CN108298243B

CN108298243B - Intelligent storage goods picking method and system

Info

Publication number: CN108298243B
Application number: CN201810050973.4A
Authority: CN
Inventors: 董胜伟; 卓晖; 吕江
Original assignee: Gangwan Intelligent Technology Suzhou Co ltd
Current assignee: Gangwan Intelligent Technology Suzhou Co ltd
Priority date: 2018-01-18
Filing date: 2018-01-18
Publication date: 2024-03-29
Anticipated expiration: 2038-01-18
Also published as: CN108298243A

Abstract

The present disclosure relates to an intelligent warehouse picking method and system, the system comprising: the system comprises a control system, a goods picking resource, a goods storage unit, a goods picking indicating device, a goods picking storage unit and a goods picking indicating device, wherein the control system is used for sending out control instructions and controlling the goods picking process; the goods picking resource is used for picking goods according to the control instruction and storing the picked goods in the goods picking storage unit; the goods taking indicating device is used for indicating the position of the current goods to be picked in the goods storage unit through visual information according to the control instruction; the order picking indication device is used for indicating the order picking resource to store the picked goods to the position in the order picking storage unit according to the control instruction. The automatic picking machine can further achieve automation of picking processes, and improves picking efficiency.

Description

Intelligent storage goods picking method and system

Technical Field

The disclosure relates to a method and a system for picking goods in the field of intelligent warehousing, and is particularly applied to a warehousing system with an intelligent transportation robot.

Background

The rapid development of the Internet and electronic commerce brings a life to the development of the logistics industry, however, the explosive-type increased electronic commerce service also brings new challenges to the traditional logistics storage industry, and the traditional logistics storage industry is continuously forced to be changed from labor-intensive to technology-intensive, so that the development of intelligent logistics storage is promoted. In the traditional logistics storage industry, the robot is mainly applied to a conveyor belt and related equipment, and in recent years, automatic guided vehicles AGV (Automated Guided Vehicle) are introduced to reduce labor cost in more and more logistics storage services; the new generation logistics storage robot will dock with logistics management system, combines techniques such as artificial intelligence, machine vision, arm, etc. to form highly intelligent, automatic logistics system, reduces the cost of labor, improves logistics efficiency and logistics quality.

However, the cost reduction and efficiency improvement brought by the application of the AGV in the logistics storage system are only relied on, and the increasing demands of logistics storage cannot be met, so that the logistics storage system which is more systematic, global, intelligent and automatic becomes a research and development hotspot of various large enterprises at present.

The AGV is introduced to realize the positioning of the goods on the goods shelf and the carrying of the goods shelf, and the process of taking out the target goods from the goods shelf at the goods picking station to finish the order is still finished by manpower, so that the automation of the goods picking process is further realized, and the improvement of the goods picking efficiency is the problem to be solved by the present disclosure.

Disclosure of Invention

The purpose of the present disclosure is to provide a new intelligent warehouse picking method and system.

Specifically, according to an aspect of the present disclosure, there is provided an intelligent warehouse picking system, the system comprising: control system, resource of choosing goods, goods storage unit, get goods indicating device, choose goods storage unit, choose goods indicating device, wherein:

the control system can be communicated with the goods picking resources, the goods storage unit, the goods picking indicating device, the goods picking storage unit and the goods picking indicating device and is used for sending control instructions to control the goods picking process;

The goods picking resource is used for picking goods according to the control instruction of the control system and storing the picked goods in the goods picking storage unit;

the goods storage unit is used for storing goods in the storage area;

the goods taking indicating device is used for indicating the position of the current goods to be picked in the goods storage unit through visual information according to a control instruction of the control system;

the goods picking storage unit is used for storing goods, which are taken out from the goods storage unit by the goods picking resources, in a mode corresponding to orders;

the goods picking indication device is used for indicating the goods picking resources to store the picked goods to the positions in the goods picking storage units according to the control instructions of the control system.

According to an aspect of the present disclosure, there is provided an intelligent warehouse picking system, the system comprising: control system, goods storage unit and one or more intelligent storage picking subsystem, wherein:

the intelligent storage picking subsystem is used for executing intelligent storage picking operation in parallel according to the control of the control system;

the intelligent storage goods picking subsystem comprises a control terminal, goods picking resources, a goods picking indicating device, a goods picking storage unit and a goods picking indicating device, wherein:

The control terminal can be communicated with the control system, the goods storage unit, the goods picking resources, the goods picking indicating device and the goods picking indicating device, and is used for sending control instructions according to the instructions of the control system and controlling the goods picking process;

the goods picking resource is used for picking goods according to the control instruction of the control terminal and storing the picked goods in the goods picking storage unit;

the goods storage unit is used for storing goods in the storage area;

the goods taking indicating device is used for indicating the position of the current goods to be picked in the goods storage unit through visual information according to the control instruction of the control terminal;

the goods picking storage unit is used for storing goods, which are picked from the goods storage unit, by the goods picking resources in a mode corresponding to the order;

the goods picking indication device is used for indicating the goods picking resources to store the picked goods to the positions in the goods picking storage units according to the control instructions of the control terminal.

Optionally, the system further comprises a carrying device, wherein the carrying device is used for carrying the goods storage unit according to the control instruction of the control system.

According to an aspect of the present disclosure, there is provided an intelligent warehouse picking system, the system comprising: control system, goods storage unit, pick storage unit and one or more intelligent storage pick subsystem, wherein:

the intelligent storage goods picking subsystem comprises a control terminal, goods picking resources, a goods picking indicating device and a goods picking indicating device, wherein:

the goods storage unit is used for storing goods in the storage area;

According to an aspect of the present disclosure, there is provided an intelligent warehouse picking method, the method including:

the method comprises the steps of indicating the position of a current goods to be picked in a goods storage unit in a current order through visual information, and taking out goods from the position according to the indication of the visual information;

judging whether the goods are matched; if so, the location where the good is to be placed in the pick store is indicated and the good is placed in the indicated location.

The device and the assembly are matched with each other through the control system, the goods picking resources, the goods storage unit, the goods picking indicating device, the goods picking storage unit, the goods picking indicating device and the like, so that automation of the goods picking process can be further realized, and the goods picking efficiency is improved.

Drawings

The above and other features and advantages will become more readily apparent to those of ordinary skill in the art by describing in detail exemplary embodiments with reference to the attached drawings, in which:

FIG. 1 is a block diagram of an intelligent warehouse picking system according to an embodiment of the present disclosure;

FIG. 2 is a schematic view of an installation of a light emitting device according to an embodiment of the present disclosure;

FIG. 3 is a block diagram of the intelligent warehouse picking subsystem according to an embodiment of the present disclosure;

FIG. 4 is a schematic representation of a projection image display area of a projection device on a cargo storage unit according to an embodiment of the disclosure;

FIG. 5A is a schematic diagram of a configuration of a pick store partition according to an embodiment of the present disclosure;

FIG. 5B is a schematic diagram of a configuration of a pick store partition according to another embodiment of the present disclosure;

FIG. 5C is a schematic diagram of a configuration of a pick store partition according to yet another embodiment of the present disclosure;

fig. 6 is a block diagram of an intelligent warehouse picking system according to another embodiment of the present disclosure;

FIG. 7 is a flow chart of an intelligent warehouse picking method according to an embodiment of the present disclosure;

FIG. 8 is a flow chart of an intelligent warehouse picking method in accordance with another embodiment of the present disclosure;

fig. 9 is a flow chart of an intelligent warehouse picking method in accordance with yet another embodiment of the present disclosure.

Detailed Description

In order to make the technical scheme and advantages of the present disclosure more apparent, the present disclosure is described in detail below with reference to the accompanying drawings and specific embodiments.

The present disclosure relates to a method and a system for picking up goods in the field of storage, and more particularly, to a method and a system for picking up goods in the field of storage, which are applied to a storage system equipped with an intelligent storage robot, wherein the intelligent storage robot refers to a mobile carrying unit that can be used for carrying goods, shelves, containers and other objects in storage, logistics, transportation, and is also commonly referred to as a logistics robot, an AGV, an intelligent carrier, etc., however, the application of the method and the system for picking up goods in the intelligent storage proposed by the present disclosure is not limited to the storage system equipped with the intelligent storage robot, and the method and the system can be applied only to a picking station having the same or similar configuration as the present disclosure; the warehouse system includes a large logistics warehouse, such as customs, a logistics distribution area, a medium-and small-sized logistics transfer warehouse, a retail warehouse area and the like, and the warehouse system is only an exemplary illustration, and the present disclosure is not limited thereto, and all systems requiring warehouse cargo picking fall within the protection scope of the present disclosure.

According to an aspect of the disclosure, an intelligent warehouse picking system is provided, which involves the following components, and may include several or all of the following components according to different specific scene scales of warehouse system applications and different automation requirements. Fig. 1 is a block diagram of a configuration of an intelligent warehouse picking system, as shown in fig. 1, according to an embodiment of the present disclosure. In one embodiment of the disclosure, the intelligent warehouse picking system includes: control system, resource of picking up goods, goods storage unit, get goods indicating device, action recognition device, pick up goods storage unit, pick up goods indicating device, goods recognition device, carrying equipment and warning equipment, certainly, in order to guarantee the effective work of intelligent storage system of picking up goods still should be equipped with storage area and exist in the storehouse storage area, for realizing the pick up goods the regional of picking up goods that divides, wherein:

the control system can be communicated with the goods picking resources, the goods storage unit, the goods picking indicating device, the action identifying device, the goods picking storage unit, the goods picking indicating device, the goods identifying device, the carrying equipment and the warning equipment and is used for sending control instructions to control the goods picking process;

the goods storage unit is used for storing goods in the storage area;

the action recognition device is used for detecting whether the action of picking goods by the goods picking resource in the goods storage unit is correct or not and sending a detection result to the control system;

the goods picking indication device is used for indicating the goods picking resources to store the picked goods to the positions in the goods picking storage units according to the control instructions of the control system;

the goods identification device is used for identifying goods information of goods taken out of the goods storage unit by the goods picking resource;

the carrying device is used for carrying the goods storage unit according to a control instruction of the control system;

The warning device is used for sending warning information according to a control instruction of the control system.

The following describes the components of the intelligent warehouse picking system in detail.

Control system

The control system comprises a Central Processing Unit (CPU), a Read Only Memory (ROM), a Random Access Memory (RAM), a bus, an input/output (I/O) interface, an input device, an output device, a storage device, a communication device, a driver, a removable medium and other components. In practical application, the control system can be realized as a total distributed computer control system, and the total distributed computer control system comprises a total control server and a plurality of control terminals for receiving the control of the total control server; the distributed computer control system comprises a plurality of independent control terminals which can realize the cooperative work with each other through a conflict algorithm.

The control system can also receive information sent by the goods picking resource, the goods storage unit, the goods picking indicating device, the action identifying device, the goods picking storage unit, the goods picking indicating device, the goods identifying device and the carrying device, judge the working states of the devices, the devices and the units according to the received information, and send control instructions to the warning device to indicate the devices, the devices and the units to give an alarm when judging that the states of the devices, the devices and the units are abnormal.

Goods picking resource

The pick resource may be a person, a robot, or a combination of a person and a machine, such as a person wearing auxiliary machine equipment, alternatively a person fitted with a mechanical exoskeleton. From another perspective, the pick resource may include a plurality of pick components, such as components for performing pick, for providing support, for controlling the actions of the components, and the like, that work in concert to effect pick of the goods.

The goods picking resource can be further provided with a state detection device, the state detection device is used for monitoring the working state of the goods picking resource in real time and feeding back state information to the control system in real time or at preset time intervals, so that the goods picking resource can be rescued at the first time when the goods picking resource breaks down, and the goods picking work is scheduled. Wherein the status information includes: operational status information for each pick component, pick resource location information, and the like.

Cargo storage unit

In an embodiment of the disclosure, the cargo storage unit may be a storage unit such as a shelf, a container, a basket, a freezer, a warm cabinet, or the like.

The cargo storage area formed by the cargo storage units may be divided into a plurality of cargo storage areas, and the cargo storage areas may be formed by being physically separated, for example, by separating components such as a partition board, a drawer, a split charging box, etc., or may be formed by virtually separated storage areas, for example, by placing different cargos at intervals. The goods storage section may be provided with a regular shape, for example a grid shape, or with an irregular shape to accommodate irregular goods or to reserve space for goods to be stored later. The goods storage partitions can be uniformly distributed or unevenly distributed, for example, some storage partitions can be densely arranged and other storage partitions can be relatively loose according to the actual application requirements. The division of the goods storage partition can be fixed or can be supported to be dynamically adjusted, and the division mode of the goods storage partition is stored in the control system and updated in real time according to the change of the division mode. In addition, the cargo storage partition may be further configured with a unique location identification, for example, the unique location identification of the cargo storage partition may be set according to specific location information such as a region, a row, a column, a sequence number, etc. where the cargo storage partition is located, or the unique location identification may be set according to spatial location coordinates of the cargo storage partition. The foregoing is merely illustrative of a cargo storage partition, and those skilled in the art may reasonably allocate and adjust the cargo storage partition according to the needs of the actual application, and the disclosure is not limited in any way.

The position of the goods storage unit can be fixed or movable, and when the goods storage unit is movable, the movement mode can be active movement or passive movement, wherein the active movement can be automatic autonomous movement, the passive movement can be push-pull movement or carrying movement by a carrying device.

In another embodiment of the present disclosure, the cargo storage unit may further be provided with a status detection device for detecting status information of the cargo storage unit and transmitting the status detection information to the control system in real time, at regular time intervals or when a failure of the cargo storage unit is detected.

Goods taking indicating device

In an embodiment of the disclosure, the pick-up indication device may use visual information to indicate location information of the current pick-up in the cargo storage unit, that is, a cargo storage partition where the current pick-up is located, so that the pick-up resource can correctly pick out the current pick-up according to the location indication of the pick-up indication device.

In this embodiment, the pick-up indication device is a visual information output device, and various implementation manners thereof may be implemented, for example, as a light emitting device, a projection device, a display device, an electronic tag, a light timer, etc., and of course, may be implemented as other visual information output devices, which are not specifically limited in this disclosure. The pick-up indication device will be described below with reference to light emitting devices, projection devices and display devices, and the same applies to other visual information output devices.

In an embodiment, the pick-up indication device is a light emitting device

In this embodiment, the pick-up indication device is a set of light emitting devices, such as LED lamps, located on the cargo storage unit, such as shown in fig. 2, where the cargo storage unit is a shelf 1, the pick-up indication device is a set of LED lamps 2 mounted on the shelf 1, the shelf 1 is divided into a plurality of virtual cargo storage partitions, the LED lamps 2 further include row and column LED lamps disposed transversely and longitudinally, and the combined application of the row LED lamps and the column LED lamps can uniquely determine the storage partition where a certain cargo is located. In addition, the indication mode of the light-emitting device can be a bright, flashing, color-changing or other indication mode, and the light-emitting color can be a vivid and striking color, such as red.

Of course, the light emitting device may also be implemented by using an electronic tag or other light emitting components, which is not specifically limited in this disclosure, where the electronic tag may display, in a striking manner, a unique location identification identifier of a corresponding cargo storage partition or other identification information capable of uniquely identifying the cargo to be picked.

In a second embodiment, the pick-up indicator is a light emitting device

In this embodiment, the pick-up indication device is a group of light emitting devices capable of emitting light near the cargo storage unit, which can be arranged in the same manner as the light emitting devices, and the storage area where a certain cargo is located is uniquely determined by using the intersection point of the light emitted by the light emitting devices corresponding to the rows and columns, and of course, the light can also be directly emitted to the storage area where the current cargo to be picked is located.

The light emission device is at a certain distance from the goods storage unit, and can automatically adjust the light emission angle to emit light to the corresponding position of the goods storage unit, such as the goods storage partition line indication position, the goods storage partition column indication position or the storage partition where the goods to be picked are currently located.

The light emitting device may be a visible light emitter, such as a laser emitter, or other light emitting device.

In a third embodiment, the pick-up indication device is a projection device

The projection device indicates by projecting an image to the goods storage unit and/or the pick-up storage unit, displaying special visual image information in the goods storage partition where the goods are to be taken out and/or the pick-up storage partition where the goods are to be stored.

In this embodiment, the goods taking indication device is a projection device with a certain distance from the goods storage unit, and the projection image display area of the projection device corresponds to the storage partition where the current goods to be picked is located, and may just cover the storage partition where the current goods to be picked is located, or may be larger or smaller than the storage partition where the current goods to be picked is located, so long as the storage partition where the current goods to be picked is located can be uniquely indicated.

For example, as shown in fig. 3, the goods storage unit is a shelf 505, and the goods taking indication device is a projection device 504 at a certain distance from the shelf 505, and the projection position and the area of the projection area are adjusted to just cover the storage area where the current goods to be picked are located in the shelf 505, or slightly larger than the boundary of the storage area where the current goods to be picked are located, for example, the distance beyond the boundary is less than 3cm.

Fig. 4 shows a presentation manner of a projection image display area of a projection device on a cargo storage unit, as shown in fig. 4, the projection device indicates that the position of the current cargo to be picked can be achieved by displaying special visual information, such as special patterns, special colors, designated characters, and the like, in the storage partition where the current cargo to be picked is located, wherein the designated characters can be the cargo to be picked information of the current cargo to be picked, such as pictures, names, specifications, classifications, numbers to be picked, and the like of the current cargo to be picked, and can also be a unique position identification identifier of the current cargo to be picked. Optionally, the shape of the storage partition where the current goods to be picked is located or the pattern slightly larger than the shape of the storage partition can be used for distinguishing and indicating the storage partition, the projection color can be vivid and striking and different from the color of other goods storage partitions, in addition, the size of the projection indication pattern is suitable and cannot be projected to other storage partitions, so that the storage partition indicates errors, and the goods picking resources are guided to other goods storage partitions to pick the wrong goods in error.

In a fourth embodiment, the pick-up indication device is a display screen

In this embodiment, the pick-up indication device is a display screen that is easily observed by the pick-up resource during pick-up, and the display screen displays the division of the storage partition of the goods storage unit in the direction facing the pick-up resource, and displays the storage partition where the current pick-up object is located by means of special patterns, colors, or specified characters. The display screen may also display pick information of the current pick, such as a picture, name, specification, category, quantity, etc. of the pick, and may also display a unique location identification of the current pick.

In a fifth embodiment, the pick-up indication device is a combination of the above embodiments

The above embodiments for indicating the storage location of the goods by the goods taking indication device can be used alone or in combination with each other to reduce the error rate of picking the goods.

In another embodiment of the present disclosure, the pickup indicating device may further be provided with a status detecting device for detecting status information of the pickup indicating device and transmitting the status detection information to the control system in real time, at regular time intervals or when a failure of the pickup indicating device is detected.

Motion recognition device

In an embodiment of the present disclosure, the action recognition device is configured to detect whether an action of picking goods in the goods storage unit by the pick resource and/or depositing the goods in the goods storage unit is correct, and send a detection result to the control system.

In another embodiment of the present disclosure, the action recognition device may detect, when detecting an action of picking the goods by the pick resource, whether one or more pick components exceed a boundary range of a goods storage partition of the goods storage unit in which the goods to be picked are located when the pick resource picks the goods, where the boundary range may be a sum of a boundary of the storage partition and an allowable error value, and/or, when detecting that the goods are stored by the pick resource, whether one or more pick components of the pick resource exceed a boundary range of a pick storage partition of the goods storage unit in which the goods to be picked are stored, and send a detection result to the control system. For example, when the action recognition device detects that the picking component of the picking resource exceeds the boundary range of the storage partition where the to-be-picked object is located, the detection information is fed back to the control system, so that the control system prompts an operation error through the warning equipment. The allowable error value may be a fixed value, for example, 5cm, or a relative value, for example, 30% of the side length of the cargo storage area, or may be 0.

The motion recognition device may be a grating detection device, a motion capture device, or other device that can recognize a motion range, which is not specifically limited in this disclosure.

Goods picking storage unit

In an embodiment of the disclosure, the pick storage unit may be a storage unit such as a shelf, a container, a basket, a freezer, a warm cabinet, or the like.

The storage area formed by the pick storage units may be divided into a plurality of pick storage sections, which may be physically separated from each other, for example, by a partition, a drawer, a split box, or the like, or may be virtually separated, for example, by placing different goods at intervals. The pick-up storage section may be configured to have a regular shape, such as a grid, or may be configured to have an irregular shape to accommodate irregular goods or to reserve space for goods to be stored later. The picking storage partitions can be uniformly distributed or unevenly distributed, for example, some storage partitions can be densely arranged and other storage partitions can be relatively loose according to the actual application requirements. The division of the pick store partitions may be either fixed or dynamically adjustable, as with the goods storage units described above, and is stored in the control system and updated in real time based on changes in the division. In addition, the picking storage partition may be further configured with a unique location identification, for example, the unique location identification of the picking storage partition may be set according to specific location information such as a region, a row, a column, a sequence number, etc. where the picking storage partition is located, or the unique location identification may be set according to spatial location coordinates of the picking storage partition. The foregoing is merely illustrative of a pick store partition, and one skilled in the art may reasonably allocate and adjust the pick store partition according to the needs of an actual application, which is not particularly limited by the present disclosure.

Fig. 5A is a schematic diagram of a configuration of a pick storage partition according to an embodiment of the present disclosure, as shown in fig. 5A, a storage area 401 formed by pick storage units may be uniformly divided into a plurality of open pick storage partitions 403, and a unique location identification identifier 402 is further provided at a location corresponding to each pick storage partition 403.

Fig. 5B is a schematic diagram of a configuration of a pick-up storage section according to another embodiment of the present disclosure, as shown in fig. 5B, with a plurality of pick-up storage sections 404 configured as sealable areas, such as may be provided with removable cabinet doors.

Fig. 5C is a schematic diagram of a configuration of a pick store partition according to yet another embodiment of the present disclosure, as shown in fig. 5C, a plurality of pick store partitions 405 are formed based on virtual partitions.

The position of the goods picking storage unit can be fixed or movable, and when the goods picking storage unit is movable, the movement mode of the goods picking storage unit can be active movement or passive movement, wherein the active movement can be automatic autonomous movement, the passive movement can be push-pull movement or carrying movement by the carrying device.

In another embodiment of the present disclosure, the pick storage unit may be further provided with a status detection device for detecting status information of the pick storage unit and transmitting the status detection information to the control system in real time, at regular time intervals or upon detecting that the pick storage unit is malfunctioning.

Goods picking indication device

In an embodiment of the disclosure, the picking indication means, after the picking resource takes the goods to be picked out of the goods storage unit, indicates that it stores the picked goods to a specific location in the pick storage unit, which may be a specific pick storage section where the picked goods are to be placed in the pick storage unit.

The pick-up indication device may be implemented in a similar manner to the pick-up indication device described above, except that the pick-up indication device may be implemented using an electronic tag or a light timer.

When the pick-up indication device is implemented as an electronic tag, the electronic tag may be disposed at a location corresponding to the pick-up storage partition in the pick-up storage unit, such as the location indicated by reference numeral 402 in fig. 5A, 5B, and 5C, where the electronic tag may display, in a striking manner, a unique location identification of the corresponding pick-up storage partition or other identification information capable of uniquely identifying the pick-up storage partition. In this embodiment, after the goods to be picked are taken out from the goods storage unit by the goods picking resource, the electronic tag corresponding to a certain goods picking storage partition blinks or becomes bright, which indicates that the goods should be placed in the goods picking storage partition at the corresponding position, and if the goods picking storage partition is separated by adopting the goods basket, the goods are indicated to be placed in the corresponding goods basket.

In addition, besides displaying the identification information capable of uniquely identifying the picking storage partition, the electronic tag can also display picking information such as the quantity of the goods to be picked which remain to be picked in the order corresponding to the current picking storage partition.

In another embodiment of the present disclosure, the order picking indication device may be further provided with a status detection apparatus for detecting status information of the order picking indication device and transmitting the status detection information to the control system in real time, at regular time intervals or upon detecting that the order picking indication device is malfunctioning.

Goods identification device

In an embodiment of the disclosure, the cargo identifying device may be a code scanning device, and the identified cargo information is cargo identification information, such as a bar code or a two-dimensional code, and the cargo identifying device may also be an image identifying device, and the identified cargo information is cargo image information or a part of cargo image information.

In another embodiment of the present disclosure, the cargo identifying device may further be provided with a status detecting device for detecting status information of the cargo identifying device and transmitting the status detecting information to the control system in real time, at regular time intervals or when a failure of the cargo identifying device is detected.

Carrying device

In automated warehouse, the carrying device may generally be a carrying device such as an AGV (automatic guided vehicle), a forklift, a suspension robot, etc., which is merely an exemplary illustration of the carrying device, which is not specifically limited by the present disclosure, and all devices capable of carrying the cargo storage unit according to the control instruction of the control system fall within the scope of the present disclosure. In another embodiment of the present disclosure, the carrier may be further provided with a status detection device for detecting status information of the carrier and transmitting the status detection information to the control system in real time, at regular time intervals or when a failure of the carrier is detected.

Warning device

In an embodiment of the disclosure, the warning device may be an audible and visual warning device, such as a buzzer, a warning light, etc., a visual information warning device, such as a prompt word display, etc., a multimedia warning device, such as an audio alarm, a visual alarm, an animated alarm, a video alarm, etc., or a combination of the foregoing warning devices.

The warning equipment receives a control instruction sent by the control system to implement warning operation, for example, when the goods picking resource fails, the warning equipment gives an alarm according to the control instruction of the control system and notifies the current position of the goods picking resource, so that the rescue source can rescue the goods picking resource at the first time; for example, when the action recognition device detects that the picking component of the picking resource exceeds the boundary range of the storage partition where the object to be picked is located, the warning device can give an alarm according to the control instruction of the control system, and the error operation is suspended at the first time; for another example, when the cargo storage unit, the cargo taking indication device, the cargo picking storage unit, the cargo picking indication device, the cargo identification device and the carrying device detect that the state of the cargo storage unit, the cargo picking indication device, the cargo identification device and the carrying device fails, the warning device can warn according to the control instruction of the control system, so that the cargo storage unit, the cargo picking indication device, the cargo picking storage unit, the cargo picking indication device, the cargo identification device and the carrying device are repaired at the first time.

Working table

In an embodiment of the disclosure, the intelligent warehouse picking system may further include a workbench for placing various components in the control system, such as a control terminal, a mouse, a keyboard, a printer, etc., or other items to be placed.

In another embodiment of the present disclosure, the intelligent warehouse picking system comprises a control system, a cargo storage unit, a picking storage unit, a carrying device, and one or more intelligent warehouse picking subsystems, wherein:

the intelligent storage goods picking subsystem comprises a control terminal, goods picking resources, a goods picking indicating device, a goods identifying device and warning equipment, wherein:

the control terminal is in communication with the control system, the goods storage unit, the goods picking resources, the goods picking indicating device and the goods picking indicating device, and is used for sending control instructions according to the indication of the control system and controlling the goods picking process.

Of course, the intelligent warehouse picking subsystem can further comprise an action recognition device, a workbench and the like.

The functions and operations of the components in the intelligent storage picking subsystem are similar to those of the corresponding components in the intelligent storage picking system, and the disclosure is not repeated herein, but the intelligent storage picking subsystem is required to communicate with the control system of the intelligent storage picking system through a control terminal.

In addition, one or more intelligent warehouse picking subsystems can share a goods storage unit, a picking storage unit and a carrying device, and can also be configured independently.

In an alternative embodiment, the intelligent warehouse picking subsystem may also include a picking storage unit, such as integrated with the picking indication device.

The intelligent storage goods picking subsystem is not a single device, is not a system component part capable of only executing partial operation, and is defined in that the intelligent storage goods picking subsystem is divided into a minimum functional unit capable of completing a complete goods picking operation.

Fig. 3 is a block diagram of an intelligent warehouse picking subsystem according to an embodiment of the present disclosure, in which the intelligent warehouse picking subsystem includes a picking resource 501, a picking storage unit 502, a control terminal 503, a projection device 504 as a picking indication device and a display 505 located above a stop position of the picking storage unit, an electronic tag (not shown) located on the picking storage unit as a picking indication device, a code scanning device (not shown) as a goods recognition device, an action recognition device 506, and a workbench 507.

Fig. 6 is a block diagram of an intelligent warehouse picking system according to another embodiment of the present disclosure, as shown in fig. 6, the intelligent warehouse picking system includes a general control server 801, a control terminal 803, a display device 804, a pick indication device 805, an action recognition device 806, a pick indication device 807, a goods recognition device 808, and a printing apparatus 809, wherein:

the master control server 801 comprises an order processing unit, which is used for receiving and distributing orders according to a certain algorithm;

the control terminal 803, the display device 804, the pickup instruction device 805, the action recognition device 806, the pickup instruction device 807, the cargo recognition device 808, and the printing apparatus 809 constitute the pickup workstation 802;

the overall control server 801 and the control terminal 803 communicate via a wireless and/or wired connection;

the overall control server transmits the distributed order and related information to the control terminal 803;

the control terminal 803 is connected with the display device 804, the pick-up indication device 805, the action recognition device 806, the pick-up indication device 807, the goods recognition device 808 and the printing device 809 by wired or wireless communication.

According to another aspect of the present disclosure, there is also provided an intelligent warehouse picking method, the method including:

In an embodiment of the disclosure, the visual information includes: one or more of luminescence information, light emission information, projection information, display information.

The visual information is projection information, specifically, the visual information is indicated by projecting an image to the goods storage unit and/or the goods picking storage unit, and displaying special visual image information in a goods storage partition of goods to be taken out and/or a goods picking storage partition of goods to be stored.

The special visual image information comprises one or more of special patterns, special colors and specified characters, wherein the specified characters are one or more of the information of the current picture, name, specification, classification, quantity to be picked and unique position identification mark of the current goods to be picked; the special pattern is a pattern which forms visual difference with visual images of other storage partitions and attracts visual attention; the special color is a color block which can just cover the shape of the storage partition where the current goods to be picked are or is slightly bigger than the shape of the storage partition.

In an embodiment of the present disclosure, the determining whether the cargo matches specifically includes:

identifying cargo information of the retrieved cargo;

and judging whether the goods to be picked currently in the current order are matched with the goods to be picked currently according to the identified goods information.

In an embodiment of the present disclosure, the method further comprises detecting whether the actions of picking and/or depositing the goods in the goods storage unit are correct, and performing an error notification when an error is detected.

Wherein the detecting whether the action has an error comprises:

detecting whether one or more picking components of the picking resource exceed the boundary range of the goods storage subarea of the goods storage unit where the goods to be picked are located when the goods are picked by the picking resource, and carrying out error prompt when errors exist;

and/or detecting whether one or more picking components of the picking resource exceeds the boundary range of the picking storage partition of the picking storage unit in which the to-be-picked objects are to be stored when the picking resource stores the goods, and performing error prompt when detecting that the error exists.

Wherein the boundary range is the sum of the boundary of the memory partition and the allowable error value.

Wherein the method further comprises the step of correcting the indication of the erroneous action.

In one embodiment of the present disclosure, the step of selecting an order to be subjected to the pick operation is further included before the location is indicated by the visual information.

Wherein, selecting an order to be subjected to a picking operation according to a preset rule, wherein the preset rule is any one of the following rules:

according to the sequence of the order generation time;

randomly extracting;

according to the order of the number of commodity types from small to large;

in order of the number of goods from small to large.

Wherein the step of selecting an order for which a pick operation is to be performed further comprises, prior to:

distributing orders waiting for performing picking operation to the current intelligent storage picking system or the current intelligent storage picking subsystem;

and carrying the goods storage unit storing the goods in the order to the position of the intelligent storage picking subsystem allocated with the order.

In an embodiment of the disclosure, after the goods are placed at the indication position, the method further includes:

judging whether the current order is completed or not, if yes, indicating that the picking operation of the current order is completed, and continuing to execute the next order operation; otherwise, continuing to execute the picking operation according to the indication of the visual information until the picking operation of the current order is completed;

In one embodiment of the present disclosure, the method further includes the step of selecting the item to be subjected to the pick operation prior to indicating the location by the visual information.

randomly extracting;

in order of at least the number of the goods in the order.

In an embodiment of the present disclosure, after the step of selecting the good for which the pick operation is to be performed, before the indicating of the location by the visual information further comprises:

In an embodiment of the present disclosure, after the goods are placed at the indicated location, the method further comprises:

judging whether the picking of the current goods to be picked is completed or not, if so, indicating that the picking operation of the goods is completed, executing the picking operation of the next goods to be picked, otherwise, continuing to pick the goods according to the indication of the visual information until the picking of the current goods to be picked is completed;

In an embodiment of the present disclosure, before the indicating of the position by the visual information, the method further comprises:

selecting a goods storage unit to perform a pick operation;

selecting goods to be subjected to the picking operation;

and after said placing said cargo to the indicated location, further comprising:

judging whether the picking of the current goods to be picked is completed or not, if so, indicating that the goods picking operation of the goods is completed, otherwise, continuing to pick the goods according to the indication of the visual information until all the goods to be picked are picked;

judging whether the current goods storage unit has no goods to be picked or not, if so, indicating the current goods storage unit to leave the position of the current intelligent storage goods-picking subsystem, then continuing to execute the picking operation of the next goods storage unit, otherwise, continuing to select the goods to be subjected to the goods-picking operation until the current goods storage unit has no goods to be picked, which belong to the current intelligent storage goods-picking subsystem.

In an embodiment of the present disclosure, the method further includes the step of printing out the bill of lading and/or the express side sheet of the current order and placing it into a pick-up storage section of the corresponding pick-up storage unit.

In an embodiment of the present disclosure, the method further comprises indicating, by way of visual or audible information, that the pick operation of the current pick item has been completed.

In an embodiment of the disclosure, the intelligent warehouse picking method is implemented based on an order, as shown in fig. 7, and in this embodiment, the method includes the following steps:

step 101, selecting an order to be subjected to a picking operation;

102, indicating the position of the current goods to be picked in the goods storage unit in the current order through visual information;

step 103, retrieving goods from the position according to the indication of the visual information;

step 104, identifying cargo information of the fetched cargo;

step 105, judging whether the fetched goods are matched with the current goods to be picked in the current order according to the goods information obtained by recognition, if so, continuing to execute step 106, otherwise, returning to step 103 until the goods matched with the current goods to be picked in the current order are fetched;

step 106, indicating the position where the goods are to be placed in the pick storage unit, and placing the goods to the indicated position;

step 107, judging whether the current order is completed, if yes, entering step 108, otherwise returning to step 102 until the current order is completed;

step 108, indicating that the pick operation of the current order has been completed, and returning to step 101, continuing to perform the pick operation of the next order.

The method steps described above are for a single order item picking process. Of course, the method steps described above may be implemented to execute two or more orders sequentially, or two or more orders concurrently, but for each of the two or more orders, the order picking steps described above are performed.

For the intelligent warehouse goods picking method based on the order, the steps can be realized as follows:

step 101, selecting an order to perform a pick operation may be implemented as:

the order in which the pick operation is to be performed is selected according to certain preset rules, wherein the preset rules may be, for example: ordering orders distributed to the current intelligent storage picking system or the current intelligent storage picking subsystem according to order generation time, and then selecting orders to be subjected to picking operation according to the sequence of the order generation time; the method can also be as follows: randomly extracting orders distributed to the current intelligent storage picking system or the current intelligent storage picking subsystem; the method can also be as follows: the method comprises the steps of carrying out ascending order sorting on orders distributed to a current intelligent storage picking system or a current intelligent storage picking subsystem according to the number of commodity types, and then selecting orders to be subjected to picking operation according to the order of the number of commodity types from small to large; the method can also be as follows: and carrying out ascending order sorting on orders distributed to the current intelligent storage picking system or the current intelligent storage picking subsystem according to the number of commodities, and then selecting orders to be subjected to picking operation according to the order of the number of commodities from small to large.

In an embodiment of the present disclosure, step 101 further includes step 1011 of allocating an order waiting for a picking operation to be performed to the current intelligent warehouse picking system or the current intelligent warehouse picking subsystem.

Distributing orders for the current intelligent storage picking system or the current intelligent storage picking subsystem refers to sending the distributed order information to a control system of the current intelligent storage picking system in a wireless or wired communication mode. When orders are distributed, one or a group of orders can be distributed to the intelligent storage picking system each time, the orders can be periodically distributed according to a preset time interval, or new orders can be distributed after the current intelligent storage picking system or the current intelligent storage picking subsystem processes all the distributed orders, and the orders can be distributed to different intelligent storage picking subsystems based on a load balancing algorithm so as to realize load balancing of the intelligent storage picking subsystem processing picking operation.

Wherein the order may include a single item or multiple items corresponding to a single category, or may include a single item or multiple items corresponding to each of multiple categories.

In an embodiment of the present disclosure, the intelligent storage picking system includes one or more intelligent storage picking subsystems, and step 1012 may be further included before or after the step 101, where the cargo storage unit storing the cargo in the order is carried to the location of the intelligent storage picking subsystem to which the order is allocated.

The cargo storage unit may be carried by a purely manual, such as manual pushing and pulling, a man-driven transport mechanism (e.g., forklift), or by a robot (e.g., a carrier type AGV), which is not specifically limited in this disclosure.

Typically, step 1011 is performed prior to step 1012.

102, indicating the position of the goods to be picked in the goods storage unit in the current order through visual information;

in this step, the indication of visual information may be achieved using a pick indication device in the intelligent warehouse picking system. The location refers to a particular storage partition of the current pick item in the item storage unit.

Corresponding to embodiment 1 of the pick-up indication device, the indication may be provided by a set of light emitting devices, such as LED lights, located on the cargo storage unit. For example, as shown in fig. 2, the shelf 1 is divided into a plurality of virtual goods storage partitions, corresponding to the plurality of virtual goods storage partitions, the rows and columns of LED lamps 2 are respectively arranged in the transverse direction and the longitudinal direction, and the goods storage partition where the goods to be picked are located can be uniquely determined by lighting, flashing, color changing or other lighting modes of the corresponding rows and columns of LED lamps 2, wherein the lighting color of the LED lamps 2 can be in a vivid and striking color, such as red.

Of course, the LED lamp 2 may also be implemented by an electronic tag or other light emitting component.

Corresponding to embodiment 2 of the pick-up indication device, it may be indicated by a set of light emitting devices located on the cargo storage unit or a light emitting device located at a distance from the cargo storage unit.

The light emitting devices on the cargo storage unit may be arranged in the same manner as the light emitting devices in embodiment 1, and the cargo storage area where the objects to be picked are located may be uniquely determined by using the intersections of the light rays emitted from the light emitting devices corresponding to the rows and columns.

The light emission device is arranged at a certain distance away from the goods storage unit, and can automatically adjust the angle of light emission to emit light to the storage partition position corresponding to the goods storage unit.

Corresponding to the 3 rd embodiment of the goods picking indication device, the projection device with a certain distance from the goods storage unit is used for indication, and the projection image display area corresponds to the storage partition where the current goods to be picked is located, so that the storage partition where the current goods to be picked is located can be just covered, and the storage partition where the current goods to be picked is located can be also larger or smaller than the storage partition where the current goods to be picked is located, so long as the storage partition where the current goods to be picked is located can be uniquely indicated.

Corresponding to the 4 th embodiment of the goods picking indication device, the display screen which is observed by the goods picking resources during goods picking is utilized to indicate, the storage partition division condition of the goods storage units in the direction facing the goods picking resources is displayed in the display screen, and the storage partition where the goods to be picked currently is located is displayed in a special pattern, color or specified character mode. The display screen may also display pick information of the current pick, such as a picture, name, specification, category, quantity, etc. of the pick, and may also display a unique location identification of the current pick.

Corresponding to the 5 th embodiment of the goods taking indication device, the 1 st to 4 th embodiments are utilized to carry out combined indication, for example, a mode of combining indication by adopting a projection device and a display screen is adopted, so that the variety of indication information is increased, and the error rate of goods taking is reduced.

in an embodiment of the present disclosure, the step may be implemented such that the pick resource extends an arm or auxiliary gripping device into a cargo storage area in the cargo storage unit to pick out the current pick item according to the indication of the visual information.

Optionally, the manual picker receives the indication of visual information through a visual organ, and completes the process of taking out the goods by using a hand arm, or the machine picker recognizes the visual information through machine vision and converts the visual information into an operation instruction executable by a robot, and the process of taking out the goods is completed by using a mechanical arm.

Optionally, the step 103 further includes a step of detecting whether the picking action has an error, and performing an error prompt when detecting that the error exists, which may be specifically implemented as prompting that the error occurs when detecting that the arm of the picker or other picking components extend into the article storage unit beyond the boundary range of the storage partition where the article to be picked is located. The boundary range may be the sum of the boundary of the storage partition and the allowable error value, which may be a fixed value, for example 5cm, or a relative value, for example 30% of the side length of the cargo storage area, or of course 0. Further, the detection may be performed by the motion recognition apparatus described above, such as a raster detection apparatus, a motion capture device, or other apparatus that can recognize a range of motion, which is not particularly limited by the present disclosure.

The ERROR prompting mode comprises audible and visual alarm, visual information alarm, multimedia information alarm and the like, and the alarm is performed in a mode of color change, flicker change, brightness change or ERROR character presentation and the like.

The step of detecting whether the picking action has an error may further include a step of correcting the error action, for example, by presenting a correct storage location on the display screen, or by highlighting a correct picking location, or by using a combination of both.

Step 104, identifying cargo information of the fetched cargo;

further, this step is performed by the cargo identification means.

For example, the goods information is identified by the code scanning device, and the identified goods information is goods identification information, such as bar code or two-dimensional code information; alternatively, the cargo information is recognized by the image recognition device, and the recognized cargo information is cargo image information or a part of cargo image information.

Step 105, judging whether the fetched goods are matched with the current goods to be picked in the current order according to the goods information obtained by recognition, if yes, continuing to execute step 106, otherwise, returning to step 103 to pick again until the goods matched with the current goods to be picked in the current order are fetched.

In an embodiment of the present disclosure, the goods information included in the order information may be compared with the identified goods information to determine whether the goods match, where the order information includes an order number, a goods name, a number of goods, the goods information, and indication information indicating which goods is currently picked, and the goods information may be goods identification information, goods image information, or a part of the goods image information.

in one embodiment of the present disclosure, the location on the pick storage unit where the correct selected item is to be placed, particularly which pick storage section on the pick storage unit, may be indicated by the pick indication device.

The pick-up indication device may be implemented in a similar manner to the pick-up indication device, as described above, or may be implemented using a pick-up storage unit electronic tag or a light timer.

For example, after the step 105 confirms that the correct goods are taken out, the goods-picking indication device indicates the goods to be placed in the goods-picking storage partition, for example, by lighting or flashing, etc., and the goods-picking indication device may also display the remaining quantity to be picked corresponding to the goods, for example, when an electronic tag is used as the goods-picking indication device, the current quantity of the goods to be picked is 3, and the quantity of the goods placed in the goods-picking storage unit is 2, then the goods-picking indication device displays that the remaining quantity to be picked is 1, and then the goods-picking resource places the goods into the corresponding goods-picking storage partition according to the indication of the goods-picking indication device.

Step 107, judging whether the current order is completed, if yes, entering step 108, otherwise returning to step 102 to continue to execute picking operation until all picking operations of the current order are completed;

the step of determining whether the current order is completed refers to determining whether all the cargoes included in the current order are picked, and of course, the step may further include printing the manifest and/or the express side of the current order and placing the manifest and/or the express side into a pick-up storage partition of the corresponding pick-up storage unit.

When it is determined that the current order is completed, a prompt for completion of the order may also be displayed or issued, for example, notification information that the current order is completed may be displayed or issued by visual information or audio information, or the like.

In this step, indicating that the pick operation for the current order has been completed is an indication to the control system.

The indication may be triggered by triggering a mode of inputting information by the empty built-in terminal, such as clicking a carriage return key, clicking a mouse confirm key, a touch screen confirm, etc., or by triggering a light timer on the pick-up storage device.

When the intelligent storage picking system or the intelligent storage picking subsystem is distributed with a plurality of orders, partial orders possibly contain the same goods, so that the sum of the goods in the partial orders can be met by carrying out one-time picking on the goods, repeated picking on the goods is avoided, and the picking working efficiency is improved.

In an embodiment of the disclosure, the intelligent warehouse picking method is implemented based on goods, as shown in fig. 8, and in this embodiment, the method includes the following steps:

step 201, selecting goods to be subjected to a picking operation;

step 202, indicating the position of the current goods to be picked in the goods storage unit through visual information;

step 203, retrieving goods from the position according to the indication of the visual information;

step 204, identifying cargo information of the fetched cargo;

step 205, judging whether the fetched goods are matched with the current goods to be picked or not according to the goods information obtained by recognition, if yes, executing step 206, otherwise, returning to step 203 until the goods matched with the current goods to be picked in the current order are fetched;

step 206, indicating the position where the goods are to be placed in the pick storage unit, and placing the goods to the indicated position;

Step 207, judging whether the picking of the current goods to be picked is all completed, if yes, continuing to execute step 208, otherwise returning to step 203 until all the goods to be picked are picked;

step 208, the picking operation of the goods is indicated to be completed, and the next picking operation of the goods to be picked is returned to step 201.

For the intelligent storage goods picking method based on goods, the steps can be specifically realized as follows:

step 201, selecting goods to be subjected to a picking operation;

in an embodiment of the present disclosure, the step further includes a step 2011 of preprocessing an order allocated to the current intelligent storage picking system or the current intelligent storage picking subsystem, and generating goods information, such as a goods list, of the goods to be picked, where the goods list at least includes information such as a goods name, identification information, and quantity. Table 1 below shows a list of goods including names, quantities, ID information, pictures and corresponding order information for different goods.

TABLE 1

Numbering device	Cargo name	Quantity of	ID	Picture picture	Order information
						1	XX toothbrush	4	XXXX	(not shown)	Orders 1,2,5
2	XX earphone	6	XXXX	(not shown)	Order form
						……	……	……	……	……	……

In an embodiment of the present disclosure, the goods to be subjected to the picking operation may be selected according to a certain algorithm, for example, the goods may be selected in order from more to less according to the number of the goods, the orders involved may be selected in order from more to less according to the number of the orders involved, the order in the list of the goods may be selected, and the order may be selected randomly. The foregoing is merely illustrative of a selection manner of a sort of article to be picked, and those skilled in the art may adopt other selection manners according to the needs of the actual application, and the disclosure is not particularly limited thereto.

In an embodiment of the present disclosure, before or after the step 201, a step 2012 may be further included of carrying the cargo storage unit storing the cargo in the order to the location of the intelligent warehouse picking subsystem to which the order is allocated.

The cargo storage unit may be carried by purely manual means such as manual pushing and pulling, by means of a carrying device such as an AGV, or by semi-manual means such as a drive conveyor (e.g. forklift).

Typically, step 2011 is performed before step 2012.

in this step, the indication of visual information may be achieved using a pick-up indication device. The location refers to a particular storage partition of the current pick item in the item storage unit.

Optionally, the step 203 further includes a step of detecting whether the picking action has an error, and performing an error prompt when detecting that the error exists, which may be specifically implemented to prompt that an error occurs when detecting that the arm of the picker stretches into the storage unit of the article to be picked beyond the boundary range of the storage partition where the article to be picked is located. The boundary range may be the sum of the boundary of the storage partition and the allowable error value, which may be a fixed value, for example 5cm, or a relative value, for example 30% of the side length of the cargo storage area, or of course 0. Further, the detection may be performed by the motion recognition apparatus described above, such as a raster detection apparatus, a motion capture device, or other apparatus that can recognize a range of motion, which is not particularly limited by the present disclosure.

Step 204, identifying cargo information of the fetched cargo;

further, this step is performed by the cargo identification means.

Step 205, judging whether the picked goods are matched with the current goods to be picked according to the goods information obtained by recognition, if yes, continuing to execute step 206, otherwise returning to step 203 to pick again until the goods matched with the current goods to be picked are picked;

Step 206, indicating the location where the goods are to be placed in the pick storage unit, and placing the goods in the indicated location.

The pick-up indication device may be implemented in a similar manner to the pick-up indication device, or may be implemented using a pick-up storage unit electronic tag or a light timer, as described above.

For example, after confirming that the correct goods are taken out in step 205, the pick-up indication device indicates the pick-up storage partition where the goods are to be placed, for example, by lighting or flashing, etc., and the pick-up indication device may also display the remaining quantity to be picked corresponding to the goods, for example, when using an electronic tag as the pick-up indication device, the current quantity of the goods to be picked is 3, and the number of the goods placed in the pick-up storage unit is 2, then the pick-up indication device displays that the remaining quantity to be picked is 1, and then the pick-up resource places the goods in the corresponding pick-up storage partition according to the indication of the pick-up indication device.

Optionally, each time a good is placed in a corresponding pick-up section in the pick-up storage unit, it is also determined whether the order corresponding to that pick-up section is complete, the method being similar to step 107, if so, it is indicated in step 108 that the pick operation for the current order has been completed, and if not it is continued to wait until the pick operation for the current order is complete.

Step 207, judging whether the picking of the current goods to be picked is completed or not, if yes, continuing to execute step 208, otherwise returning to step 203 until the picking of the current goods to be picked is completed;

the step of judging whether the picking of the current goods to be picked is completed is to judge whether all the current goods to be picked included in all the orders distributed to the intelligent storage goods picking subsystem are picked.

When it is judged that the order is completed, a prompt for completion of the order is displayed or issued, for example, notification information that the current order has been completed may be displayed or issued by means of visual information or audio information, or the like.

Step 208 indicates that the pick operation for the current pick has been completed, returning to step 201 to pick the next pick.

Wherein this step indicates that the pick operation of the current pick has been completed, which is to inform the control system of this information.

Alternatively, the completion of picking of the current pick item may also be prompted by means of visual or audible information.

The final goal of the item picking is to complete the picking of all items listed in each order that is dispensed. Sometimes, however, an order may include goods stored on multiple goods storage units rather than on one. The picking process of the goods can thus also be carried out for different goods storage units. In an embodiment of the disclosure, the intelligent warehouse picking method is implemented based on a cargo storage unit, as shown in fig. 9, and in this embodiment, the method includes the following steps:

step 301, selecting a goods storage unit to perform a picking operation;

step 302, selecting goods to be subjected to a picking operation;

step 303, indicating the position of the current goods to be picked in the goods storage unit through visual information;

step 304, retrieving goods from the location according to the indication of the visual information;

step 305, identifying cargo information of the fetched cargo;

step 306, judging whether the fetched goods are matched with the current goods to be picked or not according to the goods information obtained by recognition, if yes, executing step 306, otherwise, returning to step 304 until the goods matched with the current goods to be picked in the current order are fetched;

Step 307, indicating the position where the goods are to be placed in the pick storage unit, and placing the goods to the indicated position;

step 308, judging whether the picking of the current goods to be picked is all completed, if yes, continuing to execute step 309, otherwise, returning to step 304 until all the goods to be picked are picked;

step 309, indicating that the picking operation of the good has been completed;

step 310, it is determined whether there is no sort to be performed on the current cargo storage unit, if yes, step 311 is continued, otherwise step 302 is returned until there is no sort to be performed on the current cargo storage unit, which belongs to the current intelligent warehouse sort subsystem.

Step 311, the current cargo storage unit is instructed to leave the current intelligent warehouse picking subsystem, and then the next cargo storage unit picking operation is continuously performed in step 301.

For the intelligent storage goods picking method based on the goods storage unit, the steps can be specifically realized as follows:

step 301, selecting a goods storage unit to perform a picking operation;

in one embodiment of the present disclosure, the goods storage unit to perform the picking operation may be selected according to the order assigned to the current intelligent warehouse picking subsystem.

In one embodiment of the present disclosure, step 301 is preceded by a step 3011 of pre-selecting a set of cargo storage units, and the selection of step 301 is to select one cargo storage unit from the pre-selected set of cargo storage units;

in step 3011, some or all of the preselected set of load storage units may remain in place or be transported to a location near where the intelligent storage picking subsystem is located so that quick replenishment can be performed after picking of the previous load storage unit is completed.

Optionally, step 301 further includes the step of carrying the cargo storage unit to the location in the current intelligent warehouse pick subsystem.

Step 302, selecting goods to be subjected to a picking operation;

in an embodiment of the present disclosure, the step further includes a step 3021 of preprocessing the order allocated to the current intelligent storage picking system or the current intelligent storage picking subsystem, and generating goods information, such as a goods list, of the goods to be picked, where the goods list includes at least information such as a goods name, identification information, and quantity. Table 2 below shows a list of goods including the names, quantities, ID information, pictures and corresponding order information of the different goods.

TABLE 2

In an embodiment of the present disclosure, before or after the step 302, a step 3022 may be further included of carrying the cargo storage unit storing the cargo in the order to the intelligent warehouse picking subsystem location to which the order is allocated.

Typically, step 3021 precedes step 3022.

Step 302, indicating the position of the current goods to be picked in the goods storage unit through visual information;

Corresponding to embodiment 2 of the pick-up indication device, the indication may be provided by a set of light emitting devices located on the cargo storage unit or a set of light emitting devices located at a distance from the cargo storage unit.

The light emitting devices in the same arrangement as the light emitting devices in embodiment 1 can be used, and the intersection points of the light emitted by the light emitting devices corresponding to the rows and columns can uniquely determine the cargo storage area where the cargo is located.

Corresponding to the 5 th embodiment of the goods taking indication device, the 1 st to 4 th embodiments are utilized to carry out combined indication, for example, a mode of combining indication by adopting a projection device and a display screen is adopted, the variety of indication information is increased, and the error rate of goods taking is also reduced.

Optionally, the manual picker receives the indication of visual information through the visual organ, and the process of picking out the goods is completed by using the arm, or the machine picker identifies the visual information through machine vision and converts the visual information into an operation instruction executable by the robot, and the process of picking out the goods is completed by using the mechanical arm.

Optionally, the step 304 further includes a step of detecting whether the picking action has an error, and performing an error prompt when detecting that the error exists, which may be specifically implemented as prompting that an error occurs when detecting that the arm of the picker stretches into the storage unit of the article to be picked beyond the boundary range of the storage partition where the article to be picked is located. The boundary range may be the sum of the boundary of the storage partition and the allowable error value, which may be a fixed value, for example 5cm, or a relative value, for example 30% of the side length of the cargo storage area, or 0. Further, the detection may be performed by the motion recognition apparatus described above, such as a raster detection apparatus, a motion capture device, or other apparatus that can recognize a range of motion, which is not particularly limited by the present disclosure.

Step 305, identifying cargo information of the fetched cargo;

further, this step is performed by the cargo identification means.

Step 306, judging whether the picked goods are matched with the current goods to be picked according to the goods information obtained by recognition, if yes, continuing to execute step 307, otherwise, returning to step 304 to pick again until the goods matched with the current goods to be picked are picked;

Step 307 indicates where the item is to be placed in the pick store and places the item in the indicated location.

For example, when step 306 confirms that the correct goods are taken out, the pick-up indication device indicates the pick-up storage partition where the goods are to be placed, for example, by lighting or flashing, etc., and the pick-up indication device may also display the remaining quantity to be picked corresponding to the goods, for example, when an electronic tag is used as the pick-up indication device, the current quantity of the goods to be picked is 3, and the number of the goods placed into the pick-up storage unit is 2, then the pick-up indication device displays that the remaining quantity to be picked is 1, and then the pick-up resource places the goods into the corresponding pick-up storage partition according to the indication of the pick-up indication device.

Step 308, judging whether the picking of the current goods to be picked is completed or not, if yes, continuing to execute step 309, otherwise, returning to step 304 until the picking of the current goods to be picked is completed;

Step 309, indicating that the pick operation of the current pick to be performed has been completed;

Step 310, determining whether there is no item to be picked in the current item storage unit, if yes, entering step 311, otherwise returning to step 302, and continuing to select the next item to be picked.

Wherein, no pickles are on the current goods storage unit, which means that no pickles contained in the order distributed to the current intelligent warehouse picking subsystem are on the current goods storage unit.

Alternatively, when the determination is yes, notification information is issued that picking for the current item storage unit is completed, and the pick resource may be prompted by way of visual or audible information that picking for the current item storage unit is completed.

Step 311, indicating that the current cargo storage unit leaves the location of the current intelligent warehouse picking subsystem, and returning to step 301, selecting the next cargo storage unit to perform the picking operation and carrying the cargo storage unit to the location of the intelligent warehouse picking subsystem.

The above-described process is a picking process for one cargo storage unit, and in actual application, the picking process for two or more cargo storage units may be sequentially performed, or the picking processes for two or more adjacent cargo storage units may be simultaneously performed in parallel, but the picking process for each of the two or more cargo storage units is performed as well.

While the foregoing embodiments have been described in some detail for purposes of clarity of understanding, it will be understood that the foregoing embodiments are merely illustrative of the invention and are not intended to limit the invention, and that any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.

The present disclosure discloses an A1, an intelligent warehouse picking system, the system includes: control system, resource of choosing goods, goods storage unit, get goods indicating device, choose goods storage unit, choose goods indicating device, wherein: the control system can be communicated with the goods picking resources, the goods storage unit, the goods picking indicating device, the goods picking storage unit and the goods picking indicating device and is used for sending control instructions to control the goods picking process; the goods picking resource is used for picking goods according to the control instruction of the control system and storing the picked goods in the goods picking storage unit; the goods storage unit is used for storing goods in the storage area; the goods taking indicating device is used for indicating the position of the current goods to be picked in the goods storage unit through visual information according to a control instruction of the control system; the goods picking storage unit is used for storing goods, which are taken out from the goods storage unit by the goods picking resources, in a mode corresponding to orders; the goods picking indication device is used for indicating the goods picking resources to store the picked goods to the positions in the goods picking storage units according to the control instructions of the control system. A2, the system according to A1, wherein the control system is a total split type computer control system or a distributed computer control system, and the total split type computer control system comprises a total control server and a plurality of control terminals for receiving control of the total control server; the distributed computer control system includes a plurality of independent control terminals. A3, the system according to A1, wherein the picking resource is a person, a machine or a combination of the person and the machine. A4, the system according to A1, wherein the picking resource comprises a plurality of picking components, and the plurality of picking components work cooperatively to realize picking of cargoes. A5, the system according to A1, wherein the cargo storage unit forms a cargo storage area comprising a plurality of cargo storage partitions. A6, the system according to A5, wherein the goods storage partition is physically isolated or virtually isolated. A7, the system according to A1, wherein the goods storage area formed by the goods picking storage unit comprises a plurality of goods picking storage subareas. A8, the system according to A7, wherein the order picking storage partition is physically isolated or virtually isolated. A9, the system of A5 or A7, the memory partition being dynamically adjusted. A10, the system according to A1, wherein the goods taking indication device and/or the goods picking indication device are/is visual information output devices. A11, the system according to A10, wherein the visual information output device is one or a combination of a plurality of light emitting devices, projection devices, display devices, electronic tags and lamps. A12, the system according to A11, wherein the visual information output device is specifically a projection device, and the projection device indicates by projecting an image to the goods storage unit and/or the goods picking storage unit, and displaying special visual image information in the goods storage partition where the goods are to be taken out and/or the goods picking storage partition where the goods are to be stored. A13, the system according to A12, wherein the special visual image information comprises one or more of special patterns, special colors and specified characters, wherein the specified characters are one or more of the information of pictures, names, specifications, classifications, quantity to be picked and unique position identification marks of the current goods to be picked; the special pattern is a pattern which forms visual difference with visual images of other storage partitions and attracts visual attention; the special color is a color block which can just cover the shape of the storage partition where the current goods to be picked are or is slightly bigger than the shape of the storage partition. A14, the system according to any one of A1-A10, further comprising an action recognition device for detecting whether the action of picking goods in the goods storage unit and/or storing the goods in the goods storage unit by the goods picking resource is correct or not, and sending the detection result to the control system. A15, the system according to any one of A1-A10, further comprising an action recognition device, wherein the action recognition device is used for detecting whether one or more picking components of the picking resource exceed the boundary range of a goods storage partition of a goods storage unit where the goods to be picked are located when the goods are picked by the picking resource, and sending a detection result to the control system; and/or the action recognition device is used for detecting whether one or more picking components of the picking resource exceed the boundary range of the picking storage subarea of the picking storage unit in which the objects to be picked are stored when the picking resource stores the objects, and sending the detection result to the control system. A16, the system of A15, wherein the boundary range is a sum of a boundary of the memory partition and an allowable error value. A17, the system of any one of A1-A10, further comprising a cargo identification device for identifying cargo information of the cargo retrieved from the cargo storage unit by the pick-up resource. A18, the system of any of A1-a10, further comprising a carrying device for carrying the cargo storage unit according to control instructions of the control system. A19, the system according to any one of A1-A10, further comprising a warning device, wherein the warning device is used for sending warning information according to a control instruction of the control system. A20, the system according to A1-A16, wherein the goods picking resources, the goods storage units, the goods picking indication devices, the action recognition devices, the goods picking storage units, the goods picking indication devices, the goods recognition devices, the carrying devices and/or the warning devices are provided with state detection devices, and the state detection devices are used for monitoring state information of the goods picking resources, the goods storage units, the goods picking indication devices, the action recognition devices, the goods picking storage units, the goods picking indication devices, the goods recognition devices, the carrying devices and/or the warning devices in real time and feeding back the state information to the control system.

The present disclosure discloses a B21, an intelligent warehouse picking system, the system comprising: control system, goods storage unit and one or more intelligent storage picking subsystem, wherein: the intelligent storage picking subsystem is used for executing intelligent storage picking operation in parallel according to the control of the control system; the intelligent storage goods picking subsystem comprises a control terminal, goods picking resources, a goods picking indicating device, a goods picking storage unit and a goods picking indicating device, wherein: the control terminal can be communicated with the control system, the goods storage unit, the goods picking resources, the goods picking indicating device and the goods picking indicating device, and is used for sending control instructions according to the instructions of the control system and controlling the goods picking process; the goods picking resource is used for picking goods according to the control instruction of the control terminal and storing the picked goods in the goods picking storage unit; the goods storage unit is used for storing goods in the storage area; the goods taking indicating device is used for indicating the position of the current goods to be picked in the goods storage unit through visual information according to the control instruction of the control terminal; the goods picking storage unit is used for storing goods, which are picked from the goods storage unit, by the goods picking resources in a mode corresponding to the order; the goods picking indication device is used for indicating the goods picking resources to store the picked goods to the positions in the goods picking storage units according to the control instructions of the control terminal. B22, the system of B21, further comprising a carrying device for carrying the cargo storage unit according to a control instruction of the control system. B23, the system according to B21, wherein the intelligent warehouse picking subsystem further comprises a goods identification device, and the goods identification device is used for identifying goods information of goods taken out from the goods storage unit by the picking resource. B24, the system according to B21, said intelligent warehouse picking subsystem further comprises a warning device, said warning device is used for sending out warning information according to the control instruction of said control terminal. B25, the system according to B21, the intelligent warehouse picking subsystem further comprises an action recognition device, wherein the action recognition device is used for detecting whether the actions of picking goods in the goods storage unit and/or storing the goods in the goods storage unit by the picking resource are correct or not, and sending the detection result to the control terminal. B26, the system according to B21, further comprising an action recognition device, wherein the action recognition device is used for detecting whether one or more picking components of the picking resource exceed the boundary range of the goods storage partition of the goods storage unit where the goods to be picked are located when the picking resource picks the goods, and sending the detection result to the control system; and/or the action recognition device is used for detecting whether one or more picking components of the picking resource exceed the boundary range of the picking storage subarea of the picking storage unit in which the objects to be picked are stored when the picking resource stores the objects, and sending the detection result to the control system. B27, the system of B25, wherein the boundary range is a sum of a boundary of the memory partition and an allowable error value.

The present disclosure discloses a C28, an intelligent warehouse picking system, the system comprising: control system, goods storage unit, pick storage unit and one or more intelligent storage pick subsystem, wherein: the intelligent storage picking subsystem is used for executing intelligent storage picking operation in parallel according to the control of the control system; the intelligent storage goods picking subsystem comprises a control terminal, goods picking resources, a goods picking indicating device and a goods picking indicating device, wherein: the control terminal can be communicated with the control system, the goods storage unit, the goods picking resources, the goods picking indicating device and the goods picking indicating device, and is used for sending control instructions according to the instructions of the control system and controlling the goods picking process; the goods picking resource is used for picking goods according to the control instruction of the control terminal and storing the picked goods in the goods picking storage unit; the goods storage unit is used for storing goods in the storage area; the goods taking indicating device is used for indicating the position of the current goods to be picked in the goods storage unit through visual information according to the control instruction of the control terminal; the goods picking storage unit is used for storing goods, which are picked from the goods storage unit, by the goods picking resources in a mode corresponding to the order; the goods picking indication device is used for indicating the goods picking resources to store the picked goods to the positions in the goods picking storage units according to the control instructions of the control terminal. C29, the system of C28, further comprising a carrying device for carrying the cargo storage unit according to control instructions of the control system. C30, the system of C28, wherein the intelligent warehouse picking subsystem further comprises a goods identification device for identifying goods information of the goods taken out of the goods storage unit by the picking resource. C31, the system according to C28, the intelligent warehouse picking subsystem further comprises a warning device, wherein the warning device is used for sending out warning information according to the control instruction of the control terminal. And C32, the system according to C28, wherein the intelligent warehouse picking subsystem further comprises an action recognition device, and the action recognition device is used for detecting whether the actions of picking goods in the goods storage unit and/or storing the goods in the goods storage unit by the picking resource are correct or not and sending the detection result to the control terminal. C33, the system of C28, further comprising an action recognition device configured to detect, when the pick resource picks the goods, whether one or more pick components of the pick resource exceeds a boundary range of a goods storage partition of a goods storage unit in which the goods to be picked are located, and send a detection result to the control system; and/or the action recognition device is used for detecting whether one or more picking components of the picking resource exceed the boundary range of the picking storage subarea of the picking storage unit in which the objects to be picked are stored when the picking resource stores the objects, and sending the detection result to the control system. C34, the system of C33, the boundary range being a sum of a boundary of the memory partition and an allowable error value.

The disclosure discloses a D35 intelligent storage picking method, which comprises the following steps: the method comprises the steps of indicating the position of a current goods to be picked in a goods storage unit in a current order through visual information, and taking out goods from the position according to the indication of the visual information; judging whether the goods are matched; if so, the location where the good is to be placed in the pick store is indicated and the good is placed in the indicated location. D36, the method of D35, the visual information comprising: one or more of luminescence information, light emission information, projection information, display information. D37, the method according to D36, wherein the visual information is projection information, specifically, the visual information is indicated by projecting an image to the goods storage unit and/or the pick-up storage unit, and displaying special visual image information in the goods storage partition where the goods are to be taken out and/or the pick-up storage partition where the goods are to be stored. D38, according to the method of D37, special visual image information including one or more of special patterns, special colors and specified characters, wherein the specified characters are one or more of a picture, a name, a specification, a classification, a quantity of goods to be picked and a unique position identification mark of the current goods to be picked; the special pattern is a pattern which forms visual difference with visual images of other storage partitions and attracts visual attention; the special color is a color block which can just cover the shape of the storage partition where the current goods to be picked are or is slightly bigger than the shape of the storage partition. D39, the method according to D35, wherein the determining whether the cargo matches specifically includes: identifying cargo information of the retrieved cargo; and judging whether the goods to be picked currently in the current order are matched with the goods to be picked currently according to the identified goods information. D40, the method of D35, further comprising detecting whether the actions of picking and/or storing the goods in the goods storage unit are correct, and performing error notification when an error is detected. D41, the method of D40, wherein detecting whether the action has an error comprises: detecting whether one or more picking components of the picking resource exceed the boundary range of the goods storage subarea of the goods storage unit where the goods to be picked are located when the goods are picked by the picking resource, and carrying out error prompt when errors exist; and/or detecting whether one or more picking components of the picking resource exceeds the boundary range of the picking storage partition of the picking storage unit in which the to-be-picked objects are to be stored when the picking resource stores the goods, and performing error prompt when detecting that the error exists. D42, the method of D41, wherein the boundary range is a sum of a boundary of the memory partition and the allowable error value. D43, the method of D40 or D41, further comprising the step of correcting the indication of the malfunction. D44, the method of D35, further comprising the step of selecting an order to be subjected to the pick operation before the location is indicated by the visual information. D45, selecting an order to be subjected to the picking operation according to a preset rule according to the method described in D44. D46, according to the method of D45, the preset rule is any one of the following rules: according to the sequence of the order generation time; randomly extracting; according to the order of the number of commodity types from small to large; in order of the number of goods from small to large. D47, the method of D44, wherein the step of selecting an order to be subjected to the pick operation further comprises: distributing orders waiting for performing picking operation to the current intelligent storage picking system or the current intelligent storage picking subsystem; and carrying the goods storage unit storing the goods in the order to the position of the intelligent storage picking subsystem allocated with the order. D48, the method according to any one of D35-D47, further comprising, after the placing the cargo to the indicated position: judging whether the current order is completed or not, if yes, indicating that the picking operation of the current order is completed, and continuing to execute the next order operation; and if not, continuing to execute the picking operation according to the indication of the visual information until the picking operation of the current order is completed. D49, the method of D35, further comprising the step of selecting goods to be subjected to the pick operation before the location is indicated by the visual information. D50, selecting orders to be subjected to picking operation according to a preset rule according to the method of D49. D51, according to the method of D50, the preset rule is any one of the following rules: randomly extracting; in order of at least the number of the goods in the order. D52, the method of D49, after the step of selecting the good for which the pick operation is to be performed, further comprising, prior to indicating the location by visual information: distributing orders waiting for performing picking operation to the current intelligent storage picking system or the current intelligent storage picking subsystem; and carrying the goods storage unit storing the goods in the order to the position of the intelligent storage picking subsystem allocated with the order. D53, the method of any one of D35-D43, D49-D52, after placing the cargo in the indicated location, further comprising: and judging whether the picking of the current goods to be picked is completed or not, if so, indicating that the picking operation of the goods is completed, executing the picking operation of the next goods to be picked, otherwise, continuing to pick the goods according to the indication of the visual information until the picking of the current goods to be picked is completed. D54, the method of any one of D35-D43, further comprising, prior to indicating the location by the visual information: selecting a goods storage unit to perform a pick operation; selecting goods to be subjected to the picking operation; and after said placing said cargo to the indicated location, further comprising: judging whether the picking of the current goods to be picked is completed or not, if so, indicating that the goods picking operation of the goods is completed, otherwise, continuing to pick the goods according to the indication of the visual information until all the goods to be picked are picked; judging whether the current goods storage unit has no goods to be picked or not, if so, indicating the current goods storage unit to leave the position of the current intelligent storage goods-picking subsystem, then continuing to execute the picking operation of the next goods storage unit, otherwise, continuing to select the goods to be subjected to the goods-picking operation until the current goods storage unit has no goods to be picked, which belong to the current intelligent storage goods-picking subsystem. D55, the method according to D35, further comprising the step of printing the bill of goods and/or the express bill of goods of the current order and placing the printed bill of goods and/or the express bill of goods into the pick-up storage partition of the corresponding pick-up storage unit. D56, the method of D35, further comprising indicating that the pick operation of the current pick to be performed by means of visual or audio information.

Claims

1. An intelligent warehouse picking system, the system comprising: control system, goods storage unit, carrier device and a plurality of intelligent storage picking subsystem, wherein:

the goods storage unit is used for storing goods in the storage area;

the intelligent storage picking subsystem is used for executing intelligent storage picking operation in parallel according to the control of the control system; wherein the intelligent warehouse picking subsystem is assigned an order awaiting a pick operation to be performed prior to the pick operation being performed;

the carrying device is used for carrying the goods storage unit storing the goods in the order to the position of the intelligent storage picking subsystem allocated with the order according to the instruction of the control system;

The goods taking indicating device is used for indicating the position of the current goods to be picked in the goods storage unit through visual information according to the control instruction of the control terminal; the goods taking indication device comprises a projection device and a display device, wherein the projection device is used for projecting images to the goods storage unit, displaying special visual image information in goods storage partitions of goods to be taken out for indication, and the display device is used for displaying storage partition division conditions of the goods storage unit in the direction facing to goods picking resources and the goods picking information of the current goods to be picked;

2. The system of claim 1, wherein the pick resource is a person, a machine, or a combination of a person and a machine.

3. The system of claim 1, wherein the pick resource comprises a plurality of pick components that work in concert to effect pick of the goods.

4. The system of claim 1, wherein the cargo storage unit forms a cargo storage area comprising a plurality of cargo storage compartments.

5. The system of claim 4, wherein the cargo storage partition is physically or virtually isolated.

6. The system of claim 1, wherein the pick storage unit forms a cargo storage area comprising a plurality of pick storage compartments.

7. The system of claim 6, wherein the pickles storage partitions are physically isolated or virtually isolated.

8. The system of claim 7, wherein the memory partition is dynamically adjusted.

9. The system of claim 1, wherein the order picking indication device is a visual information output device.

10. The system of claim 9, wherein the visual information output device is one or a combination of a light emitting device, a projection device, a display device, an electronic tag, a light timer.

11. The system according to claim 10, wherein the visual information output means is in particular a projection means which indicates by projecting an image to the goods storage unit and/or the pick-up storage unit displaying special visual image information in the goods storage compartment where the goods are to be retrieved and/or the pick-up storage compartment where the goods are to be stored.

12. The system of claim 11, wherein the special visual image information comprises one or more of a special pattern, a special color, a specified character,

the appointed characters are one or more of the information of the current goods to be picked, such as pictures, names, specifications, classifications, quantity to be picked and unique position identification marks of the current goods to be picked;

the special pattern is a pattern which forms visual difference with visual images of other storage partitions and attracts visual attention;

the special color is a color block which can just cover the shape of the storage partition where the current goods to be picked are or is slightly bigger than the shape of the storage partition.

13. The system according to any one of claims 1-12, wherein the pick resources, the goods storage units, the pick indication devices, the pick storage units, the pick indication devices and the carriers are provided with status detection means for monitoring status information of the pick resources, the goods storage units, the pick indication devices, the pick storage units, the pick indication devices, the carriers in real time and feeding back to the control system.

14. The system of any one of claims 1-12, wherein the intelligent warehouse picking subsystem further comprises a cargo identification device for identifying cargo information for a cargo retrieved from the cargo storage unit by a picking resource.

15. The system of any one of claims 1-12, wherein the intelligent warehouse picking subsystem further comprises a warning device for sending warning information according to a control instruction of the control terminal.

16. The system according to any one of claims 1-12, wherein the intelligent warehouse picking subsystem further comprises an action recognition device for detecting whether the actions of picking goods in the goods storage unit and/or depositing goods in the goods storage unit by the picking resource are correct or not, and for transmitting the detection result to the control terminal.

17. The system of claim 1, further comprising an action recognition device for detecting whether one or more pick components of the pick resource are out of a boundary of a cargo storage section of a cargo storage unit in which the pick resource is located when the pick resource picks the cargo, and for transmitting the detection result to the control system;

And/or the action recognition device is used for detecting whether one or more picking components of the picking resource exceed the boundary range of the picking storage subarea of the picking storage unit in which the objects to be picked are stored when the picking resource stores the objects, and sending the detection result to the control system.

18. The system of claim 17, wherein the boundary range is a sum of a boundary of a memory partition and an allowable error value.

19. An intelligent warehouse picking system, the system comprising: control system, goods storage unit, carrier, pick storage unit and a plurality of intelligent storage pick subsystem, wherein:

the goods storage unit is used for storing goods in the storage area;

the carrying device is used for carrying the goods storage unit where the goods contained in the corresponding order are located to the vicinity of the position where the corresponding intelligent storage picking subsystem is located according to the instruction of the control system;

20. The system of claim 19, wherein the intelligent warehouse picking subsystem further comprises a cargo identification device for identifying cargo information for the cargo retrieved from the cargo storage unit by the picking resource.

21. The system of claim 19, wherein the intelligent warehouse picking subsystem further comprises a warning device for sending warning information according to a control instruction of the control terminal.

22. The system of claim 19, wherein the intelligent warehouse picking subsystem further comprises an action recognition device for detecting whether the actions of picking the goods in the goods storage unit and/or depositing the goods in the goods storage unit by the picking resource are correct, and transmitting the detection result to the control terminal.

23. The system of claim 19, further comprising an action recognition device for detecting whether one or more pick components of the pick resource are out of the boundary of the cargo storage section of the cargo storage unit in which the pick item is located when the pick resource picks the cargo, and for transmitting the detection result to the control system;

24. The system of claim 23, wherein the boundary range is a sum of a boundary of a memory partition and an allowable error value.

25. The intelligent storage goods picking method is applied to an intelligent storage goods picking system and is characterized by comprising a control system, a goods storage unit, a carrying device and a plurality of intelligent storage goods picking subsystems; the intelligent storage goods picking subsystem comprises a control terminal, goods picking resources, a goods picking indicating device, a goods picking storage unit and a goods picking indicating device, wherein the goods picking indicating device comprises a projection device and a display device; the method comprises the following steps:

Selecting an order for which a pick operation is to be performed;

distributing orders waiting for performing the picking operation to the current intelligent storage picking subsystem;

carrying the goods storage units storing the goods in the order to the position of the intelligent storage picking subsystem allocated with the order by a carrying device;

judging whether the goods are matched; if the information is matched, indicating the position of the goods to be placed in the goods picking storage unit contained in the corresponding intelligent storage goods picking subsystem, and placing the goods to the indicated position;

wherein the visual information comprises: projection information and display information; the indicating, by the visual information, a location of the current pick item in the current order in the item storage unit includes:

and projecting an image to the goods storage unit through the projection device, displaying special visual image information in the goods storage partition of the goods to be taken out for indication, and displaying the storage partition division condition of the goods storage unit in the direction facing the goods picking resource and the goods picking information of the current goods to be picked through the display device.

26. The method of claim 25, wherein the visual information comprises: one or more of luminescence information, light emission information, projection information, display information.

27. The method of claim 26, wherein the method further comprises:

the indication is made by projecting an image to the pick store unit, displaying special visual image information in the pick store section where the goods are to be stored.

28. The method of claim 27, wherein the special visual image information comprises one or more of a special pattern, a special color, a specified character,

29. The method of claim 25, wherein determining whether the good matches specifically comprises:

Identifying cargo information of the retrieved cargo;

30. The method of claim 25, further comprising detecting whether the act of picking and/or depositing the item in the item storage unit is correct and performing an error notification when an error is detected.

31. The method of claim 30, wherein detecting whether an error exists in the action comprises:

32. The method of claim 31, wherein the boundary range is a sum of a boundary of a memory partition and an allowable error value.

33. The method of claim 30, further comprising the step of correcting the indication of the false action.

34. The method of claim 25, wherein the order for which the pick operation is to be performed is selected according to a preset rule.

35. The method of claim 34, wherein the preset rule is any one of the following rules:

according to the sequence of the order generation time;

randomly extracting;

according to the order of the number of commodity types from small to large;

in order of the number of goods from small to large.

36. The method of any one of claims 25-35, wherein after the placing the cargo in the indicated position, further comprising:

judging whether the current order is completed or not, if yes, indicating that the picking operation of the current order is completed, and continuing to execute the next order operation; and if not, continuing to execute the picking operation according to the indication of the visual information until the picking operation of the current order is completed.

37. The method of claim 25, further comprising the step of selecting goods to be subjected to the pick operation prior to indicating the location by the visual information.

38. The method of claim 37, wherein the order for which the pick operation is to be performed is selected according to a preset rule.

39. The method of claim 38, wherein the preset rule is any one of the following rules:

randomly extracting;

in order of at least the number of the goods in the order.

40. The method of claim 37, further comprising, after the step of selecting the item to perform the pick operation, prior to indicating the location by visual information:

orders waiting to perform pick operations are assigned to the current intelligent warehouse pick subsystem.

41. The method of any one of claims 25-35, 37-40, further comprising, after placing the cargo in the indicated location:

and judging whether the picking of the current goods to be picked is completed or not, if so, indicating that the picking operation of the goods is completed, executing the picking operation of the next goods to be picked, otherwise, continuing to pick the goods according to the indication of the visual information until the picking of the current goods to be picked is completed.

42. The method of any one of claims 25-33, further comprising, prior to indicating the location by visual information:

selecting a goods storage unit to perform a pick operation;

selecting goods to be subjected to the picking operation;

And after placing the cargo in the indicated position, further comprising:

43. The method of claim 25, further comprising the step of printing the inventory and/or the express delivery side sheets of the current order and placing them in a pick-up storage section of the corresponding pick-up storage unit.

44. The method of claim 25, further comprising indicating by way of visual or audible information that the pick operation of the current pick item has been completed.