Goods sorting system and method, and robot

1 . A goods sorting system, comprising:

a sorting robot;

a bin transport robot;

a sorting and storage area, wherein the sorting and storage area is provided with at least one shelf; wherein the shelf comprises at least one storage position, with the storage position being configured for storing a bin; wherein the shelf comprises a first storage area and a second storage area, with the first storage area being provided with a sorting and storage position; and

a control server, wherein the control server is configured to determine, based on sorted goods information, a target sorting and storage position in the first storage area which is configured to store sorted goods, dispatch the sorting robot to complete a sorting task to deliver the sorted goods into a bin corresponding to the target sorting and storage position, and in a case that the sorting task for a bin in the first storage area of the shelf has been completed, dispatch the bin transport robot to transport the bin in the first storage area for which the sorting task has been completed to an empty storage position in the second storage area of the shelf,

wherein the sorted goods comprise goods to be picked; the goods sorting system further comprises an item supply mechanism;

wherein the control server is further configured to determine initial position information of the goods to be picked based on sorted goods information of the goods to be picked, dispatch the bin transport robot to transport a bin containing the goods to be picked to the item supply mechanism based on the initial position information, and dispatch the item supply mechanism to place the goods to be picked onto the sorting robot;

wherein the initial position information comprises at least one of the following: position information of a storage position in the second storage area or an area other than the sorting and storage area.

2 . The goods sorting system according to claim 1 , wherein the control server is further configured to, in a case that bin replenishment is determined for an empty sorting and storage position in the first storage area, dispatch the bin transport robot to transport an empty bin from the second storage area to the empty sorting and storage position in the first storage area for which bin replenishment is determined.

3 . The goods sorting system according to claim 1 , wherein the control server is further configured to, in a case that a bin outside the shelf needs to undergo a shelving operation, dispatch the bin transport robot to transport the bin outside the shelf to an empty storage position in the second storage area.

4 . The goods sorting system according to claim 1 , wherein the control server is further configured to, in a case that a bin in the shelf is determined to be removed from the shelf, dispatch the bin transport robot to transport the bin to be removed from the shelf to a position outside the shelf.

5 . The goods sorting system according to claim 4 , wherein the bin to be removed from the shelf contains goods to be destroyed; the bin to be removed from the shelf is located at a storage position in the second storage area; and

wherein the control server is configured to, in a case that the goods to be destroyed is determined to be destroyed, determine position information of the bin to be removed from the shelf in which the goods to be destroyed are located, and dispatch the bin transport robot to transport the bin to be removed from the shelf to a storage areas other than the sorting and storage area based on the position information of the bin to be removed from the shelf.

6 . The goods sorting system according to claim 4 , wherein the bin to be removed from the shelf comprises a bin on the shelf that is to be dispatched from a warehouse.

7 . The goods sorting system according to claim 1 , wherein the sorted goods comprise goods to be returned; and

wherein the control server is configured to determine, based on sorted goods information of the goods to be returned and actual occupancy information of sorting and storage positions in the first storage area, a target sorting and storage position in the first storage area where the goods to be returned are to be stored, and dispatch the sorting robot to deliver the goods to be returned into a bin corresponding to the target sorting and storage position.

8 . The goods sorting system according to claim 1 , wherein the control server is further configured to:

after determining the target sorting and storage position, determine, in a case that no bin is placed at the target sorting and storage position, position information of an empty bin in the second storage area, and dispatch the bin transport robot to transport the empty bin from the second storage area to the target sorting and storage position based on the position information of the empty bin in the second storage area.

9 . The goods sorting system according to claim 1 , wherein the first storage area comprises a bottommost storage area of the shelf; and the second storage area comprises a storage area other than the bottommost storage area of the shelf.

10 . A goods sorting method, applied to the control server of the goods sorting system according to claim 1 , the goods sorting method comprising:

determining, based on sorted goods information, the target sorting and storage position which is configured to store sorted goods;

dispatching the sorting robot to deliver the sorted goods into the bin corresponding to the target sorting and storage position; and

in a case that the sorting task for a bin in the first storage area of the shelf has been completed, dispatching the bin transport robot to transport the bin in the first storage area for which the sorting task has been completed to the empty storage position in the second storage area;

wherein the sorted goods comprise goods to be picked; the goods sorting system further comprises an item supply mechanism; and

before determining the target sorting and storage position in the first storage area where the sorted goods are to be stored based on sorted goods information, the goods sorting method further comprises:

determining initial position information of the goods to be picked based on sorted goods information of the goods to be picked;

dispatching the bin transport robot to transport a bin containing the goods to be picked to the item supply mechanism based on the initial position information; and

dispatching the item supply mechanism to place the goods to be picked onto the sorting robot,

wherein the initial position information comprises one or more of position information of a storage position in the second storage area and an area other than the sorting and storage area.

11 . The goods sorting method according to claim 10 , wherein the goods sorting method further comprises:

in a case that bin replenishment is determined for an empty sorting and storage position in the first storage area, dispatching the bin transport robot to transport an empty bin from the second storage area to the empty sorting and storage position in the first storage area;

in a case that a bin outside the shelf needs to undergo a shelving operation, dispatching the bin transport robot to transport the bin outside the shelf to an empty storage position in the second storage area;

dispatching the bin transport robot to transport the bin to be removed from the shelf to a position outside the shelf in a case that it is determined that a bin to be removed from the shelf exists in the shelf.

12 . The goods sorting method according to claim 11 , wherein the bin to be removed from the shelf contains goods to be destroyed; the bin to be removed from the shelf is located at a storage position in the second storage area; and

the dispatching the bin transport robot to transport the bin to be removed from the shelf to the position outside the shelf in a case that it is determined that the bin to be removed from the shelf exists in the shelf comprises:

in a case that the goods to be destroyed is determined to be destroyed, determining position information of the bin to be removed from the shelf in which the goods to be destroyed are located; and

dispatching the bin transport robot to transport the bin to be removed from the shelf to a storage area other than the sorting and storage area based on the position information of the bin to be removed from the shelf.

13 . The goods sorting method according to claim 11 , wherein the bin to be removed from the shelf comprises a bin on the shelf that is to be dispatched from a warehouse.

14 . The goods sorting method according to claim 10 , wherein the sorted goods comprise goods to be returned; and the goods sorting method comprises:

determining, based on sorted goods information of the goods to be returned and actual occupancy information of sorting and storage positions in the first storage area, a target sorting and storage position in the first storage area where the goods to be returned are to be stored; and

dispatching the sorting robot to deliver the goods to be returned into a bin corresponding to the target sorting and storage position.

15 . The goods sorting method according to claim 10 , wherein the goods sorting method further comprises:

after determining the target sorting and storage position, determining, in a case that no bin is placed at the target sorting and storage position, position information of an empty bin in the second storage area; and

dispatching the bin transport robot to transport the empty bin from the second storage area to the target sorting and storage position based on the position information of the empty bin in the second storage area.

16 . The goods sorting method according to claim 10 , wherein the first storage area comprises a bottommost storage area of the shelf; and the second storage area comprises a storage area other than the bottommost storage area of the shelf.

17 . A non-transitory computer-readable storage medium storing computer-readable instructions, wherein when the instructions in the storage medium are executed by a processor, the goods sorting method according to claim 10 is implemented.

18 . A goods sorting system, comprising:

a sorting robot;

a bin transport robot;

a sorting and storage area, wherein the sorting and storage area is provided with at least one shelf; wherein the shelf comprises at least one storage position, with the storage position being configured for storing a bin; wherein the shelf comprises a first storage area and a second storage area, with the first storage area being provided with a sorting and storage position; wherein the second storage area comprises other storage layers except the first storage area on the shelf, and storage positions in the second storage area are configured to store bins and/or sorted goods that have completed the sorting task; and

a control server, wherein the control server is configured to: determine, based on sorted goods information, a target sorting and storage position in the first storage area which is configured to store sorted goods; after determining the target sorting and storage position, determine, in a case that no bin is placed at the target sorting and storage position, position information of an empty bin in the second storage area; dispatch the bin transport robot to transport the empty bin from the second storage area to the target sorting and storage position based on the position information of the empty bin in the second storage area; and in a case that the sorting task for a bin in the first storage area of the shelf has been completed, dispatch the bin transport robot to transport the bin in the first storage area for which the sorting task has been completed to an empty storage position in the second storage area of the shelf.