CN106311615B - It is layered cargo picking method, system and computing device - Google Patents
It is layered cargo picking method, system and computing device Download PDFInfo
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- CN106311615B CN106311615B CN201610825164.7A CN201610825164A CN106311615B CN 106311615 B CN106311615 B CN 106311615B CN 201610825164 A CN201610825164 A CN 201610825164A CN 106311615 B CN106311615 B CN 106311615B
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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
It is a kind of by robot, using layering cargo picking method, system and the computing device in the way of goods to people, cargo picking method include: by the Order splitting in order pond to it is each pick with station；For the specified all orders for picking and matching and standing are assigned to, control system determines target shelf to be handled；Target shelf are transported to specified pick by transfer robot and match station；It picks specified with station, caches kinds of goods sorting side from all target shelf, target complete commodity corresponding with all orders are removed and are placed in multiple caching containers, establish the corresponding relationship in caching container mark and caching container between kinds of goods；Multiple caching containers are transported and are placed to buffer area；In buffer area, order kinds of goods sort policy to each order, carry out kinds of goods sorting, put into order container.In such a way that above-mentioned this first caches the layering sorting after sorted for order-picking, greatly reduces the frequency of carrying repeatedly of shelf, reduces transport distance, improve picking efficiency.
Description
Technical field
The present invention relates generally to logistic storage technology, relate more specifically to electric business field the automatic radio frequency of cargo,
The automatic picking method of cargo and computing device.
Background technique
The fast development of e-commerce and shopping at network both brings the opportunity to emerge rapidly to logistic storage industry,
Unprecedented challenge is brought to warehousing and logistics industry.In traditional warehousing and logistics industry, trolley is push by people and is ordered each
Single required commodity, which pick, to be come, and needs people to take a long walk journey, labor intensity is higher, and efficiency is lower.
How improving sorting efficiency, reducing time from order to delivery, reduce labour's burden is always logistic storage
Industry major issue urgently to be resolved.
Improve the distance of walking about that an important factor for sorting efficiency is reduction personnel.
In the previous automatic radio frequency of robot, goods to people is a kind of relatively conventional mode.The goods is to people side
Formula is based on Intelligent transfer robot, and robot is needed according to order and inventory information, immediately below automatic running to target shelf simultaneously
Target shelf are lifted and are sent to sorting station, goods order institute is matched equipped with the display devices such as display screen, display device prompt in sorting station
Needing goods yard information where commodity, sorting personnel remove required commodity according to prompt and are put into specified containers to complete sorting task,
Robot sends shelf back to designated position after sorting task.Above-mentioned goods is walked about to people's scheme whole process without personnel, substantially
It improves sorting efficiency, reduce personnel labor intensity.
Summary of the invention
Traditional goods is broadly divided into two kinds to the mode of people:
The first is the kinds of goods less for SKU type, is single goods, hopper benefit in hopper using box type stereo library
It is transmitted in face of sorter with transmission line, sorter is according to order come picking, and then transmission line again transports hopper back；
Second is to allocate time method of processing order, and the kinds of goods with a variety of SKU on shelf, single treatment is multiple to be ordered
It is single, it is picking with station using the sowing wall with 10-20 grid, each grid is directed to an order, specific working mode are as follows: tool
It is moved to and is picked with station there are many shelf A of kinds of goods, picked for each of this 10-20 order from shelf by a sorter
Goods, the goods sorted out are placed into the grid for corresponding to corresponding order in sowing wall, and sorter is after the shelf picking, shelf A quilt
Carrying is gone back；It for next group of about 10-20 order, and needs to bring shelf A, repeats same process.Here only have
One layer of picking mode, i.e., the picking carried out for order, is generally only equipped with single sorter.It is this to allocate time mode to a certain degree
On improve picking efficiency.
It is required to improve picking efficiency more significantly, reduces the cargo sorting that shelf carry number, reduce distance of walking about
Technology.
For this situation, inventor is made that the present invention.
The present invention includes following summary of the invention:
Embodiment 1, it is a kind of by robot, using the layering cargo picking method in the way of goods to people, comprising:
Order splitting step picks all or part of Order splitting in order pond with station to each；
Target shelf determine step, and for the specified all orders for picking and matching and standing are assigned to, control system determination needs to be removed
The target shelf of fortune；
Target shelf carry step, and all target shelf to be handled are transported to described specify by transfer robot
It picks with station；
It caches kinds of goods and sorts step, match station in specified pick, cache kinds of goods sorting side from all target shelf,
Target complete commodity corresponding with all orders are removed and are placed in multiple caching containers, caching container mark is established
And the corresponding relationship in caching container between kinds of goods；
Kinds of goods trafficking step is cached, the multiple caching container is transported and is placed to buffer area；
Order kinds of goods sort step, and in the buffer area, order kinds of goods sort policy to each of described all orders
Order carries out kinds of goods sorting, puts into order container.
Embodiment 2, the layering cargo picking method according to embodiment 1 match station in specified pick, and caching kinds of goods pick
Target complete commodity corresponding with all orders are removed and are placed on multiple slow from all target shelf in choosing side
It deposits in container and includes:
Be unit by SKU by control system for all orders, count the total number of every sample kinds of goods to be selected with
And the goods yard of target shelf locating for every sample kinds of goods；
It is unit by SKU for each of described target shelf, the goods yard to the instruction of sorting side to every sample kinds of goods of picking
And number；
Every sample kinds of goods are sorted out into the number from indicated goods yard from each of described target shelf by sorting side
It is so more, it is placed in one or more caching containers, wherein each caching container only places the kinds of goods of SKU a kind of.
Embodiment 3, the layering cargo picking method according to embodiment 1 match station in specified pick, and caching kinds of goods pick
Target complete commodity corresponding with all orders are removed and are placed on multiple slow from all target shelf in choosing side
It deposits in container and includes:
By control system count for all orders: by SKU be unit, the total number of every sample kinds of goods to be selected,
The goods yard of target shelf locating for every sample kinds of goods；
It is unit by SKU for each of described target shelf, the goods yard to the instruction of sorting side to every sample kinds of goods of picking
And number；
Every sample kinds of goods are sorted out into the number from indicated goods yard from each of described target shelf by sorting side
It is so more, it is placed in one or more caching containers, wherein each caching container can place the kinds of goods of a variety of SKU, it is different
The kinds of goods of SKU are physically separated in caching container.
Embodiment 4, the layering cargo picking method according to embodiment 1, in the buffer area, order kinds of goods sorting side
For each order in all orders, kinds of goods sorting is carried out, puts and includes: into order container
For an order, using fruit formula mode is plucked, order sorting side will from the respective cache container of the buffer area
Kinds of goods needed for order are put into order container.
Embodiment 5, the layering cargo picking method according to embodiment 1, in the buffer area, order kinds of goods sorting side
For each order in all orders, kinds of goods sorting is carried out, puts and includes: into order container
For each caching container:
Using sowing type mode, the kinds of goods in caching container are put into respective orders and corresponded to by order sorting side
Order container in.
Embodiment 6, the layering cargo picking method according to embodiment 1, wherein according to time interval, by order
Order splitting in pond is picked to each with station, comprising:
In moment t1, enter in order pond from the t0-t1 moment first all Order splittings are picked to each with station；So
Afterwards, to described first all orders, performance objective shelf determine that step, target shelf carry step, caching sorts step, caching
Kinds of goods trafficking step, order kinds of goods sort step；
Next in moment t2, enter in order pond from the t1-t2 moment second all Order splittings are matched to each pick
It stands；Then, to described second all orders, performance objective shelf determine that step, target shelf carry step, caching sorts step
Suddenly, kinds of goods trafficking step is cached, order kinds of goods sort step；
Continue to repeat aforesaid operations according to Fixed Time Interval or variable time interval.
Embodiment 7, the layering cargo picking method according to embodiment 1 match station in specified pick, and caching kinds of goods pick
Target complete commodity corresponding with all orders are removed and are placed on multiple slow from all target shelf in choosing side
It deposits in container and includes:
Caching kinds of goods sorting side is sorting personnel, kinds of goods sorting is carried out according to the prompt with station auxiliary device is picked, by target
Kinds of goods take out from target shelf, and are placed into specified containers；Or
Caching kinds of goods sorting side is manipulator, is driving with the information of control system, by target kinds of goods from target shelf
It takes out, and is placed into specified containers.
Embodiment 8, the layering cargo picking method according to embodiment 7, the auxiliary device includes display screen, electronics
One or more of label and laser designator；
The manipulator includes Multi-freedom-degreemanipulator manipulator or parallel manipulator.
Embodiment 9, the layering cargo picking method according to embodiment 7, the multiple caching container is transported and is put
It sets to buffer area and is realized by one of following manner:
Hand haulage-manually places: staff is by the multiple container handling to buffer area, then according to system suggestion
Container is placed into specified buffer zone；
Conveyer belt transport-is artificial to place: by transmission line by the multiple container handling to buffer area, staff according to
Container is placed into specified buffer zone by system prompt；
Hand haulage-mechanical arm places: staff is by the multiple container handling to buffer area, mechanical arm automatic identification
Container, and driven according to system information and container is placed into specified buffer zone；And
Conveyer belt transport-mechanical arm is placed: by transmission line by the multiple container handling to buffer area, mechanical arm is automatic
It identifies container, and is driven according to system information and container is placed into specified buffer zone.
Embodiment 10, the layering cargo picking method according to any one of embodiment 1-9, the number of all orders
At least hundreds of magnitudes.
Embodiment 11, a kind of layering cargo radio frequency, including transfer robot, control system, shelf, caching hold
Device, order container,
Control system can be communicated with transfer robot and caching kinds of goods sorting side, order kinds of goods sorting side；
Shelf are configured to arrangement of goods, for caching the picking of kinds of goods sorting side；
Transfer robot has hoisting mechanism, and has the function of independent navigation, and transfer robot can go
It sails to shelf, and is lifted entire shelf using hoisting mechanism；
Caching container is used to accommodate the cargo that caching kinds of goods sorting side sorts；And
Order container, the cargo sorted for accommodating order kinds of goods sorting side, an order container correspond to an order,
Control system is configured to each pick all or part of Order splitting in order pond with station, and for distribution
All orders with station are picked to specified, determine all target shelf to be handled；
All target shelf to be handled are transported to specified pick and match station by transfer robot.
Match station in specified pick, caches kinds of goods sorting side from all target shelf, it will be with all orders
Corresponding target complete commodity are removed and are placed in multiple caching containers, and kinds of goods in caching container label and caching container are established
Between corresponding relationship；Multiple caching containers are transported and place to buffer area, and in the buffer area, order kinds of goods sort policy
To each order in all orders, kinds of goods sorting is carried out, is put into order container.
Embodiment 12, the layering cargo radio frequency according to embodiment 11 match station in specified pick, cache kinds of goods
Target complete commodity corresponding with all orders are removed and are placed on multiple from all target shelf in sorting side
Include: in caching container
By control system count for all orders: by SKU be unit, the total number of every sample kinds of goods to be selected,
The goods yard of target shelf locating for every sample kinds of goods；
It is unit by SKU for each of described target shelf, the goods yard to the instruction of sorting side to every sample kinds of goods of picking
And number；
Every sample kinds of goods are sorted out into the number from indicated goods yard from each of described target shelf by sorting side
It is a, it is placed in one or more caching containers, wherein each caching container only places the kinds of goods of SKU a kind of.
Embodiment 13, the layering cargo radio frequency according to embodiment 11 match station in specified pick, cache kinds of goods
Target complete commodity corresponding with all orders are removed and are placed on multiple from all target shelf in sorting side
Include: in caching container
By control system count for all orders: by SKU be unit, the total number of every sample kinds of goods to be selected,
The goods yard of target shelf locating for every sample kinds of goods；
It is unit by SKU for each of described target shelf, the goods yard to the instruction of sorting side to every sample kinds of goods of picking
And number；
Every sample kinds of goods are sorted out into the number from indicated goods yard from each of described target shelf by sorting side
It is a, it is placed in one or more caching containers, wherein each caching container can place the kinds of goods of a variety of SKU, different SKU's
Kinds of goods are physically separated in caching container.
Embodiment 14, the layering cargo radio frequency according to embodiment 11, in the buffer area, order kinds of goods are sorted
Policy carries out kinds of goods sorting to each order in all orders, puts and includes: into order container
For an order, using fruit formula mode is plucked, order sorting side will from the respective cache container of the buffer area
Kinds of goods needed for order are put into order container.
Embodiment 15, the layering cargo radio frequency according to embodiment 11, in the buffer area, order kinds of goods are sorted
Policy carries out kinds of goods sorting to each order in all orders, puts and includes: into order container
For each caching container:
Using sowing type mode, the kinds of goods in caching container are put into the corresponding order container of respective orders by order sorting side
In.
Embodiment 16, the layering cargo radio frequency according to embodiment 11, wherein according to time interval, will order
The Order splitting of Dan Chizhong is picked to each with station, comprising:
In moment t1, enter in order pond from the t0-t1 moment first all Order splittings are picked to each with station；So
Afterwards, to described first all orders, performance objective shelf determine that step, target shelf carry step, caching sorts step, caching
Kinds of goods trafficking step, order kinds of goods sort step；
Next in moment t2, enter in order pond from the t1-t2 moment second all Order splittings are matched to each pick
It stands；Then, to described second all orders, performance objective shelf determine that step, target shelf carry step, caching sorts step
Suddenly, kinds of goods trafficking step is cached, order kinds of goods sort step.
Embodiment 17, the layering cargo radio frequency according to embodiment 11 match station in specified pick, cache kinds of goods
Target complete commodity corresponding with all orders are removed and are placed on multiple from all target shelf in sorting side
Include: in caching container
Caching kinds of goods sorting side is sorting personnel, kinds of goods sorting is carried out according to the prompt with station auxiliary device is picked, by target
Kinds of goods take out from target shelf, and are placed into specified containers；Or
Caching kinds of goods sorting side is manipulator, is driving with the information of control system, by target kinds of goods from target shelf
It takes out, and is placed into the corresponding container of order.
Embodiment 18, the layering cargo radio frequency according to embodiment 17, the auxiliary device includes display screen, electricity
One or more of subtab and laser designator；
The manipulator includes Multi-freedom-degreemanipulator manipulator or parallel manipulator book.
Embodiment 19, the layering cargo radio frequency according to embodiment 17 transport the multiple caching container simultaneously
It places to buffer area and is realized by one of following manner:
Hand haulage-manually places: staff is by the multiple container handling to buffer area, then according to system suggestion
Container is placed into specified buffer zone；
Conveyer belt transport-is artificial to place: by transmission line by the multiple container handling to buffer area, staff according to
Container is placed into specified buffer zone by system prompt；
Hand haulage-mechanical arm places: staff is by the multiple container handling to buffer area, mechanical arm automatic identification
Container, and driven according to system information and container is placed into specified buffer zone；And
Conveyer belt transport-mechanical arm is placed: by transmission line by the multiple container handling to buffer area, mechanical arm is automatic
It identifies container, and is driven according to system information and container is placed into specified buffer zone.
Embodiment 20, the layering cargo radio frequency according to any one of embodiment 11-19, the number of all orders
Mesh is at least hundreds of magnitudes.
Embodiment 21, the cargo radio frequency according to any one of embodiment 11-19, in which:
Shelf are square rack, the frame leg that shelf bottom end has four positional symmetries, is highly greater than robot, shelf
Bottom allows robot current；And
Shelf array of the shelf arrangements at multiple lines and multiple rows, empty row/column composition robot transit passage；
Embodiment 22, a kind of computing device, for control transfer robot and with caching kinds of goods sorting side, order goods
Product sorting side is communicated, including memory and controller, and computer executable instructions, the computer are stored on memory
When executable instruction is executed by a controller, operations described below is executed:
All or part of Order splitting in order pond is picked to each with station；
For the specified all orders for picking and matching and standing are assigned to, determine all target shelf to be handled, instruct conveying robot
All target shelf to be handled are transported to specified pick and match station by people；
It is given at the goods yard sum number purpose information of kinds of goods to be sorted on target shelf, to cache kinds of goods sorting side described
It is specified to pick with station, from all target shelf, target complete commodity corresponding with all orders are removed and placed
In multiple caching containers, the corresponding relationship in caching container label and caching container between kinds of goods is established；
The multiple caching container is transported and places to the specified cache location of buffer area,
For each order in all orders, it is given at the goods yard sum number purpose of kinds of goods to be sorted on caching container
Information, so that order kinds of goods sorting side carries out kinds of goods and pick in the buffer area for each order in all orders
Choosing, puts into order container.
In such a way that above-mentioned this first caches the layering sorting after sorted for order-picking, shelf are greatly reduced repeatedly
It carries the frequency, reduce transport distance, improve picking efficiency.
Detailed description of the invention
From the detailed description with reference to the accompanying drawing to the embodiment of the present invention, these and/or other aspects of the invention and
Advantage will become clearer and be easier to understand, in which:
Fig. 1 shows the schematic diagram of the work situation of cargo radio frequency 100 according to an embodiment of the present invention.
Fig. 2 illustrates the operating process of the automatic picking method 200 of cargo according to an embodiment of the invention.
Fig. 3 is shown according to an embodiment of the present invention to be sorted kinds of goods and places in caching container according to SKU is unit
The flow chart of the method 240 of kinds of goods, this method can be used for step S240 shown in Fig. 2.
Specific embodiment
In order to make those skilled in the art more fully understand the present invention, with reference to the accompanying drawings and detailed description to this hair
It is bright to be described in further detail.
Firstly, term used herein under explanation.
SKU:Stock Keeping Unit (keeper unit).I.e. inventory pass in and out metering basic unit, can be with
Part, box, pallet etc. are unit.Under the abbreviation of product Unified number has been extended to by us, every kind of product is corresponding with uniquely
No. SKU.For electric business, SKU can understand as follows: 1, SKU refers to that a commodity, every money all occur a SKU, just
In electric business brand recognition commodity.2, a commodity polychrome is then to have multiple SKU, example: dress, there is red, white, blue,
Then SKU coding it is also not identical, such as it is identical, will appear and obscure, hair mistake goods.
Fig. 1 shows the schematic diagram of the work situation of cargo radio frequency 100 according to an embodiment of the present invention.
Cargo radio frequency 100 includes control system 10, robot 20, shelf 30, caching container 40, order container 50.
Control system 10 can be for by the computing platform of the component Configurations such as processor, memory, software, network.Control system
System 10 can provide electronic business transaction service to e-commerce personal user.Control system 10 may include one or more services
Device can be centerized fusion framework or distributed computing architecture.Server has processor 101 and memory 102, is depositing
It can have order pond 103 in reservoir 102.
The electronic device 60 that user uses arrives control system 10 by network connection, is generally fitted with electricity on electronic device 60
Sub- shopping application program APP, user are release order by the shopping user interface of electronic business transaction application APP, and order passes through
To control system 10, order can be stored in order pond 103 transmission of network by control system 10.
Control system 10 is operable to and assistant display device, the electronic device 60, picking at robot 20, sorting station S
People communication, communication mode are, for example, wireless communication technique or cable communicating technology.
Robot 20 executes cargo and carries task under the control of control system 10.For example, robot 20 can move to
Target shelf 30 are lifted in the lower section of target shelf 30, are transported to the sorting station S being assigned to.In one example, robot has
There is hoisting mechanism, and have the function of independent navigation, transfer robot can be travelled to shelf, and will using hoisting mechanism
Entire shelf lift.
There are multiple shelf 30 in the G of cargo storage region, be placed with various cargos on shelf, such as we are in supermarket
The shelf for being placed with extensive stock seen are the same.It can be got in stocks by shelf of the personnel of getting in stocks to shelf area or by commodity
The operation such as undercarriage.
In one example, shelf are square rack, and shelf bottom end has four positional symmetries, is highly greater than robot height
The frame leg of degree, bottom shelf allow robot current；And shelf arrangements, at the shelf array of multiple lines and multiple rows, empty row/column is constituted
Robot transit passage.
Caching container 40 and order container 50 can be placed in each sorting station S, can be configured at each sorting station S
Sow wall.Sowing wall is preferably easily to be moved, such as with 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 related label can be conventional paper
Matter label, such as bar code, or electronic tag, such as RF tag RFID.The form of caching container and order container can
With identical, can also be different.
When practical progress cargo sorting, control system 10 obtains an order to be processed from order pond, orders to be processed
Singly it is assigned to a sorting station S；Information based on order, control system determine target Transport cargo rack 30, specify certain robot 20
By target Transport cargo rack 30 be transported to sorting station S, by sorting personnel according to the prompt information from control system 10 by cargo from
Target Transport cargo rack 30 takes out, and is placed into the corresponding container 30 or 40 of order, which, which can for example be placed on, broadcasts
On kind wall, the container after completing goods sorting is moved to packaging platform and is packaged.
According to an embodiment of the present invention, control system 10 by all or part of Order splitting in order pond to each
It picks with station, it is even more extensive that the above order distributes the scale that rank scale is hundreds and thousands of a orders；It is specified for being assigned to
All orders with station are picked, determine all target shelf to be handled；Instruction of the transfer robot based on control system will be described
Determining all target shelf to be handled are transported to specified pick and match station, are next divided into two layers of picking: first layer, advanced
The corresponding kinds of goods of all orders are all picked to get off to cache for each target shelf by row caching property picking；Second
Layer carries out picking for each order, to be packaged purpose.It is first cached by this and is directed to the extensive of the careful picking of order afterwards
Order processing mode picks the frequency of carrying repeatedly that shelf can be substantially reduced with station, reduction in conjunction with goods is transported to by robot
Transport distance improves picking efficiency.
Illustrate the operating process of the automatic picking method 200 of cargo according to an embodiment of the invention below with reference to Fig. 2.
As shown in Fig. 2, the automatic picking method 200 of cargo includes: that Order splitting step S210, target shelf determine step
S220, target shelf carry step S230, caching kinds of goods sort step S240, caching kinds of goods trafficking step S250, order kinds of goods
Sort step S260.
In Order splitting step S210, control system picks the Order splitting in order pond with station to each.
It here can be according to the order number in the number picked with station, each processing order scale picked with station, order pond
To determine how much Order splittings in order pond are gone out.
For example, if there are three picking with station, one picks and can once be processed in batches 200 orders with station, then control system
Once 600 Order splittings can be gone out.
For another example each pick the kinds of goods type difference that may be sorted with station, such as pick and sort foodstuff with station A, picks with the B that stands
Books class is sorted, picks and sorts house ornamentation class with station C, at this time it is contemplated that order is allocated with the mating situation with station is picked.
It, can be after picking and handle a batch order with station about the opportunity of Order splitting, control system reallocation next group
Order.
After distributing shelf, step S220 is proceeded to.
It in step S220, carries out target shelf and determines: picking all orders with station, control system for being assigned to specify
Determine all target shelf to be handled.
After determining target shelf to be handled, it will be removed by integrating order information, inventory information and the determination of shelf Selection Strategy
Fortune task distributes to transfer robot, and plans transportation route, assigns carrying instruction to transfer robot.
Then, in step S230, target shelf is carried out and carry step, need to be removed by described by relevant porter robot
The target shelf of fortune are transported to specified pick and match station.
Next, proceeding to step S240.
It in step S240, carries out caching kinds of goods and sorts, transport is placed to buffer area: matching station in specified pick, delay
Target complete commodity corresponding with all orders are removed and placed from all target shelf in stock product sorting side
In multiple caching containers, the corresponding relationship in caching container mark and caching container between kinds of goods is established.
In one example, for target shelf, control system by the order for having kinds of goods and appointment in target shelf into
Row Data Matching, all matched kinds of goods are the sorting target of this picking；It is sorted based on above-mentioned artificial sorting or manipulator
Kinds of goods taking-up on shelf is successively put into specified container by mode according to the principle for filling container；When specified containers are put
Man Hou, the container are removed and are transported to buffer area and stored；System distributes a new container automatically, and continues to execute
Separation step is stated, until all kinds of goods are finished by pick-and-place in the target shelf.
In one example, be unit according to SKU in caching container it is storage kinds of goods, only places one in each caching container
Kind SKU kinds of goods.
Fig. 3 is shown according to an embodiment of the present invention to be sorted kinds of goods and places in caching container according to SKU is unit
The flow chart of the method 240 of kinds of goods, this method can be used for step S240 shown in Fig. 2.
It in step S241, counts by control system for all orders: being unit by SKU, it is to be selected every
The total number of sample kinds of goods, the goods yard of target shelf locating for every sample kinds of goods.
For example, counting the kinds of goods number of SKU 1, institute for being assigned to whole the order O1, O2 ..., Om for sorting station
The mark of target shelf, and the goods yard on the target shelf are stated, the kinds of goods number of SKU 2, the target are next counted
The mark of shelf, and the goods yard on the target shelf.
It should be noted that statistics here can be counted 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, traverse whole the order O1, O2 ..., Om, tire out
Meter obtains needing the number C1 of the kinds of goods SKU 1 sorted, and similarly, for SKU2 ..., SKUp traverses whole order O1,
O2 ..., Om are accumulated by kinds of goods SKU2 ..., each number C2 ..., Cp for needing to sort of SKUp.
In step S242, for each of described target shelf, it is unit by SKU, indicates to sorting side to picking
The goods yard of every sample kinds of goods and number.
In the case where cargo sorts manually to carry out, for example, there is a sorter A to carry out, the instruction for example passes through
The prompt with station auxiliary device (such as display screen, electronic tag, laser designator) is picked to realize.
For example, showing on a display screen for kinds of goods SKU1, shelf 1, goods yard L, number C1 is sorted.
It sorts in cargo and is notified in the case where progress by manipulator, the instruction is sent by control system to manipulator
Information carries out.
In step S243, by sorting side from each of described target shelf by every sample kinds of goods from indicated goods yard
The number is sorted out, is placed in one or more caching containers, wherein each caching container only places the goods of SKU a kind of
Product.
For example, according to the display on above-mentioned display screen, sorter A is directed to SKU1, from the L sort out of its goods yard for shelf 1
Sort C1 kinds of goods of number.
Here, the corresponding relationship between the SKU for the kinds of goods that caching container is identified and placed is utilized for example, by sorter
Handheld device scans the two and establishes, and is sent to control system.
In another example, can place the kinds of goods of multiple SKU in each caching container, but the kinds of goods of difference SKU it
Between by being separated every lining.
In the case, match station in specified pick, cache kinds of goods sorting side from all target shelf, it will be with institute
The corresponding target complete commodity of all orders are stated to remove and be placed in multiple caching containers and can realize as follows:
(1) it is counted by control system for all orders: being unit, the sum of every sample kinds of goods to be selected by SKU
Mesh, the goods yard of target shelf locating for every sample kinds of goods；
(2) it is unit by SKU for each of described target shelf, indicates every sample kinds of goods to picking to sorting side
Goods yard and number；
(3) every sample kinds of goods are sorted out into the number from indicated goods yard from each of described target shelf by sorting side
Mesh, is placed in one or more caching containers, wherein each caching container can place the kinds of goods of a variety of SKU, different SKU
Kinds of goods it is physically separated in caching container.
By the kinds of goods of different SKU share same caching container in the way of, in the less situation of the kinds of goods order of certain SKU
Under, it can more fully utilize caching container.
In the case where sorting kinds of goods using manipulator, manipulator can be Multi-freedom-degreemanipulator manipulator or parallel manipulator.
Manipulator takes out target kinds of goods, and be placed into specified containers under the information driving of control system from target shelf.
Return to Fig. 2, in step s 250, carry out caching kinds of goods transport, the multiple caching container is transported and place to
Buffer area.
It should be noted that caching kinds of goods transport here is the concept of broad sense, it may include the transport of closer distance,
Including longer-distance transport, for example, it may be kinds of goods are sorted to caching from target shelf and are held in same sorting station
After device, caching container is just placed on the specified region sorted in station；One can be apart from the farther away library in sorting station
Another region in room.
In addition, it is necessary to explanation, the time that caching kinds of goods sort gentle stock product transport can arrange on demand.For example,
It can be after a caching container fills, transport buffer area at once；It is also possible to after a collection of caching container fills, consolidated delivery
To buffer area.
The multiple caching container is transported and is placed to buffer area and is realized by one of following manner:
(1) hand haulage-manually places: staff is by the multiple container handling to buffer area, then according to system
Container is placed into specified buffer zone by prompt；
(2) conveyer belt transport-is artificial places: by transmission line by the multiple container handling to buffer area, staff
Container is according to system suggestion placed into specified buffer zone；
(3) hand haulage-mechanical arm is placed: for staff by the multiple container handling to buffer area, mechanical arm is automatic
It identifies container, and is driven according to system information and container is placed into specified buffer zone；And
(4) conveyer belt transport-mechanical arm is placed: by transmission line by the multiple container handling to buffer area, mechanical arm
Automatic identification container, and driven according to system information and container is placed into specified buffer zone.
In one example, buffer area have certain amount cache location, control system establish automatically cache location,
The corresponding informance of container and commodity.
Step S240 and S250 complete sorting and the caching of first layer kinds of goods, this is for Batch orders, with SKU unit
The kinds of goods of progress sort and caching.
Next the kinds of goods sorting for order will be carried out, this is the sorting of second layer kinds of goods.
In step S260, the sorting of order kinds of goods is carried out, in the buffer area, order kinds of goods sort policy to described all
Each order in order carries out kinds of goods sorting, puts into order container.
Here, sorting for the kinds of goods of order can be using plucking fruit formula mode or sowing type mode carries out.
It using fruit formula mode is plucked, for an order, sorts personnel and carries an order container, from each
In caching container, the corresponding kinds of goods of order are chosen, are put into the order container；Next personnel are sorted and are directed to another
Order carries order container corresponding with this another order, from each caching container, by the corresponding kinds of goods sort out of order
Come, is put into the order container；So go on.
Using sowing type mode, then the side of sorting is by the kinds of goods of a type SKU in a caching container,
According to order requirement, it is put into the corresponding order container of associated order list.
The order container for completing the sorting of order kinds of goods can be transported to packing area and is packaged.
In one example, the execution of above-mentioned Overall Steps can be carried out according to time interval, specifically: at the moment
T1 picks enter in order pond from the t0-t1 moment first all Order splittings with station to each；Then, to first institute
There is order, performance objective shelf determine that step, target shelf carry step, caching sorts step, caching kinds of goods trafficking step, order
Single kinds of goods sort step；Next in moment t2, second all Order splittings in order pond will be entered to each from the t1-t2 moment
It is a to pick with station；Then, to described second all orders, performance objective shelf determine that step, target shelf carry step, caching picks
Step, caching kinds of goods trafficking step, order kinds of goods are selected to sort step；Then above-mentioned behaviour is repeated according to fixed or variable time
Make.
Under summary, two layers of picking of automatic goods sorting method point of the embodiment of the present invention, every layer has a sorter (artificial
In the case where sorting) or manipulator (in the case where machinery sorts), it is illustrated in case where manually sorting below；
(1) picking-caching: first layer picks the large-scale order form with station S for being assigned to one, such as 100,200 even
Thousands of a orders, all target shelf to be handled are transported to by robot to be picked with the S that stands, and sorter A is single not in accordance with order
Position, but the quantity of each SKU kinds of goods is counted for all orders, then kinds of goods are put into specified caching container according to SKU,
Caching container is transported to buffer area, it is established that pair in cache location, caching container mark and caching container between SKU kinds of goods
It should be related to, the correspondence relationship information is stored in the associated memory of control system；
(2) second layer: kinds of goods sorting is carried out for each order.Specifically, in buffer area, by another sorter, base
It indicates, and orders in cache location, caching container mark and the corresponding relationship of SKU kinds of goods in caching container that control system provides
The instruction of SKU kinds of goods needed for list is put into order container from each caching container by kinds of goods, completes picking for the kinds of goods of each order
Choosing.
Above-mentioned first for Batch orders caching SKU kinds of goods and then by way of being directed to the layering sorting of each order-picking,
In conjunction with goods is transported to by robot pick with station technology, can substantially reduce shelf the frequency of carrying repeatedly, reduce carry away from
From raising picking efficiency.
Another embodiment according to the present invention provides a kind of computing device, be configured to control transfer robot and with it is slow
Stock product sorting side, order kinds of goods sorting side are communicated, and computing device includes memory and controller, are stored on memory
Computer executable instructions when the computer executable instructions are executed by a controller, execute operations described below:
(1) Order splitting in order pond is picked to each with station；
(2) for the specified all orders for picking and matching and standing are assigned to, all target shelf to be handled is determined, carrying implement is instructed
All target shelf to be handled are transported to specified pick and match station by device people；
(3) it is given at the goods yard sum number purpose information of kinds of goods to be sorted on target shelf, is existed to cache kinds of goods sorting side
It is described it is specified pick with station, from all target shelf, target complete commodity corresponding with all orders are removed simultaneously
It is placed in multiple caching containers, establishes the corresponding relationship in caching container label and caching container between kinds of goods；
(4) the multiple caching container is transported and places to the specified cache location of buffer area, and
(5) for each order in all orders, it is given at the goods yard sum number of kinds of goods to be sorted on caching container
Purpose information, so that order kinds of goods sorting side carries out kinds of goods for each order in all orders in the buffer area
It sorts, puts into order container.
Various embodiments of the present invention are described above, above description is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.Without departing from the scope and spirit of illustrated each embodiment, for this skill
Many modifications and changes are obvious for the those of ordinary skill in art field.Therefore, protection scope of the present invention is answered
This is subject to the protection scope in claims.
Claims (26)
1. it is a kind of by robot, using the layering kinds of goods picking method in the way of goods to people, comprising:
Order splitting step picks all or part of Order splitting in order pond with station to each；
Target shelf determine step, and for the specified all orders for picking and matching and standing are assigned to, control system determines all to be handled
Target shelf；
Target shelf carry step, and all target shelf to be handled are transported to specified pick by transfer robot and are matched
It stands；
Cache kinds of goods and sort step, it is described it is specified pick with station, cache kinds of goods sorting side from all target shelf, will be with
The corresponding target complete commodity of all orders are removed and are placed in multiple caching containers, and it is gentle to establish caching container mark
Deposit the corresponding relationship in container between kinds of goods；
Kinds of goods trafficking step is cached, the multiple caching container is transported and is placed to buffer area；
Order kinds of goods sort step, and in the buffer area, order kinds of goods sort policy to each order in all orders,
Kinds of goods sorting is carried out, is put into order container.
2. layering kinds of goods picking method according to claim 1 matches station in specified pick, caches kinds of goods sorting side from institute
Have on the target shelf, target complete commodity corresponding with all orders are removed and are placed in multiple caching containers
Include:
It is unit by SKU by control system for all orders, counts the total number of every sample kinds of goods to be selected and every
The goods yard of target shelf locating for sample kinds of goods；
It is unit by SKU for each target shelf, the goods yard sum number to the instruction of sorting side to every sample kinds of goods of picking
Mesh；
It is so more from each target shelf every sample kinds of goods to be sorted out into the number from indicated goods yard by sorting side,
It is placed in one or more caching containers, wherein each caching container only places the kinds of goods of SKU a kind of.
3. layering kinds of goods picking method according to claim 1 matches station in specified pick, caches kinds of goods sorting side from institute
Have on the target shelf, target complete commodity corresponding with all orders are removed and are placed in multiple caching containers
Include:
It is counted by control system for all orders: being unit, the total number of every sample kinds of goods to be selected, every sample by SKU
The goods yard of target shelf locating for kinds of goods；
It is unit by SKU for each target shelf, the goods yard sum number to the instruction of sorting side to every sample kinds of goods of picking
Mesh；
It is so more from each target shelf every sample kinds of goods to be sorted out into the number from indicated goods yard by sorting side,
It is placed in one or more caching containers, wherein each caching container can place the kinds of goods of a variety of SKU, the goods of different SKU
Product are physically separated in caching container.
4. layering kinds of goods picking method according to claim 1, in the buffer area, order kinds of goods sort policy to described
Each order in all orders carries out kinds of goods sorting, puts and include: into order container
For an order, using fruit formula mode is plucked, order sorting side is from the respective cache container of the buffer area by order
Required kinds of goods are put into order container.
5. layering kinds of goods picking method according to claim 1, in the buffer area, order kinds of goods sort policy to described
Each order in all orders carries out kinds of goods sorting, puts and include: into order container
For each caching container:
Using sowing type mode, the kinds of goods in caching container are put into the corresponding order container of respective orders by order sorting side.
6. layering kinds of goods picking method according to claim 1, wherein according to time interval, by ordering in order pond
Singly it is assigned to each pick with station, comprising:
In moment t1, enter in order pond from the t0-t1 moment first all Order splittings are picked to each with station；Then, right
First all orders, performance objective shelf determine that step, target shelf carry step, caching sorts step, caching kinds of goods
Trafficking step, order kinds of goods sort step；
Next in moment t2, enter in order pond from the t1-t2 moment second all Order splittings are picked to each with station；So
Afterwards, to described second all orders, performance objective shelf determine that step, target shelf carry step, caching sorts step, caching
Kinds of goods trafficking step, order kinds of goods sort step；
Continue to order according to Fixed Time Interval or variable time interval will enter in Fixed Time Interval or variable time interval
All Order splittings of Dan Chizhong are picked to each with station, and then, to all orders, performance objective shelf determine step, target goods
Shelf for conveying step, caching sort step, caching kinds of goods trafficking step, order kinds of goods and sort step.
7. layering kinds of goods picking method according to claim 1 matches station in specified pick, caches kinds of goods sorting side from institute
Have on the target shelf, target complete commodity corresponding with all orders are removed and are placed in multiple caching containers
Include:
Caching kinds of goods sorting side is sorting personnel, kinds of goods sorting is carried out according to the prompt with station auxiliary device is picked, by target kinds of goods
It takes out, and is placed into specified containers from target shelf；Or
Caching kinds of goods sorting side is manipulator, is driving with the information of control system, target kinds of goods are taken out from target shelf,
And it is placed into specified containers.
8. layering kinds of goods picking method according to claim 7, the auxiliary device includes display screen, electronic tag and swashs
One or more of optical indicator.
9. layering kinds of goods picking method according to claim 7, the manipulator is Multi-freedom-degreemanipulator manipulator.
10. layering kinds of goods picking method according to claim 7, the manipulator is parallel manipulator.
11. layering kinds of goods picking method according to claim 7, the multiple caching container is transported and is placed to caching
It is realized by one of following manner in area:
Hand haulage-manually places: the multiple caching container is carried to buffer area by staff, then according to system suggestion
Container is placed into specified buffer zone；
Conveyer belt transport-is artificial to place: the multiple caching container is carried to by buffer area by transmission line, staff according to
Container is placed into specified buffer zone by system prompt；
Hand haulage-mechanical arm is placed: the multiple caching container is carried to buffer area, mechanical arm automatic identification by staff
Container, and driven according to system information and container is placed into specified buffer zone；And
Conveyer belt transport-mechanical arm is placed: the multiple caching container being carried to buffer area by transmission line, mechanical arm is automatic
It identifies container, and is driven according to system information and container is placed into specified buffer zone.
12. -11 described in any item layering kinds of goods picking methods, the number of all orders are at least according to claim 1
Hundreds of magnitudes.
13. a kind of layering kinds of goods radio frequency, including transfer robot, control system, shelf, caching container, order container,
Control system can be communicated with transfer robot and caching kinds of goods sorting side, order kinds of goods sorting side；
Shelf are configured to place kinds of goods, for caching the picking of kinds of goods sorting side；
Transfer robot has hoisting mechanism, and has the function of independent navigation, and transfer robot can be travelled to shelf,
And entire shelf are lifted using hoisting mechanism；
Caching container is used to accommodate the kinds of goods that caching kinds of goods sorting side sorts；And
Order container, the kinds of goods sorted for accommodating order kinds of goods sorting side, an order container correspond to an order,
Control system is configured to each pick all or part of Order splitting in order pond with station, and refers to for being assigned to
Surely all orders with station are picked, determine all target shelf to be handled；
All target shelf to be handled are transported to specified pick and match station by transfer robot,
Match station in specified pick, caches kinds of goods sorting side from all target shelf, it will be corresponding with all orders
Target complete commodity remove and be placed in multiple caching containers, establish in caching container label and caching container between kinds of goods
Corresponding relationship；Multiple caching containers are transported and place to buffer area, and in the buffer area, order kinds of goods sort policy to institute
Each order in all orders is stated, kinds of goods sorting is carried out, puts into order container.
14. layering kinds of goods radio frequency according to claim 13, it is described it is specified pick with station, caching kinds of goods sorting side from
On all target shelf, target complete commodity corresponding with all orders are removed and are placed on multiple caching containers
In include:
It is counted by control system for all orders: being unit, the total number of every sample kinds of goods to be selected, every sample by SKU
The goods yard of target shelf locating for kinds of goods；
It is unit by SKU for each target shelf, the goods yard sum number to the instruction of sorting side to every sample kinds of goods of picking
Mesh；
Every sample kinds of goods are sorted out into the number from indicated goods yard from each target shelf by sorting side, are placed
In one or more caching containers, wherein each caching container only places the kinds of goods of SKU a kind of.
15. layering kinds of goods radio frequency according to claim 13, it is described it is specified pick with station, caching kinds of goods sorting side from
On all target shelf, target complete commodity corresponding with all orders are removed and are placed on multiple caching containers
In include:
It is counted by control system for all orders: being unit, the total number of every sample kinds of goods to be selected, every sample by SKU
The goods yard of target shelf locating for kinds of goods；
It is unit by SKU for each target shelf, the goods yard sum number to the instruction of sorting side to every sample kinds of goods of picking
Mesh；
Every sample kinds of goods are sorted out into the number from indicated goods yard from each target shelf by sorting side, are placed
In one or more caching containers, wherein each caching container can place the kinds of goods of a variety of SKU, the kinds of goods of different SKU exist
It is physically separated in caching container.
16. layering kinds of goods radio frequency according to claim 13, in the buffer area, order kinds of goods sort policy to institute
It states each order in all orders, carries out kinds of goods sorting, put and include: into order container
For an order, using fruit formula mode is plucked, order sorting side is from the respective cache container of the buffer area by order
Required kinds of goods are put into order container.
17. layering kinds of goods radio frequency according to claim 13, in the buffer area, order kinds of goods sort policy to institute
It states each order in all orders, carries out kinds of goods sorting, put and include: into order container
For each caching container:
Using sowing type mode, the kinds of goods in caching container are put into the corresponding order container of respective orders by order sorting side.
18. layering kinds of goods radio frequency according to claim 13, wherein, will be in order pond according to time interval
Order splitting is picked to each with station, comprising:
In moment t1, enter in order pond from the t0-t1 moment first all Order splittings are picked to each with station；Then, right
First all orders, performance objective shelf determine that step, target shelf carry step, caching sorts step, caching kinds of goods
Trafficking step, order kinds of goods sort step；
Next in moment t2, enter in order pond from the t1-t2 moment second all Order splittings are picked to each with station；So
Afterwards, to described second all orders, performance objective shelf determine that step, target shelf carry step, caching sorts step, caching
Kinds of goods trafficking step, order kinds of goods sort step.
19. layering kinds of goods radio frequency according to claim 13, it is described it is specified pick with station, caching kinds of goods sorting side from
On all target shelf, target complete commodity corresponding with all orders are removed and are placed on multiple caching containers
In include:
Caching kinds of goods sorting side is sorting personnel, kinds of goods sorting is carried out according to the prompt with station auxiliary device is picked, by target kinds of goods
It takes out, and is placed into specified containers from target shelf；Or
Caching kinds of goods sorting side is manipulator, is driving with the information of control system, target kinds of goods are taken out from target shelf,
And it is placed into the corresponding container of order.
20. layering kinds of goods radio frequency according to claim 19, the auxiliary device include display screen, electronic tag and
One or more of laser designator.
21. layering kinds of goods radio frequency according to claim 19, the manipulator is free degree manipulator.
22. layering kinds of goods radio frequency according to claim 19, the manipulator is parallel manipulator.
23. the multiple caching container is transported and is placed to slow by layering kinds of goods radio frequency according to claim 19
Area is deposited by one of following manner to realize:
Hand haulage-manually places: the multiple caching container is carried to buffer area by staff, then according to system suggestion
Container is placed into specified buffer zone；
Conveyer belt transport-is artificial to place: the multiple caching container is carried to by buffer area by transmission line, staff according to
Container is placed into specified buffer zone by system prompt；
Hand haulage-mechanical arm is placed: the multiple caching container is carried to buffer area, mechanical arm automatic identification by staff
Container, and driven according to system information and container is placed into specified buffer zone；And
Conveyer belt transport-mechanical arm is placed: the multiple caching container being carried to buffer area by transmission line, mechanical arm is automatic
It identifies container, and is driven according to system information and container is placed into specified buffer zone.
24. the described in any item layering kinds of goods radio frequencies of 3-23, the number of all orders are at least according to claim 1
Hundreds of magnitudes.
25. the described in any item layering kinds of goods radio frequencies of 3-23 according to claim 1, in which:
Shelf are square rack, the frame leg that shelf bottom end has four positional symmetries, is highly greater than robot, bottom shelf
Allow robot current；And
Shelf array of the shelf arrangements at multiple lines and multiple rows, empty row/column composition robot transit passage.
26. a kind of computing device, for controlling transfer robot and being carried out with caching kinds of goods sorting side, order kinds of goods sorting side
It communicates, including memory and controller, is stored with computer executable instructions, the computer executable instructions quilt on memory
When controller executes, operations described below is executed:
All or part of Order splitting in order pond is picked to each with station；
For the specified all orders for picking and matching and standing are assigned to, all target shelf to be handled are determined, instruction transfer robot will
All target shelf to be handled are transported to specified pick and match station；
It is given at the goods yard sum number purpose information of kinds of goods to be sorted on target shelf, to cache kinds of goods sorting side described specified
It picks with station, from all target shelf, target complete commodity corresponding with all orders is removed and are placed on more
In a caching container, the corresponding relationship in caching container label and caching container between kinds of goods is established；
The multiple caching container is transported and places to the specified cache location of buffer area,
For each order in all orders, it is given at the goods yard sum number purpose letter of kinds of goods to be sorted on caching container
Breath, so that order kinds of goods sorting side carries out kinds of goods sorting for each order in all orders in the buffer area,
It puts into order container.
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