CN106843201B - Automatic guided vehicle and method for picking items with an automatic guided vehicle - Google Patents
Automatic guided vehicle and method for picking items with an automatic guided vehicle Download PDFInfo
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- CN106843201B CN106843201B CN201611127103.XA CN201611127103A CN106843201B CN 106843201 B CN106843201 B CN 106843201B CN 201611127103 A CN201611127103 A CN 201611127103A CN 106843201 B CN106843201 B CN 106843201B
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- 238000012790 confirmation Methods 0.000 claims abstract description 17
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- 238000004891 communication Methods 0.000 description 6
- 238000004590 computer program Methods 0.000 description 4
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention provides a method for picking items with an automated guided vehicle, comprising: the main control machine drives the guide vehicle to move to a picking position according to the optimal picking path; displaying, by the display, information of one or more items to be picked when the lead vehicle reaches the picking location; prompting, by one or more prompts, a compartment of the plurality of compartments corresponding to the one or more items to pick and a quantity of items to be placed in the respective compartment; the main control computer receives confirmation signals corresponding to one or more items to be picked through one or more prompters; the main control computer determines whether the picking position is the last picking position in the optimal picking path, if so, the picking process is ended, and if not, the guiding vehicle is continuously driven to move to the next picking position and the displaying step, the prompting step, the receiving step and the determining step are repeated until the last picking position is reached.
Description
Technical Field
The present disclosure relates generally to the field of item picking and, more particularly, to an automated guided vehicle and a method for picking items with an automated guided vehicle.
Background
In the order rechecking process of the e-commerce warehouse, firstly, an aggregate order needs to be generated, namely orders in a certain relation are aggregated to form a picking task, and certain path optimization needs to be carried out on the aggregate order, so that the path of the picking worker is shortest; then, the picking staff needs to push the trolley to the storehouse to pick the goods according to the requirements of the order collection; and finally, after the collection order is selected, the order picker pushes the trolley to a rechecking table to carry out order sowing, namely, the rechecking personnel puts the commodities corresponding to the order into the corresponding order grids according to the requirements of the order to recheck the order.
However, the order picker needs to complete picking of the collected orders and then push the trolley to the rechecking table for rechecking, i.e. two operations are needed, and the implementation mode is complicated. Therefore, there is a need for a method and apparatus that combines the two processes of picking and reviewing together to accomplish both tasks at once.
Disclosure of Invention
To achieve the above object, in a first aspect of the present invention, there is disclosed a method for picking items with an automatic guided vehicle comprising a main control, a guided vehicle, a display and a plurality of compartments, wherein each compartment is provided with a reminder, the method comprising:
the main control machine drives the guide vehicle to move to a picking position according to the optimal picking path;
displaying, by the display, information of one or more items to be picked when the lead vehicle reaches the picking location;
prompting, by one or more prompts, a compartment of the plurality of compartments corresponding to the one or more items to pick and a quantity of items to be placed in the respective compartment;
the master control machine receives confirmation signals corresponding to one or more items to be picked through the one or more prompters;
the host computer determines whether the picking position is the last picking position in the optimal picking path, if so, ends the picking process, if not, continues to drive the guided vehicle to the next picking position and repeats the displaying step, the prompting step, the receiving step and the determining step until the last picking position is reached.
Preferably, prompting, by one or more prompts, a compartment of the plurality of compartments corresponding to the one or more items to pick and a number of items to be placed in the respective compartment further comprises:
obtaining, by a code scanner in the automated guided vehicle, information indicative of one of at least one set to which the one or more items belong;
prompting the number of goods to be put in the goods shelves corresponding to the one set and the corresponding goods shelves in the plurality of goods shelves through one or more prompting devices according to the information of the one set; and
and the main control computer determines whether the picking of all the aggregated items to which the one or more items belong is finished, if so, the prompter is caused to end the prompting process, otherwise, the acquiring step, the prompting step and the determining step are continued until the picking of all the aggregated items is finished.
Preferably, the prompter also prompts the name of the article to be put in the corresponding compartment.
Preferably, the information displayed by the display includes one or more of a name, picture, location in the shelf, and quantity of items to be picked.
Preferably, the master control computer receiving confirmation signals corresponding to one or more items to be picked via the one or more prompters comprises:
the master controller receives a confirmation signal of the same number of bays corresponding to the one or more items to be picked.
Preferably, the main control computer drives the guiding vehicle to travel to the picking position according to the optimal picking path, and the main control computer comprises:
a scanner in the automated guided vehicle scans the two-dimensional code on the roadway to determine arrival at the picking location.
Preferably, the method further comprises:
the main control computer communicates with the upper computer through WIFI to obtain information of one or more articles to be picked, a compartment corresponding to the one or more articles to be picked in the plurality of compartments and the number of articles to be put in the corresponding compartment;
the master control machine sending the obtained information of the one or more items to be picked to the display; and
and the main control computer sends the compartment corresponding to one or more items to be picked in the plurality of compartments and the quantity of the items to be put in the corresponding compartment to the prompter.
Preferably, the main control computer communicates with the display and the prompter through an RS485 protocol.
In a second aspect of the invention, an automatic guided vehicle is disclosed, comprising a main control computer, a guided vehicle, a display and a plurality of cargo compartments, each provided with a prompter, wherein,
the master control machine is configured to drive the lead vehicle to travel to a picking position according to a best picking path, receive confirmation signals corresponding to one or more items to be picked through one or more prompters, and determine whether the picking position is a last picking position in the best picking path, if so, end a picking process, and if not, continue to drive the lead vehicle to travel to a next picking position;
the display is configured to display information of one or more items to be picked when the lead vehicle arrives at the picking location; and
the prompter is configured to prompt a compartment of the plurality of compartments corresponding to one or more items to be picked and a quantity of items to be placed in the respective compartment when the lead vehicle reaches the picking location.
Preferably, the automatic guided vehicle further comprises: a code scanner configured to: obtaining information indicating one of at least one set to which the one or more items belong; wherein the content of the first and second substances,
the prompter is further configured to prompt the cargo bay corresponding to the set in the plurality of cargo bays and the quantity of articles to be put in the corresponding cargo bay according to the information when the information of the set is acquired by the code scanner; and
the host is further configured to determine whether picking of items of all sets to which the one or more items belong is complete, and if so, to cause the prompter to end the prompting process, otherwise to continue to cause the scanner to acquire information of another of the at least one set.
Preferably, the prompter is further configured to: and prompting the name of the article to be put in the corresponding compartment.
Preferably, the prompter comprises:
the prompting lamp is configured to be turned on when the goods compartment where the prompter is located needs to be provided with goods;
a group of nixie tubes configured to display the number of items to be placed in the compartment where the prompter is located and/or names of items to be placed in the corresponding compartment; and
a button configured to receive an acknowledgement signal.
Preferably, the information displayed by the display includes one or more of a name, picture, location in the shelf, and quantity of items to be picked.
Preferably, the master controller is further configured to: an acknowledgement signal is received of the same number as the number of bays corresponding to the one or more items to be picked.
Preferably, the automatic guided vehicle further comprises: a scanner configured to scan a two-dimensional code on a roadway surface to determine arrival at the picking position.
Preferably, the master controller is further configured to:
communicating with an upper computer via WIFI to obtain information of one or more items to be picked, a compartment of the compartments corresponding to the one or more items to be picked, and a quantity of items to be placed in the respective compartment;
sending the obtained information for the one or more items to pick to the display; and
sending, to the prompter, a compartment of the plurality of compartments corresponding to the one or more items to pick and a quantity of items to be placed in the respective compartment.
Preferably, the main control computer communicates with the display and the prompter through an RS485 protocol.
In the scheme provided by the invention, the goods picker uses the automatic guiding vehicle to pick goods, so that the picking process and the rechecking process are combined together, and the purpose of completing two tasks at one time is realized.
Drawings
Other details, aspects, and advantages of the disclosure will become apparent from the following description of exemplary embodiments, taken in conjunction with the accompanying exemplary drawings, in which:
FIG. 1 shows a schematic diagram of the internal structure of a warehouse according to an embodiment of the invention;
FIG. 2 shows a schematic view of an automatic guided vehicle according to an embodiment of the invention;
FIG. 3 shows a schematic structural diagram of an automatic guided vehicle according to an embodiment of the invention;
FIG. 4 illustrates a flow diagram of a method for picking items with an automated guided vehicle according to an embodiment of the invention; and
FIG. 5 shows a schematic diagram of a system for picking items with an automated guided vehicle, according to an embodiment of the invention.
The figures do not show all of the circuitry or structures of the embodiments. The same reference numbers will be used throughout the drawings to refer to the same or like parts or features.
Detailed Description
Specific embodiments of the present invention will be described in detail below, and it should be noted that the embodiments described herein are only for illustration and are not intended to limit the present invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that: it is not necessary to employ these specific details to practice the present invention. In other instances, well-known circuits, materials, or methods have not been described in detail in order to avoid obscuring the present invention.
Throughout the specification, reference to "one embodiment," "an embodiment," "one example," or "an example" means: the particular features, structures, or characteristics described in connection with the embodiment or example are included in at least one embodiment of the invention. Thus, the appearances of the phrases "in one embodiment," "in an embodiment," "one example" or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combination and/or sub-combination in one or more embodiments or examples. Further, those of ordinary skill in the art will appreciate that the drawings provided herein are for illustrative purposes and are not necessarily drawn to scale. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Fig. 1 shows a schematic view of the internal structure of a warehouse according to an embodiment of the present invention. The storehouse comprises a plurality of shelves and a plurality of roadways, and different types of articles are stored on the shelves. The picker may extract the desired items from the respective shelves via a plurality of lanes according to a predefined picking path from a pick-up start point to a pick-up end point. It should be noted that the pick path is not limited to the path shown in fig. 1, but may be defined according to a specific warehouse internal structure.
A schematic diagram of an Automatic Guided Vehicle (AGV)300 according to an embodiment of the invention is schematically shown in fig. 2 and 3. The automated guided vehicle 300 includes a main control computer 310, a guided vehicle 320, a display 330, and a plurality of compartments 340, each compartment 340 having a reminder 350 disposed thereon. The various components in the automated guided vehicle 300 may draw power from the battery of the automated guided vehicle 300.
The host computer 310 is configured to drive the lead vehicle 320 to travel to a picking position according to the optimal picking path, receive confirmation signals corresponding to one or more items to be picked via the one or more prompters 350, and determine whether the picking position is the last picking position in the optimal picking path, if so, end the picking process, and if not, continue to drive the lead vehicle 320 to travel to the next picking position. The optimal picking path is acquired by the master control computer 310 from an upper computer through WiFi communication, and includes a plurality of picking positions, i.e., parking spots, therein. The upper computer can obtain the order and generate a set order, and then relevant information of the order is issued to the main control computer. The upper computer generates an optimal picking path based on the generated collection order according to the internal structure of the warehouse, and the two-dimensional code is scanned by the scanner on the automatic guiding vehicle so as to determine the accurate position and location of the picking shelf.
The display 330 is configured to display information of one or more items to be picked when the lead vehicle 320 arrives at a picking location. The information displayed by display 330 may include one or more of a name, picture, location in a shelf, quantity, etc. of the item to be picked.
The prompter 350 is configured to prompt the bays of the plurality of bays 340 corresponding to the one or more items to be picked and the number of items to be placed in the respective bays when the lead vehicle 320 arrives at the picking location. The picker can check the quantity of the goods according to the prompt of the prompter 350. It should be noted that the number of compartments may be flexibly configured, e.g. may be increased or decreased. Preferably, the number of bays is set according to the number of orders in each aggregate order. The shelf may be located in an upper middle position of the lead vehicle 320 and is bolted to the lead vehicle 320.
The automatic guided vehicle may further include: a code scanner configured to: information is obtained indicating one of at least one set to which one or more items belong. It should be noted that when not all items to be picked are the same, it is necessary to divide the items into sets, where the same items are divided into one set, i.e., each set includes the same items. After the picker learns the information displayed on the display 330, the picker may pick items and place an item in front of the scanner for scanning by the scanner to obtain the aggregate information for the item.
The prompter 350 may be further configured to prompt the lots corresponding to the collection and the number of items to be placed in the corresponding lots in the plurality of lots 340 according to the information when the information of the collection is obtained by the scanner. When the order picker receives the prompt, the order picker can put all the items belonging to the same set with the scanned code into the corresponding compartments according to the prompt.
The host computer 310 may be further configured to determine whether picking of items of all sets to which the one or more items belong is complete, and if so, cause the prompter 350 to end the prompting process, otherwise, continue to cause the scanner to acquire information of another of the at least one set. As the scanner continues to obtain information for another collection, prompter 350 continues to prompt the corresponding bay and the number of items that should be placed in the corresponding bay based on the information for the other collection until picking of all of the collected items is complete.
The prompter 350 may also be configured to: and prompting the name of the article to be put in the corresponding compartment. The picker may verify the correctness of the item based on the prompts of the prompter 350.
The prompter 350 may include: the prompting lamp is configured to be turned on when the goods compartment where the prompter 350 is located needs to be provided with goods; a set of nixie tubes configured to display the number of items to be placed in the bay in which the prompter 350 is located and/or the names of items to be placed in the respective bay; and a button configured to receive the confirmation signal. The confirmation signal indicates that the delivery of the item to be placed in the compartment in which the reminder 350 is located is complete. For example, each time the picker places items currently required to be placed in a particular bay into the bay according to the prompt, the picker presses a button of the prompter on the particular bay to confirm that the placement is complete. In this case, the main control computer receives a confirmation signal from the order picker through the button, and then the main control computer sends the confirmation signal to the upper computer so as to check whether the putting position is correct or not by the upper computer.
The master controller 310 may also be configured to: an acknowledgement signal is received of the same number as the number of bays corresponding to the one or more items to be picked. For example, if the same item to be picked requires 5 compartments to be put in, there are 5 prompters, i.e., 5 buttons, corresponding to the 5 compartments. In this case, the end of delivery for the same item to be picked is indicated only when the picker presses 5 buttons to indicate that delivery for 5 bays is all over (correspondingly, the master control receives 5 confirmation signals via the buttons).
The automatic guided vehicle 300 may further include: a scanner configured to scan a two-dimensional code on a roadway surface to determine arrival at a picking position.
The master controller 310 may also be configured to:
communicating with the upper computer via WIFI to obtain information for one or more items to be picked, a bay of the plurality of bays corresponding to the one or more items to be picked, a quantity of items to be placed in the respective bay, and optionally a name of items to be placed in the respective bay;
sending the obtained information for the one or more items to be picked to display 330; and
the compartments of the plurality of compartments corresponding to the one or more items to be picked, the number of items to be placed in the respective compartment, and optionally the names of items to be placed in the respective compartment are sent to the prompter 350.
Preferably, the master control computer 310 communicates with the display 330 and the prompter 350 via the RS485 protocol.
Fig. 4 shows a flow diagram of a method 400 for picking items with an automated guided vehicle, in accordance with an embodiment of the present invention. The automatic guided vehicle comprises a main control computer, a guided vehicle, a display and a plurality of cargo compartments, wherein each cargo compartment is provided with a prompter (shown in fig. 2 and 3). The method 400 includes the following steps.
At step 410, the main control computer drives the guided vehicle to travel to the picking position according to the optimal picking path. Step 410 may include: a scanner in the automated guided vehicle scans the two-dimensional code on the roadway to determine arrival at the picking location. The optimal picking path is obtained by the main control computer from the upper computer through WiFi communication, and the optimal picking path comprises a plurality of picking positions, namely parking points. The upper computer can obtain the order and generate a set order, and then relevant information of the order is issued to the main control computer. The upper computer generates an optimal picking path based on the generated collection order according to the internal structure of the warehouse, and the two-dimensional code is scanned by the scanner on the automatic guiding vehicle so as to determine the accurate position and location of the picking shelf.
At step 420, information for one or more items to be picked is displayed via the display when the lead vehicle reaches the picking location. The information displayed by the display includes one or more of a name, picture, location in the shelf, quantity, etc. of the item to be picked.
At step 430, the compartments of the plurality of compartments corresponding to the one or more items to be picked and the number of items to be placed in the respective compartments are prompted by one or more prompts. The prompter can also prompt the name of the article to be put in the corresponding compartment.
Step 430 may include: obtaining, by a code scanner in the automated guided vehicle, information indicative of one of at least one set to which one or more items belong; prompting the number of goods to be put in the lots corresponding to one set and the corresponding lots according to the information of one set by one or more prompting devices; the main control computer determines whether the picking of all the items of the set to which one or more items belong is finished, if so, the prompter is made to end the prompting process, otherwise, the acquiring step, the prompting step and the determining step are continued until the picking of all the items of the set is finished.
At step 440, the master receives a confirmation signal corresponding to one or more items to pick via one or more prompters. Step 440 may include: the master controller receives an acknowledgement signal of the same number of bays corresponding to the one or more items to be picked. For example, if one or more items to be picked require 5 respective bays, there are 5 prompters, i.e., 5 buttons, corresponding to the 5 bays. In this case, the end of delivery for the item or items to be picked is indicated only when the picker presses 5 buttons to indicate that delivery for 5 bays is all complete (correspondingly, the master control receives 5 confirmation signals).
At step 450, the host computer determines whether the picking position is the last picking position in the optimal picking path, and if so, ends the picking process, and if not, continues to drive the lead vehicle to the next picking position and repeats the displaying, prompting, receiving, and determining steps until the last picking position is reached.
The method 400 may further include:
the main control computer communicates with the upper computer through WIFI to obtain information of one or more articles to be picked, a compartment corresponding to the one or more articles to be picked in the plurality of compartments, the number of articles to be put in the corresponding compartment and optionally names of the articles to be put in the corresponding compartment;
the master control machine sending the obtained information of the one or more items to be picked to the display; and
the master control sends to the prompter the compartments of the plurality of compartments corresponding to the one or more items to be picked, the number of items to be placed in the respective compartment, and optionally the names of the items to be placed in the respective compartment.
Preferably, the main control computer can communicate with the display and the prompter through an RS485 protocol.
Fig. 5 schematically illustrates a schematic diagram of a system 500 for picking items with an automatic guided vehicle, in accordance with an embodiment of the present invention. The system 500 includes a processor 510, such as a Digital Signal Processor (DSP). Processor 510 may be a single device or multiple devices for performing different acts of the processes described herein. System 500 may also include input/output (I/O) devices 530 for receiving signals from other entities or transmitting signals to other entities.
Further, the system 500 includes a memory 520, which memory 520 may be of the form: non-volatile or volatile memory, such as electrically erasable programmable read-only memory (EEPROM), flash memory, and the like. Memory 520 stores computer-readable instructions that, when executed by processor 510, cause the processor to perform the actions described herein.
Some block diagrams and/or flow diagrams are shown in the figures. It will be understood that some blocks of the block diagrams and/or flowchart illustrations, or combinations thereof, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the instructions, which execute via the processor, create means for implementing the functions/acts specified in the block diagrams and/or flowchart block or blocks.
Accordingly, the techniques of this disclosure may be implemented in hardware and/or software (including firmware, microcode, etc.). In addition, the techniques of this disclosure may take the form of a computer program product on a computer-readable medium having instructions stored thereon for use by or in connection with an instruction execution system (e.g., one or more processors). In the context of this disclosure, a computer-readable medium may be any medium that can contain, store, communicate, propagate, or transport the instructions. For example, the computer readable medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, device, or propagation medium. Specific examples of the computer readable medium include: magnetic storage devices, such as magnetic tape or Hard Disk Drives (HDDs); optical storage devices, such as compact disks (CD-ROMs); a memory, such as a Random Access Memory (RAM) or a flash memory; and/or wired/wireless communication links ".
"the foregoing detailed description has set forth numerous embodiments of a method and an automated guided vehicle for picking items using the automated guided vehicle by using schematics, flowcharts, and/or examples. Where such diagrams, flowcharts, and/or examples contain one or more functions and/or operations, it will be understood by those within the art that each function and/or operation within such diagrams, flowcharts, or examples can be implemented, individually and/or collectively, by a wide range of structures, hardware, software, firmware, or virtually any combination thereof. In one embodiment, portions of the subject matter described in embodiments of the present disclosure may be implemented by Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs), Digital Signal Processors (DSPs), or other integrated formats. However, those skilled in the art will recognize that some aspects of the embodiments disclosed herein, in whole or in part, can be equivalently implemented in integrated circuits, as one or more computer programs running on one or more computers (e.g., as one or more programs running on one or more computer systems), as one or more programs running on one or more processors (e.g., as one or more programs running on one or more microprocessors), as firmware, or as virtually any combination thereof, and that designing the circuitry and/or writing the code for the software and or firmware would be well within the skill of one of skill in the art in light of this disclosure. In addition, those skilled in the art will appreciate that the mechanisms of the subject matter described herein are capable of being distributed as a program product in a variety of forms, and that an illustrative embodiment of the subject matter described herein applies regardless of the particular type of signal bearing media used to actually carry out the distribution. Examples of signal bearing media include, but are not limited to: recordable type media such as floppy disks, hard disk drives, Compact Disks (CDs), Digital Versatile Disks (DVDs), digital tape, computer memory, etc.; and transmission type media such as digital and/or analog communication media (e.g., fiber optic cables, waveguides, wired communications links, wireless communications links, etc.) ".
Claims (17)
1. A method for picking items with an automated guided vehicle comprising a host computer, a guided vehicle, a display, and a plurality of bays, wherein each bay has a reminder disposed thereon, the method comprising:
the main control machine drives the guide vehicle to move to a picking position according to the optimal picking path;
a display step: displaying, by the display, information of one or more items to be picked when the lead vehicle reaches the picking location;
a prompting step: prompting, by one or more prompts, a compartment of the plurality of compartments corresponding to the one or more items to pick and a quantity of items to be placed in the respective compartment;
a receiving step: the master control machine receives confirmation signals corresponding to one or more items to be picked through the one or more prompters;
a determination step: said host computer determining whether said picking position is the last picking position in said optimal picking path, if so, ending the picking process, if not, continuing to drive said lead vehicle to the next picking position and repeating said displaying, prompting, receiving and determining steps until the last picking position is reached;
wherein the prompting, by one or more prompts, of the lots corresponding to the one or more items to pick and the number of items to be placed in the respective lots further comprises:
an acquisition substep: obtaining, by a code scanner in the automated guided vehicle, information indicating one of at least one set to which the one or more items belong, wherein the same items are divided into one set;
a prompting substep: and prompting the number of the goods to be put in the goods compartment corresponding to the set and the corresponding goods compartment in the plurality of goods compartments according to the information of the set through one or more prompting devices.
2. The method of claim 1, wherein prompting, by one or more prompts, a bay of the plurality of bays corresponding to the one or more items to pick and a number of items to be placed in the respective bay further comprises:
a determination substep: the master control determines whether picking of all aggregated items to which the one or more items belong is completed, and if so, causes the prompter to end the prompting process, otherwise, continues the acquiring substep, the prompting substep, and the determining substep until picking of all aggregated items is completed.
3. The method of claim 1, wherein the prompter further prompts the name of the item to be placed in the respective hold.
4. The method of claim 1, wherein the information displayed by the display includes one or more of a name, picture, location in a shelf, and quantity of the item to be picked.
5. The method of claim 1, wherein the master controller receiving confirmation signals corresponding to one or more items to pick through the one or more prompters comprises:
the master controller receives a confirmation signal of the same number of bays corresponding to the one or more items to be picked.
6. The method of claim 1 wherein the master controller driving the guided vehicle to travel to the picking position according to the optimal picking path comprises:
a scanner in the automated guided vehicle scans the two-dimensional code on the roadway to determine arrival at the picking location.
7. The method of claim 1, further comprising:
the main control computer communicates with the upper computer through WIFI to obtain information of one or more articles to be picked, a compartment corresponding to the one or more articles to be picked in the plurality of compartments and the number of articles to be put in the corresponding compartment;
the master control machine sending the obtained information of the one or more items to be picked to the display; and
and the main control computer sends the compartment corresponding to one or more items to be picked in the plurality of compartments and the quantity of the items to be put in the corresponding compartment to the prompter.
8. The method of claim 7, wherein the master controller communicates with the display and the prompter via an RS485 protocol.
9. An automatic guiding vehicle comprises a main control machine, a guiding vehicle, a display, a code scanner and a plurality of goods partitions, wherein each goods partition is provided with a prompter,
the master control machine is configured to drive the lead vehicle to travel to a picking position according to a best picking path, receive confirmation signals corresponding to one or more items to be picked through one or more prompters, and determine whether the picking position is a last picking position in the best picking path, if so, end a picking process, and if not, continue to drive the lead vehicle to travel to a next picking position;
the display is configured to display information of one or more items to be picked when the lead vehicle arrives at the picking location; and
the code scanner is configured to obtain information indicating one of at least one set to which the one or more items belong, wherein the same items are divided into one set;
the prompter is configured to prompt the compartment corresponding to one or more items to be picked and the number of items to be put in the corresponding compartment when the guiding vehicle arrives at the picking position, wherein the prompter prompts the number of items to be put in the compartment corresponding to the set and the corresponding compartment in the plurality of compartments according to the information of the set acquired by the code scanner.
10. The automated guided vehicle of claim 9, wherein:
the host is further configured to determine whether picking of items of all sets to which the one or more items belong is complete, and if so, to cause the prompter to end the prompting process, otherwise to continue to cause the scanner to acquire information of another of the at least one set.
11. The automated guided vehicle of claim 9, wherein the prompter is further configured to: and prompting the name of the article to be put in the corresponding compartment.
12. The automated guided vehicle of claim 11, wherein the reminder comprises:
the prompting lamp is configured to be turned on when the goods compartment where the prompter is located needs to be provided with goods;
a group of nixie tubes configured to display the number of items to be placed in the compartment where the prompter is located and/or names of items to be placed in the corresponding compartment; and
a button configured to receive an acknowledgement signal.
13. The automated guided vehicle of claim 9, wherein the information displayed by the display includes one or more of a name, picture, location in a shelf, and quantity of items to pick.
14. The automated guided vehicle of claim 9, wherein the master controller is further configured to: an acknowledgement signal is received of the same number as the number of bays corresponding to the one or more items to be picked.
15. The automated guided vehicle of claim 9, further comprising: a scanner configured to scan a two-dimensional code on a roadway surface to determine arrival at the picking position.
16. The automated guided vehicle of claim 9, wherein the master controller is further configured to:
communicating with an upper computer via WIFI to obtain information of one or more items to be picked, a compartment of the compartments corresponding to the one or more items to be picked, and a quantity of items to be placed in the respective compartment;
sending the obtained information for the one or more items to pick to the display; and
sending, to the prompter, a compartment of the plurality of compartments corresponding to the one or more items to pick and a quantity of items to be placed in the respective compartment.
17. The automated guided vehicle of claim 16, wherein the master controller communicates with the display and the prompter via an RS485 protocol.
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| CN109284947B (en) * | 2017-07-20 | 2022-11-22 | 菜鸟智能物流控股有限公司 | Article transport method and related apparatus |
| CN110580593B (en) * | 2018-06-08 | 2022-07-05 | 北京京东乾石科技有限公司 | Goods sorting method, control system and goods sorting system |
| CN110837743A (en) * | 2018-08-17 | 2020-02-25 | 天津京东深拓机器人科技有限公司 | Method and system for prompting picking information |
| CN111157000B (en) * | 2018-11-06 | 2023-04-07 | 北京京东乾石科技有限公司 | Method and apparatus for generating path information |
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