Three-dimensional sorting control method, three-dimensional sorting robot, and related device

1 . A three-dimensional sorting control method, used for a three-dimensional sorting system, wherein the system comprises multiple three-dimensional sorting robots and sorting shelves, and the three-dimensional sorting control method comprises:

enabling the three-dimensional sorting robots to have a binding relationship with identity information of target sorting shelves, wherein the binding relationship is associated with a target order; under a sorting task of the target order, the three-dimensional sorting robots sorting, according to the identity information of the sorting shelves, goods to be sorted;

when a first three-dimensional sorting robot has a fault, unbinding the first three-dimensional sorting robot and the target sorting shelves;

acquiring state information of other three-dimensional sorting robots; and when the state information indicates that a second three-dimensional sorting robot is in an available and idle state,

rebinding the second three-dimensional sorting robot with the target sorting shelves;

wherein enabling the three-dimensional sorting robots to have the binding relationship with the identity information of the target sorting shelves comprises:

reading labels arranged on the target sorting shelves to obtain the identity information, wherein the labels carry structural data of the sorting shelves and location information of basket units, wherein

the structural data of the sorting shelves indicates a longitudinal and transverse structure of the sorting shelves and information about available baskets; and

the location information of the basket units indicates positions of the basket units in a coordinate system formed by the sorting shelves;

the three-dimensional sorting system further comprises one or more platform sorting robots, wherein the platform sorting robots perform a goods delivery to the first three-dimensional sorting robot based on the target order; and

when the first three-dimensional sorting robot has a fault, the method further comprises:

controlling the platform sorting robots to abandon the goods delivery to the first three-dimensional sorting robot;

determining that the target order is re-associated with a rebinding relationship between the second three-dimensional sorting robot and the target sorting shelves; and

controlling the platform sorting robots to initiate a goods delivery to the second three-dimensional sorting robot based on the target order.

2 . The three-dimensional sorting control method according to claim 1 , wherein the step of acquiring state information of other three-dimensional sorting robots comprises:

determining operational state information and health state information of the multiple three-dimensional sorting robots, wherein the operational state information comprises the idle state, an in-use state, and a standby state; and the health state information comprises a fault state, an available state, and a test state;

determining that the operational state information of a three-dimensional sorting robot is the idle state, and the health state information is the available state, using the three-dimensional sorting robot as an alternative robot for the second three-dimensional sorting robot; and

selecting an optimal robot from multiple alternative three-dimensional sorting robots to serve as the second three-dimensional sorting robot.

3 . The three-dimensional sorting control method according to claim 1 , wherein after rebinding the second three-dimensional sorting robot with the target sorting shelves, the three-dimensional sorting control method further comprises:

acquiring a sorting state when the first three-dimensional sorting robot has a fault, wherein the sorting state comprises incomplete sorting of the target sorting shelves and incomplete unloading of baskets of the target sorting shelves;

when the target sorting shelves are not completely sorted, binding the second three-dimensional sorting robot with the target sorting shelves; and

when the unloading of the baskets of the target sorting shelves is not completed, placing goods with incomplete unloading onto the second three-dimensional sorting robot.

4 . The three-dimensional sorting control method according to claim 1 , wherein the step of controlling the platform sorting robots to abandon the goods delivery to the first three-dimensional sorting robot comprises:

the platform sorting robots responding to a fault signal of the first three-dimensional sorting robot acquired by a platform dispatch system;

the platform sorting robots pausing the goods delivery to the first three-dimensional sorting robot; and

the platform sorting robots moving along a predetermined path until a binding between the second three-dimensional sorting robot and the target sorting shelves is completed.

5 . The three-dimensional sorting control method according to claim 1 , wherein the identity information of the target sorting shelves is realized by the three-dimensional sorting robots using RFID readers.

6 . The three-dimensional sorting control method according to claim 1 , wherein the step of the three-dimensional sorting robots sorting, according to the identity information of the sorting shelves, goods to be sorted comprises:

parsing sorting information of the goods to be sorted, wherein the sorting information carries a corresponding relationship with a basket unit in the sorting shelves;

searching a corresponding relationship table to obtain coordinate values of the basket unit in a three-dimensional coordinate system formed by the sorting shelves; and

indexing the coordinate values and locating the basket unit, to deliver the goods to be sorted to the basket unit.

7 . The three-dimensional sorting control method according to claim 1 , wherein the three-dimensional sorting system further comprises a control bus, and the step of acquiring state information of other three-dimensional sorting robots comprises:

acquiring state information of other three-dimensional sorting robots on the control bus.

8 . A three-dimensional sorting control system, wherein the three-dimensional sorting control system is configured in the three-dimensional sorting system; and

the three-dimensional sorting control system executes the three-dimensional sorting control method according to claim 1 .

9 . The three-dimensional sorting control system according to claim 8 , wherein the system implements the execution of the three-dimensional sorting control method through a server in the three-dimensional sorting control system.

10 . The three-dimensional sorting control system according to claim 8 , wherein the three-dimensional sorting control system is provided with a host computer or central controller to allocate sorting tasks to the three-dimensional sorting robot.

11 . A three-dimensional sorting system, wherein a first three-dimensional sorting robot and a second three-dimensional sorting robot are configured in the three-dimensional sorting system and the first three-dimensional sorting robot has a binding relationship with identity information of target sorting shelves, and the binding relationship is associated with a target order; under a sorting task of the target order, the first three-dimensional sorting robot sorts, according to the identity information of the sorting shelves, goods to be sorted;

when the first three-dimensional sorting robot has a fault, the first three-dimensional sorting robot unbinds with the target sorting shelves;

a server acquires state information of other three-dimensional sorting robots; and

when the state information indicates that the second three-dimensional sorting robot is in an available and idle state, the second three-dimensional sorting robot rebinds with the target sorting shelves;

wherein the three-dimensional sorting robots having the binding relationship with the identity information of the target sorting shelves comprises:

reading labels arranged on the target sorting shelves to obtain the identity information, wherein the labels carry structural data of the sorting shelves and location information of basket units, wherein

the structural data of the sorting shelves indicates a longitudinal and transverse structure of the sorting shelves and information about available baskets; and

the location information of the basket units indicates positions of the basket units in a coordinate system formed by the sorting shelves;

the three-dimensional sorting system comprises one or more platform sorting robots, wherein the platform sorting robots perform a goods delivery to the first three-dimensional sorting robot based on the target order;

when the first three-dimensional sorting robot has a fault, the platform sorting robots abandon the goods delivery to the first three-dimensional sorting robot and periodically interrogate a state of the target order; and

when the target order is re-associated with a rebinding relationship between the second three-dimensional sorting robot and the target sorting shelves, the second three-dimensional sorting robot accepts the goods delivery from the platform sorting robots based on the target order.

12 . The three-dimensional sorting system according to claim 11 , wherein

operational state information and health state information of multiple three-dimensional sorting robots are determined, wherein the operational state information comprises the idle state, an in-use state, and a standby state; the health state information comprises a fault state, an available state, and a test state;

when the operational state information of a three-dimensional sorting robot is the idle state and the health state information is the available state, the three-dimensional sorting robot is used as an alternative robot for the second three-dimensional sorting robot; and

a predetermined rule is used to select an optimal robot from multiple alternative three-dimensional sorting robots to serve as the second stereoscopic three-dimensional sorting robot.

13 . The three-dimensional sorting system according to claim 11 , wherein the identity information of the target sorting shelves is realized by the three-dimensional sorting robot using RFID readers.

14 . The three-dimensional sorting system according to claim 11 , wherein the three-dimensional sorting robot is arranged in the three-dimensional sorting system via a bus structure.