EP3458385A1

EP3458385A1 - Order-picking system

Info

Publication number: EP3458385A1
Application number: EP16723022.6A
Authority: EP
Inventors: Thomas Mattern; David Hänschke; Michael Kluge; Regina SIMON
Original assignee: Liebherr Verzahntechnik GmbH
Current assignee: Liebherr Verzahntechnik GmbH
Priority date: 2016-05-17
Filing date: 2016-05-17
Publication date: 2019-03-27
Also published as: US20200180874A1; WO2017198280A1; US11542104B2

Abstract

The invention relates to an order-picking system for order-picking goods into dispensing containers (5) in an order-related manner, comprising a plurality of automated order-picking cells (1), a first conveyor system (2) for supplying and/or discharging the supply containers (4) to and/or from the order-picking cells (1), a second conveyor system (3) for supplying and/or discharging the dispensing containers (5) to and/or from the order-picking cells (1), and an order management controller for carrying out a plurality of order-picking orders by actuating the first and second conveyor system (2, 3) and the plurality of order-picking cells (1). At least one first order-picking cell has different goods handling properties than a second order-picking cell and/or the order management controller uses at least one first order-picking cell to carry out different orders and/or sub-orders than a second order-picking cell.

Description

picking

The present invention relates to a picking system for order-related picking of goods in dispensing containers.

Such a picking system is known from DE 10 2008 046 325 A1. The picking system is based on a picking cell with a fully automatic gripping unit, which goods that are provided by a first conveyor system, grab and can spend on a second conveyor system or arranged on this output container. The goods can be made available in feed containers, which are transported via the first conveyor system to the picking cell. The gripping unit is preceded by an object detection device to detect the supplied goods, and to control the gripper accordingly.

In one of the exemplary embodiments illustrated in DE 10 2008 046 325 A1, a plurality of such picking cells are arranged one after the other along the first conveyor system. The individual order picking cells can thereby process orders in parallel. From DE 10 2014 008 108 A1 a device for automated removal of arranged in a container workpieces is known. This has a feed module, a handling module and an output module. However, the device does not serve the picking of goods.

The object of the present invention is to improve the efficiency of a picking system and / or to expand the range of goods that can be picked by such a system.

This object is achieved by a picking system according to claim 1. Advantageous embodiments of the present invention are the subject of the dependent claims.

The present invention includes a picking system for order picking of goods in dispensing containers. The picking system comprises a plurality of automated picking cells, in which goods are removed from feed containers and transferred to a dispensing container, wherein the picking each having an object detecting means for detecting the goods in a feed container, a gripper for removing the goods from a Feed container and a cell controller for evaluating the data of the object detection device and for path planning and control of the gripper have. Furthermore, the order picking system comprises a first conveyor system for feeding and / or discharging the feed containers to and / or from the picking cells. Furthermore, the picking system comprises a second conveyor system for feeding and / or discharging the dispensing containers to and / or from the picking cells. Furthermore, a job management control for processing a plurality of order picking by driving the first and second conveyor system and the plurality of picking cells is provided. In a first variant, the picking system according to the invention is characterized in that at least one first picking cell has different goods handling properties than a second picking cell. In a second variant, the order-picking system is characterized in that the order management control at least a first picking cell for processing other orders and / or partial orders used as a second picking cell. The first and the second variant can be realized independently of each other. Preferably, however, both variants are realized in combination.

The system preferably has more than two picking cells, which are used in parallel and / or in series for the processing of orders and / or partial orders. In particular, the system may have more than 4, preferably more than 8 picking cells.

Furthermore, more than two picking cells, each with different properties, may be provided, and / or more than two picking cells may be used to process different orders and / or partial orders, for example more than 3 or more than 4 picking cells each having different properties and / or more than 3 or more than 4 picking cells, which are used to process different orders and / or partial orders.

Through the use of picking cells with different goods handling properties, and / or the use of individual picking cells for different orders and / or part orders, the range of goods that can be picked with the picking system, be widened. Alternatively or additionally, the efficiency of the system can be improved by using picking cells more adapted to the individual goods.

In a preferred embodiment of the first variant of the present invention, the first picking cell has a different gripper and / or a different maximum handling weight than the second picking cell. Through the use of picking cells with different grippers, a wider range of goods can be picked. Goods which can be picked better with a certain gripper are preferably assigned to the corresponding picking cell for picking.

By using picking cells with different maximum handling weights, a wider range of goods can also be picked. In particular, different robots can be used, on which the respective gripper is arranged. The robots may in particular have different maximum handling weights.

Thus, for example, a first picking cell for the handling or picking of goods within a first weight range, and the second picking cell for handling goods within a second weight range can be used, wherein the two weight ranges differ. In particular, the first picking cell can be designed so that it can handle very light goods, while the second picking cell can be designed so that they can handle very heavy goods.

Alternatively or additionally, the first and the second picking cell may allow the picking of goods of different sizes and / or the filling of output containers of different sizes. In particular, the first picking cell can handle goods and / or dispensing containers in a first size range, the second picking cell goods and / or dispensing containers in a second size range, wherein the first and the second size range differ.

In a preferred embodiment of the present invention, the first and second size ranges and / or the first and second weight ranges overlap. As a result, there is a first group of goods and / or output containers, which only from the first picking cell, a second group of goods and / or dispensing containers, which can only be handled by the second order-picking cell, and a third group of goods and / or dispensing containers, which can be handled by both the first and the second order-picking cell.

The second variant of the picking system according to the invention is preferably designed so that the order management control uses the first picking cell for picking a first subset of goods and the second picking cell for picking a second subset of goods.

Preferably, the first and the second subgroup differ with regard to given product properties. These goods characteristics may be the weight and / or the size and / or the shape and / or the packaging properties and / or the nature of the goods. The assignment of the goods of an order to different picking cells preferably takes place on the basis of the goods properties.

The first and the second subgroup may have an intersection of goods, which can be assigned by the order management control on the basis of other criteria, either the first picking cell or the second order picking cell for picking.

Alternatively or additionally, the order management controller may use the first picking cell for picking a first subset of orders or partial orders and the second picking cell for picking a second subset of orders or partial orders. Preferably, the first and the second subgroup differ with regard to predetermined application properties. In particular, these order properties may include the number and / or the weight and / or the size and / or the shape and / or the packaging properties and / or the type of goods to be picked per order or partial order and / or a priority the order or partial order. An order or partial order preferably comprises the picking of several different goods, ie the loading of an output container with several different goods. Preferably, the assignment of an order and / or partial order to a picking cell takes place taking into account properties which relate or result in several goods of such an order and / or partial order. In particular, this may be the number and / or the total weight and / or the total volume of the goods to be picked for this order or partial order. Furthermore, a different assignment to the picking cells based on the priority of an order or partial order can be made.

In a preferred embodiment of the present invention, the first and the second conveyor system are designed so that the first and the second order cell can be used both parallel to the processing of different orders and / or partial orders, as well as for successive processing of a first and second partial order of a job. Depending on the order situation and / or configuration of the respective orders, the two picking cells can be used to load separate dispensing containers parallel to one another for processing independent orders and / or partial orders. Equally, however, the two picking cells can also be used to successively load the same dispensing container for processing a first and a second partial order of an order.

Alternatively or additionally, the order management control, depending on one or more to be processed orders and / or partial orders, the first and the second picking cell optionally parallel to processing different orders and / or partial orders or for successive processing of a first and second partial order of a contract.

In one possible embodiment of the present invention, the dispensing containers can be conveyed from the first to the second compartment via a direct conveying connection. mission cell and / or be transported back. Such a direct conveyor connection allows the transport of the output container from one picking cell to another picking cell, without having to go through the first and / or second conveyor system.

Alternatively or additionally, the dispensing containers may also be conveyable via the second conveyor system from the first to the second order-picking cell and / or back.

In a preferred embodiment, it is provided that the order management control retrieves and / or obtains predefined goods properties of the goods to be picked with the order for processing an order, and matches predetermined goods handling characteristics of the at least first and second order picking cells. By means of this adjustment, an assignment of the order to one or more picking cells preferably takes place. In particular, the order management controller can assign the order to one of the order-picking cells as a function of the adjustment, or divide the order into a plurality of partial orders, which in each case are assigned to different order-picking cells.

If all the goods of an order can be picked with one of the picking cell, the order is preferably assigned to this picking cell. If there is no picking cell with which all goods of a order can be picked, or if no such picking cell is available, the order management controller preferably divides the order into a plurality of partial orders, which can each be picked by a picking cell and assigned to one. The partial orders in this case refer to the successive loading of the same dispensing container with goods in different picking cells. Preferably, different goods are picked in the respective sub-orders. In the course of processing the partial orders of an order, an output container is preferably moved from a first order-picking cell, in which a first partial order is processed, to a second order-picking cell, in which a second partial order is processed.

It is preferably provided that the order management control in the event that an order and / or sub-order can be processed alternately in several picking cells, odec for the case that an order can be divided into sub-orders in different ways, in addition, the utilization of the picking cells by other orders considered. As a result, the utilization of the individual picking cells is improved.

Furthermore, it can be provided that the order management control for processing an order retrieves and / or maintains predetermined goods characteristics of the goods to be picked with an order, and determines a picking order for the goods of the order or partial order depending on the goods characteristics. In particular, it can be used to determine the order in which the goods are to be transferred to the output container.

Preferably, the picking order can be determined so that heavy goods are picked before lighter goods of a contract. This prevents heavy goods from lying on light goods and possibly damaging them.

Furthermore, it can be provided that the order of picking is taken into account when subdividing an order into partial orders and / or when allocating to different order-picking cells.

In a preferred embodiment of the present invention, the picking cells each have at least one robot arm on which the gripper is arranged. The robot arm thus provides the axes of movement over which the gripper is moved in order to remove goods from the feed containers. to spend and in a dispensing container. In particular, the picking cells can each have at least one 6-axis robot. Such 6-axis robots are known from many industrial applications and therefore cheaper than custom-made.

In one possible embodiment of the present invention, a picking cell can have two robot arms, preferably two 6-axis robots, each with a gripper, which can be used in parallel with order picking.

Alternatively or additionally, the picking cells each have at least one surface portal on which the gripper is arranged. Such a surface portal has at least two and preferably three linear axes of movement. Preferably, the gripper is arranged on a gripper arm on the surface portal. The gripper arm preferably has one or more additional movement axes, in particular one or more rotational axes. An area portal allows a more compact size.

In one possible embodiment, at least one picking cell can have two surface portals, each with a gripper, which can be used in parallel with order picking.

Furthermore, it can be provided according to the invention that the order management control, in the event of a picking cell failure, assigns the orders and / or partial orders assigned to this picking cell to other order picking cells. As a result, the picking system is less susceptible to the failure of individual components.

In a preferred embodiment of the present invention, the cell controller can control the gripper so that the goods are stored in a predetermined position and / or with a predetermined orientation in a dispensing container. This allows the dispensing containers to be filled much more efficiently are dropped as by the art known fall of the goods in the output container.

Alternatively or additionally, it may be provided that the order management control and / or the cell control determines the position and orientation of all goods of a job or partial order, which are to be picked together in an order container, before commencement and / or during the commissioning.

A picking system according to the invention has in its basic configuration at least two automated picking cells, d. H. a first and a second picking cell as described above.

However, a picking system according to the invention preferably has more than two automated picking cells, more preferably more than five automated picking cells. Not all order picking cells must have different handling properties and / or be used for processing different orders and / or partial orders. Rather, several first or more second communication cells may be provided, i. H. be provided identically constructed and / or identical picking cells. Preferably, however, more than two differently structured and / or operated picking cells are provided.

In one possible embodiment of the present invention, the picking system can additionally have a picking cell for the manual picking of goods. The picking cell thus allows the picking of such goods, which can not be picked by any of the automated picking cells.

A picking system according to the invention can also have several sections for picking different types of goods. In one possible embodiment, the communication system according to the invention comprises a first section having one or more commissure cells and a second section having a plurality of picking cells, the first and second sections being used to pick different types of goods. Alternatively or additionally, the first and the second section can be supplied by the separate storage systems with goods to be picked.

For example, the first section can be used for order picking of refrigerated and / or frozen goods. Preferably, such goods are picked in a separate section, as it makes special demands on the design and timing. Preferably, this section is also separately connected to a corresponding cooling and / or frozen storage in connection.

Furthermore, the orders are preferably subdivided by the order management control into sub-orders such that the sub-order to be processed by the first section forms the last sub-order. This ensures that the goods to be picked by the first section last reaches the output container. This is particularly advantageous in the picking of refrigerated and / or frozen goods through the first section, as this makes it easier to preserve the cold chain.

In a preferred embodiment of the present invention, the first conveyor system transports the feed containers from a warehouse to the picking cells and back. Alternatively or additionally, the second conveyor system can transport the order containers from the picking cells to a dispatching section. In particular, the order-picking system according to the invention can be switched off in such a way that finished picked containers can be sent directly to the dispatcher.

A picking cell used in the context of the present invention may be constructed or operate as the device known from DE 10 2014 008 108 A1 for the automated removal of workpieces arranged in a container. The order picking cell can be selected from a consist of a handling module, and / or comprise a feed module, a handling module and an output module.

In addition to the picking system according to the invention, the present invention further comprises a set of a plurality of picking cells for a picking system, as described above. In particular, the set can have a first and a second picking cell with different goods handling properties. Such a set of picking cells can then be combined with a corresponding first and / or second conveyor system and a job management control to a commissioning system according to the invention.

The present invention further includes job management control for a picking system as described above, and job management control software as described above. In particular, the software implements the above-mentioned functionalities when executing on the order management control.

The cell controls of the individual picking cells can be integrated into the order management control. In this case, the order management control, together with the integrated cell controls, forms a higher-level system for controlling a plurality of picking cells. In a preferred embodiment, however, each picking cell has its own cell control, which receives order-related data from the order management control.

The order management control and / or the cell control can have one or more microprocessors, as well as a memory on which a computer program is stored. During execution of the computer program stored in the memory, the order-picking system is preferably activated in such a way that the functionalities described in more detail above are given. The present invention further comprises a method for operating a picking system for order-related picking of goods in dispensing containers, as described above. In particular, it can be provided that at least one first picking cell is used to process other orders and / or partial orders than a second picking cell, and in particular orders with different order properties can be assigned to different picking cells.

The process according to the invention preferably takes place in the same way as has already been described in more detail above with regard to the picking system according to the invention.

The present invention will now be described in more detail with reference to embodiments and drawings.

Showing:

1 shows a first embodiment of a picking system according to the invention with identical picking cells,

2 shows a second embodiment of a picking system according to the invention with different picking cells,

3 shows a third embodiment of a picking system according to the invention with direct conveyor connections between the picking cells,

4 shows a fourth exemplary embodiment of a picking system according to the invention with two different sections for picking different types of goods, 5 shows a flow chart of an exemplary embodiment of a method according to the invention.

The commissioning system according to the invention can be part of a material flow system or form such a material flow system which ensures a reliable commissioning of any goods, and in particular articles of daily use as well as of industrial goods. The picking system comprises, on the one hand, different conveyor systems and a plurality, preferably a plurality of picking cells. Within the picking cells, object detection of the goods provided in the feed containers takes place in order to grasp them with a gripper and to transfer them to an output container. The object detection device used for the object detection can in particular comprise a 2D camera and / or a 3D camera and / or a laser scanner.

The order-picking system is designed so that a large number of goods can be picked in different sizes, designs and with different packaging properties.

FIGS. 1 to 4 show exemplary embodiments of a picking system according to the invention. This has a plurality of automated order-picking cells 1, in which goods are removed from feed containers 4 and transferred to a dispensing container 5. The individual picking cells each have an object detection device (not shown) for detecting the goods in a feed container, a gripper for removing the goods from the feed container and a cell controller for evaluating the data of the object detection device and for path planning and control of the gripper. The gripper is preferably arranged on a gripper arm, over which it is moved. For example, the gripper arm may be the robot arm of a 6-axis robot. Alternatively, the gripper arm could be arranged on a surface portal. The picking system also has a first conveyor system 2, with which feed containers in which the goods to be picked are transported to the picking cells are conveyed. The first conveyor system also serves to transport the supply container 4 away from the picking cells after the goods to be picked have been removed. Preferably, the first conveyor system is connected to a storage system from which the supply containers are removed and to which they are returned.

In the exemplary embodiments shown in FIGS. 1 to 4, the first conveyor system 2 has a container feed 6 for feeding feed containers to the first conveyor system, two conveyor lines which supply different picking cells with the feed containers 4 starting from the container feed, and also two container issues. However, any other configurations of the conveyor system are conceivable. In the embodiments shown in FIGS. 1 to 4, the conveyor system has fixed conveyor lines. In alternative embodiments, however, the conveyor system could also be implemented, for example, via individual autonomously driving conveyor units such as ants.

The first conveyor system is in the embodiment via conveyor lines 10 with the individual picking cells 1, 1a and / or 1b in combination. Via the conveyor lines 10 supply containers can be spent by the first conveyor system in the order picking and removed from the picking cells. However, the conveyor lines 10 may also be part of the first conveyor system.

The first conveyor system 10 thus allows on the one hand the supply of feed containers to a picking cell. Furthermore, it is possible to move a supply container from a first picking cell to another picking cell.

The exemplary embodiments shown in FIGS. 1 to 4 furthermore have a second conveyor system 3, with which dispensing container 5 is connected to the individual commissi Onierzellen 1, 1a and / or 1b and after completion of picking can be transported away from the picking cells. Furthermore, output containers can be moved from a first picking cell to other picking cells via the second conveyor system. In the embodiments shown in FIGS. 1 to 4, the dispensing containers can be exchanged between the individual picking cells in both directions. However, it would also be conceivable to provide a transport of the dispensing container only in one direction between the picking cells.

In the exemplary embodiment, the second conveyor system has a container feed 8 for the dispensing containers, a transport line 11 with which the dispensing containers are moved to the picking cells and between the picking cells, and a container dispenser 9. The container output 9 is preferably connected to a mailing route. About the container inlet are preferably fed empty dispensing container. The transport path 11 is preferably movable in both directions.

As with the first conveyor system, any configurations are conceivable for the second conveyor system as well. In the exemplary embodiments illustrated in FIGS. 1 to 4, fixed conveyor sections are again provided. Alternatively, the transport of the dispensing containers could also be done by autonomously movable conveyor units, such as ants. However, the second conveyor system is preferably designed with fixed conveyor lines.

The individual picking cells each have one or more feed container positions and one or more dispensing container positions which are within reach of the gripper, so that goods can be removed from feed containers located in such feed container positions, and Goods in dispensing containers, which are located in such a dispensing container position, can be spent. The cells may have entry and / or outward transfer systems, via which the supply containers and / or dispensing containers are transferred from the respective conveyor systems into the corresponding conveyor systems. at least one of the feeder container positions and the output container positions. Alternatively or additionally, the supply containers and / or dispensing containers can also be moved directly into the respective positions via the respective conveyor systems.

The object detection and the control of the gripper by the cell control is carried out in the context of the present invention preferably so that the goods can be arranged in the feed containers disordered, and yet can be gripped and removed by the grippers. The individual automated picking cells are preferably designed such that the goods can be gripped independently of the height at which they are located in the feed container. The respective picking cells are therefore based on a bin-picking algorithm.

According to a first aspect of the invention, at least one first picking cell is used to process other orders and / or partial orders than a second picking cell. In particular, the picking cells can be used to process orders with a different number of goods. Thus, for example, only orders with a smaller number of goods can be assigned to a first picking cell, while orders with a larger number of goods are assigned to a second picking cell. In the embodiment shown in Fig. 1, a plurality of identical picking cells 1 are used, which are used differently. The assignment of the orders and / or partial orders preferably takes place on the basis of predetermined assignment information about the individual order picking cells.

According to a second aspect of the present invention, which can be combined with the first aspect, a plurality of picking cells with mutually different properties are used within the picking system. In the exemplary embodiment shown in FIG. 2, a first picking cell 1 and a second picking cell 1a are provided with different properties relative to the first picking cell. It can the Distinguish, for example, in the gripper, the gripper position, in the weight of the goods to be handled, the shape of the goods, the size, the material conditions and the packaging properties. The exemplary embodiment further comprises a third order-picking cell 1 b with different properties relative to the first and the second order-picking cell. The system may include additional picking cells 30, which may have the same characteristics as one of the first, second or third picking cells, or different properties.

The picking system has an order management control, not shown, in which the respective assignment information for the cells 1 of the first embodiment and / or cell properties of the picking cells 1, 1a, 1b and 30 of the second embodiment are stored. When the order is received, the goods characteristics of the goods to be picked up with the order are determined, and from this the optimum container route for the output containers 5 between the individual order-picking cells is determined. For this purpose, by matching the requirements resulting from the goods properties and the assignment information and / or cell properties, an order is either assigned to a single picking cell, or split into sub-orders, which are assigned to different picking cells. Furthermore, a sequence is specified in which the partial orders are processed. This results in the route of the output containers between the picking cells.

When subdividing into partial orders or defining the order of partial orders, the utilization of the picking cells with other orders and / or partial orders can be taken into account. If a picking cell intended for an order or partial order is utilized by another order or partial order, then the order management control can take this into account in the order of execution of the partial orders, and the loading of the output container first begin at another picking cell, and the one or more then visit occupied order picking cells. In the sequence of partial orders, goods characteristics of the goods to be picked, which are to be picked within the partial orders, can continue to be taken into account. In particular, the shape and the weight and / or the nature of the article can be taken into account when dividing into partial orders and / or the order of the partial orders. In particular, this ensures that heavy items reach the first place in the dispensing container to avoid possible damage to other items. Furthermore, the consideration of the shape and / or size of the goods may be necessary to achieve optimum space utilization within the container, and / or to realize a compact and ready-to-ship filling.

Preferably, the goods can be stored in the picking cells with a defined position and / or orientation in the output containers. Preferably, the arrangement of the goods within the container is determined based on the characteristics of the goods.

Preferably, at least two picking cells have handling properties. Thus, at least two picking cells may have different grippers in order to be able to ensure that different types of goods and / or types can be picked. The grippers are preferably moved via a robot. Furthermore, it is conceivable to use robots of different sizes in order to be able to process heavy articles and extremely light articles in separate picking cells. Thus, for example, a picking cell for picking gummy bears packs a suction gripper, a picking cell for gripping small articles a mechanical gripper, for example a 2- or 3-finger gripper, etc. To order, for example, a potato sack, the must Robots be designed so that it can handle this weight.

In one possible embodiment, at least one order-picking cell can have two different grippers in order to process orders with different gripping requirements. to be able to realize changes with the same picking cell. Preferably, the grippers are each arranged separately on a robot, and therefore can be moved separately. Due to the different gripper properties, the two robots can therefore take over the tasks of two picking cells. In this way, the division of certain orders into two partial orders can be avoided, since a larger class of orders can be processed completely by such a picking cell.

The commissioning system according to the invention offers the advantage that in the event of a failure of a picking cell, the failure can be compensated for by means of the other picking cells by means of a rescheduling. In the case of a failure by means of the order management control, the assignment of the orders to the picking cells is preferably modified in such a way that the outstanding orders are divided among the remaining picking cells.

As explained above, the picking cells need not necessarily be configured differently in the context of the present invention. Rather, it is also conceivable within the scope of the present invention that the picking cells are configured identically but are used to process different jobs. In particular, the picking cells can be used to process orders with a different number of goods. Thus, for example, only orders with a smaller number of goods can be assigned to a first picking cell, while orders with a larger number of goods are assigned to a second picking cell. However, the picking system preferably has at least two picking cells with different picking properties.

The picking system according to the invention can have a multiplicity of picking cells. Preference is given to more than two, more preferably more than three differently configured picking cells are used. Furthermore, the picking system may include a picking cell for manual picking of goods. As a result, articles which can not be commissioned by means of the automated picking cells can be manually picked by a corresponding operator.

The first conveyor system 2 ensures that at least one supply container filled with articles is conveyed into the picking cell, so that the picking robot can remove the required goods. In one possible embodiment, the first conveyor system can already inject the container of an order to be subsequently picked, in order to save time when changing between two orders. The picking robot completes the first job and then immediately starts the next job. The removed articles are stored in order-related dispensing containers and conveyed out of the cell by means of the second conveyor system 3 and either handed over to a dispatch route or to the next cell.

In the embodiment shown in Fig. 3 is further provided that individual picking cells are directly connected to each other via a conveyor system 12, so that the output container can be discharged directly from a picking cell and introduced into the next picking cell. As shown in Fig. 3, individual picking cells can be connected directly to each other in this way, while there is no such direct connection between other picking cells. Here, the dispensing container is then transported via the second conveyor system.

As further illustrated in the embodiment shown in Fig. 4, the picking cells can be divided into article groups. In the exemplary embodiment illustrated in FIG. 4, a first group composed of picking cells 1 and 1b is provided, and a second group of picking cells constructed from picking cells c and 1d. The picking cells within a group can in turn differ in their characteristics. Alternatively, within a group, however, identical Picking cells are used. Preferably, the picking cells of a first group differ from the picking cells of a second group. The system may include additional picking cells 30 forming one or more further groups.

Such a division is particularly useful if it is a large material flow system, or if the articles to be picked very differently respond to the external events or require very different external circumstances. For example, there is the option of picking frozen food in a separate group of picking cells. In this case, the activation is preferably carried out in such a way that frozen food is picked at the last location. Thus, for example, the first group of picking cells 1 and 1b in Fig. 4 can be used to pick all goods that do not require cooling. The second group of picking cells 1c and 1d is used for order picking of frozen or frozen food. The individual orders are preferably divided into sub-orders in such a way that the sub-orders assigned to the second group are processed according to the sub-orders assigned to the first group.

The embodiments shown in FIGS. 3 and 4 otherwise correspond to the embodiments shown in FIGS. 1 and 2.

FIG. 5 shows an exemplary embodiment of a method according to the invention, which can be processed in particular using one of the picking systems shown in FIGS. 1 to 4.

The process starts in step 20 and waits for orders. In step 21, one or more orders arrive. In step 22, the orders are sorted. In step 23, order requirements are determined, and in particular goods characteristics of the goods to be picked within an order. These are compared with handling characteristics of the picking cells provided. An order can be assigned to one of the order-picking cells, and processed in step 24 or step 25 by such a picking cell. Depending on the order requirements, the order is assigned to a picking cell with corresponding handling properties.

If this is necessary, an order can also be divided into several suborders, which are assigned to different picking cells. Thus, a first part order can first be processed in step 24 in a first picking cell. Then, in step 26, the output container of the only partially processed job is placed in a second picking cell, where in step 25, a further part order is processed. In this case, an order can also be divided into more than two sub-orders, so that the corresponding order container is transferred several times from one picking cell to another picking cell.

In particular, after a partial order has been processed in step 25, an output container can be transferred in the second order-picking cell in step 27 to the first order-picking cell in order to process another partial order in step 24.

If all partial orders of an order have been processed, or if the order has not been divided into partial orders and has been completely processed, then in step 28 the delivery container is transferred to a shipping route, so that the corresponding order can be completed in step 29.

Claims

claims

1. order picking system for order-related picking of goods in output containers, with a plurality of automated picking cells, in which goods are removed from supply containers and transferred to a dispensing container, wherein the picking each having an object detection device for detecting the goods in a supply container, a gripper for removing the goods from a feed container and a cell controller for evaluating the data of the object detection device and for path planning and control of the gripper, with a first conveyor system for feeding and / or discharge of the feed container to and / or from the picking cells and a second conveyor system for supplying and / or discharging the dispensing containers to and / or from the order-picking cells, and an order management controller for processing a plurality of picking orders by activating the first and second conveyor system and the Mehrza hl picking cells, characterized in that at least one first picking cell has other goods handling characteristics than a second picking cell and / or the order management control at least a first picking cell for processing other orders and / or partial orders used as a second picking cell.

2. Picking system according to claim 1, wherein the first picking cell has a different gripper and / or a different maximum handling weight than the second picking cell and / or wherein the first and the second order picking goods and / or the filling of output containers different Size allowed.

3. Picking system according to claim 1 or 2, wherein the order management control uses the first picking cell for picking a first subset of goods and the second picking cell for picking a second subset of goods, wherein the first and the second subgroup preferably with respect to predetermined Goods characteristics, in particular the weight and / or the size and / or the shape and / or the packaging properties and / or the nature of the goods, different.

4. Picking system according to one of the preceding claims, wherein the order management control uses the first picking cell for picking a first subset of orders or part orders and the second picking cell for picking a second subset of orders or part orders, with the first and the second subgroup preferred with regard to specified order properties, in particular the number and / or the weight and / or the size and / or the shape and / or the packaging properties and / or the type of goods to be picked per order o the sub-order and / or a priority of the order or sub-order differ.

5. Picking system according to one of the preceding claims, wherein the first and the second conveyor system are configured so that the first and the second picking cell used both parallel to the processing of different orders and / or part orders and for successive processing of a first and second part order of a contract are, and / or wherein the order management control depending on one or more to be processed orders and / or partial orders, the first and the second picking cell optionally parallel to processing different orders and / or partial orders or for successive processing of a first and second partial order of an order.

6. Order-picking system according to one of the preceding claims, wherein dispensing containers can be conveyed via a direct conveying connection from the first to the second picking cell and / or back and / or wherein dispensing containers are conveyed via the second conveying path from the first to the second picking cell and / or or backward.

7. Picking system according to one of the preceding claims, wherein the order management control for processing an order retrieves predetermined goods characteristics of the order picking goods and / or receives and compensates with predetermined goods handling characteristics of the at least first and second picking cell, the order management control the order as a function of assigns the adjustment of one of the picking cells or divided into several sub-orders, which are assigned to different picking cells, preferably in the context of processing the partial orders of an order, an output container from a first picking cell, in which a first part order is processed to a second Picking cell, in which a second part order is processed, is spent, the order management control preferably additionally takes into account a utilization of the picking cells by other orders.

8. Picking system according to one of the preceding claims, wherein the order management control for processing an order retrieves predetermined goods characteristics of the goods to be picked with an order and / or receives and determines depending on the goods characteristics a picking order for the goods of the order, preferably heavy goods before order picking and / or the order of picking is taken into account when dividing an order into partial orders and / or the assignment to different picking cells.

9. order-picking system according to one of the preceding claims, wherein the picking cells each have at least one robot arm, on which the gripper is arranged, and in particular have a 6-axis robot, and / or wherein each picking cell have at least one surface portal on which the Gripper is arranged, wherein preferably at least one picking cell has two robot arms and preferably two 6-axis robots, each with a gripper, which are used parallel to the order picking, and / or preferably at least one picking cell has two surface portals each with a gripper, which can be used parallel to the picking of a job.

10. Picking system according to one of the preceding claims, wherein the cell control controls the gripper so that the goods are stored in a predetermined position and / or with a predetermined orientation in a dispensing container, and / or wherein the order management control and / or the cell control the position and / or orientation tion of all goods of an order or partial order, which are to be picked together in an order container, determined before commencement and / or during picking.

Picking system according to one of the preceding claims, with more than 3 automated picking cells, preferably with more than 5 automated picking cells, wherein preferably a plurality of first and / or more second picking cells are provided, and / or with a picking cell for manual picking of goods, and / or Picking system with a first section with one or more picking cells and a second section with one or more picking cells, the first and the second section are used for picking different types of goods o- be supplied by separate storage systems with goods to be picked, preferably at least the The first section is used for order picking of frozen and / or frozen goods and more preferably orders are divided into partial orders so that the part to be processed by the first section of the partial order forms the last part.

A picking system according to any one of the preceding claims, wherein the first conveyor system transports the feed containers from a warehouse to the picking cells and back and / or wherein the second conveyor system transports the order containers from the picking cells to a mailing line.

Set of a plurality of picking cells for a picking system according to one of the preceding claims.

Order management control or software for an order management control for a picking system according to one of the preceding claims.

15. A method for operating a picking system for order-related picking of goods in output containers, wherein at least one first picking cell for processing other orders and / or part orders is used as a second picking cell.