将待分拣的货品按照所述货架的身份信息进行分拣。
所述分拣单元63还配置成用于：
解析所述待分拣货品的分拣信息，所述分拣信息携带有与该分拣货架中某货筐单元的对应关系；
查找所述对应关系表，获取所述货筐单元在所述分拣货架构成的立体坐标系的坐标值；
索引该坐标值并定位，将所述待分拣货品投递至该货筐单元。
所述分拣单元对应的硬件配置可选用通过分拣机器人1可以是通过支撑架，通过横向活动机构和纵向活动机构对具有多层立体结构的分拣货架进行识别和分拣任务的执行。同时，所述分拣机器人1可设置翻转板或者向分拣货架投入货物的结构总成。其可与桌面分拣机器人或平面分拣机器人配合基于某波次订单的分拣任务。
参考图7图示，同时参考图1a图示，在本申请实施例中的立体分拣系统中，立体分拣系统包括立体分拣机器人、服务器及分拣货架，所述分拣机器人执行：
获取步骤71，获取目标分拣货架的身份信息，所述身份信息可包括：该分拣货架的结构数据和/或该货架中货筐单元的位置信息；
所述分拣机器人以下述方式执行获取步骤：
通过RFID读取所述目标分拣货架上设置的标签获取所述身份信息，所述标签可携带有 所述分拣货架的结构数据和/或所述货筐单元的位置信息；
所述分拣货架的结构数据指示所述分拣货架的纵横结构及可用货筐信息；
所述货筐单元的位置信息指示该货筐单元在分拣货架构成的坐标系中的位置。
绑定步骤72，将所述目标分拣货架的身份信息与分拣机器人信息进行绑定，所述绑定关系通过所述服务器执行将目标订单及绑定关系进行关联；
分拣步骤73，在所述目标订单的分拣任务下，将待分拣的货品按照所述货架的身份信息进行分拣。所述分拣机器人以下述方式执行分拣步骤：
解析所述待分拣货品的分拣信息，所述分拣信息携带有与该分拣货架中某货筐单元的对应关系；
查找所述对应关系表，获取所述货筐单元在所述分拣货架构成的立体坐标系的坐标值；
索引该坐标值并定位，将所述待分拣货品投递至该货筐单元。
所述服务器2执行解除订单更新步骤，
当所述目标订单的所有货品均投递完成后，更新当前订单状态为完成；
解除当前货架与分拣机器人的绑定关系。
可选地，作为以服务器与CAN总线配合控制的系统中，所述当前货架与分拣机器人的绑定关系是通过所述当前货架插入所述分拣机器人工位实现，而解除当前货架与分拣机器人的绑定关系，通过所述当前货架从分拣机器人拔出实现。需要强调的是，该方式是一种优选方式。
图8示出的是匹配图1-5方法的计算设备80。
需要说明的是，图8显示的计算设备80仅仅是一个示例，不应对本申请实施例的功能和使用范围带来任何限制。
如图8所示，服务器以通用计算设备80的形式表现。计算设备80的组件可以包括但不限于：上述至少一个处理器81、上述至少一个存储器82、连接不同系统组件(包括存储器82和处理器81)的总线83。
总线83表示几类总线结构中的一种或多种，包括存储器总线或者存储器控制器、外围总线、处理器或者使用多种总线结构中的任意总线结构的局域总线。
存储器82可以包括易失性存储器形式的可读介质，例如随机存取存储器(RAM)821和/或高速缓存存储器822，还可以可选地包括只读存储器(ROM)823。
存储器82还可以包括具有一组(至少一个)程序模块824的程序/实用工具825，这样的程序模块824包括但不限于：操作系统、一个或者多个应用程序、其它程序模块以及程序数据，这些示例中的每一个或某种组合中可能包括网络环境的实现。
计算设备80也可以与一个或多个外部设备84(例如键盘、指向设备等)通信，还可与 一个或者多个使得用户能与计算设备80交互的设备通信，和/或与使得该计算设备80能与一个或多个其它计算设备进行通信的任何设备(例如路由器、调制解调器等等)通信。这种通信可以通过输入/输出(I/O)接口85进行。并且，计算设备80还可以通过网络适配器88与一个或者多个网络(例如局域网(LAN)，广域网(WAN)和/或公共网络，例如因特网)通信。如图所示，网络适配器88通过总线83与用于计算设备80的其它模块通信。应当理解，尽管图中未示出，可以结合计算设备80使用其它硬件和/或软件模块，包括但不限于：微代码、设备驱动器、冗余处理器、外部磁盘驱动阵列、RAID系统、磁带驱动器以及数据备份存储系统等。
在一些可能的实施方式中，根据本申请的计算设备可以包括至少一个处理器、以及至少一个存储器(如第一服务器)。其中，存储器存储有程序代码，当程序代码被处理器执行时，使得处理器执行本说明书上述描述的根据本申请各种示例性实施方式的系统权限开启方法中的步骤。
参考图9，图1-5图示及对应实施例的立体分拣方法还可通过计算机可读介质91来实现，参考图9，存储有计算机可执行指令，即本申请方法立体分拣机器人所需执行的程序指令，所述计算机或者高速芯片可执行指令以用于执行以上实施例所述的立体分拣方法。
可读信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了可读程序代码。这种传播的数据信号可以采用多种形式，包括——但不限于——电磁信号、光信号或上述的任意合适的组合。可读信号介质还可以是可读存储介质以外的任何可读介质，该可读介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。
可读介质上包含的程序代码可以用任何适当的介质传输，包括——但不限于——无线、有线、光缆、RF等等，或者上述的任意合适的组合。
可以以一种或多种程序设计语言的任意组合来编写用于执行本申请操作的程序代码，程序设计语言包括面向对象的程序设计语言—诸如Java、C++等，还包括常规的过程式程序设计语言—诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算设备上执行、部分地在用户设备上执行、作为一个独立的软件包执行、部分在用户计算设备上部分在远程计算设备上执行、或者完全在远程计算设备或服务器上执行。在涉及远程计算设备的情形中，远程计算设备可以通过任意种类的网络——包括局域网(LAN)或广域网(WAN)—连接到用户计算设备，或者，可以连接到外部计算设备(例如利用因特网服务提供商来通过因特网连接)。
程序产品可以采用一个或多个可读介质的任意组合。可读介质可以是可读信号介质或者可读存储介质。可读存储介质例如可以是——但不限于——电、磁、光、电磁、红外线、 或半导体的系统、控制装置或器件，或者任意以上的组合。可读存储介质的更具体的例子(非穷举的列表)包括：具有一个或多个导线的电连接、便携式盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。
本申请的实施方式的用于系统权限开启的程序产品可以采用便携式紧凑盘只读存储器(CD-ROM)并包括程序代码，并可以在计算设备上运行。然而，本申请的程序产品不限于此，在本文件中，可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、控制装置或者器件使用或者与其结合使用。
本申请是参照根据本申请实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
尽管已描述了本申请的优选实施例，但本领域内的技术人员一旦得知了基本创造性概念，则可对这些实施例做出另外的变更和修改。所以，所附权利要求意欲解释为包括优选实施例以及落入本申请范围的所有变更和修改。
显然，本领域的技术人员可以对本申请进行各种改动和变型而不脱离本申请的精神和范围。这样，倘若本申请的这些修改和变型属于本申请权利要求及其等同技术的范围之内，则本申请也意图包含这些改动和变型在内。。
工业实用性
本申请公开了一种立体分拣方法、立体分拣机器人和系统，该方法包括：获取步骤，获取目标分拣货架的身份信息，所述身份信息可包括：该分拣货架的结构数据和/或该货架 中货筐单元的位置信息；绑定步骤，将所述目标分拣货架的身份信息与立体分拣机器人信息进行绑定，所述绑定关系通过服务器的目标订单进行关联；分拣步骤，在所述目标订单的分拣任务下，将待分拣的货品按照所述货架的身份信息进行分拣。在立体分拣系统中，面对不同货筐或分拣架，或者结构复杂、凌乱的分拣架，均可通过识别不同货筐或分拣架的信息的分拣控制方法完成分拣，实现不局限货筐或分拣架的立体分拣。
此外，可以理解的是，本申请的立体分拣方法、立体分拣机器人和系统是可以重现的，并且可以用在多种工业应用中。例如，本申请的立体分拣方法、立体分拣机器人和系统可以用于分拣机器人的技术领域。

Claims (18)

  1. 一种立体分拣方法，其特征在于，所述立体分拣方法包括：
    获取步骤，获取目标分拣货架的身份信息，所述身份信息包括：所述分拣货架的结构数据和/或所述分拣货架中的货筐单元的位置信息；
    绑定步骤，将所述目标分拣货架的身份信息与立体分拣机器人信息进行绑定，所述绑定关系通过服务器的目标订单进行关联；
    分拣步骤，在所述目标订单的分拣任务下，将待分拣货品按照所述货架的身份信息进行分拣。
  2. 根据权利要求1所述的立体分拣方法，其特征在于，还包括：
    获取所述分拣货架的货筐单元的属性数据，所述属性数据包括：尺寸数据、容积数据和类型数据的一种或多种的组合；
    根据所述属性数据，匹配所述目标订单中的待分拣货品，生成待分拣货品与所述货筐单元的对应关系表。
  3. 根据权利要求1或2所述的立体分拣方法，其特征在于，所述获取步骤还包括：
    通过RFID读取所述目标分拣货架上设置的标签获取所述身份信息，所述标签携带有所述分拣货架的结构数据和/或所述货筐单元的位置信息；
    所述分拣货架的结构数据指示所述分拣货架的纵横结构及可用的货筐单元的位置信息；
    所述货筐单元的位置信息指示所述货筐单元在分拣货架构成的坐标系中的位置。
  4. 根据权利要求3所述的立体分拣方法，其特征在于，在所述目标订单的分拣任务下，将待分拣的货品按照所述货架的身份信息进行分拣，包括：
    解析所述待分拣货品的分拣信息，所述分拣信息携带有与该分拣货架中某货筐单元的对应关系；
    查找所述对应关系表，获取所述货筐单元在所述分拣货架构成的立体坐标系的坐标值；
    索引该坐标值并定位，将所述待分拣货品投递至该货筐单元。
  5. 根据权利要求4所述的立体分拣方法，其特征在于，还包括：
    查询当前待分拣的货品对应的分拣货架编号；
    当所述该分拣货架编号与绑定的分拣货架编号一致，则准备投入至该分拣货架。
  6. 根据权利要求1至5中的任一项所述的立体分拣方法，其特征在于，还包括：订单更新步骤，
    当所述目标订单的所有货品均投递完成后，更新当前订单状态为完成；
    解除当前货架与分拣机器人的绑定关系。
  7. 根据权利要求6所述的立体分拣方法，其特征在于，所述分拣机器人有多台，在所述目标订单的执行期间，所述立体分拣机器人与所述目标分拣货架的绑定关系唯一。
  8. 一种立体分拣机器人，其特征在于，所述立体分拣机器人包括：
    获取单元，所述获取单元配置成用于获取目标分拣货架的身份信息，所述身份信息包括：所述分拣货架的结构数据和/或所述分拣货架中的货筐单元的位置信息；
    绑定单元，所述绑定单元配置成用于将所述目标分拣货架的身份信息与立体分拣机器人信息进行绑定，所述绑定关系通过服务器的目标订单进行关联；
    分拣单元，所述分拣单元配置成用于在所述目标订单的分拣任务下，将待分拣的货品按照所述货架的身份信息进行分拣。
  9. 根据权利要求8所述的立体分拣机器人，其特征在于，所述获取单元还配置成用于：
    获取所述分拣货架的货筐单元的属性数据，所述属性数据包括：尺寸数据、容积数据和类型数据的一种或多种的组合；
    根据所述属性数据，匹配所述目标订单中的待分拣货品，生成待分拣货品与所述货筐单元的对应关系表。
  10. 根据权利要求8或9所述的立体分拣机器人，其特征在于，所述获取单元通过RFID读取器以下述方式来实现：
    读取所述目标分拣货架上设置的标签获取所述身份信息，所述标签携带有所述分拣货架的结构数据和/或所述货筐单元的位置信息；
    所述分拣货架的结构数据指示所述分拣货架的纵横结构及可用的货筐单元的位置信息；
    所述货筐单元的位置信息指示该货筐单元在分拣货架构成的坐标系中的位置。
  11. 根据权利要求8至10中的任一项所述的立体分拣机器人，其特征在于，所述分拣单元还配置成用于：
    解析所述待分拣货品的分拣信息，所述分拣信息携带有与该分拣货架中某货筐单元的对应关系；
    查找所述对应关系表，获取所述货筐单元在所述分拣货架构成的立体坐标系的坐标值；
    索引该坐标值并定位，将所述待分拣货品投递至该货筐单元。
  12. 根据权利要求8至11中的任一项所述的立体分拣机器人，其特征在于，所述立体分拣机器人有多台，在所述分拣单元执行所述目标订单期间，所述立体分拣机器人与所述分拣货架的绑定关系唯一。
  13. 一种立体分拣系统，其特征在于，所述立体分拣系统包括：立体分拣机器人、服务器及分拣货架，所述分拣机器人执行下述步骤：
    获取步骤，获取目标分拣货架的身份信息，所述身份信息包括：该分拣货架的结构数 据和/或该货架中货筐单元的位置信息；
    绑定步骤，将所述目标分拣货架的身份信息与分拣机器人信息进行绑定，所述绑定关系通过所述服务器执行将目标订单及绑定关系进行关联；
    分拣步骤，在所述目标订单的分拣任务下，将待分拣的货品按照所述货架的身份信息进行分拣。
  14. 根据权利要求13所述的立体分拣系统，其特征在于，所述分拣机器人以下述方式执行获取步骤：
    通过RFID读取所述目标分拣货架上设置的标签获取所述身份信息，所述标签携带有所述分拣货架的结构数据和/或所述货筐单元的位置信息；所述分拣货架的结构数据指示所述分拣货架的纵横结构及可用的货筐单元的位置信息；
    所述货筐单元的位置信息指示该货筐单元在分拣货架构成的坐标系中的位置。
  15. 根据权利要求13或14所述的立体分拣系统，其特征在于，所述分拣机器人以下述方式执行分拣步骤：
    解析所述待分拣货品的分拣信息，所述分拣信息携带有与该分拣货架中某货筐单元的对应关系；
    查找所述对应关系表，获取所述货筐单元在所述分拣货架构成的立体坐标系的坐标值；
    索引该坐标值并定位，将所述待分拣货品投递至该货筐单元。
  16. 根据权利要求13至15中的任一项所述的立体分拣系统，其特征在于，所述分拣机器人以下述方式执行分拣步骤：
    解析所述待分拣货品的分拣信息，所述分拣信息携带有与该分拣货架中某货筐单元的对应关系；
    查找所述对应关系表，获取所述货筐单元在所述分拣货架构成的立体坐标系的坐标值；
    索引该坐标值并定位，将所述待分拣货品投递至该货筐单元。
  17. 根据权利要求13至16中的任一项所述的立体分拣系统，其特征在于，还包括：所述服务器执行解除订单更新步骤，
    当所述目标订单的所有货品均投递完成后，更新当前订单状态为完成；
    解除当前货架与分拣机器人的绑定关系。
  18. 一种计算设备，其特征在于，所述计算设备包括：
    至少一个处理器；以及
    与所述至少一个处理器通信连接的存储器；其中，
    所述存储器存储有能够被所述至少一个处理器执行的指令，以使所述至少一个处理器能够执行根据权利要求1至7中的任一项所述的方法。
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