Sorting system, method, electronic device and storage medium

文档序号：1279499 发布日期：2020-08-28 浏览：8次中文

阅读说明：本技术 分拣系统、方法、电子设备及存储介质 (Sorting system, method, electronic device and storage medium ) 是由胡镔于 2020-05-11 设计创作，主要内容包括：本申请提供了一种分拣系统、方法、电子设备及存储介质,包括：控制服务器、多个分拣机器人以及多层分拣平台,控制服务器与多个分拣机器人保持通信连接；多层分拣平台包含放置有多个集货容器的底层分拣区域,以及位于底层分拣区域上方的至少一个上层分拣区域,每个上层分拣区域设置有与位于底层分拣区域中的多个集货容器分别对应的投递格口；控制服务器设置为,控制每层分拣区域上的分拣机器人,按照该层分拣区域上的待分拣货物对应的目标投递位置,对运输至该层分拣区域上的待分拣货物进行投递；底层分拣区域对应的目标投递位置为目标集货容器所处的投递位置,上层分拣区域对应的目标投递位置为目标投递格口所处的投递位置。(The application provides a sorting system, a sorting method, an electronic device and a storage medium, comprising: the system comprises a control server, a plurality of sorting robots and a multilayer sorting platform, wherein the control server is in communication connection with the sorting robots; the multilayer sorting platform comprises a bottom sorting area in which a plurality of goods collecting containers are placed and at least one upper sorting area positioned above the bottom sorting area, and each upper sorting area is provided with delivery grids corresponding to the goods collecting containers in the bottom sorting area; the control server is arranged to control the sorting robots on each layer of sorting area to deliver the goods to be sorted transported to the layer of sorting area according to the target delivery positions corresponding to the goods to be sorted on the layer of sorting area; the target delivery position corresponding to the bottom sorting area is the delivery position of the target cargo collection container, and the target delivery position corresponding to the upper sorting area is the delivery position of the target delivery grid.)

1. A sorting system, comprising: the multi-layer sorting system comprises a control server, a plurality of sorting robots and a multi-layer sorting platform, wherein the control server is in communication connection with the sorting robots;

the multilayer sorting platform comprises a bottom sorting area in which a plurality of goods collecting containers are placed and at least one upper sorting area positioned above the bottom sorting area, and each upper sorting area is provided with delivery grids corresponding to the goods collecting containers in the bottom sorting area;

the control server is arranged to control the sorting robots on each layer of sorting area to deliver the goods to be sorted transported to the layer of sorting area according to the target delivery positions corresponding to the goods to be sorted on the layer of sorting area;

the target delivery position corresponding to the bottom sorting area is the delivery position of the target cargo collection container, and the target delivery position corresponding to the upper sorting area is the delivery position of the target delivery grid.

2. The sortation system as claimed in claim 1, further comprising a reading device disposed on each level of the sortation area, said reading device being communicatively connected to said control server;

the reading device on each layer of sorting area is set to acquire the direction information of the goods to be sorted transported to the layer of sorting area and send the direction information of the goods to be sorted to the control server;

the control server is specifically configured to determine a target delivery position corresponding to the goods to be sorted on each layer of sorting area according to the route information of the goods to be sorted on each layer of sorting area and the current route label corresponding to the delivery position of the layer of sorting area;

the current route label corresponding to the delivery position of the bottom-layer sorting area is the current route label of the cargo container, and the current route label corresponding to the delivery position of the upper-layer sorting area is the current route label of the delivery grid.

3. The sortation system as claimed in claim 1, further comprising a reading device disposed on each level of the sortation area, said reading device being communicatively connected to said control server;

the control server is also configured to control the sorting robots on each layer of sorting area to send the current route labels corresponding to the delivery positions on each layer of sorting area to the reading devices on the layer of sorting area before delivery;

the reading device on each layer of the sorting area is set to determine a target delivery position corresponding to the goods to be sorted, which are borne by the sorting robot on the layer of the sorting area, based on the acquired route information of the goods to be sorted, which are borne by the sorting robot on each layer of the sorting area, and the current route label corresponding to the delivery position of the layer of the sorting area; and sending the target delivery position corresponding to the goods to be sorted carried by the sorting robot to the sorting robot on the layer of sorting area.

4. The sortation system as claimed in claim 1, wherein said sortation system further comprises a plurality of transport robots, said control server being communicatively connected to said plurality of transport robots;

the control server is further configured to, when determining that a first target cargo container meeting a replacement condition exists in the plurality of cargo containers, allocate a container replacement task to a target transport robot in the plurality of transport robots based on a current route label of the first target cargo container and a delivery position where the first target cargo container is located;

the target transport robot is configured to complete the replacement of the first target cargo container based on the current route label of the first target cargo container and the delivery position where the first target cargo container is located, in response to the container replacement task.

5. The sortation system as claimed in claim 4, wherein said target transport robot comprises a first target transport robot and a second target transport robot;

the control server is specifically configured to assign a first container handling task to the first target transport robot and assign a second container handling task to the second target transport robot based on the current route label of the first target cargo container and the delivery position where the first target cargo container is located;

the first target transportation robot is set to respond to the first container carrying task, drive to a delivery position where the first target cargo container is located, and carry the first target cargo container to a target area corresponding to a current route label of the first target cargo container;

and the second target transport robot is set to respond to the second container carrying task, acquire an empty cargo collection container corresponding to the current path label and transport the empty cargo collection container to the delivery position of the first target cargo collection container.

6. The sorting system according to claim 4, wherein the replacement condition comprises:

the volume of the currently held goods to be sorted reaches a preset volume threshold value, and/or the preset replacement time of the goods collecting container is reached.

7. A sorting system according to claim 1, characterised in that the control server is further arranged to:

determining a target sorting area corresponding to each goods to be sorted in each preset time length according to the received route information of the goods to be sorted in each preset time length; the goods to be sorted corresponding to the same path information exist in the goods to be sorted in the different-layer sorting areas.

8. A sorting method is applied to a control server and is applied to sorting goods to be sorted contained in a multilayer sorting platform, the multilayer sorting platform comprises a bottom sorting area where a plurality of goods collecting containers are placed and at least one upper sorting area located above the bottom sorting area, each upper sorting area is provided with delivery grids corresponding to the goods collecting containers in the bottom sorting area respectively, and the sorting method comprises the following steps:

acquiring a target sorting area corresponding to each goods to be sorted on the multilayer sorting platform, wherein the target sorting area is the bottom-layer sorting area or the upper-layer sorting area;

controlling a sorting robot on the target sorting area based on the target sorting area corresponding to the goods to be sorted, and delivering the goods to be sorted according to the target delivery position corresponding to the target sorting area;

9. An electronic device, comprising: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating over the bus when the electronic device is operating, the machine-readable instructions when executed by the processor performing the steps of the sorting method of claim 8.

10. A computer-readable storage medium, characterized in that a computer program is stored thereon which, when being executed by a processor, carries out the steps of the sorting method according to claim 8.

Technical Field

The application relates to the technical field of robot transportation, in particular to a sorting system, a sorting method, electronic equipment and a storage medium.

Background

The rapid development of electronic commerce and online shopping brings a rapid opportunity for the logistics storage industry and an unprecedented challenge for the transportation of storage logistics.

In logistics storage field, generally involve selecting and sorting two links, select the link and take out each goods parcel from storing up goods region through logistics transport robot to unified transport sorts to the letter sorting place, then according to the destination that every goods parcel corresponds, treats the goods parcel of letter sorting and sorts, carries out the mode of letter sorting through the manual work, faces the problem of letter sorting inefficiency.

Disclosure of Invention

The embodiment of the application at least provides a sorting system to improve the sorting efficiency to the goods.

In a first aspect, an embodiment of the present application provides a sorting system, including: the multi-layer sorting system comprises a control server, a plurality of sorting robots and a multi-layer sorting platform, wherein the control server is in communication connection with the sorting robots;

In a possible embodiment, the sorting system further comprises a reading device arranged on each layer of the sorting area, and the reading device is connected with the control server in a communication way;

In one possible embodiment, the sorting system further comprises a plurality of transport robots, the control server being in communication connection with the plurality of transport robots;

In one possible embodiment, the target transport robot includes a first target transport robot and a second target transport robot;

In a possible embodiment, the replacement condition comprises:

the volume of the currently held goods to be sorted reaches a preset volume threshold value, and/or the preset replacement time of the goods collecting container is reached.

In a possible embodiment, the control server is further configured to:

In a possible embodiment, the sorting system further comprises a conveying device, and a material supplying device is further arranged on each layer of sorting area and used for placing goods to be sorted; the conveying equipment is respectively communicated with the material supply device of each layer of sorting area;

the control server is also configured to send the determined information of the target sorting area corresponding to each goods to be sorted to the conveying equipment;

the conveying equipment is arranged to convey the goods to be sorted to the goods supply device of the target sorting area corresponding to the goods to be sorted.

In a possible embodiment, the control server is further configured to:

determining whether a second target goods collecting container with the route label to be updated exists in the plurality of goods collecting containers or not based on the received route information corresponding to the goods to be sorted in the latest preset time and the historical route label of each goods collecting container in the plurality of goods collecting containers;

and when the second target cargo collection container is determined to exist, updating the second target cargo collection container and the historical route labels of the delivery lattice openings corresponding to the second target cargo collection container to obtain the current route label of each cargo collection container in the plurality of cargo collection containers and the current route label of the delivery lattice opening corresponding to each cargo collection container.

In a second aspect, an embodiment of the present application provides a sorting method, which is applied to a control server, and is applied to sort goods to be sorted contained in a multilayer sorting platform, where the multilayer sorting platform contains a bottom sorting area where a plurality of goods collecting containers are placed, and at least one upper sorting area located above the bottom sorting area, and each upper sorting area is provided with delivery gates corresponding to a plurality of goods collecting containers located in the bottom sorting area, respectively, and the sorting method includes:

In a possible embodiment, before controlling the sorting robot on the target sorting area to deliver the goods to be sorted at the corresponding target delivery position on the target sorting area, the method further includes:

determining a target delivery position of the goods to be sorted on the target sorting area based on the received route information of the goods to be sorted sent by the reading device and the current route label corresponding to the delivery position of the target sorting area;

the method comprises the steps that the current route label corresponding to the delivery position on each layer of sorting area is sent to a reading device on the layer of sorting area, the target delivery position corresponding to the goods to be sorted born by the sorting robot on the target sorting area is determined through the reading device based on the acquired route information of the goods to be sorted born by the sorting robot on the target sorting area and the current route label corresponding to the delivery position of the target sorting area, and the target delivery position corresponding to the goods to be sorted born by the sorting robot is sent to the sorting robot on the layer of sorting area.

In a possible embodiment, the sorting method further comprises:

determining whether there is a first target container satisfying a replacement condition among the plurality of containers;

when determining that a first target cargo container meeting a replacement condition exists, allocating a container replacement task to a target transport robot in a plurality of transport robots based on a current route label of the first target cargo container and a delivery position where the first target cargo container is located, so that the target transport robot completes replacement of the first target cargo container.

In one possible embodiment, the target transport robot includes a first target transport robot and a second target transport robot;

the allocating a container replacement task to a target transport robot of the plurality of transport robots based on the current route label of the first target cargo container and the delivery location where the first target cargo container is located, includes:

allocating a first container carrying task to the first target transport robot based on the current route label of the first target cargo container and the delivery position of the first target cargo container, so that the first target transport robot drives to the delivery position of the first target cargo container, and carries the first target cargo container to a target area corresponding to the current route label of the first target cargo container;

and distributing a second container carrying task to the second target transport robot based on the current path label of the first target cargo container and the delivery position where the first target cargo container is located, so that the second target transport robot acquires an empty cargo container corresponding to the current path label and transports the empty cargo container to the delivery position where the first target cargo container is located.

In a possible embodiment, the replacement condition comprises:

the volume of the currently held goods to be sorted reaches a preset volume threshold value, and/or the preset replacement time of the goods collecting container is reached.

In a possible embodiment, the sorting method further comprises:

In a possible implementation manner, after determining a target sorting area corresponding to each goods to be sorted within the preset time length, the sorting method further includes:

and sending the information of the target sorting area corresponding to each determined goods to be sorted to the transmission equipment, and transmitting the goods to be sorted to the material supply device of the target sorting area corresponding to the goods to be sorted through the transmission equipment.

In a possible embodiment, the sorting method further comprises:

In a third aspect, an embodiment of the present application provides an electronic device, including: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating over the bus when the electronic device is running, the machine-readable instructions when executed by the processor performing the steps of the sorting method according to the second aspect.

In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, and the computer program is executed by a processor to perform the steps of the sorting method according to the second aspect.

The utility model provides a letter sorting system, contain multilayer letter sorting platform, this multilayer letter sorting platform specifically includes bottom letter sorting region and at least one upper sorting region, be provided with a plurality of collection goods containers on the bottom letter sorting region, be provided with the delivery check mouth that corresponds respectively with every collection goods container on the bottom letter sorting region on every upper sorting region, through the letter sorting robot on the every layer of letter sorting region of control, according to the target delivery position that waits to sort goods and correspond on this layer letter sorting region, to transporting to waiting to sort goods on this layer letter sorting region and delivering, like this, under the condition that does not increase area, the letter sorting efficiency to the goods has been improved.

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments and are incorporated in and constitute a part of the specification will be briefly described below, and the drawings illustrate the embodiments consistent with the present application and together with the description serve to explain the technical solutions of the present application. It is appreciated that the following drawings depict only certain embodiments of the application and are therefore not to be considered limiting of its scope, for those skilled in the art will be able to derive additional related drawings therefrom without the benefit of the inventive faculty.

FIG. 1 shows a schematic view of a first sorting system provided by an embodiment of the present application;

FIG. 2 shows a schematic view of a second sorting system provided by embodiments of the present application;

fig. 3 is a schematic diagram of a third sorting system provided by an embodiment of the present application;

FIG. 4 is a schematic diagram of a fourth sortation system provided by embodiments of the present application;

fig. 5a is a schematic diagram of a double-deck sorting platform provided in an embodiment of the present application;

FIG. 5b shows a schematic view of an underlying sortation area as provided by an embodiment of the present application;

fig. 5c is a schematic diagram of an upper level sorting area provided by an embodiment of the present application;

fig. 6 is a schematic flow chart of a sorting method provided in an embodiment of the present application;

fig. 7 shows a schematic diagram of an electronic device provided in an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

The term "and/or" herein merely describes an associative relationship, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the term "at least one" herein means any one of a plurality or any combination of at least two of a plurality, for example, including at least one of A, B, C, and may mean including any one or more elements selected from the group consisting of A, B and C.

In the field of logistics storage, goods senders or logistics transfer stations often face the problem of goods sorting, for example, how to quickly classify a large number of goods packages received by the logistics transfer stations, for example, classifying the goods packages based on the route information to which the destination to which the goods packages are to be sent belongs, and the process faces the problem of low sorting efficiency when the goods packages are manually sorted.

To this end, this application embodiment provides a sorting system, this sorting system contains multilayer letter sorting platform, this multilayer letter sorting platform specifically includes that the bottom letter sorting is regional and at least one upper strata letter sorting is regional, be provided with a plurality of collection goods containers on the bottom letter sorting is regional, be provided with the delivery check mouth that corresponds respectively with every collection goods container on the bottom letter sorting region on every upper strata letter sorting region, through controlling the letter sorting robot on every layer letter sorting region, according to the target delivery position that waits to sort goods correspondence on this layer letter sorting region, to transporting to waiting to sort goods on this layer letter sorting region and delivering, under the condition that does not increase area like this, the letter sorting efficiency to the goods has been improved.

Referring to fig. 1, a schematic diagram of a sorting system provided in an embodiment of the present application includes: the automatic sorting system comprises a control server 11, a plurality of sorting robots 12 and a multi-layer sorting platform 13, wherein the control server 11 is in communication connection with the plurality of sorting robots 12.

The multi-level sorting platform 13 comprises a bottom sorting area 131 in which a plurality of cargo containers 1311 are placed, and at least one upper sorting area 132 located above the bottom sorting area, wherein each upper sorting area 132 is provided with delivery compartments 1321 corresponding to the plurality of cargo containers 1311 located in the bottom sorting area 131;

the control server 11 is configured to control the sorting robot 12 on each layer of sorting area, and deliver the goods to be sorted transported to the layer of sorting area according to the target delivery position corresponding to the goods to be sorted on the layer of sorting area;

the target delivery position corresponding to the bottom sorting area 131 is the delivery position where the target cargo container is located, and the target delivery position corresponding to the upper sorting area 132 is the delivery position where the target delivery bay is located.

Here the multilayer letter sorting platform can be including the bottom letter sorting region that is located ground to and at least one upper letter sorting region on the platform of putting up above the bottom letter sorting region, a plurality of album goods containers that can remove have been placed to the bottom letter sorting region, and this collection goods container can be multiple form, for example can be for album container, cage car etc. can hold the container of waiting to sort the goods.

Every upper letter sorting region of multilayer letter sorting platform can be for the affiliated region of the platform of putting up in bottom letter sorting regional top, every upper letter sorting region can set up a plurality of delivery check mouths, every delivery check mouth corresponds a collection goods container on the bottom letter sorting region of below, and like this, the letter sorting robot in every upper letter sorting region will wait to sort the goods and deliver to the delivery check mouth after, wait to sort the goods and can fall into this delivery check mouth in the collection goods container that the bottom letter sorting region corresponds from the delivery check mouth, this disclosed embodiment explains for double-deck letter sorting platform with multilayer letter sorting platform as an example, contain the bottom letter sorting region promptly, and be located the upper letter sorting region of this bottom letter sorting regional upper branch.

For example, the bottom-level sorting area may be divided into a plurality of sorting areas, each sorting area may correspond to the same route information, for example, for a large-scale logistics transit station, sorting areas corresponding to "north China area", "east China area", "south China area", and "north west area" may be divided in the bottom-level sorting area; and for small logistics transfer stations, a specific receiving city can be divided in the bottom-layer sorting area.

Considering that the delivery modes of the goods collecting container and the delivery cell are different, the sorting robot on the upper-layer sorting area can comprise a bearing mechanism which is convenient to incline, and when the robot runs to the target delivery cell, the robot is inclined so that the loaded goods to be sorted fall into the delivery cell; and the sorting robot on the bottom sorting area can comprise a mechanical arm and a gripper for delivering the goods to be sorted into the goods collecting container, and when the robot runs to the target goods collecting container, the goods to be sorted are placed in the target goods collecting container through the mechanical arm and the gripper.

Here, the control server can control the sorting robots in each layer of sorting area to deliver the goods to be sorted in the layer of sorting area, for example, the control server can control the sorting robots in each layer of sorting area to deliver the goods to be sorted in the layer of sorting area, and the sorting robots in each layer of sorting area entering the working state can deliver the goods to be sorted in the layer of sorting area according to the target delivery positions corresponding to the goods to be sorted in the layer of sorting area.

Here, the goods to be sorted in each layer of sorting area correspond to the target delivery position in the layer of sorting area, and may be represented by a position in a grid map corresponding to the layer of sorting area, which is stored by a robot in the layer of sorting area, for example, the target delivery position corresponding to the bottom layer of sorting area is a position of a target goods collection container in the grid map corresponding to the bottom layer of sorting area, the target delivery position corresponding to the upper layer of sorting area is a position of a target delivery cell in the grid map corresponding to the upper layer of sorting area, and the target delivery position may be determined by a control server or by other devices, which will be described in detail later herein, and will not be described herein again.

In conclusion, the letter sorting system who mentions above-mentioned contains multilayer letter sorting platform, this multilayer letter sorting platform specifically includes that the bottom letter sorting is regional and at least one upper strata letter sorting is regional, be provided with a plurality of collection goods containers on the bottom letter sorting is regional, be provided with the delivery check mouth that corresponds respectively with every collection goods container on the bottom letter sorting region on every upper strata letter sorting region, through controlling the letter sorting robot on every layer letter sorting region, according to the target delivery position that waits to sort goods and correspond on this layer letter sorting region, to transporting to waiting to sort goods on this layer letter sorting region and delivering, like this, under the condition that does not increase area, sorting efficiency to the goods has been improved.

Illustratively, as shown in fig. 2, the sorting system further includes a reading device 14 disposed on each layer of the sorting area, and the reading device 14 is connected in communication with the control server 11.

The reading device 14 on each layer of the sorting area is configured to acquire the route information of the goods to be sorted transported to the layer of the sorting area, and send the route information of the goods to be sorted to the control server 11;

the control server 11 is specifically configured to determine a target delivery position corresponding to the goods to be sorted on each layer of sorting area according to the route information of the goods to be sorted on each layer of sorting area and the current route label corresponding to the delivery position of the layer of sorting area;

the reading device can be a reading device based on a radio frequency identification technology and can also be a reading device based on a bar code identification technology, when the reading device is the reading device based on the radio frequency identification technology, an electronic tag containing the route information can be arranged on each goods to be sorted, the route information of the goods to be sorted is acquired through the electronic tag arranged on the goods to be sorted of the reading material of the reading device, when the reading device is the reading device based on the bar code identification technology, a bar code tag containing the route information can be arranged on each goods to be sorted, and the route information of the goods to be sorted is acquired by scanning the bar code tag through the reading device.

Thus, the destination to which the goods to be sorted is sent can be determined through the electronic tag or the bar code tag, for example, the destination can be one of the above-mentioned "north China", "east China", "south China" and "northwest China", or a specific city, city area, etc.

Use multilayer letter sorting platform as double-deck letter sorting platform for example, here can all install reading device on every layer letter sorting region of double-deck letter sorting platform, like this, reading device on every layer letter sorting region can carry out label discernment to the goods of waiting to sort on this layer letter sorting region to confirm the route information of the goods of waiting to sort on this layer letter sorting region, then with this route information transmission to control server.

The control server can save the current route label corresponding to the delivery position of each layer of sorting area, the current route label corresponding to the delivery position of the bottom layer of sorting area is the current route label of the cargo container, the current route label corresponding to the delivery position of the upper layer of sorting area is the current route label of the delivery grid, and the control server determines the target delivery position corresponding to the goods to be sorted in the upper layer of sorting area as an example, and can determine the target delivery position according to the following process:

for any goods to be sorted on the upper-layer sorting area, for example, the route information of the any goods to be sorted is determined to be the north China area based on the route information of the any goods to be sorted, and the delivery position where the delivery lattice corresponding to the current route label of the north China area is located is found in the current route label of each delivery lattice in the pre-stored upper-layer sorting area, and the delivery position is used as the target delivery position corresponding to the any goods to be sorted.

In particular, the candidate delivery bay corresponding to the current route labeled "north China area" may include a plurality of candidate delivery positions, that is, a plurality of candidate delivery positions, at this time, the current remaining cargo capacity of the cargo collection area below each candidate delivery bay may be further determined, and then the candidate delivery bay corresponding to the cargo collection container with the largest current remaining cargo capacity is selected as the target delivery bay, and the delivery position of the target delivery bay is the target delivery position.

The sorting system further comprises a reading device arranged on each layer of the sorting area, and the reading device is connected with the control server in a communication mode.

The control server is also configured to control the current route label corresponding to the delivery position on each layer of the sorting area to be sent to the reading device on the layer of the sorting area before the sorting robot on each layer of the sorting area delivers the route label;

In this case, before the sorting system starts sorting, the control server may send the current route tag corresponding to the delivery position on each layer of sorting area to the reading device on the layer of sorting area, that is, the reading device on each layer of sorting area stores the current route tag corresponding to the delivery position on the layer of sorting area, for example, the reading device on the upper layer of sorting area stores the current route tag of each delivery bay on the layer of sorting area, and the reading device on the lower layer of sorting area stores the current route tag of each cargo collection container on the layer of sorting area, so that when the reading device on each layer of sorting area acquires the route information of the cargo to be sorted on the layer of sorting area, the control server may obtain the route information of the cargo to be sorted and the current route tag corresponding to each delivery position on the layer of sorting area according to the route information of the cargo to be sorted and the current route tag corresponding to each delivery position on, the way of the reading device to specifically acquire the route information of the goods to be sorted is similar to that described above, and is not described herein again, and the way of the reading device to determine the target delivery position corresponding to the goods to be sorted is similar to that of the control server to determine the target delivery position corresponding to the goods to be sorted, and is not described herein again.

In a specific embodiment, the reading device can perform tag identification on the goods to be sorted borne by the sorting robot, specifically, can identify an electronic tag arranged on the goods to be sorted based on a radio frequency identification technology, and also can identify a bar code tag on the goods to be sorted based on a bar code identification technology, and then determine the direction information of the goods to be sorted borne by the sorting robot based on the tag identification result, for example, the reading device can be arranged at a position which satisfies a set distance with a goods supply device containing the goods to be sorted, and the reading device is arranged on a bracket higher than the sorting robot, when the sorting robot runs to the loading device to load the goods to be sorted, and then when the goods to be sorted is borne by the lower end of the bracket arranged at the reading position, the reading device arranged on the bracket and the tag identification can be performed on the goods to be sorted borne by the sorting robot, so as to determine the direction information of the goods to be sorted carried by the sorting robot.

According to the method, the reading device directly determines the target delivery position corresponding to the goods to be sorted, and the target delivery position is directly sent to the sorting robot, namely, the control server controls the sorting robot to start working, the sorting robot can deliver the goods to be sorted through the target delivery position corresponding to the goods to be sorted and sent by the reading device, the process does not need the control server to send the target delivery position, under the condition, if the robot to be sorted and the control server are disconnected in communication in a short time, the sorting work can still be kept, and the sorting efficiency can be guaranteed.

Of course, in another embodiment, after the reading device obtains the target delivery position of the goods to be sorted, the reading device may also send the target delivery position corresponding to the goods to be sorted to the control server, and the control server performs unified control on each sorting robot bearing the goods to be sorted.

For the goods collecting container on the bottom layer sorting area, along with the continuous sorting work, the goods to be sorted, which are contained in the goods collecting container, may reach the containing limit of the goods collecting container, at this time, the goods collecting container needs to be replaced, and for this reason, as shown in fig. 3, the sorting system provided by the embodiment of the application further includes a plurality of transport robots 15, and the control server is in communication connection with the plurality of transport robots; the transport robots travel on the bottom sorting area to replace the cargo containers meeting the replacement conditions.

Specifically, the control server 11 is further configured to, when it is determined that there is a first target cargo container (not shown in fig. 3) satisfying the replacement condition among the plurality of cargo containers 1311, assign a container replacement task to a target transport robot among the plurality of transport robots based on the current route tag of the first target cargo container and the delivery position where the first target cargo container is located;

the target transport robot is configured to complete the replacement of the first target cargo container based on the current route tag of the first target cargo container and the delivery location at which the first target cargo container is located in response to the container replacement task.

Specifically, the replacement conditions include: the volume of the currently held goods to be sorted reaches a preset volume threshold value, and/or the preset replacement time of the goods collecting container is reached.

The volume of the goods to be sorted, which are currently contained in the container, reaches a preset volume, can be a maximum storage limit of the container, a sensor can be arranged at the top of the container to acquire the distance value between the goods to be sorted and the top contained in the container in real time, the detected distance value is fed back to the control server, and the control server determines whether the volume of the goods to be sorted, which are currently contained in the container, reaches a preset volume threshold value or not based on the distance value.

The preset replacement time of the cargo container may be preset, and considering that the transportation time limit or the storage time limit corresponding to the goods to be sorted is started when the goods to be sorted is delivered from the cargo container to the collecting and sorting robot, the preset replacement time of the cargo container may be set.

When there is a first target cargo container that satisfies at least one of the above replacement conditions, it may be determined that the first target cargo container reaches the replacement condition, but other replacement conditions may also be set based on a specific usage scenario, and are not limited herein.

For a first target cargo container meeting a replacement condition, the first target cargo container, that is, a cargo to be sorted held by the first target cargo container, needs to be transported to a designated area for classification, for example, based on a current route tag of the first target cargo container, route information of the cargo to be sorted in the first target cargo container may be determined, then the first target cargo container is transported to the designated area corresponding to the route information of the cargo to be sorted, when the first target cargo container is transported to the designated area, an empty cargo container needs to be supplemented at a delivery position where the first target cargo container is located, that is, replacement of the first target cargo container is completed.

Specifically, the replacing process may include various embodiments, such as that the control server designates a target robot to first transport the first target cargo container to a designated area corresponding to the first target cargo container, and then places an empty cargo container at the delivery position of the first target cargo container instead of the original first target cargo container.

Illustratively, in order to improve the replacement efficiency for the first target cargo container, the target transport robot proposed by the present application includes a first target transport robot and a second target transport robot;

the control server is specifically configured to allocate a first container handling task to the first target transport robot and allocate a second container handling task to the second target transport robot based on the current route label of the first target cargo container and the delivery position where the first target cargo container is located;

the first target transportation robot is set to respond to the first container carrying task, drive to a delivery position where the first target cargo container is located and carry the first target cargo container to a target area corresponding to the current path label of the first target cargo container;

the second target transport robot is configured to, in response to the second container handling task, acquire an empty cargo container corresponding to the current lane tag, and transport the empty cargo container to the delivery location where the first target cargo container is located.

When the control server determines that a first target cargo container meeting the replacement condition exists, the control server can simultaneously select two types of target transport robots, which are marked as a first target transport robot and a second target transport robot, wherein the first target transport robot can be controlled to carry out container transportation on the first target cargo container based on the current path label of the first target cargo container and the delivery position where the first target cargo container is located, and simultaneously carry the goods to be sorted contained in the first target cargo container and the second target transport robot can be controlled to carry out container transportation, for example, the two target transport robots can be selected, one of the target robots is controlled to transport the first target cargo container meeting the replacement condition to the target area corresponding to the current path label of the first target cargo container, and the other target robot is controlled to obtain an empty cargo container to transport to the delivery position where the first target cargo container is located Thus, the replacement of the first target cargo container satisfying the replacement condition is completed.

Here accomplish the change to first target collection goods container simultaneously through two kinds of transport robots, can improve the change efficiency to satisfying the first target collection goods container of change condition to further improve the letter sorting to waiting to sort the goods.

Further, in order to improve the sorting efficiency and improve the utilization rate of each layer of sorting area in the multilayer sorting platform, the control server in the sorting system provided by the embodiment of the disclosure is further configured as follows:

Here, each preset duration may be determined according to a duration required when the multilayer sorting platform bears the to-be-sorted goods reaching the limit, for example, taking the multilayer sorting platform as a double-layer sorting platform, where the double-layer sorting platform may sort at most N to-be-sorted goods simultaneously, and then the preset duration may be a duration required for transporting the N to-be-sorted goods to the double-layer sorting platform, specifically, the preset duration may also be adjusted based on a speed at which a transfer station or a logistics warehouse for sorting the goods receives the to-be-sorted goods, for example, a speed at which a certain logistics warehouse receives the to-be-sorted goods is faster, and the preset duration may be set to be a shorter duration, and conversely, the preset duration may be set to be a longer duration.

Taking the goods to be sorted received within any preset time period as an example, in order to improve the utilization rate of each layer of sorting area in the multi-layer sorting platform, the route direction information of the goods to be sorted received within any preset time period may be classified based on the route direction information of the goods to be sorted received within any preset time period, for example, if the goods to be sorted received within any preset time period include the goods to be sorted with destinations of A, B, C and D, the route direction information of the goods to be sorted received within any preset time period is classified into four categories, and meanwhile, the goods to be sorted in different layer of sorting areas have the goods to be sorted corresponding to the same route direction information.

In one embodiment, each layer of sorting area in the multi-layer sorting platform comprises the goods to be sorted corresponding to each type of routing information, that is, each layer of sorting area in the multi-layer sorting platform comprises the goods to be sorted with the destination of A, B, C and D area.

Furthermore, for the goods to be sorted of any kind of way information, according to the number of the goods to be sorted corresponding to any kind of way information and the number of layers of sorting areas included in the multilayer sorting platform, the number of the goods to be sorted corresponding to any kind of way information in each layer of sorting area can be kept the same, and then the number of the goods to be sorted corresponding to any kind of way information in each layer of sorting area is guaranteed to be the same.

For example, taking the goods to be sorted within any preset time length as an example, if the destination of the goods to be sorted in the area a within any preset time length includes 8, the multi-layer sorting platform is a four-layer sorting platform, it can be determined that, of the 8 goods to be sorted, each layer of sorting area is configured with 2 goods to be sorted of the target area a, and when the target sorting area of the 8 goods to be sorted is specifically allocated, the sorting method may further include, starting from the bottom sorting area, sequentially configuring upwards, for example, determining that the target sorting area is the bottom sorting area for the goods to be sorted whose target is the a area, determining that the target sorting area is the first upper sorting area located above the bottom sorting area for the goods to be sorted whose target is the a area, and so on, such that each layer of sorting area is configured with 2 goods to be sorted whose target is the a area.

Of course, the number of the goods to be sorted corresponding to any kind of route information in each layer of sorting area may also be different, for example, 9 goods to be sorted whose destination is the area a in any preset time period may be included, and the multilayer sorting platform is a four-layer sorting platform, so that 2 goods to be sorted whose destination is the area a may be included in the three-layer sorting area, and 1 goods to be sorted whose destination is the area a may be included in the other sorting area.

Or, the goods to be sorted with the destination of the area a in any preset time length contain 3, the multilayer sorting platform is a four-layer sorting platform, so that the number of the goods to be sorted with the destination of the area a in the three-layer sorting area is 1, and the goods to be sorted with the destination of the area a in the other sorting area is not contained.

Further, as shown in fig. 4, the sorting system provided in the embodiment of the present application further includes a conveying device 16, a supply device 17 is further disposed on each layer of sorting area, the supply device 17 is used for placing goods to be sorted, and the conveying device 16 is respectively communicated with the supply device 17 of each layer of sorting area;

the control server 11 is further configured to send the determined information of the target sorting area corresponding to each goods to be sorted to the conveying equipment;

the conveying device 16 is configured to transport the goods to be sorted to the supply devices of the target sorting areas corresponding to the goods to be sorted.

The conveying device can here be a handling robot, by means of which the goods to be sorted are handled to the corresponding sorting area, alternatively, the conveying device may comprise a conveying inlet, two conveying outlets and a conveying member, such as a conveyor belt, connecting the conveying inlet and the two conveying outlets, which may be manually placed into the conveying inlet, the conveyor belt on the conveying device can then transport the goods to be sorted placed at the conveying inlet to the target sorting area corresponding to the goods to be sorted, for example, an identification device can be arranged at the conveying inlet of the conveying device, the identification code corresponding to each goods to be sorted is identified, then, the target sorting area corresponding to the goods to be sorted is based on the identification code sent by the control server, and then the conveying component is controlled to convey the goods to be sorted to the target sorting area.

Here, each layer of sorting area may be provided with a supply device for placing goods to be transported to the layer of sorting area, such as a conveyor belt, and the conveying component conveys the goods to be sorted to the target sorting area corresponding to the goods to be sorted, that is, to the supply device of the target sorting area corresponding to the goods to be sorted, so that the sorting robot in each layer of sorting area can travel to the supply device in the layer of sorting area to sort the goods to be sorted.

The current route label corresponding to the delivery location, or the current route label of the cargo container and the current route label of the delivery bay are mentioned above many times, and the following will describe in detail how to determine the current route label corresponding to the delivery location.

Specifically, the control server is further configured to: determining whether a second target goods collection container to be subjected to route updating label exists in the multiple goods collection containers based on route information corresponding to the goods to be sorted received in the latest preset time and a historical route label of each goods collection container in the multiple goods collection containers;

and when the second target cargo collection container is determined to exist, updating the second target cargo collection container and the historical route labels of the delivery grid corresponding to the second target cargo collection container to obtain the current route label of each cargo collection container in the plurality of cargo collection containers and the current route label of the delivery grid corresponding to each cargo collection container.

Here, the route labels corresponding to the cargo containers in the bottom sorting area in the multi-level sorting platform may be adjustable, specifically, may be adjusted according to a set time interval, or may be adjusted by manually specifying an adjustment time, so that the historical route labels corresponding to the cargo containers in the bottom sorting area may be adjusted, specifically, the destinations corresponding to the received cargos to be sorted may be determined according to the route information corresponding to the respective cargos to be sorted received within a recently preset time period, for example, for a certain logistics transit station, if the cargos to be sorted received within the recent days are all the cargos to be sorted transported to the set cities A, B and C, if the bottom sorting area includes the cargo containers corresponding to the historical route labels of the cities A, B, C and D, then, in order to accelerate the sorting efficiency, the historical route labels of the second target cargo container corresponding to the historical route label D may be updated, at this time, according to the respective corresponding quantities of the goods to be sorted transported to the set cities A, B and C, if the number of the goods to be sorted transported to the city a is the largest, the history path of the second target cargo container may be changed to a.

According to the mode, the historical path of the goods collecting container needing to be subjected to label adjustment can be adjusted to the label based on the path information corresponding to the goods to be sorted and the historical path labels of each goods collecting container in the multiple goods collecting containers, so that the utilization rate of each goods collecting container is ensured.

Since the cargo containers each correspond to one delivery slot, the history path label of the delivery slot corresponding to the cargo container also needs to be updated after the history path label of the cargo container is updated.

The following describes the bottom-level sorting area and the upper-level sorting area in the multi-level sorting platform, respectively, with reference to fig. 5a, 5b, and 5c, and a specific application scenario, as follows:

fig. 5a is a schematic side view of an embodiment of a multi-level sorting platform comprising two levels of sorting areas, namely a bottom level sorting area 131 and an upper level sorting area 132 located in the bottom level sorting area, wherein the bottom level sorting area 131 comprises a container, a sorting robot, a supply device and a reading device (wherein the container, the sorting robot, the supply device and the reading device are not shown in fig. 5 a); the upper sorting zone 132 contains delivery bays, sorting robots, supply devices and reading devices (delivery bays, sorting robots, supply devices and reading devices are not shown in fig. 5 a), a schematic view of the lower sorting zone is shown in fig. 5b, and a schematic view of the upper sorting zone is shown in fig. 5 c.

Fig. 5B shows a bottom floor sorting area 131, on which a cargo container 1311, a sorting robot 12, a material supplying device 17 and a reading device 14 are disposed, wherein the illustrated rail 201 may be a rail on which the sorting robot 12 in the bottom floor sorting area travels when delivering a cargo to be sorted on the material supplying device 17, the illustrated rail 202 may be a rail on which the transporting robot 15 in the bottom floor sorting area travels when transporting a cargo container satisfying a replacement condition, and a zone a, a zone B and a zone C may respectively represent a target area of the cargo to be sorted to the zone a, a target area of the cargo to be sorted to the zone B and a target area of the cargo to be sorted to the zone C.

Fig. 5c is an upper sorting area, the reading device 14 can read the identification code of the goods to be sorted on the supply device 17, then the obtained target delivery position of the goods to be sorted can be sent to the sorting robot 12 for carrying the goods, when the sorting robot travels to the target delivery position, the carrying mechanism for carrying the goods to be sorted can be tilted, so that the carried goods to be sorted are delivered to the delivery slot 1321 located at the target delivery position, and the goods to be sorted delivered to the delivery slot 1321 can fall into the corresponding goods collection container of the delivery slot 1321 in the bottom sorting area.

In addition, the delivery position in each layer of sorting area mentioned in the embodiments of the present disclosure corresponds to the direction information of the goods to be sorted, for example, the delivery position where the delivery cell in the upper layer of sorting area is located corresponds to the direction information of the goods to be sorted, the delivery position where the cargo collection container in the bottom layer of sorting area is located also corresponds to the direction information of the goods to be sorted, and the direction label of the cargo collection container also corresponds to the direction information of the goods to be sorted.

Referring to fig. 6, an embodiment of the present application further provides a sorting method, applied to a control server, for sorting goods to be sorted included in a multi-layer sorting platform, where the multi-layer sorting platform includes a bottom-layer sorting area where a plurality of goods collecting containers are placed, and at least one upper-layer sorting area located above the bottom-layer sorting area, and each upper-layer sorting area is provided with delivery gates corresponding to the plurality of goods collecting containers located in the bottom-layer sorting area, where the sorting method includes the following steps S601 to S602:

s601, acquiring a target sorting area corresponding to each goods to be sorted on the multilayer sorting platform, wherein the target sorting area is a bottom-layer sorting area or an upper-layer sorting area;

s602, controlling a sorting robot on the target sorting area based on the target sorting area corresponding to the goods to be sorted, and delivering the goods to be sorted according to the target delivery position corresponding to the target sorting area;

In a possible implementation manner, before controlling the sorting robot on the target sorting area to deliver the goods to be sorted at the corresponding target delivery positions on the target sorting area, the sorting method provided by the embodiment of the application further includes:

In one possible embodiment, before controlling the sorting robot on the target sorting area to deliver the goods to be sorted at the corresponding target delivery position on the target sorting area, the sorting method further includes:

the method comprises the steps that the current route label corresponding to the delivery position on each layer of the sorting area is sent to a reading device on the layer of the sorting area, the target delivery position corresponding to the goods to be sorted born by the sorting robot on the target sorting area is determined through the reading device based on the acquired route information of the goods to be sorted born by the sorting robot on the target sorting area and the current route label corresponding to the delivery position of the target sorting area, and the target delivery position corresponding to the goods to be sorted born by the sorting robot is sent to the sorting robot on the layer of the sorting area.

In a possible implementation manner, the sorting method provided in an embodiment of the present application further includes:

(1) determining whether there is a first target container satisfying a replacement condition among the plurality of containers;

(2) when determining that a first target cargo container meeting the replacement condition exists, allocating a container replacement task to a target transport robot in the plurality of transport robots based on the current route label of the first target cargo container and the delivery position where the first target cargo container is located, so that the target transport robot completes replacement of the first target cargo container.

In one possible embodiment, the target transport robot includes a first target transport robot and a second target transport robot;

when a container replacement task is allocated to a target transport robot among the plurality of transport robots based on a current route label of a first target cargo container and a delivery location where the first target cargo container is located, the method may include:

distributing a first container carrying task to the first target transport robot based on the current route label of the first target cargo container and the delivery position of the first target cargo container, so that the first target transport robot runs to the delivery position of the first target cargo container, and carries the first target cargo container to a target area corresponding to the current route label of the first target cargo container;

and distributing a second container carrying task to the second target transport robot based on the current route label of the first target cargo container and the delivery position where the first target cargo container is located, so that the second target transport robot acquires the empty cargo container corresponding to the current route label and transports the empty cargo container to the delivery position where the first target cargo container is located.

In one possible embodiment, the replacement condition includes: the volume of the currently held goods to be sorted reaches a preset volume threshold value, and/or the preset replacement time of the goods collecting container is reached.

In a possible implementation manner, the sorting method provided in an embodiment of the present application further includes:

In a possible implementation manner, after determining a target sorting area corresponding to each to-be-sorted goods within the preset time length, the sorting method provided by the embodiment of the present disclosure further includes:

In a possible implementation manner, the sorting method provided in an embodiment of the present application further includes:

(1) determining whether a second target goods collection container to be subjected to route updating label exists in the multiple goods collection containers based on route information corresponding to the goods to be sorted received in the latest preset time and a historical route label of each goods collection container in the multiple goods collection containers;

(2) and when the second target cargo collection container is determined to exist, updating the second target cargo collection container and the historical route labels of the delivery grid corresponding to the second target cargo collection container to obtain the current route label of each cargo collection container in the plurality of cargo collection containers and the current route label of the delivery grid corresponding to each cargo collection container.

It will be understood by those skilled in the art that in the method of the present invention, the order of writing the steps does not imply a strict order of execution and any limitations on the implementation, and the specific order of execution of the steps should be determined by their function and possible inherent logic.

Corresponding to the sorting method in fig. 6, an embodiment of the present application further provides an electronic device 700, as shown in fig. 7, a schematic structural diagram of the electronic device 700 provided in the embodiment of the present application includes:

a processor 71, a memory 72, and a bus 73; the memory 72 is used for storing execution instructions and includes a memory 721 and an external memory 722; the memory 721 is also referred to as an internal memory, and is used for temporarily storing the operation data in the processor 71 and the data exchanged with the external memory 722 such as a hard disk, the processor 71 exchanges data with the external memory 722 through the memory 721, and when the electronic device 700 is operated, the processor 71 and the memory 72 communicate with each other through the bus 73, so that the processor 71 executes the following instructions: acquiring a target sorting area corresponding to each goods to be sorted on the multilayer sorting platform, wherein the target sorting area is a bottom-layer sorting area or an upper-layer sorting area; controlling a sorting robot on the target sorting area based on the target sorting area corresponding to the goods to be sorted, and delivering the goods to be sorted according to the target delivery position corresponding to the target sorting area; the target delivery position corresponding to the bottom sorting area is the delivery position of the target cargo collection container, and the target delivery position corresponding to the upper sorting area is the delivery position of the target delivery grid.

The present application also provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to execute the steps of the sorting method described in the above method embodiments. The storage medium may be a volatile or non-volatile computer-readable storage medium.

The computer program product of the sorting method provided in the embodiment of the present application includes a computer-readable storage medium storing a program code, where instructions included in the program code may be used to execute the steps of the sorting method described in the above method embodiment, which may be specifically referred to in the above method embodiment, and details are not described here again.

The embodiments of the present application also provide a computer program, which when executed by a processor implements any one of the methods of the foregoing embodiments. The computer program product may be embodied in hardware, software or a combination thereof. In an alternative embodiment, the computer program product is embodied in a computer storage medium, and in another alternative embodiment, the computer program product is embodied in a Software product, such as a Software Development Kit (SDK), or the like.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present application, and are used for illustrating the technical solutions of the present application, but not limiting the same, and the scope of the present application is not limited thereto, and although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope disclosed in the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the exemplary embodiments of the present application, and are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

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