CN108298243A

CN108298243A - Intelligent storage goods picking method and system

Info

Publication number: CN108298243A
Application number: CN201810050973.4A
Authority: CN
Inventors: 董胜伟; 卓晖; 吕江
Original assignee: Water Rock Intelligent Technology Ningbo Co ltd
Current assignee: Gangwan Intelligent Technology Suzhou Co ltd
Priority date: 2018-01-18
Filing date: 2018-01-18
Publication date: 2018-07-20
Anticipated expiration: 2038-01-18
Also published as: CN108298243B

Abstract

The present disclosure relates to a method and a system for picking goods in intelligent storage, wherein the system comprises: the control system is used for sending out a control command and controlling the goods picking process; the goods picking resources are used for picking goods according to the control instruction and storing the picked goods in a goods picking and storing unit; the goods picking indicating device is used for indicating the position of the goods to be picked in the goods storage unit through visual information according to the control instruction; the goods picking indicating device is used for indicating the goods picking resources to store the picked goods to the positions in the goods picking storage unit according to the control instruction. This openly can further realize choosing the automation of goods process, improves and chooses goods efficiency.

Description

Intelligent storage goods sorting method and system

Technical field

This disclosure relates to a kind of goods sorting method and system in intelligent storage field, being applied especially to configuration has intelligent transport In the warehousing system of robot.

Background technology

The fast development of internet and e-commerce brings life to the development of logistic industry, however explosive growth Electric business business also to traditional logistics storage bring new challenge, constantly force traditional logistics storage sector from labour intensive Type steering technique is intensive, has expedited the emergence of the development of Intelligent logistics storage.In traditional logistics storage sector, it is mainly used in biography The robot based on band and relevant device is sent in the service of more and more logistic storages, to introduce automatic guided vehicle in recent years AGV (Automated Guided Vehicle) reduces human cost；The logistic storage robot of a new generation will be with stream tube System docking is managed, the logistics system that height is intelligent, automates is formed in conjunction with technologies such as artificial intelligence, machine vision, mechanical arms System reduces cost of labor, improves logistic efficiency and logistics quality.

However the caused cost reduction of applications of the AGV in logistic storage system and efficiency raising are relied solely on, also not Can meet the needs of logistic storage is growing, more systematicization, globalization, intelligent and automation logistic storage system As the research and development focus of current each large enterprises.

The introducing of AGV realizes the positioning of shelf where cargo and the carrying of shelf, and by target goods picking station from The process of completion order is taken out on shelf will still complete by manpower, how to further realize the automation of picking process, improve Picking efficiency is disclosure problem to be solved.

Invention content

The purpose of the disclosure is to propose a kind of new intelligent storage goods sorting method and system.

Specifically, according to the one side of the disclosure, a kind of intelligent storage Picking System is provided, the system comprises：Control System processed, picking resource, goods storage unit, picking instruction device, picking storage unit, picking instruction device, wherein：

The control system and the picking resource, picking instruction device, picking storage unit, pick goods storage unit It can be communicated between goods instruction device, for sending out control instruction, control picking process；

The picking resource is used to carry out the sorting of cargo, and the goods that will be picked according to the control instruction of the control system Object is stored in picking storage unit；

The goods storage unit in region of storing in a warehouse for storing cargo；

The picking instruction device is used to currently be waited for by visual information instruction according to the control instruction of the control system Position of the picking object in the goods storage unit；

The picking storage unit is used to store the picking resource from the cargo in the way of corresponding to order The cargo taken out in storage unit；

The picking instruction device is used to indicate that the picking resource will pick according to the control instruction of the control system Cargo storage to picking storage unit in position.

According to the one side of the disclosure, a kind of intelligent storage Picking System is provided, the system comprises：Control system, goods Object storage unit and one or more intelligent storage picking subsystem, wherein：

The intelligent storage picking subsystem is used to execute intelligent storage picking operation parallel according to the control of control system；

The intelligent storage picking subsystem includes control terminal, picking resource, picking instruction device, picking storage unit With picking instruction device, wherein：

The control terminal refers to the control system, goods storage unit, picking storage unit, picking resource, picking It can be communicated between showing device and picking instruction device, for sending out control instruction according to the instruction of control system, control picking Process；

The picking resource is used to carry out the sorting of cargo, and the goods that will be picked according to the control instruction of the control terminal Object is stored in picking storage unit；

The goods storage unit in region of storing in a warehouse for storing cargo；

The picking instruction device is used to currently be waited for by visual information instruction according to the control instruction of the control terminal Position of the picking object in the goods storage unit；

The picking storage unit in the way of corresponding to order for storing picking resource from goods storage unit The cargo of taking-up；

The goods that the picking instruction device is used to be picked according to the control instruction of control terminal instruction picking resource Object is stored to the position in picking storage unit.

Optionally, further include vehicle equipment, the toter be used for according to the control instruction of the control system for The goods storage unit is delivered.

According to the one side of the disclosure, a kind of intelligent storage Picking System is provided, the system comprises：Control system, goods Object storage unit, picking storage unit and one or more intelligent storage picking subsystem, wherein：

The intelligent storage picking subsystem includes control terminal, picking resource, picking instruction device and picking instruction dress It sets, wherein：

The goods storage unit in region of storing in a warehouse for storing cargo；

According to the one side of the disclosure, a kind of intelligent storage goods sorting method is provided, the method includes：

It indicates currently to wait for position of the picking object in goods storage unit in current order by visual information, according to described Cargo is taken out in the instruction of visual information from the position；

Judge whether cargo matches；If it does, then instruction cargo will be placed into the position in picking storage unit, and will Cargo is put to indicating positions.

The disclosure by control system, picking resource, goods storage unit, picking instruction device, picking storage unit, The mutual cooperation of the devices such as picking instruction device, component can further realize the automation of picking process, improve picking effect Rate.

Description of the drawings

Each exemplary embodiment is described in detail by referring to accompanying drawing, above and other feature and advantage are common for this field It will become more apparent for technical staff, in the accompanying drawings：

Fig. 1 is the structure diagram according to the intelligent storage Picking System of one embodiment of the disclosure；

Fig. 2 is the scheme of installation according to the light-emitting device of one embodiment of the disclosure；

Fig. 3 is the structure diagram according to the intelligent storage picking subsystem of one embodiment of the disclosure；

Fig. 4 is the projected image display area according to the projection arrangement of one embodiment of the disclosure in goods storage unit Presentation mode schematic diagram；

Fig. 5 A are the allocation plan schematic diagrames according to the picking partition holding of one embodiment of the disclosure；

Fig. 5 B are the allocation plan schematic diagrames according to the picking partition holding of another embodiment of the disclosure；

Fig. 5 C are the allocation plan schematic diagrames according to the picking partition holding of disclosure another embodiment；

Fig. 6 is the structure diagram according to the intelligent storage Picking System of another embodiment of the disclosure；

Fig. 7 is the flow chart according to the intelligent storage goods sorting method of one embodiment of the disclosure；

Fig. 8 is the flow chart according to the intelligent storage goods sorting method of another embodiment of the disclosure；

Fig. 9 is the flow chart according to the intelligent storage goods sorting method of disclosure another embodiment.

Specific implementation mode

In order to which the technical solution and advantage that make the disclosure are clearer, in the following with reference to the drawings and specific embodiments to the disclosure It is described in detail.

This disclosure relates to a kind of goods sorting method and system in storage field, being applied especially to configuration has intelligent storage machine In the warehousing system of people, herein intelligent storage robot be refer to can be applied in storage, logistics, transport transport goods, goods The mobile handling unit of the objects such as frame, counter, also commonly known as merchandising machine people, AGV, intelligent carrier etc., however, this public affairs Open proposed intelligent storage cargo picking method and systematic difference, however it is not limited to be configured with the storehouse of intelligent storage robot In storage system, as long as can apply described method and system with the picking station with the same or analogous configuration of the disclosure；It is described Warehousing system had both included the logistics warehouse of large size, such as customs, the collecting and distributing area of logistics, also included middle-size and small-size logistics transfer house, Further include retail storage region etc., above-mentioned warehousing system is merely illustrative, and the disclosure is not limited to this, and institute is in need The system for carrying out warehoused cargo sorting is each fallen in the protection domain of the disclosure.

According to the one side of the disclosure, propose that a kind of intelligent storage Picking System, the intelligent storage Picking System are related to Consisting of part, and may be wrapped according to the difference of concrete scene scale of warehousing system application, the difference of automation demanding It includes several or whole in consisting of part.Fig. 1 is the structure according to the intelligent storage Picking System of one embodiment of the disclosure Block diagram, as shown in Figure 1.In one embodiment of the disclosure, the intelligent storage Picking System includes：Control system, picking money Source, goods storage unit, picking instruction device, action recognition device, picking storage unit, picking instruction device, cargo identification Device, vehicle equipment and caution device in order to ensure effective work of the intelligent storage Picking System, should also match certainly The picking region for having storage region and being present in storage region, being marked off for realization picking, wherein：

The control system and the picking resource, picking instruction device, action recognition device, pick goods storage unit It can be communicated between goods storage unit, picking instruction device, stock keeping unit, vehicle equipment and caution device, for sending out Control instruction controls picking process；

The goods storage unit in region of storing in a warehouse for storing cargo；

The action recognition device is used to detect picking resource and sorts the action of cargo in the goods storage unit It is no correct, and testing result is sent to the control system；

The picking instruction device is used to indicate that the picking resource will pick according to the control instruction of the control system Cargo storage to picking storage unit in position；

The goods information of the stock keeping unit cargo that picking resource is taken out from goods storage unit for identification；

The toter is for transporting the goods storage unit according to the control instruction of the control system It carries；

The caution device is used to send out information warning according to the control instruction of the control system.

It describes in detail below for each component part of the intelligent storage Picking System.

Control system

The control system includes central processing unit (CPU), read-only memory (ROM), random access storage device (RAM), bus, input/output (I/O) interface, input equipment, output equipment, storage device, communication equipment, may also include drive The components such as dynamic device, detachable media.In practical applications, the control system can be implemented as total and fractional computer control system System, can also be embodied as distributed computer control system, the total and fractional computer control system includes master control control server With multiple control terminals for receiving master control server controls；The distributed computer control system includes multiple independent Control terminal, the multiple independent control terminal can realize collaborative work to each other by collision algorithm.

The control system also can receive the picking resource, goods storage unit, picking instruction device, action recognition dress It sets, the information that picking storage unit, picking instruction device, stock keeping unit, vehicle equipment are sent, according to reception information The working condition of each unit, unit is judged, and is judging that abnormal state occur in each unit, unit When, control instruction is sent to caution device, indicates its alarm.

Picking resource

The picking resource can be people, machine or man-machine combination, such as with auxiliary machinery equipment People, it is alternatively possible to be the people equipped with mechanical exoskeleton.It is said from another angle, the picking resource may include multiple Picking component, such as executing the component of picking, the component for providing support, the component for controlling each component action Etc., multiple picking component coordination work are to realize picking for cargo.

The picking resource can also be installed with condition detecting device, and the condition detecting device for monitoring picking money in real time Working condition from body, and status information is fed back into control system in real time or every prefixed time interval, in picking Resource can at the first time succour picking resource when breaking down, and picking work is scheduled.Wherein, institute Stating status information includes：Each picking component operation status information, picking resource location information etc..

Goods storage unit

In one embodiment of the disclosure, the goods storage unit can be shelf, counter, basket, goods basket and refrigerator, The storage units such as warm cabinet.

The cargo storage areas that the goods storage unit is formed can be divided into multiple cargo partition holdings, the goods Object partition holding either opened and formed by physical separation, such as separated with partition components such as partition board, drawer, Split charging boxes, Can also be the partition holding of virtual partition, such as different cargos are spaced and put and formed.The cargo partition holding was both It could be provided as with regular shape, such as latticed, may be set to be with irregular shape, to accommodate irregular goods Object or cargo reserved space will to store later.The cargo partition holding can both be evenly distributed, and can also be in Non-uniform Distribution, such as can need to be set as that certain partition holdings are intensive and other partition holding phases according to practical application To loose.The division of the cargo partition holding can also be to support dynamic adjustment either changeless, described The dividing mode of cargo partition holding is stored in the control system, and the real-time update according to the change of dividing mode. In addition, the cargo partition holding may also be configured with unique positions identification marking, for example, can according to its region, row, The unique positions identification marking of cargo partition holding is arranged in the more specific location informations such as row, sequence numbering, can also be according to the goods Unique positions identification marking is arranged for it in the spatial position coordinate of object partition holding.It above are only for cargo partition holding Exemplary illustration, those skilled in the art can according to the needs of practical application for cargo partition holding carry out reasonable distribution and Adjustment, the disclosure are not especially limited it.

The position of the goods storage unit can also be moveable, be stored in the cargo either fixed When unit is removable, move mode can be actively mobile or passive mobile, wherein actively mobile to can be achieved For automatic autonomous, passive movement can be achieved to carry out delivery movement by push-and-pull move, or by toter.

In another embodiment of the disclosure, the goods storage unit can also be installed with condition detecting device, the state Detection device is used to detect the status information of the goods storage unit, and in real time, every Fixed Time Interval or detecting When breaking down to the goods storage unit state detecting information is sent to control system.

Picking instruction device

In one embodiment of the disclosure, the picking instruction device can utilize visual information, to indicate currently to wait for picking Location information of the object in the goods storage unit currently waits for the cargo partition holding where picking object so that picking provides Source can correctly take out according to the position instruction of picking instruction device and currently wait for picking object.

In this embodiment, the picking instruction device is visual information output device, and there are many kinds of its realization methods, For example can be implemented as light-emitting device, light launcher, projection arrangement, display device, electronic tag, bat modulator etc., It can certainly be embodied as other visual information output devices, the disclosure is not especially limited it.Below only with light-emitting device, The picking instruction device is illustrated for light launcher, projection arrangement and display device, for other visions The realization method of information output apparatus can similarly analogize.

Embodiment one, the picking instruction device are light-emitting device

In this embodiment, the picking instruction device is one group of luminous dress being located in the goods storage unit Set, such as LED light, such as shown in Fig. 2, the goods storage unit be shelf 1, the picking instruction device be mounted on One group of LED light 2 on shelf 1, shelf 1 are divided into multiple virtual cargo partition holdings, and LED light 2 further comprises transverse direction With longitudinally disposed row, column LED light, row LED light and row LED light combination application can uniquely determine a certain cargo place Partition holding.In addition, the indicating mode of the light-emitting device may be used and light, flickers, changing colour or other indicating modes, Its luminescent color is chosen as using bright-coloured eye-catching color, such as red.

Certainly, the light-emitting device can also be realized using electronic tag or other luminescence components, the disclosure to it not Make specific limit, wherein the electronic tag can show that the unique positions of corresponding cargo partition holding are known in a manner of eye-catching Not Biao Shi or other can unique mark wait for the identification information of picking object.

Embodiment two, the picking instruction device are light launcher

In this embodiment, the picking instruction device, which is one group be located near goods storage unit, can emit light Light launcher, set-up mode identical with the light-emitting device can be used, utilize row and column corresponding light transmitting The crosspoint of light emitted by device uniquely determines the partition holding where a certain cargo, naturally it is also possible to directly by light It is incident upon at the partition holding where currently waiting for picking object.

The light launcher and the goods storage unit distance away, being capable of adjust automatically light hairs The angle penetrated and light is emitted to the corresponding position of the goods storage unit, such as cargo partition holding row indicating bit It sets, cargo partition holding row indicating positions or the current partition holding waited for where picking object.

The light launcher can be visible light emitter, such as laser emitter or other light transmitting dress It sets.

Embodiment three, the picking instruction device are projection arrangement

The projection arrangement to goods storage unit and/or picking storage unit by projecting image, in cargo to be removed Cargo partition holding and/or cargo to be stored picking partition holding in show special visual image information to be referred to Show.

In this embodiment, the picking instruction device is the projection being separated by a certain distance with the goods storage unit Device, projected image display area wait for that picking object place partition holding is corresponding with current, can just cover and currently wait picking Partition holding where cargo can also be more than or less than the partition holding currently waited for where picking object, as long as can be only The instruction of one ground currently waits for the partition holding where picking object.

For example as shown in figure 3, the goods storage unit is shelf 505, picking instruction device is certain apart from shelf 505 The projection arrangement 504 of distance, being adjusted to the size of projected position and view field can just cover in shelf 505 The current partition holding waited for where picking object, or it is slightly more than the boundary for currently waiting for picking object place partition holding, for example (,) it is super The distance for going out boundary is less than 3cm.

Fig. 4 shows presentation mode of the projected image display area of projection arrangement in goods storage unit, such as Fig. 4 institutes Show, the position where the projection arrangement instruction currently waits for picking object can be by currently waiting for partition holding where picking object It shows the information such as special visual information, such as special pattern, special color, designated character to realize, wherein the finger It can be currently to wait for the picking information of picking object, such as wait for the picture of picking object, title, specification, classify, wait picking several to determine character Amount etc., or the current unique positions identification marking for waiting for picking object.It is alternatively possible to current using that can just cover The shape of partition holding where waiting for picking object indicates the partition holding slightly larger than the pattern of partition holding shape to distinguish, and throws Shadow color can take color that is bright-coloured eye-catching and being different from other cargo partition holdings, and in addition the size of projection instruction pattern should fit Preferably, it will not project to other partition holdings, partition holding is caused to indicate that mistake, misguidance picking resource are deposited to other cargos Storage subregion takes wrong cargo.

Embodiment four, the picking instruction device are display screen

In this embodiment, the picking instruction device is a display easily observed in picking by picking resource Screen shows that the goods storage unit divides feelings in the partition holding on picking resource direction in the display screen Condition, and the current partition holding waited for where picking object is shown by modes such as special pattern, color or designated characters.It is described Display screen can also show and currently wait for the picking information of picking object, for example, wait for the picture of picking object, title, specification, classification, Quantity to be picked etc. can also show the current unique positions identification marking for waiting for picking object.

Embodiment five, the picking instruction device are the combination described in above-mentioned implementation

Indicate that the embodiment of cargo storage position can be used alone above by picking instruction device, it can also phase Mutually it is applied in combination to reduce picking error rate.

In another embodiment of the disclosure, the picking instruction device can also be installed with condition detecting device, the state Detection device is used to detect the status information of the picking instruction device, and in real time, every Fixed Time Interval or detecting When breaking down to the picking instruction device state detecting information is sent to control system.

Action recognition device

In one embodiment of the disclosure, the action recognition device is for detecting picking resource in the goods storage unit Whether the middle action for sorting cargo and/or storing cargo in the picking storage unit is correct, and testing result is sent to The control system.

In another embodiment of the disclosure, the action recognition device detect picking resource sort cargo action when, Whether one or more picking component it is single have exceeded the storage of the cargo where waiting for picking object when detectable picking resource sorts cargo The bounds of the cargo partition holding of member, the bounds can be the boundary of partition holding and permissible error amount With, and/or, when the action recognition device is for detecting picking resource storage cargo, the one or more of the picking resource Whether picking component, which has exceeded, is waited for picking object by the bounds of the picking partition holding for the picking storage unit being stored, and Testing result is sent to the control system.For example, when the action recognition device detects the picking component of picking resource When having exceeded the bounds of partition holding where picking object, detection information is fed back to control system, makes the control system Operating mistake is prompted by the caution device.Wherein, the permissible error amount can be a fixed value, such as 5cm, It can also be a relative value, such as the 30% of the cargo storage areas length of side can be taken as, it is of course also possible to be 0.

The action recognition device can be Grating examinations device, motion capture equipment or other can be with identification maneuver The device of range, the disclosure are not especially limited it.

Picking storage unit

In one embodiment of the disclosure, the picking storage unit can be shelf, counter, basket, goods basket and refrigerator, The storage units such as warm cabinet.

The storage region that the picking storage unit is formed can be divided into multiple picking partition holdings, and the picking is deposited Storage subregion either separated and formed by actual physics, such as separated with partition components such as partition board, drawer, Split charging boxes, Can also be the partition holding of virtual partition, such as different cargos are spaced and put and formed.The picking partition holding was both It could be provided as with regular shape, such as latticed, may be set to be with irregular shape, to accommodate irregular goods Object or cargo reserved space will to store later.The picking partition holding can both be evenly distributed, and can also be in Non-uniform Distribution, such as can need to be set as that certain partition holdings are intensive and other partition holding phases according to practical application To loose.The dividing mode of the picking partition holding can also be to support dynamic adjustment either changeless, Goods storage unit described above is the same, and the dividing mode of the picking partition holding is stored in the control system, And the real-time update according to the change of dividing mode.In addition, the picking partition holding may also be configured with unique positions identification Mark, for example picking partition holding can be set only according to more specific location informations such as its region, row, column, sequence numberings One position identification marking can also be arranged unique positions for it according to the spatial position coordinate of the picking partition holding and identify Mark.The exemplary illustration for picking partition holding is above are only, those skilled in the art can be according to the needs of practical application Reasonable distribution is carried out for picking partition holding and adjustment, the disclosure are not especially limited it.

Fig. 5 A are picked as shown in Figure 5A according to the allocation plan schematic diagram of the picking partition holding of one embodiment of the disclosure The storage region 401 that goods storage unit is formed can be evenly divided into multiple open picking partition holdings 403, each Picking partition holding is additionally provided with its unique positions identification marking 402 at 403 corresponding position.

Fig. 5 B be according to the allocation plan schematic diagram of the picking partition holding of another embodiment of the disclosure, as shown in Figure 5 B, Multiple picking partition holdings 404 are set as salable region, for example can be installed with detachable cabinet door.

Fig. 5 C be according to the allocation plan schematic diagram of the picking partition holding of disclosure another embodiment, as shown in Figure 5 C, Multiple picking partition holdings 405 are formed based on virtual partition.

The position of the picking storage unit can also be moveable, be stored in the picking either fixed When unit is removable, move mode can be actively mobile or passive mobile, wherein actively mobile to can be achieved For automatic autonomous, passive movement can be achieved to carry out delivery movement by push-and-pull move, or by toter.

In another embodiment of the disclosure, the picking storage unit can also be installed with condition detecting device, the state Detection device is used to detect the status information of the picking storage unit, and in real time, every Fixed Time Interval or detecting When breaking down to the picking storage unit state detecting information is sent to control system.

Picking instruction device

In one embodiment of the disclosure, cargo to be sorted is stored list by the picking instruction device in picking resource from cargo After being taken out in member, it is indicated by the specific location in the cargo storage picked to picking storage unit, the specific location can To be the specific picking partition holding that picks cargo and will be placed in picking storage unit.

The picking instruction device can similar with above-described picking instruction device mode realize, except this it Outside, the picking instruction device can also be realized using electronic tag or bat modulator.

When the picking instruction device is embodied as electronic tag, the electronic tag can be arranged is storing list with picking The one-to-one position of picking partition holding in member, the position as shown in reference numeral 402 in Fig. 5 A, 5B, 5C, the electricity Subtab can be shown in a manner of eye-catching corresponding picking partition holding unique positions identification marking or other can uniquely mark Know the identification information of picking partition holding.In this embodiment, picking resource will cargo be sorted from goods storage unit It after taking-up, the corresponding electronic tag flicker of a certain picking partition holding or brightens, instruction cargo should be put into corresponding position Picking partition holding, if picking partition holding is if being separated by the way of goods basket, it indicates that be put into cargo corresponding In goods basket.

In addition, the identification information in addition to capableing of unique mark picking partition holding described in display, the electronic tag may be used also To show that the cargo residue to be sorted of this in the corresponding order of current picking partition holding needs quantity sorted etc. to sort information.

Stock keeping unit

In one embodiment of the disclosure, the stock keeping unit can be barcode scanning device, then the goods information identified is Shipment identifier information, such as bar code or Quick Response Code, the stock keeping unit can also be pattern recognition device, then know Other goods information is a part for cargo image information or cargo image information.

In another embodiment of the disclosure, the stock keeping unit can also be installed with condition detecting device, the state Detection device is used to detect the status information of the stock keeping unit, and in real time, every Fixed Time Interval or detecting When breaking down to the stock keeping unit state detecting information is sent to control system.

Toter

In automated warehousing, AGV (automated guided vehicle), fork truck, suspension usually may be used in the toter The toters such as formula robot above are only the exemplary illustration of toter, and the disclosure is not especially limited it, own The protection model of the disclosure can be each fallen within for the device that goods storage unit is delivered according to the control instruction of control system In enclosing.In another embodiment of the disclosure, the toter can also be installed with condition detecting device, and the state-detection is set It is ready for use on the status information for detecting the toter, and in real time, every Fixed Time Interval or detecting the delivery When device breaks down state detecting information is sent to control system.

Caution device

In one embodiment of the disclosure, the caution device can be acousto-optic warning equipment, such as buzzer, warning lamp etc. Equipment can be visual information caution device, for example printed words is prompted to show, can also be multimedia caution device, such as sound Frequency alarm, image warner, animation alarm, video alarm etc., naturally it is also possible to be the combination of above-mentioned caution device.

The caution device receives the control instruction that control system is sent and implements alarm operation, for example, when picking resource goes out When existing failure, caution device is alarmed according to the control instruction of control system and is notified to the current location of picking resource, to make to rescue Help source that can be succoured at the first time for picking resource；For example, when action recognition device detects the picking of picking resource When component has exceeded the bounds of partition holding where picking object, caution device can be according to the control instruction of control system It alarms, to suspend faulty operation at the first time；For another example, when goods storage unit, picking instruction device, picking storage When unit, picking instruction device, stock keeping unit and vehicle equipment detection oneself state break down, caution device can root It alarms according to the control instruction of control system, goods storage unit, picking instruction device, picking is deposited with first time Storage unit, picking instruction device, stock keeping unit and vehicle equipment are repaired.

Workbench

In one embodiment of the disclosure, the intelligent storage Picking System may also include workbench, and the workbench is used for What various components, such as control terminal, mouse, keyboard, printer in placement control system etc. or other needs were placed Article.

In another embodiment of the disclosure, the intelligent storage Picking System includes control system, goods storage unit, picks Goods storage unit, vehicle equipment and one or more intelligent storage picking subsystem, wherein：

The intelligent storage picking subsystem includes control terminal, picking resource, picking instruction device, picking instruction dress It sets, stock keeping unit and caution device, wherein：

The control terminal refers to the control system, goods storage unit, picking storage unit, picking resource, picking It can be communicated between showing device and picking instruction device, for sending out control instruction according to the instruction of control system, control picking Process.

Certainly, the intelligent storage picking subsystem can further include the compositions such as action recognition device, workbench.

Wherein, the function and operation of each component part in the intelligent storage picking subsystem and intelligent storage picking The function and operation of corresponding component part is similar in system, and details are not described herein for the disclosure, only, the intelligent storage picking Subsystem needs to be communicated with the control system of intelligent storage Picking System by control terminal.

In addition, one or more intelligent storage picking subsystem can share goods storage unit, picking storage Unit and vehicle equipment can also be separately configured.

In an alternative embodiment, intelligent storage picking subsystem also can also include picking storage unit, such as Picking storage unit is integrated with picking instruction device.

The intelligent storage picking subsystem is not an individual device, nor one can only execution part operation System element, the definition of intelligent storage picking subsystem are to be divided to obtain to the intelligent storage Picking System A minimum functional unit that can complete a complete picking operation.

Fig. 3 is according to the structure diagram of the intelligent storage picking subsystem of one embodiment of the disclosure, in this embodiment, institute Intelligent storage picking subsystem is stated to include picking resource 501, picking storage unit 502, control terminal 503, refer to as picking The projection arrangement 504 of showing device and the display 505 above goods storage unit stop place indicate to fill as picking Set be located at picking storage unit on electronic tag (not shown), as stock keeping unit barcode scanning device (not shown), Action recognition device 506 and workbench 507.

Fig. 6 is according to the structure diagram of the intelligent storage Picking System of another embodiment of the disclosure, as shown in fig. 6, described Intelligent storage Picking System include master control control server 801, control terminal 803, display device 804, picking instruction device 805, Action recognition device 806, picking instruction device 807, stock keeping unit 808 and printing device 809, wherein：

The master control control server 801 includes order processing unit, for receiving and distributing order according to certain algorithm；

Control terminal 803, display device 804, picking instruction device 805, action recognition device 806, picking instruction device 807, stock keeping unit 808 and printing device 809 constitute picking work station 802；

It is communicated by wireless and/or wired connection between master control control server 801 and control terminal 803；

The order of distribution and relevant information are sent to control terminal 803 by master control control server；

Control terminal 803 is filled with display device 804, picking instruction device 805, action recognition device 806, picking instruction It sets and uses wired or wireless communication connection mode between 807, stock keeping unit 808 and printing equipment 809.

According to another aspect of the present disclosure, it is also proposed that a kind of intelligent storage goods sorting method, the method includes：

In one embodiment of the disclosure, the visual information includes：Illuminated message, projection information, is shown light transmitting information Show one or more combinations in information.

Wherein, the visual information is projection information, specifically by goods storage unit and/or picking storage unit Image is projected, it is special to be shown in the cargo partition holding of cargo to be removed and/or the picking partition holding of cargo to be stored Visual image information is indicated.

Wherein, the special visual image information, including one in special pattern, special color, designated character or It is multiple, wherein the designated character is the picture for currently waiting for picking object, title, specification, classifies, quantity to be picked, currently waits picking One or more of the unique positions identification marking of cargo goods information；The special pattern is to be formed and other storages point The visual pattern in area there are vision difference, cause the pattern of vision attention；The special color is that can just cover currently to wait for The shape of partition holding where picking object or the color segment slightly larger than partition holding shape.

It is described to judge whether cargo matches and specifically include in one embodiment of the disclosure：

Identify the goods information of the cargo taken out；

Judge whether match with the current cargo to be sorted in current order according to the goods information of identification.

In one embodiment of the disclosure, the method further include detection in the goods storage unit sort cargo and/ Or whether the action of storage cargo is correct in the picking storage unit, and carry out miscue when detection has mistake.

Wherein, the detection operation includes with the presence or absence of mistake：

When detecting picking resource sorting cargo, whether one or more picking components of picking resource, which have exceeded, is waited for picking object The bounds of the cargo partition holding of the goods storage unit at place, and detect in the presence of mistake when carry out miscue；

And/or when detection picking resource storage cargo, whether one or more picking components of picking resource, which have exceeded, is waited for Picking object is by the bounds of the picking partition holding for the picking storage unit being stored, and it is wrong to detect progress when in the presence of mistake Accidentally prompt.

Wherein, the bounds be boundary and the permissible error amount of partition holding and.

Wherein, the method further includes the steps that malfunction is carried out to correct instruction.

In one embodiment of the disclosure, before by visual information indicating positions, picking will be executed by further including selection The step of order of operation.

Wherein, the order of picking operation will be executed according to preset rules selection, the preset rules are in following rule Any one：

According to the sequencing of order generated time；

It randomly selects；

According to the sequence of type of merchandize quantity from small to large；

According to the sequence of commodity amount from small to large.

Wherein, further include before the selection will execute the step of order of picking operation：

For the pending picking operation such as current intelligent storage Picking System or the distribution of current intelligent storage picking subsystem Order；

There is the goods storage unit of cargo in the order to deliver to the intelligent storage picking for being assigned the order storage At the position of subsystem.

It is described to put cargo to indicating positions in one embodiment of the disclosure, further include：

Judge whether the current order is completed, be, indicates that the picking operation of current order has been completed, continue Next order operation；Otherwise continue to execute picking according to the instruction of visual information, until completing the picking operation of current order；

In one embodiment of the disclosure, before by visual information indicating positions, picking will be executed by further including selection The step of cargo of operation.

It randomly selects；

According to quantity of the cargo in order by up to few sequence.

In one embodiment of the disclosure, believe after the step of selection will execute the cargo of picking operation, by vision Further include before breath indicating positions：

In one embodiment of the disclosure, the cargo is put to the position of instruction, the method further includes：

Judge it is described currently wait for whether the sorting of picking object is fully completed, be indicate the cargo picking operation complete, Next sorting operation for waiting for picking object is executed, otherwise continues to carry out picking according to the instruction of visual information, until for currently waiting for The sorting for sorting cargo is fully completed；

In one embodiment of the disclosure, before by visual information indicating positions, the method further includes：

Selection will execute the goods storage unit of picking operation；

Selection will execute the cargo of picking operation；

And after the position put the cargo to instruction, further include：

Judge it is described currently wait for whether the sorting of picking object is fully completed, be indicate the cargo picking operation it is complete At, otherwise continue according to the instruction of visual information carry out picking, until all wait for picking object sorting finish；

Judge whether do not wait for picking object in current cargo storage unit, is to indicate that current cargo storage unit is left to work as Preceding intelligent storage picking subsystem position then proceedes to execute the sorting operation of next goods storage unit, otherwise after Continuous selection will execute the cargo of picking operation, until not belonging to current intelligent storage picking in current cargo storage unit Subsystem waits for picking object.

In one embodiment of the disclosure, the method further includes by the detailed list of goods of current order and/or express delivery face singles Print the step for finishing and being put into the picking partition holding of corresponding picking storage unit.

In one embodiment of the disclosure, the method further includes being indicated by way of visual information or acoustic information currently Wait for that the picking operation of picking object has been completed.

In one embodiment of the disclosure, the intelligent storage goods sorting method be implemented based on order, as shown in fig. 7, In the embodiment, it the described method comprises the following steps：

Step 101, selection will execute the order of picking operation；

Step 102, it indicates currently to wait for position of the picking object in goods storage unit in current order by visual information；

Step 103, cargo is taken out from the position according to the instruction of the visual information；

Step 104, the goods information of cargo is taken out in identification；

Step 105, the goods information obtained according to identification judges currently to wait for picking in the cargo and current order that take out Whether object matches, and is, continues to execute step 106, otherwise return to step 103, is currently waited for current order until taking out The cargo that picking object matches；

Step 106, instruction cargo will be placed into the position in picking storage unit, and cargo is put to indicating positions；

Step 107, judge whether the current order is completed, be, enter step 108, otherwise return to step 102, directly To completion current order；

Step 108, it indicates that the picking operation of current order has been completed, and return to step 101, continues to execute next order Picking operation.

Above method step is the cargo sorting process for an independent order.Certainly, above method step can be by reality It applies and executes two and more than two orders for sequence, or execute two and more than two orders parallel simultaneously, but needle To each order in two and more than two orders, it is performed according to picking step above.

For the above-mentioned intelligent storage goods sorting method based on order, each step specifically can be implemented as：

● step 101, selection will execute the order of picking operation, can be implemented as：

Select will to execute the order of picking operation according to certain preset rules, wherein the preset rules are such as Can be：For distributing to the order of current intelligent storage Picking System or current intelligent storage picking subsystem according to ordering Single generated time is ranked up, and the order of picking operation then will be executed according to the selection of the sequencing of order generated time； Or：It is carried out in the order for distributing to current intelligent storage Picking System or current intelligent storage picking subsystem It randomly selects；Or：For distributing to current intelligent storage Picking System or current intelligent storage picking subsystem Order carries out ascending sort according to type of merchandize quantity, then will according to the sequential selection of type of merchandize quantity from small to large Execute the order of picking operation；Or：It is picked for distributing to current intelligent storage Picking System or current intelligent storage The order of goods subsystem carries out ascending sort according to commodity amount, then will according to the sequential selection of commodity amount from small to large Execute the order of picking operation.

Further include step 1011 before the step 101 in one embodiment of the disclosure, is current intelligent storage picking The order of the pending picking operation such as system or the distribution of current intelligent storage picking subsystem.

It refers to that will distribute to distribute order for current intelligent storage Picking System or current intelligent storage picking subsystem Order information is sent to the control system of current intelligent storage Picking System by communication mode wirelessly or non-wirelessly.It is distributing , can be with the one or a set of order of every sub-distribution to intelligent storage Picking System when order, it can also be according to prefixed time interval week Order is distributed to phase property, either waits for current intelligent storage Picking System or current intelligent storage picking subsystem processes complete It reallocates after all orders distributed new order, is also based on load-balancing algorithm and stores in a warehouse picking for different intelligent Subsystem distributes order to realize the load balance of intelligent storage picking subsystem processes picking operation.

Wherein, the order may include the single good or more than one piece cargo corresponding to single category, can also include pair Should in multiple categories the single good of each category or more than one piece cargo.

In one embodiment of the disclosure, the intelligent storage Picking System includes that one or more intelligent storage picks Goods subsystem can also include step 1012 before or after the step 101, storage is had cargo in the order Goods storage unit is delivered to being assigned at the position of intelligent storage picking subsystem of the order.

Wherein, the means of conveyance of the goods storage unit can be that the pure artificial, people of artificial push-and-pull etc drives transport Mechanical carrier (such as fork truck) or utilization robot deliver (such as delivery type AGV), and the disclosure is not especially limited it.

Under normal conditions, step 1011 executes before step 1012.

● step 102, position of the cargo to be sorted in goods storage unit in current order is indicated by visual information；

In this step, the finger of visual information can be realized using the picking instruction device in intelligent storage Picking System Show.The position refers to currently waiting for specific partition holding of the picking object in goods storage unit.

Corresponding to the 1st kind of embodiment of picking instruction device, shine using one group in goods storage unit Device is indicated, such as LED light.Such as shown in Fig. 2, shelf 1 are divided into multiple virtual cargo partition holdings, Corresponding to multiple virtual goods partition holdings, respectively in horizontal and vertical upper setting row, column LED light 2, pass through corresponding row and column LED light 2 light, flicker, changing colour or other illumination modes can uniquely determine cargo partition holding where waiting for picking object, Bright-coloured eye-catching color may be used in the wherein luminescent color of LED light 2, such as red.

Certainly, LED light 2 can also be realized using electronic tag or other luminescence components.

Corresponding to the 2nd kind of embodiment of picking instruction device, using one group of light in goods storage unit Emitter is set to the light launcher at a certain distance from goods storage unit to indicate.

One group of light launcher in goods storage unit can be used and light-emitting device in the 1st kind of embodiment Identical set-up mode, the crosspoint of the light projected using the corresponding light launcher of row and column, which can uniquely determine, waits for Cargo partition holding where picking object.

The light launcher being set at a certain distance from goods storage unit is capable of the transmitting of adjust automatically light Angle and light is emitted to the corresponding partition holding position of goods storage unit.

Corresponding to the 3rd kind of embodiment of picking instruction device, the throwing being separated by a certain distance with goods storage unit is utilized Image device indicates, projected image display area with it is current wait for picking object where partition holding it is corresponding, can just cover The current partition holding waited for where picking object can also be more than or less than the partition holding currently waited for where picking object, as long as It is that can uniquely indicate currently to wait for the partition holding where picking object.

Corresponding to the 4th kind of embodiment of picking instruction device, observed in picking by picking resource using easily aobvious Display screen curtain is indicated, shows the goods storage unit in depositing on picking resource direction in the display screen Subregion dividing condition is stored up, and depositing where currently waiting for picking object is shown by modes such as special pattern, color or designated characters Store up subregion.The display screen, which can also show, currently waits for the picking information of picking object, for example, wait for the picture of picking object, title, Specification is classified, quantity to be picked etc., can also show the current unique positions identification marking for waiting for picking object.

Corresponding to the 5th kind of embodiment of picking instruction device, instruction, example are combined using 1-4 kind embodiments Such as, in such a way that projection arrangement and display screen are combined instruction, the type of instruction information is not only increased, is also reduced The error rate of picking.

● step 103, cargo is taken out from the position according to the instruction of the visual information；

In one embodiment of the disclosure, which can realize the instruction according to visual information for picking resource, make a stretch of the arm Or the cargo storage areas taking-up that auxiliary grip equipment enters in goods storage unit currently waits for picking object.

Optionally, artificial sorter receives the instruction of visual information by the organs of vision, is completed to take out cargo with arm Process or machine sorter identify the visual information by machine vision, and are converted to the executable operation of robot The process of taking-up cargo is completed in instruction using mechanical arm.

Optionally, the step 103 further include detection picking action whether there is mistake, and detection exist mistake when into The step of row miscue, specifically can be achieved to detect that sorter's arm or other picking components extend into cargo storage to work as Beyond when the bounds of partition holding, mistake occurs in prompt where picking object in unit.The bounds can be deposited Store up boundary and the permissible error amount of subregion and, the permissible error amount can be a fixed value, such as 5cm, also may be used To be a relative value, such as it can be taken as the 30% of the cargo storage areas length of side, it is of course also possible to be 0.Further, Can execute the detection by actions described above identification device, for example, Grating examinations device, motion capture equipment or Other can be not especially limited it with the device of identification maneuver range, the disclosure.

Wherein, described miscue mode, including the alarm of sound-light alarm, visual information, multimedia messages alarm etc., such as It is alarmed by modes such as color change, flicker variation, light and shade variation or presentation " mistake " " ERROR " printed words.

Wherein, the detection picking action whether there is wrong step, can further include for malfunction The step of carrying out correcting instruction, such as prompted by showing correct storage location on the display screen, or by prominent The mode of correct picking position, or realized using combination.

● step 104, the goods information of cargo is taken out in identification；

Further, which is operated by stock keeping unit to implement the identification.

For example, identifying goods information by barcode scanning device, the goods information identified is shipment identifier information, such as item Shape code or 2 D code information；Alternatively, identifying goods information by pattern recognition device, the goods information identified is cargo A part in image information or cargo image information.

● step 105, the goods information obtained according to identification judges currently to wait picking in the cargo and current order that take out Whether cargo matches, and is, continues to execute step 106, otherwise the picking again of return to step 103, until taking-up and current order In current wait for the cargo that picking object matches.

In one embodiment of the disclosure, for goods information included in order information and obtained cargo can be identified Information is compared to judge whether cargo matches, wherein the order information includes O/No., Description of Goods, cargo number Amount, goods information and instruction currently sort the instruction information of which cargo, and the goods information can be shipment identifier letter A part for breath, cargo image information or cargo image information.

● step 106, instruction cargo will be placed into the position in picking storage unit, and cargo is put to indicating positions；

In one embodiment of the disclosure, the correct cargo of sort out can be indicated in picking by picking instruction device The position that will be placed in storage unit, the position specifically refer to which picking storage point in picking storage unit Area.

Wherein, as described above, it is next real that mode similar with picking instruction device may be used in the picking instruction device It is existing, it can also be realized using picking storage unit electronic tag or bat modulator.

For example after step 105 confirms and takes out correct cargo, picking instruction device indicates that cargo will be placed into Picking partition holding, such as indicated by the modes such as lighting or flickering, picking instruction device can also show that the cargo corresponds to Residue quantity to be sorted, such as when using electronic tag as picking instruction device when, currently quantity of goods to be sorted be 3 A, the cargo for being put into picking storage unit is 2, then the remaining quantity for needing to sort of picking instruction device display is 1, Then the cargo is put into corresponding picking partition holding by picking resource further according to the instruction of picking instruction device.

● step 107, judge whether the current order is completed, be, enter step 108, otherwise return to step 102 after It is continuous

It executes and sorts operation, until completing all pickings operation of current order；

Wherein, it refers to judging whether cargo included in current order all sorts to judge whether current order is completed It finishes, certainly, which can also include finishing the detailed list of goods of current order and/or express delivery face singles print and being put into phase In the picking partition holding for answering picking storage unit.

When judging that current order is completed, the prompt completed about order can also be shown or send out, for example, can pass through The modes such as visual information or acoustic information show or send out the completed notification information of current order.

● step 108, indicates that the picking operation of current order has been completed, and return to step 101, continue to execute next order It is single

Picking operation.

In the step, indicate that the picking operation of current order has completed to be directed to control system and sent out instruction notice.

It can be by way of triggering empty built-in terminal input information, such as click enter key, click mouse confirmation key, touch The modes such as screen confirmation are touched, the instruction can also be triggered by way of triggering the bat modulator on picking storage device.

When multiple orders are assigned in intelligent storage Picking System or intelligent storage picking subsystem, which part order In may contain identical cargo, thus can carry out disposable sort by being directed to the cargo meet needle in the order of part To the summation of the cargo, the cargo is sorted to avoid repeated multiple times, to improve sorting working efficiency.

In one embodiment of the disclosure, the intelligent storage goods sorting method be implemented based on cargo, as shown in figure 8, In the embodiment, it the described method comprises the following steps：

Step 201, selection will execute the cargo for sorting operation；

Step 202, position of the picking object in goods storage unit is currently waited for by visual information instruction；

Step 203, cargo is taken out from the position according to the instruction of the visual information；

Step 204, the goods information of cargo is taken out in identification；

Step 205, the goods information obtained according to identification judges the cargo taken out and currently waits for whether picking object matches, and is 206 are thened follow the steps, otherwise return to step 203, currently the goods that picking object matches is waited for current order until taking out Object；

Step 206, instruction cargo will be placed into the position in picking storage unit, and cargo is put to indicating positions；

Step 207, judge it is described currently wait for whether the sorting of picking object is fully completed, be to continue to execute step 208, it is no Then return to step 203 is until all wait for that the sorting of picking object finishes；

Step 208, indicate that the picking operation of the cargo is completed, return to step 201 executes next sorting behaviour for waiting for picking object Make.

For the above-mentioned intelligent storage goods sorting method based on cargo, each step specifically can be implemented as：

● step 201, selection will execute the cargo of picking operation；

In one embodiment of the disclosure, further includes step 2011 before the step, pick distributing to current intelligent storage The order of goods system or current intelligent storage picking subsystem is pre-processed, and include in the distributed order of generation waits for The goods information of picking object, such as cargo list, wherein the cargo list includes at least Description of Goods, identification information sum number The information such as amount.The following table 1 shows a cargo list, and which includes the title of different cargos, quantity, id information, pictures With corresponding order information.

Table 1

Number	Description of Goods	Quantity	ID	Picture	Order information
						1	XX toothbrushes	4	XXXX	(not shown)	Order 1,2,5
2	XX earphones	6	XXXX	(not shown)	Order
						……	……	……	……	……	……

In one embodiment of the disclosure, it can select will to execute the cargo of picking operation according to certain algorithm, For example can be selected from more to few sequence according to quantity of goods, it can also be according to involved quantity on order from more to few Sequence selected, can also select, can also randomly choose according to the clooating sequence in cargo list.It these are only pair In the exemplary illustration for waiting for picking object selection mode, those skilled in the art can need according to practical application using other choosings Mode is selected, the disclosure is not especially limited it.

In one embodiment of the disclosure, before or after the step 201, it can also include step 2012, will deposit The goods storage unit for being placed with cargo in the order is delivered to the position for the intelligent storage picking subsystem that the order is assigned Set place.

Wherein, the means of conveyance of the goods storage unit can be the pure manual types of artificial push-and-pull etc, utilize fortune The mode of equipment such as AGV deliveries is carried, such as drives the semi-artificial mode of Transport Machinery delivery (such as fork truck).

Under normal conditions, step 2011 executes before step 2012.

● step 202, position of the picking object in goods storage unit is currently waited for by visual information instruction；

In the step, the instruction of visual information can be realized using picking instruction device.The position refers to currently Wait for specific partition holding of the picking object in goods storage unit.

● step 203, cargo is taken out from the position according to the instruction of the visual information；

Optionally, the step 203 further include detection picking action whether there is mistake, and detection exist mistake when into The step of row miscue, specifically can be achieved to wait picking for that ought detect that sorter's arm extend into exceed in goods storage unit Where cargo when the bounds of partition holding, prompt mistake occur.The bounds can be partition holding boundary with The sum of permissible error amount, the permissible error amount can be a fixed value, such as 5cm, can also be one opposite Value, such as it can be taken as the 30% of the cargo storage areas length of side, it is of course also possible to be 0.It further, can be by above-described Action recognition device executes the detection, for example, Grating examinations device, motion capture equipment or other can identify it is dynamic Make the device of range, the disclosure is not especially limited it.

● step 204, the goods information of cargo is taken out in identification；

● step 205, the goods information obtained according to identification judges the cargo taken out and currently waits for whether picking object matches, It is to continue to execute step 206, the otherwise picking again of return to step 203, until taking out and currently waiting for what picking object matched Cargo；

● step 206, instruction cargo will be placed into the position in picking storage unit, and cargo is put to indicating positions.

Wherein, as described above, the picking instruction device may be used mode similar with picking instruction device and come in fact It is existing, it can also be realized using picking storage unit electronic tag or bat modulator.

For example after step 205 confirms and takes out correct cargo, picking instruction device indicates that cargo will be placed into Picking partition holding, such as indicated by the modes such as lighting or flickering, picking instruction device can also show that the cargo corresponds to Residue quantity to be sorted, such as when using electronic tag as picking instruction device when, currently quantity of goods to be sorted be 3 A, the cargo for being put into picking storage unit is 2, then the remaining quantity for needing to sort of picking instruction device display is 1, Then the cargo is put into corresponding picking partition holding by picking resource further according to the instruction of picking instruction device.

Optionally, when cargo being put into picking storage unit corresponding picking partition holding every time, also judge to correspond to Whether the order of the picking partition holding is completed, and judgment method is similar with step 107, if it is as step 108 instruction is worked as The picking operation of preceding order has been completed, if otherwise continuing waiting for being fully completed until the picking operation of current order.

● step 207, judgement currently waits for whether the sorting of picking object is fully completed, and is to continue to execute step 208, otherwise It returns

Step 203 is returned, until being fully completed the current sorting for waiting for picking object；

Wherein, judge that currently waiting for whether the sorting of picking object is fully completed refers to, intelligent storage picking is distributed in judgement All whether sorting finishes the included picking object that currently waits in all orders of system.

When judging that order is completed, the prompt completed about order is shown or sends out, for example, visual information or sound can be passed through The modes such as message breath, show or send out the completed notification information of current order.

● step 208, instruction currently waits for that the picking operation of picking object has been completed, and return to step 201 sorts next wait for Picking object.

Wherein, step instruction currently waits for that the picking operation of picking object has been completed, and is directed to control system and notifies the letter Breath.

Optionally, it can also prompt currently to wait for that the sorting of picking object is complete by way of visual information or acoustic information At.

The final purpose that cargo sorts is the sorting of listed all cargos in each order for complete distribution.But It may includes the cargo being stored in multiple goods storage units in an order, rather than deposited in a cargo sometimes to be On storage unit.Therefore the sorting process of cargo can also be realized for different goods storage units.Implement in the disclosure one In example, the intelligent storage goods sorting method is implemented based on goods storage unit, as shown in figure 9, in this embodiment, institute The method of stating includes the following steps：

Step 301, selection will execute the goods storage unit of picking operation；

Step 302, selection will execute the cargo for sorting operation；

Step 303, position of the picking object in goods storage unit is currently waited for by visual information instruction；

Step 304, cargo is taken out from the position according to the instruction of the visual information；

Step 305, the goods information of cargo is taken out in identification；

Step 306, the goods information obtained according to identification judges the cargo taken out and currently waits for whether picking object matches, and is 306 are thened follow the steps, otherwise return to step 304, currently the goods that picking object matches is waited for current order until taking out Object；

Step 307, instruction cargo will be placed into the position in picking storage unit, and cargo is put to indicating positions；

Step 308, judge it is described currently wait for whether the sorting of picking object is fully completed, be to continue to execute step 309, it is no Then return to step 304 is until all wait for that the sorting of picking object finishes；

Step 309, indicate that the picking operation of the cargo has been completed；

Step 310, judge whether do not wait for picking object in current cargo storage unit, be to continue to execute step 311, it is no Then return to step 302 is until do not belong to current intelligent storage picking subsystem in current cargo storage unit waits for picking object.

Step 311, instruction current cargo storage unit leaves current intelligent storage picking subsystem position, then returns Return the sorting operation that step 301 continues to execute next goods storage unit.

For the above-mentioned intelligent storage goods sorting method based on goods storage unit, each step specifically can be implemented as：

● step 301, selection will execute the goods storage unit of picking operation；

In one embodiment of the disclosure, can be selected according to the order for distributing to current intelligent storage picking subsystem will Execute the goods storage unit of picking operation.

Include step 3011 before step 301 in one embodiment of the disclosure, it is single that one group of cargo storage is pre-selected Member, and the selection of step 301 is one goods storage unit of selection from one group of goods storage unit for preselect selection；

In step 3011, original place is may remain in some or all of in this group of goods storage unit of pre-selection, or It is transported to some or all of in this group of goods storage unit near the position where intelligent storage picking subsystem, with It, being capable of rapid cover after the sorting completion of previous goods storage unit.

Optionally, step 301 further includes where goods storage unit is carried in current intelligent storage picking subsystem The step of position.

● step 302, selection will execute the cargo of picking operation；

In one embodiment of the disclosure, further includes step 3021 before the step, pick distributing to current intelligent storage The order of goods system or current intelligent storage picking subsystem is pre-processed, and include in the distributed order of generation waits for The goods information of picking object, such as cargo list, wherein the cargo list includes at least Description of Goods, identification information sum number The information such as amount.The following table 2 shows a cargo list, and which includes the title of different cargos, quantity, id information, pictures With corresponding order information.

Table 2

In one embodiment of the disclosure, before or after the step 302, it can also include step 3022, will deposit The goods storage unit for being placed with cargo in the order is delivered to the intelligent storage picking subsystem position that the order is assigned Place.

Under normal conditions, step 3021 is before step 3022.

● step 302, position of the picking object in goods storage unit is currently waited for by visual information instruction；

Corresponding to the 1st kind of embodiment of picking instruction device, shine using one group in goods storage unit Device is indicated, such as LED light.Such as shown in Fig. 2, shelf 1 are divided into multiple virtual cargo partition holdings, Corresponding to multiple virtual goods partition holdings, respectively in the row, column LED light 2 of horizontal and vertical upper setting, by corresponding line and Row LED light 2 light, flicker, changing colour or other illumination modes can uniquely determine where waiting for picking object cargo storage point Bright-coloured eye-catching color may be used in area, the wherein luminescent color of LED light 2, such as red.

Corresponding to the 2nd kind of way of example of picking instruction device, using one group of light in goods storage unit Line emitter is set to the light launcher at a certain distance from goods storage unit to indicate.

One group of light launcher in goods storage unit can be used and light-emitting device in the 1st kind of embodiment Identical set-up mode can be uniquely determined using the crosspoint of the light of the corresponding light launcher injection of row and column Cargo partition holding where cargo.

Corresponding to the 5th kind of embodiment of picking instruction device, instruction, example are combined using 1-4 kind embodiments Such as, it in such a way that projection arrangement and display screen are combined instruction, using the type for increasing instruction information, also reduces The error rate of picking.

● step 304, cargo is taken out from the position according to the instruction of the visual information；

Optionally, artificial sorter receives the instruction of visual information by the organs of vision, is completed to take out cargo mistake with arm Journey or machine sorter identify the visual information by machine vision, and are converted to the executable operation of robot and refer to It enables, the process of taking-up cargo is completed using mechanical arm.

Optionally, the step 304 further include detection picking action whether there is mistake, and detection exist mistake when into The step of row miscue, specifically can be achieved to wait picking for that ought detect that sorter's arm extend into exceed in goods storage unit Where cargo when the bounds of partition holding, prompt mistake occur.The bounds can be partition holding boundary with The sum of permissible error amount, the permissible error amount can be a fixed value, such as 5cm, can also be one opposite Value, such as the 30% of the cargo storage areas length of side can be taken as it is of course also possible to be 0.It further, can be by above-described Action recognition device executes the detection, for example, Grating examinations device, motion capture equipment or other can identify it is dynamic Make the device of range, the disclosure is not especially limited it.

● step 305, the goods information of cargo is taken out in identification；

● step 306, the goods information obtained according to identification judges the cargo taken out and currently waits for whether picking object matches, It is to continue to execute step 307, the otherwise picking again of return to step 304, until taking out and currently waiting for what picking object matched Cargo；

● step 307, instruction cargo will be placed into the position in picking storage unit, and cargo is put to indicating positions.

For example after step 306 confirms and takes out correct cargo, picking instruction device indicates that cargo will be placed into Picking partition holding, such as indicated by the modes such as lighting or flickering, picking instruction device can also show that the cargo corresponds to Residue quantity to be sorted, such as when using electronic tag as picking instruction device when, currently quantity of goods to be sorted be 3 A, the cargo for being put into picking storage unit is 2, then the remaining quantity for needing to sort of picking instruction device display is 1；, Then the cargo is put into corresponding picking partition holding by picking resource according to the instruction of picking instruction device.

● step 308, judgement currently waits for whether the sorting of picking object is fully completed, and is to continue to execute step 309, otherwise Return to step 304, until being fully completed the current sorting for waiting for picking object；

● step 309, instruction currently waits for that the picking operation of picking object has been completed；

● step 310, judges whether do not wait for picking object in current cargo storage unit, be to enter step 311, otherwise It returns

Step 302 is returned, continues to select next to wait for picking object.

Wherein, it does not wait for picking object in current cargo storage unit, refers to being not allocated in current cargo storage unit The cargo not yet sorted included in the order of current intelligent storage picking subsystem.

Optionally, when being judged as YES, the completed notification information of sorting for current cargo storage unit is sent out, and And it can be by way of visual information or acoustic information, to the prompt of picking resource for the sorting of current cargo storage unit It is completed.

● step 311, instruction current cargo storage unit leaves current intelligent storage picking subsystem position, and returns Step 301 is returned, next goods storage unit that execute picking operation is selected and goods storage unit is carried to intelligent storehouse At position where storage picking subsystem.

The above process is the cargo sorting process for a goods storage unit, in practical application, both can sequence The sorting for more than two goods storage units is executed, can also be parallel executed simultaneously for more than two adjacent cargos The cargo of storage unit sorts process, but for each goods storage unit in more than two goods storage units, all It is to be executed also according to sorting process above.

Particular embodiments described above has carried out further in detail the purpose, technical solution and advantageous effect of the disclosure It describes in detail bright, it should be understood that the foregoing is merely the specific embodiment of the disclosure, is not limited to the disclosure, it is all Within the spirit and principle of the disclosure, any modification, equivalent substitution, improvement and etc. done should be included in the guarantor of the disclosure Within the scope of shield.

The present disclosure discloses A1, a kind of intelligent storage Picking System, the system comprises：Control system, picking resource, Goods storage unit, picking instruction device, picking storage unit, picking instruction device, wherein：The control system with it is described It can communicate, use between picking resource, goods storage unit, picking instruction device, picking storage unit, picking instruction device In sending out control instruction, picking process is controlled；The picking resource is used for according to the control instruction of the control system into crudely-made articles The sorting of object, and the cargo picked is stored in picking storage unit；The goods storage unit in region of storing in a warehouse for depositing Goods putting object；The picking instruction device is used to currently be waited for by visual information instruction according to the control instruction of the control system Position of the picking object in the goods storage unit；The picking storage unit is used to deposit in the way of corresponding to order Store up the cargo that the picking resource is taken out from the goods storage unit；The picking instruction device is used for according to the control The control instruction of system indicates the picking resource by the position in the cargo storage picked to picking storage unit.A2, basis System described in A1, the control system be total and fractional computer control system or distributed computer control system, In, the total and fractional computer control system includes master control control server and multiple controls for receiving master control server controls Terminal；The distributed computer control system includes multiple independent control terminals.A3, the system according to A1, it is described The behaviour of picking resource, machine or man-machine combination.A4, the system according to A1, the picking resource includes multiple Picking component, the multiple picking component coordination work is to realize picking for cargo.A5, the system according to A1, the goods The cargo storage areas that object storage unit is formed includes multiple cargo partition holdings.A6, the system according to A5, the goods Object partition holding is physically isolated or virtual isolation.A7, the system according to A1, the goods that the picking storage unit is formed Object storage region includes multiple picking partition holdings.A8, the system according to A7, the picking partition holding physical isolation Or virtual isolation.A9, the system according to A5 or A7, the partition holding are that dynamic adjusts.A10, according to described in A1 System, the picking instruction device and/or picking instruction device are visual information output device.A11, according to described in A10 System, visual information output device are light-emitting device, light launcher, projection arrangement, display device, electronic tag, clap lamp The combination of one or more of device.A12, the system according to A11, wherein visual information output device are specially projection arrangement, The projection arrangement is deposited by projecting image to goods storage unit and/or picking storage unit in the cargo of cargo to be removed Special visual image information is shown to be indicated in the picking partition holding of storage subregion and/or cargo to be stored.A13, root According to the system of A12, wherein the special visual image information, including one in special pattern, special color, designated character It is a or multiple, wherein the designated character is the picture for currently waiting for picking object, title, specification, classify, quantity to be picked, current Wait for one or more of the unique positions identification marking of picking object goods information；The special pattern is to be formed to deposit with other Store up the visual pattern of subregion there are vision difference, cause the pattern of vision attention；The special color is that can just cover to work as Before wait for picking object where partition holding shape or color segment slightly larger than partition holding shape.A14, appointed according to A1-A10 System described in one further includes action recognition device, and the action recognition device is for detecting picking resource in the cargo Whether the action for sorting cargo in storage unit and/or storing cargo in the picking storage unit is correct, and detection is tied Fruit is sent to the control system.A15, according to A1-A10 any one of them systems, further include action recognition device, it is described When action recognition device sorts cargo for detecting picking resource, whether one or more picking components of the picking resource The bounds for the cargo partition holding for waiting for the goods storage unit where picking object are had exceeded, and testing result is sent to The control system；And/or the action recognition device is used to detect picking resource when storing cargo, the picking resource Whether one or more picking components, which have exceeded, is waited for picking object by the side of the picking partition holding for the picking storage unit being stored Boundary's range, and testing result is sent to the control system.A16, the system according to A15, the bounds are to deposit Store up subregion boundary, with permissible error amount and.A17, according to A1-A10 any one of them systems, further include that cargo is known Other device, the goods information of the stock keeping unit cargo that picking resource is taken out from goods storage unit for identification. A18, according to A1-A10 any one of them systems, further include vehicle equipment, the toter be used for according to the control system The control instruction of system delivers the goods storage unit.A19, according to A1-A10 any one of them systems, also wrap Caution device is included, the caution device is used to send out information warning according to the control instruction of the control system.A20, basis System described in A1-A16, the picking resource, goods storage unit, picking instruction device, action recognition device, picking are deposited Storage unit, picking instruction device, stock keeping unit, vehicle equipment and/or caution device are installed with condition detecting device, institute Condition detecting device is stated for monitoring the picking resource, goods storage unit, picking instruction device, action recognition dress in real time It sets, the status information of picking storage unit, picking instruction device, stock keeping unit, vehicle equipment and/or caution device, and It is fed back to the control system.

The present disclosure discloses B21, a kind of intelligent storage Picking System, the system comprises：Control system, cargo storage are single First and one or more intelligent storage picking subsystem, wherein：The intelligent storage picking subsystem is used for according to control The control of system processed executes intelligent storage picking operation parallel；The intelligent storage picking subsystem includes control terminal, picking Resource, picking instruction device, picking storage unit and picking instruction device, wherein：The control terminal and control system It can lead between system, goods storage unit, picking storage unit, picking resource, picking instruction device and picking instruction device Letter controls picking process for sending out control instruction according to the instruction of control system；The picking resource is used for according to The control instruction of control terminal carries out the sorting of cargo, and the cargo picked is stored in picking storage unit；The cargo is deposited Storage unit in region of storing in a warehouse for storing cargo；The picking instruction device is used for the control instruction according to the control terminal Currently position of the picking object in the goods storage unit is waited for by visual information instruction；The picking storage unit is for pressing The cargo that picking resource is taken out from goods storage unit is stored according to the mode corresponding to order；The picking instruction device is used for Indicate picking resource by the position in the cargo storage picked to picking storage unit according to the control instruction of the control terminal. B22, the system according to B21, further include vehicle equipment, and the toter is used for the control according to the control system Instruction delivers the goods storage unit.B23, the system according to B21, the intelligent storage picking subsystem System further includes stock keeping unit, and picking resource takes the stock keeping unit from the goods storage unit for identification The goods information of the cargo gone out.B24, the system according to B21, the intelligent storage picking subsystem further include that warning is set Standby, the caution device is used to send out information warning according to the control instruction of the control terminal.B25, according to described in B21 System, the intelligent storage picking subsystem further includes action recognition device, and the action recognition device is for detecting picking money Source sorts cargo in the goods storage unit and/or whether just to store the action of cargo in the picking storage unit Really, and by testing result it is sent to the control terminal.B26, the system according to B21, further include action recognition device, When the action recognition device sorts cargo for detecting picking resource, one or more picking components of the picking resource The bounds for the cargo partition holding for waiting for the goods storage unit where picking object whether are had exceeded, and testing result is sent out Give the control system；And/or the action recognition device is used to detect picking resource when storing cargo, the picking money Whether one or more picking components in source, which have exceeded, is waited for picking object by the picking partition holding for the picking storage unit being stored Bounds, and testing result is sent to the control system.B27, the system according to B25, the bounds For the boundary of partition holding, with permissible error amount and.

The present disclosure discloses C28, a kind of intelligent storage Picking System, the system comprises：Control system, cargo storage are single Member, picking storage unit and one or more intelligent storage picking subsystem, wherein：Intelligent storage picking System is used to execute intelligent storage picking operation parallel according to the control of control system；The intelligent storage picking subsystem includes Control terminal, picking resource, picking instruction device and picking instruction device, wherein：The control terminal and control system It can lead between system, goods storage unit, picking storage unit, picking resource, picking instruction device and picking instruction device Letter controls picking process for sending out control instruction according to the instruction of control system；The picking resource is used for according to The control instruction of control terminal carries out the sorting of cargo, and the cargo picked is stored in picking storage unit；The cargo is deposited Storage unit in region of storing in a warehouse for storing cargo；The picking instruction device is used for the control instruction according to the control terminal Currently position of the picking object in the goods storage unit is waited for by visual information instruction；The picking storage unit is for pressing The cargo that picking resource is taken out from goods storage unit is stored according to the mode corresponding to order；The picking instruction device is used for Indicate picking resource by the position in the cargo storage picked to picking storage unit according to the control instruction of the control terminal. C29, the system according to C28, further include vehicle equipment, and the toter is used for the control according to the control system Instruction delivers the goods storage unit.C30, the system according to C28, the intelligent storage picking subsystem System further includes stock keeping unit, and picking resource takes the stock keeping unit from the goods storage unit for identification The goods information of the cargo gone out.C31, the system according to C28, the intelligent storage picking subsystem further include that warning is set Standby, the caution device is used to send out information warning according to the control instruction of the control terminal.C32, according to described in C28 System, the intelligent storage picking subsystem further includes action recognition device, and the action recognition device is for detecting picking money Source sorts cargo in the goods storage unit and/or whether just to store the action of cargo in the picking storage unit Really, and by testing result it is sent to the control terminal.C33, the system according to C28, further include action recognition device, When the action recognition device sorts cargo for detecting picking resource, one or more picking components of the picking resource The bounds for the cargo partition holding for waiting for the goods storage unit where picking object whether are had exceeded, and testing result is sent out Give the control system；And/or the action recognition device is used to detect picking resource when storing cargo, the picking money Whether one or more picking components in source, which have exceeded, is waited for picking object by the picking partition holding for the picking storage unit being stored Bounds, and testing result is sent to the control system.C34, the system according to C33, the bounds For the boundary of partition holding, with permissible error amount and.

The present disclosure discloses D35, a kind of intelligent storage goods sorting method, the method includes：Worked as by visual information instruction Position of the picking object in goods storage unit is currently waited in preceding order, according to the instruction of the visual information from the position Take out cargo in place；Judge whether cargo matches；If it does, then instruction cargo will be placed into the position in picking storage unit, And cargo is put to indicating positions.D36, the method according to D35, the visual information include：Illuminated message, light hair Penetrate one or more combinations in information, projection information, display information.D37, the method according to D36, the vision Information is projection information, image is projected specifically by goods storage unit and/or picking storage unit, in goods to be removed Special visual image information is shown to carry out in the cargo partition holding of object and/or the picking partition holding of cargo to be stored Instruction.D38, the method according to D37, special visual image information, including special pattern, special color, designated character One or more of, wherein the designated character is the picture for currently waiting for picking object, title, specification, classifies, waits picking several Amount currently waits for one or more of the unique positions identification marking of picking object goods information；The special pattern be formed with The visual pattern of other partition holdings there are vision difference, cause the pattern of vision attention；The special color is can just The shape of partition holding where covering currently waits for picking object or the color segment slightly larger than partition holding shape.D39, according to D35 The method, it is described to judge whether cargo matches and specifically include：Identify the goods information of the cargo taken out；According to identification Goods information judges whether match with the current cargo to be sorted in current order.D40, the method according to D35, also Including detecting the action for sorting cargo in the goods storage unit and/or storing cargo in the picking storage unit It is whether correct, and carry out miscue when detection has mistake.D41, the method according to D40, the detection operation are It is no that there are mistakes to include：When detecting picking resource sorting cargo, whether one or more picking components of picking resource have exceeded Mistake is carried out when waiting for the bounds of the cargo partition holding of the goods storage unit where picking object, and detecting in the presence of mistake Prompt；And/or when detection picking resource storage cargo, whether one or more picking components of picking resource, which have exceeded, is waited picking Cargo by the bounds of the picking partition holding for the picking storage unit being stored, and detect in the presence of mistake when carry out mistake Prompt.D42, the method according to D41, the bounds be boundary and the permissible error amount of partition holding and. D43, the method according to D40 or D41 further include the steps that malfunction is carried out to correct instruction.D44, according to D35 The method further includes the step that selection will execute the order of picking operation before by visual information indicating positions Suddenly.D45, the method according to D44 will execute the order of picking operation according to preset rules selection.D46, according to D45 The method, the preset rules are any one in following rule：According to the sequencing of order generated time；With Machine extracts；According to the sequence of type of merchandize quantity from small to large；According to the sequence of commodity amount from small to large.D47, according to D44 Further include before the step of method, the selection will execute the order of picking operation：For current intelligent storage picking The order of the pending picking operation such as system or the distribution of current intelligent storage picking subsystem；Storage is had in the order The goods storage unit of cargo is delivered to the position for the intelligent storage picking subsystem for being assigned the order.D48, basis D35-D47 any one of them methods, it is described to put cargo to indicating positions, further include：Judging the current order is No completion is to indicate that the picking operation of current order has been completed, continues next order operation；Otherwise continue basis The instruction of visual information executes picking, until completing the picking operation of current order.D49, the method according to D35, logical It crosses before visual information indicating positions, further includes the steps that the cargo that selection will execute picking operation.D50, according to D49 institutes The method stated will execute the order of picking operation according to preset rules selection.D51, the method according to D50, it is described pre- If rule is any one in following rule：It randomly selects；According to quantity of the cargo in order by up to few suitable Sequence.D52, the method according to D49 after the step of selection will execute the cargo of picking operation, pass through visual information Further include before indicating positions：It is waited for for current intelligent storage Picking System or the distribution of current intelligent storage picking subsystem Execute the order of picking operation；There is the goods storage unit of cargo in the order to deliver to the assigned order storage At the position of intelligent storage picking subsystem.D53, according to D35-D43, D49-D52 any one of them method, by the goods Object is put to the position of instruction, further includes：Judge it is described currently wait for whether the sorting of picking object is fully completed, be to indicate The picking operation of the cargo is completed, and next sorting operation for waiting for picking object is executed, otherwise continue according to the instruction of visual information into Row picking, until the sorting for currently cargo to be sorted is fully completed.D54, according to D35-D43 any one of them methods, Before by visual information indicating positions, further include：Selection will execute the goods storage unit of picking operation；Selection will Execute the cargo of picking operation；And after the position put the cargo to instruction, further include：Described in judgement It currently waits for whether the sorting of picking object is fully completed, is to indicate that the picking operation of the cargo has been completed, otherwise continues basis The instruction of visual information carries out picking, until all waiting for that the sorting of picking object finishes；Judge whether do not have in current cargo storage unit Need picking object, be, indicate that current cargo storage unit leaves current intelligent storage picking subsystem position, then after The continuous sorting operation for executing next goods storage unit, the cargo of picking operation will be executed by otherwise continuing selection, until working as Do not belong to current intelligent storage picking subsystem in preceding goods storage unit waits for picking object.D55, the side according to D35 Method further includes finishing the detailed list of goods of current order and/or express delivery face singles print and being put into picking for corresponding picking storage unit Step in goods partition holding.D56, the method according to D35 further include by way of visual information or acoustic information Indicate currently to wait for that the picking operation of picking object has been completed.

Claims

1. a kind of intelligent storage Picking System, which is characterized in that the system comprises：Control system, picking resource, cargo storage Unit, picking instruction device, picking storage unit, picking instruction device, wherein：

The control system refers to the picking resource, goods storage unit, picking instruction device, picking storage unit, picking It can be communicated between showing device, for sending out control instruction, control picking process；

The picking resource is used to carry out the sorting of cargo according to the control instruction of the control system, and the cargo picked is deposited Storage is in picking storage unit；

The goods storage unit in region of storing in a warehouse for storing cargo；

The picking instruction device is used to currently wait for picking by visual information instruction according to the control instruction of the control system Position of the object in the goods storage unit；

The picking storage unit to store the picking resource in the way of corresponding to order from the cargo for storing The cargo taken out in unit；

The picking instruction device is used to indicate goods that the picking resource will pick according to the control instruction of the control system Object is stored to the position in picking storage unit.

2. system according to claim 1, which is characterized in that the picking resource includes multiple picking components, described more A picking component coordination work is to realize picking for cargo.

3. system according to claim 1, which is characterized in that the picking instruction device and/or picking instruction device are Visual information output device.

4. according to claim 1-3 any one of them systems, which is characterized in that further include action recognition device, the action Identification device sorts cargo and/or in the picking storage unit for detecting picking resource in the goods storage unit Whether the action for storing cargo is correct, and testing result is sent to the control system.

5. according to claim 1-3 any one of them systems, which is characterized in that further include action recognition device,

When the action recognition device sorts cargo for detecting picking resource, one or more picking groups of the picking resource Whether part has exceeded the bounds for the cargo partition holding for waiting for the goods storage unit where picking object, and testing result is sent out Give the control system；

And/or the action recognition device is used to detect picking resource when storing cargo, the one or more of the picking resource Whether picking component, which has exceeded, is waited for picking object by the bounds of the picking partition holding for the picking storage unit being stored, and will Testing result is sent to the control system.

6. a kind of intelligent storage Picking System, which is characterized in that the system comprises：Control system, goods storage unit and one A or more than one intelligent storage picking subsystem, wherein：

The intelligent storage picking subsystem includes control terminal, picking resource, picking instruction device, picking storage unit and picks Goods instruction device, wherein：

The control terminal is filled with the control system, goods storage unit, picking storage unit, picking resource, picking instruction Setting can communicate between picking instruction device, for sending out control instruction according to the instruction of control system, control picking process；

The picking resource is used to carry out the sorting of cargo according to the control instruction of the control terminal, and the cargo picked is deposited Storage is in picking storage unit；

The goods storage unit in region of storing in a warehouse for storing cargo；

The picking instruction device is used to currently wait for picking by visual information instruction according to the control instruction of the control terminal Position of the object in the goods storage unit；

The picking storage unit is taken out for storing picking resource in the way of corresponding to order from goods storage unit Cargo；

The picking instruction device is used to indicate that picking resource deposits the cargo picked according to the control instruction of the control terminal It puts to the position in picking storage unit.

7. a kind of intelligent storage Picking System, which is characterized in that the system comprises：Control system, goods storage unit, picking Storage unit and one or more intelligent storage picking subsystem, wherein：

The intelligent storage picking subsystem includes control terminal, picking resource, picking instruction device and picking instruction device, In：

The goods storage unit in region of storing in a warehouse for storing cargo；

8. a kind of intelligent storage goods sorting method, which is characterized in that the method includes：

It indicates currently to wait for position of the picking object in goods storage unit in current order by visual information, according to the vision Cargo is taken out in the instruction of information from the position；

Judge whether cargo matches；If it does, then instruction cargo will be placed into the position in picking storage unit, and by cargo It puts to indicating positions.

9. according to the method described in claim 8, it is characterized in that, the visual information includes：Illuminated message, light transmitting letter One or more combinations in breath, projection information, display information.

10. judging whether cargo matches according to the method described in claim 8, described and specifically including：

Identify the goods information of the cargo taken out；