TWI798648B - Method and system for aggregating goods according to goods attributes - Google Patents

Method and system for aggregating goods according to goods attributes Download PDF

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TWI798648B
TWI798648B TW110106384A TW110106384A TWI798648B TW I798648 B TWI798648 B TW I798648B TW 110106384 A TW110106384 A TW 110106384A TW 110106384 A TW110106384 A TW 110106384A TW I798648 B TWI798648 B TW I798648B
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goods
box
platform
robot
sorting
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TW202142469A (en
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朱建強
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大陸商浙江立鏢機器人有限公司
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)

Abstract

本發明關於根據貨物屬性集合貨物的方法及系統。該系統包括：底層平台，其邊緣設置有多個導出區；多台運送機器人，其能行駛在底層平台上；箱子，其用於安裝貨物且能由運送機器人運送到預定的地點；頂層平台，架設在底層平台上方，頂層平台設置有導入區，頂層平台下方能穿過運送機器人和箱子；多台分揀機器人，其能在頂層平台上行駛，分揀貨物；多只中轉貨箱，接近頂層平台安裝，中轉貨箱能用於承接從分揀機器人卸載的貨物，能將貨物卸載在預定的箱子內；運送機器人和分揀機器人的定位裝置；貨物識別裝置，能採集貨物的標識訊息；伺服器。The present invention relates to a method and a system for aggregating goods according to their attributes. The system includes: a bottom platform with a plurality of lead-out areas set on its edge; multiple delivery robots, which can drive on the bottom platform; boxes, which are used to install goods and can be transported to predetermined locations by delivery robots; a top platform, It is erected above the bottom platform, and the top platform is equipped with an introduction area, and the delivery robots and boxes can pass through the bottom of the top platform; multiple sorting robots can drive on the top platform to sort goods; multiple transfer boxes, close to Installed on the top platform, the transfer container can be used to accept the goods unloaded from the sorting robot, and the goods can be unloaded in the predetermined box; the positioning device of the delivery robot and the sorting robot; the cargo identification device, which can collect the identification information of the goods ;server.

Description

根據貨物屬性集合貨物的方法及系統Method and system for aggregating goods according to goods attributes

本發明關於一種根據貨物屬性集合貨物的方法及系統。The present invention relates to a method and system for aggregating goods according to their attributes.

一個供應商例如超市有很多貨物在網上出售，客戶在網購過程中，會選擇不同的貨物下單，供應商接到需求後，需要將這些貨物從其貨物倉儲中選出，統一打包，最後發給客戶；相反，當客戶有商品需要退貨時，也需要將這些退貨的貨物從眾多的貨物中選出，統一打包發給相應的供應商，如果全部用人工完成該工作將會顯著增加成本，現有的技術中，已有部分工作可以選用分揀機器人完成，如貨物分揀，儘管分揀機器人代替人工可以獲得成本的降低、效率的提升，但如何進一步提高機器人的分揀量，降低分揀機器人的數量，從而進一步降低成本、提高效率是必須考慮的問題。A supplier such as a supermarket sells a lot of goods online. During the online shopping process, customers will choose different goods to place orders. After receiving the demand, the supplier needs to select these goods from its warehouse, pack them together, and finally send them out. On the contrary, when customers need to return goods, they also need to select these returned goods from many goods, pack them together and send them to the corresponding suppliers. If all the work is done manually, the cost will increase significantly. The existing Among the existing technologies, sorting robots can be used to complete part of the work, such as cargo sorting. Although sorting robots can reduce costs and improve efficiency by replacing manual work, how to further increase the sorting capacity of robots and reduce the number of sorting robots? The number, so as to further reduce costs and improve efficiency must be considered.

本發明根據以上需求，提供了一種根據貨物屬性集合貨物的方法及系統，本方法及系統給出了降低分揀機器人的數量、進一步提高機器人的利用率，從而能提高分揀量、降低成本的技術方案。According to the above requirements, the present invention provides a method and system for collecting goods according to the properties of goods. This method and system provide the solution of reducing the number of sorting robots and further improving the utilization rate of robots, thereby increasing the amount of sorting and reducing costs. Technical solutions.

本發明的技術方案是： 一種根據貨物屬性集合貨物的方法，包括如下步驟： 步驟S1：收集多件貨物，每件貨物具有其屬性，將多件貨物運送至導入區準備分揀； 步驟S2：在導入區提取任意一件貨物，將貨物裝入頂層平台的分揀機器人，分揀裝置在貨物裝入分揀機器人之前或者在貨物裝入分揀機器人之後採集該貨物的標識訊息，並根據該貨物的標識訊息確定該貨物屬性； 步驟S3：由該分揀機器人根據指令將貨物運送至指定的卸貨位置，將貨物卸載在靠近頂層平台的其中一個空閒的中轉貨箱內，該分揀機器人卸貨後行駛至導入區重新裝貨； 步驟S4：如果該貨物為該貨物屬性的第一件貨物，則位於底層平台的運送機器人將靠近所述中轉貨箱的任一空閒箱子運送至靠近所述中轉貨箱的位置，中轉貨箱根據指令能將所述的第一件貨物卸載在所述的箱子內，且由底層平台的運送機器人將所述的箱子和貨物運送到底層平台的空閒位置上，運送機器人能繼續運送其它箱子； 步驟S5：如果該貨物為該貨物屬性的第二件及以後的貨物，則位於底層平台的運送機器人將已裝載有同一貨物屬性的箱子運送至靠近所述中轉貨箱的位置，中轉貨箱能將所述的第二件及以後的貨物卸載在所述的箱子內且由底層平台的運送機器人將所述的箱子和貨物運送到底層平台的空閒位置上，運送機器人能繼續運送其它箱子； 步驟S6：所述步驟S4、步驟S5中，如果該貨物為該貨物屬性的最後一件貨物，則位於底層平台的運送機器人將已裝載該貨物屬性所有貨物的箱子運送至導出區。Technical scheme of the present invention is: A method for aggregating goods according to goods attributes, comprising the following steps: Step S1: Collect multiple pieces of goods, each of which has its own attributes, and transport the multiple pieces of goods to the induction area for sorting; Step S2: Pick up any piece of goods in the lead-in area, load the goods into the sorting robot on the top platform, and the sorting device collects the identification information of the goods before the goods are loaded into the sorting robot or after the goods are loaded into the sorting robot, And determine the attributes of the goods according to the identification information of the goods; Step S3: The sorting robot transports the goods to the designated unloading position according to the instructions, and unloads the goods in one of the free transfer boxes near the top platform. After unloading, the sorting robot drives to the introduction area for reloading ; Step S4: If the cargo is the first cargo of the cargo attribute, the delivery robot on the bottom platform will transport any free box close to the transfer container to a position close to the transfer container, and transfer The cargo box can unload the first item of goods in the box according to the instruction, and the delivery robot on the bottom platform will transport the box and goods to the idle position on the bottom platform, and the delivery robot can continue to transport other items. box; Step S5: If the goods are the second and subsequent goods of the goods attribute, the delivery robot on the bottom platform will transport the boxes loaded with the same goods attributes to a position close to the transfer box, and the goods will be transferred The box can unload the second and subsequent goods in the box and the delivery robot on the bottom platform will transport the box and goods to the free position on the bottom platform, and the delivery robot can continue to transport other boxes ; Step S6: In the steps S4 and S5, if the cargo is the last cargo of the cargo attribute, the delivery robot on the bottom platform transports the boxes loaded with all the cargo of the cargo attribute to the export area.

進一步地，所述貨物屬性包括： 貨物屬於某個客戶、貨物屬於某個貨架、貨物屬於某個供應商、貨物屬於某個快遞投遞區和貨物屬於某個快遞派送員中的至少一項。 顯然，貨物屬性還可以更多，只要滿足貨物能屬於某個載體，可以劃分的即可，這個載體可以是人、物或某個事件等等。 進一步地，在所述導出區把有貨物的箱子連同貨物一起取出； 或者，在所述導出區把箱子內的貨取出，運送機器人把空的箱子運送到底層平台的空閒位置上。Further, the properties of the goods include: The goods belong to a certain customer, the goods belong to a certain shelf, the goods belong to a certain supplier, the goods belong to a certain express delivery area and the goods belong to at least one of a certain express delivery person. Obviously, there can be more attributes of the goods, as long as the goods can belong to a certain carrier and can be divided. This carrier can be a person, an object, or an event, etc. Further, take out the box containing the goods together with the goods in the export area; Or, the goods in the box are taken out in the lead-out area, and the delivery robot transports the empty box to the idle position on the bottom platform.

一種根據貨物屬性集合貨物的系統，包括： 底層平台，其邊緣設置有多個用於貨物的導出區； 運送機器人，設置有多台，其能行駛在底層平台上； 箱子，其用於安裝貨物且能由運送機器人運送到預定的地點； 頂層平台，設置有一個以上且架設在底層平台上方，靠近頂層平台的至少一邊設置有導入區，頂層平台下方能穿過運送機器人和箱子； 分揀機器人，設置有多台，其能在頂層平台上行駛，分揀貨物； 中轉貨箱，設置有多只且接近頂層平台安裝，中轉貨箱能用於承接從分揀機器人卸載的貨物，並適時將貨物卸載在預定的箱子內； 定位裝置，能用於運送機器人和分揀機器人行駛時定位； 貨物識別裝置，其安裝在導入區，能採集貨物的標識訊息； 伺服器，其通過無線連接運送機器人和分揀機器人的控制器，通過有線或無線連接中轉貨箱的中轉貨箱控制器和貨物識別裝置。A system for aggregating goods based on their attributes, including: the bottom platform, the edge of which is provided with several lead-out areas for goods; There are multiple transport robots, which can drive on the bottom platform; Boxes, which are used to install goods and can be transported to predetermined locations by delivery robots; The top platform is provided with more than one and erected above the bottom platform, and at least one side close to the top platform is provided with an introduction area, and the transport robot and boxes can pass through the bottom of the top platform; There are multiple sorting robots, which can drive on the top platform and sort goods; There are multiple transfer boxes installed close to the top platform. The transfer box can be used to accept the goods unloaded from the sorting robot, and unload the goods in the predetermined box in due course; Positioning device, which can be used for positioning when transporting robots and sorting robots; Cargo identification device, which is installed in the lead-in area and can collect the identification information of the goods; The server is connected to the controller of the delivery robot and the sorting robot through wireless, and is connected to the transfer container controller and the cargo identification device of the transfer container through wire or wireless.

進一步地，所述中轉貨箱包括： 盒體，其能用放置所述的貨物； 翻轉馬達，其殼體經支架與所述的頂層平台或底層平台固定、轉軸與盒體固定，翻轉馬達連接所述的中轉控制器且能使盒體翻轉卸載貨物； 或者，所述中轉貨箱包括： 底板，其與所述的頂層平台或底層平台固定； 無底盒，其經支架與底板固定，無底盒的底部設置有滑軌和能沿著滑軌水平方向移動的推拉門； 推桿馬達，其殼體與底板固定、連桿與推拉門固定，推桿馬達與所述的中轉控制器連接，通過控制推拉門的開與合能控制貨物的輸出或儲存； 或者，所述中轉貨箱包括： 無底盒子，其經支撑架與所述的頂層平台或底層平台固定； 圓弧底門，其對稱地設置有兩只摺邊，該兩只扇形摺邊分別經銷軸與無底盒子的兩個側面可轉動固定； 第一齒輪，其與其中一只摺邊固定； 轉動馬達，其殼體與無底盒子的側板固定、轉動軸與第二齒輪固定，第二齒輪與第一齒輪嚙合，轉動馬達與所述的中轉控制器連接，能帶動圓弧底門轉動，從而能將貨物從無底盒子的底部卸載輸出。Further, the transfer container includes: a box body, which can be used to place the goods; Turnover motor, the housing of which is fixed to the top platform or the bottom platform through the bracket, and the rotating shaft is fixed to the box body. The turnover motor is connected to the transfer controller and can turn the box body over to unload the goods; Alternatively, the transfer container includes: a bottom plate, which is fixed to the top platform or the bottom platform; Bottomless box, which is fixed to the bottom plate by brackets, and the bottom of the bottomless box is provided with slide rails and sliding doors that can move horizontally along the slide rails; Push rod motor, its housing is fixed to the bottom plate, the connecting rod is fixed to the sliding door, the push rod motor is connected to the relay controller, and the output or storage of goods can be controlled by controlling the opening and closing of the sliding door; Alternatively, the transfer container includes: A bottomless box, which is fixed to the top platform or the bottom platform via a support frame; The arc bottom door is symmetrically provided with two folded edges, and the two fan-shaped folded edges are rotatably fixed to the two sides of the bottomless box through pin shafts respectively; a first gear fixed to one of the flanges; Rotating motor, its housing is fixed to the side plate of the bottomless box, the rotating shaft is fixed to the second gear, the second gear meshes with the first gear, and the rotating motor is connected to the relay controller, which can drive the arc bottom door to rotate , so that the goods can be unloaded and exported from the bottom of the bottomless box.

作為較佳實施例，所述底層平台上安裝有多個支撑架，支撑架能用於放置所述的箱子，所述的運送機器人能駛入支撑架，通過運送機器人的升舉機構將支撑架上方的箱子舉升後運出，或者，將箱子放置在支撑架上後，獨自駛出。As a preferred embodiment, a plurality of support frames are installed on the bottom platform, the support frames can be used to place the boxes, the delivery robot can drive into the support frames, and the support frames are lifted by the lifting mechanism of the delivery robot. The upper box is lifted and transported out, or the box is placed on the support frame and driven out alone.

作為較佳實施例，所述每只頂層平台的兩端分別設置有所述的導入區，多只頂層平台橫向排列，所述的底層平台豎向設置有多條通道，該多條通道能用於運送機器人行駛，多條通道的兩端均設置有所述打包處。As a preferred embodiment, the two ends of each top platform are respectively provided with the lead-in area, multiple top platforms are arranged horizontally, and the bottom platform is vertically provided with a plurality of passages, which can be used When the transport robot travels, the packing places are provided at both ends of the multiple passages.

進一步地，所述定位裝置包括條碼、二維碼，其黏貼在頂層平台或底層平台上，所述的運送機器人和分揀機器人分別安裝有攝像頭，該攝像頭與運送機器人或分揀機器人的控制器連接。Further, the positioning device includes a barcode and a two-dimensional code, which are pasted on the top platform or the bottom platform, and the delivery robot and the sorting robot are respectively equipped with a camera, and the camera is connected to the controller of the delivery robot or the sorting robot. connect.

進一步地，所述的貨物識別裝置為條碼閱讀器、二維碼閱讀器或RFID標籤閱讀器。Further, the cargo identification device is a barcode reader, a two-dimensional code reader or an RFID tag reader.

本發明通過設置中轉貨箱的方式，使得分機機器人無需等待即可卸貨，同時，運送機器人也可以選擇有空閒的時候運送其它貨物，大大提高了分揀效率，可以減少機器人的數量，降低通道壅堵，初步統計相同工作場地，可以增加分揀量50%以上，系統成本可以減少20%以上。In the present invention, by setting the transfer box, the extension robot can unload the goods without waiting. At the same time, the delivery robot can also choose to transport other goods when it is free, which greatly improves the sorting efficiency, reduces the number of robots, and reduces the passageway. Congestion, according to the preliminary statistics of the same work site, the sorting volume can be increased by more than 50%, and the system cost can be reduced by more than 20%.

本發明具有結構簡單、成本低、分揀效率高的有益效果。The invention has the beneficial effects of simple structure, low cost and high sorting efficiency.

現結合圖式對本發明作進一步的說明：Now in conjunction with the drawings, the present invention will be further described:

如圖所示，一種根據貨物屬性集合貨物的方法，第一實施例如下：As shown in the figure, a method for aggregating goods according to their attributes, the first embodiment is as follows:

一批客戶向某供應商訂購了一批貨物，舉例說有3個客戶需要購貨， A客戶需要微型風扇、B客戶需要牙膏、C客戶需要牙刷和水果，根據訂單先收集一批客戶的多件貨物，此時，A客戶的微型風扇需要由倉管員A到家電的貨物倉儲位置取貨，B客戶的牙膏和C客戶的牙刷需要由倉管員B到日常用品的貨物倉儲位置取貨，C客戶的水果需要由倉管員C到水果的貨物倉儲位置秤重取貨；之後倉管員A、倉管員B、倉管員C分別將各自的貨物運送到同一個或不同的導入區5準備分揀。A group of customers ordered a batch of goods from a certain supplier. For example, there are 3 customers who need to purchase goods. Customer A needs a micro fan, customer B needs toothpaste, and customer C needs toothbrush and fruit. According to the order, first collect a batch of customers. At this time, the warehouse manager A needs to pick up the micro fan of customer A from the storage location of household appliances, and the toothpaste of customer B and the toothbrush of customer C need to be picked up by warehouse manager B from the storage location of daily necessities. , the fruit of customer C needs to be weighed and picked up by the warehouse manager C to the storage location of the fruit; after that, the warehouse manager A, the warehouse manager B, and the warehouse manager C respectively deliver their respective goods to the same or different import Zone 5 is ready for sorting.

接著，由相同或不同的分揀員提取任意一種待分揀的貨物如微型風扇、牙膏和牙刷或水果，用貨物識別裝置如條碼或二維碼閱讀器進行掃描包裝盒或包裝袋上的訊息，從而獲得貨物的名稱、型號、重量、數量和價格等訊息，伺服器根據這些訊息對應的確認這些貨物是A客戶、B客戶和C客戶的；Then, the same or different sorters pick up any kind of goods to be sorted, such as micro fans, toothpaste and toothbrushes or fruits, and use goods identification devices such as barcode or QR code readers to scan the information on the packaging box or bag , so as to obtain information such as the name, model, weight, quantity and price of the goods, and the server confirms that the goods belong to customer A, customer B and customer C according to these information;

假設貨物屬性包括的是貨物屬於某個客戶，分揀員將微型風扇送到例如1號分揀機器人12，伺服器根據數據分析後，控制1號分揀機器人12將微型風扇運送至101號頂層平台地址，將微型風扇卸載在101號中轉貨箱2內，之後，1號分揀機器人12行駛至導入區5重新裝貨，由於有了中轉貨箱2，分揀機器人12卸貨後即可行駛至導入區5重新裝貨，這樣可以大大提高分揀機器人的利用率，減少了通道阻塞，可有效提高分揀量；Assuming that the goods attribute includes that the goods belong to a certain customer, the sorter sends the micro-fan to, for example, the No. 1 sorting robot 12, and the server controls the No. 1 sorting robot 12 to transport the micro-fan to the top floor of No. 101 after analyzing the data. Platform address, the micro fan is unloaded in No. 101 transfer box 2, after that, No. 1 sorting robot 12 travels to the introduction area 5 for reloading, because of the transfer box 2, the sorting robot 12 will immediately It can drive to the lead-in area 5 for reloading, which can greatly improve the utilization rate of the sorting robot, reduce channel blockage, and effectively increase the sorting capacity;

還需要說明的是，機器人智能程度比較高，結構相對複雜，因此，其成本造價都比較高，維護成本也比較高，相對而言中轉貨箱2的成本比較低，因此，整個系統成本上有比較大的下降。It should also be noted that the robot has a relatively high degree of intelligence and a relatively complex structure. Therefore, its cost is relatively high, and its maintenance cost is also relatively high. Relatively speaking, the cost of the transfer container 2 is relatively low. Therefore, the overall system cost There is a relatively large decline.

接著，伺服器控制靠近101號中轉貨箱2的例如101號運送機器人41，從底層平台上將附近的101號箱子運送至接近101號中轉貨箱2， 101號中轉貨箱2將微型風扇卸載在101號箱子內，由於A客戶只有這麼一件貨物，101號運送機器人41直接將101號箱子和微型風扇運送至導出區，將出貨單附上；Then, the server controls, for example, No. 101 delivery robot 41 close to the No. 101 transfer container 2, and transports the nearby No. 101 case to the No. 101 transfer container 2 from the bottom platform, and the No. 101 transfer container 2 will The micro fan is unloaded in the No. 101 box. Since customer A only has such a piece of goods, the No. 101 delivery robot 41 directly transports the No. 101 box and the micro fan to the export area, and attaches the delivery list;

同理，可以將其中一只箱子和B客戶的牙膏運送至導出區；Similarly, one of the boxes and customer B's toothpaste can be delivered to the export area;

當C客戶的牙刷卸載在例如103號箱子內時，C客戶還有水果沒有裝箱，103號運送機器人41先將103號箱子運送至附近的空位上等待，此時，103號運送機器人41如果接收到伺服器的訊息可以運送其它箱子，顯然，103號運送機器人41沒有浪費等待的時間，提高了運送機器人41的利用率；When the toothbrush of customer C is unloaded in the No. 103 box, for example, the customer C still has fruit that has not been packed, and No. 103 delivery robot 41 first transports No. 103 box to a nearby vacancy and waits. At this time, No. 103 delivery robot 41 if After receiving the message from the server, other boxes can be transported. Obviously, the No. 103 transport robot 41 did not waste the waiting time, which improved the utilization rate of the transport robot 41;

當C客戶的水果被其中一個條碼或二維碼閱讀器獲得後，伺服器根據103號箱子的位置，就近將水果分揀到例如109號中轉貨箱2內，就近控制其中的例如109號運送機器人41，將已裝載有牙刷的103號箱子運送至接近109號中轉貨箱2，將水果卸載在103號箱子內，由於C客戶的貨物已全部收集完，109號運送機器人41直接將103號箱子及其內的牙刷和水果經通道42運送至導出區。When the fruit of customer C is obtained by one of the barcode or two-dimensional code readers, the server sorts the fruit into the nearest transfer box 2, such as No. 109, according to the position of No. 103 box, and controls the nearest one, such as No. 109 The delivery robot 41 transports the No. 103 box loaded with toothbrushes to the No. 109 transfer box 2, and unloads the fruit in the No. 103 box. Since all the goods of the C customer have been collected, the No. 109 delivery robot 41 directly transfers the fruit to the No. 109 box. No. 103 box and the toothbrush and fruit in it are transported to the export area through passage 42.

將導出區的貨物打包後送出即可，此時，A客戶微型風扇、B客戶牙膏、C客戶牙刷和水果能通過快遞送出。Just pack the goods in the export area and send them out. At this time, customer A’s micro fan, customer B’s toothpaste, customer C’s toothbrush and fruit can be delivered by express.

第二實施例，假設貨物屬性包括的是貨物屬於某個供應商，舉例說有三個客戶要退貨， A客戶退微型風扇、B客戶退牙膏、C客戶退牙刷和水果，用同樣方法分揀後，可以將微型風扇分揀後退回微型風扇供應商，牙膏牙刷退回牙膏牙刷供應商，水果退回水果供應商，如果牙膏牙刷為同一個供應商，此時，同一個箱子3內可以裝入牙膏牙刷，如果牙膏牙刷為不同的供應商，則通過不同的箱子3運送至導出區。In the second embodiment, assuming that the goods attribute includes that the goods belong to a certain supplier, for example, there are three customers who want to return the goods, A customer returns the micro fan, B customer returns the toothpaste, C customer returns the toothbrush and fruit, after sorting by the same method , the micro fan can be sorted and returned to the micro fan supplier, the toothpaste toothbrush to the toothpaste toothbrush supplier, and the fruit to the fruit supplier. If the toothpaste toothbrush is from the same supplier, at this time, the toothpaste toothbrush can be loaded in the same box 3 , if the toothpaste and toothbrush are from different suppliers, they will be transported to the export area through different boxes 3.

第三實施例，假設貨物屬性包括的是貨物屬於某個貨架，舉例說有微型風扇、牙膏、牙刷和水果要退回到貨架上，用同樣方法分揀後，可以將微型風扇分揀後退回微型風扇貨架，牙膏牙刷退回牙膏牙刷貨架，水果退回水果貨架，此時，有一個箱子3內可以同時裝入牙膏牙刷一起退回到牙膏牙刷貨架。In the third embodiment, assuming that the goods attributes include that the goods belong to a certain shelf, for example, there are micro fans, toothpaste, toothbrushes and fruits to be returned to the shelf. After sorting in the same way, the micro fans can be sorted and returned to the micro The fan shelf, the toothpaste toothbrush are returned to the toothpaste toothbrush shelf, and the fruit is returned to the fruit shelf. At this time, there is a box 3 that can simultaneously load the toothpaste toothbrush and return to the toothpaste toothbrush shelf together.

第四實施例，假設貨物屬性包括的是貨物屬某個快遞投遞區，用同樣方法分揀後，將同一個快遞投遞區的多件貨物集中到同一個箱子3內送出。In the fourth embodiment, assuming that the properties of the goods include that the goods belong to a certain express delivery area, after sorting by the same method, multiple pieces of goods in the same express delivery area are collected into the same box 3 and sent out.

第五實施例，分配給某個快遞派送員的貨物，用同樣方法分揀後，也可以集中到同一個箱子3內送出。In the fifth embodiment, the goods assigned to a certain courier delivery person can also be collected in the same box 3 and sent out after being sorted by the same method.

第六實施例，假設貨物屬性包括的是貨物屬於某個快遞投遞區和某個快遞派送員，用同樣方法分揀後，則滿足該條件的所有貨物可以集中到同一個箱子3內送出。In the sixth embodiment, assuming that the attributes of the goods include that the goods belong to a certain express delivery area and a certain express delivery person, after sorting by the same method, all goods that meet this condition can be collected in the same box 3 and sent out.

為了實現上述方法，一種根據貨物屬性集合貨物的系統，包括： 底層平台，其邊緣設置有多個用於貨物的導出區； 運送機器人41，設置有多台，其能行駛在底層平台上； 箱子3，其用於安裝貨物且能由運送機器人41運送到預定的地點； 頂層平台11，設置有多只且架設在底層平台上方，頂層平台11的至少一邊設置有導入區5； 分揀機器人12，設置有多台，其能在頂層平台11上行駛，分揀貨物； 中轉貨箱2，設置有多只靠近頂層平台11安裝，中轉貨箱2能用於承接從分揀機器人12卸載的貨物，並適時將貨物卸載在預定的箱子3內； 定位裝置，能用於運送機器人41和分揀機器人12行駛時定位； 貨物識別裝置，其安裝在導入區5，能採集貨物的標識訊息，從而能確定貨物的名稱、型號、重量、數量和價格等訊息； 伺服器，其通過無線連接運送機器人41和分揀機器人12的控制器，通過有線或無線連接中轉貨箱2的中轉控制器和貨物識別裝置，伺服器能直接作為需求的下單伺服器，也可以連接下單伺服器，還可以通過三台伺服器共同工作，即第一台伺服器負責頂層平台11相關的設備，第二台伺服器負責底層平台相關的設備，第三台伺服器負責連接第一台伺服器和第二台伺服器，伺服器安裝有軟體，採集訊息且控制各執行部件動作。In order to realize the above method, a system for aggregating goods according to goods attributes includes: the bottom platform, the edge of which is provided with several lead-out areas for goods; Transport robot 41 is provided with multiple units, which can travel on the bottom platform; Box 3, which is used to install goods and can be transported to a predetermined place by a delivery robot 41; The top platform 11 is provided with many and erected above the bottom platform, and at least one side of the top platform 11 is provided with a lead-in area 5; There are multiple sorting robots 12, which can travel on the top platform 11 to sort goods; The transfer container 2 is provided with multiple ones installed close to the top platform 11. The transfer container 2 can be used to accept the goods unloaded from the sorting robot 12, and unload the goods in the predetermined box 3 in due course; The positioning device can be used for positioning when the transport robot 41 and the sorting robot 12 are driving; Cargo identification device, which is installed in the introduction area 5, can collect the identification information of the goods, so as to determine the name, model, weight, quantity and price of the goods; The server is connected to the controller of the delivery robot 41 and the sorting robot 12 by wireless, and is connected to the transfer controller and the cargo identification device of the transfer container 2 by wire or wirelessly, and the server can be directly used as an order server for demand , can also be connected to the order server, and can also work together through three servers, that is, the first server is responsible for the equipment related to the top platform 11, the second server is responsible for the equipment related to the bottom platform, and the third server Responsible for connecting the first server and the second server, the server is installed with software, collects information and controls the action of each execution unit.

需要說明的是，頂層平台11可以是用桌子搭建，也可以是頂層平台11為二樓的樓面，底層平台為一樓的樓面，二樓的樓面開洞後安裝中轉貨箱2。It should be noted that the top platform 11 can be built with a table, or the top platform 11 can be the floor of the second floor, the bottom platform can be the floor of the first floor, and the transfer container 2 can be installed after the floor of the second floor is opened. .

還需要說明的是，定位裝置、運送機器人41、分揀機器人12、貨物識別裝置和伺服器等均為習知技術，具體可參見中國專利CN201620006569.3分揀機器人，201510433995.5包裹分撿系統及方法等等，運送機器人41與分揀機器人12的主要區別在於運送機器人41具有升舉機構能用於提升貨物，而分揀機器人12主要通過翻轉卸載貨物，兩者均能運送貨物。It should also be noted that the positioning device, the delivery robot 41, the sorting robot 12, the cargo identification device and the server are all known technologies. For details, please refer to Chinese patent CN201620006569.3 Sorting robot, 201510433995.5 Parcel sorting system and method Etc. The main difference between the delivery robot 41 and the sorting robot 12 is that the delivery robot 41 has a lifting mechanism that can be used to lift the goods, while the sorting robot 12 mainly unloads the goods by turning over, and both of them can deliver the goods.

進一步地，中轉貨箱2的第一個實施例，其包括： 盒體211，其能用放置所述的貨物； 翻轉馬達210，其殼體經支架212與所述的頂層平台11或底層平台固定、轉軸與盒體211固定，翻轉馬達210連接所述的中轉貨箱控制器且能使盒體212翻轉卸載貨物； 翻轉馬達210可選用伺服馬達或者帶減速器的伺服馬達。Further, the first embodiment of the transfer container 2 includes: Box body 211, which can be used to place the goods; Turnover motor 210, its housing is fixed to the top platform 11 or the bottom platform through the bracket 212, the rotating shaft is fixed to the box body 211, the turnover motor 210 is connected to the transfer container controller and can make the box body 212 turn over and unload goods; The turning motor 210 can be a servo motor or a servo motor with a reducer.

中轉貨箱2的第二個實施例，其包括： 底板222，其與所述的頂層平台11或底層平台固定； 無底盒221，其經支架與底板222固定，無底盒221的底部設置有滑軌和能沿著滑軌水平方向移動的推拉門223； 推桿馬達224，其殼體與底板222固定、連桿與推拉門223固定，推桿馬達224與中轉控制器連接，通過控制推拉門223的開與合能控制貨物的輸出或儲存，推桿馬達224可選用伺服馬達。The second embodiment of the transfer container 2 includes: Bottom plate 222, it is fixed with described top platform 11 or bottom platform; A bottomless box 221, which is fixed to the bottom plate 222 via a bracket, the bottom of the bottomless box 221 is provided with slide rails and a sliding door 223 that can move horizontally along the slide rails; Push rod motor 224, its housing is fixed to the bottom plate 222, the connecting rod is fixed to the sliding door 223, the push rod motor 224 is connected to the relay controller, and the output or storage of goods can be controlled by controlling the opening and closing of the sliding door 223, and the push rod motor 224 is connected to the relay controller. The rod motor 224 can be a servo motor.

中轉貨箱2的第三個實施例，其包括： 無底盒子231，其經支撑架與頂層平台11或底層平台固定； 圓弧底門235，其對稱地設置有兩只摺邊，該兩只扇形摺邊分別經銷軸234與無底盒子231的兩個側面可轉動固定； 第一齒輪233，其與其中一只摺邊固定，第一齒輪233中心聯接銷軸234； 轉動馬達232，其殼體與無底盒子231的側板固定、轉動軸與第二齒輪固定，第二齒輪與第一齒輪233嚙合，轉動馬達232與中轉控制器連接，能帶動圓弧底門235轉動，從而能將貨物從無底盒子231的底部卸載輸出，轉動馬達232可選用伺服馬達或者帶減速器的伺服馬達。The third embodiment of the transfer container 2, which includes: Bottomless box 231, it is fixed with top floor platform 11 or bottom floor platform through support frame; The arc bottom door 235 is symmetrically provided with two flaps, and the two fan-shaped flaps are respectively rotatably fixed through the pin shaft 234 and the two sides of the bottomless box 231; The first gear 233 is fixed to one of the flanges, and the center of the first gear 233 is connected to the pin shaft 234; Rotating motor 232, its housing is fixed to the side plate of the bottomless box 231, the rotating shaft is fixed to the second gear, the second gear meshes with the first gear 233, and the rotating motor 232 is connected to the transfer controller, which can drive the arc bottom door 235 rotates, so that the goods can be unloaded from the bottom of the bottomless box 231, and the rotation motor 232 can be selected from a servo motor or a servo motor with a reducer.

進一步地，底層平台上安裝有多個支撑架7，支撑架7可選U字型，支撑架7能用於放置所述的箱子3，所述的運送機器人41能駛入支撑架7，通過運送機器人41的升舉機構將支撑架7上方的箱子3舉升後運出至預定的位置，或者，將箱子3放置在支撑架7上後，獨自駛出。Further, a plurality of support frames 7 are installed on the bottom platform, and the support frames 7 can be U-shaped, and the support frames 7 can be used to place the boxes 3, and the delivery robot 41 can drive into the support frames 7, and pass through The lifting mechanism of the delivery robot 41 lifts the box 3 above the support frame 7 and transports it out to a predetermined position, or, after placing the box 3 on the support frame 7, drives out independently.

進一步地，每只頂層平台11的兩端分別設置有導入區5，多只頂層平台11橫向排列，底層平台豎向設置有多條通道42，該多條通道42能用於運送機器人41行駛，多條通道的兩端均設置有導出區，顯然，導出區的數量越多效率越高，打包通常藉由人工完成，必要時，一個人可以在不同的導出區打包，導出區設置有出貨單打印設備和打包設備，出貨單打印設備與伺服器連通。Further, the two ends of each top platform 11 are respectively provided with lead-in areas 5, a plurality of top platforms 11 are arranged horizontally, and the bottom platform is vertically provided with a plurality of channels 42, which can be used for transporting the robot 41 to travel, There are export areas at both ends of multiple channels. Obviously, the more the number of export areas, the higher the efficiency. Packing is usually done manually. If necessary, one person can pack in different export areas. The export areas are equipped with shipping orders. The printing device and the packing device, and the shipping list printing device are connected with the server.

作為較佳實施例，定位裝置包括條碼或二維碼，其黏貼在頂層平台11或底層平台上，運送機器人41和分揀機器人12分別安裝有攝像頭，該攝像頭與運送機器人41或分揀機器人12的控制器連接，通過攝像頭能採集條碼或二維碼的訊息，從而能確定運送機器人41和分揀機器人12的位置。As a preferred embodiment, the positioning device includes a barcode or a two-dimensional code, which is pasted on the top platform 11 or the bottom platform, and the delivery robot 41 and the sorting robot 12 are respectively equipped with a camera, which is connected to the delivery robot 41 or the sorting robot 12. The controller is connected, and the information of the barcode or two-dimensional code can be collected through the camera, so that the positions of the delivery robot 41 and the sorting robot 12 can be determined.

作為較佳實施例，貨物識別裝置為條碼閱讀器、二維碼閱讀器或RFID標籤識別裝置。As a preferred embodiment, the cargo identification device is a barcode reader, a two-dimensional code reader or an RFID tag identification device.

11:頂層平台 12:分揀機器人 2:中轉貨箱 210:翻轉馬達 211:盒體 212:支架 221:無底盒 222:底板 223:推拉門 224:推桿馬達 231:無底盒子 232:轉動馬達 233:第一齒輪 234:銷軸 235:圓弧底門 3:箱子 41:運送機器人 42:通道 5:導入區 6:導出區 7:支撑架11: Top platform 12: Sorting robot 2: Transit container 210: Flip motor 211: box body 212: Bracket 221: bottomless box 222: bottom plate 223: sliding door 224: Push rod motor 231: bottomless box 232: Turn the motor 233: first gear 234:pin shaft 235: arc bottom door 3: box 41: Delivery robot 42: channel 5: Lead-in area 6: Export area 7: Support frame

圖1為本發明的整體結構示意圖。Figure 1 is a schematic diagram of the overall structure of the present invention.

圖2為本發明中轉貨箱採用翻轉卸載貨物的結構示意圖。Fig. 2 is a structural schematic diagram of the transfer container of the present invention using flipping to unload goods.

圖3為本發明中轉貨箱採用推桿馬達卸載貨物的結構示意圖。Fig. 3 is a structural schematic diagram of the transfer container of the present invention using a push rod motor to unload goods.

圖4為本發明中轉貨箱採用圓弧底門轉動卸載貨物的結構示意圖。Fig. 4 is a structural schematic diagram of the transfer container of the present invention adopting the arc bottom door to rotate and unload goods.

圖5為本發明箱子由運送機器人升舉後運送貨物的結構示意圖。Fig. 5 is a schematic diagram of the structure of the box transported by the transport robot after the box is lifted by the present invention.

圖6為本發明箱子升舉前的結構示意圖。Fig. 6 is a schematic diagram of the structure of the box before lifting according to the present invention.

2:中轉貨箱2: Transit container

3:箱子3: box

5:導入區5: Lead-in area

6:導出區6: Export area

11:頂層平台11: Top platform

12:分撿機器人12: Sorting robot

41:運送機器人41: Delivery robot

42:通道42: channel

Claims (9)

一種根據貨物屬性集合貨物的方法，包括以下步驟：步驟S1：收集多件貨物，每件貨物具有其屬性，將多件貨物運送至導入區(5)準備分揀；步驟S2：在所述導入區(5)提取任意一件貨物，將所述貨物裝入頂層平台(11)的分揀機器人(12)，分揀裝置在所述貨物裝入所述分揀機器人(12)之前或者在所述貨物裝入所述分揀機器人(12)之後採集所述貨物的標識訊息，並根據所述貨物的所述標識訊息確定貨物屬性；步驟S3：由所述分揀機器人(12)根據指令將所述貨物運送至指定的卸貨位置，將所述貨物卸載在靠近所述頂層平台(11)的其中一個空閒的中轉貨箱(2)內，所述分揀機器人(12)卸貨後行駛至所述導入區(5)重新裝貨；步驟S4：如果所述貨物為所述貨物屬性的第一件貨物，則位於底層平台的運送機器人(41)將靠近所述中轉貨箱(2)的任一空閒箱子(3)運送至靠近所述中轉貨箱(2)的位置，所述中轉貨箱(2)根據所述指令能將所述第一件貨物卸載在所述箱子(3)內，且由所述底層平台的所述運送機器人(41)將所述箱子(3)和所述貨物運送到所述底層平台的空閒位置上，所述運送機器人(41)能繼續運送其它箱子(3)；步驟S5：如果所述貨物為所述貨物屬性的第二件及以後的貨物，則位於所述底層平台的所述運送機器人(41)將已裝載有同一貨物屬性的箱子運送至靠近所述中轉貨箱(2)的位置，所述中轉貨箱(2)能將所述第二件及以後的貨物卸載在所述箱子(3)內且由所述底層平台的所述運送機器人(41)將所述箱子(3)和所述貨物運送到所述底層平台的所述空閒位置上，所述運送機器人(41)能繼續運送其它箱子(3)；步驟S6：所述步驟S4、所述步驟S5中，如果所述貨物為所述貨物屬 性的最後一件貨物，則位於所述底層平台的所述運送機器人(41)將已裝載所述貨物屬性所有貨物的箱子(3)運送至導出區(6)。 A method for assembling goods according to their attributes, comprising the following steps: Step S1: Collect multiple pieces of goods, each of which has its own attributes, and transport the multiple pieces of goods to the introduction area (5) to prepare for sorting; Step S2: In the introduction Area (5) extracts any piece of goods, and loads the goods into the sorting robot (12) of the top platform (11), and the sorting device is before the goods are loaded into the sorting robot (12) or before the sorting robot (12). After the goods are loaded into the sorting robot (12), the identification information of the goods is collected, and the properties of the goods are determined according to the identification information of the goods; Step S3: the sorting robot (12) according to the instruction The goods are transported to the designated unloading position, and the goods are unloaded in one of the idle transfer cargo boxes (2) close to the top platform (11), and the sorting robot (12) travels to The introduction area (5) is reloaded; step S4: if the cargo is the first cargo of the cargo attribute, the delivery robot (41) on the bottom platform will approach the transfer container (2) Any free box (3) in the transfer box (2) is transported to a position close to the transfer box (2), and the transfer box (2) can unload the first piece of goods in the box ( 3), and the box (3) and the goods are transported to the idle position of the bottom platform by the transport robot (41) of the bottom platform, and the transport robot (41) can continue to transport Other boxes (3); step S5: if the goods are the second and subsequent goods of the goods attribute, the delivery robot (41) located on the bottom platform will already be loaded with boxes of the same goods attribute Delivered to a position close to the transfer container (2), the transfer container (2) can unload the second and subsequent items in the box (3) and be transported from the bottom platform The transport robot (41) transports the box (3) and the goods to the idle position on the bottom platform, and the transport robot (41) can continue to transport other boxes (3); step S6 : In the step S4 and the step S5, if the goods belong to the If it is the last piece of goods, the delivery robot (41) located on the bottom platform will deliver the boxes (3) loaded with all the goods of the goods attributes to the export area (6). 如請求項1所述的根據貨物屬性集合貨物的方法，其中，所述貨物屬性包括：所述貨物屬於某個客戶、所述貨物屬於某個貨架、所述貨物屬於某個供應商、所述貨物屬於某個快遞投遞區和所述貨物屬於某個快遞派送員中的至少一項。 The method for collecting goods according to the properties of the goods as described in claim 1, wherein the goods properties include: the goods belong to a certain customer, the goods belong to a certain shelf, the goods belong to a certain supplier, the The goods belong to at least one of a certain express delivery area and the said goods belong to a certain express delivery person. 如請求項1所述的根據貨物屬性集合貨物的方法，其中，在所述導出區(6)把有貨物的箱子連同貨物一起取出；或者在所述導出區(6)把箱子內的貨物取出，所述運送機器人(41)把空的箱子運送到所述底層平台的所述空閒位置上。 The method for collecting goods according to the properties of the goods as described in claim 1, wherein the box with goods is taken out together with the goods in the export area (6); or the goods in the box are taken out in the export area (6) , the transport robot (41) transports the empty box to the idle position on the bottom platform. 一種根據貨物屬性集合貨物的系統，包括：底層平台，其邊緣設置有多個用於貨物的導出區(6)；多台運送機器人(41)，其能行駛在所述底層平台上；箱子(3)，其用於安裝貨物且能由所述多台運送機器人(41)運送到預定的地點；一個以上的頂層平台(11)，其架設在所述底層平台上方，靠近所述頂層平台(11)的至少一邊設置有導入區(5)，所述頂層平台(11)下方能穿過所述多台運送機器人(41)和所述箱子(3)；多台分揀機器人(12)，其能在所述頂層平台(11)上行駛，分揀貨物；多只中轉貨箱(2)，其接近所述頂層平台(11)安裝，所述多只中轉貨箱(2)能用於承接從所述多台分揀機器人(12)卸載的貨物，並適時將貨物卸載在預定的所述箱子(3)內；定位裝置，能用於所述多台運送機器人(41)和所述多台分揀機器人 (12)行駛時定位；貨物識別裝置，其安裝在所述導入區(5)，能採集貨物的標識訊息；伺服器，其通過無線連接所述多台運送機器人(41)和所述多台分揀機器人(12)的控制器，通過有線或無線連接所述多只中轉貨箱(2)的中轉貨箱控制器和所述貨物識別裝置。 A system for collecting goods according to the properties of the goods, comprising: a bottom platform, a plurality of lead-out areas (6) for goods are arranged on its edge; a plurality of delivery robots (41), which can drive on the bottom platform; boxes ( 3) It is used to install goods and can be transported to a predetermined location by the plurality of delivery robots (41); more than one top platform (11), which is erected above the bottom platform, close to the top platform ( At least one side of 11) is provided with an introduction area (5), and the plurality of delivery robots (41) and the boxes (3) can pass under the top platform (11); a plurality of sorting robots (12), It can travel on the top platform (11) to sort goods; multiple transfer containers (2) are installed close to the top platform (11), and the multiple transfer containers (2) can It is used to accept the goods unloaded from the multiple sorting robots (12), and unload the goods in the predetermined box (3) in due course; the positioning device can be used for the multiple delivery robots (41) and The multiple sorting robots (12) Positioning while driving; a cargo identification device, which is installed in the introduction area (5), and can collect identification information of the cargo; a server, which wirelessly connects the multiple delivery robots (41) and the multiple The controller of the sorting robot (12) connects the transfer container controllers of the multiple transfer containers (2) and the cargo identification device by wire or wirelessly. 如請求項4所述的根據貨物屬性集合貨物的系統，其中，所述多只中轉貨箱(2)各包括：盒體(211)，其能用放置所述的貨物；翻轉馬達(210)，其殼體經支架(212)與所述頂層平台(11)或所述底層平台固定、轉軸與所述盒體(211)固定，所述翻轉馬達(210)電連接所述中轉貨箱控制器且能使所述盒體(211)翻轉卸載貨物；或者所述多只中轉貨箱(2)各包括：底板(222)，其與所述頂層平台(11)或所述底層平台固定；無底盒(221)，其經支架與所述底板(222)固定，所述無底盒(221)的底部設置有滑軌和能沿著所述滑軌水平方向移動的推拉門(223)；推桿馬達(224)，其殼體與所述底板(222)固定、連桿與所述推拉門(223)固定，所述推桿馬達(224)與所述中轉貨箱控制器連接，通過控制所述推拉門(223)的開與合能控制貨物的輸出或儲存；或者所述多只中轉貨箱(2)各包括：無底盒子(231)，其經支撑架與所述頂層平台(11)或所述底層平台固定；圓弧底門(235)，其對稱地設置有兩只扇形摺邊，所述兩只扇形摺邊分別經銷軸(234)與所述無底盒子(231)的兩個側面可轉動固定；第一齒輪(233)，其與所述兩只扇形摺邊中的一只固定；轉動馬達(232)，其殼體與所述無底盒子(231)的側板固定、轉動 軸與第二齒輪固定，所述第二齒輪與所述第一齒輪(233)嚙合，所述轉動馬達(232)與所述中轉貨箱控制器連接，能帶動所述圓弧底門(235)轉動，從而能將貨物從所述無底盒子(231)的底部卸載輸出。 The system for collecting goods according to the properties of the goods as described in claim 4, wherein each of the multiple transfer boxes (2) includes: a box body (211), which can be used to place the goods; a turning motor (210 ), its casing is fixed to the top platform (11) or the bottom platform via a bracket (212), the rotating shaft is fixed to the box body (211), and the turning motor (210) is electrically connected to the transit cargo box controller and can make the box body (211) turn over to unload the goods; or each of the multiple transfer boxes (2) includes: a bottom plate (222), which is connected to the top platform (11) or the bottom floor The platform is fixed; the bottomless box (221) is fixed to the base plate (222) via a bracket, and the bottom of the bottomless box (221) is provided with slide rails and sliding doors that can move horizontally along the slide rails (223); the push rod motor (224), its housing is fixed to the base plate (222), the connecting rod is fixed to the sliding door (223), and the push rod motor (224) is connected to the transfer container The controller is connected to control the output or storage of goods by controlling the opening and closing of the sliding door (223); or each of the multiple transfer boxes (2) includes: a bottomless box (231), which is supported The frame is fixed with the top platform (11) or the bottom platform; the arc bottom door (235) is symmetrically provided with two fan-shaped folds, and the two fan-shaped folds are respectively connected with the pin shaft (234) The two sides of the bottomless box (231) are rotatably fixed; the first gear (233), which is fixed to one of the two fan-shaped folds; the rotating motor (232), whose housing is connected to the bottomless box The side plate of the bottom box (231) is fixed and rotated The shaft is fixed with the second gear, the second gear is meshed with the first gear (233), the rotating motor (232) is connected with the transfer container controller, and can drive the arc bottom door ( 235) to rotate, so that the goods can be unloaded and exported from the bottom of the bottomless box (231). 如請求項4所述的根據貨物屬性集合貨物的系統，其中，所述底層平台上安裝有多個支撑架(7)，所述多個支撑架(7)能用於放置所述箱子(3)，所述多台運送機器人(41)能駛入所述多個支撑架(7)，通過所述多台運送機器人(41)的升舉機構將所述多個支撑架(7)上方的所述箱子(3)舉升後運出，或者，將所述箱子(3)放置在所述支撑架(7)上後，獨自駛出。 The system for collecting goods according to the properties of the goods as described in claim 4, wherein a plurality of support frames (7) are installed on the bottom platform, and the plurality of support frames (7) can be used to place the boxes (3 ), the multiple transport robots (41) can drive into the multiple support frames (7), and the multiple support frames (7) above the The box (3) is lifted and transported out, or, after the box (3) is placed on the support frame (7), it is driven out independently. 如請求項4至6中任一項所述的根據貨物屬性集合貨物的系統，其中，每只所述頂層平台(11)的兩端分別設置有所述導入區(5)，多只所述頂層平台(11)橫向排列，所述底層平台豎向設置有多條通道(42)，所述多條通道(42)能用於所述多台運送機器人(41)行駛，所述多條通道(42)的兩端均設置有所述的導出區(6)。 The system for collecting goods according to the properties of goods according to any one of claim items 4 to 6, wherein, the two ends of each top platform (11) are respectively provided with the introduction area (5), and a plurality of the The top platform (11) is arranged horizontally, and the bottom platform is vertically provided with a plurality of passages (42), and the plurality of passages (42) can be used for the driving of the plurality of delivery robots (41), and the plurality of passages Both ends of (42) are provided with the lead-out area (6). 如請求項4至6中任一項所述的根據貨物屬性集合貨物的系統，其中，所述定位裝置包括條碼、二維碼，其黏貼在所述頂層平台(11)或所述底層平台上，所述多台運送機器人(41)和所述多台分揀機器人(12)分別安裝有攝像頭，所述攝像頭與所述多台運送機器人(41)或所述多台分揀機器人(12)的控制器連接。 The system for collecting goods according to the properties of the goods according to any one of claim items 4 to 6, wherein the positioning device includes a barcode or a two-dimensional code, which is pasted on the top platform (11) or the bottom platform , the multiple delivery robots (41) and the multiple sorting robots (12) are equipped with cameras respectively, and the camera is connected with the multiple delivery robots (41) or the multiple sorting robots (12) controller connection. 如請求項4至6中任一項所述的根據貨物屬性集合貨物的系統，其中，所述貨物識別裝置為條碼閱讀器、二維碼閱讀器或RFID標籤閱讀器。The system for aggregating goods according to the properties of the goods according to any one of claims 4 to 6, wherein the goods identification device is a barcode reader, a two-dimensional code reader or an RFID tag reader.
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