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 PDF

Info

Publication number
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
Authority
CN
China
Prior art keywords
picking
cargo
order
trucks
task
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201810014437.9A
Other languages
Chinese (zh)
Inventor
黄民
李鹏成
刘相权
李启光
李天剑
陈猛
李宝杰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Jingdong Shangke Information Technology Co Ltd
Beijing Information Science and Technology University
Original Assignee
Beijing Jingdong Shangke Information Technology Co Ltd
Beijing Information Science and Technology University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Jingdong Shangke Information Technology Co Ltd, Beijing Information Science and Technology University filed Critical Beijing Jingdong Shangke Information Technology Co Ltd
Publication of CN109867077A publication Critical patent/CN109867077A/en
Pending legal-status Critical Current

Links

Landscapes

  • Image Analysis (AREA)
  • Warehouses Or Storage Devices (AREA)

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

For the system for picking of storing in a warehouse, method, apparatus, order-picking trucks and shuttle
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.
CN201810014437.9A 2017-12-04 2018-01-08 For the system for picking of storing in a warehouse, method, apparatus, order-picking trucks and shuttle Pending CN109867077A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201711262905 2017-12-04
CN2017112629056 2017-12-04

Publications (1)

Publication Number Publication Date
CN109867077A true CN109867077A (en) 2019-06-11

Family

ID=63508872

Family Applications (3)

Application Number Title Priority Date Filing Date
CN201810014437.9A Pending CN109867077A (en) 2017-12-04 2018-01-08 For the system for picking of storing in a warehouse, method, apparatus, order-picking trucks and shuttle
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

Family Applications After (2)

Application Number Title Priority Date Filing Date
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

Country Status (1)

Country Link
CN (3) CN109867077A (en)

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110586489A (en) * 2019-08-06 2019-12-20 广东工业大学 Intelligent vehicle for classifying articles based on image recognition and control method thereof
CN111126705A (en) * 2019-12-25 2020-05-08 北京旷视机器人技术有限公司 Transport path generation method and device for dense warehousing and electronic equipment
CN111754515A (en) * 2019-12-17 2020-10-09 北京京东尚科信息技术有限公司 Method and device for sequential gripping of stacked articles
CN111768138A (en) * 2019-06-17 2020-10-13 北京京东乾石科技有限公司 Goods picking method, device, equipment and medium
CN112308491A (en) * 2020-11-09 2021-02-02 湖北普罗劳格科技股份有限公司 Goods inventory monitoring method, device, equipment and computer readable storage medium
CN112499075A (en) * 2019-09-16 2021-03-16 北京京东乾石科技有限公司 Automatic goods sorting method, device and system
CN113642817A (en) * 2020-04-27 2021-11-12 北京京东振世信息技术有限公司 Method and device for generating picking task information
CN113762877A (en) * 2021-03-25 2021-12-07 北京京东振世信息技术有限公司 Distribution method, device, equipment and medium for warehouse delivery station platform port
CN113821002A (en) * 2021-04-29 2021-12-21 宁波舜宇智能科技有限公司 Sorting control system
CN114275437A (en) * 2022-01-14 2022-04-05 沈阳新松机器人自动化股份有限公司 System for realizing intelligent vehicle selection of annular shuttle
CN114275433A (en) * 2021-12-30 2022-04-05 永山窍档案管理有限公司 Rapid selection method based on automatic equipment task scheduling
CN116739478A (en) * 2023-06-19 2023-09-12 广东云药科技有限公司 Intelligent storage man-machine interaction cargo management system

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109969178B (en) * 2019-03-26 2021-09-21 齐鲁工业大学 Multi-material autonomous carrying device and method based on multi-sensor
CN110040412A (en) * 2019-04-24 2019-07-23 深圳市海柔创新科技有限公司 Intelligent warehousing system, processing terminal, storage robot and intelligent storage method
CN110589331B (en) * 2019-09-20 2024-04-05 上海发那科机器人有限公司 Material distributing robot system and processing method
CN111099363B (en) * 2020-01-09 2021-10-22 湖南视比特机器人有限公司 Stacking method, stacking system and storage medium
CN111524184B (en) * 2020-04-21 2024-01-16 湖南视普瑞智能科技有限公司 Intelligent unstacking method and unstacking system based on 3D vision
CN112651297A (en) * 2020-11-23 2021-04-13 北京旷视机器人技术有限公司 Warehouse entry management method and device, warehouse management system and electronic system
CN112308922A (en) * 2020-11-25 2021-02-02 南京鸿昌智能货架有限公司 Deep learning-based automatic goods-searching positioning method and system for shuttle
CN112818992B (en) * 2021-02-26 2024-02-09 梅卡曼德(北京)机器人科技有限公司 Identification method for stacking box
CN112793982B (en) * 2021-03-25 2021-07-09 罗伯泰克自动化科技(苏州)有限公司 Stacker goods taking and placing system and application method thereof
CN113724322B (en) * 2021-07-30 2024-05-07 上海动亦科技有限公司 Cargo pallet positioning method and system for unmanned forklift

Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1139410A (en) * 1994-11-24 1997-01-01 西门子公司 Order-picking cell
CN2665073Y (en) * 2003-12-18 2004-12-22 云南昆船第一机械有限公司 Rail type linear type double-station shuttle
CN101184680A (en) * 2005-03-09 2008-05-21 萨米·科特莱恩 Method for placing pallet-free goods packing pieces on a stock rack and conveying from this position as well as controlling feeding system of the packing pieces
CN101312894A (en) * 2005-11-18 2008-11-26 日本亚仕帝科技株式会社 Stacker
CN202864196U (en) * 2012-09-25 2013-04-10 上海精星仓储设备工程有限公司 Automatic warehouse provided with automatic-control stacking machine and conveying cart in matched mode
CN105184527A (en) * 2015-07-23 2015-12-23 广东嘉腾机器人自动化有限公司 AGV-based storage method
CN105579370A (en) * 2013-09-09 2016-05-11 德马泰克公司 Transfer system and material-handling system and method using such transfer system
CN105858029A (en) * 2016-05-20 2016-08-17 九州通医药集团物流有限公司 Hoist for shuttle vehicle
CN106672521A (en) * 2017-03-30 2017-05-17 北京京东尚科信息技术有限公司 Method and device for determining storage positions for objects
CN106743020A (en) * 2017-01-10 2017-05-31 浙江思平智能科技有限公司 A kind of automatic material accesses system and its access method
CN106960304A (en) * 2017-03-31 2017-07-18 北京京东尚科信息技术有限公司 Order processing method and apparatus
CN206447090U (en) * 2017-01-12 2017-08-29 机械工业第六设计研究院有限公司 Many goods yard laneway type pilers
CN107215606A (en) * 2017-05-23 2017-09-29 深圳爱淘城网络科技股份有限公司 A kind of method for sorting and system

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9117281B2 (en) * 2011-11-02 2015-08-25 Microsoft Corporation Surface segmentation from RGB and depth images
BR112016028414A2 (en) * 2014-06-04 2017-08-22 Intelligrated Headquarters Llc method for controlling a robotic cardboard box dumper, and robotic cardboard box dumper
KR20160071898A (en) * 2014-12-12 2016-06-22 동서대학교산학협력단 Method for providing detail explosion image based on Volume Color Pass Extraction Channel Division, and module for the same
CN106447677A (en) * 2016-10-12 2017-02-22 广州视源电子科技股份有限公司 Image processing method and apparatus thereof
CN106570903B (en) * 2016-10-13 2019-06-18 华南理工大学 A kind of visual identity and localization method based on RGB-D camera
CN106709568B (en) * 2016-12-16 2019-03-22 北京工业大学 The object detection and semantic segmentation method of RGB-D image based on deep layer convolutional network
CN107341440A (en) * 2017-05-08 2017-11-10 西安电子科技大学昆山创新研究院 Indoor RGB D scene image recognition methods based on multitask measurement Multiple Kernel Learning

Patent Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1139410A (en) * 1994-11-24 1997-01-01 西门子公司 Order-picking cell
CN2665073Y (en) * 2003-12-18 2004-12-22 云南昆船第一机械有限公司 Rail type linear type double-station shuttle
CN101184680A (en) * 2005-03-09 2008-05-21 萨米·科特莱恩 Method for placing pallet-free goods packing pieces on a stock rack and conveying from this position as well as controlling feeding system of the packing pieces
CN101312894A (en) * 2005-11-18 2008-11-26 日本亚仕帝科技株式会社 Stacker
CN202864196U (en) * 2012-09-25 2013-04-10 上海精星仓储设备工程有限公司 Automatic warehouse provided with automatic-control stacking machine and conveying cart in matched mode
CN105579370A (en) * 2013-09-09 2016-05-11 德马泰克公司 Transfer system and material-handling system and method using such transfer system
CN105184527A (en) * 2015-07-23 2015-12-23 广东嘉腾机器人自动化有限公司 AGV-based storage method
CN105858029A (en) * 2016-05-20 2016-08-17 九州通医药集团物流有限公司 Hoist for shuttle vehicle
CN106743020A (en) * 2017-01-10 2017-05-31 浙江思平智能科技有限公司 A kind of automatic material accesses system and its access method
CN206447090U (en) * 2017-01-12 2017-08-29 机械工业第六设计研究院有限公司 Many goods yard laneway type pilers
CN106672521A (en) * 2017-03-30 2017-05-17 北京京东尚科信息技术有限公司 Method and device for determining storage positions for objects
CN106960304A (en) * 2017-03-31 2017-07-18 北京京东尚科信息技术有限公司 Order processing method and apparatus
CN107215606A (en) * 2017-05-23 2017-09-29 深圳爱淘城网络科技股份有限公司 A kind of method for sorting and system

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
宋洋: "《仓储与配送项目教程》", 31 July 2013 *
钱东人: "《新编现代物流学》", 28 February 2006 *

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111768138A (en) * 2019-06-17 2020-10-13 北京京东乾石科技有限公司 Goods picking method, device, equipment and medium
CN110586489A (en) * 2019-08-06 2019-12-20 广东工业大学 Intelligent vehicle for classifying articles based on image recognition and control method thereof
CN112499075A (en) * 2019-09-16 2021-03-16 北京京东乾石科技有限公司 Automatic goods sorting method, device and system
CN111754515B (en) * 2019-12-17 2024-03-01 北京京东乾石科技有限公司 Sequential gripping method and device for stacked articles
CN111754515A (en) * 2019-12-17 2020-10-09 北京京东尚科信息技术有限公司 Method and device for sequential gripping of stacked articles
CN111126705A (en) * 2019-12-25 2020-05-08 北京旷视机器人技术有限公司 Transport path generation method and device for dense warehousing and electronic equipment
CN113642817A (en) * 2020-04-27 2021-11-12 北京京东振世信息技术有限公司 Method and device for generating picking task information
CN113642817B (en) * 2020-04-27 2024-05-24 北京京东振世信息技术有限公司 Method and apparatus for generating picking task information
CN112308491A (en) * 2020-11-09 2021-02-02 湖北普罗劳格科技股份有限公司 Goods inventory monitoring method, device, equipment and computer readable storage medium
CN113762877A (en) * 2021-03-25 2021-12-07 北京京东振世信息技术有限公司 Distribution method, device, equipment and medium for warehouse delivery station platform port
CN113762877B (en) * 2021-03-25 2024-05-21 北京京东振世信息技术有限公司 Distribution method, device, equipment and medium for warehouse delivery station port
CN113821002A (en) * 2021-04-29 2021-12-21 宁波舜宇智能科技有限公司 Sorting control system
CN113821002B (en) * 2021-04-29 2024-03-08 宁波舜宇智能科技有限公司 Sorting control system
CN114275433B (en) * 2021-12-30 2023-08-08 江苏永山窍档案管理服务有限公司 Rapid selection method based on automatic equipment task scheduling
CN114275433A (en) * 2021-12-30 2022-04-05 永山窍档案管理有限公司 Rapid selection method based on automatic equipment task scheduling
CN114275437A (en) * 2022-01-14 2022-04-05 沈阳新松机器人自动化股份有限公司 System for realizing intelligent vehicle selection of annular shuttle
CN116739478A (en) * 2023-06-19 2023-09-12 广东云药科技有限公司 Intelligent storage man-machine interaction cargo management system

Also Published As

Publication number Publication date
CN109870983A (en) 2019-06-11
CN207876576U (en) 2018-09-18
CN109870983B (en) 2022-01-04

Similar Documents

Publication Publication Date Title
CN109867077A (en) For the system for picking of storing in a warehouse, method, apparatus, order-picking trucks and shuttle
Custodio et al. Flexible automated warehouse: a literature review and an innovative framework
JP7052147B2 (en) Luggage transport system and method
US11697554B2 (en) Hybrid modular storage fetching system
da Costa Barros et al. Robotic mobile fulfillment systems: A survey on recent developments and research opportunities
CN109791477A (en) Hybrid modular storage extraction system
CN116513688A (en) Warehouse management system and method
CN112224733B (en) Warehouse management system and method
US9881277B2 (en) Wrist band haptic feedback system
US10315231B1 (en) Attribute-based container selection for inventory
CN110599075A (en) Warehouse goods turnover management device, system, method and storage medium
US11939162B2 (en) System-directed robotic cart picking
WO2023020105A1 (en) Supplies inventory method and apparatus, and device and storage medium
CN105923334A (en) Auxiliary material automatic distribution system of super-speed cigarette making machine
CN109719042A (en) Piece supplying method, apparatus, electronic equipment and the storage medium of package
CN114620386B (en) Warehouse system and control method thereof
CN106516940A (en) Elevator intelligent logistics transportation system
CN207281586U (en) A kind of Mobile Robotics Navigation control system
JP2003292116A (en) Carrying system
CN206494612U (en) Elevator intelligent logistics delivery system
CN114655621A (en) Conveyance control system, conveyance system, component mounting system, and conveyance control method
Torchio Survey on automated systems for smart warehouses
CN113351495A (en) System, method and apparatus for processing orders
CN115108231A (en) Method and apparatus for controlling transfer robot
CN208790626U (en) Materials handling system

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination