CN109867077A - For the system for picking of storing in a warehouse, method, apparatus, order-picking trucks and shuttle - Google Patents
For the system for picking of storing in a warehouse, method, apparatus, order-picking trucks and shuttle Download PDFInfo
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- CN109867077A CN109867077A CN201810014437.9A CN201810014437A CN109867077A CN 109867077 A CN109867077 A CN 109867077A CN 201810014437 A CN201810014437 A CN 201810014437A CN 109867077 A CN109867077 A CN 109867077A
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Abstract
The application discloses a kind of for the system for picking of storing in a warehouse, method, apparatus, order-picking trucks and shuttle.Wherein, the system for picking of storing in a warehouse, comprising: information management server for receiving picking task, and updates the inventory for corresponding to cargo according to task completed information；Order-picking trucks sorts corresponding cargo for the relevant information according to picking task, and unloading instruction is generated after the completion of sorting cargo, and the relevant information includes Item Title, picking quantity, article position, material size and stockpile number；And the cargo on the order-picking trucks is transferred to platform, and generate task completed information after cargo is transferred to platform for instructing according to the unloading by shuttle.System, method, apparatus, order-picking trucks and shuttle disclosed in the present application for picking of storing in a warehouse, can accurately take out required article and quantity in each sorting task packet, modify quantity in stock automatically, can provide the speed and accuracy of cargo sorting significantly.
Description
The disclosure requires the applying date on December 4th, 2017, application No. is CN201711262905.6, invention and created name
For the priority of the application for a patent for invention of " storage picking robot system ".
Technical field
The present invention relates to computer information processing fields, in particular to a kind of system for picking of storing in a warehouse, side
Method, device, order-picking trucks and shuttle.
Background technique
With the fast development of electric business and logistics, the effect stored in a warehouse in enterprise is increasingly heavier.Currently, most of use
The enterprise of storage requires staff and carries out stock or picking, and the inventory for then manually carrying out cargo again updates etc. subsequent place
Reason.The above action consumes a large amount of manual time and goes to search position of the cargo in warehouse, and delivery speed is slow, and
And the accuracy of picking is dependent on the personal quality for sorting worker.That there are efficiency is lower for the mode that this cargo sorts, labour is strong
The problem of spending larger and higher cost.
In order to improve the above problem of artificial picking, those skilled in the art are it is further proposed that be based on AGV
The warehoused cargo of (Automated Guided Vehicle, also known as AGV trolley) carries thinking, and mainly includes robot arrival
Sorting mode and goods to robot two kinds of concrete schemes of picking mode.Wherein, for the sorting mode of robot arrival, it is
Implement using AGV combination small-sized machine arm and using by the sorting mode of robot to cargo, however this kind of mode has sorting
Size, the weight of cargo are limited larger and sort the lower disadvantage of efficiency.It is to utilize for the sorting mode of goods to robot
AGV or transmission line body are using the picking mode implementation of cargo to robot, however this kind of mode is there are integral layout and with being arranged
It is standby more complex, adapt to the weaker disadvantage of the sorting ability of different size element shape cargos.
Therefore, it is necessary to a kind of new system, method, apparatus, order-picking trucks and shuttles for picking of storing in a warehouse to solve
State problem.
Above- mentioned information are only used for reinforcing the understanding to background of the invention, therefore it disclosed in the background technology part
It may include the information not constituted to the prior art known to persons of ordinary skill in the art.
Summary of the invention
In view of this, the present invention provide it is a kind of for the system for picking of storing in a warehouse, method, apparatus, order-picking trucks and shuttle, energy
It is enough accurately to take out required article and quantity in each sorting task packet, quantity in stock is modified automatically, and cargo can be provided significantly
The speed and accuracy of sorting.
Other characteristics and advantages of the invention will be apparent from by the following detailed description, or partially by the present invention
Practice and acquistion.
According to an aspect of the invention, it is proposed that a kind of system for picking of storing in a warehouse, the system include: information management service
Device for receiving picking task, and updates the inventory for corresponding to cargo according to task completed information；Order-picking trucks, for according to picking
The relevant information of task sorts corresponding cargo, and unloading instruction is generated after the completion of sorting cargo, and the relevant information includes
Item Title, picking quantity, article position, material size and stockpile number；And shuttle, for according to the unloading
Instruction, is transferred to platform for the cargo on the order-picking trucks, and generate task completed information after cargo is transferred to platform.
In a kind of exemplary embodiment of the disclosure, the information management server is also used to communicate by Ethernet
The relevant information of the task is sent to the order-picking trucks.
In a kind of exemplary embodiment of the disclosure, the order-picking trucks, comprising: the first control system, for obtaining
The current position coordinates of order-picking trucks are stated, and according to the relevant information of the picking task, determine the position coordinates of cargo to be sorted,
It controls the order-picking trucks and runs to target position, and cargo to be sorted is placed into the order-picking trucks.
In a kind of exemplary embodiment of the disclosure, first control system is also used to according to cargo to be sorted and institute
The distance for stating order-picking trucks determines the picking sequence of the order-picking trucks；The order-picking trucks is controlled according to the picking sequence, is successively transported
Row arrives target position.
In a kind of exemplary embodiment of the disclosure, the order-picking trucks, further includes: manipulator, for will goods be sorted
Object is placed into the order-picking trucks；And instruction module, for generating unloading instruction after the completion of sorting cargo, and unloaded described
Goods instruction is sent to the shuttle.
In a kind of exemplary embodiment of the disclosure, Profibus- is used between the order-picking trucks and the shuttle
DP infrared light communicator carries out data communication exchange.
In a kind of exemplary embodiment of the disclosure, the order-picking trucks is made as main website by Profibus-DP bus
Data communication exchange is carried out for the shuttle of slave station.
According to an aspect of the invention, it is proposed that a kind of method for picking of storing in a warehouse, appoints this method comprises: receiving picking
Business；Order-picking trucks determines picking sequence, the relevant information includes Item Title, picking number according to the relevant information of picking task
Amount, article position, material size and stockpile number；The order-picking trucks successively carries out cargo and picks according to the picking sequence
Choosing；And the order-picking trucks generates unloading instruction after the completion of sorting cargo.
In a kind of exemplary embodiment of the disclosure, further includes: shuttle is instructed according to the unloading, and cargo is shifted
It unloads to platform；The shuttle generates task completed information after cargo is transferred to platform；And it is completed according to task
Information update corresponds to the inventory of cargo.
In a kind of exemplary embodiment of the disclosure, the order-picking trucks is determined and is picked according to the relevant information of picking task
Goods sequence, comprising: obtain order-picking trucks current position coordinates；According to the relevant information of the picking task, cargo to be sorted is determined
Position coordinates；And the position coordinates according to the current position coordinates and the cargo to be sorted, determine picking sequence.
In a kind of exemplary embodiment of the disclosure, the order-picking trucks as main website, by Profibus-DP bus with
The shuttle as slave station carries out data communication exchange.
According to an aspect of the invention, it is proposed that a kind of device for picking of storing in a warehouse, the device include: receiving module, use
In reception picking task；Sequent modular determines picking sequence, the relevant information for the relevant information according to picking task
Including Item Title, picking quantity, article position, material size and stockpile number；Pick module, for being picked according to
Goods sequence, successively carries out cargo sorting；And instruction module, for generating unloading instruction after the completion of sorting cargo.
In a kind of exemplary embodiment of the disclosure, further includes: goods module is unloaded, it, will for being instructed according to the unloading
Cargo is transferred to platform and unloads；Information module, for generating task completed information after cargo is transferred to platform；And more
New module, for updating the inventory of corresponding cargo according to task completed information.
According to an aspect of the invention, it is proposed that a kind of order-picking trucks, which includes: the first car body；Manipulator is set to institute
The first car body is stated, for extracting cargo to be selected；First cache platform is set to first car body and is equipped with the first conveyer
Structure；And first control mechanism controls the manipulator and sorts corresponding cargo for the relevant information according to picking task,
And unloading instruction is generated after the completion of sorting cargo.
According to an aspect of the invention, it is proposed that a kind of shuttle, which includes: the second car body；Second cache platform,
Set on second car body and it is equipped with second conveyor structure；Second control mechanism will be on order-picking trucks for being instructed according to unloading
Cargo is transferred to platform, and generates task completed information after cargo is transferred to platform.
According to an aspect of the invention, it is proposed that a kind of electronic equipment, which includes: one or more processors；
Storage device, for storing one or more programs；When one or more programs are executed by one or more processors, so that one
A or multiple processors realize such as methodology above.
According to an aspect of the invention, it is proposed that a kind of computer-readable medium, is stored thereon with computer program, the program
Method as mentioned in the above is realized when being executed by processor.
System, method, apparatus, order-picking trucks and shuttle according to the present invention for picking of storing in a warehouse, can accurately take out
Required article and quantity in each sorting task packet, modify quantity in stock automatically, can provide the speed of cargo sorting significantly
And accuracy.
It should be understood that the above general description and the following detailed description are merely exemplary, this can not be limited
Invention.
Detailed description of the invention
Its example embodiment is described in detail by referring to accompanying drawing, above and other target of the invention, feature and advantage will
It becomes more fully apparent.Drawings discussed below is only some embodiments of the present invention, for the ordinary skill of this field
For personnel, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of system architecture for picking of storing in a warehouse shown according to an exemplary embodiment.
Fig. 2 is a kind of block diagram of the system for picking of storing in a warehouse shown according to another exemplary embodiment.
Fig. 3 is a kind of block diagram of the system for picking of storing in a warehouse shown according to another exemplary embodiment.
Fig. 4 is a kind of block diagram of the device for picking of storing in a warehouse shown according to another exemplary embodiment.
Fig. 5 is a kind of flow chart of method for picking of storing in a warehouse shown according to an exemplary embodiment.
Fig. 6 is a kind of order-picking trucks shown according to another exemplary embodiment and the schematic diagram of shuttle.
Fig. 7 is the block diagram of a kind of electronic equipment shown according to an exemplary embodiment.
Fig. 8 schematically shows a kind of computer readable storage medium schematic diagram in disclosure exemplary embodiment.
Specific embodiment
Example embodiment is described more fully with reference to the drawings.However, example embodiment can be real in a variety of forms
It applies, and is not understood as limited to embodiment set forth herein；On the contrary, thesing embodiments are provided so that the present invention will be comprehensively and complete
It is whole, and the design of example embodiment is comprehensively communicated to those skilled in the art.Identical appended drawing reference indicates in figure
Same or similar part, thus repetition thereof will be omitted.
In addition, described feature, structure or characteristic can be incorporated in one or more implementations in any suitable manner
In example.In the following description, many details are provided to provide and fully understand to the embodiment of the present invention.However,
It will be appreciated by persons skilled in the art that technical solution of the present invention can be practiced without one or more in specific detail,
Or it can be using other methods, constituent element, device, step etc..In other cases, it is not shown in detail or describes known side
Method, device, realization or operation are to avoid fuzzy each aspect of the present invention.
Block diagram shown in the drawings is only functional entity, not necessarily must be corresponding with physically separate entity.
I.e., it is possible to realize these functional entitys using software form, or realized in one or more hardware modules or integrated circuit
These functional entitys, or these functional entitys are realized in heterogeneous networks and/or processor device and/or microcontroller device.
Flow chart shown in the drawings is merely illustrative, it is not necessary to including all content and operation/step,
It is not required to execute by described sequence.For example, some operation/steps can also decompose, and some operation/steps can close
And or part merge, therefore the sequence actually executed is possible to change according to the actual situation.
It should be understood that although herein various assemblies may be described using term first, second, third, etc., these groups
Part should not be limited by these terms.These terms are to distinguish a component and another component.Therefore, first group be discussed herein below
Part can be described as the second component without departing from the teaching of disclosure concept.As used herein, term " and/or " include associated
All combinations for listing any of project and one or more.
It will be understood by those skilled in the art that attached drawing is the schematic diagram of example embodiment, module or process in attached drawing
Necessary to not necessarily implementing the present invention, therefore it cannot be used for limiting the scope of the invention.
Fig. 1 is a kind of system architecture for picking of storing in a warehouse shown according to an exemplary embodiment.
As shown in Figure 1, the system architecture 100 for picking of storing in a warehouse may include order-picking trucks 101, order-picking trucks 102, shuttle
103, network 104 and server 105.Network 104 is in order-picking trucks 101, order-picking trucks 102, shuttle 103 and server 105
Between provide communication link medium.Network 104 may include various connection types, for example, wired, wireless communication link or
Fiber optic cables etc..
User can be used terminal device 101,102,103 and be interacted by network 104 with server 105, to receive or send out
Send message etc..Order-picking trucks 101, order-picking trucks 102, the client applications that various control classes can be equipped on shuttle 103.It sorts
Vehicle 101, order-picking trucks 102, shuttle 103 can be the transporting equipment with picking function.
Server 105 can be to provide the server of various services, such as order-picking trucks 101, order-picking trucks 102, shuttle 103
Data are provided and support service function.Data support server 105 can to receive information query request etc. data into
The processing such as row analysis, and processing result (such as target picking information, inventory information) is fed back into order-picking trucks 101, order-picking trucks
102 or shuttle 103.It should be noted that in the embodiment of the present application, server 105 and order-picking trucks 101, order-picking trucks 102 it
Between there is communication, exist between order-picking trucks 101, order-picking trucks 102 and shuttle 103 and communicate, and data support and is worn server 105
It does not write to each other directly between shuttle car 103.The control instruction of shuttle 103 derives from order-picking trucks 101 or order-picking trucks 102,
The writing to each other between order-picking trucks 101 or order-picking trucks 102 of shuttle 103 can also be carried out by means of network 104.Moreover, wearing
The case where control instruction of shuttle car 103 supports server 105 from data is also contained in content of this disclosure.
In the illustrative embodiments, the system proposed by the present invention for picking of storing in a warehouse is to be applied to large-scale electric business
What the cargo of storage was illustrated for sorting.It will be readily appreciated by those skilled in the art that being by the picking that is used to store in a warehouse
The warehoused cargo that system is applied to other field sorts, and makes to following specific embodiments and a variety of retrofit, add, replace
Generation, deletion or other variations, these variations are still in the range of the principle of storage picking robot system proposed by the present invention.
Fig. 2 is a kind of block diagram of the system for picking of storing in a warehouse shown according to another exemplary embodiment.For storing in a warehouse
The system 20 of picking includes: information management server 202, order-picking trucks 204, shuttle 206.
Wherein, information management server 202 updates corresponding cargo for receiving picking task, and according to task completed information
Inventory；The information management server 202 is also used to communicate by Ethernet and sends out the relevant information of the task
It send to the order-picking trucks 204.
Order-picking trucks 204 is used for the relevant information according to picking task, sorts corresponding cargo, and after the completion of sorting cargo
Unloading instruction is generated, the relevant information includes Item Title, picking quantity, article position, material size and inventory
Amount.
The order-picking trucks 204, it may include: the first control system 2042, for obtaining the current location of the order-picking trucks 204
Coordinate；For the relevant information according to the picking task, the position coordinates of cargo to be sorted are determined；For controlling the sorting
Vehicle 204 runs to target position, and cargo to be sorted is placed into the order-picking trucks 204.First control system 2042 is also used
In the picking sequence at a distance from the order-picking trucks 204, determining the order-picking trucks according to cargo to be sorted；For controlling described pick
It selects 204 vehicles according to the picking sequence, successively runs to target position；First control system 2042 further include: manipulator 2044
For cargo to be sorted to be placed into the order-picking trucks；And instruction module 2046, for being generated after the completion of sorting cargo
Unloading instruction, and unloading instruction is sent to the shuttle.
Shuttle 206 is used to be instructed according to the unloading, the cargo on the order-picking trucks is transferred to platform, and in cargo
Task completed information is generated after being transferred to platform.
In a kind of exemplary embodiment of the disclosure, used between the order-picking trucks 204 and the shuttle 206
Profibus-DP infrared light communicator carries out data communication exchange.The order-picking trucks 204 is used as main website, passes through Profibus-DP
Bus carries out data communication exchange as the shuttle 206 of slave station.
System according to the present invention for picking of storing in a warehouse, server send order-picking trucks mission bit stream to, and order-picking trucks passes through
Mission bit stream carries out picking, and shuttle is controlled after the completion of picking by cargo and is transmitted to platform, later again by task completed information
It passes the mode of server back, the whole process of picking can be carried out automatically controlling, can accurately be taken out in each sorting task packet
Required article and quantity, modify quantity in stock automatically, can provide the speed and accuracy of cargo sorting significantly.
Fig. 3 is a kind of block diagram of the system for picking of storing in a warehouse shown according to another exemplary embodiment.For storing in a warehouse
The system 30 of picking includes: to convey shuttle 308 including Warehouse Management System 302, server 304, sorting trolley 306.Its
In, include: sorting trolley IPC (3062) in sorting trolley 306, vision IPC3064, the vehicle-mounted PLC of sorting trolley (3066), sort
Trolley driver 3065, sorting trolley motor 3067, sorting trolley bar code rangefinder 3068；Conveying shuttle 308 includes: conveying
The vehicle-mounted ET200S of shuttle (3082), conveying shuttle driver 3084, conveying shuttle vehicle motor 3086, conveying shuttle bar code
Rangefinder 3088.
Server 304 accesses storage information management system 302, to carry out the transmission of storage data.
Sorting trolley IPC (3062) in sorting trolley 306 and using Ethernet to carry out data between server 304 logical
News exchange；The vehicle-mounted PLC of sorting trolley (3066) is used as main website, conveys the vehicle-mounted ET200S of conveying shuttle in shuttle 308
(3082) it is used as slave station, uses Profibus-DP infrared light communicator to carry out data communication exchange between two vehicles.Sorting trolley vehicle
After carrying the speed of travel that PLC (3062) (main website) determines two vehicles, the frequency conversion of each vehicle is given respectively by Profibus-DP bus
Driver, variable frequency drives control respective motor to realize the travelling control of vehicle, sorting trolley 306 and conveying shuttle
308 selection bar code rangefinders realize position detection.Bar code rangefinder includes sorting trolley bar code rangefinder 3068, with conveying
Shuttle bar code rangefinder 3088.
Fig. 4 is a kind of block diagram of the device for picking of storing in a warehouse shown according to another exemplary embodiment.For storing in a warehouse
The device 40 of picking includes: receiving module 402, sequent modular 404, pick module 406, instruction module 408.For picking of storing in a warehouse
Device 40 further include: unload goods module 412, information module 414, update module 416.
Wherein, receiving module 402 is for receiving picking task；
Sequent modular 404 is used for the relevant information according to picking task, determines picking sequence, the relevant information includes object
The name of an article claims, picking quantity, article position, material size and stockpile number；
Pick module 406 is used to successively carry out cargo sorting according to the picking sequence；And
Instruction module 408 is used to generate unloading instruction after the completion of sorting cargo.
Goods module 410 is unloaded for instructing according to the unloading, cargo is transferred to platform and is unloaded；
Information module 412 is for generating task completed information after cargo is transferred to platform；And
Update module 414 is used to update the inventory of corresponding cargo according to task completed information.
It will be clearly understood that the present disclosure describe how being formed and using particular example, but the principle of the present invention is not limited to
These exemplary any details.On the contrary, the introduction based on present disclosure, these principles can be applied to many other
Embodiment.
Fig. 5 is a kind of flow chart of method for picking of storing in a warehouse shown according to an exemplary embodiment.
As shown in figure 5, receiving picking task in S502.It can be for example, server be received by Ethernet real-time query
The sorting task packet that storage information management system is sent.Task dividable in sorting task packet is picking task and unloading task.
In this application, picking task can be completed for example by order-picking trucks, and unloading task can be completed for example by shuttle.However,
The above task can be completed by other similar transport vehicle, the application is not limited.
In S504, order-picking trucks determines picking sequence, the relevant information includes object according to the relevant information of picking task
The name of an article claims, picking quantity, article position, material size and stockpile number.It include: to obtain order-picking trucks current position coordinates；Root
According to the relevant information of the picking task, the position coordinates of cargo to be sorted are determined；And according to the current position coordinates with
The position coordinates of the cargo to be sorted determine picking sequence.
In one embodiment, can such as server picking task determined by the cdr database of Warehouse Management System
Required relevant information (includes Item Title, picking quantity, article position, material size, stockpile number etc.), then server
Sorting trolley IPC is sent by Ethernet by the relevant information for sorting task packet.
In another embodiment, after sorting trolley IPC receives the relevant information of sorting task packet, pass through OPC communication and read
Take sorting trolley vehicle body changing coordinates；Sorting trolley IPC is by distance of each article apart from sorting trolley vehicle body in sorting task packet
Determine that picking successively sorts.
In S506, the order-picking trucks successively carries out cargo sorting according to the picking sequence.It can be for example, sorting trolley
IPC communicates the communication data area for sending the article position to have sorted to the vehicle-mounted PLC of sorting trolley by OPC, is sorted with controlling
The operation of trolley；The vehicle-mounted PLC of sorting trolley makes sorting trolley quickly run to target position along guide rail by driver control motor
It postpones, sends signal in place to sorting trolley IPC, allow to sort manipulator behavior；Sorting trolley IPC and vision IPC phase intercommunication
News are realized according to task packet-related information sorts manipulator crawl, the movement of goods putting, and it is flat to place items within sorting trolley caching
On platform.
In S508, the order-picking trucks generates unloading instruction after the completion of sorting cargo.Sorting trolley IPC notifies server
Whole packet picking task is completed, while being sent the instruction that allows to unload and being given sorting trolley vehicle-mounted PLC, and so far picking process terminates.
The order-picking trucks carries out data communication with the shuttle as slave station by Profibus-DP bus and exchanges.
It is vehicle-mounted to conveying shuttle after the vehicle-mounted PLC of sorting trolley (main website) receives the instruction that allows to unload of sorting trolley IPC sending
ET200S (slave station) issues current sorting trolley vehicle body position coordinates, and notice conveying shuttle is drawn close to itself, docked.
In S510, shuttle is instructed according to the unloading, and cargo is transferred to platform and is unloaded.Convey shuttle vehicle
Carrying ET200S (slave station) makes to convey shuttle arrival target position by driver control motor, in sorting trolley cache platform
Article is delivered on conveying shuttle by conveying mechanism；After the completion of transmission process, the vehicle-mounted PLC notice conveying shuttle of sorting trolley
Vehicle-mounted ET200S (or automatic) is unloaded to platform, and notifies sorting trolley IPC that unloading is completed, so far sorting trolley Discharging Process
Terminate, can receive next sorting task packet.
In S512, the shuttle generates task completed information after cargo is transferred to platform.Shuttle is conveyed to reach
After platform, linkage conveying is carried out with platform, by item transfer to platform, so far conveying shuttle Discharging Process terminates；Conveying is worn
The vehicle-mounted ET200S of shuttle car by the vehicle-mounted PLC of sorting trolley to sorting trolley IPC report unloading task complete, sorting trolley IPC to
Server reports whole packet task to complete.
In S514, the inventory of corresponding cargo is updated according to task completed information.Server is according to being completed sorting task
The article and quantity taken out in packet modifies the stockpile number of respective articles in database.So far unloading task terminates.
Method according to the present invention for picking of storing in a warehouse, server send order-picking trucks mission bit stream to, and order-picking trucks passes through
Mission bit stream carries out picking, and shuttle is controlled after the completion of picking by cargo and is transmitted to platform, later again by task completed information
It passes the mode of server back, the whole process of picking can be carried out automatically controlling, can accurately be taken out in each sorting task packet
Required article and quantity, modify quantity in stock automatically, can provide the speed and accuracy of cargo sorting significantly.
It will be appreciated by those skilled in the art that realizing that all or part of the steps of above-described embodiment is implemented as being executed by CPU
Computer program.When the computer program is executed by CPU, above-mentioned function defined by the above method provided by the invention is executed
Energy.The program can store in a kind of computer readable storage medium, which can be read-only memory, magnetic
Disk or CD etc..
Further, it should be noted that above-mentioned attached drawing is only place included by method according to an exemplary embodiment of the present invention
Reason schematically illustrates, rather than limits purpose.It can be readily appreciated that above-mentioned processing shown in the drawings is not indicated or is limited at these
The time sequencing of reason.In addition, be also easy to understand, these processing, which can be, for example either synchronously or asynchronously to be executed in multiple modules.
Fig. 6 is a kind of order-picking trucks shown according to another exemplary embodiment and the schematic diagram of shuttle.In this embodiment party
In formula, order-picking trucks and shuttle proposed by the present invention can be used in sorting simultaneously the cargo 220 on multiple cargo pallets 210
It is delivered to end conveyer belt.
As shown in fig. 6, in the present embodiment, cargo pallet 210 is that the structure type based on vertical high rack and support device is presented.
Specifically, vertical high rack and support device mainly includes frame body and is set to the multilayer laminate of frame body at interval in the upper and lower.Each frame body is in length
Array structure is often respectively divided into multiple stacking regions on plate layer by layer, i.e., and due to multiple cargo pallets 210 out.Each cargo support
Can be with the multiple cargos 220 of stacking in disk 210, and the identical cargo 220 of stacking in identical goods pallet 210.Entire warehousing system
It may include the multiple row frame body being arranged substantially in parallel, and the space community between two adjacent column frame bodies makes tunnel 230, tunnel
230 latter end leads to end conveyer belt.
It should be noted that in other embodiments, cargo pallet 210 can be also presented based on other structures form.For example,
Frame body can directly divide on determining face for single layer or cargo pallet 210.For another example, it can also be not limited to put down between each frame body
The arrangement of row multiple row.
As shown in fig. 6, in the present embodiment, order-picking trucks 110 can travel between multiple cargo pallets 210.Into one
Step combines the above-mentioned description in relation to storage environment, and order-picking trucks 110 can travel in each tunnel 230.Wherein, order-picking trucks 110 is main
It to include the first car body, manipulator 111, the first cache platform 112, the first conveying mechanism 113 and identification device 114.
As shown in fig. 6, in the present embodiment, manipulator 111 is arranged on the first car body, for extracting goods to be selected
Object 220.Specifically, the storage environment based on the multilayer cargo pallet 210 in present embodiment with different height, manipulator
111 can further have multiple working depths, and control system can control manipulator 111 and turn between multiple working depths
It changes, to be extracted to the cargo 220 on the cargo pallet 210 (multilayer laminate) of multiple and different height.
As shown in fig. 6, in the present embodiment, the first cache platform 112 is arranged on the first car body, for temporarily storing
The cargo 220 on order-picking trucks 110 is extracted by manipulator 111.The first conveying mechanism 113 is provided in first cache platform 112.
Specifically, the first conveying mechanism 113 can using through being arranged in the structure of the first cache platform 112, such as transfer roller or
Conveyer belt.That is, the two then embodies the first cache platform when the first conveying mechanism 113 in the first cache platform 112 does not work
112 function is used for arrangement of goods 220, and when the first conveying mechanism 113 works, the two then embodies the function of the first conveying mechanism 113
Can, for cargo 220 to be delivered to other positions (such as shuttle 120 or end conveyer belt).
As shown in fig. 6, in the present embodiment, identification device 114 is arranged on the first car body and is connected to control system
It unites, for identification the cargo type of cargo pallet 210.Specifically, when identification device 114 identifies current cargo pallet 210
When cargo type is the cargo type of target goods to be selected, control system controls manipulator 111 and extracts current cargo pallet
210 cargo 220.
Furthermore in the present embodiment, in order to advanced optimize the recognition efficiency and accuracy of identification device 114, cargo
Pallet 210 or in which cargo 220 on be provided with identification label, so as to identification device 114 by scanning, read or induction identification
The mark information of label quickly and accurately identifies the cargo type of cargo pallet 210.For example, which marks
It can be using the form of bar code, two dimensional code or electronic tag.Correspondingly, the identification device 114 of order-picking trucks 110 can be using tool
There are the equipment or structure, such as camera, code reader etc. of visual performance.
As shown in fig. 6, in the present embodiment, shuttle 120 can travel order-picking trucks 110 and end conveyer belt it
Between.Further combined with the above-mentioned description in relation to storage environment, shuttle 120 can be travelled in each tunnel 230, and back and forth in picking
It selects between vehicle 110 and end conveyer belt.Wherein, shuttle 120 mainly includes the second car body, the second cache platform 121 and the
Two conveying mechanisms 122.
As shown in fig. 6, in the present embodiment, the second cache platform 121 is arranged on the second car body, for temporarily storing
The cargo 220 of shuttle 120 is delivered to by order-picking trucks 110.Second conveyor structure 122 is provided in second cache platform 121.Tool
For body, second conveyor structure 122 can be using through the structure that the second cache platform 121 is arranged in, such as transfer roller or biography
Send band.That is, the two then embodies the second cache platform 121 when the second conveyor structure 122 in the second cache platform 121 does not work
Function, be used for arrangement of goods 220, second conveyor structure 122 work when, the two then embodies the function of second conveyor structure 122,
For cargo 220 to be delivered to other positions (such as order-picking trucks 110 or end conveyer belt).
As shown in fig. 6, in the present embodiment, track 130 is laid in tunnel 230, order-picking trucks 110 and shuttle 120
It is separately positioned on track 130, and can be travelled along track 130.That is, passing through the laying of track 130, order-picking trucks 110 and shuttle
120 realize the form in tunnel 230.In addition, the end of track 130 extend to the end in tunnel 230 and with end conveyer belt
Connection.In other embodiments, for example, when cargo pallet 210 is presented otherwise, 230 path of tunnel changes
Or disappear, track 130 can be according to the flexible change and adjustment of LK algorithm demand to cargo 220.That is, track 130 is laid on respectively
Between cargo pallet 210 and end conveyer belt, so that order-picking trucks 110 and shuttle 120 travel on track 130.For another example, it sorts
Vehicle 110 and shuttle 120 can share same track 130, or can use track 130 independent respectively, then or sort
One of vehicle 110 and shuttle 120 travel on track 130, are traveled freely or otherwise wherein another, not with
Present embodiment is limited.
In the present embodiment, control system is at least conveyed with the first car body, manipulator 111, identification device 114, first
Mechanism 113, the second car body and second conveyor structure 122 are separately connected.
Specifically, in the present embodiment, control system can control the driving status of the first car body and the second car body,
The driving status includes at least starting and stopping and travel speed of the first car body and the second car body etc..For example, when need
When extracting new cargo 220, control system controls the starting of order-picking trucks 110 and travels along track 130, when identification device 114 is known
When being clipped to the cargo pallet 210 of corresponding cargo type, identification information can be sent to control system, control system control at this time picks
It selects vehicle 110 to stop, stops after further order-picking trucks 110 can control to be moved to the better position apart from the cargo pallet 210, so as to
220 extraction of cargo movement later.When needing the cargo 220 kept on order-picking trucks 110 being delivered to shuttle 120, control
System controls order-picking trucks 110 and stops, and controls the traveling of shuttle 120 and plug into the position for closing on order-picking trucks 110 and with it.When need
When cargo 220 on shuttle 120 is delivered to end conveyer belt, the control system control traveling of shuttle 120 is to closing on end
Hold the position of conveyer belt.
Meanwhile in the present embodiment, control system can control the first conveying mechanism 113 and second conveyor structure 122
Working condition.For example, when the first cache platform 112 or the second cache platform 121 are used for arrangement of goods 220, control
System controls the first conveying mechanism 113 or second conveyor structure 122 and stops working, plug into when order-picking trucks 110 and shuttle 120 or
When shuttle 120 is docked with end conveyer belt, control system can be according to need to control the first conveying mechanism 113 or second conveyor structure
122 work, so that temporary cargo 220 is sent on the second cache platform 121 or end conveyer belt.
Furthermore in the present embodiment, when order-picking trucks 110 is moved near the cargo pallet 210 that stacking has target goods
And when stopping, control system controls 111 discharging of goods 220 of manipulator.Wherein, the mode of extraction can be set in advance in control system
In system, or by control system progress intelligence learning and judgement.For example, for the cargo pallet 210 of single layer stacking, control system control
The outer cargo 220 of 111 advantage distillation of manipulator processed, i.e. advantage distillation close to tunnel 230 (order-picking trucks 110) cargo 220, from
And stopped when avoiding extracting inner cargo 220 by outer cargo 220.For another example, for the cargo pallet 210 of multilayer stacking,
Control system controls the cargo 220 of 111 advantage distillation top layer of manipulator, to guarantee the stability of multilayer stacking provisions.
In addition, in the present embodiment, control system can receive the identification information of identification device 114, while being capable of root
Identification function and the associated mechanisms movement of identification device 114 are controlled according to the specific structure of identification device 114.To identify dress
114 are set as the equipment with visual performance, i.e., identification device 114 including regulating mechanism (such as holder) and is mounted on adjusting
Shooting or scanning means in mechanism, when needing the identification label to different location to be shot or scanned, control system control
The regulating mechanism adjustment shooting of identification device 114 processed or the visual direction of scanning means, and towards the identification that need to be shot or scan
Label.
Fig. 7 is the block diagram of a kind of electronic equipment shown according to an exemplary embodiment.
The electronic equipment 200 of this embodiment according to the present invention is described referring to Fig. 7.The electronics that Fig. 7 is shown
Equipment 200 is only an example, should not function to the embodiment of the present invention and use scope bring any restrictions.
As shown in fig. 7, electronic equipment 200 is showed in the form of universal computing device.The component of electronic equipment 200 can wrap
It includes but is not limited to: at least one processing unit 210, at least one storage unit 220, (including the storage of the different system components of connection
Unit 220 and processing unit 210) bus 230, display unit 240 etc..
Wherein, the storage unit is stored with program code, and said program code can be held by the processing unit 210
Row, so that the processing unit 210 executes described in this specification above-mentioned electronic prescription circulation processing method part according to this
The step of inventing various illustrative embodiments.For example, the processing unit 210 can execute step as shown in Figure 5.
The storage unit 220 may include the readable medium of volatile memory cell form, such as random access memory
Unit (RAM) 2201 and/or cache memory unit 2202 can further include read-only memory unit (ROM) 2203.
The storage unit 220 can also include program/practical work with one group of (at least one) program module 2205
Tool 2204, such program module 2205 includes but is not limited to: operating system, one or more application program, other programs
It may include the realization of network environment in module and program data, each of these examples or certain combination.
Bus 230 can be to indicate one of a few class bus structures or a variety of, including storage unit bus or storage
Cell controller, peripheral bus, graphics acceleration port, processing unit use any bus structures in a variety of bus structures
Local bus.
Electronic equipment 200 can also be with one or more external equipments 300 (such as keyboard, sensing equipment, bluetooth equipment
Deng) communication, can also be enabled a user to one or more equipment interact with the electronic equipment 200 communicate, and/or with make
Any equipment (such as the router, modulation /demodulation that the electronic equipment 200 can be communicated with one or more of the other calculating equipment
Device etc.) communication.This communication can be carried out by input/output (I/O) interface 250.Also, electronic equipment 200 can be with
By network adapter 260 and one or more network (such as local area network (LAN), wide area network (WAN) and/or public network,
Such as internet) communication.Network adapter 260 can be communicated by bus 230 with other modules of electronic equipment 200.It should
Understand, although not shown in the drawings, other hardware and/or software module can be used in conjunction with electronic equipment 200, including but unlimited
In: microcode, device driver, redundant processing unit, external disk drive array, RAID system, tape drive and number
According to backup storage system etc..
Through the above description of the embodiments, those skilled in the art is it can be readily appreciated that example described herein is implemented
Mode can also be realized by software realization in such a way that software is in conjunction with necessary hardware.Therefore, according to the disclosure
The technical solution of embodiment can be embodied in the form of software products, which can store non-volatile at one
Property storage medium (can be CD-ROM, USB flash disk, mobile hard disk etc.) in or network on, including some instructions are so that a calculating
Equipment (can be personal computer, server or network equipment etc.) executes the above-mentioned electronics according to disclosure embodiment
Prescription circulation processing method.
Fig. 8 schematically shows a kind of computer readable storage medium schematic diagram in disclosure exemplary embodiment.
Refering to what is shown in Fig. 8, describing the program product for realizing the above method of embodiment according to the present invention
800, can using portable compact disc read only memory (CD-ROM) and including program code, and can in terminal device,
Such as it is run on PC.However, program product of the invention is without being limited thereto, in this document, readable storage medium storing program for executing can be with
To be any include or the tangible medium of storage program, the program can be commanded execution system, device or device use or
It is in connection.
Described program product can be using any combination of one or more readable mediums.Readable medium can be readable letter
Number medium or readable storage medium storing program for executing.Readable storage medium storing program for executing for example can be but be not limited to electricity, magnetic, optical, electromagnetic, infrared ray or
System, device or the device of semiconductor, or any above combination.The more specific example of readable storage medium storing program for executing is (non exhaustive
List) include: electrical connection with one or more conducting wires, portable disc, hard disk, random access memory (RAM), read-only
Memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read only memory
(CD-ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.
The computer readable storage medium may include in a base band or the data as the propagation of carrier wave a part are believed
Number, wherein carrying readable program code.The data-signal of this propagation can take various forms, including but not limited to electromagnetism
Signal, optical signal or above-mentioned any appropriate combination.Readable storage medium storing program for executing can also be any other than readable storage medium storing program for executing
Readable medium, the readable medium can send, propagate or transmit for by instruction execution system, device or device use or
Person's program in connection.The program code for including on readable storage medium storing program for executing can transmit with any suitable medium, packet
Include but be not limited to wireless, wired, optical cable, RF etc. or above-mentioned any appropriate combination.
The program for executing operation of the present invention can be write with any combination of one or more programming languages
Code, described program design language include object oriented program language-Java, C++ etc., further include conventional
Procedural programming language-such as " C " language or similar programming language.Program code can be fully in user
It calculates and executes in equipment, partly executes on a user device, being executed as an independent software package, partially in user's calculating
Upper side point is executed on a remote computing or is executed in remote computing device or server completely.It is being related to far
Journey calculates in the situation of equipment, and remote computing device can pass through the network of any kind, including local area network (LAN) or wide area network
(WAN), it is connected to user calculating equipment, or, it may be connected to external computing device (such as utilize ISP
To be connected by internet).
Above-mentioned computer-readable medium carries one or more program, when said one or multiple programs are by one
When the equipment executes, so that the computer-readable medium implements function such as: receiving picking task；Order-picking trucks is according to picking task
Relevant information, determine picking sequence, the relevant information includes Item Title, picking quantity, article position, material size,
And stockpile number；The order-picking trucks successively carries out cargo sorting according to the picking sequence；And the order-picking trucks is sorting
Unloading instruction is generated after the completion of cargo.Shuttle is instructed according to the unloading, and cargo is transferred to platform and is unloaded；It is described to wear
Shuttle car generates task completed information after cargo is transferred to platform；And the library of corresponding cargo is updated according to task completed information
It deposits.
It will be appreciated by those skilled in the art that above-mentioned each module can be distributed in device according to the description of embodiment, it can also
Uniquely it is different from one or more devices of the present embodiment with carrying out corresponding change.The module of above-described embodiment can be merged into
One module, can also be further split into multiple submodule.
By the description of above embodiment, those skilled in the art is it can be readily appreciated that example embodiment described herein
It can also be realized in such a way that software is in conjunction with necessary hardware by software realization.Therefore, implement according to the present invention
The technical solution of example can be embodied in the form of software products, which can store in a non-volatile memories
In medium (can be CD-ROM, USB flash disk, mobile hard disk etc.) or on network, including some instructions are so that a calculating equipment (can
To be personal computer, server, mobile terminal or network equipment etc.) it executes according to the method for the embodiment of the present invention.
It is particularly shown and described exemplary embodiment of the present invention above.It should be appreciated that the present invention is not limited to
Detailed construction, set-up mode or implementation method described herein；On the contrary, it is intended to cover included in appended claims
Various modifications and equivalence setting in spirit and scope.
In addition, structure shown by this specification Figure of description, ratio, size etc., only to cooperate specification institute
Disclosure, for skilled in the art realises that be not limited to the enforceable qualifications of the disclosure with reading, therefore
Do not have technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size are not influencing the disclosure
Under the technical effect and achieved purpose that can be generated, it should all still fall in technology contents disclosed in the disclosure and obtain and can cover
In the range of.Meanwhile cited such as "upper" in this specification, " first ", " second " and " one " term, be also only and be convenient for
Narration is illustrated, rather than to limit the enforceable range of the disclosure, relativeness is altered or modified, without substantive change
Under technology contents, when being also considered as the enforceable scope of the present invention.
Claims (17)
1. a kind of system for picking of storing in a warehouse characterized by comprising
Information management server for receiving picking task, and updates the inventory for corresponding to cargo according to task completed information；
Order-picking trucks sorts corresponding cargo for the relevant information according to picking task, and generates and unload after the completion of sorting cargo
Goods instruction, the relevant information includes Item Title, picking quantity, article position, material size and stockpile number；And
Cargo on the order-picking trucks is transferred to platform, and be transferred in cargo for instructing according to the unloading by shuttle
Task completed information is generated after platform.
2. the system as claimed in claim 1, which is characterized in that the information management server is also used to logical by Ethernet
The relevant information of the task is sent to the order-picking trucks by letter.
3. the system as claimed in claim 1, which is characterized in that the order-picking trucks, further includes:
First control system is believed for obtaining the current position coordinates of the order-picking trucks, and according to the correlation of the picking task
Breath determines the position coordinates of cargo to be sorted, controls the order-picking trucks and run to target position, and cargo to be sorted is placed into
In the order-picking trucks.
4. system as claimed in claim 3, which is characterized in that first control system be also used to according to cargo to be sorted with
The distance of the order-picking trucks determines the picking sequence of the order-picking trucks；Control the order-picking trucks according to the picking sequence, successively
Run to target position.
5. the system as claimed in claim 1, which is characterized in that the order-picking trucks, further includes:
Manipulator, for cargo to be sorted to be placed into the order-picking trucks；And
Instruction module is sent to the shuttle for generating unloading instruction after the completion of sorting cargo, and by unloading instruction
Vehicle.
6. the system as claimed in claim 1, which is characterized in that used between the order-picking trucks and the shuttle
Profibus-DP infrared light communicator carries out data communication exchange.
7. system as claimed in claim 6, which is characterized in that the order-picking trucks is as main website, and the shuttle is as slave station.
8. a kind of method for picking of storing in a warehouse characterized by comprising
Receive picking task；
Order-picking trucks determines picking sequence, the relevant information includes Item Title, picking number according to the relevant information of picking task
Amount, article position, material size and stockpile number；
The order-picking trucks successively carries out cargo sorting according to the picking sequence；And
The order-picking trucks generates unloading instruction after the completion of sorting cargo.
9. method according to claim 8, which is characterized in that further include:
Shuttle is instructed according to the unloading, and cargo is transferred to platform and is unloaded；
The shuttle generates task completed information after cargo is transferred to platform；And
The inventory of corresponding cargo is updated according to task completed information.
10. method according to claim 8, which is characterized in that the order-picking trucks is determined according to the relevant information of picking task
Picking sequence, comprising:
Obtain order-picking trucks current position coordinates；
According to the relevant information of the picking task, the position coordinates of cargo to be sorted are determined；And
According to the position coordinates of the current position coordinates and the cargo to be sorted, picking sequence is determined.
11. method as claimed in claim 9, which is characterized in that the order-picking trucks is total by Profibus-DP as main website
Line carries out data communication with the shuttle as slave station and exchanges.
12. a kind of device for picking of storing in a warehouse characterized by comprising
Receiving module, for receiving picking task；
Sequent modular determines picking sequence, the relevant information includes item name for the relevant information according to picking task
Claim, picking quantity, article position, material size and stockpile number；
Pick module, for successively carrying out cargo sorting according to the picking sequence；And
Instruction module, for generating unloading instruction after the completion of sorting cargo.
13. device as claimed in claim 12, which is characterized in that further include:
Goods module is unloaded, for being instructed according to the unloading, cargo is transferred to platform and is unloaded；
Information module, for generating task completed information after cargo is transferred to platform；And
Update module, for updating the inventory of corresponding cargo according to task completed information.
14. a kind of order-picking trucks, for being sorted to the cargo on cargo pallet characterized by comprising
First car body；
Manipulator is set to first car body, for extracting cargo to be selected；
First cache platform is set to first car body and is equipped with the first conveying mechanism；And
First control mechanism controls the manipulator and sorts corresponding cargo for the relevant information according to picking task, and
Generation unloading instructs after the completion of sorting cargo.
15. a kind of shuttle, for the cargo on order-picking trucks to be delivered to end conveyer belt characterized by comprising
Second car body；
Second cache platform is set to second car body and is equipped with second conveyor structure；
Cargo on order-picking trucks is transferred to platform, and arrive at a station in cargo transfer for instructing according to unloading by the second control mechanism
Task completed information is generated after platform.
16. a kind of electronic equipment characterized by comprising
One or more processors；
Storage device, for storing one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processors are real
The now method as described in any in claim 8-11.
17. a kind of computer-readable medium, is stored thereon with computer program, which is characterized in that described program is held by processor
The method as described in any in claim 8-11 is realized when row.
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| CN201810014627.0A Active CN109870983B (en) | 2017-12-04 | 2018-01-08 | Method and device for processing tray stack image and system for warehousing goods picking |
| CN201820132208.2U Active CN207876576U (en) | 2017-12-04 | 2018-01-25 | Manipulator and storage picking robot system with the manipulator |
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| CN201810014627.0A Active CN109870983B (en) | 2017-12-04 | 2018-01-08 | Method and device for processing tray stack image and system for warehousing goods picking |
| CN201820132208.2U Active CN207876576U (en) | 2017-12-04 | 2018-01-25 | Manipulator and storage picking robot system with the manipulator |
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Also Published As
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| CN207876576U (en) | 2018-09-18 |
| CN109870983B (en) | 2022-01-04 |
| CN109870983A (en) | 2019-06-11 |
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