CN108298243A - Intelligent storage goods picking method and system - Google Patents
Intelligent storage goods picking method and system Download PDFInfo
- Publication number
- CN108298243A CN108298243A CN201810050973.4A CN201810050973A CN108298243A CN 108298243 A CN108298243 A CN 108298243A CN 201810050973 A CN201810050973 A CN 201810050973A CN 108298243 A CN108298243 A CN 108298243A
- Authority
- CN
- China
- Prior art keywords
- picking
- cargo
- storage unit
- goods
- instruction
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000003860 storage Methods 0.000 title claims abstract description 541
- 238000000034 method Methods 0.000 title claims abstract description 93
- 230000000007 visual effect Effects 0.000 claims abstract description 92
- 230000008569 process Effects 0.000 claims abstract description 29
- 238000005192 partition Methods 0.000 claims description 188
- 230000009471 action Effects 0.000 claims description 57
- 238000012360 testing method Methods 0.000 claims description 14
- 230000004438 eyesight Effects 0.000 claims description 13
- 238000001514 detection method Methods 0.000 description 28
- 238000010586 diagram Methods 0.000 description 13
- 238000012384 transportation and delivery Methods 0.000 description 11
- 238000009826 distribution Methods 0.000 description 10
- 230000033001 locomotion Effects 0.000 description 8
- 238000000151 deposition Methods 0.000 description 7
- 230000008859 change Effects 0.000 description 5
- 230000007257 malfunction Effects 0.000 description 5
- 230000001788 irregular Effects 0.000 description 4
- 238000004020 luminiscence type Methods 0.000 description 4
- 238000003909 pattern recognition Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 238000005286 illumination Methods 0.000 description 3
- 210000000056 organ Anatomy 0.000 description 3
- 238000007639 printing Methods 0.000 description 3
- 238000012163 sequencing technique Methods 0.000 description 3
- 230000001174 ascending effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000012790 confirmation Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 210000004209 hair Anatomy 0.000 description 2
- 230000014759 maintenance of location Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000009828 non-uniform distribution Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Quality & Reliability (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The present disclosure relates to a method and a system for picking goods in intelligent storage, wherein the system comprises: the control system is used for sending out a control command and controlling the goods picking process; the goods picking resources are used for picking goods according to the control instruction and storing the picked goods in a goods picking and storing unit; the goods picking indicating device is used for indicating the position of the goods to be picked in the goods storage unit through visual information according to the control instruction; the goods picking indicating device is used for indicating the goods picking resources to store the picked goods to the positions in the goods picking storage unit according to the control instruction. This openly can further realize choosing the automation of goods process, improves and chooses goods efficiency.
Description
Technical field
This disclosure relates to a kind of goods sorting method and system in intelligent storage field, being applied especially to configuration has intelligent transport
In the warehousing system of robot.
Background technology
The fast development of internet and e-commerce brings life to the development of logistic industry, however explosive growth
Electric business business also to traditional logistics storage bring new challenge, constantly force traditional logistics storage sector from labour intensive
Type steering technique is intensive, has expedited the emergence of the development of Intelligent logistics storage.In traditional logistics storage sector, it is mainly used in biography
The robot based on band and relevant device is sent in the service of more and more logistic storages, to introduce automatic guided vehicle in recent years
AGV (Automated Guided Vehicle) reduces human cost;The logistic storage robot of a new generation will be with stream tube
System docking is managed, the logistics system that height is intelligent, automates is formed in conjunction with technologies such as artificial intelligence, machine vision, mechanical arms
System reduces cost of labor, improves logistic efficiency and logistics quality.
However the caused cost reduction of applications of the AGV in logistic storage system and efficiency raising are relied solely on, also not
Can meet the needs of logistic storage is growing, more systematicization, globalization, intelligent and automation logistic storage system
As the research and development focus of current each large enterprises.
The introducing of AGV realizes the positioning of shelf where cargo and the carrying of shelf, and by target goods picking station from
The process of completion order is taken out on shelf will still complete by manpower, how to further realize the automation of picking process, improve
Picking efficiency is disclosure problem to be solved.
Invention content
The purpose of the disclosure is to propose a kind of new intelligent storage goods sorting method and system.
Specifically, according to the one side of the disclosure, a kind of intelligent storage Picking System is provided, the system comprises:Control
System processed, picking resource, goods storage unit, picking instruction device, picking storage unit, picking instruction device, wherein:
The control system and the picking resource, picking instruction device, picking storage unit, pick goods storage unit
It can be communicated between goods instruction device, for sending out control instruction, control picking process;
The picking resource is used to carry out the sorting of cargo, and the goods that will be picked according to the control instruction of the control system
Object is stored in picking storage unit;
The goods storage unit in region of storing in a warehouse for storing cargo;
The picking instruction device is used to currently be waited for by visual information instruction according to the control instruction of the control system
Position of the picking object in the goods storage unit;
The picking storage unit is used to store the picking resource from the cargo in the way of corresponding to order
The cargo taken out in storage unit;
The picking instruction device is used to indicate that the picking resource will pick according to the control instruction of the control system
Cargo storage to picking storage unit in position.
According to the one side of the disclosure, a kind of intelligent storage Picking System is provided, the system comprises:Control system, goods
Object storage unit and one or more intelligent storage picking subsystem, wherein:
The intelligent storage picking subsystem is used to execute intelligent storage picking operation parallel according to the control of control system;
The intelligent storage picking subsystem includes control terminal, picking resource, picking instruction device, picking storage unit
With picking instruction device, wherein:
The control terminal refers to the control system, goods storage unit, picking storage unit, picking resource, picking
It can be communicated between showing device and picking instruction device, for sending out control instruction according to the instruction of control system, control picking
Process;
The picking resource is used to carry out the sorting of cargo, and the goods that will be picked according to the control instruction of the control terminal
Object is stored in picking storage unit;
The goods storage unit in region of storing in a warehouse for storing cargo;
The picking instruction device is used to currently be waited for by visual information instruction according to the control instruction of the control terminal
Position of the picking object in the goods storage unit;
The picking storage unit in the way of corresponding to order for storing picking resource from goods storage unit
The cargo of taking-up;
The goods that the picking instruction device is used to be picked according to the control instruction of control terminal instruction picking resource
Object is stored to the position in picking storage unit.
Optionally, further include vehicle equipment, the toter be used for according to the control instruction of the control system for
The goods storage unit is delivered.
According to the one side of the disclosure, a kind of intelligent storage Picking System is provided, the system comprises:Control system, goods
Object storage unit, picking storage unit and one or more intelligent storage picking subsystem, wherein:
The intelligent storage picking subsystem is used to execute intelligent storage picking operation parallel according to the control of control system;
The intelligent storage picking subsystem includes control terminal, picking resource, picking instruction device and picking instruction dress
It sets, wherein:
The control terminal refers to the control system, goods storage unit, picking storage unit, picking resource, picking
It can be communicated between showing device and picking instruction device, for sending out control instruction according to the instruction of control system, control picking
Process;
The picking resource is used to carry out the sorting of cargo, and the goods that will be picked according to the control instruction of the control terminal
Object is stored in picking storage unit;
The goods storage unit in region of storing in a warehouse for storing cargo;
The picking instruction device is used to currently be waited for by visual information instruction according to the control instruction of the control terminal
Position of the picking object in the goods storage unit;
The picking storage unit in the way of corresponding to order for storing picking resource from goods storage unit
The cargo of taking-up;
The goods that the picking instruction device is used to be picked according to the control instruction of control terminal instruction picking resource
Object is stored to the position in picking storage unit.
According to the one side of the disclosure, a kind of intelligent storage goods sorting method is provided, the method includes:
It indicates currently to wait for position of the picking object in goods storage unit in current order by visual information, according to described
Cargo is taken out in the instruction of visual information from the position;
Judge whether cargo matches;If it does, then instruction cargo will be placed into the position in picking storage unit, and will
Cargo is put to indicating positions.
The disclosure by control system, picking resource, goods storage unit, picking instruction device, picking storage unit,
The mutual cooperation of the devices such as picking instruction device, component can further realize the automation of picking process, improve picking effect
Rate.
Description of the drawings
Each exemplary embodiment is described in detail by referring to accompanying drawing, above and other feature and advantage are common for this field
It will become more apparent for technical staff, in the accompanying drawings:
Fig. 1 is the structure diagram according to the intelligent storage Picking System of one embodiment of the disclosure;
Fig. 2 is the scheme of installation according to the light-emitting device of one embodiment of the disclosure;
Fig. 3 is the structure diagram according to the intelligent storage picking subsystem of one embodiment of the disclosure;
Fig. 4 is the projected image display area according to the projection arrangement of one embodiment of the disclosure in goods storage unit
Presentation mode schematic diagram;
Fig. 5 A are the allocation plan schematic diagrames according to the picking partition holding of one embodiment of the disclosure;
Fig. 5 B are the allocation plan schematic diagrames according to the picking partition holding of another embodiment of the disclosure;
Fig. 5 C are the allocation plan schematic diagrames according to the picking partition holding of disclosure another embodiment;
Fig. 6 is the structure diagram according to the intelligent storage Picking System of another embodiment of the disclosure;
Fig. 7 is the flow chart according to the intelligent storage goods sorting method of one embodiment of the disclosure;
Fig. 8 is the flow chart according to the intelligent storage goods sorting method of another embodiment of the disclosure;
Fig. 9 is the flow chart according to the intelligent storage goods sorting method of disclosure another embodiment.
Specific implementation mode
In order to which the technical solution and advantage that make the disclosure are clearer, in the following with reference to the drawings and specific embodiments to the disclosure
It is described in detail.
This disclosure relates to a kind of goods sorting method and system in storage field, being applied especially to configuration has intelligent storage machine
In the warehousing system of people, herein intelligent storage robot be refer to can be applied in storage, logistics, transport transport goods, goods
The mobile handling unit of the objects such as frame, counter, also commonly known as merchandising machine people, AGV, intelligent carrier etc., however, this public affairs
Open proposed intelligent storage cargo picking method and systematic difference, however it is not limited to be configured with the storehouse of intelligent storage robot
In storage system, as long as can apply described method and system with the picking station with the same or analogous configuration of the disclosure;It is described
Warehousing system had both included the logistics warehouse of large size, such as customs, the collecting and distributing area of logistics, also included middle-size and small-size logistics transfer house,
Further include retail storage region etc., above-mentioned warehousing system is merely illustrative, and the disclosure is not limited to this, and institute is in need
The system for carrying out warehoused cargo sorting is each fallen in the protection domain of the disclosure.
According to the one side of the disclosure, propose that a kind of intelligent storage Picking System, the intelligent storage Picking System are related to
Consisting of part, and may be wrapped according to the difference of concrete scene scale of warehousing system application, the difference of automation demanding
It includes several or whole in consisting of part.Fig. 1 is the structure according to the intelligent storage Picking System of one embodiment of the disclosure
Block diagram, as shown in Figure 1.In one embodiment of the disclosure, the intelligent storage Picking System includes:Control system, picking money
Source, goods storage unit, picking instruction device, action recognition device, picking storage unit, picking instruction device, cargo identification
Device, vehicle equipment and caution device in order to ensure effective work of the intelligent storage Picking System, should also match certainly
The picking region for having storage region and being present in storage region, being marked off for realization picking, wherein:
The control system and the picking resource, picking instruction device, action recognition device, pick goods storage unit
It can be communicated between goods storage unit, picking instruction device, stock keeping unit, vehicle equipment and caution device, for sending out
Control instruction controls picking process;
The picking resource is used to carry out the sorting of cargo, and the goods that will be picked according to the control instruction of the control system
Object is stored in picking storage unit;
The goods storage unit in region of storing in a warehouse for storing cargo;
The picking instruction device is used to currently be waited for by visual information instruction according to the control instruction of the control system
Position of the picking object in the goods storage unit;
The action recognition device is used to detect picking resource and sorts the action of cargo in the goods storage unit
It is no correct, and testing result is sent to the control system;
The picking storage unit is used to store the picking resource from the cargo in the way of corresponding to order
The cargo taken out in storage unit;
The picking instruction device is used to indicate that the picking resource will pick according to the control instruction of the control system
Cargo storage to picking storage unit in position;
The goods information of the stock keeping unit cargo that picking resource is taken out from goods storage unit for identification;
The toter is for transporting the goods storage unit according to the control instruction of the control system
It carries;
The caution device is used to send out information warning according to the control instruction of the control system.
It describes in detail below for each component part of the intelligent storage Picking System.
Control system
The control system includes central processing unit (CPU), read-only memory (ROM), random access storage device
(RAM), bus, input/output (I/O) interface, input equipment, output equipment, storage device, communication equipment, may also include drive
The components such as dynamic device, detachable media.In practical applications, the control system can be implemented as total and fractional computer control system
System, can also be embodied as distributed computer control system, the total and fractional computer control system includes master control control server
With multiple control terminals for receiving master control server controls;The distributed computer control system includes multiple independent
Control terminal, the multiple independent control terminal can realize collaborative work to each other by collision algorithm.
The control system also can receive the picking resource, goods storage unit, picking instruction device, action recognition dress
It sets, the information that picking storage unit, picking instruction device, stock keeping unit, vehicle equipment are sent, according to reception information
The working condition of each unit, unit is judged, and is judging that abnormal state occur in each unit, unit
When, control instruction is sent to caution device, indicates its alarm.
Picking resource
The picking resource can be people, machine or man-machine combination, such as with auxiliary machinery equipment
People, it is alternatively possible to be the people equipped with mechanical exoskeleton.It is said from another angle, the picking resource may include multiple
Picking component, such as executing the component of picking, the component for providing support, the component for controlling each component action
Etc., multiple picking component coordination work are to realize picking for cargo.
The picking resource can also be installed with condition detecting device, and the condition detecting device for monitoring picking money in real time
Working condition from body, and status information is fed back into control system in real time or every prefixed time interval, in picking
Resource can at the first time succour picking resource when breaking down, and picking work is scheduled.Wherein, institute
Stating status information includes:Each picking component operation status information, picking resource location information etc..
Goods storage unit
In one embodiment of the disclosure, the goods storage unit can be shelf, counter, basket, goods basket and refrigerator,
The storage units such as warm cabinet.
The cargo storage areas that the goods storage unit is formed can be divided into multiple cargo partition holdings, the goods
Object partition holding either opened and formed by physical separation, such as separated with partition components such as partition board, drawer, Split charging boxes,
Can also be the partition holding of virtual partition, such as different cargos are spaced and put and formed.The cargo partition holding was both
It could be provided as with regular shape, such as latticed, may be set to be with irregular shape, to accommodate irregular goods
Object or cargo reserved space will to store later.The cargo partition holding can both be evenly distributed, and can also be in
Non-uniform Distribution, such as can need to be set as that certain partition holdings are intensive and other partition holding phases according to practical application
To loose.The division of the cargo partition holding can also be to support dynamic adjustment either changeless, described
The dividing mode of cargo partition holding is stored in the control system, and the real-time update according to the change of dividing mode.
In addition, the cargo partition holding may also be configured with unique positions identification marking, for example, can according to its region, row,
The unique positions identification marking of cargo partition holding is arranged in the more specific location informations such as row, sequence numbering, can also be according to the goods
Unique positions identification marking is arranged for it in the spatial position coordinate of object partition holding.It above are only for cargo partition holding
Exemplary illustration, those skilled in the art can according to the needs of practical application for cargo partition holding carry out reasonable distribution and
Adjustment, the disclosure are not especially limited it.
The position of the goods storage unit can also be moveable, be stored in the cargo either fixed
When unit is removable, move mode can be actively mobile or passive mobile, wherein actively mobile to can be achieved
For automatic autonomous, passive movement can be achieved to carry out delivery movement by push-and-pull move, or by toter.
In another embodiment of the disclosure, the goods storage unit can also be installed with condition detecting device, the state
Detection device is used to detect the status information of the goods storage unit, and in real time, every Fixed Time Interval or detecting
When breaking down to the goods storage unit state detecting information is sent to control system.
Picking instruction device
In one embodiment of the disclosure, the picking instruction device can utilize visual information, to indicate currently to wait for picking
Location information of the object in the goods storage unit currently waits for the cargo partition holding where picking object so that picking provides
Source can correctly take out according to the position instruction of picking instruction device and currently wait for picking object.
In this embodiment, the picking instruction device is visual information output device, and there are many kinds of its realization methods,
For example can be implemented as light-emitting device, light launcher, projection arrangement, display device, electronic tag, bat modulator etc.,
It can certainly be embodied as other visual information output devices, the disclosure is not especially limited it.Below only with light-emitting device,
The picking instruction device is illustrated for light launcher, projection arrangement and display device, for other visions
The realization method of information output apparatus can similarly analogize.
Embodiment one, the picking instruction device are light-emitting device
In this embodiment, the picking instruction device is one group of luminous dress being located in the goods storage unit
Set, such as LED light, such as shown in Fig. 2, the goods storage unit be shelf 1, the picking instruction device be mounted on
One group of LED light 2 on shelf 1, shelf 1 are divided into multiple virtual cargo partition holdings, and LED light 2 further comprises transverse direction
With longitudinally disposed row, column LED light, row LED light and row LED light combination application can uniquely determine a certain cargo place
Partition holding.In addition, the indicating mode of the light-emitting device may be used and light, flickers, changing colour or other indicating modes,
Its luminescent color is chosen as using bright-coloured eye-catching color, such as red.
Certainly, the light-emitting device can also be realized using electronic tag or other luminescence components, the disclosure to it not
Make specific limit, wherein the electronic tag can show that the unique positions of corresponding cargo partition holding are known in a manner of eye-catching
Not Biao Shi or other can unique mark wait for the identification information of picking object.
Embodiment two, the picking instruction device are light launcher
In this embodiment, the picking instruction device, which is one group be located near goods storage unit, can emit light
Light launcher, set-up mode identical with the light-emitting device can be used, utilize row and column corresponding light transmitting
The crosspoint of light emitted by device uniquely determines the partition holding where a certain cargo, naturally it is also possible to directly by light
It is incident upon at the partition holding where currently waiting for picking object.
The light launcher and the goods storage unit distance away, being capable of adjust automatically light hairs
The angle penetrated and light is emitted to the corresponding position of the goods storage unit, such as cargo partition holding row indicating bit
It sets, cargo partition holding row indicating positions or the current partition holding waited for where picking object.
The light launcher can be visible light emitter, such as laser emitter or other light transmitting dress
It sets.
Embodiment three, the picking instruction device are projection arrangement
The projection arrangement to goods storage unit and/or picking storage unit by projecting image, in cargo to be removed
Cargo partition holding and/or cargo to be stored picking partition holding in show special visual image information to be referred to
Show.
In this embodiment, the picking instruction device is the projection being separated by a certain distance with the goods storage unit
Device, projected image display area wait for that picking object place partition holding is corresponding with current, can just cover and currently wait picking
Partition holding where cargo can also be more than or less than the partition holding currently waited for where picking object, as long as can be only
The instruction of one ground currently waits for the partition holding where picking object.
For example as shown in figure 3, the goods storage unit is shelf 505, picking instruction device is certain apart from shelf 505
The projection arrangement 504 of distance, being adjusted to the size of projected position and view field can just cover in shelf 505
The current partition holding waited for where picking object, or it is slightly more than the boundary for currently waiting for picking object place partition holding, for example (,) it is super
The distance for going out boundary is less than 3cm.
Fig. 4 shows presentation mode of the projected image display area of projection arrangement in goods storage unit, such as Fig. 4 institutes
Show, the position where the projection arrangement instruction currently waits for picking object can be by currently waiting for partition holding where picking object
It shows the information such as special visual information, such as special pattern, special color, designated character to realize, wherein the finger
It can be currently to wait for the picking information of picking object, such as wait for the picture of picking object, title, specification, classify, wait picking several to determine character
Amount etc., or the current unique positions identification marking for waiting for picking object.It is alternatively possible to current using that can just cover
The shape of partition holding where waiting for picking object indicates the partition holding slightly larger than the pattern of partition holding shape to distinguish, and throws
Shadow color can take color that is bright-coloured eye-catching and being different from other cargo partition holdings, and in addition the size of projection instruction pattern should fit
Preferably, it will not project to other partition holdings, partition holding is caused to indicate that mistake, misguidance picking resource are deposited to other cargos
Storage subregion takes wrong cargo.
Embodiment four, the picking instruction device are display screen
In this embodiment, the picking instruction device is a display easily observed in picking by picking resource
Screen shows that the goods storage unit divides feelings in the partition holding on picking resource direction in the display screen
Condition, and the current partition holding waited for where picking object is shown by modes such as special pattern, color or designated characters.It is described
Display screen can also show and currently wait for the picking information of picking object, for example, wait for the picture of picking object, title, specification, classification,
Quantity to be picked etc. can also show the current unique positions identification marking for waiting for picking object.
Embodiment five, the picking instruction device are the combination described in above-mentioned implementation
Indicate that the embodiment of cargo storage position can be used alone above by picking instruction device, it can also phase
Mutually it is applied in combination to reduce picking error rate.
In another embodiment of the disclosure, the picking instruction device can also be installed with condition detecting device, the state
Detection device is used to detect the status information of the picking instruction device, and in real time, every Fixed Time Interval or detecting
When breaking down to the picking instruction device state detecting information is sent to control system.
Action recognition device
In one embodiment of the disclosure, the action recognition device is for detecting picking resource in the goods storage unit
Whether the middle action for sorting cargo and/or storing cargo in the picking storage unit is correct, and testing result is sent to
The control system.
In another embodiment of the disclosure, the action recognition device detect picking resource sort cargo action when,
Whether one or more picking component it is single have exceeded the storage of the cargo where waiting for picking object when detectable picking resource sorts cargo
The bounds of the cargo partition holding of member, the bounds can be the boundary of partition holding and permissible error amount
With, and/or, when the action recognition device is for detecting picking resource storage cargo, the one or more of the picking resource
Whether picking component, which has exceeded, is waited for picking object by the bounds of the picking partition holding for the picking storage unit being stored, and
Testing result is sent to the control system.For example, when the action recognition device detects the picking component of picking resource
When having exceeded the bounds of partition holding where picking object, detection information is fed back to control system, makes the control system
Operating mistake is prompted by the caution device.Wherein, the permissible error amount can be a fixed value, such as 5cm,
It can also be a relative value, such as the 30% of the cargo storage areas length of side can be taken as, it is of course also possible to be 0.
The action recognition device can be Grating examinations device, motion capture equipment or other can be with identification maneuver
The device of range, the disclosure are not especially limited it.
Picking storage unit
In one embodiment of the disclosure, the picking storage unit can be shelf, counter, basket, goods basket and refrigerator,
The storage units such as warm cabinet.
The storage region that the picking storage unit is formed can be divided into multiple picking partition holdings, and the picking is deposited
Storage subregion either separated and formed by actual physics, such as separated with partition components such as partition board, drawer, Split charging boxes,
Can also be the partition holding of virtual partition, such as different cargos are spaced and put and formed.The picking partition holding was both
It could be provided as with regular shape, such as latticed, may be set to be with irregular shape, to accommodate irregular goods
Object or cargo reserved space will to store later.The picking partition holding can both be evenly distributed, and can also be in
Non-uniform Distribution, such as can need to be set as that certain partition holdings are intensive and other partition holding phases according to practical application
To loose.The dividing mode of the picking partition holding can also be to support dynamic adjustment either changeless,
Goods storage unit described above is the same, and the dividing mode of the picking partition holding is stored in the control system,
And the real-time update according to the change of dividing mode.In addition, the picking partition holding may also be configured with unique positions identification
Mark, for example picking partition holding can be set only according to more specific location informations such as its region, row, column, sequence numberings
One position identification marking can also be arranged unique positions for it according to the spatial position coordinate of the picking partition holding and identify
Mark.The exemplary illustration for picking partition holding is above are only, those skilled in the art can be according to the needs of practical application
Reasonable distribution is carried out for picking partition holding and adjustment, the disclosure are not especially limited it.
Fig. 5 A are picked as shown in Figure 5A according to the allocation plan schematic diagram of the picking partition holding of one embodiment of the disclosure
The storage region 401 that goods storage unit is formed can be evenly divided into multiple open picking partition holdings 403, each
Picking partition holding is additionally provided with its unique positions identification marking 402 at 403 corresponding position.
Fig. 5 B be according to the allocation plan schematic diagram of the picking partition holding of another embodiment of the disclosure, as shown in Figure 5 B,
Multiple picking partition holdings 404 are set as salable region, for example can be installed with detachable cabinet door.
Fig. 5 C be according to the allocation plan schematic diagram of the picking partition holding of disclosure another embodiment, as shown in Figure 5 C,
Multiple picking partition holdings 405 are formed based on virtual partition.
The position of the picking storage unit can also be moveable, be stored in the picking either fixed
When unit is removable, move mode can be actively mobile or passive mobile, wherein actively mobile to can be achieved
For automatic autonomous, passive movement can be achieved to carry out delivery movement by push-and-pull move, or by toter.
In another embodiment of the disclosure, the picking storage unit can also be installed with condition detecting device, the state
Detection device is used to detect the status information of the picking storage unit, and in real time, every Fixed Time Interval or detecting
When breaking down to the picking storage unit state detecting information is sent to control system.
Picking instruction device
In one embodiment of the disclosure, cargo to be sorted is stored list by the picking instruction device in picking resource from cargo
After being taken out in member, it is indicated by the specific location in the cargo storage picked to picking storage unit, the specific location can
To be the specific picking partition holding that picks cargo and will be placed in picking storage unit.
The picking instruction device can similar with above-described picking instruction device mode realize, except this it
Outside, the picking instruction device can also be realized using electronic tag or bat modulator.
When the picking instruction device is embodied as electronic tag, the electronic tag can be arranged is storing list with picking
The one-to-one position of picking partition holding in member, the position as shown in reference numeral 402 in Fig. 5 A, 5B, 5C, the electricity
Subtab can be shown in a manner of eye-catching corresponding picking partition holding unique positions identification marking or other can uniquely mark
Know the identification information of picking partition holding.In this embodiment, picking resource will cargo be sorted from goods storage unit
It after taking-up, the corresponding electronic tag flicker of a certain picking partition holding or brightens, instruction cargo should be put into corresponding position
Picking partition holding, if picking partition holding is if being separated by the way of goods basket, it indicates that be put into cargo corresponding
In goods basket.
In addition, the identification information in addition to capableing of unique mark picking partition holding described in display, the electronic tag may be used also
To show that the cargo residue to be sorted of this in the corresponding order of current picking partition holding needs quantity sorted etc. to sort information.
In another embodiment of the disclosure, the picking instruction device can also be installed with condition detecting device, the state
Detection device is used to detect the status information of the picking instruction device, and in real time, every Fixed Time Interval or detecting
When breaking down to the picking instruction device state detecting information is sent to control system.
Stock keeping unit
In one embodiment of the disclosure, the stock keeping unit can be barcode scanning device, then the goods information identified is
Shipment identifier information, such as bar code or Quick Response Code, the stock keeping unit can also be pattern recognition device, then know
Other goods information is a part for cargo image information or cargo image information.
In another embodiment of the disclosure, the stock keeping unit can also be installed with condition detecting device, the state
Detection device is used to detect the status information of the stock keeping unit, and in real time, every Fixed Time Interval or detecting
When breaking down to the stock keeping unit state detecting information is sent to control system.
Toter
In automated warehousing, AGV (automated guided vehicle), fork truck, suspension usually may be used in the toter
The toters such as formula robot above are only the exemplary illustration of toter, and the disclosure is not especially limited it, own
The protection model of the disclosure can be each fallen within for the device that goods storage unit is delivered according to the control instruction of control system
In enclosing.In another embodiment of the disclosure, the toter can also be installed with condition detecting device, and the state-detection is set
It is ready for use on the status information for detecting the toter, and in real time, every Fixed Time Interval or detecting the delivery
When device breaks down state detecting information is sent to control system.
Caution device
In one embodiment of the disclosure, the caution device can be acousto-optic warning equipment, such as buzzer, warning lamp etc.
Equipment can be visual information caution device, for example printed words is prompted to show, can also be multimedia caution device, such as sound
Frequency alarm, image warner, animation alarm, video alarm etc., naturally it is also possible to be the combination of above-mentioned caution device.
The caution device receives the control instruction that control system is sent and implements alarm operation, for example, when picking resource goes out
When existing failure, caution device is alarmed according to the control instruction of control system and is notified to the current location of picking resource, to make to rescue
Help source that can be succoured at the first time for picking resource;For example, when action recognition device detects the picking of picking resource
When component has exceeded the bounds of partition holding where picking object, caution device can be according to the control instruction of control system
It alarms, to suspend faulty operation at the first time;For another example, when goods storage unit, picking instruction device, picking storage
When unit, picking instruction device, stock keeping unit and vehicle equipment detection oneself state break down, caution device can root
It alarms according to the control instruction of control system, goods storage unit, picking instruction device, picking is deposited with first time
Storage unit, picking instruction device, stock keeping unit and vehicle equipment are repaired.
Workbench
In one embodiment of the disclosure, the intelligent storage Picking System may also include workbench, and the workbench is used for
What various components, such as control terminal, mouse, keyboard, printer in placement control system etc. or other needs were placed
Article.
In another embodiment of the disclosure, the intelligent storage Picking System includes control system, goods storage unit, picks
Goods storage unit, vehicle equipment and one or more intelligent storage picking subsystem, wherein:
The intelligent storage picking subsystem is used to execute intelligent storage picking operation parallel according to the control of control system;
The intelligent storage picking subsystem includes control terminal, picking resource, picking instruction device, picking instruction dress
It sets, stock keeping unit and caution device, wherein:
The control terminal refers to the control system, goods storage unit, picking storage unit, picking resource, picking
It can be communicated between showing device and picking instruction device, for sending out control instruction according to the instruction of control system, control picking
Process.
Certainly, the intelligent storage picking subsystem can further include the compositions such as action recognition device, workbench.
Wherein, the function and operation of each component part in the intelligent storage picking subsystem and intelligent storage picking
The function and operation of corresponding component part is similar in system, and details are not described herein for the disclosure, only, the intelligent storage picking
Subsystem needs to be communicated with the control system of intelligent storage Picking System by control terminal.
In addition, one or more intelligent storage picking subsystem can share goods storage unit, picking storage
Unit and vehicle equipment can also be separately configured.
In an alternative embodiment, intelligent storage picking subsystem also can also include picking storage unit, such as
Picking storage unit is integrated with picking instruction device.
The intelligent storage picking subsystem is not an individual device, nor one can only execution part operation
System element, the definition of intelligent storage picking subsystem are to be divided to obtain to the intelligent storage Picking System
A minimum functional unit that can complete a complete picking operation.
Fig. 3 is according to the structure diagram of the intelligent storage picking subsystem of one embodiment of the disclosure, in this embodiment, institute
Intelligent storage picking subsystem is stated to include picking resource 501, picking storage unit 502, control terminal 503, refer to as picking
The projection arrangement 504 of showing device and the display 505 above goods storage unit stop place indicate to fill as picking
Set be located at picking storage unit on electronic tag (not shown), as stock keeping unit barcode scanning device (not shown),
Action recognition device 506 and workbench 507.
Fig. 6 is according to the structure diagram of the intelligent storage Picking System of another embodiment of the disclosure, as shown in fig. 6, described
Intelligent storage Picking System include master control control server 801, control terminal 803, display device 804, picking instruction device 805,
Action recognition device 806, picking instruction device 807, stock keeping unit 808 and printing device 809, wherein:
The master control control server 801 includes order processing unit, for receiving and distributing order according to certain algorithm;
Control terminal 803, display device 804, picking instruction device 805, action recognition device 806, picking instruction device
807, stock keeping unit 808 and printing device 809 constitute picking work station 802;
It is communicated by wireless and/or wired connection between master control control server 801 and control terminal 803;
The order of distribution and relevant information are sent to control terminal 803 by master control control server;
Control terminal 803 is filled with display device 804, picking instruction device 805, action recognition device 806, picking instruction
It sets and uses wired or wireless communication connection mode between 807, stock keeping unit 808 and printing equipment 809.
According to another aspect of the present disclosure, it is also proposed that a kind of intelligent storage goods sorting method, the method includes:
It indicates currently to wait for position of the picking object in goods storage unit in current order by visual information, according to described
Cargo is taken out in the instruction of visual information from the position;
Judge whether cargo matches;If it does, then instruction cargo will be placed into the position in picking storage unit, and will
Cargo is put to indicating positions.
In one embodiment of the disclosure, the visual information includes:Illuminated message, projection information, is shown light transmitting information
Show one or more combinations in information.
Wherein, the visual information is projection information, specifically by goods storage unit and/or picking storage unit
Image is projected, it is special to be shown in the cargo partition holding of cargo to be removed and/or the picking partition holding of cargo to be stored
Visual image information is indicated.
Wherein, the special visual image information, including one in special pattern, special color, designated character or
It is multiple, wherein the designated character is the picture for currently waiting for picking object, title, specification, classifies, quantity to be picked, currently waits picking
One or more of the unique positions identification marking of cargo goods information;The special pattern is to be formed and other storages point
The visual pattern in area there are vision difference, cause the pattern of vision attention;The special color is that can just cover currently to wait for
The shape of partition holding where picking object or the color segment slightly larger than partition holding shape.
It is described to judge whether cargo matches and specifically include in one embodiment of the disclosure:
Identify the goods information of the cargo taken out;
Judge whether match with the current cargo to be sorted in current order according to the goods information of identification.
In one embodiment of the disclosure, the method further include detection in the goods storage unit sort cargo and/
Or whether the action of storage cargo is correct in the picking storage unit, and carry out miscue when detection has mistake.
Wherein, the detection operation includes with the presence or absence of mistake:
When detecting picking resource sorting cargo, whether one or more picking components of picking resource, which have exceeded, is waited for picking object
The bounds of the cargo partition holding of the goods storage unit at place, and detect in the presence of mistake when carry out miscue;
And/or when detection picking resource storage cargo, whether one or more picking components of picking resource, which have exceeded, is waited for
Picking object is by the bounds of the picking partition holding for the picking storage unit being stored, and it is wrong to detect progress when in the presence of mistake
Accidentally prompt.
Wherein, the bounds be boundary and the permissible error amount of partition holding and.
Wherein, the method further includes the steps that malfunction is carried out to correct instruction.
In one embodiment of the disclosure, before by visual information indicating positions, picking will be executed by further including selection
The step of order of operation.
Wherein, the order of picking operation will be executed according to preset rules selection, the preset rules are in following rule
Any one:
According to the sequencing of order generated time;
It randomly selects;
According to the sequence of type of merchandize quantity from small to large;
According to the sequence of commodity amount from small to large.
Wherein, further include before the selection will execute the step of order of picking operation:
For the pending picking operation such as current intelligent storage Picking System or the distribution of current intelligent storage picking subsystem
Order;
There is the goods storage unit of cargo in the order to deliver to the intelligent storage picking for being assigned the order storage
At the position of subsystem.
It is described to put cargo to indicating positions in one embodiment of the disclosure, further include:
Judge whether the current order is completed, be, indicates that the picking operation of current order has been completed, continue
Next order operation;Otherwise continue to execute picking according to the instruction of visual information, until completing the picking operation of current order;
In one embodiment of the disclosure, before by visual information indicating positions, picking will be executed by further including selection
The step of cargo of operation.
Wherein, the order of picking operation will be executed according to preset rules selection, the preset rules are in following rule
Any one:
It randomly selects;
According to quantity of the cargo in order by up to few sequence.
In one embodiment of the disclosure, believe after the step of selection will execute the cargo of picking operation, by vision
Further include before breath indicating positions:
For the pending picking operation such as current intelligent storage Picking System or the distribution of current intelligent storage picking subsystem
Order;
There is the goods storage unit of cargo in the order to deliver to the intelligent storage picking for being assigned the order storage
At the position of subsystem.
In one embodiment of the disclosure, the cargo is put to the position of instruction, the method further includes:
Judge it is described currently wait for whether the sorting of picking object is fully completed, be indicate the cargo picking operation complete,
Next sorting operation for waiting for picking object is executed, otherwise continues to carry out picking according to the instruction of visual information, until for currently waiting for
The sorting for sorting cargo is fully completed;
In one embodiment of the disclosure, before by visual information indicating positions, the method further includes:
Selection will execute the goods storage unit of picking operation;
Selection will execute the cargo of picking operation;
And after the position put the cargo to instruction, further include:
Judge it is described currently wait for whether the sorting of picking object is fully completed, be indicate the cargo picking operation it is complete
At, otherwise continue according to the instruction of visual information carry out picking, until all wait for picking object sorting finish;
Judge whether do not wait for picking object in current cargo storage unit, is to indicate that current cargo storage unit is left to work as
Preceding intelligent storage picking subsystem position then proceedes to execute the sorting operation of next goods storage unit, otherwise after
Continuous selection will execute the cargo of picking operation, until not belonging to current intelligent storage picking in current cargo storage unit
Subsystem waits for picking object.
In one embodiment of the disclosure, the method further includes by the detailed list of goods of current order and/or express delivery face singles
Print the step for finishing and being put into the picking partition holding of corresponding picking storage unit.
In one embodiment of the disclosure, the method further includes being indicated by way of visual information or acoustic information currently
Wait for that the picking operation of picking object has been completed.
In one embodiment of the disclosure, the intelligent storage goods sorting method be implemented based on order, as shown in fig. 7,
In the embodiment, it the described method comprises the following steps:
Step 101, selection will execute the order of picking operation;
Step 102, it indicates currently to wait for position of the picking object in goods storage unit in current order by visual information;
Step 103, cargo is taken out from the position according to the instruction of the visual information;
Step 104, the goods information of cargo is taken out in identification;
Step 105, the goods information obtained according to identification judges currently to wait for picking in the cargo and current order that take out
Whether object matches, and is, continues to execute step 106, otherwise return to step 103, is currently waited for current order until taking out
The cargo that picking object matches;
Step 106, instruction cargo will be placed into the position in picking storage unit, and cargo is put to indicating positions;
Step 107, judge whether the current order is completed, be, enter step 108, otherwise return to step 102, directly
To completion current order;
Step 108, it indicates that the picking operation of current order has been completed, and return to step 101, continues to execute next order
Picking operation.
Above method step is the cargo sorting process for an independent order.Certainly, above method step can be by reality
It applies and executes two and more than two orders for sequence, or execute two and more than two orders parallel simultaneously, but needle
To each order in two and more than two orders, it is performed according to picking step above.
For the above-mentioned intelligent storage goods sorting method based on order, each step specifically can be implemented as:
● step 101, selection will execute the order of picking operation, can be implemented as:
Select will to execute the order of picking operation according to certain preset rules, wherein the preset rules are such as
Can be:For distributing to the order of current intelligent storage Picking System or current intelligent storage picking subsystem according to ordering
Single generated time is ranked up, and the order of picking operation then will be executed according to the selection of the sequencing of order generated time;
Or:It is carried out in the order for distributing to current intelligent storage Picking System or current intelligent storage picking subsystem
It randomly selects;Or:For distributing to current intelligent storage Picking System or current intelligent storage picking subsystem
Order carries out ascending sort according to type of merchandize quantity, then will according to the sequential selection of type of merchandize quantity from small to large
Execute the order of picking operation;Or:It is picked for distributing to current intelligent storage Picking System or current intelligent storage
The order of goods subsystem carries out ascending sort according to commodity amount, then will according to the sequential selection of commodity amount from small to large
Execute the order of picking operation.
Further include step 1011 before the step 101 in one embodiment of the disclosure, is current intelligent storage picking
The order of the pending picking operation such as system or the distribution of current intelligent storage picking subsystem.
It refers to that will distribute to distribute order for current intelligent storage Picking System or current intelligent storage picking subsystem
Order information is sent to the control system of current intelligent storage Picking System by communication mode wirelessly or non-wirelessly.It is distributing
, can be with the one or a set of order of every sub-distribution to intelligent storage Picking System when order, it can also be according to prefixed time interval week
Order is distributed to phase property, either waits for current intelligent storage Picking System or current intelligent storage picking subsystem processes complete
It reallocates after all orders distributed new order, is also based on load-balancing algorithm and stores in a warehouse picking for different intelligent
Subsystem distributes order to realize the load balance of intelligent storage picking subsystem processes picking operation.
Wherein, the order may include the single good or more than one piece cargo corresponding to single category, can also include pair
Should in multiple categories the single good of each category or more than one piece cargo.
In one embodiment of the disclosure, the intelligent storage Picking System includes that one or more intelligent storage picks
Goods subsystem can also include step 1012 before or after the step 101, storage is had cargo in the order
Goods storage unit is delivered to being assigned at the position of intelligent storage picking subsystem of the order.
Wherein, the means of conveyance of the goods storage unit can be that the pure artificial, people of artificial push-and-pull etc drives transport
Mechanical carrier (such as fork truck) or utilization robot deliver (such as delivery type AGV), and the disclosure is not especially limited it.
Under normal conditions, step 1011 executes before step 1012.
● step 102, position of the cargo to be sorted in goods storage unit in current order is indicated by visual information;
In this step, the finger of visual information can be realized using the picking instruction device in intelligent storage Picking System
Show.The position refers to currently waiting for specific partition holding of the picking object in goods storage unit.
Corresponding to the 1st kind of embodiment of picking instruction device, shine using one group in goods storage unit
Device is indicated, such as LED light.Such as shown in Fig. 2, shelf 1 are divided into multiple virtual cargo partition holdings,
Corresponding to multiple virtual goods partition holdings, respectively in horizontal and vertical upper setting row, column LED light 2, pass through corresponding row and column
LED light 2 light, flicker, changing colour or other illumination modes can uniquely determine cargo partition holding where waiting for picking object,
Bright-coloured eye-catching color may be used in the wherein luminescent color of LED light 2, such as red.
Certainly, LED light 2 can also be realized using electronic tag or other luminescence components.
Corresponding to the 2nd kind of embodiment of picking instruction device, using one group of light in goods storage unit
Emitter is set to the light launcher at a certain distance from goods storage unit to indicate.
One group of light launcher in goods storage unit can be used and light-emitting device in the 1st kind of embodiment
Identical set-up mode, the crosspoint of the light projected using the corresponding light launcher of row and column, which can uniquely determine, waits for
Cargo partition holding where picking object.
The light launcher being set at a certain distance from goods storage unit is capable of the transmitting of adjust automatically light
Angle and light is emitted to the corresponding partition holding position of goods storage unit.
The light launcher can be visible light emitter, such as laser emitter or other light transmitting dress
It sets.
Corresponding to the 3rd kind of embodiment of picking instruction device, the throwing being separated by a certain distance with goods storage unit is utilized
Image device indicates, projected image display area with it is current wait for picking object where partition holding it is corresponding, can just cover
The current partition holding waited for where picking object can also be more than or less than the partition holding currently waited for where picking object, as long as
It is that can uniquely indicate currently to wait for the partition holding where picking object.
For example as shown in figure 3, the goods storage unit is shelf 505, picking instruction device is certain apart from shelf 505
The projection arrangement 504 of distance, being adjusted to the size of projected position and view field can just cover in shelf 505
The current partition holding waited for where picking object, or it is slightly more than the boundary for currently waiting for picking object place partition holding, for example (,) it is super
The distance for going out boundary is less than 3cm.
Fig. 4 shows presentation mode of the projected image display area of projection arrangement in goods storage unit, such as Fig. 4 institutes
Show, the position where the projection arrangement instruction currently waits for picking object can be by currently waiting for partition holding where picking object
It shows the information such as special visual information, such as special pattern, special color, designated character to realize, wherein the finger
It can be currently to wait for the picking information of picking object, such as wait for the picture of picking object, title, specification, classify, wait picking several to determine character
Amount etc., or the current unique positions identification marking for waiting for picking object.It is alternatively possible to current using that can just cover
The shape of partition holding where waiting for picking object indicates the partition holding slightly larger than the pattern of partition holding shape to distinguish, and throws
Shadow color can take color that is bright-coloured eye-catching and being different from other cargo partition holdings, and in addition the size of projection instruction pattern should fit
Preferably, it will not project to other partition holdings, partition holding is caused to indicate that mistake, misguidance picking resource are deposited to other cargos
Storage subregion takes wrong cargo.
Corresponding to the 4th kind of embodiment of picking instruction device, observed in picking by picking resource using easily aobvious
Display screen curtain is indicated, shows the goods storage unit in depositing on picking resource direction in the display screen
Subregion dividing condition is stored up, and depositing where currently waiting for picking object is shown by modes such as special pattern, color or designated characters
Store up subregion.The display screen, which can also show, currently waits for the picking information of picking object, for example, wait for the picture of picking object, title,
Specification is classified, quantity to be picked etc., can also show the current unique positions identification marking for waiting for picking object.
Corresponding to the 5th kind of embodiment of picking instruction device, instruction, example are combined using 1-4 kind embodiments
Such as, in such a way that projection arrangement and display screen are combined instruction, the type of instruction information is not only increased, is also reduced
The error rate of picking.
● step 103, cargo is taken out from the position according to the instruction of the visual information;
In one embodiment of the disclosure, which can realize the instruction according to visual information for picking resource, make a stretch of the arm
Or the cargo storage areas taking-up that auxiliary grip equipment enters in goods storage unit currently waits for picking object.
Optionally, artificial sorter receives the instruction of visual information by the organs of vision, is completed to take out cargo with arm
Process or machine sorter identify the visual information by machine vision, and are converted to the executable operation of robot
The process of taking-up cargo is completed in instruction using mechanical arm.
Optionally, the step 103 further include detection picking action whether there is mistake, and detection exist mistake when into
The step of row miscue, specifically can be achieved to detect that sorter's arm or other picking components extend into cargo storage to work as
Beyond when the bounds of partition holding, mistake occurs in prompt where picking object in unit.The bounds can be deposited
Store up boundary and the permissible error amount of subregion and, the permissible error amount can be a fixed value, such as 5cm, also may be used
To be a relative value, such as it can be taken as the 30% of the cargo storage areas length of side, it is of course also possible to be 0.Further,
Can execute the detection by actions described above identification device, for example, Grating examinations device, motion capture equipment or
Other can be not especially limited it with the device of identification maneuver range, the disclosure.
Wherein, described miscue mode, including the alarm of sound-light alarm, visual information, multimedia messages alarm etc., such as
It is alarmed by modes such as color change, flicker variation, light and shade variation or presentation " mistake " " ERROR " printed words.
Wherein, the detection picking action whether there is wrong step, can further include for malfunction
The step of carrying out correcting instruction, such as prompted by showing correct storage location on the display screen, or by prominent
The mode of correct picking position, or realized using combination.
● step 104, the goods information of cargo is taken out in identification;
Further, which is operated by stock keeping unit to implement the identification.
For example, identifying goods information by barcode scanning device, the goods information identified is shipment identifier information, such as item
Shape code or 2 D code information;Alternatively, identifying goods information by pattern recognition device, the goods information identified is cargo
A part in image information or cargo image information.
● step 105, the goods information obtained according to identification judges currently to wait picking in the cargo and current order that take out
Whether cargo matches, and is, continues to execute step 106, otherwise the picking again of return to step 103, until taking-up and current order
In current wait for the cargo that picking object matches.
In one embodiment of the disclosure, for goods information included in order information and obtained cargo can be identified
Information is compared to judge whether cargo matches, wherein the order information includes O/No., Description of Goods, cargo number
Amount, goods information and instruction currently sort the instruction information of which cargo, and the goods information can be shipment identifier letter
A part for breath, cargo image information or cargo image information.
● step 106, instruction cargo will be placed into the position in picking storage unit, and cargo is put to indicating positions;
In one embodiment of the disclosure, the correct cargo of sort out can be indicated in picking by picking instruction device
The position that will be placed in storage unit, the position specifically refer to which picking storage point in picking storage unit
Area.
Wherein, as described above, it is next real that mode similar with picking instruction device may be used in the picking instruction device
It is existing, it can also be realized using picking storage unit electronic tag or bat modulator.
For example after step 105 confirms and takes out correct cargo, picking instruction device indicates that cargo will be placed into
Picking partition holding, such as indicated by the modes such as lighting or flickering, picking instruction device can also show that the cargo corresponds to
Residue quantity to be sorted, such as when using electronic tag as picking instruction device when, currently quantity of goods to be sorted be 3
A, the cargo for being put into picking storage unit is 2, then the remaining quantity for needing to sort of picking instruction device display is 1,
Then the cargo is put into corresponding picking partition holding by picking resource further according to the instruction of picking instruction device.
● step 107, judge whether the current order is completed, be, enter step 108, otherwise return to step 102 after
It is continuous
It executes and sorts operation, until completing all pickings operation of current order;
Wherein, it refers to judging whether cargo included in current order all sorts to judge whether current order is completed
It finishes, certainly, which can also include finishing the detailed list of goods of current order and/or express delivery face singles print and being put into phase
In the picking partition holding for answering picking storage unit.
When judging that current order is completed, the prompt completed about order can also be shown or send out, for example, can pass through
The modes such as visual information or acoustic information show or send out the completed notification information of current order.
● step 108, indicates that the picking operation of current order has been completed, and return to step 101, continue to execute next order
It is single
Picking operation.
In the step, indicate that the picking operation of current order has completed to be directed to control system and sent out instruction notice.
It can be by way of triggering empty built-in terminal input information, such as click enter key, click mouse confirmation key, touch
The modes such as screen confirmation are touched, the instruction can also be triggered by way of triggering the bat modulator on picking storage device.
When multiple orders are assigned in intelligent storage Picking System or intelligent storage picking subsystem, which part order
In may contain identical cargo, thus can carry out disposable sort by being directed to the cargo meet needle in the order of part
To the summation of the cargo, the cargo is sorted to avoid repeated multiple times, to improve sorting working efficiency.
In one embodiment of the disclosure, the intelligent storage goods sorting method be implemented based on cargo, as shown in figure 8,
In the embodiment, it the described method comprises the following steps:
Step 201, selection will execute the cargo for sorting operation;
Step 202, position of the picking object in goods storage unit is currently waited for by visual information instruction;
Step 203, cargo is taken out from the position according to the instruction of the visual information;
Step 204, the goods information of cargo is taken out in identification;
Step 205, the goods information obtained according to identification judges the cargo taken out and currently waits for whether picking object matches, and is
206 are thened follow the steps, otherwise return to step 203, currently the goods that picking object matches is waited for current order until taking out
Object;
Step 206, instruction cargo will be placed into the position in picking storage unit, and cargo is put to indicating positions;
Step 207, judge it is described currently wait for whether the sorting of picking object is fully completed, be to continue to execute step 208, it is no
Then return to step 203 is until all wait for that the sorting of picking object finishes;
Step 208, indicate that the picking operation of the cargo is completed, return to step 201 executes next sorting behaviour for waiting for picking object
Make.
For the above-mentioned intelligent storage goods sorting method based on cargo, each step specifically can be implemented as:
● step 201, selection will execute the cargo of picking operation;
In one embodiment of the disclosure, further includes step 2011 before the step, pick distributing to current intelligent storage
The order of goods system or current intelligent storage picking subsystem is pre-processed, and include in the distributed order of generation waits for
The goods information of picking object, such as cargo list, wherein the cargo list includes at least Description of Goods, identification information sum number
The information such as amount.The following table 1 shows a cargo list, and which includes the title of different cargos, quantity, id information, pictures
With corresponding order information.
Table 1
Number | Description of Goods | Quantity | ID | Picture | Order information |
1 | XX toothbrushes | 4 | XXXX | (not shown) | Order 1,2,5 |
2 | XX earphones | 6 | XXXX | (not shown) | Order |
…… | …… | …… | …… | …… | …… |
In one embodiment of the disclosure, it can select will to execute the cargo of picking operation according to certain algorithm,
For example can be selected from more to few sequence according to quantity of goods, it can also be according to involved quantity on order from more to few
Sequence selected, can also select, can also randomly choose according to the clooating sequence in cargo list.It these are only pair
In the exemplary illustration for waiting for picking object selection mode, those skilled in the art can need according to practical application using other choosings
Mode is selected, the disclosure is not especially limited it.
In one embodiment of the disclosure, before or after the step 201, it can also include step 2012, will deposit
The goods storage unit for being placed with cargo in the order is delivered to the position for the intelligent storage picking subsystem that the order is assigned
Set place.
Wherein, the means of conveyance of the goods storage unit can be the pure manual types of artificial push-and-pull etc, utilize fortune
The mode of equipment such as AGV deliveries is carried, such as drives the semi-artificial mode of Transport Machinery delivery (such as fork truck).
Under normal conditions, step 2011 executes before step 2012.
● step 202, position of the picking object in goods storage unit is currently waited for by visual information instruction;
In the step, the instruction of visual information can be realized using picking instruction device.The position refers to currently
Wait for specific partition holding of the picking object in goods storage unit.
Corresponding to the 1st kind of embodiment of picking instruction device, shine using one group in goods storage unit
Device is indicated, such as LED light.Such as shown in Fig. 2, shelf 1 are divided into multiple virtual cargo partition holdings,
Corresponding to multiple virtual goods partition holdings, respectively in horizontal and vertical upper setting row, column LED light 2, pass through corresponding row and column
LED light 2 light, flicker, changing colour or other illumination modes can uniquely determine cargo partition holding where waiting for picking object,
Bright-coloured eye-catching color may be used in the wherein luminescent color of LED light 2, such as red.
Certainly, LED light 2 can also be realized using electronic tag or other luminescence components.
Corresponding to the 2nd kind of embodiment of picking instruction device, using one group of light in goods storage unit
Emitter is set to the light launcher at a certain distance from goods storage unit to indicate.
One group of light launcher in goods storage unit can be used and light-emitting device in the 1st kind of embodiment
Identical set-up mode, the crosspoint of the light projected using the corresponding light launcher of row and column, which can uniquely determine, waits for
Cargo partition holding where picking object.
The light launcher being set at a certain distance from goods storage unit is capable of the transmitting of adjust automatically light
Angle and light is emitted to the corresponding partition holding position of goods storage unit.
The light launcher can be visible light emitter, such as laser emitter or other light transmitting dress
It sets.
Corresponding to the 3rd kind of embodiment of picking instruction device, the throwing being separated by a certain distance with goods storage unit is utilized
Image device indicates, projected image display area with it is current wait for picking object where partition holding it is corresponding, can just cover
The current partition holding waited for where picking object can also be more than or less than the partition holding currently waited for where picking object, as long as
It is that can uniquely indicate currently to wait for the partition holding where picking object.
For example as shown in figure 3, the goods storage unit is shelf 505, picking instruction device is certain apart from shelf 505
The projection arrangement 504 of distance, being adjusted to the size of projected position and view field can just cover in shelf 505
The current partition holding waited for where picking object, or it is slightly more than the boundary for currently waiting for picking object place partition holding, for example (,) it is super
The distance for going out boundary is less than 3cm.
Fig. 4 shows presentation mode of the projected image display area of projection arrangement in goods storage unit, such as Fig. 4 institutes
Show, the position where the projection arrangement instruction currently waits for picking object can be by currently waiting for partition holding where picking object
It shows the information such as special visual information, such as special pattern, special color, designated character to realize, wherein the finger
It can be currently to wait for the picking information of picking object, such as wait for the picture of picking object, title, specification, classify, wait picking several to determine character
Amount etc., or the current unique positions identification marking for waiting for picking object.It is alternatively possible to current using that can just cover
The shape of partition holding where waiting for picking object indicates the partition holding slightly larger than the pattern of partition holding shape to distinguish, and throws
Shadow color can take color that is bright-coloured eye-catching and being different from other cargo partition holdings, and in addition the size of projection instruction pattern should fit
Preferably, it will not project to other partition holdings, partition holding is caused to indicate that mistake, misguidance picking resource are deposited to other cargos
Storage subregion takes wrong cargo.
Corresponding to the 4th kind of embodiment of picking instruction device, observed in picking by picking resource using easily aobvious
Display screen curtain is indicated, shows the goods storage unit in depositing on picking resource direction in the display screen
Subregion dividing condition is stored up, and depositing where currently waiting for picking object is shown by modes such as special pattern, color or designated characters
Store up subregion.The display screen, which can also show, currently waits for the picking information of picking object, for example, wait for the picture of picking object, title,
Specification is classified, quantity to be picked etc., can also show the current unique positions identification marking for waiting for picking object.
Corresponding to the 5th kind of embodiment of picking instruction device, instruction, example are combined using 1-4 kind embodiments
Such as, in such a way that projection arrangement and display screen are combined instruction, the type of instruction information is not only increased, is also reduced
The error rate of picking.
● step 203, cargo is taken out from the position according to the instruction of the visual information;
In one embodiment of the disclosure, which can realize the instruction according to visual information for picking resource, make a stretch of the arm
Or the cargo storage areas taking-up that auxiliary grip equipment enters in goods storage unit currently waits for picking object.
Optionally, artificial sorter receives the instruction of visual information by the organs of vision, is completed to take out cargo with arm
Process or machine sorter identify the visual information by machine vision, and are converted to the executable operation of robot
The process of taking-up cargo is completed in instruction using mechanical arm.
Optionally, the step 203 further include detection picking action whether there is mistake, and detection exist mistake when into
The step of row miscue, specifically can be achieved to wait picking for that ought detect that sorter's arm extend into exceed in goods storage unit
Where cargo when the bounds of partition holding, prompt mistake occur.The bounds can be partition holding boundary with
The sum of permissible error amount, the permissible error amount can be a fixed value, such as 5cm, can also be one opposite
Value, such as it can be taken as the 30% of the cargo storage areas length of side, it is of course also possible to be 0.It further, can be by above-described
Action recognition device executes the detection, for example, Grating examinations device, motion capture equipment or other can identify it is dynamic
Make the device of range, the disclosure is not especially limited it.
Wherein, described miscue mode, including the alarm of sound-light alarm, visual information, multimedia messages alarm etc., such as
It is alarmed by modes such as color change, flicker variation, light and shade variation or presentation " mistake " " ERROR " printed words.
Wherein, the detection picking action whether there is wrong step, can further include for malfunction
The step of carrying out correcting instruction, such as prompted by showing correct storage location on the display screen, or by prominent
The mode of correct picking position, or realized using combination.
● step 204, the goods information of cargo is taken out in identification;
Further, which is operated by stock keeping unit to implement the identification.
For example, identifying goods information by barcode scanning device, the goods information identified is shipment identifier information, such as item
Shape code or 2 D code information;Alternatively, identifying goods information by pattern recognition device, the goods information identified is cargo
A part in image information or cargo image information.
● step 205, the goods information obtained according to identification judges the cargo taken out and currently waits for whether picking object matches,
It is to continue to execute step 206, the otherwise picking again of return to step 203, until taking out and currently waiting for what picking object matched
Cargo;
In one embodiment of the disclosure, for goods information included in order information and obtained cargo can be identified
Information is compared to judge whether cargo matches, wherein the order information includes O/No., Description of Goods, cargo number
Amount, goods information and instruction currently sort the instruction information of which cargo, and the goods information can be shipment identifier letter
A part for breath, cargo image information or cargo image information.
● step 206, instruction cargo will be placed into the position in picking storage unit, and cargo is put to indicating positions.
In one embodiment of the disclosure, the correct cargo of sort out can be indicated in picking by picking instruction device
The position that will be placed in storage unit, the position specifically refer to which picking storage point in picking storage unit
Area.
Wherein, as described above, the picking instruction device may be used mode similar with picking instruction device and come in fact
It is existing, it can also be realized using picking storage unit electronic tag or bat modulator.
For example after step 205 confirms and takes out correct cargo, picking instruction device indicates that cargo will be placed into
Picking partition holding, such as indicated by the modes such as lighting or flickering, picking instruction device can also show that the cargo corresponds to
Residue quantity to be sorted, such as when using electronic tag as picking instruction device when, currently quantity of goods to be sorted be 3
A, the cargo for being put into picking storage unit is 2, then the remaining quantity for needing to sort of picking instruction device display is 1,
Then the cargo is put into corresponding picking partition holding by picking resource further according to the instruction of picking instruction device.
Optionally, when cargo being put into picking storage unit corresponding picking partition holding every time, also judge to correspond to
Whether the order of the picking partition holding is completed, and judgment method is similar with step 107, if it is as step 108 instruction is worked as
The picking operation of preceding order has been completed, if otherwise continuing waiting for being fully completed until the picking operation of current order.
● step 207, judgement currently waits for whether the sorting of picking object is fully completed, and is to continue to execute step 208, otherwise
It returns
Step 203 is returned, until being fully completed the current sorting for waiting for picking object;
Wherein, judge that currently waiting for whether the sorting of picking object is fully completed refers to, intelligent storage picking is distributed in judgement
All whether sorting finishes the included picking object that currently waits in all orders of system.
When judging that order is completed, the prompt completed about order is shown or sends out, for example, visual information or sound can be passed through
The modes such as message breath, show or send out the completed notification information of current order.
● step 208, instruction currently waits for that the picking operation of picking object has been completed, and return to step 201 sorts next wait for
Picking object.
Wherein, step instruction currently waits for that the picking operation of picking object has been completed, and is directed to control system and notifies the letter
Breath.
Optionally, it can also prompt currently to wait for that the sorting of picking object is complete by way of visual information or acoustic information
At.
The final purpose that cargo sorts is the sorting of listed all cargos in each order for complete distribution.But
It may includes the cargo being stored in multiple goods storage units in an order, rather than deposited in a cargo sometimes to be
On storage unit.Therefore the sorting process of cargo can also be realized for different goods storage units.Implement in the disclosure one
In example, the intelligent storage goods sorting method is implemented based on goods storage unit, as shown in figure 9, in this embodiment, institute
The method of stating includes the following steps:
Step 301, selection will execute the goods storage unit of picking operation;
Step 302, selection will execute the cargo for sorting operation;
Step 303, position of the picking object in goods storage unit is currently waited for by visual information instruction;
Step 304, cargo is taken out from the position according to the instruction of the visual information;
Step 305, the goods information of cargo is taken out in identification;
Step 306, the goods information obtained according to identification judges the cargo taken out and currently waits for whether picking object matches, and is
306 are thened follow the steps, otherwise return to step 304, currently the goods that picking object matches is waited for current order until taking out
Object;
Step 307, instruction cargo will be placed into the position in picking storage unit, and cargo is put to indicating positions;
Step 308, judge it is described currently wait for whether the sorting of picking object is fully completed, be to continue to execute step 309, it is no
Then return to step 304 is until all wait for that the sorting of picking object finishes;
Step 309, indicate that the picking operation of the cargo has been completed;
Step 310, judge whether do not wait for picking object in current cargo storage unit, be to continue to execute step 311, it is no
Then return to step 302 is until do not belong to current intelligent storage picking subsystem in current cargo storage unit waits for picking object.
Step 311, instruction current cargo storage unit leaves current intelligent storage picking subsystem position, then returns
Return the sorting operation that step 301 continues to execute next goods storage unit.
For the above-mentioned intelligent storage goods sorting method based on goods storage unit, each step specifically can be implemented as:
● step 301, selection will execute the goods storage unit of picking operation;
In one embodiment of the disclosure, can be selected according to the order for distributing to current intelligent storage picking subsystem will
Execute the goods storage unit of picking operation.
Include step 3011 before step 301 in one embodiment of the disclosure, it is single that one group of cargo storage is pre-selected
Member, and the selection of step 301 is one goods storage unit of selection from one group of goods storage unit for preselect selection;
In step 3011, original place is may remain in some or all of in this group of goods storage unit of pre-selection, or
It is transported to some or all of in this group of goods storage unit near the position where intelligent storage picking subsystem, with
It, being capable of rapid cover after the sorting completion of previous goods storage unit.
Optionally, step 301 further includes where goods storage unit is carried in current intelligent storage picking subsystem
The step of position.
● step 302, selection will execute the cargo of picking operation;
In one embodiment of the disclosure, further includes step 3021 before the step, pick distributing to current intelligent storage
The order of goods system or current intelligent storage picking subsystem is pre-processed, and include in the distributed order of generation waits for
The goods information of picking object, such as cargo list, wherein the cargo list includes at least Description of Goods, identification information sum number
The information such as amount.The following table 2 shows a cargo list, and which includes the title of different cargos, quantity, id information, pictures
With corresponding order information.
Table 2
In one embodiment of the disclosure, it can select will to execute the cargo of picking operation according to certain algorithm,
For example can be selected from more to few sequence according to quantity of goods, it can also be according to involved quantity on order from more to few
Sequence selected, can also select, can also randomly choose according to the clooating sequence in cargo list.It these are only pair
In the exemplary illustration for waiting for picking object selection mode, those skilled in the art can need according to practical application using other choosings
Mode is selected, the disclosure is not especially limited it.
In one embodiment of the disclosure, before or after the step 302, it can also include step 3022, will deposit
The goods storage unit for being placed with cargo in the order is delivered to the intelligent storage picking subsystem position that the order is assigned
Place.
Wherein, the means of conveyance of the goods storage unit can be the pure manual types of artificial push-and-pull etc, utilize fortune
The mode of equipment such as AGV deliveries is carried, such as drives the semi-artificial mode of Transport Machinery delivery (such as fork truck).
Under normal conditions, step 3021 is before step 3022.
● step 302, position of the picking object in goods storage unit is currently waited for by visual information instruction;
In the step, the instruction of visual information can be realized using picking instruction device.The position refers to currently
Wait for specific partition holding of the picking object in goods storage unit.
Corresponding to the 1st kind of embodiment of picking instruction device, shine using one group in goods storage unit
Device is indicated, such as LED light.Such as shown in Fig. 2, shelf 1 are divided into multiple virtual cargo partition holdings,
Corresponding to multiple virtual goods partition holdings, respectively in the row, column LED light 2 of horizontal and vertical upper setting, by corresponding line and
Row LED light 2 light, flicker, changing colour or other illumination modes can uniquely determine where waiting for picking object cargo storage point
Bright-coloured eye-catching color may be used in area, the wherein luminescent color of LED light 2, such as red.
Certainly, LED light 2 can also be realized using electronic tag or other luminescence components.
Corresponding to the 2nd kind of way of example of picking instruction device, using one group of light in goods storage unit
Line emitter is set to the light launcher at a certain distance from goods storage unit to indicate.
One group of light launcher in goods storage unit can be used and light-emitting device in the 1st kind of embodiment
Identical set-up mode can be uniquely determined using the crosspoint of the light of the corresponding light launcher injection of row and column
Cargo partition holding where cargo.
The light launcher being set at a certain distance from goods storage unit is capable of the transmitting of adjust automatically light
Angle and light is emitted to the corresponding partition holding position of goods storage unit.
The light launcher can be visible light emitter, such as laser emitter or other light transmitting dress
It sets.
Corresponding to the 3rd kind of embodiment of picking instruction device, the throwing being separated by a certain distance with goods storage unit is utilized
Image device indicates, projected image display area with it is current wait for picking object where partition holding it is corresponding, can just cover
The current partition holding waited for where picking object can also be more than or less than the partition holding currently waited for where picking object, as long as
It is that can uniquely indicate currently to wait for the partition holding where picking object.
For example as shown in figure 3, the goods storage unit is shelf 505, picking instruction device is certain apart from shelf 505
The projection arrangement 504 of distance, being adjusted to the size of projected position and view field can just cover in shelf 505
The current partition holding waited for where picking object, or it is slightly more than the boundary for currently waiting for picking object place partition holding, for example (,) it is super
The distance for going out boundary is less than 3cm.
Fig. 4 shows presentation mode of the projected image display area of projection arrangement in goods storage unit, such as Fig. 4 institutes
Show, the position where the projection arrangement instruction currently waits for picking object can be by currently waiting for partition holding where picking object
It shows the information such as special visual information, such as special pattern, special color, designated character to realize, wherein the finger
It can be currently to wait for the picking information of picking object, such as wait for the picture of picking object, title, specification, classify, wait picking several to determine character
Amount etc., or the current unique positions identification marking for waiting for picking object.It is alternatively possible to current using that can just cover
The shape of partition holding where waiting for picking object indicates the partition holding slightly larger than the pattern of partition holding shape to distinguish, and throws
Shadow color can take color that is bright-coloured eye-catching and being different from other cargo partition holdings, and in addition the size of projection instruction pattern should fit
Preferably, it will not project to other partition holdings, partition holding is caused to indicate that mistake, misguidance picking resource are deposited to other cargos
Storage subregion takes wrong cargo.
Corresponding to the 4th kind of embodiment of picking instruction device, observed in picking by picking resource using easily aobvious
Display screen curtain is indicated, shows the goods storage unit in depositing on picking resource direction in the display screen
Subregion dividing condition is stored up, and depositing where currently waiting for picking object is shown by modes such as special pattern, color or designated characters
Store up subregion.The display screen, which can also show, currently waits for the picking information of picking object, for example, wait for the picture of picking object, title,
Specification is classified, quantity to be picked etc., can also show the current unique positions identification marking for waiting for picking object.
Corresponding to the 5th kind of embodiment of picking instruction device, instruction, example are combined using 1-4 kind embodiments
Such as, it in such a way that projection arrangement and display screen are combined instruction, using the type for increasing instruction information, also reduces
The error rate of picking.
● step 304, cargo is taken out from the position according to the instruction of the visual information;
In one embodiment of the disclosure, which can realize the instruction according to visual information for picking resource, make a stretch of the arm
Or the cargo storage areas taking-up that auxiliary grip equipment enters in goods storage unit currently waits for picking object.
Optionally, artificial sorter receives the instruction of visual information by the organs of vision, is completed to take out cargo mistake with arm
Journey or machine sorter identify the visual information by machine vision, and are converted to the executable operation of robot and refer to
It enables, the process of taking-up cargo is completed using mechanical arm.
Optionally, the step 304 further include detection picking action whether there is mistake, and detection exist mistake when into
The step of row miscue, specifically can be achieved to wait picking for that ought detect that sorter's arm extend into exceed in goods storage unit
Where cargo when the bounds of partition holding, prompt mistake occur.The bounds can be partition holding boundary with
The sum of permissible error amount, the permissible error amount can be a fixed value, such as 5cm, can also be one opposite
Value, such as the 30% of the cargo storage areas length of side can be taken as it is of course also possible to be 0.It further, can be by above-described
Action recognition device executes the detection, for example, Grating examinations device, motion capture equipment or other can identify it is dynamic
Make the device of range, the disclosure is not especially limited it.
Wherein, described miscue mode, including the alarm of sound-light alarm, visual information, multimedia messages alarm etc., such as
It is alarmed by modes such as color change, flicker variation, light and shade variation or presentation " mistake " " ERROR " printed words.
Wherein, the detection picking action whether there is wrong step, can further include for malfunction
The step of carrying out correcting instruction, such as prompted by showing correct storage location on the display screen, or by prominent
The mode of correct picking position, or realized using combination.
● step 305, the goods information of cargo is taken out in identification;
Further, which is operated by stock keeping unit to implement the identification.
For example, identifying goods information by barcode scanning device, the goods information identified is shipment identifier information, such as item
Shape code or 2 D code information;Alternatively, identifying goods information by pattern recognition device, the goods information identified is cargo
A part in image information or cargo image information.
● step 306, the goods information obtained according to identification judges the cargo taken out and currently waits for whether picking object matches,
It is to continue to execute step 307, the otherwise picking again of return to step 304, until taking out and currently waiting for what picking object matched
Cargo;
In one embodiment of the disclosure, for goods information included in order information and obtained cargo can be identified
Information is compared to judge whether cargo matches, wherein the order information includes O/No., Description of Goods, cargo number
Amount, goods information and instruction currently sort the instruction information of which cargo, and the goods information can be shipment identifier letter
A part for breath, cargo image information or cargo image information.
● step 307, instruction cargo will be placed into the position in picking storage unit, and cargo is put to indicating positions.
In one embodiment of the disclosure, the correct cargo of sort out can be indicated in picking by picking instruction device
The position that will be placed in storage unit, the position specifically refer to which picking storage point in picking storage unit
Area.
Wherein, as described above, the picking instruction device may be used mode similar with picking instruction device and come in fact
It is existing, it can also be realized using picking storage unit electronic tag or bat modulator.
For example after step 306 confirms and takes out correct cargo, picking instruction device indicates that cargo will be placed into
Picking partition holding, such as indicated by the modes such as lighting or flickering, picking instruction device can also show that the cargo corresponds to
Residue quantity to be sorted, such as when using electronic tag as picking instruction device when, currently quantity of goods to be sorted be 3
A, the cargo for being put into picking storage unit is 2, then the remaining quantity for needing to sort of picking instruction device display is 1;,
Then the cargo is put into corresponding picking partition holding by picking resource according to the instruction of picking instruction device.
Optionally, when cargo being put into picking storage unit corresponding picking partition holding every time, also judge to correspond to
Whether the order of the picking partition holding is completed, and judgment method is similar with step 107, if it is as step 108 instruction is worked as
The picking operation of preceding order has been completed, if otherwise continuing waiting for being fully completed until the picking operation of current order.
● step 308, judgement currently waits for whether the sorting of picking object is fully completed, and is to continue to execute step 309, otherwise
Return to step 304, until being fully completed the current sorting for waiting for picking object;
Wherein, judge that currently waiting for whether the sorting of picking object is fully completed refers to, intelligent storage picking is distributed in judgement
All whether sorting finishes the included picking object that currently waits in all orders of system.
When judging that order is completed, the prompt completed about order is shown or sends out, for example, visual information or sound can be passed through
The modes such as message breath, show or send out the completed notification information of current order.
● step 309, instruction currently waits for that the picking operation of picking object has been completed;
Wherein, step instruction currently waits for that the picking operation of picking object has been completed, and is directed to control system and notifies the letter
Breath.
Optionally, it can also prompt currently to wait for that the sorting of picking object is complete by way of visual information or acoustic information
At.
● step 310, judges whether do not wait for picking object in current cargo storage unit, be to enter step 311, otherwise
It returns
Step 302 is returned, continues to select next to wait for picking object.
Wherein, it does not wait for picking object in current cargo storage unit, refers to being not allocated in current cargo storage unit
The cargo not yet sorted included in the order of current intelligent storage picking subsystem.
Optionally, when being judged as YES, the completed notification information of sorting for current cargo storage unit is sent out, and
And it can be by way of visual information or acoustic information, to the prompt of picking resource for the sorting of current cargo storage unit
It is completed.
● step 311, instruction current cargo storage unit leaves current intelligent storage picking subsystem position, and returns
Step 301 is returned, next goods storage unit that execute picking operation is selected and goods storage unit is carried to intelligent storehouse
At position where storage picking subsystem.
The above process is the cargo sorting process for a goods storage unit, in practical application, both can sequence
The sorting for more than two goods storage units is executed, can also be parallel executed simultaneously for more than two adjacent cargos
The cargo of storage unit sorts process, but for each goods storage unit in more than two goods storage units, all
It is to be executed also according to sorting process above.
Particular embodiments described above has carried out further in detail the purpose, technical solution and advantageous effect of the disclosure
It describes in detail bright, it should be understood that the foregoing is merely the specific embodiment of the disclosure, is not limited to the disclosure, it is all
Within the spirit and principle of the disclosure, any modification, equivalent substitution, improvement and etc. done should be included in the guarantor of the disclosure
Within the scope of shield.
The present disclosure discloses A1, a kind of intelligent storage Picking System, the system comprises:Control system, picking resource,
Goods storage unit, picking instruction device, picking storage unit, picking instruction device, wherein:The control system with it is described
It can communicate, use between picking resource, goods storage unit, picking instruction device, picking storage unit, picking instruction device
In sending out control instruction, picking process is controlled;The picking resource is used for according to the control instruction of the control system into crudely-made articles
The sorting of object, and the cargo picked is stored in picking storage unit;The goods storage unit in region of storing in a warehouse for depositing
Goods putting object;The picking instruction device is used to currently be waited for by visual information instruction according to the control instruction of the control system
Position of the picking object in the goods storage unit;The picking storage unit is used to deposit in the way of corresponding to order
Store up the cargo that the picking resource is taken out from the goods storage unit;The picking instruction device is used for according to the control
The control instruction of system indicates the picking resource by the position in the cargo storage picked to picking storage unit.A2, basis
System described in A1, the control system be total and fractional computer control system or distributed computer control system,
In, the total and fractional computer control system includes master control control server and multiple controls for receiving master control server controls
Terminal;The distributed computer control system includes multiple independent control terminals.A3, the system according to A1, it is described
The behaviour of picking resource, machine or man-machine combination.A4, the system according to A1, the picking resource includes multiple
Picking component, the multiple picking component coordination work is to realize picking for cargo.A5, the system according to A1, the goods
The cargo storage areas that object storage unit is formed includes multiple cargo partition holdings.A6, the system according to A5, the goods
Object partition holding is physically isolated or virtual isolation.A7, the system according to A1, the goods that the picking storage unit is formed
Object storage region includes multiple picking partition holdings.A8, the system according to A7, the picking partition holding physical isolation
Or virtual isolation.A9, the system according to A5 or A7, the partition holding are that dynamic adjusts.A10, according to described in A1
System, the picking instruction device and/or picking instruction device are visual information output device.A11, according to described in A10
System, visual information output device are light-emitting device, light launcher, projection arrangement, display device, electronic tag, clap lamp
The combination of one or more of device.A12, the system according to A11, wherein visual information output device are specially projection arrangement,
The projection arrangement is deposited by projecting image to goods storage unit and/or picking storage unit in the cargo of cargo to be removed
Special visual image information is shown to be indicated in the picking partition holding of storage subregion and/or cargo to be stored.A13, root
According to the system of A12, wherein the special visual image information, including one in special pattern, special color, designated character
It is a or multiple, wherein the designated character is the picture for currently waiting for picking object, title, specification, classify, quantity to be picked, current
Wait for one or more of the unique positions identification marking of picking object goods information;The special pattern is to be formed to deposit with other
Store up the visual pattern of subregion there are vision difference, cause the pattern of vision attention;The special color is that can just cover to work as
Before wait for picking object where partition holding shape or color segment slightly larger than partition holding shape.A14, appointed according to A1-A10
System described in one further includes action recognition device, and the action recognition device is for detecting picking resource in the cargo
Whether the action for sorting cargo in storage unit and/or storing cargo in the picking storage unit is correct, and detection is tied
Fruit is sent to the control system.A15, according to A1-A10 any one of them systems, further include action recognition device, it is described
When action recognition device sorts cargo for detecting picking resource, whether one or more picking components of the picking resource
The bounds for the cargo partition holding for waiting for the goods storage unit where picking object are had exceeded, and testing result is sent to
The control system;And/or the action recognition device is used to detect picking resource when storing cargo, the picking resource
Whether one or more picking components, which have exceeded, is waited for picking object by the side of the picking partition holding for the picking storage unit being stored
Boundary's range, and testing result is sent to the control system.A16, the system according to A15, the bounds are to deposit
Store up subregion boundary, with permissible error amount and.A17, according to A1-A10 any one of them systems, further include that cargo is known
Other device, the goods information of the stock keeping unit cargo that picking resource is taken out from goods storage unit for identification.
A18, according to A1-A10 any one of them systems, further include vehicle equipment, the toter be used for according to the control system
The control instruction of system delivers the goods storage unit.A19, according to A1-A10 any one of them systems, also wrap
Caution device is included, the caution device is used to send out information warning according to the control instruction of the control system.A20, basis
System described in A1-A16, the picking resource, goods storage unit, picking instruction device, action recognition device, picking are deposited
Storage unit, picking instruction device, stock keeping unit, vehicle equipment and/or caution device are installed with condition detecting device, institute
Condition detecting device is stated for monitoring the picking resource, goods storage unit, picking instruction device, action recognition dress in real time
It sets, the status information of picking storage unit, picking instruction device, stock keeping unit, vehicle equipment and/or caution device, and
It is fed back to the control system.
The present disclosure discloses B21, a kind of intelligent storage Picking System, the system comprises:Control system, cargo storage are single
First and one or more intelligent storage picking subsystem, wherein:The intelligent storage picking subsystem is used for according to control
The control of system processed executes intelligent storage picking operation parallel;The intelligent storage picking subsystem includes control terminal, picking
Resource, picking instruction device, picking storage unit and picking instruction device, wherein:The control terminal and control system
It can lead between system, goods storage unit, picking storage unit, picking resource, picking instruction device and picking instruction device
Letter controls picking process for sending out control instruction according to the instruction of control system;The picking resource is used for according to
The control instruction of control terminal carries out the sorting of cargo, and the cargo picked is stored in picking storage unit;The cargo is deposited
Storage unit in region of storing in a warehouse for storing cargo;The picking instruction device is used for the control instruction according to the control terminal
Currently position of the picking object in the goods storage unit is waited for by visual information instruction;The picking storage unit is for pressing
The cargo that picking resource is taken out from goods storage unit is stored according to the mode corresponding to order;The picking instruction device is used for
Indicate picking resource by the position in the cargo storage picked to picking storage unit according to the control instruction of the control terminal.
B22, the system according to B21, further include vehicle equipment, and the toter is used for the control according to the control system
Instruction delivers the goods storage unit.B23, the system according to B21, the intelligent storage picking subsystem
System further includes stock keeping unit, and picking resource takes the stock keeping unit from the goods storage unit for identification
The goods information of the cargo gone out.B24, the system according to B21, the intelligent storage picking subsystem further include that warning is set
Standby, the caution device is used to send out information warning according to the control instruction of the control terminal.B25, according to described in B21
System, the intelligent storage picking subsystem further includes action recognition device, and the action recognition device is for detecting picking money
Source sorts cargo in the goods storage unit and/or whether just to store the action of cargo in the picking storage unit
Really, and by testing result it is sent to the control terminal.B26, the system according to B21, further include action recognition device,
When the action recognition device sorts cargo for detecting picking resource, one or more picking components of the picking resource
The bounds for the cargo partition holding for waiting for the goods storage unit where picking object whether are had exceeded, and testing result is sent out
Give the control system;And/or the action recognition device is used to detect picking resource when storing cargo, the picking money
Whether one or more picking components in source, which have exceeded, is waited for picking object by the picking partition holding for the picking storage unit being stored
Bounds, and testing result is sent to the control system.B27, the system according to B25, the bounds
For the boundary of partition holding, with permissible error amount and.
The present disclosure discloses C28, a kind of intelligent storage Picking System, the system comprises:Control system, cargo storage are single
Member, picking storage unit and one or more intelligent storage picking subsystem, wherein:Intelligent storage picking
System is used to execute intelligent storage picking operation parallel according to the control of control system;The intelligent storage picking subsystem includes
Control terminal, picking resource, picking instruction device and picking instruction device, wherein:The control terminal and control system
It can lead between system, goods storage unit, picking storage unit, picking resource, picking instruction device and picking instruction device
Letter controls picking process for sending out control instruction according to the instruction of control system;The picking resource is used for according to
The control instruction of control terminal carries out the sorting of cargo, and the cargo picked is stored in picking storage unit;The cargo is deposited
Storage unit in region of storing in a warehouse for storing cargo;The picking instruction device is used for the control instruction according to the control terminal
Currently position of the picking object in the goods storage unit is waited for by visual information instruction;The picking storage unit is for pressing
The cargo that picking resource is taken out from goods storage unit is stored according to the mode corresponding to order;The picking instruction device is used for
Indicate picking resource by the position in the cargo storage picked to picking storage unit according to the control instruction of the control terminal.
C29, the system according to C28, further include vehicle equipment, and the toter is used for the control according to the control system
Instruction delivers the goods storage unit.C30, the system according to C28, the intelligent storage picking subsystem
System further includes stock keeping unit, and picking resource takes the stock keeping unit from the goods storage unit for identification
The goods information of the cargo gone out.C31, the system according to C28, the intelligent storage picking subsystem further include that warning is set
Standby, the caution device is used to send out information warning according to the control instruction of the control terminal.C32, according to described in C28
System, the intelligent storage picking subsystem further includes action recognition device, and the action recognition device is for detecting picking money
Source sorts cargo in the goods storage unit and/or whether just to store the action of cargo in the picking storage unit
Really, and by testing result it is sent to the control terminal.C33, the system according to C28, further include action recognition device,
When the action recognition device sorts cargo for detecting picking resource, one or more picking components of the picking resource
The bounds for the cargo partition holding for waiting for the goods storage unit where picking object whether are had exceeded, and testing result is sent out
Give the control system;And/or the action recognition device is used to detect picking resource when storing cargo, the picking money
Whether one or more picking components in source, which have exceeded, is waited for picking object by the picking partition holding for the picking storage unit being stored
Bounds, and testing result is sent to the control system.C34, the system according to C33, the bounds
For the boundary of partition holding, with permissible error amount and.
The present disclosure discloses D35, a kind of intelligent storage goods sorting method, the method includes:Worked as by visual information instruction
Position of the picking object in goods storage unit is currently waited in preceding order, according to the instruction of the visual information from the position
Take out cargo in place;Judge whether cargo matches;If it does, then instruction cargo will be placed into the position in picking storage unit,
And cargo is put to indicating positions.D36, the method according to D35, the visual information include:Illuminated message, light hair
Penetrate one or more combinations in information, projection information, display information.D37, the method according to D36, the vision
Information is projection information, image is projected specifically by goods storage unit and/or picking storage unit, in goods to be removed
Special visual image information is shown to carry out in the cargo partition holding of object and/or the picking partition holding of cargo to be stored
Instruction.D38, the method according to D37, special visual image information, including special pattern, special color, designated character
One or more of, wherein the designated character is the picture for currently waiting for picking object, title, specification, classifies, waits picking several
Amount currently waits for one or more of the unique positions identification marking of picking object goods information;The special pattern be formed with
The visual pattern of other partition holdings there are vision difference, cause the pattern of vision attention;The special color is can just
The shape of partition holding where covering currently waits for picking object or the color segment slightly larger than partition holding shape.D39, according to D35
The method, it is described to judge whether cargo matches and specifically include:Identify the goods information of the cargo taken out;According to identification
Goods information judges whether match with the current cargo to be sorted in current order.D40, the method according to D35, also
Including detecting the action for sorting cargo in the goods storage unit and/or storing cargo in the picking storage unit
It is whether correct, and carry out miscue when detection has mistake.D41, the method according to D40, the detection operation are
It is no that there are mistakes to include:When detecting picking resource sorting cargo, whether one or more picking components of picking resource have exceeded
Mistake is carried out when waiting for the bounds of the cargo partition holding of the goods storage unit where picking object, and detecting in the presence of mistake
Prompt;And/or when detection picking resource storage cargo, whether one or more picking components of picking resource, which have exceeded, is waited picking
Cargo by the bounds of the picking partition holding for the picking storage unit being stored, and detect in the presence of mistake when carry out mistake
Prompt.D42, the method according to D41, the bounds be boundary and the permissible error amount of partition holding and.
D43, the method according to D40 or D41 further include the steps that malfunction is carried out to correct instruction.D44, according to D35
The method further includes the step that selection will execute the order of picking operation before by visual information indicating positions
Suddenly.D45, the method according to D44 will execute the order of picking operation according to preset rules selection.D46, according to D45
The method, the preset rules are any one in following rule:According to the sequencing of order generated time;With
Machine extracts;According to the sequence of type of merchandize quantity from small to large;According to the sequence of commodity amount from small to large.D47, according to D44
Further include before the step of method, the selection will execute the order of picking operation:For current intelligent storage picking
The order of the pending picking operation such as system or the distribution of current intelligent storage picking subsystem;Storage is had in the order
The goods storage unit of cargo is delivered to the position for the intelligent storage picking subsystem for being assigned the order.D48, basis
D35-D47 any one of them methods, it is described to put cargo to indicating positions, further include:Judging the current order is
No completion is to indicate that the picking operation of current order has been completed, continues next order operation;Otherwise continue basis
The instruction of visual information executes picking, until completing the picking operation of current order.D49, the method according to D35, logical
It crosses before visual information indicating positions, further includes the steps that the cargo that selection will execute picking operation.D50, according to D49 institutes
The method stated will execute the order of picking operation according to preset rules selection.D51, the method according to D50, it is described pre-
If rule is any one in following rule:It randomly selects;According to quantity of the cargo in order by up to few suitable
Sequence.D52, the method according to D49 after the step of selection will execute the cargo of picking operation, pass through visual information
Further include before indicating positions:It is waited for for current intelligent storage Picking System or the distribution of current intelligent storage picking subsystem
Execute the order of picking operation;There is the goods storage unit of cargo in the order to deliver to the assigned order storage
At the position of intelligent storage picking subsystem.D53, according to D35-D43, D49-D52 any one of them method, by the goods
Object is put to the position of instruction, further includes:Judge it is described currently wait for whether the sorting of picking object is fully completed, be to indicate
The picking operation of the cargo is completed, and next sorting operation for waiting for picking object is executed, otherwise continue according to the instruction of visual information into
Row picking, until the sorting for currently cargo to be sorted is fully completed.D54, according to D35-D43 any one of them methods,
Before by visual information indicating positions, further include:Selection will execute the goods storage unit of picking operation;Selection will
Execute the cargo of picking operation;And after the position put the cargo to instruction, further include:Described in judgement
It currently waits for whether the sorting of picking object is fully completed, is to indicate that the picking operation of the cargo has been completed, otherwise continues basis
The instruction of visual information carries out picking, until all waiting for that the sorting of picking object finishes;Judge whether do not have in current cargo storage unit
Need picking object, be, indicate that current cargo storage unit leaves current intelligent storage picking subsystem position, then after
The continuous sorting operation for executing next goods storage unit, the cargo of picking operation will be executed by otherwise continuing selection, until working as
Do not belong to current intelligent storage picking subsystem in preceding goods storage unit waits for picking object.D55, the side according to D35
Method further includes finishing the detailed list of goods of current order and/or express delivery face singles print and being put into picking for corresponding picking storage unit
Step in goods partition holding.D56, the method according to D35 further include by way of visual information or acoustic information
Indicate currently to wait for that the picking operation of picking object has been completed.
Claims (10)
1. a kind of intelligent storage Picking System, which is characterized in that the system comprises:Control system, picking resource, cargo storage
Unit, picking instruction device, picking storage unit, picking instruction device, wherein:
The control system refers to the picking resource, goods storage unit, picking instruction device, picking storage unit, picking
It can be communicated between showing device, for sending out control instruction, control picking process;
The picking resource is used to carry out the sorting of cargo according to the control instruction of the control system, and the cargo picked is deposited
Storage is in picking storage unit;
The goods storage unit in region of storing in a warehouse for storing cargo;
The picking instruction device is used to currently wait for picking by visual information instruction according to the control instruction of the control system
Position of the object in the goods storage unit;
The picking storage unit to store the picking resource in the way of corresponding to order from the cargo for storing
The cargo taken out in unit;
The picking instruction device is used to indicate goods that the picking resource will pick according to the control instruction of the control system
Object is stored to the position in picking storage unit.
2. system according to claim 1, which is characterized in that the picking resource includes multiple picking components, described more
A picking component coordination work is to realize picking for cargo.
3. system according to claim 1, which is characterized in that the picking instruction device and/or picking instruction device are
Visual information output device.
4. according to claim 1-3 any one of them systems, which is characterized in that further include action recognition device, the action
Identification device sorts cargo and/or in the picking storage unit for detecting picking resource in the goods storage unit
Whether the action for storing cargo is correct, and testing result is sent to the control system.
5. according to claim 1-3 any one of them systems, which is characterized in that further include action recognition device,
When the action recognition device sorts cargo for detecting picking resource, one or more picking groups of the picking resource
Whether part has exceeded the bounds for the cargo partition holding for waiting for the goods storage unit where picking object, and testing result is sent out
Give the control system;
And/or the action recognition device is used to detect picking resource when storing cargo, the one or more of the picking resource
Whether picking component, which has exceeded, is waited for picking object by the bounds of the picking partition holding for the picking storage unit being stored, and will
Testing result is sent to the control system.
6. a kind of intelligent storage Picking System, which is characterized in that the system comprises:Control system, goods storage unit and one
A or more than one intelligent storage picking subsystem, wherein:
The intelligent storage picking subsystem is used to execute intelligent storage picking operation parallel according to the control of control system;
The intelligent storage picking subsystem includes control terminal, picking resource, picking instruction device, picking storage unit and picks
Goods instruction device, wherein:
The control terminal is filled with the control system, goods storage unit, picking storage unit, picking resource, picking instruction
Setting can communicate between picking instruction device, for sending out control instruction according to the instruction of control system, control picking process;
The picking resource is used to carry out the sorting of cargo according to the control instruction of the control terminal, and the cargo picked is deposited
Storage is in picking storage unit;
The goods storage unit in region of storing in a warehouse for storing cargo;
The picking instruction device is used to currently wait for picking by visual information instruction according to the control instruction of the control terminal
Position of the object in the goods storage unit;
The picking storage unit is taken out for storing picking resource in the way of corresponding to order from goods storage unit
Cargo;
The picking instruction device is used to indicate that picking resource deposits the cargo picked according to the control instruction of the control terminal
It puts to the position in picking storage unit.
7. a kind of intelligent storage Picking System, which is characterized in that the system comprises:Control system, goods storage unit, picking
Storage unit and one or more intelligent storage picking subsystem, wherein:
The intelligent storage picking subsystem is used to execute intelligent storage picking operation parallel according to the control of control system;
The intelligent storage picking subsystem includes control terminal, picking resource, picking instruction device and picking instruction device,
In:
The control terminal is filled with the control system, goods storage unit, picking storage unit, picking resource, picking instruction
Setting can communicate between picking instruction device, for sending out control instruction according to the instruction of control system, control picking process;
The picking resource is used to carry out the sorting of cargo according to the control instruction of the control terminal, and the cargo picked is deposited
Storage is in picking storage unit;
The goods storage unit in region of storing in a warehouse for storing cargo;
The picking instruction device is used to currently wait for picking by visual information instruction according to the control instruction of the control terminal
Position of the object in the goods storage unit;
The picking storage unit is taken out for storing picking resource in the way of corresponding to order from goods storage unit
Cargo;
The picking instruction device is used to indicate that picking resource deposits the cargo picked according to the control instruction of the control terminal
It puts to the position in picking storage unit.
8. a kind of intelligent storage goods sorting method, which is characterized in that the method includes:
It indicates currently to wait for position of the picking object in goods storage unit in current order by visual information, according to the vision
Cargo is taken out in the instruction of information from the position;
Judge whether cargo matches;If it does, then instruction cargo will be placed into the position in picking storage unit, and by cargo
It puts to indicating positions.
9. according to the method described in claim 8, it is characterized in that, the visual information includes:Illuminated message, light transmitting letter
One or more combinations in breath, projection information, display information.
10. judging whether cargo matches according to the method described in claim 8, described and specifically including:
Identify the goods information of the cargo taken out;
Judge whether match with the current cargo to be sorted in current order according to the goods information of identification.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201810050973.4A CN108298243B (en) | 2018-01-18 | 2018-01-18 | Intelligent storage goods picking method and system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201810050973.4A CN108298243B (en) | 2018-01-18 | 2018-01-18 | Intelligent storage goods picking method and system |
Publications (2)
Publication Number | Publication Date |
---|---|
CN108298243A true CN108298243A (en) | 2018-07-20 |
CN108298243B CN108298243B (en) | 2024-03-29 |
Family
ID=62865640
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201810050973.4A Active CN108298243B (en) | 2018-01-18 | 2018-01-18 | Intelligent storage goods picking method and system |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN108298243B (en) |
Cited By (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108806115A (en) * | 2018-08-21 | 2018-11-13 | 北京极智嘉科技有限公司 | Nobody self-service operating system, method and operation door |
CN109670708A (en) * | 2018-12-19 | 2019-04-23 | 中山乐心电子有限公司 | The distribution system and method for picking business of storing in a warehouse |
CN110199304A (en) * | 2018-08-20 | 2019-09-03 | 北京瀛海智能自动化科技有限公司 | Food materials delivery system and food materials allocator |
CN110363933A (en) * | 2019-06-14 | 2019-10-22 | 深圳市雄帝科技股份有限公司 | Certificate extracting method, device, computer equipment and storage medium |
CN110465507A (en) * | 2019-08-20 | 2019-11-19 | 上海托华机器人有限公司 | A kind of package identification projecting method, application and package identification projection arrangement |
CN110694916A (en) * | 2019-09-02 | 2020-01-17 | 安徽融易供应链管理有限公司 | Logistics sorting system based on AGV |
CN110766881A (en) * | 2019-10-12 | 2020-02-07 | 西南交通大学 | Community intelligent express cabinet with self-adaptive storage goods space and storing and taking method |
CN111222747A (en) * | 2019-11-22 | 2020-06-02 | 南宁职业技术学院 | Picking method and device for fresh goods |
CN111768132A (en) * | 2019-04-01 | 2020-10-13 | 北京沃东天骏信息技术有限公司 | Cargo storage adjusting method and device applied to unmanned warehouse |
CN112508467A (en) * | 2019-09-16 | 2021-03-16 | 北京京东振世信息技术有限公司 | Method and device for order delivery |
WO2021073062A1 (en) * | 2019-10-17 | 2021-04-22 | 广州达宝文机电设备有限公司 | Virtual stereoscopic storage system and method |
CN112978190A (en) * | 2019-06-29 | 2021-06-18 | 深圳市海柔创新科技有限公司 | Goods taking task allocation method and goods sorting system thereof |
WO2021173189A1 (en) * | 2020-02-28 | 2021-09-02 | Nimble Robotics, Inc. | System and method of integrating robot into warehouse management software |
CN113428547A (en) * | 2021-07-29 | 2021-09-24 | 湖北物资流通技术研究所(湖北物资流通生产力促进中心) | Goods-to-person holographic image sorting workstation and operation method |
CN113780705A (en) * | 2020-10-22 | 2021-12-10 | 北京京东振世信息技术有限公司 | Logistics method, system, device, equipment and computer readable storage medium thereof |
CN113793083A (en) * | 2020-08-05 | 2021-12-14 | 北京京东振世信息技术有限公司 | Storage shelf setting method and device, storage medium and electronic equipment |
CN113837676A (en) * | 2020-06-24 | 2021-12-24 | 阿里巴巴集团控股有限公司 | Goods taking method, equipment and computer readable medium |
CN114387337A (en) * | 2021-12-31 | 2022-04-22 | 东莞盟大集团有限公司 | Internet of things management method and device for goods entering and leaving warehouse, electronic equipment and medium |
CN114803253A (en) * | 2022-05-14 | 2022-07-29 | 河南密巴巴货运服务有限公司 | Goods information acquisition and classification equipment and method for logistics storage and delivery |
CN117146828A (en) * | 2023-10-30 | 2023-12-01 | 网思科技股份有限公司 | Method and device for guiding picking path, storage medium and computer equipment |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0761540A (en) * | 1993-08-23 | 1995-03-07 | Toyota Motor Corp | Picking indicating device |
JP2006321590A (en) * | 2005-05-17 | 2006-11-30 | Aioi Systems Co Ltd | Picking assist device |
JP2010064823A (en) * | 2008-09-09 | 2010-03-25 | Jisso Kk | Picking cart and cart picking system |
JP2010241570A (en) * | 2009-04-08 | 2010-10-28 | Omron Corp | System and method for sorting loads |
CN103129899A (en) * | 2011-11-23 | 2013-06-05 | 苏州艾隆科技有限公司 | Intelligent controlling method and device for goods shelf |
CN104991556A (en) * | 2015-06-24 | 2015-10-21 | 上海快仓智能科技有限公司 | Intelligent warehousing sorting station and warehousing sorting method thereof |
CN107215601A (en) * | 2016-03-22 | 2017-09-29 | 安徽省通信息科技有限公司 | A kind of goods automatic transportation picking method |
CN208485145U (en) * | 2018-01-18 | 2019-02-12 | 水岩智能科技(宁波)有限公司 | Intelligent storage goods picking system |
-
2018
- 2018-01-18 CN CN201810050973.4A patent/CN108298243B/en active Active
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0761540A (en) * | 1993-08-23 | 1995-03-07 | Toyota Motor Corp | Picking indicating device |
JP2006321590A (en) * | 2005-05-17 | 2006-11-30 | Aioi Systems Co Ltd | Picking assist device |
JP2010064823A (en) * | 2008-09-09 | 2010-03-25 | Jisso Kk | Picking cart and cart picking system |
JP2010241570A (en) * | 2009-04-08 | 2010-10-28 | Omron Corp | System and method for sorting loads |
CN103129899A (en) * | 2011-11-23 | 2013-06-05 | 苏州艾隆科技有限公司 | Intelligent controlling method and device for goods shelf |
CN104991556A (en) * | 2015-06-24 | 2015-10-21 | 上海快仓智能科技有限公司 | Intelligent warehousing sorting station and warehousing sorting method thereof |
CN107215601A (en) * | 2016-03-22 | 2017-09-29 | 安徽省通信息科技有限公司 | A kind of goods automatic transportation picking method |
CN208485145U (en) * | 2018-01-18 | 2019-02-12 | 水岩智能科技(宁波)有限公司 | Intelligent storage goods picking system |
Non-Patent Citations (1)
Title |
---|
毛艳丽主编: "配送作业实务", 北京:中国物资出版社, pages: 225 - 230 * |
Cited By (26)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2020037461A1 (en) * | 2018-08-20 | 2020-02-27 | 北京瀛海智能自动化科技有限公司 | Ingredient delivery system and ingredient delivery method |
CN110199304A (en) * | 2018-08-20 | 2019-09-03 | 北京瀛海智能自动化科技有限公司 | Food materials delivery system and food materials allocator |
CN110199304B (en) * | 2018-08-20 | 2022-07-01 | 北京瀛海智能自动化科技有限公司 | Food material distribution system and food material distribution method |
CN108806115A (en) * | 2018-08-21 | 2018-11-13 | 北京极智嘉科技有限公司 | Nobody self-service operating system, method and operation door |
CN109670708A (en) * | 2018-12-19 | 2019-04-23 | 中山乐心电子有限公司 | The distribution system and method for picking business of storing in a warehouse |
CN111768132A (en) * | 2019-04-01 | 2020-10-13 | 北京沃东天骏信息技术有限公司 | Cargo storage adjusting method and device applied to unmanned warehouse |
CN110363933A (en) * | 2019-06-14 | 2019-10-22 | 深圳市雄帝科技股份有限公司 | Certificate extracting method, device, computer equipment and storage medium |
CN112978190A (en) * | 2019-06-29 | 2021-06-18 | 深圳市海柔创新科技有限公司 | Goods taking task allocation method and goods sorting system thereof |
CN110465507A (en) * | 2019-08-20 | 2019-11-19 | 上海托华机器人有限公司 | A kind of package identification projecting method, application and package identification projection arrangement |
CN110694916A (en) * | 2019-09-02 | 2020-01-17 | 安徽融易供应链管理有限公司 | Logistics sorting system based on AGV |
CN112508467A (en) * | 2019-09-16 | 2021-03-16 | 北京京东振世信息技术有限公司 | Method and device for order delivery |
CN110766881A (en) * | 2019-10-12 | 2020-02-07 | 西南交通大学 | Community intelligent express cabinet with self-adaptive storage goods space and storing and taking method |
CN110766881B (en) * | 2019-10-12 | 2021-04-20 | 西南交通大学 | Community intelligent express cabinet with self-adaptive storage goods space and storing and taking method |
WO2021073062A1 (en) * | 2019-10-17 | 2021-04-22 | 广州达宝文机电设备有限公司 | Virtual stereoscopic storage system and method |
CN111222747A (en) * | 2019-11-22 | 2020-06-02 | 南宁职业技术学院 | Picking method and device for fresh goods |
WO2021173189A1 (en) * | 2020-02-28 | 2021-09-02 | Nimble Robotics, Inc. | System and method of integrating robot into warehouse management software |
US11794349B2 (en) | 2020-02-28 | 2023-10-24 | Nimble Robotics, Inc. | System and method of integrating robot into warehouse management software |
CN113837676A (en) * | 2020-06-24 | 2021-12-24 | 阿里巴巴集团控股有限公司 | Goods taking method, equipment and computer readable medium |
CN113793083A (en) * | 2020-08-05 | 2021-12-14 | 北京京东振世信息技术有限公司 | Storage shelf setting method and device, storage medium and electronic equipment |
CN113780705A (en) * | 2020-10-22 | 2021-12-10 | 北京京东振世信息技术有限公司 | Logistics method, system, device, equipment and computer readable storage medium thereof |
CN113428547A (en) * | 2021-07-29 | 2021-09-24 | 湖北物资流通技术研究所(湖北物资流通生产力促进中心) | Goods-to-person holographic image sorting workstation and operation method |
CN114387337A (en) * | 2021-12-31 | 2022-04-22 | 东莞盟大集团有限公司 | Internet of things management method and device for goods entering and leaving warehouse, electronic equipment and medium |
CN114803253A (en) * | 2022-05-14 | 2022-07-29 | 河南密巴巴货运服务有限公司 | Goods information acquisition and classification equipment and method for logistics storage and delivery |
CN114803253B (en) * | 2022-05-14 | 2024-04-05 | 河南密巴巴货运服务有限公司 | Goods information collection and classification equipment and method for logistics storage and delivery |
CN117146828A (en) * | 2023-10-30 | 2023-12-01 | 网思科技股份有限公司 | Method and device for guiding picking path, storage medium and computer equipment |
CN117146828B (en) * | 2023-10-30 | 2024-03-19 | 网思科技股份有限公司 | Method and device for guiding picking path, storage medium and computer equipment |
Also Published As
Publication number | Publication date |
---|---|
CN108298243B (en) | 2024-03-29 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN108298243A (en) | Intelligent storage goods picking method and system | |
CN208485145U (en) | Intelligent storage goods picking system | |
CN106311615B (en) | It is layered cargo picking method, system and computing device | |
US11718479B2 (en) | Systems and methods for processing objects, including automated radial processing stations | |
US11866261B2 (en) | Systems and methods for processing objects, including automated processing stations | |
US20230012957A1 (en) | Systems and methods for processing objects, including automated mobile matrix carriers | |
CN107025533B (en) | Goods picking method, goods picking system, computing device and computer readable storage medium | |
CN206622328U (en) | It is layered goods radio frequency | |
CN110270511A (en) | Article sorting method, control device and system | |
CN106516530A (en) | Automatic warehousing sorting station and sorting method thereof | |
WO2018175333A1 (en) | Systems and methods for processing objects including a zone gantry system | |
CN107983656B (en) | Method for sowing and sorting fresh goods | |
CN110443535B (en) | Method and device for processing information of goods picking container and store system | |
JP7186160B2 (en) | Relay type article sorting system and sorting method | |
CN108376270B (en) | Goods picking method and system based on electronic tag | |
JP2019532883A (en) | Relay-type article sorting system and sorting method | |
CN107368987A (en) | A kind of warehouse order management method mixed based on B2B or B2C | |
CN208307638U (en) | Picking or replenishment system based on robot | |
CN112407744B (en) | Warehouse-out control method, warehouse-out control system and warehouse-out system for articles of warehouse-out system | |
WO2019140612A1 (en) | Intelligent warehousing picking method and system | |
US11001445B2 (en) | Mobile lighted pick or put cart and method of use | |
US7752086B2 (en) | Method and device enabling rapid execution of a multiplicity of physical orders | |
CN113762682A (en) | Order processing method, device, equipment, readable storage medium and system | |
US20220194707A1 (en) | System and method for wave-based order fulfillment |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20220509 Address after: 215200 4th floor, Tianze new energy building, No. 99, yunchuang Road, Jiangling street, Wujiang District, Suzhou City, Jiangsu Province Applicant after: Gangwan Intelligent Technology (Suzhou) Co.,Ltd. Address before: 315191 Yee Mun Village (Yinzhou District science and Technology Park), Jiangshan Town, Yinzhou District, Ningbo, Zhejiang Applicant before: WATER ROCK INTELLIGENT TECHNOLOGY (NINGBO) Co.,Ltd. |
|
TA01 | Transfer of patent application right | ||
GR01 | Patent grant | ||
GR01 | Patent grant |