CN106311615A - Layering goods picking method and system and calculating device - Google Patents
Layering goods picking method and system and calculating device Download PDFInfo
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- CN106311615A CN106311615A CN201610825164.7A CN201610825164A CN106311615A CN 106311615 A CN106311615 A CN 106311615A CN 201610825164 A CN201610825164 A CN 201610825164A CN 106311615 A CN106311615 A CN 106311615A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/003—Destination control; Electro-mechanical or electro- magnetic delay memories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/008—Means for collecting objects, e.g. containers for sorted mail items
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/02—Apparatus characterised by the means used for distribution
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Abstract
The invention discloses a layering goods picking method and system and a calculating device, wherein in the layering goods picking method, robots are utilized, and a goods-to-man manner is adopted. The goods picking method comprises the steps that orders in order pools are distributed to all picking and distributing stations; according to all the orders distributed to the designated picking and distributing stations, control systems determine target goods shelves to be carried; the target goods shelves are carried to the designated picking and distributing stations through the transfer robots; at the designated picking and distributing stations, a buffer goods picking party takes down all target goods corresponding to all the orders from all the target goods shelves and places the target goods in a plurality of buffer containers, and the corresponding relationship between labels of the buffer containers and goods in the buffer containers is built; the multiple buffer containers are conveyed to and placed in a buffer area; and in the buffer area, an order goods picking party carries out goods picking according to each order, and the goods are placed in order containers. By means of the above layering picking manner that order picking is carried out after buffer picking, the repeated carrying frequency of the goods shelves is greatly reduced, the carrying distance is greatly shortened, and the order picking efficiency is improved.
Description
Technical field
The present invention relates generally to logistic storage technology, relate more specifically to electricity business field the automatic radio frequency of goods,
The automatic picking method of goods and calculating device.
Background technology
Ecommerce and the fast development of shopping at network, brought the opportunity of emergence rapidly, also both to logistic storage industry
Unprecedented challenge is brought to warehouse logistics industry.In traditional warehouse logistics industry, people push dolly and each is ordered
Commodity needed for list pick, and need people to take a long walk journey, and labor intensity is higher, and inefficient under.
How to improve sorting efficiency, reduce from order to the time of delivery, minimizing labour force's burden always logistic storage
The major issue that industry is urgently to be resolved hurrily.
The key factor improving selection efficiency is the distance of walking about of minimizing personnel.
In the conventional automatic radio frequency of robot, goods to people is a kind of relatively conventional pattern.Described goods is to people side
Formula needs and inventory information according to order, based on Intelligent transfer robot, robot immediately below automatic running to target shelf also
Being lifted by target shelf and deliver to sorting station, sorting station is furnished with the display devices such as display screen, and goods order institute is joined in the prompting of this display device
Needing goods yard, commodity place information, sorting personnel take off required commodity according to prompting and are put into specified containers thus complete sorting task,
After sorting task terminates, shelf are sent back to appointment position by robot.Above-mentioned goods is walked about without personnel, significantly to people's scheme whole process
Improve sorting efficiency, reduce personnel labor intensity.
Summary of the invention
Traditional goods, to the mode of people, is broadly divided into two kinds:
The first is kinds of goods less for SKU kind, is single goods in using box type stereo storehouse, hopper, hopper profit
Being sent in face of sorter with transmission line, sorter carrys out picking according to order, and then transmission line is transported hopper back again；
The second is to allocate time method of process order, and shelf have the kinds of goods of multiple SKU, and single treatment is multiple to be ordered
Single, joining station and use picking there is the sowing wall of 10-20 grid, each grid for an order, specific works mode is: have
The shelf A having multiple kinds of goods is moved to pick joins station, a sorter pick from shelf for each of this 10-20 order
Goods, the goods sorted out is placed into the grid in sowing wall corresponding to corresponding order, sorter after shelf picking, shelf A quilt
Carrying is gone back；For about 10-20 the order of next group, need again to bring shelf A, repeat same process.Here only have
One layer of picking mode, the picking i.e. carried out for order, normally only it is equipped with single sorter.This allocate time mode to a certain degree
On improve picking efficiency.
Be required to significantly more improve picking efficiency, reduction shelf carry number of times, reduce the goods selection of distance of walking about
Technology.
For this situation, inventor is made that the present invention.
The present invention comprises following summary of the invention:
Embodiment 1, a kind of utilize robot, use goods to the layering goods picking method of people's mode, including:
Order splitting step, picks all or part of Order splitting in order pond to each and joins station；
Target shelf determine step, join all orders at station for being assigned to specify pick, and control system determines and needed to be removed
The target shelf of fortune；
Described all target shelf to be handled are transported to described appointment by transfer robot by target shelf carrying step
Pick and join station；
Caching kinds of goods selection step, pick in described appointment and join station, caching kinds of goods selection side from all described target shelf,
The target complete commodity corresponding with described all orders are taken off and are placed in multiple caching container, sets up caching container mark
And corresponding relation between kinds of goods in caching container；
Caching kinds of goods trafficking step, transports the plurality of caching container and places to buffer area；
Order kinds of goods selection step, at described buffer area, each in described all orders of order kinds of goods selection policy
Order, carries out kinds of goods selection, puts to order container.
Embodiment 2, layering goods picking method according to embodiment 1, pick in described appointment and join station, and caching kinds of goods pick
The target complete commodity corresponding with described all orders, from all described target shelf, are taken off and are placed on multiple slow by choosing side
Deposit container to include:
By control system for described all orders, be unit by SKU, add up the total number of every sample kinds of goods to be chosen with
And the goods yard of every target shelf residing for sample kinds of goods；
Each for described target shelf, is unit by SKU, treats the goods yard of every sample kinds of goods of picking to the instruction of selection side
And number；
From each of described target shelf, described every sample kinds of goods are sorted out described number from indicated goods yard by selection side
The most, it is positioned in one or more caching container, the most each caching container only places the kinds of goods of a kind of SKU.
Embodiment 3, layering goods picking method according to embodiment 1, pick in described appointment and join station, and caching kinds of goods pick
The target complete commodity corresponding with described all orders, from all described target shelf, are taken off and are placed on multiple slow by choosing side
Deposit container to include:
Added up for described all orders by control system: be unit by SKU, the total number of every sample kinds of goods to be chosen,
The goods yard of every target shelf residing for sample kinds of goods；
Each for described target shelf, is unit by SKU, treats the goods yard of every sample kinds of goods of picking to the instruction of selection side
And number；
From each of described target shelf, described every sample kinds of goods are sorted out described number from indicated goods yard by selection side
The most, it is positioned in one or more caching container, the most each caching container can place the kinds of goods of multiple SKU, different
The kinds of goods of SKU are physically separated in caching container.
Embodiment 4, layering goods picking method according to embodiment 1, in described buffer area, order kinds of goods selection side
For each order in described all orders, carry out kinds of goods selection, put to order container and include:
For an order, using and pluck fruit formula mode, order selection side will from the respective cache container of described buffer area
Kinds of goods needed for order are put in order container.
Embodiment 5, layering goods picking method according to embodiment 1, in described buffer area, order kinds of goods selection side
For each order in described all orders, carry out kinds of goods selection, put to order container and include:
For each caching container:
Using sowing type mode, it is corresponding that respective orders put into by the kinds of goods in caching container by order selection side
Order container in.
Embodiment 6, layering goods picking method according to embodiment 1, wherein, according to time interval, by order
Order splitting in pond picks to each joins station, including:
At moment t1, pick to each join station by entering all Order splitting of first in order pond from the t0-t1 moment；So
After, to described first all orders, performance objective shelf determine step, target shelf carrying step, caching selection step, caching
Kinds of goods trafficking step, order kinds of goods selection step；
Next at moment t2, pick to each join entering all Order splitting of second in order pond from the t1-t2 moment
Stand；Then, to described second all orders, performance objective shelf determine step, target shelf carrying step, caching selection step
Suddenly, caching kinds of goods trafficking step, order kinds of goods selection step；
Continue to repeat aforesaid operations according to Fixed Time Interval or variable time interval.
Embodiment 7, layering goods picking method according to embodiment 1, pick in described appointment and join station, and caching kinds of goods pick
The target complete commodity corresponding with described all orders, from all described target shelf, are taken off and are placed on multiple slow by choosing side
Deposit container to include:
Caching kinds of goods selection side is sorting personnel, carries out kinds of goods sorting, by target according to picking the prompting joining station auxiliary device
Kinds of goods take out from target shelf, and are placed in specified containers；Or
Caching kinds of goods selection side is mechanical hand, with the information of control system for driving, by target kinds of goods from target shelf
Take out, and be placed in specified containers.
Embodiment 8, layering goods picking method according to embodiment 7, described auxiliary device includes display screen, electronics
One or more in label and laser designator；
Described mechanical hand includes Multi-freedom-degreemanipulator manipulator or parallel manipulator.
Embodiment 9, layering goods picking method according to embodiment 7, transport the plurality of caching container and put
Put to buffer area and realized by one of following manner:
Hand haulage-manually places: staff by the plurality of container handling to buffer area, the most according to system suggestion
Container is placed into appointment buffer zone；
Conveyer belt transport-manually place: by transmission line by the plurality of container handling to buffer area, staff according to
Container is placed into appointment buffer zone by system prompt；
Hand haulage-mechanical arm is placed: the plurality of container handling to buffer area, mechanical arm are identified by staff automatically
Container, and drive according to system information container is placed into appointment buffer zone；And
Conveyer belt transport-mechanical arm is placed: by transmission line by the plurality of container handling to buffer area, mechanical arm is automatic
Identify container, and drive according to system information container is placed into appointment buffer zone.
Embodiment 10, layering goods picking method according to embodiment any one of 1-9, the number of described all orders
At least hundreds of magnitudes.
Embodiment 11, a kind of layering goods radio frequency, hold including transfer robot, control system, shelf, caching
Device, order container,
Control system can communicate with transfer robot and caching kinds of goods selection side, order kinds of goods selection side；
Shelf are configured to arrangement of goods, for caching kinds of goods selection side picking；
Transfer robot has hoisting mechanism, and has independent navigation function, and transfer robot can be gone
Sail to shelf, and utilize hoisting mechanism to be lifted by whole shelf；
Caching container is for accommodating the goods of caching kinds of goods selection side selection；And
Order container, for accommodating the goods of order kinds of goods selection side selection, an order container corresponds to an order,
Control system is configured to pick all or part of Order splitting in order pond to each join station, and for distribution
Pick all orders joining station to appointment, determine all target shelf to be handled；
Described all target shelf to be handled are transported to described appointment and pick and join station by transfer robot.
Picking in described appointment and join station, caching kinds of goods selection side, will be with described all orders from all described target shelf
Corresponding target complete commodity take off and are placed in multiple caching container, set up kinds of goods in caching container label and caching container
Between corresponding relation；Multiple caching containers are transported and place to buffer area, in described buffer area, order kinds of goods selection policy
To each order in described all orders, carry out kinds of goods selection, put to order container.
Embodiment 12, layering goods radio frequency according to embodiment 11, pick in described appointment and join station, caches kinds of goods
The target complete commodity corresponding with described all orders, from all described target shelf, are taken off and are placed on multiple by selection side
Caching container includes:
Added up for described all orders by control system: be unit by SKU, the total number of every sample kinds of goods to be chosen,
The goods yard of every target shelf residing for sample kinds of goods；
Each for described target shelf, is unit by SKU, treats the goods yard of every sample kinds of goods of picking to the instruction of selection side
And number；
From each of described target shelf, described every sample kinds of goods are sorted out described number from indicated goods yard by selection side
Individual, it is positioned in one or more caching container, the most each caching container only places the kinds of goods of a kind of SKU.
Embodiment 13, layering goods radio frequency according to embodiment 11, pick in described appointment and join station, caches kinds of goods
The target complete commodity corresponding with described all orders, from all described target shelf, are taken off and are placed on multiple by selection side
Caching container includes:
Added up for described all orders by control system: be unit by SKU, the total number of every sample kinds of goods to be chosen,
The goods yard of every target shelf residing for sample kinds of goods；
Each for described target shelf, is unit by SKU, treats the goods yard of every sample kinds of goods of picking to the instruction of selection side
And number；
From each of described target shelf, described every sample kinds of goods are sorted out described number from indicated goods yard by selection side
Individual, it is positioned in one or more caching container, the most each caching container can place the kinds of goods of multiple SKU, different SKU's
Kinds of goods are physically separated in caching container.
Embodiment 14, layering goods radio frequency according to embodiment 11, at described buffer area, order kinds of goods are chosen
Policy, to each order in described all orders, carries out kinds of goods selection, puts to order container and includes:
For an order, using and pluck fruit formula mode, order selection side will from the respective cache container of described buffer area
Kinds of goods needed for order are put in order container.
Embodiment 15, layering goods radio frequency according to embodiment 11, at described buffer area, order kinds of goods are chosen
Policy, to each order in described all orders, carries out kinds of goods selection, puts to order container and includes:
For each caching container:
Using sowing type mode, the order container that respective orders is corresponding put into by the kinds of goods in caching container by order selection side
In.
Embodiment 16, layering goods radio frequency according to embodiment 11, wherein, according to time interval, will order
The Order splitting of Dan Chizhong picks to each joins station, including:
At moment t1, pick to each join station by entering all Order splitting of first in order pond from the t0-t1 moment；So
After, to described first all orders, performance objective shelf determine step, target shelf carrying step, caching selection step, caching
Kinds of goods trafficking step, order kinds of goods selection step；
Next at moment t2, pick to each join entering all Order splitting of second in order pond from the t1-t2 moment
Stand；Then, to described second all orders, performance objective shelf determine step, target shelf carrying step, caching selection step
Suddenly, caching kinds of goods trafficking step, order kinds of goods selection step.
Embodiment 17, layering goods radio frequency according to embodiment 11, pick in described appointment and join station, caches kinds of goods
The target complete commodity corresponding with described all orders, from all described target shelf, are taken off and are placed on multiple by selection side
Caching container includes:
Caching kinds of goods selection side is sorting personnel, carries out kinds of goods sorting, by target according to picking the prompting joining station auxiliary device
Kinds of goods take out from target shelf, and are placed in specified containers；Or
Caching kinds of goods selection side is mechanical hand, with the information of control system for driving, by target kinds of goods from target shelf
Take out, and be placed in the container that order is corresponding.
Embodiment 18, layering goods radio frequency according to embodiment 17, described auxiliary device includes display screen, electricity
One or more in subtab and laser designator；
Described mechanical hand includes Multi-freedom-degreemanipulator manipulator or parallel manipulator book.
Embodiment 19, layering goods radio frequency according to embodiment 17, transport the plurality of caching container also
Placement to buffer area is realized by one of following manner:
Hand haulage-manually places: staff by the plurality of container handling to buffer area, the most according to system suggestion
Container is placed into appointment buffer zone；
Conveyer belt transport-manually place: by transmission line by the plurality of container handling to buffer area, staff according to
Container is placed into appointment buffer zone by system prompt；
Hand haulage-mechanical arm is placed: the plurality of container handling to buffer area, mechanical arm are identified by staff automatically
Container, and drive according to system information container is placed into appointment buffer zone；And
Conveyer belt transport-mechanical arm is placed: by transmission line by the plurality of container handling to buffer area, mechanical arm is automatic
Identify container, and drive according to system information container is placed into appointment buffer zone.
Embodiment 20, layering goods radio frequency according to embodiment any one of 11-19, the number of described all orders
Mesh is at least hundreds of magnitude.
Embodiment 21, goods radio frequency according to embodiment any one of 11-19, wherein:
Shelf are square rack, and shelf bottom has four positional symmetry, highly more than the frame lower limb of robot, shelf
Bottom allows robot to pass through；And
Shelf arrangements becomes the shelf array of multiple lines and multiple rows, empty row/column to constitute robot transit passage；
Embodiment 22, a kind of calculate device, be used for controlling transfer robot and with caching kinds of goods selection side, order goods
Product selection side communicates, and including memorizer and controller, on memorizer, storage has computer executable instructions, described computer
When executable instruction is executed by a controller, execution operations described below:
All or part of Order splitting in order pond is picked to each and joins station；
Join all orders at station for being assigned to specify pick, determine all target shelf to be handled, instruct conveying robot
Described all target shelf to be handled are transported to described appointment and pick and join station by people；
It is given at the goods yard sum purpose information of kinds of goods to be chosen on target shelf, in order to caching kinds of goods selection side is described
Appointment picks joins station, from all described target shelf, the target complete commodity corresponding with described all orders is taken off and is placed
In multiple caching containers, set up the corresponding relation between kinds of goods in caching container label and caching container；
The plurality of caching container is transported and places the appointment cache location to buffer area,
For each order in described all orders, it is given at the goods yard sum purpose of kinds of goods to be chosen on caching container
Information, in order to order kinds of goods selection side is at described buffer area, for each order in described all orders, carries out kinds of goods and picks
Choosing, puts to order container.
Choose mode by this layering first cached after selection for order-picking above-mentioned, greatly reduce shelf repeatedly
The carrying frequency, minimizing transport distance, improve picking efficiency.
Accompanying drawing explanation
From detailed description to the embodiment of the present invention below in conjunction with the accompanying drawings, these and/or the other side of the present invention and
Advantage will become clearer from and is easier to understand, wherein:
Fig. 1 shows the schematic diagram of the work situation of goods radio frequency 100 according to embodiments of the present invention.
Fig. 2 illustrates the operating process of the automatic picking method of goods 200 according to an embodiment of the invention.
Fig. 3 shows to be that unit is to choose kinds of goods and to place in caching container according to SKU according to embodiments of the present invention
The flow chart of the method 240 of kinds of goods, the method may be used for step S240 shown in Fig. 2.
Detailed description of the invention
In order to make those skilled in the art be more fully understood that the present invention, below in conjunction with the accompanying drawings with detailed description of the invention to this
Bright it is described in further detail.
First, term used herein under explanation.
SKU:Stock Keeping Unit (keeper unit).I.e. stock turnover metering elementary cell, can be with
Part, box, pallet etc. is unit.Under be extended to the abbreviation of product Unified number by us, every kind of product is all unique to having
No. SKU.For electricity business, SKU can understand as follows: 1, SKU refers to that a commodity, every money all occur a SKU, just
In electricity business's brand recognition commodity.2, a commodity polychrome, then be to have multiple SKU, and example: dress has redness, white, blueness,
Then SKU coding also differs, and as identical, there will be and obscures, and sends out wrong goods.
Fig. 1 shows the schematic diagram of the work situation of goods radio frequency 100 according to embodiments of the present invention.
Goods radio frequency 100 includes control system 10, robot 20, shelf 30, caching container 40, order container 50.
Control system 10 can be by the calculating platform of the assembly configurations such as processor, memorizer, software, network.Control system
System 10 can provide electronic business transaction service to ecommerce personal user.Control system 10 can include one or more service
Device, can be centerized fusion framework or distributed computing architecture.Server has processor 101 and memorizer 102, is depositing
Reservoir 102 can have order pond 103.
The electronic installation 60 that user uses is connected to control system 10 by network, and electronic installation 60 is generally fitted with electricity
Son shopping application A PP, user is release order by the shopping user interface of electronic business transaction application A PP, and order passes through
Network is sent to control system 10, and order can be stored in order pond 103 by control system 10.
Control system 10 may operate to robot 20, sorting station S at assistant display device, electronic installation 60, picking
People communication, communication mode for example, wireless communication technology or cable communicating technology.
Robot 20, under the control of control system 10, performs goods carrying task.Such as, robot 20 can move to
The lower section of target shelf 30, lifts target shelf 30, is transported to the sorting station S being assigned to.In one example, robot tool
Having hoisting mechanism, and have independent navigation function, transfer robot can travel to shelf, and utilizes hoisting mechanism to incite somebody to action
Whole shelf lift.
Cargo storage region G has multiple shelf 30, shelf is placed with various goods, such as we are in supermarket
The shelf being placed with extensive stock seen are the same.By the personnel of getting in stocks, the shelf in shelf district can be got in stocks or by commodity
Undercarriages etc. operate.
In one example, shelf are square rack, and shelf bottom has four positional symmetry, height more than robot height
The frame lower limb of degree, bottom shelf allows robot to pass through；And shelf arrangements becomes the shelf array of multiple lines and multiple rows, empty row/column to constitute
Robot transit passage.
Caching container 40 and order container 50 can be positioned over each sorting station S, can be configured with at the S of each sorting station
Sowing wall.Sowing wall is preferably easily to be moved, such as, have wheel.Caching container 40 and order container 50 can be placed on not
With on sowing wall.
In one example, caching container 40 and order container 50 can have label, and relevant label can be conventional paper
Matter label, such as bar code, it is also possible to for electronic tag, such as radio-frequency (RF) tag RFID etc..The form of caching container and order container can
With identical, it is also possible to different.
Actual carry out goods selection time, control system 10 obtains a pending order from order pond, orders pending
Singly it is assigned to a sorting station S；Information based on order, control system determines target Transport cargo rack 30, it is intended that certain robot 20
Target Transport cargo rack 30 is transported to sorting station S, by sorting personnel according to from control system 10 information by goods from
Target Transport cargo rack 30 takes out, and is placed in the container 30 or 40 that order is corresponding, and this container 30 or 40 can such as be placed on to be broadcast
On kind of wall, complete the container after goods sorting and be moved to packaging platform and pack.
According to one embodiment of the invention, all or part of Order splitting in order pond is arrived each by control system 10
Picking and join station, the above order distribution rank scale is that the scale of hundreds and thousands of orders is the most extensive；For being assigned to specify
Pick all orders joining station, determine all target shelf to be handled；Transfer robot instruction based on control system is by described
The target shelf all to be handled determined are transported to described appointment and pick and join station, are next divided into two-layer picking: ground floor, advanced
Kinds of goods corresponding for described all orders, for each target shelf, are all picked to get off to cache by row cache picking；Second
Layer, carries out picking for each order, for packing purpose.Extensive for the careful picking of order after first being cached by this
Order processing mode, joins station in conjunction with being transported to pick by goods by robot, it is possible to be substantially reduced the carrying frequency repeatedly of shelf, minimizing
Transport distance, improves picking efficiency.
The operating process of the automatic picking method of goods 200 according to an embodiment of the invention is described below with reference to Fig. 2.
As in figure 2 it is shown, the automatic picking method of goods 200 includes: Order splitting step S210, target shelf determine step
S220, target shelf carrying step S230, caching kinds of goods selection step S240, caching kinds of goods trafficking step S250, order kinds of goods
Selection step S260.
In Order splitting step S210, the Order splitting in order pond is picked by control system to each joins station.
Here can be according to picking the number joining station, each order number picked in process order scale, the order pond of joining station
Determine to be gone out by how many Order splitting in order pond.
Such as, if having three to pick join station, one pick joining station once can be processed in batches 200 orders, then control systems
Once 600 Order splitting can be gone out.
The most such as, each picks the kinds of goods kind difference that joining stands may choose, such as, pick and join station A selection foodstuff, pick and join station B
Selection books class, picks and joins station C and choose house ornamentation class, now can consider order and pick the mating situation joining station and be allocated.
About the opportunity of Order splitting, can join after station processed a collection of order picking, control system reallocation next group
Order.
After distributing shelf, proceed to step S220.
In step S220, carry out target shelf and determine: join all orders at station for being assigned to specify pick, control system
Determine all target shelf to be handled.
After determining target shelf to be handled, determine will remove by integrating sequence information, inventory information and shelf Selection Strategy
Fortune task distributes to transfer robot, and plans transportation route, assigns carrying instruction to transfer robot.
Then, in step S230, carry out target shelf carrying step, relevant porter robot described being needed is removed
The target shelf of fortune are transported to described appointment and pick and join station.
It follows that proceed to step S240.
In step S240, carry out caching kinds of goods selection, transport and be placed to buffer area: pick in described appointment and join station, slow
The target complete commodity corresponding with described all orders, from all described target shelf, are taken off and place by stock product selection side
In multiple caching containers, set up the corresponding relation between kinds of goods in caching container mark and caching container.
In one example, for target shelf, the order of kinds of goods existing in target shelf with appointment is entered by control system
Row Data Matching, the kinds of goods of all couplings are the sorting target of this picking；Choose based on above-mentioned artificial selection or mechanical hand
Kinds of goods on shelf are taken out according to the principle filling container and put in the container specified by mode successively；When specified containers is put
Man Hou, this container is removed and is transported to buffer area and deposits；System distributes a new container automatically, and continues executing with
State separation step, until all kinds of goods are all picked and placeed complete in these target shelf.
In one example, in caching container according to SKU be unit for depositing kinds of goods, each caching container is only placed one
Plant SKU kinds of goods.
Fig. 3 shows to be that unit is to choose kinds of goods and to place in caching container according to SKU according to embodiments of the present invention
The flow chart of the method 240 of kinds of goods, the method may be used for step S240 shown in Fig. 2.
In step S241, control system adding up for described all orders: being unit by SKU, to be chosen is every
The total number of sample kinds of goods, the goods yard of the target shelf residing for every sample kinds of goods.
Such as, for being assigned to whole order O1, the O2 at described selection station ..., Om, the kinds of goods number of statistics SKU 1, institute
State the mark of target shelf, and the goods yard on these target shelf, next add up the kinds of goods number of SKU 2, described target
The mark of shelf, and the goods yard on these target shelf.
It should be noted that statistics here can be added up according to shelf, for target shelf 1, in each goods yard
On be respectively provided with kinds of goods SKU1, SKU2 ..., SKUp, then for kinds of goods SKU1, travel through described whole order O1, O2 ..., Om, tired
Meter obtains needing the number C1 of the kinds of goods SKU 1 of selection, similarly, for SKU2 ..., SKUp, travel through described whole order O1,
O2 ..., Om, it is accumulated by kinds of goods SKU2 ..., each number C2 needing selection of SKUp ..., Cp.
In step S242, each for described target shelf, is unit by SKU, and to selection side, picking is treated in instruction
The goods yard of every sample kinds of goods and number.
In the case of goods selection is for manually carrying out, such as, having a sorter A to carry out, described instruction is such as passed through
Pick join station auxiliary device (such as display screen, electronic tag, laser designator) prompting realize.
Such as, for kinds of goods SKU1, show on a display screen, shelf 1, goods yard L, choose number C1.
In the case of goods selection is for being carried out by mechanical hand, described instruction sends notice by control system to mechanical hand
Information is carried out.
In step S243, by selection side from described target shelf each by described every sample kinds of goods from indicated goods yard
Sorting out described number, be positioned in one or more caching container, the most each caching container only places the goods of a kind of SKU
Product.
Such as, for shelf 1, according to the display on above-mentioned display screen, sorter A is for SKU1, from the L sort out of its goods yard
Selection C1 kinds of goods of number.
Here, the corresponding relation between the SKU of the kinds of goods that caching container identifies and placed is utilized by such as sorter
Handheld device scans the two and sets up, and is sent to control system.
In another example, each caching container can place the kinds of goods of multiple SKU, but the kinds of goods of different SKU it
Between by separating every lining.
In the case, picking in described appointment and join station, caching kinds of goods selection side, will be with institute from all described target shelf
Stating that target complete commodity corresponding to all orders take off and be placed on can be implemented as described below in multiple caching container:
(1) added up for described all orders by control system: be unit by SKU, the sum of every sample kinds of goods to be chosen
Mesh, the goods yard of the target shelf residing for every sample kinds of goods；
(2) each for described target shelf, is unit by SKU, treats every sample kinds of goods of picking to the instruction of selection side
Goods yard and number；
(3) from each of described target shelf, described every sample kinds of goods are sorted out described number from indicated goods yard by selection side
Mesh, is positioned in one or more caching container, and the most each caching container can place the kinds of goods of multiple SKU, different SKU
Kinds of goods physically separated in caching container.
The mode of same caching container shared by the kinds of goods utilizing different SKU, in the less situation of kinds of goods order of some SKU
Under, it is possible to utilize caching container more fully.
In the case of using mechanical hand selection kinds of goods, mechanical hand can be Multi-freedom-degreemanipulator manipulator or parallel manipulator.
Target kinds of goods, under the information-driven of control system, are taken out from target shelf, and are placed in specified containers by mechanical hand.
Return to Fig. 2, in step s 250, carry out cache kinds of goods transport, the plurality of caching container is transported and places to
Buffer area.
It should be noted that caching kinds of goods transport here is the concept of broad sense, the transport of closer distance can be included, also
Including longer-distance transport, for example, it may be in same selection station, kinds of goods are chosen caching from target shelf and hold
After device, the appointment region that caching container is just placed in selection station；One can be apart from this storehouse farther out, selection station
Another region in room.
In addition, it is necessary to illustrate, the time of caching kinds of goods selection gentle stock product transport can on-demand arrange.Such as,
Can be after a caching container is filled, transport be to buffer area at once；Can also be after a collection of caching container is filled, consolidated delivery
To buffer area.
The plurality of caching container is transported and places to buffer area and realized by one of following manner:
(1) hand haulage-manually places: staff by the plurality of container handling to buffer area, then according to system
Container is placed into appointment buffer zone by prompting；
(2) conveyer belt transport-manually place: by transmission line by the plurality of container handling to buffer area, staff
According to system suggestion container is placed into appointment buffer zone；
(3) hand haulage-mechanical arm is placed: staff is by the plurality of container handling to buffer area, and mechanical arm is automatic
Identify container, and drive according to system information container is placed into appointment buffer zone；And
(4) conveyer belt transport-mechanical arm is placed: by transmission line by the plurality of container handling to buffer area, mechanical arm
Automatically identify container, and drive according to system information container is placed into appointment buffer zone.
In one example, there is at buffer area the cache location of some, control system automatically set up cache location,
Container and the corresponding informance of commodity.
Step S240 and S250 complete selection and the caching of ground floor kinds of goods, and this is for Batch orders, with SKU unit
The kinds of goods selection carried out and caching.
Next choosing carrying out for the kinds of goods of order, this chooses for second layer kinds of goods.
In step S260, carrying out order kinds of goods selection, at described buffer area, order kinds of goods selection policy is to described all
Each order in order, carries out kinds of goods selection, puts to order container.
Here, the kinds of goods selection for order can pluck fruit formula mode with employing or sowing type mode is carried out.
In the case of fruit formula mode is plucked in employing, for an order, selection personnel carry an order container, from each
In caching container, kinds of goods corresponding for order are chosen, be put in this order container；Next selection personnel are for another
Order, carries the order container corresponding with this another order, from each caching container, by kinds of goods sort out corresponding for order
Come, be put in this order container；So go on.
In the case of using sowing type mode, then selection side is by the kinds of goods of kind SKU in a caching container,
According to order requirement, put in the order container that associated order single pair of is answered.
Complete order kinds of goods selection order container can be transported to pack district pack.
In one example, the execution of above-mentioned Overall Steps can be carried out according to time interval, specifically: in the moment
T1, picks to each join station by entering all Order splitting of first in order pond from the t0-t1 moment；Then, to described first institute
Order, performance objective shelf is had to determine step, target shelf carrying step, caching selection step, caching kinds of goods trafficking step, order
Single kinds of goods selection step；Next at moment t2, all Order splitting of second in order pond will be entered to respectively from the t1-t2 moment
Individual picking joins station；Then, to described second all orders, performance objective shelf determine that step, target shelf carrying step, caching pick
Select step, caching kinds of goods trafficking step, order kinds of goods selection step；Then according to fixing or variable time repeats above-mentioned behaviour
Make.
Under summary, the automatic goods sorting method of the embodiment of the present invention divides two-layer picking, and every layer is respectively arranged with a sorter (manually
In the case of selection) or mechanical hand (in the case of machinery is chosen), it is illustrated in case of artificial selection below；
(1) ground floor, picking-caching: for be assigned to one pick join station S large-scale order form, such as 100,200 even
Thousands of orders, all target shelf to be handled are transported to pick that to join station S, sorter A be singly not in accordance with order by robot
Position, but the quantity of each SKU kinds of goods is added up for all orders, then kinds of goods are put into according to SKU in the caching container specified,
Caching container is transported to buffer area, it is established that right between SKU kinds of goods in cache location, caching container mark and caching container
Should be related to, described correspondence relationship information is stored in the memorizer that control system is associated；
(2) second layer: carry out kinds of goods selection for each order.Specifically, at buffer area, by another sorter, base
In cache location, caching container mark and the corresponding relation instruction of SKU kinds of goods in caching container that control system is given, and order
Kinds of goods are put into order container from each caching container by the instruction of single required SKU kinds of goods, complete the picking of kinds of goods of each order
Choosing.
By above-mentioned elder generation for Batch orders caching SKU kinds of goods then for the layering selection mode of each order-picking,
In conjunction with goods is transported to pick the technology at station of joining by robot, it is possible to be substantially reduced shelf the carrying frequency repeatedly, reduce carrying away from
From, improve picking efficiency.
According to another embodiment of the present invention, it is provided that a kind of calculating device, it is configured to control transfer robot and with slow
Stock product selection side, order kinds of goods selection side communicate, and calculate device and include memorizer and controller, and on memorizer, storage has
Computer executable instructions, when described computer executable instructions is executed by a controller, execution operations described below:
(1) Order splitting in order pond is picked to each join station；
(2) join all orders at station for being assigned to specify pick, determine all target shelf to be handled, instruct carrying implement
Described all target shelf to be handled are transported to described appointment and pick and join station by device people；
(3) the goods yard sum purpose information of kinds of goods to be chosen on target shelf it is given at, in order to caching kinds of goods selection side exists
Described appointment picks joins station, from all described target shelf, is taken off also by the target complete commodity corresponding with described all orders
It is placed in multiple caching container, sets up the corresponding relation between kinds of goods in caching container label and caching container；
(4) the plurality of caching container is transported and places the appointment cache location to buffer area, and
(5) for each order in described all orders, it is given at the goods yard sum of kinds of goods to be chosen on caching container
Purpose information, in order to order kinds of goods selection side, at described buffer area, for each order in described all orders, carries out kinds of goods
Selection, puts to order container.
Being described above various embodiments of the present invention, described above is exemplary, and non-exclusive, and also
It is not limited to disclosed each embodiment.In the case of the scope and spirit without departing from illustrated each embodiment, for this skill
For the those of ordinary skill in art field, many modifications and changes will be apparent from.Therefore, protection scope of the present invention should
Should be as the criterion with scope of the claims.
Claims (10)
1. utilize robot, a layering goods picking method for employing goods to people's mode, including:
Order splitting step, picks all or part of Order splitting in order pond to each and joins station；
Target shelf determine step, join all orders at station for being assigned to specify pick, and control system determines all to be handled
Target shelf；
Described all target shelf to be handled are transported to described appointment by transfer robot and pick and join by target shelf carrying step
Stand；
Caching kinds of goods selection step, picks in described appointment and joins station, and caching kinds of goods selection side, will be with from all described target shelf
The target complete commodity that described all orders are corresponding take off and are placed in multiple caching container, set up caching container mark gentle
Deposit the corresponding relation between kinds of goods in container；
Caching kinds of goods trafficking step, transports the plurality of caching container and places to buffer area；
Order kinds of goods selection step, at described buffer area, order kinds of goods selection policy to each order in described all orders,
Carry out kinds of goods selection, put to order container.
Layering goods picking method the most according to claim 1, picks in described appointment and joins station, and caching kinds of goods selection side is from all institutes
State on target shelf, the target complete commodity corresponding with described all orders are taken off and are placed in multiple caching container and wrap
Include:
By control system for described all orders, it is unit by SKU, adds up the total number of every sample kinds of goods to be chosen and every
The goods yard of the target shelf residing for sample kinds of goods；
Each for described target shelf, is unit by SKU, treats the goods yard sum of every sample kinds of goods of picking to the instruction of selection side
Mesh；
From each of described target shelf, described every sample kinds of goods are sorted out described number so from indicated goods yard by selection side
Many, it is positioned in one or more caching container, the most each caching container only places the kinds of goods of a kind of SKU.
Layering goods picking method the most according to claim 1, picks in described appointment and joins station, and caching kinds of goods selection side is from all institutes
State on target shelf, the target complete commodity corresponding with described all orders are taken off and are placed in multiple caching container and wrap
Include:
Added up for described all orders by control system: be unit by SKU, the total number of every sample kinds of goods to be chosen, every sample
The goods yard of the target shelf residing for kinds of goods；
Each for described target shelf, is unit by SKU, treats the goods yard sum of every sample kinds of goods of picking to the instruction of selection side
Mesh；
From each of described target shelf, described every sample kinds of goods are sorted out described number so from indicated goods yard by selection side
Many, it is positioned in one or more caching container, the most each caching container can place the kinds of goods of multiple SKU, different SKU's
Kinds of goods are physically separated in caching container.
Layering goods picking method the most according to claim 1, at described buffer area, order kinds of goods selection policy is to described all
Each order in order, carries out kinds of goods selection, puts to order container and includes:
For an order, use and pluck fruit formula mode, order selection side from the respective cache container of described buffer area by order
Required kinds of goods are put in order container.
Layering goods picking method the most according to claim 1, at described buffer area, order kinds of goods selection policy is to described all
Each order in order, carries out kinds of goods selection, puts to order container and includes:
For each caching container:
Using sowing type mode, the kinds of goods in caching container are put in the order container that respective orders is corresponding by order selection side.
Layering goods picking method the most according to claim 1, wherein, according to time interval, divides the order in order pond
It is fitted on each to pick and join station, including:
At moment t1, pick to each join station by entering all Order splitting of first in order pond from the t0-t1 moment；Then, right
Described first all orders, performance objective shelf determine step, target shelf carrying step, caching selection step, caching kinds of goods
Trafficking step, order kinds of goods selection step；
Next at moment t2, pick to each join station by entering all Order splitting of second in order pond from the t1-t2 moment；So
After, to described second all orders, performance objective shelf determine step, target shelf carrying step, caching selection step, caching
Kinds of goods trafficking step, order kinds of goods selection step；
Continue to repeat aforesaid operations according to Fixed Time Interval or variable time interval.
Layering goods picking method the most according to claim 1, picks in described appointment and joins station, and caching kinds of goods selection side is from all institutes
State on target shelf, the target complete commodity corresponding with described all orders are taken off and are placed in multiple caching container and wrap
Include:
Caching kinds of goods selection side is sorting personnel, carries out kinds of goods sorting, by target kinds of goods according to picking the prompting joining station auxiliary device
Take out from target shelf, and be placed in specified containers；Or
Caching kinds of goods selection side is mechanical hand, with the information of control system for driving, is taken out by target kinds of goods from target shelf,
And be placed in specified containers.
Layering goods picking method the most according to claim 7, described auxiliary device includes that display screen, electronic tag and laser refer to
That shows in device is one or more；
Described mechanical hand includes Multi-freedom-degreemanipulator manipulator or parallel manipulator.
9. a layering goods radio frequency, including transfer robot, control system, shelf, caching container, order container,
Control system can communicate with transfer robot and caching kinds of goods selection side, order kinds of goods selection side；
Shelf are configured to arrangement of goods, for caching kinds of goods selection side picking；
Transfer robot has hoisting mechanism, and has independent navigation function, and transfer robot can travel to shelf,
And utilize hoisting mechanism to be lifted by whole shelf；
Caching container is for accommodating the goods of caching kinds of goods selection side selection；And
Order container, for accommodating the goods of order kinds of goods selection side selection, an order container corresponds to an order,
Control system is configured to pick all or part of Order splitting in order pond to each join station, and for being assigned to refer to
Surely pick all orders joining station, determine all target shelf to be handled；
Described all target shelf to be handled are transported to described appointment and pick and join station by transfer robot,
Picking in described appointment and join station, caching kinds of goods selection side, will be corresponding with described all orders from all described target shelf
Target complete commodity take off and be placed in multiple caching container, set up in caching container label and caching container between kinds of goods
Corresponding relation；Multiple caching containers are transported and place to buffer area, and at described buffer area, order kinds of goods selection policy is to institute
State each order in all orders, carry out kinds of goods selection, put to order container.
10. calculate a device, be used for controlling transfer robot and carrying out with caching kinds of goods selection side, order kinds of goods selection side
Communication, including memorizer and controller, on memorizer, storage has computer executable instructions, described computer executable instructions quilt
When controller performs, execution operations described below:
All or part of Order splitting in order pond is picked to each and joins station；
Joining all orders at station for being assigned to specify pick, determine all target shelf to be handled, instruction transfer robot will
Described all target shelf to be handled are transported to described appointment and pick and join station；
It is given at the goods yard sum purpose information of kinds of goods to be chosen on target shelf, in order to caching kinds of goods selection side is in described appointment
Pick and join station, from all described target shelf, the target complete commodity corresponding with described all orders are taken off and be placed on many
In individual caching container, set up the corresponding relation between kinds of goods in caching container label and caching container；
The plurality of caching container is transported and places the appointment cache location to buffer area,
For each order in described all orders, it is given at the goods yard sum purpose letter of kinds of goods to be chosen on caching container
Breath, in order to order kinds of goods selection side, at described buffer area, for each order in described all orders, carries out kinds of goods selection,
Put to order container.
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