WO2023065605A1 - 立体分拣控制方法、立体分拣机器人和相关设备 - Google Patents

立体分拣控制方法、立体分拣机器人和相关设备 Download PDF

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Publication number
WO2023065605A1
WO2023065605A1 PCT/CN2022/084625 CN2022084625W WO2023065605A1 WO 2023065605 A1 WO2023065605 A1 WO 2023065605A1 CN 2022084625 W CN2022084625 W CN 2022084625W WO 2023065605 A1 WO2023065605 A1 WO 2023065605A1
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Prior art keywords
sorting
dimensional
target
robot
basket unit
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PCT/CN2022/084625
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English (en)
French (fr)
Inventor
夏慧玲
朱建强
徐珏晶
马鸣
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浙江立镖机器人有限公司
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Priority to KR1020247012450A priority Critical patent/KR20240055144A/ko
Publication of WO2023065605A1 publication Critical patent/WO2023065605A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/003—Destination control; Electro-mechanical or electro- magnetic delay memories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/008—Means for collecting objects, e.g. containers for sorted mail items
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/02—Apparatus characterised by the means used for distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/10—Apparatus characterised by the means used for detection ofthe destination
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the present application relates to the technical field of sorting robots, in particular to a sorting of a three-dimensional sorting robot, a three-dimensional sorting robot and related equipment.
  • Sorting robot is a kind of robot equipped with sensors, recognition mechanism and performing sorting action, which is used for fast sorting of goods.
  • Existing sorting robots are divided into platform sorting robots or sorting robotic arms.
  • In the distribution center put the express package from the bag on the conveyor belt, walk to the location corresponding to the sorting bag at the destination, and then fall or grab it from the conveyor belt and put it into the sorting bag at the destination to complete the sorting.
  • planar sorting system can complete more efficient sorting after deployment, while the three-dimensional sorting system is more and more used because it can improve the sorting efficiency.
  • the current In the three-dimensional sorting system due to the delivery to the sorting rack and the basket during the three-dimensional sorting process, there is the problem of unreliable delivery of the goods that have not been put into the basket.
  • the embodiment of the present application provides sorting of a three-dimensional sorting robot, a three-dimensional sorting robot and related equipment, so as to improve sorting efficiency and ensure reliable delivery of goods.
  • a sorting control method for a three-dimensional sorting robot may include:
  • the state obtaining step is to obtain the state of the target basket unit of the current sorting shelf
  • the three-dimensional sorting robot may have a binding relationship with the identity information of the target sorting shelf, and the binding relationship may be associated with the target order; under the sorting task of the target order, the three-dimensional sorting robot may The sorted goods are sorted according to the identity information of the shelf, and the identity information may include that there is a corresponding relationship between the ordered goods and the target basket unit;
  • Judging step judging whether the goods to be delivered have entered the target basket unit, and when there is no delivery, control the unloading mechanism of the three-dimensional sorting robot to perform the second delivery action;
  • the judging step is performed one or more times until it is confirmed that the goods to be delivered are put into the target basket unit.
  • to obtain the status of the target basket unit of the current sorting shelf can be configured as:
  • the delivery step is performed.
  • judging whether the goods to be delivered have entered the target basket unit may include:
  • the confirming step may include:
  • the scanning device or the image acquisition device is lifted to a preset position, and the light feedback result or the image analysis result is obtained again;
  • confirming whether the target basket unit is in the fixed position of the target sorting rack may include:
  • the unloading mechanism of the three-dimensional sorting robot is controlled to stop the delivery action.
  • the state obtaining step may further include: obtaining attribute data of the basket unit of the sorting rack, and the attribute data may include: size data, volume data and type data.
  • the three-dimensional sorting robot and the identity information of the target sorting shelf may have a binding relationship, and the identity information of the target sorting shelf is realized by the three-dimensional sorting robot using an RFID reader, which may include:
  • the label may at least carry the structural data of the sorting shelf and the location 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 information of available baskets
  • 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 sorts the goods to be sorted according to the identity information of the shelf, which may include:
  • 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.
  • a three-dimensional sorting robot the three-dimensional sorting robot can be configured in a three-dimensional sorting system
  • the three-dimensional sorting robot is provided with a control module, which executes the above-mentioned three-dimensional sorting control method.
  • the three-dimensional sorting robot may have a binding relationship with the identity information of the target sorting shelf, and the binding relationship may be associated with the target order; under the sorting task of the target order, the to-be-sorted The goods are sorted according to the identity information of the shelves.
  • a three-dimensional sorting control system the three-dimensional sorting control system can be configured in the three-dimensional sorting system
  • the three-dimensional sorting control system can implement the above-mentioned three-dimensional sorting control method.
  • the three-dimensional sorting control system can be controlled by one or more groups of servers, or the three-dimensional sorting control system can be equipped with a host computer or a centralized controller for controlling the three-dimensional sorting The sorting task of the robot is assigned.
  • the server may store the identity information of each sorting shelf or basket, and store the relationship between the three-dimensional sorting robot and the order being executed, the bound three-dimensional sorting shelf or basket and updates.
  • the three-dimensional sorting system can be configured with one or more planar sorting robots, the planar sorting robots can cooperate with the three-dimensional sorting robots, and the planar sorting robots can perform based on the The target order is delivered to the goods of the three-dimensional sorting robot.
  • a computing device may include: at least one processor; and
  • the memory stores instructions executable by the at least one processor, so that the at least one processor can execute the three-dimensional sorting control method described above.
  • the judging step is to execute the second delivery action when there is no delivery; and the confirming step is to execute the judging step one or more times until it is confirmed that the goods to be delivered have been put into the target basket unit.
  • 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 structural view of the three-dimensional sorting shelf 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.
  • Fig. 1d is a schematic flowchart of a sorting control method for a three-dimensional sorting robot in an embodiment of the present application
  • FIG. 2 is a schematic flowchart of a sorting control method for a three-dimensional sorting robot in an embodiment of the present application
  • FIG. 3 is a schematic flowchart of a sorting control method for a three-dimensional sorting robot in an embodiment of the present application
  • FIG. 4 is a schematic flowchart of a sorting control method for a three-dimensional sorting robot in an embodiment of the present application
  • FIG. 5 is a schematic flowchart of a sorting control method for a three-dimensional sorting robot in an 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 structural diagram 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.
  • the embodiment of the present application provides sorting of a three-dimensional sorting robot, a three-dimensional sorting robot and related equipment, so as to achieve the technical purpose of improving sorting efficiency and reliable delivery of goods.
  • FIG. 1a For ease of understanding, the embodiment of the present application is described on the basis of the structure shown in FIG. 1a , but this does not mean that the structure shown in FIG. 1a is a condition for limiting the scope of the present application.
  • the three-dimensional sorting system provided by the embodiment of the present application is described below in conjunction with the accompanying drawing 1a.
  • a plurality of three-dimensional sorting robots 1, servers 2 and sorting shelves 3 the three-dimensional sorting robot 1 can support the frame Structure, through the horizontal movable mechanism and the vertical movable mechanism, the sorting shelf with multi-layer three-dimensional structure is identified and the sorting task is performed.
  • the three-dimensional sorting robot 1 can be provided with a turning plate or an unloading mechanism assembly for putting goods into the sorting shelf. It can cooperate with the desktop sorting robot or plane sorting robot 4 to sort tasks based on a certain wave of orders.
  • the server 2 is used to control the 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 robots and the sorting shelves, for a certain The binding of an order in a wave; in this application, the server can use wired or wireless methods to complete the control and status inquiry of each sorting robot in the three-dimensional sorting system, including but not limited to the bus control method.
  • the sorting shelf can be a sorting shelf or basket of any structure or shape, and a conventional sorting shelf or basket will be configured according to different goods or different sorting lines,
  • the structure of sorting shelves is often not uniform, and even multiple shelves are spliced together.
  • the sorting robot needs to reliably perform goods sorting in a variety of structural types, and in the event of possible damage and missing basket units.
  • the sorting robot in the prior art cannot guarantee proper delivery.
  • the sorting control method for the three-dimensional sorting robot of the present application includes:
  • S11 a state obtaining step, obtaining the state of the target basket unit of the current sorting shelf
  • this step it is necessary to first detect and confirm whether the target basket unit exists at a fixed position on the sorting shelf, and/or whether the damage of the target basket unit can support the input of goods, and the target Whether the tote unit is full and cannot receive more goods, etc.
  • the unloading mechanism of the three-dimensional sorting robot is controlled to stop the delivery action.
  • the unloading mechanism of the three-dimensional sorting robot is controlled to stop the delivery action.
  • the above situation can also be configured based on the goods in combination with the order situation of this wave.
  • the carrying capacity of each basket unit can be pre-configured according to the order quantity. No expansion is done here.
  • the configuration of obtaining the current target basket unit status of the sorting shelf is:
  • the fixed position may be position information in a certain target sorting shelf, such as three rows and five columns, two rows and three columns, and so on.
  • the three-dimensional sorting robot has a binding relationship with the identity information of the target sorting shelf, and the binding relationship is associated with the target order; under the sorting task of the target order, the three-dimensional sorting robot will sort the The goods are sorted according to the identity information of the shelf, and the identity information includes that there is a corresponding relationship between the ordered goods and the target basket unit;
  • the execution of the sorting action of the sorting robot depends on the fixed position of the basket unit. For example, under the sorting task of an order A002, the order A002 has a sorting task of 10,000 pieces. Binding is carried out to complete accurate cargo sorting.
  • the three-dimensional sorting shelf generally refers to a shelf structure with at least two layers, and the shelves are regularly arranged with basket units.
  • the specific structure and number of layers are not limited.
  • 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 No. 1 shelf is 4 rows and 3 rows.
  • the goods to be sorted need to be put into the basket unit with 3 rows and 2 rows, and the three-dimensional sorting robot only needs to follow this structure and position. Goods input.
  • 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.
  • S12 Delivery step, when it is confirmed that the target basket unit is available, control the unloading mechanism of the three-dimensional sorting robot to perform the first delivery action;
  • the scanning device or image acquisition device configured by the unloading device is controlled to scan or take pictures for the first time to confirm the status of the basket.
  • the unloading mechanism is controlled to perform the first delivery action.
  • the specific delivery action can be set according to the structure and action type of the unloading mechanism, and is not limited.
  • the delivery action of the unloading mechanism is to use the motor to drive the flap or shovel-shaped plate of the unloading mechanism to dump so that the goods can be put in.
  • the goods to be delivered do not enter the target basket unit.
  • the second delivery is performed.
  • judging whether the goods to be delivered have entered the target basket unit can preferably be performed in the following manner:
  • S31 Obtain a light feedback result or an image analysis result of whether the target cargo basket unit has received the goods by using a scanning device or an image acquisition device;
  • S14 Confirmation step, execute the determination step one or more times until it is confirmed that the item to be delivered is put into the target basket unit.
  • the confirming step can optionally be specifically implemented as:
  • This embodiment is a preferred way to carry out secondary confirmation whether to put in.
  • Due to the occlusion of the height of the edge of the sorting basket it is impossible to accurately know whether to put in the goods with small size or volume, or because the loading plane of the unloading mechanism and the packaging of the goods are stuck, it is impossible to put them in by dumping.
  • the cargo basket unit Then it is necessary to increase the field of view or collect more images to complete the verification.
  • the method of light feedback or image analysis needs to be confirmed 2-3 times to confirm whether it is really invested.
  • the specific number of confirmations is set according to the characteristics of goods in different industries and is not limited.
  • the sorting principle of the sorting robot is described as follows: under the sorting task of the target order, the goods to be sorted are 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. .
  • sorting rack in order to obtain more detailed information of the sorting rack, it also includes: acquiring the attribute data of the basket unit of the sorting rack, including: size data, volume data and type data; Sorting Fast sorting is suitable for the allocation of sorting baskets, and it is necessary to obtain the size, volume and type of each basket unit in order to allocate the corresponding sorting tasks.
  • Each item to be sorted has a corresponding relationship with one or more basket units based on fusedal tasks, and the sorting robot completes precise sorting based on the corresponding relationship.
  • the identity information can be obtained by reading the tag set on the target sorting rack through RFID, and the tag at least carries the ID of the sorting rack. combining data with location information of said tote 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 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 carried out in the following ways:
  • S52 Look up the corresponding relationship table, and obtain the coordinate values of the three-dimensional coordinate system formed by the basket unit on the sorting rack;
  • S53 Indexing the coordinate value and positioning, and delivering the item to be sorted to the basket unit.
  • the embodiment of the present application also discloses a three-dimensional sorting robot, which is configured in the three-dimensional sorting system (refer to the illustration in Fig. 1a), and has binding with the identity information of the target sorting shelf relationship, the binding relationship is associated with the target order; under the sorting task of the target order, the goods to be sorted are sorted according to the identity information of the shelf, which is configured with the three-dimensional sorting robot setting
  • There is a control module that executes the three-dimensional sorting control method described in Figures 1a-1d and Figures 2-5.
  • the three-dimensional sorting robot 1 can support a frame structure, and perform identification and sorting tasks on sorting shelves with multi-layer three-dimensional structures through a horizontal movable mechanism and a vertical movable mechanism.
  • the three-dimensional sorting robot 1 can be provided with a turning plate or an unloading mechanism assembly for putting goods into the sorting shelf, the unloading mechanism assembly.
  • the lifting function installed on the unloading mechanism to lift the scanning device or image acquisition device to a preset position
  • the scanning device or image acquisition device can be installed on the turning plate or shovel plate of the unloading mechanism Above the front, it is used to scan or photograph the periphery of the target sorting basket and the interior of the basket.
  • the lifting function can use the result of scanning or shooting as a trigger command to drive the download mechanism to move, and move vertically and horizontally when it is not put in or needs to be reconfirmed, in order to obtain another scanning or shooting A detection bit or more precise delivery.
  • the matching hardware structure of the lifting function and the installation method of the scanning device or image acquisition device are configured according to the actual structure of the sorting robot.
  • FIG. 7 shows a three-dimensional sorting control system, which is configured in the three-dimensional sorting system
  • the three-dimensional sorting control system executes the above-mentioned three-dimensional sorting control method as shown in Figures 1-5 and the corresponding three-dimensional sorting control method.
  • the three-dimensional sorting control system can be controlled by one or more groups of servers, and of course it can also be equipped with The upper computer or central controller completes the sorting task assignment to the three-dimensional sorting robot.
  • the server needs to store the identity information of each sorting shelf or basket, and The relationship between the picker and the order being executed, the bound three-dimensional sorting shelf or the basket is stored and updated.
  • the sorting robot running on the plane is responsible for putting the goods to be sorted on the sorting mechanism of the three-dimensional sorting robot, and a three-dimensional sorting system is equipped with one or more A planar sorting robot cooperates with a three-dimensional sorting robot, and the planar sorting robot executes delivery of goods to the first three-dimensional sorting robot based on the target order.
  • FIGS. 1-5 For the specific control method, refer to the accompanying drawings and descriptions of FIGS. 1-5 , which will not be repeated and described in detail in this embodiment.
  • Figure 8 shows a computing device 80 matching the method of Figures 1-5, including:
  • computing device 80 shown in FIG. 8 is only an example, and should not impose any limitation on the functions and scope of use of the embodiments of the present application.
  • the preferred 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 further 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 sorting control method for the three-dimensional sorting robot shown in FIG. 1-5 and the corresponding embodiment can also be implemented by a computer-readable medium 91.
  • computer-executable instructions are stored, that is, this
  • the program instructions that need to be executed when applying for the three-dimensional sorting control system, the computer or the high-speed chip executable instructions are used to execute the sorting control method for the three-dimensional sorting robot 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 connection 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 judging step is to execute the second delivery action when there is no delivery; and the confirming step is to execute the judging step one or more times until it is confirmed that the goods to be delivered have been put into the target basket unit.
  • the application discloses a three-dimensional sorting control method, a three-dimensional sorting robot and related equipment.
  • the method includes: a state acquisition step, obtaining the current target basket unit status of the sorting shelf; through the sorting control method, the delivery step, in the When it is confirmed that the target basket unit is available, control the unloading mechanism of the three-dimensional sorting robot to perform the first delivery action; the judging step is to judge whether the goods to be delivered have entered the target basket unit, and when there is no input, control The unloading mechanism of the three-dimensional sorting robot performs the second delivery action; the confirmation step is to perform the judgment step one or more times until it is confirmed that the goods to be delivered are put into the target basket unit.
  • the technical purpose of this application is to ensure that the three-dimensional sorting robot can quickly participate in sorting, improve the overall efficiency of sorting, and greatly improve the reliability of the three-dimensional sorting robot.
  • the three-dimensional sorting control method, three-dimensional sorting robot and related equipment of the present application are reproducible and can be used in various industrial applications.
  • the sorting of the three-dimensional sorting robot of the present application, the three-dimensional sorting robot and related equipment can be used in the technical field of sorting robots.

Abstract

一种立体分拣机器人的分拣控制方法、立体分拣机器人和相关设备，方法包括：状态获取步骤，获取当前的分拣货架（3）的目标货筐单元状态；投递步骤，在确认目标货筐单元可用时，控制立体分拣机器人（1）的卸载机构执行第一投递动作；判断步骤，判断待投货品是否进入目标货筐单元，当出现未投入情况时，控制立体分拣机器人（1）的卸载机构执行第二投递动作；确认步骤，一次或多次执行判断步骤，直至确认待投货品投入目标货筐单元。该分拣控制方法确保立体分拣机器人快速参与分拣，提升分拣整体效率的同时，大幅度提升立体分拣机器人的妥投可靠性。

Description

立体分拣控制方法、立体分拣机器人和相关设备
相关申请的交叉引用
本申请要求于2021年10月20日提交中国国家知识产权局的申请号为202111220181.5、名称为“立体分拣控制方法、立体分拣机器人和相关设备”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机器人的分拣、立体分拣机器人和相关设备。
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。现有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。
现有技术中，平面分拣系统的在部署完成后可完成较为高效的分拣，而对立体分拣体系而言，因其更能够提升分拣效率而受到越来越多的应用，当前的立体分拣系统，由于立体分拣过程中向分拣架及货筐的投递，存在货品未投入货筐的投递不可靠的问题。
发明内容
本申请实施例提供一种立体分拣机器人的分拣、立体分拣机器人和相关设备，以提高分拣效率并且确保货品可靠投递。
一种立体分拣机器人的分拣控制方法，分拣控制方法可以包括：
状态获取步骤，获取当前的分拣货架的目标货筐单元状态；
所述立体分拣机器人与目标分拣货架身份信息可以具有绑定关系，所述绑定关系可以与目标订单关联；在所述目标订单的分拣任务下，所述立体分拣机器人可以将待分拣的货品按照所述货架的身份信息进行分拣，所述身份信息可以包括订单货品与所述目标货筐单元存在对应关系；
投递步骤，在确认所述目标货筐单元可用时，控制所述立体分拣机器人的卸载机构执行第一投递动作；
判断步骤，判断待投货品是否进入所述目标货筐单元，当出现未投入情况时，控制所述立体分拣机器人的卸载机构执行第二投递动作；
确认步骤，一次或多次执行判断步骤，直至确认所述待投货品投入所述目标货筐单元。
可选地，获取当前的分拣货架的目标货筐单元状态可以配置为：
确认所述目标货筐单元是否处于所述目标分拣货架的固定位置；
当其处于该固定位置时，则判断所述目标货筐单元是否存在不能接收所投入的货品的损伤部位；
如所述目标货筐单元可正常接收货品，则执行投递步骤。
可选地，判断待投货品是否进入所述目标货筐单元，可以包括：
利用扫描设备或者图像采集设备，获取所述目标货筐单元是否已接收所述货品的光线反馈结果或图像解析结果；
当所述光线反馈结果或图像解析结果指示所述目标货筐单元内的第一检测位无所述货品，则判断为未投入情况。
可选地，所述确认步骤，可以包括：
利用安装于所述卸载机构的升降功能，将所述扫描设备或者图像采集设备提升至预设位置，再次获取光线反馈结果或图像解析结果；
当所述光线反馈结果或图像解析结果指示所述目标货筐单元内的第二检测位无所述货品，则判断为未投入情况。
可选地，确认所述目标货筐单元是否处于所述目标分拣货架的固定位置，可以包括：
利用扫描设备或者图像采集设备，获取所述目标货筐单元是否位于所述目标分拣货架的固定位置；
如所述光线反馈结果或图像解析结果指示所述固定位置不存在所述目标货筐单元，则控制所述立体分拣机器人的卸载机构停止投递动作。
可选地，所述状态获取步骤还可以包括：获取所述分拣货架的货筐单元的属性数据，所述属性数据可以包括：尺寸数据、容积数据和类型数据。
可选地，所述立体分拣机器人与目标分拣货架身份信息可以具有绑定关系，所述目标分拣货架身份信息通过所述立体分拣机器人采用RFID读取器实现，可以包括：
读取所述目标分拣货架上设置的标签获取所述身份信息，所述标签可以至少携带有所述分拣货架的结构数据和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货筐信息；
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将待分拣的货品按照所述货架的身份信息进行分拣，可以包括：
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。
一种立体分拣机器人，所述立体分拣机器人可以配置于立体分拣系统，
所述立体分拣机器人设置有控制模块，执行如上所述的立体分拣控制方法。
可选地，所述立体分拣机器人与目标分拣货架身份信息可以具有绑定关系，所述绑定关系可以与目标订单关联；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。
一种立体分拣控制系统，该立体分拣控制系统可以配置于立体分拣系统中，
所述立体分拣控制系统可以执行如上所述的立体分拣控制方法。
可选地，所述立体分拣控制系统可以通过一组或多组服务器的方式完成控制，或者，所述立体分拣控制系统可以配备有上位机或集控器，以用于对立体分拣机器人的分拣任务进行分配。
可选地，所述服务器可以存储有各个分拣货架或货筐的身份信息，并将所述立体分拣机器人与正在执行的订单、所绑定的立体分拣货架或货筐的关系进行存储及更新。
可选地，所述立体分拣系统可以配置有一个或多个平面分拣机器人，所述平面分拣机器人可以与所述立体分拣机器人进行配合，所述平面分拣机器人可以执行基于所述目标订单向所述立体分拣机器人的货品投递。
一种计算设备，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，以使所述至少一个处理器能够执行如上所述的立体分拣控制方法。
本申请所披露的用于立体分拣机器人的分拣控制方法、立体分拣机器人和相关设备，通过状态获取步骤，投递步骤，在确认所述目标货筐单元可用时，执行第一投递动作；判断步骤，当出现未投入情况时，执行第二投递动作；以及，确认步骤，一次或多次执行判断步骤，直至确认所述待投货品投入所述目标货筐单元。通过本分拣控制方法，结合所述立体分拣机器人的检测及识别装置，控制装置和卸载装置的配合，多次确认和根据货筐单元的状态，货品是否妥善投入的判断，确保立体分拣机器人快速参与分拣，提升分拣整体效率的同时，大幅度提升立体分拣机器人的妥投可靠性的技术目的。
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货架的结构示意图；
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用于立体分拣机器人的分拣控制方法的流程示意图；
图2为本申请实施例中的用于立体分拣机器人的分拣控制方法的流程示意图；
图3为本申请实施例中的用于立体分拣机器人的分拣控制方法的流程示意图；
图4为本申请实施例中的用于立体分拣机器人的分拣控制方法的流程示意图；
图5为本申请实施例中的用于立体分拣机器人的分拣控制方法的流程示意图；
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结构示意图；
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机器人的分拣、立体分拣机器人和相关设备，，实现提高分拣效率及货品可靠投递的技术目的。
为了便于理解，本申请实施例在图1a的结构基础上进行说明，但这并不意味着图1a所示结构是限制本申请范围的条件。
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作出说明，在本申请中，多个立体分拣机器人1、服务器2及分拣货架3，所述立体分拣机器人1可以支撑架结构，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，所述立体分拣机器人1可设置翻转板或者向分拣货架投入货物的卸载机构总成。其可与桌面分拣机器人或平面分拣机器人4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；在本申请中服务器可以选用有线或无线的方式完成对立体分拣系统中各个分拣机器人的控制和状态询问，包括但不局限于总线的控制方式。
参考图1b-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。在现有的不局限分拣货架或者货筐的环境下，所述分拣机器人需要在多种结构类型，以及，可能有破损及货筐单元缺失的情况下可靠执行货品分拣。而现有技术中的分拣机器人无法保证妥投。
基于此，参考图1d，本申请的用于立体分拣机器人的分拣控制方法，包括：
S11：状态获取步骤，获取当前的分拣货架的目标货筐单元状态；
在该步骤中，需要首先检测及确认所述目标货筐单元是否存在于分拣货架的固定位置，和/或，所述目标货筐单元的破损情况是否可以支持货品投入，以及，所述目标货筐单元是 否已经满溢无法接收更多货物等状态。
更为具体地，确认所述目标货筐单元是否处于所述目标分拣货架的固定位置，具体实现为：
利用扫描设备或者图像采集设备，获取所述目标货筐单元是否位于所述目标分拣货架的固定位置；
如所述光线反馈结果或图像解析结果指示所述固定位置不存在所述目标货筐单元，则控制所述立体分拣机器人的卸载机构停止投递动作。
可选地，如所述光线反馈结果或图像解析结果指示所述目标货筐单元已达到投递空间极限，则控制所述立体分拣机器人的卸载机构停止投递动作。
当然如上情况也可以结合本波次的订单情况进行基于货品的配置，如文件类等厚度固定的货品可按照订单数量可预先配置各个货筐单元的承载量。此处不做展开。
参考图2，获取当前的分拣货架的目标货筐单元状态配置为：
S21：确认所述目标货筐单元是否处于所述目标分拣货架的固定位置；
所述固定位置可以是某目标分拣货架中的位置信息，如三排五列，二排三列等等。
S22：当其处于该固定位置时，则判断所述目标货筐单元是否存在不能接收所投入的货品的损伤部位；
S23：如所述目标货筐单元可正常接收货品，则执行投递步骤。
需要说明的是：
所述立体分拣机器人与目标分拣货架身份信息具有绑定关系，所述绑定关系与目标订单关联；在所述目标订单的分拣任务下，所述立体分拣机器人将待分拣的货品按照所述货架的身份信息进行分拣，所述身份信息包括订单货品与所述目标货筐单元存在对应关系；
所述分拣机器人的分拣动作的执行，需要依靠货筐单元的固定位置实现。举例说明，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。
在立体分拣系统中，立体分拣货架一般来讲时指至少有两层以上的货架结构，货架中规律排布有货筐单元，当然能在本申请中分拣货架在实际运用过程中并不会局限具体的结构和层数。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列的货筐单元内，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。
S12：投递步骤，在确认所述目标货筐单元可用时，控制所述立体分拣机器人的卸载机构执行第一投递动作；
在执行S11时，控制卸载设备配置的扫描设备或者图像采集设备进行第一次扫描或者拍照，确认货筐的状态，在S12步骤执行时，是控制卸载机构进行第一次投递动作。具体的投递动作可以根据卸载机构的结构和动作类型来设置，并不局限。举例说明，如卸载机构的投递动作是通过电机带动卸载机构的翻板或者铲状盘进行倾倒以使货品投入。
S13：判断步骤，判断待投货品是否进入所述目标货筐单元，当出现未投入情况时，控制所述立体分拣机器人的卸载机构执行第二投递动作；
在实际的投递过程中，由于待投货品的重量过轻，或者尺寸过小，或者卸载机构在投递时未倾倒到位而致使所述待投货品没有进入到所述目标货筐单元，当出现未投入情况时，则进行第二次投递。
参考图3，判断待投货品是否进入所述目标货筐单元，可以优选通过如下方式执行：
S31：利用扫描设备或者图像采集设备，获取所述目标货筐单元是否已接收所述货品的光线反馈结果或图像解析结果；
S32：当所述光线反馈结果或图像解析结果指示所述目标货筐单元内的第一检测位无所述货品，则判断为未投入情况。
S14:确认步骤，一次或多次执行判断步骤，直至确认所述待投货品投入所述目标货筐单元。
参考图4，所述确认步骤，可以可选地具体实现为：
S41：利用安装于所述卸载机构的升降功能，将所述扫描设备或者图像采集设备提升至预设位置，再次获取光线反馈结果或图像解析结果；
本实施例是一种优选方式以进行二次确认是否投入。根据实际未投入情况的统计，由于分拣货筐边沿高度的遮挡，无法准确地获知是否投入尺寸或体积较小的货品，或者由于卸载机构得承载平面和货品包装黏着而无法通过倾倒方式投入到所述货筐单元。那么需要提高视野角度或者采集更多图像的方式完成验证。
S42：当所述光线反馈结果或图像解析结果指示所述目标货筐单元内的第二检测位无所述货品，则判断为未投入情况。
一般来说，配合光线反馈或者图像解析的方式需要经过2-3次的确认，即可确认是否真正投入。而具体的确认次数根据不同行业货品的特点进行设定，不做局限。
针对所述分拣机器人的分拣原理，做如下说明：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。
在本实施例中，为了获取分拣货架的更细节信息，还包括：获取所述分拣货架的货筐单元的属性数据，包括：尺寸数据、容积数据和类型数据；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。
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封建任务的对应关系，所述分拣机器人基于该对应关系，完成精准分拣。
对于图1d中所述目标分拣货筐的状态获取步骤前，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，所述标签至少携带有所述分拣货架的结合数据和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。
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5，分拣步骤可通过如下实现方式进行：
S51：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；
S52：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；
S53：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。
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6，并结合图1a，本申请实施例中还披露了一种立体分拣机器人，配置于立体分拣系统(参考图1a的图示)，并与目标分拣货架身份信息具有绑定关系，所述绑定关系与目标订单关联；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，其配置有所述立体分拣机器人设置有控制模块，执行如上图1a-1d，在图2-5中所述的立体分拣控制方法。
由于在分拣场内，多个立体分拣机器人同时参与分拣，所述立体分拣机器人通过总线结构布置于所述立体分拣系统中。所述立体分拣机器人1可以支撑架结构，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，所述立体分拣机器人1可设置翻转板或者向分拣货架投入货物的卸载机构总成,所述卸载机构总成。利用安装于所述卸载机构的升降功能，将所述扫描设备或者图像采集设备提升至预设位置，所述扫描设备或图像采集设备，可安装于所述卸载机构的翻板或者铲状板的正面上方，用以对所述目标分拣货筐外围及货筐内部进行扫描或拍摄。
所述升降功能可通过所述扫描或拍摄的结果作为触发指令，带动所述下载机构进行移动，在未投入或者需再次确认的情况下进行垂直方向及横向移动，为获取到扫描或拍摄的另一检测位或者进行更为精确地投递。所述升降功能匹配的硬件结构，以及所述扫描设备或图像采集设备的安装方式，根据所述分拣机器人的实际结构配置。
参考图7，示出了一种立体分拣控制系统，该系统配置于立体分拣系统中，
所述立体分拣控制系统执行如图1-5所示及其对应的上述立体分拣控制方法，所述立体分拣控制系统可通过一组或多组服务器的方式完成控制，当然也可配备上位机或集控器等完成对立体分拣机器人的分拣任务分配。
需要说明得是：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、所绑定的立体分拣货架或货筐的关系进行存储及更新。
参考图1a，在本方案中的立体分拣系统中，在平面运行的分拣机器人负责向立体分拣机器人的分拣机构上投入待分拣货品，且一个立体分拣系统配置有一个或多个平面分拣机器人与立体分拣机器人进行配合，所述平面分拣机器人执行基于所述目标订单向所述第一立体分拣机器人的货品投递。
具体的控制方法参考图1-5附图及说明，本实施例中不再重复及赘述。
图8示出的是匹配图1-5方法的计算设备80，包括：
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，作为优选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，还可以进一步包括只读存储器(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用于立体分拣机器人的分拣控制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，即本申请立体分拣控制系统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用于执行以上实施例所述的用于立体分拣机器人的分拣控制方法。
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。
综上所述：
本申请所披露的用于立体分拣机器人的分拣控制方法、立体分拣机器人和相关设备，通过状态获取步骤，投递步骤，在确认所述目标货筐单元可用时，执行第一投递动作；判断步骤，当出现未投入情况时，执行第二投递动作；以及，确认步骤，一次或多次执行判断步骤，直至确认所述待投货品投入所述目标货筐单元。通过本分拣控制方法，结合所述立体分拣机器人的检测及识别装置，控制装置和卸载装置的配合，多次确认和根据货筐单元的状态，货品是否妥善投入的判断，确保立体分拣机器人快速参与分拣，提升分拣整体效率的同时，大幅度提升立体分拣机器人的妥投可靠性的技术目的。
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
本申请公开一种立体分拣控制方法、立体分拣机器人和相关设备，方法包括：状态获取步骤，获取当前的分拣货架的目标货筐单元状态；通过本分拣控制方法，投递步骤，在确认所述目标货筐单元可用时，控制所述立体分拣机器人的卸载机构执行第一投递动作；判断步骤，判断待投货品是否进入所述目标货筐单元，当出现未投入情况时，控制所述立体分拣机器人的卸载机构执行第二投递动作；确认步骤，一次或多次执行判断步骤，直至确认所述待投货品投入所述目标货筐单元。本申请确保立体分拣机器人快速参与分拣，提升分拣整体效率的同时，大幅度提升立体分拣机器人的妥投可靠性的技术目的
此外，可以理解的是，本申请的立体分拣控制方法、立体分拣机器人和相关设备是可以重现的，并且可以用在多种工业应用中。例如，本申请的立体分拣机器人的分拣、立体分拣机器人和相关设备可以用于分拣机器人的技术领域。

Claims (15)

  1. 一种立体分拣机器人的分拣控制方法，其特征在于，所述分拣控制方法包括：
    状态获取步骤，获取当前的分拣货架的目标货筐单元状态；所述立体分拣机器人与目标分拣货架身份信息具有绑定关系，所述绑定关系与目标订单关联；在所述目标订单的分拣任务下，所述立体分拣机器人将待分拣的货品按照所述货架的身份信息进行分拣，所述身份信息包括订单货品与所述目标货筐单元存在对应关系；
    投递步骤，在确认所述目标货筐单元可用时，控制所述立体分拣机器人的卸载机构执行第一投递动作；
    判断步骤，判断待投货品是否进入所述目标货筐单元，当出现未投入情况时，控制所述立体分拣机器人的卸载机构执行第二投递动作；
    确认步骤，一次或多次执行判断步骤，直至确认所述待投货品投入所述目标货筐单元。
  2. 根据权利要求1所述的方法，其特征在于，获取当前的分拣货架的目标货筐单元状态配置为：
    确认所述目标货筐单元是否处于所述目标分拣货架的固定位置；
    当其处于该固定位置时，则判断所述目标货筐单元是否存在不能接收所投入的货品的损伤部位；
    如所述目标货筐单元可正常接收货品，则执行投递步骤。
  3. 根据权利要求2所述的方法，其特征在于，判断待投货品是否进入所述目标货筐单元，包括：
    利用扫描设备或者图像采集设备，获取所述目标货筐单元是否已接收所述货品的光线反馈结果或图像解析结果；
    当所述光线反馈结果或图像解析结果指示所述目标货筐单元内的第一检测位无所述货品，则判断为未投入情况。
  4. 根据权利要求3所述的方法，其特征在于，所述确认步骤包括：
    利用安装于所述卸载机构的升降功能，将所述扫描设备或者图像采集设备提升至预设位置，再次获取光线反馈结果或图像解析结果；
    当所述光线反馈结果或图像解析结果指示所述目标货筐单元内的第二检测位无所述货品，则判断为未投入情况。
  5. 根据权利要求2或3所述的方法，其特征在于，确认所述目标货筐单元是否处于所述目标分拣货架的固定位置，包括：
    利用扫描设备或者图像采集设备，获取所述目标货筐单元是否位于所述目标分拣货架 的固定位置；
    如所述光线反馈结果或图像解析结果指示所述固定位置不存在所述目标货筐单元，则控制所述立体分拣机器人的卸载机构停止投递动作。
  6. 根据权利要求1至5中的任一项所述的方法，其特征在于，所述状态获取步骤还包括：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。
  7. 根据权利要求1至6中的任一项所述的方法，其特征在于，所述立体分拣机器人与目标分拣货架身份信息具有绑定关系，所述目标分拣货架身份信息通过所述立体分拣机器人采用RFID读取器实现，包括：
    读取所述目标分拣货架上设置的标签获取所述身份信息，所述标签至少携带有所述分拣货架的结构数据和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。
  8. 根据权利要求1至7中的任一项所述的方法，其特征在于，所述立体分拣机器人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。
  9. 一种立体分拣机器人，其特征在于，所述立体分拣机器人配置于立体分拣系统，
    所述立体分拣机器人设置有控制模块，执行根据权利要求1至8中的任一项所述的用于立体分拣机器人的分拣控制方法。
  10. 根据权利要求9所述的立体分拣机器人，其特征在于，所述立体分拣机器人与目标分拣货架身份信息具有绑定关系，所述绑定关系与目标订单关联；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。
  11. 一种立体分拣控制系统，其特征在于，该立体分拣控制系统配置于立体分拣系统中，
    所述立体分拣控制系统执行根据权利要求1至8中的任一项所述的用于立体分拣机器人的分拣控制方法。
  12. 根据权利要求11所述的立体分拣控制系统，所述立体分拣控制系统通过一组或多组服务器的方式完成控制，或者，所述立体分拣控制系统配备有上位机或集控器，以用于对立体分拣机器人的分拣任务进行分配。
  13. 根据权利要求12所述的立体分拣控制系统，所述服务器存储有各个分拣货架或货筐的身份信息，并将所述立体分拣机器人与正在执行的订单、所绑定的立体分拣货架或货筐的关系进行存储及更新。
  14. 根据权利要求11至13中的任一项所述的立体分拣控制系统，所述立体分拣系统配置有一个或多个平面分拣机器人，所述平面分拣机器人与所述立体分拣机器人进行配合，所述平面分拣机器人执行基于所述目标订单向所述立体分拣机器人的货品投递。
  15. 一种计算设备，其特征在于，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8中的任一项所述的方法。
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