CN107628404A - Radio frequency and method of a kind of logistic storage center based on order to people - Google Patents
Radio frequency and method of a kind of logistic storage center based on order to people Download PDFInfo
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- CN107628404A CN107628404A CN201711081500.2A CN201711081500A CN107628404A CN 107628404 A CN107628404 A CN 107628404A CN 201711081500 A CN201711081500 A CN 201711081500A CN 107628404 A CN107628404 A CN 107628404A
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- 238000012546 transfer Methods 0.000 claims abstract description 79
- 230000007306 turnover Effects 0.000 claims abstract description 25
- 238000013468 resource allocation Methods 0.000 claims description 20
- 238000012856 packing Methods 0.000 claims description 19
- 238000007726 management method Methods 0.000 claims description 18
- 238000012384 transportation and delivery Methods 0.000 claims description 4
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- 230000032258 transport Effects 0.000 description 78
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- 238000001514 detection method Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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Abstract
The invention discloses a kind of picking method of the logistic storage center based on order to people, this method comprises the following steps：Selection staff removes kinds of goods according to sequence information from the cargo storage area that oneself is responsible for, and is put into the Turnover Box of the transport shelf in picking workspace；Mobile transfer robot is driven to below corresponding transport shelf according to carrying task and programme path, has been lifted the transport shelf and has been moved to task objective point.The present invention, the cargo storage area and cargo transport area at logistic storage center separate independently of each other, and staff and mobile transfer robot both ensure that security in turn ensure that mobile transfer robot high-speed mobile, and improved efficiency in different channels operations；Also, mobile transfer robot does not enter picking passage, and driving path is simple, farthest reduces the improvement cost at logistic storage center, and reduces the complexity and maintenance cost of software and hardware system.
Description
Technical field
The present invention relates to logistic storage center order radio frequency, and in particular to a kind of logistic storage center is arrived based on order
The radio frequency and method of people.
Background technology
At this stage, electric business, express delivery industry develop the demand for having driven automatic intelligent equipment rapidly, largely move machine
People and intelligence system are introduced into the places such as logistics storage dispensing center, transshipment center, logistics warehouse.
Mode is chosen using the order of " people's arrival " by traditional home-delivery center, and kinds of goods are fixed in this mode, are picked
Goods staff goes to kinds of goods lay down location and kinds of goods is chosen.In order to improve efficiency, in recent years, Amazon Company of the U.S. takes the lead in
Use by way of the order selection that mobile transfer robot realizes " goods to people ", this selection mode phase with " people's arrival "
Instead, picking location of personnel is fixed, and the sequence information that mobile transfer robot issues according to system knows the position of shelf, and
The shelf are lifted to be carried in face of picking staff and carry out picking.This mode drastically increases the effect of order selection
Rate, reduce the input of human cost.But there are following some shortcomings in the system：
(1) need to carry out modernization overlay to existing storage dispensing center, and removed using customized expensive heavy-load type
Transport robot, using customized shelf, and software systems bulky complex, maintenance cost are high.
(2) software and hardware system overall time input is big, and most electric business/warehouse logisticses enterprises is difficult to bear this
The costly investment and maintenance of system.
(3) mobile transfer robot needs to lift whole shelf and be moved to selection work station every time, both consumes the energy
Efficiency is wasted again, and when mobile transfer robot lifts shelf, due to needing to lift shelf and whole kinds of goods weights thereon
Amount, overall center of gravity is high, therefore can not carry out high-speed motion.
As can be seen here, it is necessary to be improved to the order radio frequency of existing logistics or Workplace " goods to people ", with drop
Low investment and maintenance cost, save energy resource consumption and improve efficiency.
The content of the invention
The technical problems to be solved by the invention be the investment of existing logistic storage center order radio frequency and safeguard into
This height, the problem of energy resource consumption is big and less efficient.
In order to solve the above-mentioned technical problem, the technical solution adopted in the present invention is to provide a kind of logistic storage center and is based on
Order comprises the following steps to the picking method of people：
Choose staff and kinds of goods are taken out from the cargo storage area that oneself is responsible for according to sequence information, be put into picking workspace
In the Turnover Box of interior transport shelf, picking workspace is located at the joining place in cargo storage area and cargo transport area；
Mobile transfer robot is driven to below corresponding transport shelf according to carrying task and programme path, has lifted this
Transport shelf are moved to task objective point；
Wherein, the cargo storage area at logistic storage center and cargo transport area separate independently of each other, the ground in cargo transport area
Face is provided with guiding terrestrial reference, and for positioning transport shelf and the mobile transfer robot movement of guiding, selection staff is only in goods
To be walked in passage between the shelf of thing storage area, mobile transfer robot only moves in cargo transport area interior edge guiding terrestrial reference,
Transport shelf are arranged in cargo transport area, and lift movement by mobile transfer robot.
In the above-mentioned methods, the sequence information that staff is issued by handheld terminal acquisition order management system is chosen,
Sequence information includes the shelf location of Article Number and the kinds of goods in cargo storage area.
In the above-mentioned methods, the task objective point is packing work station, and packing staff removes from transport shelf
Turnover Box, and take out goods packing delivery.
In the above-mentioned methods, when whole kinds of goods corresponding to order are located at the cargo storage area that different picking personnel are responsible for,
The programme path is sequentially connected the different picking workspaces of kinds of goods corresponding to order, different selection staff basis respectively
Sequence information is removed kinds of goods and is placed in same Turnover Box, after all kinds of goods selections, mobile transfer robot
Lift the transport shelf and drive into packing work station.
In the above-mentioned methods, after order kinds of goods are placed in Turnover Box by first selection staff, shelf will be transported
Numbering and its present position are sent to resource allocation system, and resource allocation system is selected according to transport shelf numbering and its present position
Select corresponding mobile transfer robot and issue carrying task, programme path.
In the above-mentioned methods, the mobile transfer robot of resource allocation system commander, will when it puts down transport shelf empty driving
Vacant transport shelf are carried to nearest picking workspace on programme path.
In the above-mentioned methods, when mobile transfer robot puts down transport shelf, the location of its is sent to resource and adjusted
Match system, the current location as the transport shelf.
Present invention also offers a kind of radio frequency of the logistic storage center based on order to people, including mobile conveying robot
To people's intelligent management system, the top surface of the mobile transfer robot, which is provided with, to be used to lift fortune for people, transport shelf and order
The jacking pallet of defeated shelf, the transport shelf are provided with label or identification code for mobile transfer robot identification；It is described to order
It is single to include to people's intelligent management system：
Order management module, it is responsible for for issuing sequence information for selection staff according to the sequence information from oneself
Cargo storage area remove kinds of goods, be put into picking workspace transport shelf Turnover Box in, picking workspace is located at goods
Storage area and the joining place in cargo transport area；
Resource allocation module, appointed for issuing carrying task and programme path for the mobile transfer robot according to carrying
Business and programme path are driven to below corresponding transport shelf, have been lifted the transport shelf and have been moved to task objective point；
Wherein, the cargo storage area at logistic storage center and cargo transport area separate independently of each other, the ground in cargo transport area
Face is provided with guiding terrestrial reference, and for positioning transport shelf and the mobile transfer robot movement of guiding, selection staff is only in goods
To be walked in passage between the shelf of thing storage area, mobile transfer robot only moves in cargo transport area interior edge guiding terrestrial reference,
Transport shelf are arranged in cargo transport area, and lift movement by mobile transfer robot.
In said system, the contact point of the jacking pallet and the transport shelf is provided with Rubber shock-absorbing pad.
In said system, the Transport cargo rack is individual layer shelf or multi-layered storage rack.
The present invention, the cargo storage area and cargo transport area at logistic storage center separate independently of each other, staff and shifting
Dynamic transfer robot both ensure that security in turn ensure that mobile transfer robot high-speed mobile, carry in different channels operations
High efficiency；Also, mobile transfer robot does not enter picking passage, and driving path is simple, farthest reduces logistic storage
The improvement cost at center, and reduce the complexity and maintenance cost of software and hardware system.
Brief description of the drawings
Fig. 1 is order radio frequency schematic diagram of the logistic storage center based on order to people in the present invention；
Fig. 2 is the structural representation of mobile transfer robot in the present invention；
Fig. 3 is the top view of mobile transfer robot in the present invention；
Fig. 4 is the schematic diagram of double-layered transporting shelf in the present invention；
Fig. 5 is the schematic diagram that individual layer transports shelf in the present invention；
Fig. 6 is that order radio frequency of the logistic storage center based on order to people extends schematic diagram in the present invention；
Fig. 7 is order sorting method flow chart of the logistic storage center based on order to people in the present invention.
Embodiment
The invention provides radio frequency and method of a kind of logistic storage center based on order to people, investment and safeguard into
This is low, and energy resource consumption is few and efficiency high.The matching used transport shelf of a kind of and mobile transfer robot are additionally provided, can be kept away
Exempt to carry mistake.The present invention is described in detail with reference to specification drawings and specific embodiments.
As shown in figure 1, radio frequency of the logistic storage center based on order to people provided by the invention, including mobile carrying
Robot 303, shelf 304 and order are transported to people's intelligent management system.Wherein, mobile transfer robot 303 and transport goods
Frame 304 can be arranged as required to multiple.
Logistic storage center arrangement has goods storage area, storage work station 308 and packing work station 307, in cargo storage
The side in area is provided with cargo transport area 309, connection storage work station 308 and packing work station 307.Wherein, cargo storage area and
Cargo transport area separates independently of each other, and cargo storage area is provided with multigroup fixed goods shelf 301, for placing kinds of goods.Two rows fix goods
Passage 311 between frame and the walking passageway with the passage 310 between row's fixed goods shelf for selection staff 302, selection
Staff 302 only walks in the passage 310,311 between fixed goods shelf.Each picking staff one oneself
Responsible fixation working region carries out picking, and packing staff works in fixed packing work station, and being responsible for will turnover
The kinds of goods packing delivery finished has been chosen in case.
The ground in cargo transport area 309 is provided with guiding terrestrial reference, for positioning transport shelf and the mobile conveying robot of guiding
People moves along programme path, and mobile transfer robot only travels in area of cargo transport area 309, without driving into cargo storage area, because
And programme path is simple, programme path of being more convenient for.Also, mobile transfer robot can be transported at a high speed in cargo transport area 309
OK, efficiency is improved.
Transport shelf 304 are also placed only in cargo transport area 309, can be lifted and transported by mobile transfer robot 303
To corresponding task objective point.
Order includes order management module and resource allocation module to people's intelligent management system, under order management module is used for
Hair sequence information removes kinds of goods for selection staff from the cargo storage area that oneself is responsible for, the transport being put into picking workspace
In the Turnover Box of shelf, picking workspace is located at the joining place in cargo storage area and cargo transport area.
Resource allocation module is used to issue carrying task and programme path, for mobile transfer robot according to the task of carrying and
Programme path is driven to below corresponding transport shelf, and has been lifted the transport shelf and be moved to task objective point.Carrying task
Position and the task objective point of transport shelf can be specified.
The present invention, ensured by order management module and resource allocation module between staff and mobile transfer robot
Collaborative work, the preferred plan route of mobile robot is planned, and resource (mobile transfer robot) is carried out excellent
Change, i.e.,：Ensure that the time that mobile transfer robot stops queuing is most short, ensure the used shifting when execution maximizes task amount
Dynamic transfer robot amount is minimum.
As shown in Figure 2 and Figure 3, mobile transfer robot includes the jacking pallet of mobile chassis 101 and setting on its top face
102, jacking pallet 102 is connected with mobile chassis 101 by lifting body 104, and lifting body 104 can use simplest cut
Formula lifting platform structure (linkage), and elevating function is realized by motor, other more complicated structures can also be used,
For example jack screw structure etc..Jacking pallet 102 is provided with Rubber shock-absorbing pad with transporting contact point (Jacking point) place of shelf 304
103, for increasing frictional force, and damping can be played a part of when lifting Transport cargo rack movement.Rubber shock-absorbing pad 103 divides
Four corners of jacking pallet 102 are not arranged on.
The middle part of mobile chassis 101 is provided with two differential gears 105, is symmetrical set, it is possible to achieve zero radius of turn is revolved
Turn, the front and rear of mobile chassis 101 is respectively equipped with two driven pulleys 106, is symmetrical set.
Mobile chassis 101 is provided with two main sensors, and first sensor 108 is used for synchronous positioning and map structuring
(SLAM), positioned at the front lower of mobile chassis 101, the travel route of mobile transfer robot is entered by the sensor 108
Row navigation.Second sensor 107 is used for avoidance and is accurately positioned, to realize that mobile transfer robot correctly drives to Transport cargo rack
Underface, specific implementation is：Using second sensor 107 according to before two of mobile transfer robot and Transport cargo rack
The distance between supporting leg, travel direction and equal with the distance between two front leg struts (or angle) is adjusted, drives into Transport cargo rack
Lower section；Then, recycle second sensor 107 according between mobile transfer robot and the rear support leg of Transport cargo rack away from
From stopping at the underface of Transport cargo rack.Two sensors have been implemented in combination with the self-navigation and positioning of mobile transfer robot.
Mobile transfer robot automatic charging or can change battery using rechargeable battery powered.Mobile transfer robot leads to
Cross wireless network to be connected to people's intelligent management system with order, realize that information exchanges, such as obtain carrying task and programme path, with
And other corresponding control information, such as charge information；Self information is reported to order to people's intelligent management system, as state is believed
Breath, positional information etc..
Transport shelf can use individual layer shelf or double-deck shelf, as shown in figure 4, double-layered transporting shelf including support body and
The base of lifting being arranged on support body, support body have four supporting legs 201, are vertically arranged, and it is horizontally disposed to lift base, with supporting leg
201 is vertical, lifts the height between base and ground and is available for moving transfer robot disengaging.Lift and set at the bottom center of base
There is passive label 207, RFID label tag or two-dimension code label can be used, for being identified by mobile transfer robot, to determine
Transport the coding of shelf.
The bottom surface for lifting base is provided with the interface 205 being adapted with the Jacking point on jacking pallet 102, the interface 205
At least 3, it is uniformly arranged along passive label 207 is circumferential, so, base is being lifted just when mobile transfer robot drives to
During lower section, it is possible to ensure that the Jacking point on jacking pallet 102 is relative with interface 205.Interface 205 is pit, and pit is interior
Surface is sphere, and Jacking point is that spheric is raised, or realizes that automatic fine tuning positions.
The lower end of supporting leg can set castor 206, can also be not provided with.Castor pattern can allow picking staff clever
Living, convenient and easily mobile transport shelf.
Double-deck shelf can place the Turnover Box 202,203 of different colours, for example red as Inventory Transshipment, as order
Operation blueness.The operating mistake rate of home-delivery center staff can so be reduced.Transport shelf 201 also have handle 204, side
Just staff moves.
The lower end of supporting leg is also provided with for being sensed with the second sensor 107 on mobile transfer robot, such as ranging
Device, matching used reflection unit 208, reflection unit is annular in shape, is enclosed on supporting leg, with the mobile transfer robot of measurement and supporting leg
The distance between, ensure that mobile transfer robot drives to the underface of transport shelf.
Fig. 5 is that individual layer transports shelf schematic diagram, and structure and double-layered transporting shelf are essentially identical, repeat no more, Turnover Box is put
Put on top surface.
The present invention can be expanded with fast and flexible, it is only necessary to the quantity of the mobile transfer robot of increase, packing work
The quantity stood with commodity storage work station, as shown in Figure 6.
As shown in fig. 7, picking method of the logistic storage center based on order to people provided by the invention, including following step
Suddenly：
Order management system in advance collection and real-time update whole inventory information, including Article Number, stockpile number and
Deposit shelf location etc. of kinds of goods, order management system by obtaining sequence information to order analyzing, including Article Number and
Deposit shelf location of kinds of goods etc.；
Choose staff and the sequence information from order management system is obtained by handheld terminal, sequence information is by ordering
Menu manager system issues；
Selection staff removes kinds of goods according to sequence information from the fixed goods shelf in the cargo storage area that oneself is responsible for, and puts
In the Turnover Box for putting the transport shelf in picking workspace；
Mobile transfer robot obtains carrying task and programme path by resource allocation module, and according to the task of carrying and
Programme path is driven to below corresponding transport shelf, has been lifted the transport shelf and has been moved to task objective point.
Resource allocation module can integrate the sequence information of whole system and distribution, the execution task of mobile transfer robot
State optimize, select suitable mobile transfer robot.I.e.：Ensure that mobile transfer robot stops the time being lined up most
It is short, ensure that used mobile transfer robot amount is minimum when performing maximization task amount, and to the optimal of mobile robot
Programme path is planned, is formed and is carried mission dispatching to the mobile transfer robot specified.
If the kinds of goods in order are set positioned at the cargo storage area that same selection staff is responsible for, task objective point
Packing work station is set to, after whole kinds of goods are both placed in Turnover Box by selection staff, mobile transfer robot row
The lower section for sailing to the transport shelf is lifted and is moved to packing work station, by packing staff from transport shelf
Turnover Box is removed, the goods packing in it is taken out, then delivers.Meanwhile place an empty Turnover Box.
If whole kinds of goods in order are not located at the same cargo storage area that is responsible for of selection staff, but position
In by different multiple cargo storage areas for being responsible for of selection staff, then programme path is arranged to connect successively by resource allocation module
The different picking workspaces of kinds of goods corresponding to receiving orders.Order kinds of goods are placed in Turnover Box it by first selection staff
Afterwards, transport shelf numbering and its present position are sent to resource allocation system, resource allocation system is numbered according to transport shelf
And its present position selects corresponding mobile transfer robot and issues carrying task, planning travel route.Mobile conveying robot
People drives to below the transport shelf of first picking workspace first, is lifted and is transported to next picking work
Area, the selection staff of this picking workspace remove the Turnover Box being placed on after kinds of goods on the transport shelf according to sequence information
It is interior, put together with former kinds of goods, so continue, until whole Huo Pin Zhuo is placed in the Turnover Box.When all kinds of goods
After selection, mobile transfer robot lifts the transport shelf and drives into packing work station, by the staff that packs from transport
Turnover Box is removed on shelf, the goods packing in it is taken out, then delivers.Meanwhile place an empty Turnover Box.
In the present invention, under system initial state, each workspace of choosing is respectively provided with a transport shelf, and this is transported
The numbering and positional information of defeated shelf are stored in resource allocation module, and when the system is operated, mobile transfer robot is put every time
During lower transport shelf, the location of its is sent to resource allocation system, the current location as the transport shelf.
Also, the mobile transfer robot of resource allocation system commander, when it puts down transport shelf empty driving, by programme path
Upper vacant transport shelf are carried to nearest picking workspace.Weight sensor or photoelectric sensor detection transport goods can be passed through
It whether there is Turnover Box on frame.
Effect of the invention is that：
(1) " order to people " mode has been used, the efficiency and accuracy of order sorting has been improved, improves automaticity
Meanwhile logistics storage dispensing center improvement cost is farthest reduced, and reduce the complexity and system of software and hardware system
Maintenance cost.
(2) picking staff service aisle and robot movable passageway, staff and mobile conveying robot are devised
People does not enter inside picking passage in different channels operations, mobile transfer robot, both ensure that security in turn ensure that machine
Device people can save the space of storage with high-speed mobile, and the driving path of robot is simply single.
(3) installation period of whole system is short, and high modularization, autgmentability is strong, can freely add mobile robot.
The present invention is not limited to above-mentioned preferred forms, and anyone should learn that the knot made under the enlightenment of the present invention
Structure changes, and the technical schemes that are same or similar to the present invention, each falls within protection scope of the present invention.
Claims (10)
1. a kind of picking method of the logistic storage center based on order to people, it is characterised in that comprise the following steps：
Choose staff and kinds of goods are taken out from the cargo storage area that oneself is responsible for according to sequence information, be put into picking workspace
In the Turnover Box for transporting shelf, picking workspace is located at the joining place in cargo storage area and cargo transport area；
Mobile transfer robot is driven to below corresponding transport shelf according to carrying task and programme path, has lifted the transport
Shelf are moved to task objective point；
Wherein, the cargo storage area at logistic storage center and cargo transport area separate independently of each other, on the ground in cargo transport area
Provided with guiding terrestrial reference, only deposited for positioning transport shelf and the mobile transfer robot movement of guiding, selection staff in goods
Put in the passage between the shelf in area and walk, mobile transfer robot is only in the guiding terrestrial reference movement of cargo transport area interior edge, transport
Shelf are arranged in cargo transport area, and lift movement by mobile transfer robot.
2. the method as described in claim 1, it is characterised in that selection staff obtains order management system by handheld terminal
The sequence information that system issues, the sequence information include the shelf location of Article Number and the kinds of goods in cargo storage area.
3. the method as described in claim 1, it is characterised in that the task objective point is packing work station, and pack work people
Member is removed in Turnover Box from transport shelf, and takes out goods packing delivery.
4. the method as described in claim 1, it is characterised in that born when whole kinds of goods corresponding to order are located at different picking personnel
During the cargo storage area of duty, the programme path is sequentially connected the different picking workspaces of kinds of goods corresponding to order, and different picks
Select staff to remove kinds of goods according to sequence information respectively and be placed in same Turnover Box, when all kinds of goods selections finish
Afterwards, mobile transfer robot lifts the transport shelf and drives into packing work station.
5. the method as described in claim 1, it is characterised in that order kinds of goods are placed on Turnover Box by first selection staff
After interior, transport shelf numbering and its present position are sent to resource allocation system, resource allocation system is according to transport shelf
Numbering and its corresponding mobile transfer robot of present position selection simultaneously issue carrying task, programme path.
6. the method as described in claim 1, it is characterised in that the mobile transfer robot of resource allocation system commander, put at it
During lower transport shelf empty driving, transport shelf vacant on programme path are carried to nearest picking workspace.
7. the method as described in claim 1, it is characterised in that when mobile transfer robot puts down transport shelf, by residing for it
Position be sent to resource allocation system, the current location as the transport shelf.
8. a kind of radio frequency of the logistic storage center based on order to people, including mobile transfer robot, transport shelf and
Order is to people's intelligent management system, it is characterised in that the top surface of the mobile transfer robot, which is provided with, to be used to lift transport goods
The jacking pallet of frame, the transport shelf are provided with label or identification code for mobile transfer robot identification；The order arrives
People's intelligent management system includes：
Order management module, the goods being responsible for for issuing sequence information for selection staff according to the sequence information from oneself
Thing storage area removes kinds of goods, is put into the Turnover Box of the transport shelf in picking workspace, picking workspace is located at cargo storage
The joining place in area and cargo transport area；
Resource allocation module, for issue carrying task and programme path for the mobile transfer robot according to carrying task and
Programme path is driven to below corresponding transport shelf, has been lifted the transport shelf and has been moved to task objective point；
Wherein, the cargo storage area at logistic storage center and cargo transport area separate independently of each other, on the ground in cargo transport area
Provided with guiding terrestrial reference, only deposited for positioning transport shelf and the mobile transfer robot movement of guiding, selection staff in goods
Put in the passage between the shelf in area and walk, mobile transfer robot is only in the guiding terrestrial reference movement of cargo transport area interior edge, transport
Shelf are arranged in cargo transport area, and lift movement by mobile transfer robot.
9. system as claimed in claim 8, it is characterised in that the contact point of the jacking pallet and the transport shelf is provided with
Rubber shock-absorbing pad.
10. system as claimed in claim 8, it is characterised in that the Transport cargo rack is individual layer shelf or multi-layered storage rack.
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| CN201711081500.2A CN107628404B (en) | 2017-11-07 | 2017-11-07 | Order-to-person-based sorting system and method for logistics storage center |
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| CN201711081500.2A CN107628404B (en) | 2017-11-07 | 2017-11-07 | Order-to-person-based sorting system and method for logistics storage center |
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