WO2024109687A1

WO2024109687A1 - Goods distribution system and method, three-dimensional sowing device, and three-dimensional distribution mechanism

Info

Publication number: WO2024109687A1
Application number: PCT/CN2023/132596
Authority: WO
Inventors: 赵宇彤; 梁东
Original assignee: 北京极智嘉科技股份有限公司
Priority date: 2022-11-22
Filing date: 2023-11-20
Publication date: 2024-05-30

Abstract

Disclosed in the present application is a three-dimensional sowing device, comprising: a three-dimensional distribution mechanism, which comprises a carrier, and a movement mechanism for driving the carrier to travel between a pickup position and distribution positions, wherein the pickup position refers to the position where the carrier receives goods delivered thereto; and a shelving rack, which is arranged on at least one side of the three-dimensional distribution mechanism, wherein a plurality of order containers are arranged on the shelving rack. The distribution positions refer to the positions where the carrier delivers goods to each order container. The three-dimensional sowing device further comprises a temporary storage mechanism, which is arranged to be adjacent to the pickup position and is configured to temporarily store the goods delivered thereto so as to provide the goods to the carrier. Further disclosed in the present application are a goods distribution system and method, and a three-dimensional distribution mechanism. The embodiments of the present disclosure increase the continuous operating time of a sorting object and the three-dimensional distribution mechanism, and significantly improves sorting operation efficiency.

Description

Goods sowing system and method, three-dimensional sowing equipment and three-dimensional sowing mechanism

This application claims the priority of application number 202211468205.3 filed with the China Patent Office on November 22, 2022; and the priority of application number 202311464757.1 filed with the China Patent Office on November 6, 2023; all the contents of which are incorporated by reference in this application.

Technical Field

The present disclosure relates to the field of intelligent warehousing technology, and in particular, to a three-dimensional seeding device configured for cargo sorting in an intelligent warehousing system, a cargo sowing system and method including such a three-dimensional seeding device, and a three-dimensional sowing mechanism configured as the three-dimensional seeding device.

Background technique

Traditional order sorting operations are completely done manually. Specifically, the operator first places the empty container representing the order on the order box shelf of the workstation, then picks out the goods from the storage container, scans the goods to obtain the product information, and delivers the goods to the designated order container according to the system prompt. The order container is placed on the shelf. When the order container is full or the order is completed, the operator replaces the order box and repeats the next wave of order sorting operations. Manual order picking and distribution operations have technical problems such as low efficiency and poor accuracy of picking and distribution.

Summary of the invention

The present application provides a three-dimensional seeding device, comprising:

A three-dimensional distribution mechanism, comprising a bracket configured to carry and deliver goods, and a motion mechanism configured to drive the bracket to move between a docking position and a distribution position, wherein the docking position is a position where the bracket receives the delivered goods; and

A shelf is provided on at least one side of the three-dimensional distribution mechanism, and a plurality of order containers are arranged on the shelf. The distribution position is a position where the bracket delivers goods to each of the order containers.

A cache mechanism is arranged adjacent to the docking position, and the cache mechanism is configured to temporarily store goods delivered to the cache mechanism so as to provide the goods to the bracket.

The present application provides a cargo sowing system, including a sorting object, a three-dimensional sowing device and a control device, wherein:

The sorting object is configured to carry and deliver goods to the three-dimensional seeding device,

The three-dimensional seeding equipment comprises:

A three-dimensional distribution mechanism, comprising a bracket configured to carry and deliver goods and a motion mechanism configured to drive the bracket to move between a docking position and a distribution position, wherein the docking position is a position where the bracket receives goods delivered thereto; and

The three-dimensional seeding device further comprises a cache mechanism disposed adjacent to the docking position, wherein the cache mechanism comprises a conveying platform configured to temporarily store goods delivered thereon so as to provide the goods to the bracket.

The control device is communicatively connected with the sorting object and the three-dimensional distribution mechanism, and is configured to: control the three-dimensional distribution mechanism to deliver the goods received from the sorting object to the corresponding order container; control the sorting object to deliver the goods to the cache mechanism when the bracket is in an unavailable state where the goods cannot be received; and control the cache mechanism to transport the goods to the bracket when the bracket is in the available state.

The present application provides a goods distribution method, which is applied to a goods distribution system, wherein the goods distribution system includes a sorting object, a three-dimensional seeding device and a control device; the three-dimensional seeding device includes a three-dimensional seeding mechanism, a shelf and a cache mechanism, the three-dimensional seeding mechanism includes a bracket configured to carry and deliver goods, the shelf is arranged on at least one side of the three-dimensional seeding mechanism, a plurality of order containers are arranged on the shelf, and the cache mechanism includes a conveying platform; the goods distribution method includes:

Controlling the three-dimensional distribution mechanism to deliver the goods received from the sorting object to the corresponding order container;

Controlling the sorting object to deliver goods to the cache mechanism when the bracket is in an unavailable state where the goods cannot be received;

And the cache mechanism is controlled to deliver goods to the bracket when the bracket is in the available state.

The present application provides a stereoscopic broadcasting mechanism, comprising:

a carriage configured to carry and deliver cargo;

a motion mechanism configured to drive the bracket to move between a docking position and a distribution position, wherein the docking position is a position where the bracket receives goods delivered thereto, and the distribution position is a position where the bracket delivers goods to an order container; and

a gantry structure, the gantry structure supporting the motion mechanism,

The three-dimensional broadcasting mechanism further comprises a cache mechanism installed on the gantry structure, the cache mechanism is arranged adjacent to the docking position, and the cache mechanism is configured to temporarily store goods delivered to the cache mechanism so as to provide the goods to the bracket.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

FIG1 is a schematic diagram of a collaboration scenario between a three-dimensional distribution mechanism and a transport robot according to some embodiments of the present disclosure;

FIG2 is a partial schematic diagram of an intelligent warehousing system provided according to some embodiments of the present disclosure;

FIG3 is a schematic top view of an example of a three-dimensional seeding device according to some embodiments of the present disclosure;

FIG4 is a three-dimensional diagram of a three-dimensional sowing mechanism and a buffer mechanism in the three-dimensional sowing device shown in FIG3 ;

FIG5 is a front view of a three-dimensional sowing mechanism and a buffer mechanism in the three-dimensional sowing device shown in FIG3 ;

FIG6 is an exemplary diagram of a three-dimensional seeding device according to some embodiments of the present disclosure;

FIG7 is another exemplary diagram of a three-dimensional seeding device according to some embodiments of the present disclosure;

FIG8 is a schematic top view of an example of a three-dimensional seeding device according to other embodiments of the present disclosure;

FIG9 is a schematic diagram of the three-dimensional broadcasting mechanism in FIG8;

FIG10 is a top view of a three-dimensional seeding device according to some further embodiments of the present disclosure;

FIG11 is a front view of a three-dimensional seeding device according to some further embodiments of the present disclosure;

FIG12 is a top view of a three-dimensional seeding device according to some further embodiments of the present disclosure;

FIG13 is a front view of a three-dimensional seeding device according to some further embodiments of the present disclosure;

FIG14 is an example of a three-dimensional seeding device according to some further embodiments of the present disclosure;

FIG15 is a front view of a three-dimensional seeding device according to some further embodiments of the present disclosure;

FIG16 is a schematic diagram of a three-dimensional seeding device provided according to some further embodiments of the present disclosure;

FIG17 is a schematic diagram of a three-dimensional seeding device provided according to some further embodiments of the present disclosure;

FIG18 is a schematic diagram of a three-dimensional seeding device provided according to some further embodiments of the present disclosure;

FIG19 is a schematic diagram of a three-dimensional seeding device provided according to some further embodiments of the present disclosure;

FIG20 is a schematic diagram of a goods distribution system according to some embodiments of the present disclosure;

FIG21 is a schematic diagram of a method for distributing goods according to some embodiments of the present disclosure;

FIG22 is a schematic diagram of another method for distributing goods according to some embodiments of the present disclosure;

FIG23 is a schematic diagram of another method for distributing goods according to some embodiments of the present disclosure;

FIG24 is a schematic diagram of another method for distributing goods according to some embodiments of the present disclosure;

FIG25 is a schematic diagram of yet another method for distributing goods according to some embodiments of the present disclosure;

FIG26A is a schematic diagram of another method for distributing goods according to some embodiments of the present disclosure;

FIG26B is a schematic diagram of a cargo distribution scenario provided according to some embodiments of the present disclosure;

FIG. 27 is a schematic diagram of an electronic device according to some embodiments of the present disclosure.

Detailed ways

The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are only configured to explain the relevant invention, rather than to limit the invention. For ease of description, only the parts related to the invention are shown in the accompanying drawings.

It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

Fig. 1 is a schematic diagram of a collaboration scenario between a stereoscopic distribution mechanism and a handling robot provided according to some embodiments of the present disclosure. As shown in Fig. 1, when the stereoscopic distribution mechanism 10 (also called a sorting machine) cooperates with the sorting object (such as a handling robot R) to perform the sorting operation of goods, the handling robot R can carry the goods g to be delivered to the delivery position on one side of the stereoscopic distribution mechanism 10, and deliver the goods g to the bracket 11 (also called a delivery mechanism) of the stereoscopic distribution mechanism 10; the bracket 11 then delivers the received goods g to the order containers (also called turnover containers) located on both sides of the sorting machine, thereby completing the sorting of the goods g.

In some examples, the transport robot R can receive the goods g from the workstation and transport the goods g to the docking position of the three-dimensional distribution mechanism 10 for delivery. For example, the transport robot R can be a flip robot, a liftable tray robot, or other types of robots. The specific form of the transport robot R is not limited in the present embodiment.

In some examples, the three-dimensional distribution mechanism 10 can also be manually sorted by sorting personnel. That is, the sorting personnel directly deliver the goods to the bracket 11, and then the bracket 11 delivers the received goods to the corresponding order container. The embodiment of the present application is not limited to this. The following embodiment is schematically described by taking the transport robot R for delivering goods as an example.

In some examples, the three-dimensional distribution mechanism 10 may also be referred to as a three-dimensional sorting machine. Shelves or seeding walls may be placed on both sides of the three-dimensional distribution mechanism 10, or a shelf or seeding wall may be placed on one side of the three-dimensional distribution mechanism 10, and a plurality of order containers may be placed on the shelf or seeding wall. The embodiment of the present application does not limit the type of carrier that carries the order containers.

In some examples, when the transport robot R reaches the docking position of the three-dimensional distribution mechanism 10, and the bracket 11 also reaches the docking position, the transport robot R can deliver the goods g placed on it to be delivered to the bracket 11; the bracket 11 moves from the docking position to the position of the order container corresponding to the goods g (hereinafter referred to as the distribution position), and delivers the goods g to the order container. After completing the delivery of one cargo, the bracket 11 needs to return to the docking position again and continue to receive the next delivery from the transport robot R (such as another transport robot). The docking position is the position where the bracket receives the cargo delivered to it.

In some examples, when there are a large number of transport robots R to deliver goods, for example, when multiple transport robots R are lined up near the docking position waiting for delivery, after the first transport robot completes the delivery and the second transport robot arrives at the docking position, if the bracket 11 has not completed the first delivery, that is, the bracket 11 has not returned to the docking position (also called reset), the second transport robot needs to wait for the bracket 11 at the docking position until the bracket 11 returns to the docking position before delivering the goods. The transport robot R waits for the bracket 11 to reset before delivering, which increases the time for sorting goods and reduces the efficiency of sorting goods.

In order to solve the above problems, the embodiments of the present application provide a cargo distribution system, a three-dimensional seeding device and a three-dimensional seeding mechanism. By adding a cache mechanism in the three-dimensional seeding device, the cache mechanism may include one or more conveying platforms (also called cache devices), each of which is configured to cache the cargo delivered by the sorting object, and deliver the cargo to the bracket, which is then delivered to the order container by the bracket. In other words, by setting up the cache mechanism, the transport robot can deliver the cargo to each transport platform when it arrives at the delivery position without waiting for the bracket to reset, thereby reducing the waiting time of the transport robot and improving the efficiency of cargo sorting.

In some embodiments, the embodiments of the present application provide a three-dimensional seeding system, which includes a sorting object and a three-dimensional seeding device; wherein the three-dimensional seeding device includes a caching mechanism and a three-dimensional seeding mechanism.

In some other embodiments, the sorting system may also include a sorting object, a three-dimensional distribution mechanism and a buffer mechanism; wherein the three-dimensional distribution mechanism includes a bracket.

That is to say, the cache mechanism can be set inside the three-dimensional distribution mechanism, or it can be set outside the three-dimensional distribution mechanism. For example, when the cache mechanism is set inside the three-dimensional distribution mechanism, the cache mechanism can be set between the position of the sorting object delivery position and the position of the bracket; when the cache mechanism is set outside the three-dimensional distribution mechanism, the cache mechanism can be set at a position adjacent to the three-dimensional distribution mechanism. The embodiment of the present application does not limit the specific setting position of the cache mechanism.

In some examples, the cache mechanism is configured to receive goods delivered by the sorting object, and deliver the goods to the bracket, which then delivers the goods to the corresponding order container.

It should be noted that when the cache mechanism is arranged outside the three-dimensional seeding device and when the cache mechanism is arranged inside the three-dimensional seeding device, the process of realizing cargo delivery through cooperation among the sorting objects, the cache mechanism and the bracket is similar.

In one example, the sorting objects may include but are not limited to a handling robot R, a sorting person, or a robotic arm. The following description will be made by taking the handling robot R as an example.

In order to more clearly understand the cooperative relationship between the handling robot, the three-dimensional seeding device and the control device 40, the present disclosure also provides a partial schematic diagram of the intelligent warehousing system of FIG. 2, which adopts the goods distribution system according to the embodiment of the present disclosure. As shown in FIG. 2, the goods distribution system according to the embodiment of the present disclosure includes a handling robot R, a three-dimensional seeding device 1 and a control device 40. It is understood that the control device 40 may include but is not limited to a terminal device or a control server.

The transport robot R receives the goods g from, for example, a workstation, transports the goods g, and delivers them to the three-dimensional seeding device 1 .

As shown in FIG2 , the three-dimensional seeding device 1 includes a three-dimensional seeding mechanism 10 and shelves 20 arranged on both sides of the three-dimensional seeding mechanism 10, and a plurality of order containers 20a are arranged on the shelves. In other examples, the shelves can be arranged only on one side of the three-dimensional seeding mechanism 10. The three-dimensional seeding mechanism 10 receives the delivery from the transport robot R. and delivers the goods to the corresponding order container 20a on the shelf 20 to perform the goods picking work for the order corresponding to the order container 20a.

An order container refers to a device configured to contain or place goods corresponding to an order. Usually, one order corresponds to one order container. Specifically, the order container can be a material box, a carton, a cage car or a cage basket to which the goods are to be delivered, and the size of the order container can be set differently according to different orders.

A shelf refers to any device that can be configured to place and arrange multiple order containers. Although the shelf 20 shown in FIG. 2 is configured to place multiple rows of order containers in the horizontal direction and multiple columns of order containers in the vertical direction, the present disclosure is not limited thereto. The shelf can only place and arrange multiple order containers in a single row or a single column.

As will be described in more detail below, the three-dimensional distribution mechanism 10 includes a bracket configured to carry and deliver goods, and a motion mechanism configured to drive the bracket to move between a docking position and a distribution position, and the distribution position is the position where the bracket delivers goods to each order container 20a on the shelf 20.

According to an embodiment of the present disclosure, the three-dimensional seeding device 1 further includes a cache mechanism 30 disposed adjacent to the docking position, the cache mechanism 30 includes a conveying platform configured to temporarily store goods delivered thereon to provide the goods to the bracket.

According to one embodiment of the present disclosure, the control device 40 is communicatively connected with the transport robot R and the three-dimensional distribution mechanism 10, and is configured to: control the three-dimensional distribution mechanism 10 to deliver the goods received from the transport robot R to the corresponding order container 20a of the shelf 20; control the transport robot R to deliver the goods to the cache mechanism 30 when the bracket of the three-dimensional distribution mechanism 10 is in an unavailable state where the goods cannot be received; and control the cache mechanism 30 to transport the goods to the bracket when the bracket is in an available state.

It can be seen that according to the embodiment of the present disclosure, by providing a cache mechanism that can be combined with a three-dimensional sowing mechanism and a shelf, the cargo connection between the handling robot and the three-dimensional sowing equipment (especially the three-dimensional sowing mechanism) is improved, which is beneficial to increasing the continuous working time of the handling robot and the three-dimensional sowing mechanism, and significantly improving the efficiency of the sorting operation. At the same time, it also makes the design and scheduling of the entire cargo sowing system more flexible and more compatible, reducing the difficulty of system design.

FIG3 is a schematic top view of an example of a three-dimensional seeding device according to some embodiments of the present disclosure; FIG4 is a three-dimensional view of a three-dimensional seeding mechanism and a buffer mechanism in the three-dimensional seeding device shown in FIG3; FIG5 is a front view of a three-dimensional seeding mechanism and a buffer mechanism in the three-dimensional seeding device shown in FIG3;

Hereinafter, the specific structure of the three-dimensional seeding device according to an embodiment of the present disclosure is first introduced with reference to FIG. 3 , FIG. 4 and FIG. 5 .

As shown in FIG3 , the three-dimensional seeding device 1A includes a three-dimensional seeding mechanism 10, shelves 20 disposed on both sides of the three-dimensional seeding mechanism 10, and a cache mechanism 130 disposed at one end of the three-dimensional seeding mechanism 10. A plurality of order containers 20a are arranged on the shelves 20. According to the present embodiment, the cache mechanism 130 is disposed adjacent to the docking position A, and is configured to temporarily store, for example, goods g delivered thereto by a transport robot R, and to provide the goods g to the bracket 11 at an appropriate time under the control of the control device 40.

For ease of understanding, the exemplary structure of the three-dimensional distribution mechanism 10 is more clearly shown in Figures 4 and 5. As shown in Figures 4 and 5, the three-dimensional distribution mechanism 10 includes a motion mechanism 12 that drives the bracket 11 to move between a docking position and a distribution position. The docking position (such as the docking position A shown in Figure 5) is the position where the bracket 11 receives the goods delivered thereto. The distribution position (not shown) is the position where the bracket 11 delivers the goods to each order container 20a. It can be understood that the distribution position generally corresponds to the opening position of each order container 20a, and the three-dimensional distribution mechanism 10 can have multiple distribution positions.

In one example, the bracket 11 may include at least one of a conveyor belt mechanism, a pushing mechanism (such as a lever or a paddle), and a tilting mechanism, and the bracket 11 is configured to deliver the goods into the order container.

As shown in Figures 4 and 5, the motion mechanism 12 includes a vertical motion mechanism 12a and a horizontal motion mechanism 12b. As an example only and not restrictive, the vertical motion mechanism 12a may include a vertical slide rail, a vertical slide seat slidably connected to the vertical slide rail, and a vertical drive mechanism configured to drive the vertical slide seat to slide along the vertical slide rail; the horizontal motion mechanism 12b may include a horizontal slide rail, a horizontal slide seat slidably connected to the horizontal slide rail, and a horizontal drive mechanism configured to drive the horizontal slide seat to slide along the horizontal slide rail. A simple sliding fit may be formed between the vertical/horizontal slide rail and the vertical/horizontal slide, or a threaded fit between the lead screw and the nut or any other suitable fit. The vertical/horizontal drive mechanism may be, for example, a motor that drives at least one of the lead screw and the nut to rotate, or may be, for example, a cylinder drive mechanism or any other suitable drive mechanism that drives the slide seat to perform linear translation.

As shown in FIG5 , the bracket 11 is mounted on the vertical motion mechanism 12a, and the vertical motion mechanism 12a is mounted on the horizontal motion mechanism 12b, so that the vertical motion mechanism 12a can drive the bracket 11 to move in the vertical direction (Z direction as shown in FIG4 ), and the horizontal motion mechanism 12b can drive the vertical motion mechanism 12a and the bracket 11 to move in the first horizontal direction (X direction as shown in FIG4 ). It should be understood that in other examples, the bracket can be mounted on the horizontal motion mechanism, and the horizontal structure can be mounted on the vertical motion mechanism. In other words, the bracket can be driven by the horizontal motion mechanism to move directly in the first horizontal direction (X direction as shown in FIG4 ), and the horizontal motion mechanism can be driven by the vertical motion mechanism to move in the vertical direction (Z direction as shown in FIG4 ), so that the bracket is moved to the target position through the cooperation of the horizontal motion mechanism and the vertical motion mechanism.

In one example, the shelf 20 is arranged on at least one side of the stereoscopic distribution mechanism 10 along a second horizontal direction (the Y direction shown in FIG. 4 ), the second horizontal direction is perpendicular to the first horizontal direction (the X direction shown in FIG. 4 ), and the cache mechanism 130 is arranged at the end of the stereoscopic distribution mechanism 10 along the first horizontal direction.

It should be understood that the motion mechanism of the stereoscopic distribution mechanism according to the embodiment of the present disclosure may be configured to include only a vertical motion mechanism or a horizontal motion mechanism, so as to transport goods only in the horizontal direction or the vertical direction.

In one embodiment, as shown in FIG4 , the three-dimensional broadcasting mechanism 10 may further include a gantry structure 13. The gantry structure 13 supports the moving mechanism 12, and the moving mechanism 12 thereby supports the bracket 11. In some examples, the gantry structure 13 may include a square hollow frame structure as a whole, and the bottom, top, left and right sides of the square hollow frame structure are all square structures formed by four steel sections spliced and assembled in sequence, and the bottom and top are fixedly connected to the left and right sides by angle steels and fasteners. When the three-dimensional broadcasting mechanism 10 is configured to connect the side of the goods (which may include one or both of the left and right sides), the gantry structure 13 may be provided with a door panel and a docking window 10a may be opened on the door panel.

According to the three-dimensional seeding device of the embodiment of the present disclosure, when the bracket is suitable for receiving goods, the bracket can be operated to actively obtain the goods stored on the cache mechanism, the cache mechanism can be operated to actively transport the goods stored thereon to the bracket, or other equipment can be used to transfer the goods stored on the cache mechanism to the bracket.

In one example, the cache mechanism may include a conveyor platform (see the conveyor platform 131 shown in Figures 4 and 5), which is configured to provide at least one cache position for storing goods, and each cache position is configured to store goods for a single delivery. Exemplarily, a single delivery can be understood as a process of docking to a delivery target order container. The conveyor platform is also configured to transport the goods on the cache position in a direction close to the docking position. For example, the conveyor platform can transport the goods on the cache position in a direction close to the docking position to deliver them to the bracket. In one example, the conveyor platform may include at least one of a belt conveyor, a roller conveyor, a chain plate conveyor, and a flap device. The cache mechanism may also include a position detection sensor (not shown) and a control system (not shown), wherein the position detection sensor is configured to detect the position of the goods on the conveyor platform and send a detection signal, and the control system controls the operation of the conveyor platform according to the detection signal from the position detection sensor.

As an example, the buffer mechanism can be a belt conveyor, which includes a support, a belt, a drive roller set, a front position detection sensor and a rear position detection sensor, a servo motor, and a controller. The support, the belt, and the drive roller set constitute a conveyor, which is configured to convey goods under the drive of the servo motor. The control system (e.g., a servo control system) composed of the servo motor and the controller can achieve precise control of the belt running speed, rotation displacement, and stop position to control the conveyance of the goods.

In one example, during docking, the height of the carrying surface of the conveyor platform of the cache mechanism is consistent with the height of the carrying surface of the bracket or the carrying surface of the handling robot to ensure the safe transportation of the goods and prevent them from falling. Of course, if the conveyor platform adopts a flipping device, the height of the carrying surface of the conveyor platform can be slightly higher than the height of the carrying surface of the bracket, so that the conveyor platform can flip the goods on it onto the bracket.

In the three-dimensional seeding device according to the present embodiment, in one example, the bracket 11 has a delivery direction along the second horizontal direction (the Y direction shown in FIG. 4 ), and the conveying platform 131 of the cache mechanism 130 has a conveying direction along the first horizontal direction (the X direction shown in FIG. 4 ), as shown by the thick arrow in FIG. 3 .

According to the above embodiment provided by the present disclosure, as shown in FIG. 3 to FIG. 5, the conveying platform 131 of the buffer mechanism 130 provides a single buffer position, which is configured to store a single The present disclosure is not limited to this. According to other embodiments of the present disclosure, the cache mechanism can be expanded in the horizontal direction or the vertical direction to increase the number of cache positions, and can be configured to cache goods delivered multiple times. The three-dimensional seeding equipment according to the following embodiments can further ensure that sorting objects such as handling robots and three-dimensional seeding mechanisms can operate continuously, thereby improving the efficiency of sorting operations.

FIG6 is one example diagram of a stereoscopic seeding device according to some embodiments of the present disclosure, namely, a stereoscopic seeding device 1B, in which the cache positions of the cache mechanism are extended in the horizontal direction. For the sake of clarity, the shelves are omitted in the figure. As shown in FIG6 , the cache mechanism 230 of the stereoscopic seeding device 1B includes a conveying platform 231, which provides a first cache position B1 and a second cache position B2. The first cache position B1 and the second cache position B2 may have the same conveying direction (as shown by the thick arrow in FIG6 ) and are arranged adjacent to each other at the same horizontal height.

Exemplarily, multiple cache bits may be arranged along the first horizontal direction X, and multiple cache bits may be arranged along the second horizontal direction Y. For example, multiple cache bits may be arranged along the first horizontal direction X and the second horizontal direction Y at the same time.

Among them, multiple cache positions arranged along the first horizontal direction X can be arranged in sequence along the conveying direction of the conveyor platform 231. In this way, the goods on each cache position can be moved along the conveying direction to other cache positions arranged along the first horizontal direction X. For example, each cache position can move to a docking position close to the bracket to be provided to other cache positions, or the bracket.

In addition, for multiple cache positions arranged along the second horizontal direction Y, the motion mechanism 12 of the stereoscopic broadcasting mechanism can drive the bracket to move along the second horizontal direction Y to move to the corresponding docking position, thereby receiving the goods on the corresponding cache position. Of course, in some examples, when the width of the bracket along the second horizontal direction Y is greater than or equal to the total width of the multiple cache positions along the second horizontal direction Y, the bracket can receive the goods on any cache position (close to the docking position) arranged along the second horizontal direction Y after moving to the docking position along the first horizontal direction X.

The conveyor platform 231 may have an integrally driven conveying mechanism at the first cache position B1 and the second cache position B2, such as an integral belt conveying mechanism, or may have separately driven conveying mechanisms, such as two sets of belt conveying mechanisms adjacent to each other but independent of each other. Correspondingly, the control system may also be integral or separate.

Fig. 7 is another example diagram of a three-dimensional seeding device according to some embodiments of the present disclosure, namely a three-dimensional seeding device 1B', in which the cache positions of the cache mechanism are extended in the vertical direction. For the sake of clarity, the shelves are omitted in the figure. As shown in Fig. 7, the cache mechanism 230' of the three-dimensional seeding device 1B' includes two conveying platforms 231', and the two conveying platforms 231' respectively provide a first cache position B1 and a second cache position B2, and the first cache position B1 and the second cache position B2 have the same conveying direction (as shown by the thick arrows in Fig. 7), and are stacked on each other in an upper and lower separation. The two conveying platforms 231' have separately driven conveying mechanisms.

As shown in FIG7 , the three-dimensional seeding device 1B′ occupies a small area and is suitable for being configured to be used in conjunction with a transport robot R that can deliver goods at different heights. Such a transport robot R may have an adjustable cargo pallet height or a double-layer pallet. In the implementation case where the transport robot has an adjustable cargo pallet, in one example, the control device of the seeding system according to the embodiment of the present disclosure may be configured to control the transport robot to deliver goods to one of the first cache position and the second cache position according to the height of the pallet of the transport robot.

Although FIG. 6 and FIG. 7 show a cache mechanism that provides two cache positions, it should be understood that according to the embodiments provided in the present disclosure, the cache positions of the cache mechanism can be expanded to a larger number as needed, and can be expanded in both the horizontal and vertical directions. For example, two cache positions can be set in the horizontal direction and the vertical direction, that is, four cache positions in a rectangular structure are formed, so that the handling robot can deliver more goods to the cache mechanism. Those skilled in the art can realize such expansion by reading the specification of this application and combining existing experience, so it will not be repeated here.

FIG. 8 is a schematic top view of an example of a three-dimensional seeding device according to some other embodiments of the present disclosure; FIG. 9 is a schematic diagram of the three-dimensional seeding mechanism in FIG. 8 , namely, the three-dimensional seeding device 1C.

The three-dimensional seeding device 1C shown in Figure 8 according to the embodiment of the present disclosure can have basically the same structure as the three-dimensional seeding device 1A according to the above-mentioned embodiment of the present disclosure (refer to Figures 2, 3 and 4), and the main difference lies in that: in the three-dimensional seeding device 1C, the cache mechanism 330 is integrated in the gantry structure 13 of the three-dimensional seeding mechanism 10'.

In other words, according to one embodiment of the present disclosure, a new type of three-dimensional broadcasting mechanism 10' is provided, which includes a bracket 11, a motion mechanism 12 configured to drive the bracket to operate, a gantry structure 13 supporting the motion mechanism 12, and a cache mechanism 330 integrated with the gantry structure 13.

According to an embodiment of the present disclosure, in some implementations, the cache mechanism 330 may provide a single cache bit, for example, having a structure similar to the cache mechanism 130 shown in Figure 4; in other implementations, the cache mechanism 330 may provide more than one cache bit stacked up and down, for example, see the structure of the cache mechanism shown in Figure 9.

In addition, in some implementations, no order container may be provided at a position adjacent to the cache mechanism 330 (correspondingly, the shelf 20 may have a shorter dimension in the first horizontal direction). In other implementations, order containers 20b are provided at positions adjacent to the cache mechanism 330 of the shelf 20, and according to the distribution system of the embodiment of the present disclosure, the control device 40 is configured to control the transport robot R to deliver goods directly to these order containers 20b, that is, the order container 20b may be used in conjunction with the transport robot R that can deliver goods at different heights, so that the transport robot R moves to a side of the order container 20b different from the cache mechanism 330, thereby delivering the goods on the transport robot directly to the order container 20b.

FIG. 10 is a top view of a stereoscopic seeding device according to some other embodiments of the present disclosure; FIG. 11 is a front view of a stereoscopic seeding device according to some other embodiments of the present disclosure. As shown in FIGS. 10 and 11 , a stereoscopic seeding device 1D according to an embodiment of the present disclosure includes a stereoscopic seeding mechanism 10, shelves 20 disposed on both sides of the stereoscopic seeding mechanism 10, and a cache mechanism 430. The stereoscopic seeding mechanism 10 and the shelves 20 may have the same or similar structures as the stereoscopic seeding mechanism 10 and the shelves 20 in the stereoscopic seeding device 1A of the present embodiment described with reference to FIGS. 3 to 5 , and will not be described in detail here.

According to the embodiment of the present disclosure, as more clearly shown in FIG. 10 , the cache mechanism 430 is arranged on the side of the stereoscopic distribution mechanism 10 in the second horizontal direction (the Y direction shown in FIG. 4 ), and is close to the end of the stereoscopic distribution mechanism 10 in the first horizontal direction (the X direction shown in FIG. 4 ). That is, the cache mechanism 430 is arranged side by side with the shelf 20 on one side, for example, it can be arranged at the end of the shelf 20 on one side. This allows the bracket 11 of the stereoscopic distribution mechanism 10 to be directly connected to the transport robot R (see the transport robot shown by the dotted line in FIG. 10 ), and can also be connected to the transport robot R (see the transport robot shown by the solid line in FIG. 10 ) through the cache mechanism 430, thereby achieving more flexible design and scheduling, which is conducive to improving efficiency and reducing design difficulty.

Of course, the cache mechanism 430 can also be set in the middle of the shelf 20 on one side. For example, if there are five rows of shelves on one side, the cache mechanism 430 in this example can be set (for example, integrated in the shelf) in the third row of the shelf, and the cache mechanism 430 can be set to the same number of layers as the shelf. The setting method of this example can not only meet the requirements of the bracket 11 of the three-dimensional distribution mechanism 10 being directly connected to the transport robot R, but also can achieve connection with the transport robot R through the cache mechanism 430, and it is more space-saving. The conveyor table in the cache mechanism that does not participate in the connection can serve as an order container for storing goods.

In some implementations, the cache mechanism 430 may provide a single cache bit, for example, having a structure similar to the cache mechanism 130 shown in Figure 4; in other implementations, the cache mechanism 430 may provide more than one cache bit stacked up and down, for example, see the structure of the cache mechanism shown in Figure 11.

According to the three-dimensional seeding device 1D of this embodiment, in one example, the bracket 11 has a delivery direction along the second horizontal direction, and the conveying platform 431 of the cache mechanism 430 also has a conveying direction along the second horizontal direction, as shown by the thick arrow in Figure 10.

Figure 12 is a top view of a three-dimensional seeding device according to some other embodiments of the present disclosure; Figure 13 is a front view of a three-dimensional seeding device according to some other embodiments of the present disclosure; the three-dimensional seeding device 1E according to an embodiment of the present disclosure has basically the same structure as the three-dimensional seeding device 1D according to the above-mentioned embodiment of the present disclosure (refer to Figures 10 and 11), except that: in the three-dimensional seeding device 1E, the cache mechanism 530 is integrated in the shelf 20'.

In other words, the embodiment of the present disclosure provides a new type of shelf 20', which includes a bracket 21 configured to support a plurality of order containers and a cache mechanism 530 mounted on the bracket 21.

In one example, the cache mechanism 530 is disposed on the side of the stereoscopic distribution mechanism 10 in the second horizontal direction and close to the end of the stereoscopic distribution mechanism 10 in the first horizontal direction, that is, the cache mechanism 530 is disposed on one layer at the end of a side shelf 20 .

In one example, as shown in FIG. 13 , the buffer mechanism 530 is disposed on the partition of the bracket 21 to have a structure suitable for docking with the transport robot and/or the bracket 11. the height of.

FIG14 is an example of a stereoscopic seeding device according to some other embodiments of the present disclosure; the stereoscopic seeding device 1F according to the embodiment of the present disclosure has a substantially same structure as the stereoscopic seeding device 1D according to the embodiment of the present disclosure (refer to FIG10 and FIG11 ), except that: in the stereoscopic seeding device 1F, the cache mechanism 630 has cache positions extending along the second horizontal direction, such as the first cache position B1 and the second cache position B2 shown in FIG14 . The setting of the stereoscopic seeding device 1F not only allows the bracket 11 of the stereoscopic seeding mechanism 10 to be directly connected to the transport robot R (see the transport robot shown by the dotted line in FIG14 ), but also enables the connection with the transport robot R (see the transport robot shown by the solid line in FIG14 ) through the cache mechanism 630, and, since the cache mechanism 630 has cache positions extending along the second direction, this setting can facilitate the transport robot to deliver more goods to the cache mechanism 630.

Fig. 15 is a front view of a stereoscopic seeding device according to some other embodiments of the present disclosure. A stereoscopic seeding device 1G according to an embodiment of the present disclosure includes a shelf 20 that is the same as or similar to the shelf 20 of the stereoscopic seeding device 1A according to the above-mentioned embodiment of the present disclosure (see Figs. 3, 4 and 5). For the sake of clarity, the shelf is omitted in Fig. 15.

As shown in Fig. 15, the three-dimensional sowing mechanism 10'' of the three-dimensional sowing device 1G includes a bracket 11, a motion mechanism 12 and a gantry structure 13 that are substantially the same as those in the three-dimensional sowing mechanism 10 shown in reference to Figs. 3 to 5. Exemplarily, the bracket 11 has a first docking position A1 for receiving goods from the transport robot R.

According to an embodiment of the present disclosure, the cache mechanism 730 in the three-dimensional seeding device 1G is integrated in the three-dimensional seeding mechanism 10", and the conveying platform 731 of the cache mechanism 730 can be movably arranged on the gantry structure 13 up and down. As shown in Figure 15, the conveying platform 731 has at least a first position C1 and a second position C2. In the first position C1, the conveying platform 731 is adjacent to the first docking position A1, and the conveying platform 731 is configured to receive goods from the transport robot or to transport goods to the bracket 11; in the second position C2, the conveying platform 731 is away from the first docking position A1 to allow the bracket 11 to receive goods from the transport robot at the first docking position A1.

Fig. 16 is a schematic diagram of a stereoscopic seeding device according to some other embodiments of the present disclosure. As shown in Fig. 16, the stereoscopic seeding mechanism 10 includes a bracket 11, at least one motion mechanism 12 (also called a guiding mechanism), a buffer mechanism 830 and a control mechanism (not shown in Fig. 16).

In some embodiments, the cache mechanism 830 may include a plurality of conveyor platforms 831, and each of the plurality of conveyor platforms 831 is configured to cache the goods delivered by the sorting object. It can be understood that, based on the description of the above embodiments, any conveyor platform 831 may include one or more cache positions, wherein the plurality of cache positions may be arranged in sequence along the first horizontal direction, or a plurality of groups of cache positions may be arranged in parallel along the second horizontal direction, and of course, may also be arranged in a stacked manner along the vertical direction Z.

In some examples, the sorting object may also be a conveyor line, that is, the goods are transported to the bracket 11 through the conveyor line.

In some embodiments, the buffer mechanism 830 further includes a lifting device 832. The plurality of conveying platforms 831 are respectively provided to the lifting devices 832, and each conveying platform can be moved up and down by the lifting devices 832. For example, as shown in FIG. 16 , the plurality of conveying platforms 831 can be moved along the Z direction.

In some embodiments, the cache mechanism 830 further includes a moving device 833. The moving device 833 is coupled to each conveying platform, and is configured to drive each conveying platform 831 to move up and down along the lifting device 832, and/or drive each conveying platform 831 to deliver the goods thereon to the bracket 11.

In some examples, the operating device 833 configured to drive each conveying platform 831 to move up and down along the lifting device 832 and the operating device 833 that drives each conveying platform 831 to deliver the goods thereon to the bracket 11 can be the same operating device or different operating devices.

In some examples, the number of operating devices 833 in the cache mechanism 830 may be the same as the number of conveying platforms 831. For example, each conveying platform 831 is provided with an operating device 833, and each operating device 833 may control the corresponding conveying platform 831 to move up and down along the lifting device 832, or deliver the goods placed thereon to the bracket 11.

In some embodiments, the conveyor platform 831 may include a flap device or a conveyor line.

For example, when the conveyor platform 831 is a flap device (hereinafter also referred to as a flap), the flap can be flipped sideways to transfer the goods placed on it to the bracket 11; when the conveyor platform 831 is a conveyor line, the conveyor line can move along the direction of the bracket to transfer the goods placed on it to the bracket 11. The embodiment of the present application does not limit the specific structure of the conveyor platform 831, and the following embodiment is schematically described by taking the cache device as a flap as an example.

In some examples, the buffer mechanism 830 is configured to implement the transfer of goods between the transport robot R and the bracket 11. For example, the transport robot R can deliver the goods to the conveying platform 831, and then the conveying platform 831 delivers the goods to the bracket 11.

Exemplarily, the transport robot R may be a liftable robot. For example, when goods are placed on the transport robot R, the transport robot R may adjust its height in the vertical direction to deliver the goods to the conveying platform 831. Through the liftable function of the transport robot R, the delivery position may be flexibly adjusted, thereby making the delivery process more flexible.

Exemplarily, the position where the transport robot R and the conveyor platform 831 exchange goods may be referred to as a delivery position. In other words, the transport robot R may deliver the goods to the conveyor platform 831 at the delivery position.

In some examples, the position and number of delivery positions can be set according to demand. For example, one delivery position can be set, or multiple delivery positions can be set. The height of the delivery position can be determined according to the height of the handling robot R (i.e., the sorting object). The embodiments of the present application are not limited to this.

Exemplarily, the position where the conveyor 831 and the bracket 11 exchange goods can be called a docking position. That is, the conveyor 831 moves to the current position through the lifting device 832, and the bracket 11 also moves to the docking position corresponding to the current position of the buffer device 121 to deliver the goods to the bracket 11.

In some embodiments, the three-dimensional distribution mechanism 10 also includes at least one moving mechanism 12, and the bracket 11 is set to the moving mechanism 12. The bracket 11 can be moved laterally and/or vertically through the moving mechanism 12, so as to move to the docking position, and/or move to the position of the order container 31 corresponding to the goods.

For example, as shown in FIG. 16 , the bracket 11 can be moved along the X direction, the Z direction or the X direction by the motion mechanism 12 to move to the docking position, or to the position of the order container corresponding to the goods.

In some embodiments, the multiple conveyor platforms 831 may include a first conveyor platform and a second conveyor platform. The first conveyor platform is configured to move to the delivery position, and receive the first goods corresponding to the first sorting task delivered by the sorting object at the delivery position; and after receiving the first goods, move to the third position. Of course, the third position can be the first position in the above embodiment; the second conveyor platform is configured to move to the delivery position after the first conveyor platform receives the first goods, so as to receive the second goods corresponding to the second sorting task delivered by the sorting object at the delivery position.

In some examples, after a conveyor platform (such as the first conveyor platform) receives the first cargo, the first conveyor platform can be moved away from the delivery position (such as to the third position), and another idle conveyor platform (such as the second conveyor platform) can be moved to the delivery position to receive the second cargo delivered by the next handling robot at the delivery position. In this way, the waiting time of the handling robot at the delivery position can be reduced, and the cargo sorting efficiency can be improved.

It should be noted that the following embodiments may be schematically described by taking the multiple conveying platforms including three conveying platforms (as shown in FIG. 16 ) as an example. It should be noted that the multiple conveying platforms 831 may also include a greater number of conveying platforms, which is not limited in the embodiments of the present application.

17 is a schematic diagram of a three-dimensional seeding device provided according to some other embodiments of the present disclosure. For example, the plurality of conveying platforms 831 include conveying platform A, conveying platform B, and conveying platform C. The first conveying platform is conveying platform B, and the second conveying platform is conveying platform A.

As shown in (a) of FIG17 , conveyor platform B is located at the delivery position. After conveyor platform B receives the goods delivered by handling robot R, the positions of the conveyor platforms can be adjusted, conveyor platform B can be moved out of the delivery position, and conveyor platform A can be moved to the delivery position. As shown in (b) of FIG17 , conveyor platform A, conveyor platform B, and conveyor platform C can be moved downward so that conveyor platform A reaches the delivery position, conveyor platform B reaches position 2, and conveyor platform C also moves from the original position 2 to position 1.

In some examples, the distance between any two adjacent conveying platforms 831 among the plurality of conveying platforms 831 can be set as required. For example, the distance between conveying platform A and conveying platform B and the distance between conveying platform B and conveying platform C can be the same or different.

In some embodiments, at the initial moment, the distance between any two adjacent conveyor platforms 831 among the multiple conveyor platforms 831 is the initial distance; during the movement of the first conveyor platform, the distance between any two adjacent conveyor platforms 831 remains unchanged at the initial distance; or, during the movement of the first conveyor platform, the distance between at least two adjacent conveyor platforms 831 changes.

Exemplarily, each conveying platform 831 can be simultaneously moved up or down by the lifting device 832. When each conveying platform 831 is simultaneously moved up or down, The distance between any two adjacent conveying platforms 831 among the multiple conveying platforms remains unchanged.

Referring to (a) and (b) in FIG. 17 , while conveyor platform B is moved from position 3 (i.e., the position corresponding to the delivery position) to position 2 (i.e., the third position) by the lifting device 832, conveyor platform A and conveyor platform C are also moved by the lifting device 832, and when conveyor platform B reaches position 2, conveyor platform A moves from position 4 to position 3, and conveyor platform C moves from position 2 to position 1. Moreover, during the simultaneous movement of conveyor platform A, conveyor platform B, and conveyor platform C, the spacing between conveyor platform A and conveyor platform B, and between conveyor platform B and conveyor platform C remains unchanged.

Exemplarily, each conveying platform 831 may also be independently moved by the lifting device 832. For example, when each conveying platform 831 is independently moved, the distance between two adjacent conveying platforms 831 may be changed during the movement.

In some examples, if the size of the goods to be delivered placed on the handling robot R is large and larger than the distance between two adjacent conveying platforms, the distance between the two adjacent conveying platforms can be adjusted by independently moving one conveying platform.

The process of adjusting the distance between two adjacent conveying platforms is described below with reference to FIG. 18 and FIG. 19 .

FIG. 18 is a schematic diagram of a three-dimensional seeding device provided according to some further embodiments of the present disclosure.

As shown in (a) of FIG. 18 , when the handling robot R needs to deliver goods to the conveyor platform B, if the size of the goods (such as the height of the goods) is greater than the distance between the conveyor platform B and the conveyor platform A, as shown in (b) of FIG. 18 , the conveyor platform A can be moved independently first, and the conveyor platform A can be moved upward to move from position 3 to position 4; when the conveyor platform A reaches position 4, the distance between the conveyor platform A and the conveyor platform B increases and is greater than the size of the goods. In this case, as shown in (c) of FIG. 18 , each conveyor platform can be moved simultaneously to move the conveyor platform B from position 2 to position 3 (i.e., the position corresponding to the delivery position), and at the same time, the conveyor platform A and the conveyor platform C are also moved to position 2 and position 5 respectively. During the simultaneous movement process, the distance between the two adjacent conveyor platforms remains unchanged. Therefore, when the conveyor platform B reaches the delivery position, the distance between the conveyor platform B and the conveyor platform A is sufficient to place the goods delivered by the handling robot R, and the handling robot R can deliver the goods to the conveyor platform B.

That is to say, when the size of the goods to be delivered placed on the handling robot R is larger than the distance between two adjacent conveyor platforms, the distance between the two adjacent conveyor platforms can be increased by moving the conveyor platforms independently, and then the conveyor platforms can be moved simultaneously so that the conveyor platforms corresponding to the goods reach the delivery position.

FIG. 19 is a schematic diagram of a three-dimensional seeding device provided according to some further embodiments of the present disclosure.

As shown in (a) of FIG. 19 , when the handling robot R needs to deliver goods to the conveyor platform B, if the size of the goods (such as the height of the goods) is greater than the distance between the conveyor platform B and the conveyor platform A, then as shown in (b) of FIG. 19 , the conveyor platforms are first moved simultaneously to move the conveyor platform B from position 2 to position 3 (i.e., the position corresponding to the delivery position), and at the same time, the conveyor platforms A and C are also moved to positions 4 and 2 respectively. During this process, the distance between the conveyor platforms B and A does not change, and is therefore still smaller than the size of the goods. Therefore, as shown in (c) of FIG. 19 , the position of the conveyor platform A can continue to be moved alone, and the conveyor platform A can be moved from position 4 to position 5; when the conveyor platform A reaches position 5, the distance between the conveyor platform A and the conveyor platform B is greater than the size of the goods. Therefore, the handling robot R can deliver the goods to the conveyor platform B.

That is to say, when the size of the goods to be delivered placed on the handling robot R is larger than the distance between two adjacent conveyor platforms, the conveyor platforms can be moved simultaneously first so that the conveyor platform corresponding to the goods reaches the delivery position, and then the position of the conveyor platform adjacent to the conveyor platform can be moved separately so that the distance between the two adjacent conveyor platforms is larger than the size of the goods.

In some examples, during the process of adjusting the distance between the conveying platform A and the conveying platform B, the conveying platform A and the conveying platform B may be moved at the same speed or at different speeds by the lifting device 832. This embodiment of the present application is not limited to this.

For example, when the moving speeds of conveyor platform A and conveyor platform B are the same, that is, as shown in the implementation method of FIG. 19 above; when the moving speeds of conveyor platform A and conveyor platform B are different, such as when the moving speed of conveyor platform A is greater than the moving speed of conveyor platform B, each conveyor platform can be moved at the same time, and when conveyor platform B reaches position 3 (i.e., the position corresponding to the delivery position), conveyor platform A reaches position 5. In other words, conveyor platform B can reach the corresponding position at the same time as conveyor platform A.

It should be noted that the conveying platforms may also be moved in other ways, which is not specifically limited in the embodiments of the present application.

To further improve the cargo sorting efficiency, when conveyor platform B receives the cargo to be delivered delivered by the handling robot, it can move from the delivery position to the third position, and at the same time when conveyor platform B moves to the third position, another idle conveyor platform (such as conveyor platform A or conveyor platform C) is moved to the delivery position to continue receiving the cargo delivered by the handling robot R. In other words, conveyor platform A can receive the next cargo to be delivered while conveyor platform B delivers the current cargo to be delivered.

In some examples, when conveyor platform A reaches the delivery position and conveyor platform B reaches the third position, if bracket 11 has delivered the goods corresponding to the previous sorting task to the order container, bracket 11 can continue to move to the docking position corresponding to the third position to receive the delivery from conveyor platform B.

In other examples, if the delivery speed of the bracket 11 is slow, for example, when the conveyor platform A arrives at the delivery position and has received the goods delivered by the handling robot R, if the bracket 11 has not yet reached the docking position corresponding to the third position where the conveyor platform B is located, in this case, if the next handling robot arrives at the delivery position, it is necessary to move another idle conveyor platform, such as conveyor platform C, to the delivery position to continue receiving the goods delivered by the handling robot. Therefore, the position of conveyor platform B may change during the process of conveyor platform C moving to the delivery position, that is, moving from the third position to the current position. Therefore, the bracket 11 can move to the docking position corresponding to the current position to receive the delivery of conveyor platform B.

In some examples, when goods to be delivered are placed on at least two of the multiple conveyor platforms 831, the bracket 11 can move to the docking position corresponding to the current position of each conveyor platform to receive the delivery from each conveyor platform in the order in which each conveyor platform 831 receives the goods to be delivered. For example, when goods to be delivered are placed on both conveyor platform B and conveyor platform A, since conveyor platform B first receives the goods delivered by the sorting object, the bracket 11 can first move to the docking position corresponding to the current position of conveyor platform B to receive the goods on conveyor platform B, and then deliver the goods to the corresponding order container, and then move to the docking position corresponding to the current position of conveyor platform A to receive the goods on conveyor platform A.

The embodiment of the present application provides a three-dimensional distribution mechanism, which adds a cache mechanism, and the cache mechanism includes multiple conveyor platforms, each of which can receive and cache the goods delivered by the sorting object, and deliver the goods to the bracket. The first conveyor platform is moved to the delivery position to receive the first goods delivered by the sorting object, and after receiving the first goods, the first conveyor platform is moved to the current position to deliver the first goods to the bracket; when the first conveyor platform leaves the delivery position, the second conveyor platform can be moved to the delivery position, so that the second conveyor platform can continue to receive the next delivery of the sorting object at the delivery position. Therefore, the cargo distribution method provided by the embodiment of the present application can ensure that the delivery position of the three-dimensional distribution mechanism can continue to have a conveyor platform for receiving the delivery of the sorting object, thereby avoiding the problem that the handling robot needs to wait for the bracket to reset before it can deliver after arriving at the delivery position, reducing the waiting time of the handling robot and improving the cargo sorting efficiency.

Fig. 20 is a schematic diagram of a cargo distribution system provided according to some embodiments of the present disclosure. As shown in Fig. 20, the cargo distribution system 01 includes a three-dimensional distribution mechanism 10, a sorting object and a control device 40 (also referred to as a control device). The following description is made by taking the sorting object as a handling robot R as an example.

It should be noted that the stereoscopic broadcasting mechanism 10 is the stereoscopic broadcasting mechanism 10 in the above embodiment, and will not be described here to avoid repetition. The stereoscopic broadcasting mechanism 10 and the transport robot R exchange information through the control device 40. For example, the control device 40 can be a server device, such as a single server device or a server cluster.

In some examples, the control device 40 can send a sorting task to the three-dimensional broadcasting mechanism 10 and the transport robot R, which can instruct the transport robot R to move the goods corresponding to the sorting task to the delivery position of the three-dimensional broadcasting mechanism 10, and instruct the three-dimensional broadcasting mechanism 10 to deliver the goods to the corresponding order container.

In some examples, the control device 40 may send the ready information that the conveying platform in the three-dimensional distribution mechanism 10 has reached the delivery position to the transport robot R, so as to instruct the transport robot R to deliver the goods.

Accordingly, in some embodiments, the control device may be configured to:

When the transport robot delivers goods, control the conveying platform to be positioned at a first position to receive goods from the transport robot when the bracket is in an unavailable state, and to be positioned at a second position to allow the bracket to receive goods delivered by the transport robot at a docking position when the bracket is in an available state; and

When there is no transport robot delivering goods, the conveying platform and/or the bracket are controlled to move to a position where they are horizontally adjacent to each other so as to convey the goods from the conveying platform to the bracket. It is understood that the first position is the delivery position.

The following is a detailed description of the goods distribution method provided by the embodiment of the present application in conjunction with the accompanying drawings. It should be noted that the goods distribution method can be implemented by the three-dimensional distribution mechanism 10 in the above embodiment, for example, the method can be implemented by the control mechanism in the three-dimensional distribution mechanism 10.

Fig. 21 is a schematic diagram of a method for distributing goods according to some embodiments of the present disclosure. As shown in Fig. 21, the method includes steps 710 to 740 as shown below.

Step 710: Obtain a first sorting task, and determine a first conveying platform corresponding to the first sorting task among multiple conveying platforms.

In some examples, the sorting task can be generated by the distribution system (such as the distribution system 01 in the above embodiment) and sent to the stereoscopic distribution mechanism. The sorting task is configured to instruct the stereoscopic distribution mechanism to deliver the goods corresponding to the sorting task to the corresponding order container. For example, the sorting task may include the goods to be delivered, the order container corresponding to the goods to be delivered, and the handling robot corresponding to the goods to be delivered.

For example, the distribution system can send multiple sorting tasks to the stereoscopic distribution mechanism at the same time, and the stereoscopic distribution mechanism can execute each sorting task in sequence according to the order in which the goods to be delivered corresponding to each sorting task in the multiple sorting tasks arrive at the delivery position of the stereoscopic distribution mechanism, or the delivery order of each of the goods to be delivered. The multiple sorting tasks may include a first sorting task, and the first sorting task is configured to instruct the stereoscopic distribution mechanism to deliver the first goods to the corresponding order container.

In some examples, a sorting task may correspond to a cargo to be delivered, and a cargo to be delivered requires a conveyor platform for buffering. Therefore, after the stereoscopic distribution mechanism obtains the first sorting task, a corresponding conveyor platform, i.e., a first conveyor platform, may be allocated to the first sorting task to receive the first cargo. The first conveyor platform is one of the multiple conveyor platforms.

FIG22 is a schematic diagram of another method for distributing goods according to some embodiments of the present disclosure. As shown in FIG22, the above step 710 includes steps 810 to 820 as shown below. The process of determining the first conveyor platform is described below in conjunction with FIG22. It should be noted that the following embodiments are exemplified by taking multiple conveyor platforms including three conveyor platforms, such as conveyor platform A, conveyor platform B, and conveyor platform C as an example.

Step 810, obtaining status information of each conveyor station.

Exemplarily, the status information of the conveyor platform is configured to indicate whether goods are placed on the conveyor platform or whether goods are not placed on the conveyor platform.

For example, when goods have been placed on the conveyor platform, the state information of the conveyor platform is that goods are placed, that is, the conveyor platform is in a non-idle state. When no goods are placed on the conveyor platform, the state information of the conveyor platform is that no goods are placed, that is, the conveyor platform is in an idle state.

Exemplarily, the weight of each conveying platform can be detected by a detection device to determine the status information of each conveying platform. The detection device can be a sensor, such as a weight sensor.

In some examples, the stereoscopic broadcasting mechanism may include a plurality of detection devices. For example, the number of detection devices may be the same as the number of conveying platforms, and a detection device may be provided on each conveying platform, configured to detect weight information of each conveying platform.

In some examples, the detection device can measure the weight information of each conveyor platform and send the weight information to the control mechanism; the control mechanism determines the status information of each conveyor platform according to the weight information of each conveyor platform.

For example, when it is detected that the weight of conveyor platform A increases and is greater than the initial weight of conveyor platform A (i.e., the weight of each conveyor platform when no goods are placed), it can be determined that goods are placed on conveyor platform A, that is, conveyor platform A changes from an idle state to a non-idle state; when it is detected that the weight of conveyor platform A is the initial weight (or within the initial weight range), it is determined that no goods are placed on conveyor platform A, or conveyor platform A has unloaded goods, that is, the status information of conveyor platform A is an idle state.

Exemplarily, the status information of each conveyor station may be recorded and stored.

In some examples, the status information of each conveyor station can be recorded and stored in the distribution system. For example, when there is no cargo placed on conveyor station A, the stereoscopic distribution mechanism (such as the control mechanism of the stereoscopic distribution mechanism) can send the status information of conveyor station A to the distribution system, and the distribution system records the status information of conveyor station A as no cargo is placed; when the sorted object on conveyor station A delivers cargo, the stereoscopic distribution mechanism can send the current status information of conveyor station A to the distribution system, and the distribution system updates the status information of conveyor station A to cargo is placed. The distribution system dynamically updates the status information of each conveyor station, which can ensure the accuracy and real-time nature of the status information of each conveyor station.

Step 820: Determine a first conveying platform corresponding to the first sorting task from among the plurality of conveying platforms according to the status information of each conveying platform.

Exemplarily, only conveyor platforms in an idle state can receive goods delivered by the sorting object, and therefore, a first conveyor platform can be determined among multiple conveyor platforms whose status information indicates that no goods are placed, that is, among conveyor platforms in an idle state.

In some examples, the first conveyor stage may be determined according to the number of conveyor stages for which status information indicates that the conveyor stage is idle.

In some embodiments, step 720 may include: if it is determined that there is a conveyor platform without goods placed on the plurality of conveyor platforms according to the status information of each conveyor platform, determining the conveyor platform without goods placed on the conveyor platform as the first conveyor platform.

In some examples, if the status information of only one conveying platform among multiple conveying platforms is that no goods are placed, that is, only one conveying platform is in an idle state, then the conveying platform is determined as the first conveying platform.

In some embodiments, step 720 may further include: if it is determined that there are at least two conveying platforms without goods placed thereon among the plurality of conveying platforms according to the status information of each conveying platform, determining a first conveying platform among the at least two conveying platforms without goods placed thereon.

In some examples, if the status information of at least two conveyor platforms among the multiple conveyor platforms indicates that no goods are placed thereon, that is, some or all of the conveyor platforms among the multiple conveyor platforms are in an idle state, it is necessary to further determine the first conveyor platform among the at least two idle conveyor platforms.

In some embodiments, among at least two conveyor platforms without goods placed thereon, one conveyor platform without goods placed thereon is randomly determined as the first conveyor platform; or, based on priority information of at least two conveyor platforms without goods placed thereon, the first conveyor platform is determined among at least two conveyor platforms without goods placed thereon.

In some examples, randomly determining a conveyor platform where no goods are placed as the first conveyor platform includes: determining any one of at least two conveyor platforms in an idle state as the first conveyor platform. For example, among three conveyor platforms, conveyor platform A, conveyor platform B, and conveyor platform C, when conveyor platform A and conveyor platform B are both in an idle state, conveyor platform A can be determined as the first conveyor platform, and conveyor platform B can also be determined as the first conveyor platform.

Exemplarily, each of the plurality of conveying platforms has priority information, and the priority information of each conveying platform is different. The first conveying platform can be determined according to the priority information of each conveying platform in an idle state.

In some examples, the priority information of the conveyor platform may indicate the order in which the conveyor platform arrives at the delivery position to receive the delivery of the sorted objects. When the priority of the conveyor platform is higher, the conveyor platform may be preferentially dispatched to the delivery position. Therefore, the conveyor platform with the highest priority among the at least two conveyor platforms in the idle state may be determined as the first conveyor platform.

For example, the priority information of conveyor platform A, conveyor platform B, and conveyor platform C are respectively: conveyor platform B has a higher priority than conveyor platform A, and conveyor platform A has a higher priority than conveyor platform C. That is to say, the order in which conveyor platform A, conveyor platform B, and conveyor platform C are dispatched to the delivery position is: conveyor platform B, conveyor platform A, and conveyor platform C. Therefore, when conveyor platform A, conveyor platform B, and conveyor platform C are all in an idle state, conveyor platform B can be determined as the first conveyor platform; when conveyor platform A and conveyor platform C are in an idle state, conveyor platform A can be determined as the first conveyor platform.

It should be noted that the priority information of each conveyor station is considered only when the conveyor station is in an idle state.

Step 720: Control the first conveying platform to move to the delivery position, and receive the first goods corresponding to the first sorting task delivered by the sorting object at the delivery position.

For example, after the first conveyor platform is determined, the first conveyor platform can be controlled to move to the delivery position. For example, the control mechanism can control the first conveyor platform to move to the delivery position through the lifting device. After the first conveyor platform arrives at the delivery position, the first goods delivered by the sorting object can be received at the delivery position.

In some embodiments, when the first conveyor platform moves to the delivery position, a ready instruction is sent to the distribution system, so that the distribution system sends a delivery instruction to the sorting object based on the ready instruction, and the delivery instruction is configured to instruct the sorting object to deliver the first cargo to the first conveyor platform.

For example, when the sorting object is a handling robot, the control mechanism can send a ready instruction to the distribution system, and the distribution system sends a delivery instruction to the handling robot according to the ready instruction, and the handling robot delivers the first cargo to the first conveying platform according to the delivery instruction. Whether the first conveyor platform is ready to deliver the first cargo to the first conveyor platform.

That is to say, the sorting object (such as a handling robot) needs to determine that the first conveying platform has arrived at the delivery position before delivering the first cargo.

In some examples, during the process of the first conveyor platform moving to the delivery position, the positions of other conveyor platforms may also change accordingly. In other words, the other conveyor platforms move along with the movement of the first conveyor platform.

In some embodiments, at the initial moment, the distance between any two adjacent conveyor platforms among the multiple conveyor platforms is the initial distance; during the movement of the first conveyor platform, the distance between any two adjacent conveyor platforms remains unchanged at the initial distance; or, during the movement of the first conveyor platform, the distance between at least two adjacent conveyor platforms changes.

In some examples, the initial moment may be the moment before the stereoscopic broadcasting mechanism performs the sorting task. At the initial moment, the distance between any two adjacent conveyor platforms among the multiple conveyor platforms is the initial distance. The initial distances between two different adjacent conveyor platforms may be the same or different. For example, the initial distance between conveyor platform A and conveyor platform B may be the same as or different from the initial distance between conveyor platform B and conveyor platform C.

In some examples, during the movement of the first conveyor platform, the distance between two adjacent conveyor platforms may remain unchanged; if the distance between two adjacent conveyor platforms remains unchanged, each conveyor platform may be moved upward or downward at the same time by the lifting device.

In other examples, during the movement of the first conveyor platform, the initial spacing between two adjacent conveyor platforms may also change, that is, the spacing between the conveyor platforms is not fixed, and the spacing between two adjacent conveyor platforms may be adjusted according to demand, for example, according to the size of the goods to be delivered.

For example, in the process of the first conveyor platform moving to the delivery position, the distance between two adjacent conveyor platforms can be adjusted in two ways: one way is to first adjust the distance between two adjacent conveyor platforms, and then move the conveyor platforms at the same time to make the first conveyor platform reach the delivery position; the other way is to adjust the distance between two adjacent conveyor platforms in the process of the first conveyor platform moving to the delivery position.

Fig. 23 is a schematic diagram of another method for distributing goods according to some embodiments of the present disclosure. As shown in Fig. 23, the above step 720 includes steps 910 to 930 as shown below. The above two different adjustment methods are described in detail below in conjunction with Fig. 23.

Step 910: Determine the size of the first cargo according to the first sorting task.

In some examples, after acquiring the first sorting task, the control mechanism may determine the size of the first goods according to the first goods corresponding to the first sorting task. For example, the size of the goods includes information such as the length, width, and height of the goods.

For example, the first sorting task may include the size information of the first cargo. After the three-dimensional distribution mechanism obtains the first sorting task, the size information of the first cargo may be obtained. Thereafter, the first conveying platform may be moved to the delivery position according to the size information of the first cargo.

In some examples, when the first conveying platform is moved to the delivery position, it may be determined whether there is a third conveying platform above and adjacent to the first conveying platform.

For example, referring to (a) of FIG. 18 , if the first conveying stage is conveying stage B, and there is conveying stage A above and adjacent to conveying stage B, then conveying stage A is the third conveying stage.

Step 921, if there is a third conveyor platform located adjacent to and above the first conveyor platform among the multiple conveyor platforms, and the size of the first cargo is larger than the initial distance between the third conveyor platform and the first conveyor platform, then control the third conveyor platform to move to the fourth position so that the first distance between the third conveyor platform and the first conveyor platform is larger than the size of the first cargo.

In some examples, if it is determined that there is a third conveyor platform, and the size of the first cargo, such as the height of the first cargo, is greater than the distance between the third conveyor platform and the first conveyor platform, the third conveyor platform located above the first conveyor platform can be moved to the fourth position first to ensure that the distance between the third conveyor platform and the first conveyor platform is changed to the first distance, and the first distance is greater than the size of the first cargo.

For example, referring to (b) in Figure 18, when the size of the first cargo is larger than the distance between conveyor platform B and conveyor platform A, conveyor platform A is moved upward to increase the distance between conveyor platform B and conveyor platform A. When conveyor platform A moves from position 3 to position 4 (i.e., the fourth position), the first distance between conveyor platform B and conveyor platform A is greater than or equal to the size of the first cargo.

Step 922, controlling the first conveying platform and the third conveying platform to move simultaneously, so as to move the first conveying platform to the delivery position.

Exemplarily, during the movement of the first conveying stage and the third conveying stage, the first distance between the third conveying stage and the first conveying stage remains unchanged.

In some examples, after the first distance between the third conveyor platform and the first conveyor platform is greater than the size of the first cargo, the first conveyor platform and the third conveyor platform can be moved simultaneously, and the first conveyor platform can be moved to the delivery position. Since the first distance between the third conveyor platform and the first conveyor platform remains unchanged during the movement, it can be ensured that when the first conveyor platform arrives at the delivery position, it can receive the first cargo delivered by the sorting object.

For example, when the first and third conveyor platforms move simultaneously, the other conveyor platforms also move with the first conveyor platform, and the distances between the conveyor platforms can remain unchanged. Referring to (c) in FIG. 18 , conveyor platforms A, B, and C are moved simultaneously so that conveyor platform B reaches the delivery position. When conveyor platform B reaches the delivery position, conveyor platform A reaches position 5 and conveyor platform C reaches position 2.

It should be noted that the implementation process of step 921 to step 922 can specifically refer to the description of the embodiment corresponding to the above-mentioned FIG. 18, and will not be repeated here to avoid repetition.

Step 930, if there is a third conveyor platform located adjacent to and above the first conveyor platform among the multiple conveyor platforms, and the size of the first cargo is larger than the initial distance between the third conveyor platform and the first conveyor platform, the first conveyor platform is controlled to move to the delivery position, and the third conveyor platform is controlled to move to the fifth position, so that the second distance between the third conveyor platform and the first conveyor platform is larger than the size of the first cargo.

Exemplarily, during the movement of the first conveying stage and the third conveying stage, the interval between the third conveying stage and the first conveying stage changes from an initial interval to a second interval.

In some examples, if it is determined that there is a third conveyor platform, and the size of the first cargo, such as the height of the first cargo, is greater than the distance between the third conveyor platform and the first conveyor platform, the first conveyor platform and the third conveyor platform can be moved simultaneously so that the first conveyor platform moves to the delivery position and the third conveyor platform moves to the fifth position; at this time, the distance between the first conveyor platform and the third conveyor platform is the second distance, and the second distance is greater than the size of the first cargo, such as the second distance can be equal to the first distance.

For example, if the first conveyor platform and the third conveyor platform are moved at the same speed, when the first conveyor platform reaches the delivery position, the third conveyor platform needs to be moved to the fifth position alone; if the moving speed of the third conveyor platform is greater than the moving speed of the first conveyor platform, when the first conveyor platform reaches the delivery position, the third conveyor platform also reaches the fifth position. This embodiment of the application is not limited to this.

It should be noted that the implementation process of step 930 may specifically refer to the description of the embodiment corresponding to the above-mentioned FIG. 19 , and will not be described again here to avoid repetition.

In some examples, when there is no third conveying platform adjacent to and above the first conveying platform, that is, when the first conveying platform is the uppermost conveying platform, there is no need to adjust the above-mentioned spacing.

Step 730, after the first conveyor platform receives the first cargo, the first conveyor platform is controlled to move from the delivery position to the third position, and the second conveyor platform is controlled to move to the delivery position, so that the second conveyor platform receives the second cargo corresponding to the second sorting task delivered by the sorting object at the delivery position.

The second conveying platform is a conveying platform corresponding to the second sorting task, and the second conveying platform is different from the first conveying platform.

In some examples, the second sorting task can be sent to the stereoscopic distribution mechanism by the distribution system at the same time as the first sorting task, or can be sent to the stereoscopic distribution mechanism after the first sorting task. The second sorting task is configured to instruct the stereoscopic distribution mechanism to deliver the second goods to the corresponding order container, and the handling robot that delivers the second goods can be different from the handling robot that delivers the first goods.

It should be noted that when the first conveyor platform receives the first cargo, if the three-dimensional distribution mechanism has not received other sorting tasks, the first conveyor platform can also deliver the first cargo to the bracket at the delivery position; that is, move the bracket to the docking position corresponding to the delivery position to receive the first cargo delivered by the first conveyor platform.

In some examples, after the first conveyor platform arrives at the delivery position, the sorting object can deliver the first goods. When the status information is updated to indicate that goods are placed, the first conveyor platform can be controlled to move to the third position, and the second conveyor platform can be controlled to move to the delivery position to continue receiving the second goods, thereby improving the sorting efficiency.

Exemplarily, the second conveyor platform is a conveyor platform with the highest priority, except for the first conveyor platform, whose status information is that no goods are placed. The second conveyor platform may be adjacent to the first conveyor platform or may not be adjacent to the first conveyor platform.

For example, among conveyor platforms A, B, and C, if the first conveyor platform is conveyor platform B, after the first cargo is delivered to conveyor platform B, conveyor platform A with a higher priority may be moved to the delivery position.

Step 740: Control the bracket to dock with the first conveyor platform to receive the first goods delivered by the first conveyor platform, and deliver the first goods to the order container corresponding to the first sorting task.

In some examples, docking of the bracket with the first conveyor platform may include: the first conveyor platform moves to the position of the bracket to deliver the first cargo to the bracket; or the bracket moves to the current position of the first conveyor platform to receive the first cargo delivered by the first conveyor platform.

For example, when the first conveyor platform reaches the third position, the first conveyor platform can continue to move to the position corresponding to the current position of the bracket according to the current position of the bracket, so as to deliver the first goods placed on it to the bracket; or, when the first conveyor platform reaches the third position, the bracket can also move to the position corresponding to the current position of the first conveyor platform according to the current position of the first conveyor platform, so as to receive the goods delivered by the first conveyor platform.

In some embodiments, controlling the bracket to dock with the first conveyor platform to receive the first cargo delivered by the first conveyor platform includes: according to the current position of the first conveyor platform, controlling the bracket to move to the target docking position corresponding to the current position to receive the first cargo delivered by the first conveyor platform at the target docking position.

Among them, the current position includes the third position.

In some examples, when the first conveyor arrives at the third position and receives the second cargo delivered by the sorting object on the second conveyor, if the bracket has completed the last cargo delivery and moved to the docking position corresponding to the third position, the first conveyor delivers the first cargo to the bracket at the third position. In this case, the current position is the third position.

In some examples, when the first conveyor platform reaches the third position and receives the second cargo delivered by the sorting object on the second conveyor platform, if the bracket is not reset, that is, it has not reached the docking position corresponding to the third position, and when the three-dimensional distribution mechanism receives the third sorting task, the fourth conveyor platform can be moved to the delivery position, and in the process of the fourth conveyor platform moving to the delivery position, the position of the first conveyor platform is changed from the third position to the current position. In this case, the control mechanism needs to control the bracket to move to the target docking position corresponding to the current position to receive the first cargo.

Fig. 24 is a schematic diagram of another method for distributing goods according to some embodiments of the present disclosure. As shown in Fig. 24, the above step 740 may include steps 1010 to 1020 as shown below.

Step 1010: Determine a target docking location corresponding to the current location based on the current location and a preset correspondence relationship.

Exemplarily, the preset corresponding relationship includes multiple positions and preset docking positions corresponding to each position. The multiple positions are multiple positions of the conveyor platform on the lifting device, each position can correspond to a docking position, the docking position can be set on the motion mechanism, and the bracket moves to the corresponding docking position through the motion mechanism.

For example, when the conveying platforms move simultaneously and the distance between any two adjacent conveying platforms remains unchanged, the position of each conveying platform on the lifting device is fixed, so the corresponding docking position is also fixed.

For example, the relationship between multiple positions and multiple docking positions can be stored in a preset correspondence relationship, and the control mechanism can determine the docking position corresponding to each position through the preset correspondence relationship. For example, the preset object correspondence relationship can be stored in the distribution system, and the control mechanism can query the preset correspondence relationship through the distribution system goods.

In some embodiments, the above step 1010 includes: when the multiple locations include the current location, according to a preset corresponding relationship, determining a preset docking location corresponding to the current location as the target docking location.

In some examples, if the preset correspondence includes the current position of the conveyor platform, the target docking position corresponding to the current position can be searched in the preset correspondence, so that the bracket is moved to the target docking position to receive the delivery from the conveyor platform.

In some embodiments, a plurality of docking positions may be pre-set according to the number of conveying platforms. For example, when the number of conveying platforms is 3, the corresponding number of docking positions is 5.

FIG25 is a schematic diagram of another method for distributing goods according to some embodiments of the present disclosure. As shown in FIG25 , three conveyor platforms are provided in the three-dimensional distributing mechanism 10, namely, conveyor platform A, conveyor platform B and conveyor platform C; these three conveyor platforms correspond to five docking positions, namely, docking position 1, docking position 2, docking position 3, docking position 4 and docking position 5. When the positions of the three conveyor platforms are different, the corresponding docking positions are different. For example, the current position of conveyor platform A corresponds to docking position 3, the current position of conveyor platform B corresponds to docking position 4, and the current position of conveyor platform C corresponds to docking position 5.

In some embodiments, the above step 1010 also includes: when the multiple locations do not include the current location, calculating the target docking location corresponding to the current location based on the current location.

In some examples, if the preset correspondence does not include the current position of the conveyor platform, the position of the corresponding target docking position can be calculated based on the current position, so that the bracket is moved to the target docking position to receive the delivery from the conveyor platform.

For example, when each conveyor platform moves independently and/or the spacing between each conveyor platform is not fixed, the current position of each conveyor platform may not be in the preset corresponding relationship. In this case, the position of the corresponding docking position can be calculated based on the current position.

Step 1020 , controlling the bracket to move to the target docking position, so as to receive the first goods delivered by the first conveyor platform at the target docking position, and deliver the first goods to the order container corresponding to the first sorting task.

After determining the target docking position, the control mechanism can control the bracket to move to the target docking position. For example, the bracket is controlled to move to the target docking position after completing the last delivery, and receives the first goods delivered by the first conveyor at the target docking position, and then delivers the first goods to the target order container, thereby completing the first sorting task.

Fig. 26A is a schematic diagram of another method for distributing goods according to some embodiments of the present disclosure. As shown in Fig. 26A, the method includes steps 1201 to 1213 as shown below. It should be noted that the interaction between the sorting object and the three-dimensional distribution mechanism is completed through the distribution system.

FIG26B is a schematic diagram of a cargo distribution scenario provided according to some embodiments of the present disclosure. A specific embodiment provided by the present application is described below in conjunction with FIG26A and FIG26B. The following embodiment is still schematically described by taking multiple conveyor platforms including conveyor platform A, conveyor platform B, and conveyor platform C, and the priority information is that conveyor platform B is greater than conveyor platform A, and conveyor platform A is greater than conveyor platform C as an example.

Step 1201, the sorting object waits at the delivery position for the instruction that the conveyor is ready.

Step 1202: The three-dimensional distribution mechanism controls the conveying platform to move to the delivery position.

Step 1203: The three-dimensional broadcasting mechanism determines whether the transport platform is ready.

If ready, a ready instruction is sent to the sorting object and step 1204 is continued to be executed. If not ready, step 1202 is executed.

It should be noted that the process from step 1201 to step 1203 can also be called the initialization stage. In the initialization stage, the three-dimensional distribution mechanism controls the up and down movement of the conveyor platform, and adjusts conveyor platform B (i.e., the middle conveyor platform) to the handover delivery position, as shown in (a) in Figure 26B, and moves conveyor platform B to the delivery position.

In some examples, during the initialization phase, the stereoscopic broadcasting mechanism may also control the bracket to move to an initial docking position. For example, the initial docking position may be preset.

Step 1204, the sorting object delivers the goods.

For example, when the transport robot reaches the delivery position of the three-dimensional distribution mechanism, if it receives a ready instruction sent by the three-dimensional distribution mechanism through the distribution system, it can deliver the goods to be delivered to the conveying platform B located at the delivery position.

Step 1205: The sorting object sends the delivery result to the three-dimensional distribution mechanism.

For example, the sorting object can send the delivery result to the distribution system, and then the distribution system sends it to the three-dimensional distribution mechanism. The delivery result includes whether it has been delivered or not delivered to the conveyor.

Step 1206: The three-dimensional broadcasting mechanism controls the conveying platform to move up and down.

For example, if the delivery result is delivered, the three-dimensional distribution mechanism can control the conveying platform to move up and down. As shown in (b) of Figure 26B, after receiving the goods, the conveying platform B moves downward to move the conveying platform A to the delivery position.

It should be noted that steps 1204 to 1205 can also be referred to as the conveyor platform adjustment stage. In the conveyor platform adjustment stage, the control mechanism queries whether there are goods on each conveyor platform in the order of the middle, upper, and lower layers. If they are all idle, the middle layer (i.e., conveyor platform B) is adjusted to the delivery position first; if the middle layer is not idle, the status of the upper and lower layers will continue to be determined until there is an idle conveyor platform at the delivery position.

After obtaining the delivery result sent by the transport robot, the control mechanism continues to adjust the position of each conveying platform to continue receiving the delivery of the sorting object.

Step 1207: The three-dimensional distribution mechanism obtains cached goods information.

For example, the three-dimensional distribution mechanism determines whether the conveying platform has received the goods delivered by the sorting object, and continues to execute step 1208 when it is determined that the conveying platform has received the goods delivered by the sorting object.

Step 1208: The three-dimensional broadcasting mechanism queries the current position of the conveying platform.

Step 1209: the three-dimensional broadcasting mechanism controls the bracket to move to a docking position corresponding to the current position.

As shown in (b) of FIG. 26B , the bracket moves to the docking position corresponding to the current position of the conveying platform B.

Step 1210: The stereoscopic broadcasting mechanism sends a bracket ready instruction.

For example, the carriage ready instruction is configured to instruct the carriage to arrive at a docking position.

Step 1211, the three-dimensional distribution mechanism controls the conveying platform to deliver the goods to the bracket.

For example, the stereoscopic distribution mechanism can control the conveyor platform to deliver the goods to the bracket according to the bracket ready instruction. As shown in (c) of FIG. 26B , the conveyor platform B delivers the goods on it to the bracket by rotating the flap.

It should be noted that when the conveyor platform delivers goods to the bracket, after the conveyor platform receives the information of the goods delivered by the sorting object, the control mechanism controls the bracket to run to the docking position corresponding to the current position of the conveyor platform, and notifies the conveyor platform to unload the goods so as to deliver the goods to the bracket.

Step 1212: The three-dimensional distribution mechanism determines the delivery result of the conveyor station.

For example, the delivery results include delivered and undelivered.

Step 1213, controlling the bracket to deliver the goods to the corresponding order container.

It should be noted that the above embodiment is a description of a sorting task, and the execution process of the next sorting task is similar. To avoid repetition, it will not be described here.

The cargo distribution method provided in the embodiment of the present application adds a cache mechanism in the three-dimensional distribution mechanism, and the cache mechanism includes multiple conveyor platforms, each of which can receive and cache the cargo delivered by the sorting object, and deliver the cargo to the bracket. The first conveyor platform is moved to the delivery position to receive the first cargo delivered by the sorting object, and after receiving the first cargo, the first conveyor platform is moved to the current position to deliver the first cargo to the bracket; when the first conveyor platform leaves the delivery position, the second conveyor platform can be moved to the delivery position so that the second conveyor platform can continue to receive the next delivery of the sorting object at the delivery position. Therefore, the cargo distribution method provided in the embodiment of the present application can ensure that the delivery position of the three-dimensional distribution mechanism can continuously have a conveyor platform for receiving the delivery of the sorting object, thereby avoiding the problem that the handling robot needs to wait for the bracket to reset before it can deliver after arriving at the delivery position, reducing the waiting time of the handling robot and improving the cargo sorting efficiency.

The embodiment of the present application provides a stereoscopic distribution mechanism, which includes a cache mechanism and a bracket. The cache mechanism includes a plurality of conveyor platforms, each of which is configured to cache goods delivered by a sorting object; the plurality of conveyor platforms include a first conveyor platform and a second conveyor platform, the first conveyor platform is a conveyor platform corresponding to a first sorting task, and the second conveyor platform is a conveyor platform corresponding to a second sorting task; wherein:

The first conveying platform is configured to move to a delivery position, receive a first cargo corresponding to a first sorting task delivered by a sorting object at the delivery position, and move to a third position after receiving the first cargo.

The second conveying platform is configured to move to the delivery position after the first conveying platform receives the first goods, so as to receive the second goods corresponding to the second sorting task delivered by the sorting object at the delivery position.

The bracket is configured to dock with the first conveying platform to receive the first goods delivered by the first conveying platform and deliver the first goods to the order container corresponding to the first sorting task.

In some embodiments, the bracket is configured to move to a target docking position corresponding to a current position of the first conveyor platform, and receive the first cargo delivered by the first conveyor platform at the target docking position; wherein the current position includes a third position.

In some embodiments, the caching mechanism also includes a lifting device; multiple conveyor platforms are respectively arranged to the lifting device, and each conveyor platform can be moved up and down through the lifting device; the first conveyor platform is configured to move to the delivery position through the lifting device, and receive the first goods corresponding to the first sorting task delivered by the sorting object at the delivery position; and after receiving the first goods, move to the third position through the lifting device.

In some embodiments, the caching mechanism also includes a moving device; the moving device is coupled to each conveying platform; the moving device is configured to drive each conveying platform to move up and down along the lifting device, and/or drive the first conveying platform to deliver the first cargo to the bracket.

In some embodiments, the three-dimensional distribution mechanism also includes at least one motion mechanism; the bracket is set to the motion mechanism, and the bracket can move laterally and/or vertically through the motion mechanism; the bracket is configured to: move to the target docking position through the motion mechanism; after receiving the first goods delivered by the first conveyor platform at the target docking position, deliver the first goods to the order container corresponding to the first sorting task through the motion mechanism.

In some embodiments, there is a third conveyor platform among multiple conveyor platforms, which is located adjacent to and above the first conveyor platform, and the size of the first cargo is larger than the initial distance between the third conveyor platform and the first conveyor platform; the third conveyor platform is configured to move to a fourth position so that the first distance between the third conveyor platform and the first conveyor platform is larger than the size of the first cargo; the first conveyor platform and the third conveyor platform are configured to: move simultaneously so that the first conveyor platform moves to the delivery position; wherein, during the movement of the first conveyor platform and the third conveyor platform, the first distance between the third conveyor platform and the first conveyor platform remains unchanged.

In some embodiments, there is a third conveyor platform among multiple conveyor platforms, which is located adjacent to and above the first conveyor platform, and the size of the first cargo is larger than the initial distance between the third conveyor platform and the first conveyor platform; the first conveyor platform is configured to move to the delivery position; the third conveyor platform is configured to move to a fifth position so that the second distance between the third conveyor platform and the first conveyor platform is larger than the size of the first cargo; wherein, during the movement of the first conveyor platform and the third conveyor platform, the distance between the third conveyor platform and the first conveyor platform changes from the initial distance to the second distance.

In some embodiments, the conveyor station includes a flap device or a conveyor line.

In some embodiments, the sorting objects include a handling robot or a sorting person or a robotic arm.

Some embodiments of the present application provide a distribution system, which includes a three-dimensional distribution mechanism, a handling robot and a control device; the three-dimensional distribution mechanism includes a buffer mechanism and a bracket; the buffer mechanism includes a plurality of conveying platforms; each of the plurality of conveying platforms is configured to buffer goods delivered by the handling robot, wherein:

The control device is configured to send a first sorting task and a second sorting task to the stereoscopic broadcasting mechanism.

The three-dimensional broadcasting mechanism is configured to obtain a first sorting task and a second sorting task, and to sort the first sorting task and the second sorting task in a plurality of conveying stations. The first conveyor platform is determined for the first sorting task, and the second conveyor platform is determined for the second sorting task; the first conveyor platform is controlled to move to the delivery position to receive the first goods corresponding to the first sorting task delivered by the handling robot at the delivery position; and when the first conveyor platform moves to the delivery position, a ready instruction is sent to the control device.

The control device is configured to send a delivery instruction to the transport robot according to the ready instruction.

The transport robot is configured to: obtain a delivery instruction, and deliver the first cargo to a first conveying platform among the multiple conveying platforms according to the delivery instruction.

The three-dimensional distribution mechanism is configured as follows: after the first conveyor platform receives the first goods, control the first conveyor platform to move from the delivery position to the third position; control the second conveyor platform to move to the delivery position, so that the second conveyor platform receives the second goods corresponding to the second sorting task delivered by the handling robot at the delivery position; according to the current position of the first conveyor platform, control the bracket to dock with the first conveyor platform to receive the first goods delivered by the first conveyor platform, and deliver the first goods to the order container corresponding to the first sorting task.

FIG27 is a schematic diagram of an electronic device according to some embodiments of the present disclosure. In some embodiments, the electronic device includes one or more processors and a memory. The memory is configured to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the cargo distribution method in the above-mentioned embodiment.

As shown in FIG27 , the electronic device 1000 includes: a processor (processor) 1001 and a memory 1002. Exemplarily, the electronic device 1000 may also include: a communication interface (Communications Interface) 1003 and a communication bus 1004.

The processor 1001, the memory 1002 and the communication interface 1003 communicate with each other through the communication bus 1004. The communication interface 1003 is configured to communicate with other devices such as a client or a network element of another server.

In some embodiments, the processor 1001 is configured to execute a program 1005, specifically, the relevant steps in the above-mentioned goods distribution method embodiment can be executed. Specifically, the program 1005 can include a program code, and the program code includes computer executable instructions.

Exemplarily, the processor 1001 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application. The electronic device 1000 may include one or more processors, which may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

In some embodiments, the memory 1002 is configured to store the program 1005. The memory 1002 may include a high-speed RAM memory, and may also include a non-volatile memory (NVM), such as at least one disk storage.

Program 1005 can be specifically called by processor 1001 to enable electronic device 1000 to execute the operations of the cargo sorting method in the above embodiment.

An embodiment of the present application provides a computer-readable storage medium, which stores at least one executable instruction. When the executable instruction is executed on the electronic device 1000, the electronic device 1000 executes the cargo sorting method in the above embodiment.

The executable instructions may be specifically configured to enable the electronic device 1000 to perform the operations of the cargo sorting method in the above embodiment.

For example, the computer readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.

The beneficial effects that can be achieved by the three-dimensional distribution mechanism, sorting system, electronic device and computer-readable storage medium provided in the embodiments of the present application can refer to the beneficial effects of the corresponding goods sorting method provided above, and will not be repeated here.

It should be noted that, in the application, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

The logic and/or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions configured to implement logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus or device (such as a computer-based system, a system including a processor or other system that can fetch instructions from an instruction execution system, apparatus or device and execute instructions), or used in combination with these instruction execution systems, apparatuses or devices.

For the purposes of this specification, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport the program for use by an instruction execution system, apparatus, or device or in conjunction with such instruction execution system, apparatus, or device.

More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection having one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM).

In addition, the computer readable medium can even be a paper or other suitable medium on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other medium, and then editing, interpreting or processing in other suitable ways as necessary, and then storing it in the computer memory. It should be understood that various parts of the present application can be implemented in hardware, software, firmware or a combination thereof.

In the above embodiments, multiple steps or methods may be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it may be implemented by any one of the following technologies known in the art or a combination thereof: a discrete logic circuit having a logic gate circuit configured to implement a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

The above-described embodiments of the present application do not constitute a limitation on the protection scope of the present application.

Claims

A three-dimensional seeding device, comprising:

A three-dimensional distribution mechanism, comprising a bracket configured to carry and deliver goods, and a motion mechanism configured to drive the bracket to move between a docking position and a distribution position, wherein the docking position is a position where the bracket receives the delivered goods; and

A shelf is provided on at least one side of the three-dimensional distribution mechanism, and a plurality of order containers are arranged on the shelf. The distribution position is a position where the bracket delivers goods to each of the order containers.

A cache mechanism is arranged adjacent to the docking position, and the cache mechanism is configured to temporarily store goods delivered to the cache mechanism so as to provide the goods to the bracket.
The three-dimensional seeding equipment as described in claim 1, wherein the caching mechanism includes a conveyor platform, the conveyor platform provides at least one cache position, each cache position is configured to store goods for a single delivery, and the conveyor platform is configured to transport the goods on the cache position in a direction close to the docking position.
The three-dimensional seeding equipment as described in claim 2, wherein the cache mechanism also includes a position detection sensor and a control system, the position detection sensor is configured to detect the position of the goods on the conveying platform and send a detection signal, and the control system controls the operation of the conveying platform according to the detection signal from the position detection sensor.
The three-dimensional seeding equipment as described in claim 3, wherein the conveying platform includes at least one of a belt conveyor, a roller conveyor, a chain conveyor and a flap device.
The three-dimensional seeding device as described in claim 2, wherein the conveying platform includes a first cache position and a second cache position, the conveying platform has the same conveying direction at the first cache position and the second cache position, and the first cache position and the second cache position are stacked up and down or arranged adjacent to each other at the same horizontal height.
The three-dimensional seeding device according to any one of claims 1 to 5, wherein the motion mechanism of the three-dimensional seeding mechanism comprises a horizontal motion mechanism, and the horizontal motion mechanism is configured to drive the bracket to move in a first horizontal direction;

The shelf is arranged on at least one side of the three-dimensional distribution mechanism in a second horizontal direction, and the second horizontal direction is perpendicular to the first horizontal direction; and

The cache mechanism is arranged on the side of the stereoscopic distribution mechanism in the second horizontal direction;

And/or, the cache mechanism is arranged at an end of the stereoscopic distribution mechanism along the first horizontal direction.
The three-dimensional seeding device according to claim 6, wherein the three-dimensional seeding mechanism further comprises a gantry structure, the gantry structure supports the motion mechanism; and

The cache mechanism is integrated on the gantry structure of the three-dimensional distribution mechanism.
The three-dimensional seeding device according to any one of claims 1 to 5, wherein:

The conveyor platform of the cache mechanism can move up and down and has at least a first position and a second position, wherein in the first position, the conveyor platform is configured to receive goods from the sorting object or to convey goods to the bracket; in the second position, the bracket receives goods from the sorting object.
The three-dimensional seeding device according to claim 1, wherein:

The cache mechanism includes a plurality of conveyor platforms, each of which is configured to cache goods delivered by a sorting object; the plurality of conveyor platforms include a first conveyor platform and a second conveyor platform, the first conveyor platform is a conveyor platform corresponding to a first sorting task, and the second conveyor platform is a conveyor platform corresponding to a second sorting task;

The first conveying platform is configured to: move to a delivery position, receive at the delivery position the first cargo corresponding to the first sorting task delivered by the sorting object; and move to a third position after receiving the first cargo;

The second conveying platform is configured to: after the first conveying platform receives the first cargo, move to the delivery position to receive the second cargo corresponding to the second sorting task delivered by the sorting object at the delivery position;

The three-dimensional distribution mechanism is configured to: dock with the first conveying platform to receive the first goods delivered by the first conveying platform, and deliver the first goods to the order container corresponding to the first sorting task.
The three-dimensional seeding device according to claim 9, wherein the three-dimensional seeding mechanism is configured as follows:

Move to a target docking position corresponding to the current position of the first conveyor platform, and receive the first cargo delivered by the first conveyor platform at the target docking position; wherein the current position includes the third position.
The three-dimensional seeding device according to claim 10, wherein the buffer mechanism further comprises a lifting device; the plurality of conveying platforms are respectively arranged on the lifting devices, and the respective conveying platforms can be moved up and down by the lifting devices;

The first conveyor platform is configured to: move to the delivery position through the lifting device, receive the first cargo corresponding to the first sorting task delivered by the sorting object at the delivery position; and after receiving the first cargo, move to the third position through the lifting device.
The three-dimensional seeding device according to claim 11, wherein the buffer mechanism further comprises a running device; the running device is coupled to each of the conveying platforms;

The operating device is configured to: drive each conveying platform to move up and down along the lifting device, and/or drive the first conveying platform to deliver the first cargo to the bracket.
A cargo sowing system includes a sorting object, a three-dimensional sowing device and a control device, wherein:

The sorting object is configured to carry and deliver goods to the three-dimensional seeding device,

The three-dimensional seeding equipment comprises:

A three-dimensional distribution mechanism, comprising a bracket configured to carry and deliver goods and a motion mechanism configured to drive the bracket to move between a docking position and a distribution position, wherein the docking position is a position where the bracket receives goods delivered thereto; and

A shelf is provided on at least one side of the three-dimensional distribution mechanism, and a plurality of order containers are arranged on the shelf. The distribution position is a position where the bracket delivers goods to each of the order containers.

The three-dimensional seeding device further comprises a cache mechanism disposed adjacent to the docking position, wherein the cache mechanism comprises a conveying platform configured to temporarily store goods delivered thereon so as to provide the goods to the bracket.

The control device is communicatively connected with the sorting object and the three-dimensional distribution mechanism, and is configured to: control the three-dimensional distribution mechanism to deliver the goods received from the sorting object to the corresponding order container; control the sorting object to deliver the goods to the cache mechanism when the bracket is in an unavailable state where the goods cannot be received; and control the cache mechanism to deliver the goods to the bracket when the bracket is in the available state.
The goods distribution system according to claim 13, wherein:

The sorting object has a pallet configured to lift goods;

The conveyor platform provides at least one buffer position, each buffer position is configured to store goods for a single delivery, and the conveyor platform is configured to convey the goods on the buffer position along a conveying direction to provide them to the bracket;

The at least one cache position of the cache mechanism includes a first cache position and a second cache position, and the conveyor is disposed between the first cache position and the second cache position. The second cache positions have the same conveying direction, and the first cache positions and the second cache positions are stacked up and down; and

The control device is further configured to control the sorting object to deliver goods to one of the first cache position and the second cache position according to the height of the tray of the sorting object.
The cargo distribution system according to claim 13, wherein the three-dimensional distribution mechanism further comprises a gantry structure, and the gantry structure supports the motion mechanism;

The conveying platform of the buffer mechanism is movably disposed on the gantry structure and has at least a first position and a second position; and

The control device is further configured as:

When the sorting object delivers goods, control the conveying platform to be positioned at the first position to receive goods from the sorting object when the bracket is in the unavailable state, and to be positioned at the second position to allow the bracket to receive goods from the sorting object at the docking position when the bracket is in the available state; and

When there is no cargo delivered by the sorting object, the conveying platform and/or the bracket are controlled to move to positions horizontally adjacent to each other so as to convey the cargo from the conveying platform to the bracket.
The cargo distribution system according to claim 13, wherein the cache mechanism comprises a plurality of conveyor platforms; each of the plurality of conveyor platforms is configured to: cache the cargo delivered by the sorting object;

The control device is further configured to: send a first sorting task and a second sorting task to the three-dimensional seeding device;

The three-dimensional seeding device is configured to: obtain the first sorting task and the second sorting task, and determine a first conveying platform for the first sorting task and a second conveying platform for the second sorting task respectively among the multiple conveying platforms according to the first sorting task and the second sorting task; control the first conveying platform to move to a delivery position to receive the first goods corresponding to the first sorting task delivered by the sorting object at the delivery position, and send a ready instruction to the control device when the first conveying platform moves to the delivery position;

The control device is further configured to: send a delivery instruction to the sorting object according to the ready instruction;

The sorting object is configured to: obtain the delivery instruction, and deliver the first cargo to the first conveying platform according to the delivery instruction;

The three-dimensional seeding device is configured as follows: after the first conveyor platform receives the first cargo, controlling the first conveyor platform to move from the delivery position to a third position; controlling the second conveyor platform to move to the delivery position so that the second conveyor platform receives the second cargo corresponding to the second sorting task delivered by the sorting object at the delivery position; controlling the three-dimensional seeding mechanism to dock with the first conveyor platform to receive the first cargo delivered by the first conveyor platform, and delivering the first cargo to the order container corresponding to the first sorting task.
A goods distribution method is applied to a goods distribution system, the goods distribution system comprising a sorting object, a three-dimensional seeding device and a control device; the three-dimensional seeding device comprises a three-dimensional seeding mechanism, a shelf and a cache mechanism, the three-dimensional seeding mechanism comprises a bracket configured to carry and deliver goods, the shelf is arranged on at least one side of the three-dimensional seeding mechanism, a plurality of order containers are arranged on the shelf, and the cache mechanism comprises a conveying platform; the goods distribution method comprises:

Controlling the three-dimensional distribution mechanism to deliver the goods received from the sorting object to the corresponding order container;

Controlling the sorting object to deliver goods to the cache mechanism when the bracket is in an unavailable state where the goods cannot be received;

And the cache mechanism is controlled to deliver goods to the bracket when the bracket is in the available state.
The cargo distribution method according to claim 17, wherein the cache mechanism comprises a plurality of conveyor platforms, each of the plurality of conveyor platforms being configured to cache cargo delivered by a sorting object; the cargo distribution method further comprises:

Acquire a first sorting task, and determine a first conveying platform corresponding to the first sorting task among the multiple conveying platforms;

Controlling the first conveying platform to move to a delivery position, and receiving, at the delivery position, the first goods corresponding to the first sorting task delivered by the sorting object;

After the first conveyor platform receives the first cargo, the first conveyor platform is controlled to move from the delivery position to a third position, and the second conveyor platform is controlled to move to the delivery position, so that the second conveyor platform receives the second cargo corresponding to the second sorting task delivered by the sorting object at the delivery position; wherein the second conveyor platform is a conveyor platform corresponding to the second sorting task, and the second conveyor platform is different from the first conveyor platform;

The three-dimensional distribution mechanism is controlled to dock with the first conveying platform to receive the first goods delivered by the first conveying platform, and the first goods are delivered to the order container corresponding to the first sorting task.
The cargo distribution method according to claim 18, wherein the step of controlling the three-dimensional distribution mechanism to dock with the first conveying platform to receive the first cargo delivered by the first conveying platform comprises:

According to the current position of the first conveyor platform, the bracket is controlled to move to a target docking position corresponding to the current position, and the first cargo delivered by the first conveyor platform is received at the target docking position; wherein the current position includes the third position.
The cargo distribution method according to claim 19, wherein the step of determining the first conveyor platform corresponding to the first sorting task among the plurality of conveyor platforms comprises:

Acquire status information of each conveyor platform; wherein the status information is configured to indicate whether goods are placed on the conveyor platform or not;

According to the status information of each conveying platform, a first conveying platform corresponding to the first sorting task is determined among the plurality of conveying platforms.
The cargo distribution method according to claim 20, wherein the step of determining the first conveyor platform corresponding to the first sorting task among the plurality of conveyor platforms according to the status information of each conveyor platform comprises:

If it is determined, based on the status information of each conveyor platform, that there is a conveyor platform on which no goods are placed among the plurality of conveyor platforms, the conveyor platform on which no goods are placed is determined as the first conveyor platform;

If it is determined that there are at least two conveying platforms on which no goods are placed among the plurality of conveying platforms, the first conveying platform is determined among the at least two conveying platforms on which no goods are placed.
The method for distributing goods according to claim 21, wherein the step of determining the first conveyor platform among the at least two conveyor platforms on which no goods are placed comprises:

Among the at least two conveying platforms on which no goods are placed, one conveying platform on which no goods are placed is randomly determined as the first conveying platform; or,

The first conveying platform is determined from among the at least two conveying platforms on which no goods are placed according to the priority information of the at least two conveying platforms on which no goods are placed.
The cargo distribution method according to any one of claims 19 to 22, wherein, according to the current position of the first conveyor platform, controlling the bracket to move to the target docking position corresponding to the current position comprises:

Determine the target docking position corresponding to the current position according to the current position and the preset corresponding relationship; wherein the preset corresponding relationship includes multiple positions and the preset docking position corresponding to each position;

The bracket is controlled to move to the target docking position.
The method for distributing goods according to claim 23, wherein the current position is determined according to the current position and the preset corresponding relationship. The target docking position corresponding to the setting includes:

In a case where the multiple positions include the current position, according to the preset corresponding relationship, determining a preset docking position corresponding to the current position as the target docking position;

In a case where the multiple positions do not include the current position, the target docking position corresponding to the current position is calculated based on the current position.
The cargo distribution method as described in claim 24, wherein the multiple conveying platforms include three conveying platforms, and the preset docking positions include five docking positions.
The method for distributing goods according to any one of claims 18 to 22, wherein the method for distributing goods further comprises:

When the first conveyor platform moves to the delivery position, a ready instruction is sent to the goods distribution system, so that the goods distribution system sends a delivery instruction to the sorting object based on the ready instruction; wherein the delivery instruction is configured to instruct the sorting object to deliver the first goods to the first conveyor platform.
A three-dimensional broadcasting mechanism, comprising:

a carriage configured to carry and deliver cargo;

a motion mechanism configured to drive the bracket to move between a docking position and a distribution position, wherein the docking position is a position where the bracket receives goods delivered thereto, and the distribution position is a position where the bracket delivers goods to an order container; and

a gantry structure, the gantry structure supporting the motion mechanism,

The three-dimensional broadcasting mechanism further comprises a cache mechanism installed on the gantry structure, the cache mechanism is arranged adjacent to the docking position, and the cache mechanism is configured to temporarily store goods delivered to the cache mechanism so as to provide the goods to the bracket.