CN109928131A - A kind of picking area and inventory's radio frequency - Google Patents

A kind of picking area and inventory's radio frequency Download PDF

Info

Publication number
CN109928131A
CN109928131A CN201910354343.0A CN201910354343A CN109928131A CN 109928131 A CN109928131 A CN 109928131A CN 201910354343 A CN201910354343 A CN 201910354343A CN 109928131 A CN109928131 A CN 109928131A
Authority
CN
China
Prior art keywords
sorting
stock container
prospect
channel
robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201910354343.0A
Other languages
Chinese (zh)
Other versions
CN109928131B (en
Inventor
刘凯
王梦迪
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 Jizhijia Technology Co Ltd
Original Assignee
Beijing Jizhijia Technology Co Ltd
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
Priority to CN201910354343.0A priority Critical patent/CN109928131B/en
Application filed by Beijing Jizhijia Technology Co Ltd filed Critical Beijing Jizhijia Technology Co Ltd
Priority to EP23207305.6A priority patent/EP4292881A3/en
Priority to AU2019281676A priority patent/AU2019281676B9/en
Priority to MX2020013234A priority patent/MX2020013234A/en
Priority to JP2020568239A priority patent/JP6957772B2/en
Priority to PCT/CN2019/090424 priority patent/WO2019233484A1/en
Priority to KR1020217000360A priority patent/KR102581222B1/en
Priority to US16/972,003 priority patent/US20210323800A1/en
Priority to CA3102308A priority patent/CA3102308C/en
Priority to EP19814838.9A priority patent/EP3805131B1/en
Publication of CN109928131A publication Critical patent/CN109928131A/en
Application granted granted Critical
Publication of CN109928131B publication Critical patent/CN109928131B/en
Priority to JP2021164805A priority patent/JP7084538B2/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

The invention belongs to warehouse logistics technical fields, specifically disclose a kind of picking area and inventory's radio frequency, a kind of picking area, the picking area includes one or more sorting stations, at least one described sorting station includes: two and sorts channels and be located at two two sorting points sorted on channel；The sorting point sorts target kinds of goods for sorting main body；The sorting channel, providing enters Prospect of Robot Sorting System in the sorting station and leaves the pass for sorting station after the sorting point in the sorting station.Inventory's radio frequency includes above-mentioned picking area.Picking area provided by the invention and inventory's radio frequency can be improved the efficiency of kinds of goods sorting.

Description

A kind of picking area and inventory's radio frequency
Technical field
The present invention relates to warehouse logistics technical field more particularly to a kind of picking area and inventory's radio frequencies.
Background technique
With e-commerce fast development and it is increasingly mature, e-commerce consumer life in play increasingly Important role, higher requirements are also raised to E-business service quality by user, how to improve and sorts efficiency, reduces from ordering Single bear to the time of delivery, reduction labour is always logistic storage industry major issue urgently to be resolved.
In previous robot automated inventory radio frequency, goods to people is a kind of relatively conventional mode.The goods arrives People's mode is based on intelligent Prospect of Robot Sorting System 40, and robot is needed according to order and inventory information, automatic running to target pallet/mesh Immediately below mark stock container and target pallet/base stock container is lifted and be sent to sorting point, it is aobvious equipped with display screen etc. to sort point Showing device, display device prompt remove required goods according to prompt with goods yard information, sorting personnel where kinds of goods needed for goods order Product are put into specified containers to complete picking task, and robot sends pallet/stock container back to specified after picking task Position.
Above-mentioned goods is walked about to people's scheme whole process without personnel, be greatly improved and is sorted efficiency, reduces personnel labor intensity.Value , it is noted that above-mentioned goods, which generallys use one to robot people's scheme, sorts point corresponding one mode for sorting personnel, can go out Now free time of Ren Deng robot to a certain extent is unfavorable for sorting the raising of efficiency.
Summary of the invention
It is an object of the present invention to provide a kind of picking area, when Prospect of Robot Sorting System is waited in line in reduction picking area Between, it improves and sorts efficiency.
It is another object of the present invention to provide a kind of inventory's radio frequency, when reduction Prospect of Robot Sorting System is waited in line Between, it improves and sorts efficiency.
To achieve the above object, the present invention adopts the following technical solutions:
A kind of picking area, which is characterized in that the picking area include it is one or more sort stations, pick described at least one It selects station to include: two to sort channel and be located at two two sorting points sorted on channel；
The sorting point sorts target kinds of goods for sorting main body；
The sorting channel, providing enters Prospect of Robot Sorting System in the sorting station and by the sorting station The pass for sorting station is left after the sorting point.
As a kind of optinal plan of picking area, two sorting channels difference are U-shaped, and side by side or are set side by side, Two it is described sort point is located at it is described sort channel a U-shaped bottoms, it is described sort channel far from the U-shaped opening one End is formed with for the sorting workspace for sorting subject activity.
As a kind of optinal plan of picking area, two sorting channels are disposed proximate to.
As a kind of optinal plan of picking area, two sorting points are disposed proximate to.
As a kind of optinal plan of picking area, it is provided with the opposite sowing wall in two sides in the sorting workspace, it is described Multiple order containers are accommodated on sowing wall, two points that sort are located in the wider space that two sowing walls are formed.
As a kind of optinal plan of picking area, each two sorting channels sorted in station are in U respectively Type and relative spacing setting, two points that sort are located on two U-shaped sides for sorting channel and are oppositely arranged, Two described sort are formed between channel for the sorting workspace for sorting subject activity.
As a kind of optinal plan of picking area, two sorting channel faces and interval setting.
As a kind of optinal plan of picking area, two sorting point faces and interval setting.
As a kind of optinal plan of picking area, two one sorted in channel provide passage along clockwise direction Path, another provides pass in the counterclockwise direction.
As a kind of optinal plan of picking area, the channel that sorts has the entrance for being respectively formed the sorting channel Passing through for entrance grid and the outlet grid for forming the outlet for sorting channel, the entrance grid and the outlet grid is wide Degree is greater than the maximum outside diameter of stock container.
As a kind of optinal plan of picking area, the sorting channel includes the intake channel to form the U-shaped two sides And exit passageway, the exit passageway is located at the adjacent another side for sorting station in the sorting channel, two neighboring to pick Station is selected to share an exit passageway.
As a kind of optinal plan of picking area, the picking area is logically provided with two-dimensional grid, one of them two Tie up the corresponding sorting point of grid.
As a kind of optinal plan of picking area, described sort is located at the two-dimensional mesh for sorting point upstream in channel Trellis is at the region passed through for the Prospect of Robot Sorting System and waited.
As a kind of optinal plan of picking area, at least one two-dimensional grid is provided centrally with the sorting machine People's reference mark used for positioning.
A kind of inventory's radio frequency, comprising:
Stock container area, for storing multiple stock containers；
Prospect of Robot Sorting System, for carrying the stock container；
Picking area, for sorting target kinds of goods from the stock container that the Prospect of Robot Sorting System is carried；
The picking area includes one or more sorting stations, at least one described sorting station includes: that two sortings are logical Road and two sorting points being located on two sorting channels；
The sorting point sorts the target kinds of goods for sorting main body；
The sorting channel, providing enters the Prospect of Robot Sorting System in the sorting station and passes through the sorting station In the sorting point after leave it is described sort station pass.
As a kind of optinal plan of inventory's radio frequency, two sorting channel difference are U-shaped, and side by side or side by side Setting, two points that sort are located at the U-shaped bottom for sorting channel, and the sorting channel is far from the stock container The one end in area is formed with for the sorting workspace for sorting subject activity.
As a kind of optinal plan of inventory's radio frequency, two sorting channels are disposed proximate to.
As a kind of optinal plan of inventory's radio frequency, two sorting points are disposed proximate to.
As a kind of optinal plan of inventory's radio frequency, the opposite sowing in two sides is provided in the sorting workspace Wall, multiple order containers are accommodated on the sowing wall, and two sorting points are located between two sowing walls.
As a kind of optinal plan of inventory's radio frequency, each two sorting channels sorted in station point Not U-shaped and relative spacing is arranged, and two sorting points are located on two U-shaped sides for sorting channel and face Setting, two described sort are formed between channel for the sorting workspace for sorting subject activity.
As a kind of optinal plan of inventory's radio frequency, the sorting face of the stock container in the picking area It is parallel with the sorting U-shaped side in channel.
As a kind of optinal plan of inventory's radio frequency, two one sorted in channel mention along clockwise direction For pass, another provides pass in the counterclockwise direction.
As a kind of optinal plan of inventory's radio frequency, the sorting channel, which has, is respectively formed the sorting channel The entrance grid of entrance and the outlet grid for forming the outlet for sorting channel, the entrance grid and the outlet grid Passage width is greater than the maximum outside diameter of the stock container.
As a kind of optinal plan of inventory's radio frequency, it is described sort channel include to be formed the U-shaped two sides into Mouth channel and exit passageway, the exit passageway is located at the adjacent another side for sorting station in the sorting channel, adjacent Two sorting stations share an exit passageway.
As a kind of optinal plan of inventory's radio frequency, the stock container area and picking area are logically provided with Two-dimensional grid, the corresponding sorting point of one of two-dimensional grid.
As a kind of optinal plan of inventory's radio frequency, described sort is located at the described of sorting point upstream in channel Two-dimensional grid forms the region passed through for the Prospect of Robot Sorting System and waited.
As a kind of optinal plan of inventory's radio frequency, at least one two-dimensional grid is provided centrally with described pick Select robot reference mark used for positioning.
The beneficial effects of the present invention are:
Picking area provided by the invention puts corresponding set by the way that two sorting points are arranged in each sorting station and with sorting It sets and sorts channel, two sorting channels can make to enter in corresponding sorting point for Prospect of Robot Sorting System, lead the same sorting Body can be responsible for two sort point sortings, one sort point on stock container sort after and from the sorting channel into When stock container is not transported on the sorting point also by the Ji Xuan robot entered, sort main body can be to waiting on another sorting point The stock container of sorting is sorted, and the idle waiting time for sorting main body is reduced, and is improved and is sorted efficiency.
Inventory's radio frequency provided by the invention can reduce the free time for sorting main body by the way that above-mentioned picking area is arranged Waiting time improves and sorts efficiency.
Detailed description of the invention
Fig. 1 is the structural schematic diagram for inventory's radio frequency that the embodiment of the present invention one provides；
Fig. 2 is the structural schematic diagram for the stock container that the embodiment of the present invention one provides；
Fig. 3 is the structural schematic diagram for the Prospect of Robot Sorting System that the embodiment of the present invention one provides；
Fig. 4 is the structural schematic diagram that station is sorted in Fig. 1；
Fig. 5 is the structural schematic diagram of the sorting station and stock container that provide in the embodiment of the present invention two；
Fig. 6 is the structural schematic diagram of the sorting station and stock container that provide in the embodiment of the present invention three；
Fig. 7 is the structural schematic diagram of the sorting station and stock container that provide in the embodiment of the present invention four；
Fig. 8 is the structural schematic diagram for inventory's radio frequency that the embodiment of the present invention five provides；
Fig. 9 is the structural schematic diagram that station and stock container are sorted in Fig. 8.
It is marked in figure as follows:
10- picking area；1- sorts station；11- sorts workspace；112- sows wall；12- sorts Accreditation Waiting Area； 121- sorts channel；1211- intake channel；1212- exit passageway；1213- commutation channel；122- sorts point；123- Two-dimensional grid；1231- entrance grid；1232- exports grid；
20- stock container area；201- stock container group；202- stock container；2021- sorts face；2022- interlayer； 2023- label code；2024- support column；203- vertical passage；204- interconnection；
30- public passage；
40- Prospect of Robot Sorting System；401- lifting mechanism；402- driving mechanism；403- scanning means；
50- storage container.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
In the description of the present invention unless specifically defined or limited otherwise, term " connected ", " connection ", " fixation " are answered It is interpreted broadly, for example, it may be being fixedly connected, may be a detachable connection, or is integral；It can be mechanical connection, It can be electrical connection；It can be directly connected, the company inside two elements can also be can be indirectly connected through an intermediary Logical or two elements interaction relationship.For the ordinary skill in the art, can be understood with concrete condition above-mentioned The concrete meaning of term in the present invention.
In the present invention unless specifically defined or limited otherwise, fisrt feature second feature "upper" or "lower" It may include that the first and second features directly contact, also may include that the first and second features are not direct contacts but pass through it Between other characterisation contact.Moreover, fisrt feature includes the first spy above the second feature " above ", " above " and " above " Sign is right above second feature and oblique upper, or is merely representative of first feature horizontal height higher than second feature.Fisrt feature exists Second feature " under ", " lower section " and " following " include that fisrt feature is directly below and diagonally below the second feature, or is merely representative of First feature horizontal height is less than second feature.
In the description of the present embodiment, term " on ", "lower", " right side ", etc. orientation or positional relationships be based on shown in attached drawing Orientation or positional relationship, be merely for convenience of description and simplification operation, rather than the device or element of indication or suggestion meaning It must have a particular orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.In addition, Term " first ", " second " are only used to distinguish between description, and have no special meaning.
Embodiment one
Fig. 1 is the structural schematic diagram of inventory's radio frequency provided in an embodiment of the present invention, as shown in Figure 1, the present embodiment mentions A kind of inventory's radio frequency is supplied, which are mainly applied in products storage circulation system, to order kinds of goods from stock container 202 to order " goods to the people " formula of case sorts.The present embodiment is by taking inventory's radio frequency is applied to the sorting work of " goods to people " formula as an example, to this Inventory's radio frequency is illustrated, but it is understood that, inventory's radio frequency provided in this embodiment is not limited only to realize goods The sorting work of product can also be applied to get in stocks to kinds of goods, the conventional warehouse logistics operation such as stock-taking.
As shown in Figure 1, inventory's radio frequency provided in this embodiment include stock container area 20, it is picking area 10, public logical 30th area of road and Prospect of Robot Sorting System 40.Stock container area 20 is placed on stock container 202 and is used for for placing stock container 202 The storage container 50 of kinds of goods is stored, is placed with kinds of goods in storage container 50；Picking area 10 and stock container area 20, which separate, to be arranged, and is used In to order kinds of goods carry out sort and the order kinds of goods after sorting are placed in order box；Prospect of Robot Sorting System 40 is used for inventory Stock container 202 in container area 20 is carried to picking area 10, or will will sort the stock container 202 finished and carry back inventory's appearance Device area 20；Public passage 30 is arranged between stock container area 20 and picking area 10, passes through at a high speed for Prospect of Robot Sorting System 40, with Realize operation of the Prospect of Robot Sorting System 40 between stock container area 20 and picking area 10.
When order management center receives picking order, order management center determines the stock container where order kinds of goods 202 in the position in stock container area 20, and transfers Prospect of Robot Sorting System 40；It order management center will be where base stock container 202 Position is sent to Prospect of Robot Sorting System 40, and Prospect of Robot Sorting System 40 is run according to the position independent navigation to base stock container 202 Bottom, and the base stock container 202 is carried to picking area 10；Picking area 10 sorts main body according to picking order to the target Order kinds of goods in stock container 202 are sorted out, and are placed in order box；Through sorting the stock container 202 finished, it is chosen machine Device people 40 transports back through shared pathway to stock container area 20 from picking area 10.
As shown in Figure 1, to realize carrying and realization of the Prospect of Robot Sorting System 40 to stock container 202 in stock container area 20 Walking of the Prospect of Robot Sorting System 40 in stock container area 20 is provided with multiple stock container groups 201 in stock container area 20, adjacent The channel run for Prospect of Robot Sorting System 40 is formed between two stock container groups 201.To realize the conjunction to stock container area 20 Reason, neat planning, reduce the walking disorder of Prospect of Robot Sorting System 40, it is preferable that the stock container group 201 in stock container area 20 is in Ranks arrangement.Every row stock container group 201 includes at least a stock container group 201, between adjacent rows stock container group 201 Form the interconnection 204 being arranged along first direction；A stock container group 201 is included at least in each column stock container group 201, And in adjacent two column stock container group 201 between be formed with the vertical passage 203 being arranged in a second direction.First direction and second Direction is vertical, and interconnection 204 and 203 intersection of vertical passage form " ten " word crossing or T-shape crossing.
In the present embodiment, a stock container 202 is included at least in each stock container group 201, and in order to improve The utilization efficiency in stock container area 20, it is preferable that include multiple stock containers 202, and multiple libraries in each stock container group 201 Container 202 is deposited to arrange in stock container group 201 in ranks.
Fig. 2 is the structural schematic diagram of stock container 202 provided in an embodiment of the present invention, as shown in Fig. 2, stock container 202 It, can be direct on each interlayer 2022 including multiple interlayers 2022 of longitudinally spaced setting and four floor-type support columns 2024 Place various kinds of goods, kinds of goods can also be any appropriate by hook in stock container 202 or on stock container 202 or bar etc. The inside or outer surface of stock container 202 is arranged in mode.Storage container has also can be set in the interlayer 2022 of stock container 202 50, which can separate with stock container 202, can also be an integral structure with stock container 202, storage container One or more kinds of goods can be placed in 50.
In the present embodiment, stock container 202 can be unidirectional opening, i.e., can place along the longitudinal direction of interlayer 2022 One kinds of goods or storage container 50.In other one embodiment, stock container 202 is two-way opening, i.e. 202 edge of stock container The longitudinal direction of interlayer 2022 can place two kinds of goods or storage container 50, that is, each opening direction respectively places a kinds of goods Or storage container 50.In other another embodiments, stock container 202 may be four-way open type, i.e., holds along inventory The four sides of device 202 can place kinds of goods or storage container 50.
For convenience of subsequent descriptions, retouched for being provided that storage container 50 on the interlayer 2022 of stock container 202 It states, kinds of goods are placed in storage container 50.It is understood that kinds of goods are directly placed in stock container 202, still pass through Storage container 50 is placed in stock container 202, is not had an impact to the work of the present embodiment inventory's radio frequency.
Illustrate for convenience of subsequent sorting, in the present embodiment, an opening of stock container 202 is known as a sorting Face, i.e., for picking and placing the face of storage container 50, stock container 202 can be faced by the sorting of stock container 202 by sorting main body Kinds of goods in upper storage container 50 are operated.That is, there are two be oppositely arranged for the stock container 202 of two-way opening Sorting face, order kinds of goods are likely to be positioned in the corresponding storage container 50 in any sorting face of stock container 202；For being unidirectionally open Stock container 202, have a sortings face, sorting work only the corresponding storage container in the sorting face 50 is operated；It is right In four-way opening stock container 202, tool there are four sort face, sort work can by any of four sorting faces into Row operation.
Carrying for convenience of Prospect of Robot Sorting System 40 to stock container 202, in the present embodiment, Prospect of Robot Sorting System 40 is to inventory The carrying of container 202 is top act formula.Fig. 3 is the structural schematic diagram of Prospect of Robot Sorting System 40 provided in an embodiment of the present invention, such as Fig. 1 and Shown in 3, Prospect of Robot Sorting System 40 includes driving mechanism 402 and lifting mechanism 401, passes through the driving mechanism 402, Prospect of Robot Sorting System 40 It can be moved in picking area 10, stock container area 20 and public passage 30.Lifting mechanism 401 is used to lift stock container 202, Disengage stock container 202 with ground, to drive stock container 202 mobile.Prospect of Robot Sorting System 40 is to stock container 202 When being carried, Prospect of Robot Sorting System 40 is run by interconnection 204 and/or vertical passage 203 to stock container to be handled 202 bottom, pallet is connected at the top of lifting mechanism 401, and the movement of lifting mechanism 401 drives pallet to rise and stock container 202 Bottom contact so that stock container 202 support column 2024 be detached from ground, to realize Prospect of Robot Sorting System 40 by entire target Stock container 202 is lifted from ground, so that Prospect of Robot Sorting System 40 drives stock container 202 to be moved to target position.Work as picker When device people 40 completes the carrying to stock container 202, lifting mechanism 401 is acted, and pallet decline is driven, to drive stock container 202 drop to ground face contact, pallet continues to drop to disengaged with stock container 202 after, Prospect of Robot Sorting System 40 passes through drive Motivation structure 402 removes the bottom of stock container 202, realizes the separation of stock container 202 and Prospect of Robot Sorting System 40.
It can also be submersible, 202 bottom of stock container to the carrying of stock container 202 in other one embodiment Or the docking facilities docked for realizing stock container 202 with Prospect of Robot Sorting System 40 are provided at the top of Prospect of Robot Sorting System 40.It sorts Interconnection 204 and/or vertical passage 203 of the robot 40 in stock container area 20 travel, and run to stock container 202 Bottom pull stock container after realizing being connected between stock container 202 and Prospect of Robot Sorting System 40 by docking facilities 202 are moved to target position.
In other another embodiments, Prospect of Robot Sorting System 40 to the carrying of stock container 202 can also using towed, Prospect of Robot Sorting System 40 is mounted by traction mechanism and stock container 202, and the mobile dragging stock container 202 of Prospect of Robot Sorting System 40 moves It is dynamic.In other embodiments, Prospect of Robot Sorting System 40 can also be other forms to the carrying of stock container 202, and the present embodiment is not Another one is enumerated.
In the present embodiment, Prospect of Robot Sorting System 40 is additionally provided with the rotating mechanism connecting with pallet, and rotating mechanism being capable of band Dynamic pallet rotation, so as to drive stock container 202 to occur on the basis of keeping 40 traffic direction of Prospect of Robot Sorting System constant Rotation, to change the direction of stock container 202 in the handling process.That is, in the present embodiment, the rotation of Prospect of Robot Sorting System 40 is transported It is dynamic to be separated with the rotary motion of stock container 202, the movement of Prospect of Robot Sorting System 40 can to advance, retreating, spin commutation, Turning etc., and Prospect of Robot Sorting System 40 generate advance, retreat, spin commutation etc. movement when, stock container 202 direction can not It changes.When needing the direction of stock container 202 to change, it can be acted by rotating mechanism and drive pallet rotation, i.e., Drive stock container rotation 202.
In the present embodiment, Prospect of Robot Sorting System 40 is also equipped with independent navigation function.It is by two-dimension code navigation of independent navigation Example, Prospect of Robot Sorting System 40 further include navigation recognizer component, are laid with two-dimentional code labeling on the ground for identification.Prospect of Robot Sorting System 40 further include downward camera, (can be also possible to otherly according to the two-dimensional barcode information that downward camera takes Face mark) it is navigated and is moved forward, and can be prompted according to the route running that control system determines to control system Below base stock container 202.In other embodiments, Prospect of Robot Sorting System 40 may be used also other than it can use two-dimension code navigation In a manner of using other navigation, such as inertial navigation, SLAM navigation, it can also be in combination with two or more navigation side Formula, such as two-dimension code navigation and inertial navigation, SLAM navigation and two-dimension code navigation etc..
Further, Prospect of Robot Sorting System 40 further includes the head-up scanning means 403 of scanning.As shown in figure 3, object library The centre for depositing 202 bottom of container is equipped with label code 2023, when Prospect of Robot Sorting System 40 drives to below base stock container 202 Afterwards, label code 2023 is correctly shot by upward scanning means 403, it is ensured that Prospect of Robot Sorting System 40 is placed exactly in base stock appearance The underface of device 202 guarantees that Prospect of Robot Sorting System 40 smoothly can lift and carry base stock container 202 with this.In this reality It applies in example, label code 2023 is two dimensional code, and scanning means 403 is camera.In other embodiments, label code 2023 can be The type of bar code, FRID label etc., scanning means 403 is corresponding with the type of label code 2023.
It in the present embodiment, is reduction Prospect of Robot Sorting System 40 to the carrying obstacle of stock container 202, in the present embodiment, Setting is provided with two column stock containers 202 in each stock container group 201, and in each column stock container 202 in a second direction Being arranged side by side has multiple stock containers 202.I.e. each stock container 202 works as Prospect of Robot Sorting System towards a vertical passage 203 When any stock container 202 in 40 pairs of stock container groups 201 is carried, it can pass through 202 direction of stock container Vertical passage 203 enters the bottom of the stock container 202, after jacking to stock container 202, drives the stock container 202 Into the vertical passage 203, to realize the removal of stock container 202；Or hold when needing to move back to stock container 202 to inventory When the initial position of device group 201, Prospect of Robot Sorting System 40 drives stock container 202 to move into initial position by the vertical passage 203, Realize the reset of stock container 202.That is, two column stock containers 202 of setting can be avoided sorting in each stock container group 201 When stock container 202 is carried by robot 40, other stock containers 202 in the stock container group 201 are caused to interfere, Improve the efficiency carried.In other another embodiments, it is also possible to be provided with two row inventories in each stock container group 201 Container 202 includes multiple stock containers 202, i.e. each stock container in stock container group 201 in every row stock container 202 202 close to an interconnection 204, and Prospect of Robot Sorting System 40 can be by corresponding interconnection 204 by base stock container 202 remove or move into stock container group 201.In other another embodiments, in order to improve the arrangement of stock container area 20 Compactness saves the space of stock container 202, two column or more and two rows or more can be set in each stock container group 201 Stock container 202, at this point, the surrounding of part stock container 202 is enclosed equipped with stock container 202, right in stock container group 201 When the stock container 202 is carried, needs to dispatch another simultaneously or multiple Prospect of Robot Sorting System 40 hold the inventory of one side After device 202 is removed, then base stock container 202 is carried.
For the utilization rate for improving stock container area 20, stock container area 20 is not distinguished adjacent to three edges of picking area 10 It is provided with one group of stock container group 201, wherein stock container area 20 is along first direction setting and far from the side in stock container area 20 The stock container group 201 of edge includes a line stock container 202, two edges difference that stock container area 20 is arranged in a second direction It is provided with a column stock container 202, and the both ends of the row stock container 202 are docked with the both ends of the two column stock container 202, with Stock container area 20 is set to form opening towards the semi-enclosed space of picking area 10.
In the present embodiment, public passage 30 is arranged along first direction, and be located at picking area 10 and stock container area 20 it Between.Prospect of Robot Sorting System 40 is by the disengaging inventory container area 20 of public passage 30 or disengaging picking area 10 or in picking area 10 and library It deposits and is moved between container area 20, therefore, in public passage 30, the density of Prospect of Robot Sorting System 40 is greater than stock container area 20 and sorts The density of Prospect of Robot Sorting System 40 in area 10.It is not set any on public passage 30 for the interruption of service for reducing Prospect of Robot Sorting System 40 Obstacle.
In the present embodiment, public passage 30 includes four operation channels along first direction setting, and adjacent two are transported The permission traffic direction of row of channels in 30 operational process of public passage to avoid Prospect of Robot Sorting System 40 on the contrary, cause to collide, together When can alleviate traffic in public passage 30.In other embodiments, the item number in operation channel can be in public passage 30 Two or six or more, and preferably, the item number that channel is run in public passage 30 is even number, sorts machine The traffic direction that people 40 runs in channel at adjacent two is opposite.
Picking area 10 is arranged in the side in stock container area 20, and picking area 10 is towards the opening in stock container area 20.? It in the present embodiment, sorts and is carried out using artificial, is i.e. sorting main body is to the order goods in the stock container 202 for being transported to picking area 10 Product are sorted.In other embodiments, mode can also be sorted using automatic, i.e., using mechanical arm to moving to picking area 10 Stock container 202 in order kinds of goods sorted.The present embodiment is for manually sorting to the sorting work of picking area 10 It is described.
Picking area 10 includes the multiple sorting stations 1 being arranged side by side along first direction, and each sorting station 1 is sorted by one Main body is responsible for carrying out the sorting of order kinds of goods.In the present embodiment, the number for station 1 being sorted in picking area 10 can be according to demand Carry out self-setting.
Fig. 4 is the structural schematic diagram provided in an embodiment of the present invention for sorting station and stock container, as shown in figs. 1 and 4, In the present embodiment, each sorting station 1 is respectively provided with there are two point 122 and two sortings channels 121 is sorted, sort channel 121 and It sorts point 122 to be arranged in a one-to-one correspondence, so that Prospect of Robot Sorting System 40 is sorted point 122 by corresponding so that each sorting channel 121 provides Path.And each two sorting points 122 for sorting station 1 can carry out the sorting of target kinds of goods for same sorting main body.
In the present embodiment, corresponding by two sorting points 122 of setting in each sorting station 1 and with point 122 is sorted Sorting channel 121, each sorting channel 121 can make to enter in corresponding sorting point 122 for Prospect of Robot Sorting System 40, make same One sorts main body and can be responsible for two sortings for sorting point 122, and the stock container 202 sorted on point 122 at one has sorted Stock container 202 is not transported on the sorting point 122 also after finishing and from the Prospect of Robot Sorting System 40 that the sorting channel 121 enters When, stock container 202 to be selected on another sorting point 122 etc. can be sorted by sorting main body, reduced and sorted main body The idle waiting time improves and sorts efficiency.
In the present embodiment, channel 121 is sorted in opening towards the U-shaped of stock container area 20, and sorts entering for channel 121 Mouth and outlet are towards stock container area 20.It is planned it is further preferable that sorting channel 121 by the two-dimensional grid that rectangular array is arranged It is formed, is conducive to improve the regularity for sorting channel 121, to improve the planning consistency and compact layout of entire picking area 10 Property.
In the present embodiment, it is the operating path for reducing Prospect of Robot Sorting System 40, improves the space utilization rate of picking area 10, it is excellent Selection of land, sorting channel 121 are planned along the two-dimensional grid group that first direction is arranged side by side by two column and are formed that each column two-dimensional grid group is equal Including multiple two-dimensional grids 123 arranged side by side in a second direction.Wherein the center of a column two-dimensional grid group in a second direction connects Line forms the intake channel 1211 in the U-shaped channel, and the two-dimensional grid 123 that intake channel 1211 docks public passage 30 is entrance net Lattice 1231；The line of centres of another column two-dimensional grid group in a second direction forms the exit passageway 1212 in the U-shaped channel, and outlet is logical The two-dimensional grid 123 that road 1212 docks public passage 30 is outlet grid 1232；Two column two-dimensional grid groups are far from public passage 30 The line of centres of end two-dimensional grid 123 form the commutation channel 1213 in the U-shaped channel, channel 1213 of commutating is along first direction Setting, and connect respectively with the end of exit passageway 1212 and intake channel 1211, Prospect of Robot Sorting System 40 is logical to commutating in operation When road 1213 and intake channel 1211 or intersection with exit passageway 1212, spin commutation is carried out, Prospect of Robot Sorting System 40 is changed Traffic direction.
In the present embodiment, it is further preferable that each column two-dimensional grid group includes four two-dimensional grids 123, is picked with improving The space utilization rate in constituency 10 improves the dimensional compactness of inventory's radio frequency.
In the present embodiment, two-dimensional grid 123 can be the virtual logical division shape in the controller of inventory's radio frequency At being also possible in actual place, cross to be formed through grid.To be better achieved to Prospect of Robot Sorting System 40 along sorting channel The navigation of 121 operations, in this embodiment, it is preferred that, at least one two-dimensional grid is provided centrally with for Prospect of Robot Sorting System 40 The reference mark of positioning.And it is further preferable that the center of each two-dimensional grid 123 is pasted with for the navigation of Prospect of Robot Sorting System 40 Reference mark.And in the present embodiment, reference mark is preferably two dimensional code, is provided on Prospect of Robot Sorting System 40 for scanning two Tie up the camera of code.Two dimensional code is used to carry out the navigation of Prospect of Robot Sorting System 40 as ordinary skill in the art means, the present embodiment No longer its principle and concrete operations are repeated.
In the present embodiment, it sorts point 122 and the U-shaped bottom for sorting channel 121 is set, sort channel 121 far from inventory The side of container area is provided with the sorting workspace 11 for sorting subject activity.To improve space utilization rate and compact layout Property, it is preferable that same two sorting channels 121 for sorting station 1 are disposed proximate to.And main body switching sorting point is sorted to reduce Moving distance when 122, in the present embodiment, formed one sorting channel 121 two column two-dimensional grid groups in, be located at bottom end and Another adjacent two-dimensional grid for sorting channel 121, which is formed, sorts point 122, so that two sorting points 122 can be side by side close to setting It sets, reduces the distance between two sorting points 122.In other embodiments, the two-dimensional grid for forming two sorting points 122 can also It is arranged with interval.In the present embodiment, each exit passageway 1212 for sorting channel 121 sorts the another of station 1 with same It is adjacent to sort channel 121.I.e. in the present embodiment, it sorts point 122 and occupies exit passageway 1212 and commutation 1213 intersection of channel Two-dimensional grid 123.Prospect of Robot Sorting System 40, to when sorting point 122, is being picked through intake channel 1211 and the operation of commutation channel 1213 At reconnaissance 122, the stock container 202 that Prospect of Robot Sorting System 40 is carried is chosen main body sorting.After sorting, Prospect of Robot Sorting System 40 It is removed along exit passageway 1212 and sorts station 1.
It is dry in order to avoid colliding between Prospect of Robot Sorting System 40 or between the stock container 202 of the carrying of Prospect of Robot Sorting System 40 It relates to, in the present embodiment, each two-dimensional grid 123 is only capable of being occupied by a Prospect of Robot Sorting System 40.In order to improve sorting efficiency, Sort point 122 on exist be chosen Prospect of Robot Sorting System 40 when, sort channel 121 entrance grid 1231 and sort point 122 it Between two-dimensional grid form the waiting area for running and waiting for Prospect of Robot Sorting System 40, each waiting area can accommodate one and pick Select robot 40 that immigration is waited to sort in point 122 in waiting area.And when 40 quilt of Prospect of Robot Sorting System being located on sorting point 122 After sorting finishes and removes sorting point 122, the Prospect of Robot Sorting System 40 of next waiting carries stock container 202 and is moved to the sorting On point 122, waiting is chosen.It is blocked to avoid sorting channel 121, the corresponding two-dimensional grid 123 of exit passageway 1212 removes It sorts outside 122 two-dimensional grid 123 occupied of point there is no the Prospect of Robot Sorting System 40 waited, Prospect of Robot Sorting System 40, which is chosen, to be finished Afterwards, it is directly removed from exit passageway 1212 and sorts station 1.Since the Prospect of Robot Sorting System 40 being detained is not present in exit passageway 1212, Exit passageway 1212 by sorting two in channel 121 is disposed adjacent, and the operation that can reduce between Prospect of Robot Sorting System 40 is dry It relates to.
In the present embodiment, efficiency is sorted to improve, sorts and is provided with two sides in workspace 11 for placing order container Sowing wall 112, two sides sowing wall 112 is oppositely arranged, and two sort point 122 and are located at two sides sowing wall 112 and form space Extend side, sows and be provided with multiple order containers for being used to store order box on wall 112.This kind of set-up mode, can be improved and pick The storage number of order box in workspace 11 is selected, that is, improves sorting main body and synchronizes accessible order volume.
To further facilitate the sorting for sorting main body, sorts in workspace 11 and be provided with display screen, display screen is picked with inventory It selects the controller communication of system to connect, for showing that the sorting station 1 is responsible for the order information sorted and sorting information, conveniently picks Main body is selected to sort referring to order information to kinds of goods.Order information includes at least the kind of order kinds of goods in each picking order Quantity, the corresponding stock container 202 of every kind of order kinds of goods and its position on stock container 202 of class, every kind of order kinds of goods. Sorting information may include current sorting stock container 202, currently sorts the type of target kinds of goods on stock container 202, is each Target kinds of goods are currently sorting the position of stock container 202, the current sorting number for sorting each target kinds of goods on stock container 202 Position etc. of the corresponding one or more order boxes of amount, each target kinds of goods on sowing wall 112.
In the present embodiment, sorting main body once can only sort an order, i.e., the target on each order After kinds of goods are chosen, then carry out the sorting of next order.But due to multiple orders usually exist identical kinds of goods or There are the kinds of goods positioned at same stock container 202 in multiple orders, sorts efficiency to improve, it is preferable that sorting main body can be same When to multiple orders carry out picking operation.Either single order sorts or synchronous sort of more orders is the ordinary skill in the art Means, the present embodiment no longer chase after repeating.
In the present embodiment, when stock container 202 is placed in stock container area 20, the sorting face of stock container 202 2021 towards picking area 10, and consistent with the direction for the working face for sorting point 122, the working face for sorting point 122 sorts point 122 Towards the one side for sorting workspace 11.Drive the operation of stock container 202 to the process for sorting point 122 in Prospect of Robot Sorting System 40 In, stock container 202 does not need rotation commutation, can realize the sorting for sorting main body to kinds of goods.This kind of situation is suitable for, library Container 202 is deposited with opposite both-side opening, and can be set side by side along first direction on every layer of interlayer 2022 of stock container 202 At least storage container 50 is set, first storage container 50 is only set in a second direction；Or stock container 202 has four side openings, But a storage container 50 is provided only on every layer of interlayer 2022 of stock container 202.
In the present embodiment, stock container 202 is L along the length of first direction0, stock container 202 is in a second direction Width is W0, to guarantee carrying of the stock container 202 in stock container area 20, the width L of interconnection 2042> L0, Zong Xiangtong The width W in road 2032> W0；To guarantee that stock container 202 in the operation of picking area 10, avoids in 40 operational process of Prospect of Robot Sorting System It collides, length L of each two-dimensional grid 123 along first direction1> L0, the width of each two-dimensional grid 123 in a second direction W1> W0.And in order to improve space utilization rate, W1Slightly larger than W0, and L1Slightly larger than L0.Further, in order to improve space utilization rate With the convenience of path planning, in this embodiment, it is preferred that, the size of each two-dimensional grid 123 is identical.
Inventory's radio frequency provided in this embodiment further includes control system, for controlling each portion in inventory's radio frequency The operation of part.It include order management center in control system, for receiving and sending order with charge free to Prospect of Robot Sorting System and sorting station.
The present embodiment additionally provides a kind of picking method, applied to above-mentioned inventory's radio frequency.It is provided in this embodiment Picking method includes the following steps:
Step S101: order management center receives picking order, and analyzes the corresponding mesh of order kinds of goods in picking order Stock container 202 is marked in the position in stock container area 20, while planning that the corresponding target of picking order sorts station 1；
Step S102: order management central dispatching Prospect of Robot Sorting System 40, and according to the initial position of Prospect of Robot Sorting System 40 And 202 position of base stock container, the first travel path is planned for Prospect of Robot Sorting System 40；
Step S103: Prospect of Robot Sorting System 40 is run according to the first travel path to the bottom of base stock container 202；
Step S104: the lifting mechanism 401 of Prospect of Robot Sorting System 40 acts, and pallet is driven to rise and 202 bottom of stock container Contact, until stock container 202 is disengaged with ground；
Step S105: control system is gathered around according to the Prospect of Robot Sorting System 40 that target sorts in station 1 in two sorting channels 121 Stifled situation determines that the target that Prospect of Robot Sorting System 40 needs to enter sorts channel 121；
Step S106: control system is according to the entrance grid position in target sorting channel 121 and 202, base stock container It sets, plans the second travel path for Prospect of Robot Sorting System 40；
Step S106: Prospect of Robot Sorting System 40 runs to target the entrance grid for sorting channel 121 according to the second travel path Place, during this, divertical motion do not occur for stock container 202, and Prospect of Robot Sorting System 40 can be advanced, be retreated, spin and is commutated etc. Movement；
Step S107: Prospect of Robot Sorting System 40 proceeds to access road end according to access road in a second direction, spins 90 ° Afterwards along commutation channel 1213 operation to sorting point 122；
Step S108: it sorts main body and the target kinds of goods on base stock container 202 is sorted；
Step S109: after sorting, drive stock container 202 logical along outlet after 90 ° of commutations of the spin of Prospect of Robot Sorting System 40 At the operation of road 1212 to outlet grid 1232；
Step S110: control system according to outlet grid 1232 and base stock container 202 stock container area 20 position Planning third travel path is set, Prospect of Robot Sorting System 40 transports stock container 202 to stock container area back according to third travel path 20；
Step S111: the movement of 40 lifting mechanism 401 of Prospect of Robot Sorting System drives pallet decline, until stock container 202 and ground Face contact and pallet is disengaged with 202 bottom of stock container；
Step S112: the movement of 40 driving mechanism 402 of Prospect of Robot Sorting System makes Prospect of Robot Sorting System 40 remove 202 bottom of stock container Portion and stock container 202 are detached from.
The present embodiment additionally provides a kind of products storage circulation system, including above-mentioned inventory's radio frequency.
Embodiment two
Fig. 5 is the structural schematic diagram of sorting station and stock container provided in an embodiment of the present invention, as shown in figure 5, this reality It applies example and provides a kind of inventory's radio frequency, it, can also be real which are mainly applied to realizing that " goods to people " formula sorts to order kinds of goods It now gets in stocks, the conventional warehouse logistics operation such as kinds of goods are made an inventory.In the present embodiment, inventory's radio frequency include stock container area 20, Public passage 30, picking area 10 and Prospect of Robot Sorting System 40, wherein stock container area 20, public passage 30, picking area 10 and sorting The arrangement of robot 40 is the same as example 1 substantially, and the set-up mode for only sorting sorting channel 121 in station 1 is different, this Embodiment no longer repeats the structure being the same as example 1.
In the present embodiment, in same sorting station 1, it is each sort channel 121 intake channel 1211 it is adjacent another It sorts channel 121 to be arranged, adjacent another of each exit passageway 1212 for sorting channel 121 sorts station 1 and be arranged.
In the present embodiment, to further increase picking area space utilization rate, in two neighboring sorting station 1, adjacent two A sorting channel 1211 shares one outlet channel 1212.
In the present embodiment, two neighboring sorting station 1 can be made to share a sowing wall 112, sowing wall 112 has double Side opening, every side opening all have for placing order container.Or it is set in the sorting workspace 11 that station 1 can be sorted at one One side sowing wall 112 is set, sowing wall 112 is opposite to sort 122 interval setting of point, makes to sort main body in sowing wall 112 and sorts point It is movable between 122.
Embodiment three
Fig. 6 is the structural schematic diagram of sorting station and stock container provided in an embodiment of the present invention, as shown in fig. 6, this reality It applies example and provides a kind of inventory's radio frequency, it, can also be real which are mainly applied to realizing that " goods to people " formula sorts to order kinds of goods It now gets in stocks, the conventional warehouse logistics operation such as kinds of goods are made an inventory.In the present embodiment, inventory's radio frequency include stock container area 20, Public passage 30, picking area 10 and Prospect of Robot Sorting System 40, wherein stock container area 20, public passage 30, picking area 10 and sorting The arrangement of robot 40 is the same as example 1 substantially, only set-up mode and two dimension of the stock container 202 in stock container area 20 The set-up mode of grid 123 has differences, and the present embodiment no longer repeats the structure being the same as example 1.
Specifically, in the present embodiment, stock container 202 is bilateral opening, an and side opening court of stock container 202 To picking area 10, another side opening deviates from picking area 10.It is set side by side in a second direction on every layer of interlayer 2022 of stock container 202 Two rows of storage containers 50 are equipped with, and every row's storage container 50 includes at least one storage container 50.That is, stock container 202 has Two opposite sorting faces 2021, and each sorting face 2021 is only capable of picking and placing the storage container 50 of corresponding opening side.It should In the case of kind, if target kinds of goods are placed on towards at the sorting face of picking area 10 2021, Prospect of Robot Sorting System 40 is carrying inventory When container 202, stock container 202 does not need turn to that sorting can be realized；If target kinds of goods are placed on away from picking area 10 Sorting face 2021 at, then Prospect of Robot Sorting System 40 carry stock container 202 to sort point 122 during, need to make inventory Container 202 rotate 180 ° so that the corresponding sorting face 2021 of target kinds of goods towards sort workspace 11.
In the present embodiment, stock container 202 is L along the length of first direction0, stock container 202 is in a second direction Width is W0, to guarantee that Prospect of Robot Sorting System 40 drives operation of the stock container 202 in stock container area 20 and picking area 10 simultaneously It avoids interfering collision, the width L of interconnection 204 with other Prospect of Robot Sorting System 40 or stock container 2022> L0, Zong Xiangtong The width W in road 2032> W0；Length L of each two-dimensional grid 123 along first direction1> L0, each two-dimensional grid 123 is along second The width W in direction1> W0.And in order to improve space utilization rate, W1Slightly larger than W0, and L1Slightly larger than L0。
In the present embodiment, each channel 121 that sorts is provided with a rotation for the rotation commutation of stock container 202 Area, and since stock container 202 needs to carry out rotation commutation before running to sorting point 122, then Rotary District preferably forms One in the corresponding two-dimensional grid 123 of intake channel 1211.It is further preferable that in the present embodiment, each sorting channel 121 Entrance grid 1231 form above-mentioned Rotary District, to guarantee the consistency of subsequent two-dimensional grid 123, reduction is incorporated difficulty into and is kept away Exempt from the operation interference between Prospect of Robot Sorting System 40.In other embodiments, it is also possible to form the two-dimensional mesh of intake channel 1211 Any one in lattice 123 forms above-mentioned Rotary District.
To the fortune of the Prospect of Robot Sorting System 40 of the Rotary District surrounding when in the present embodiment, to avoid stock container 202 from commutating Row causes the planning consistency for interfering and keeping picking area 10, length of the corresponding two-dimensional grid 123 in Rotary District along first direction Spend L3Length L of the two-dimensional grid 123 corresponding with non-rotating area along first direction1Unanimously, the corresponding two-dimensional grid 123 in Rotary District Width in a second direction is greater than the maximum outside diameter of stock container 202, i.e.,
In the present embodiment, in order to guarantee that road strength cell plans consistency, grid 1232 and entrance grid 1231 are exported Size it is identical, i.e., outlet grid 1232 can also carry out stock container 202 rotate so that the stock container 202 rotated through Restore to original direction.That is, in the present embodiment, length one of the two-dimensional grid 123 along first direction in each sorting channel 121 It causes, but exports the width of grid 1232 and entrance grid 1231 in a second direction and be greater than other two-dimensional grids in sorting channel 121 123 width, to provide space for the rotation of stock container 202 commutation, meanwhile, improve the space utilization rate of picking area 10.
The present embodiment additionally provides a kind of picking method, can be realized the two-sided sorting to stock container.And this implementation The picking method that example provides is as follows:
Step S101: order management center receives picking order, and analyzes the corresponding mesh of order kinds of goods in picking order Stock container 202 is marked in the position in stock container area 20, while planning that the corresponding target of picking order sorts station 1；
Step S102: order management central dispatching Prospect of Robot Sorting System 40, and according to the initial position of Prospect of Robot Sorting System 40 And 202 position of base stock container, the first travel path is planned for Prospect of Robot Sorting System 40；
Step S103: Prospect of Robot Sorting System 40 is run according to the first travel path to the bottom of base stock container 202；
Step S104: the lifting mechanism 401 of Prospect of Robot Sorting System 40 acts, and pallet is driven to rise and 202 bottom of stock container Contact, until stock container 202 is disengaged with ground；
Step S105: control system is gathered around according to the Prospect of Robot Sorting System 40 that target sorts in station 1 in two sorting channels 121 Stifled situation determines that the target that Prospect of Robot Sorting System 40 needs to enter sorts channel 121；
Step S106: control system is according to the entrance grid position in target sorting channel 121 and 202, base stock container It sets, plans the second travel path for Prospect of Robot Sorting System 40；
Step S107: Prospect of Robot Sorting System 40 runs to target the entrance grid for sorting channel 121 according to the second travel path At 1231, during this, divertical motion does not occur for stock container 202, and Prospect of Robot Sorting System 40 can be advanced, be retreated, spinned and change It is acted to equal；
Step S108: control system judges to carry out two sides sorting or one side to the stock container 202 according to order information It sorts, when the sorting to the stock container 202 sorts for one side and sorts face 2021 away from sorting point 122, thens follow the steps S109, if it is not, thening follow the steps S1110；
Step S109: the pallet rotation of Prospect of Robot Sorting System 40 after driving stock container 202 to rotate 180 °, executes step S110。
Step S110: Prospect of Robot Sorting System 40 proceeds to access road end according to access road 1211 in a second direction, from It is extremely sorted at point 122 after 90 ° of rotation along the operation of commutation channel 1213；
Step S111: it sorts main body and the target kinds of goods on base stock container 202 is sorted；
Step S112: after sorting, drive stock container 202 logical along outlet after 90 ° of commutations of the spin of Prospect of Robot Sorting System 40 At the operation of road 1212 to outlet grid 1232；
Step S116: control system according to outlet grid 1232 and base stock container 202 stock container area 20 position Planning third travel path is set, Prospect of Robot Sorting System 40 transports stock container 202 to stock container area back according to third travel path 20；
Step S117: the movement of 40 lifting mechanism 401 of Prospect of Robot Sorting System drives pallet decline, until stock container 202 and ground Face contact and pallet is disengaged with 202 bottom of stock container；
Step S118: the movement of 40 driving mechanism 402 of Prospect of Robot Sorting System makes Prospect of Robot Sorting System 40 remove 202 bottom of stock container Portion and stock container 202 are detached from.
In the present embodiment, the stock container 202 sorted for single side, if stock container 202 is at entrance grid 1231 Have overwinding convert to movement, then stock container 202 outlet grid 1232 at can carry out rotation commutation so that stock container 202 direction restores initial position, can also be without commutation, at this time, it may be necessary to update stock container 202 in the controls It is positioned against.
For the stock container 202 of two-sided sorting, in the present embodiment, after primary sort, into outlet grid 1232 sortings for carry out after rotation commutation another sorting face 2021 are also possible to once sort in other embodiments After, after being again introduced into the entrance grid sorted in channel 121, then carry out rotation commutation.
In the present embodiment, by the way that Rotary District is arranged, it is advantageously implemented the two-sided sorting work to stock container 202, is reduced Independent Rotary District setting improves the space utilization rate of structural compactness and picking area to the occupancy in space.
The present embodiment additionally provides a kind of products storage circulation system, including above-mentioned inventory's radio frequency.
Example IV
Fig. 7 is the structural schematic diagram provided in an embodiment of the present invention for sorting station and stock container, as shown in fig. 7, this reality It applies example and provides a kind of inventory's radio frequency, it, can also be real which are mainly applied to realizing that " goods to people " formula sorts to order kinds of goods It now gets in stocks, the conventional warehouse logistics operation such as kinds of goods are made an inventory.In the present embodiment, inventory's radio frequency include stock container area 20, Public passage 30, picking area 10 and Prospect of Robot Sorting System 40, wherein stock container area 20, public passage 30, picking area 10 and sorting The arrangement of robot 40 is substantially identical as embodiment two, only set-up mode and two dimension of the stock container 202 in stock container area 20 The set-up mode of grid 123 has differences, and the present embodiment no longer repeats the structure being the same as example 1.
In the present embodiment, stock container 202 is at stock container area 20,2021 direction of sorting face of stock container 202 Vertical passage 203 deviates from vertical passage 203, at this point, since the sorting face 2021 of stock container 202 is not towards picking area 10, No matter which target kinds of goods, which are located at, sorts face 2021, is required to rotate stock container 202, so as to sort 2021 direction of face Sort workspace 11.And when needing to carry out two-sided sorting to stock container 202, need after carrying out one side sorting, to inventory After container 202 is commutated, then carry out the another side sorting of stock container 202.
In the present embodiment, when the storage of stock container 202 to stock container area 20, stock container 202 is along first direction Length is L0, the width of stock container 202 in a second direction is W0, to guarantee that Prospect of Robot Sorting System 40 drives stock container 202 in library Deposit 20 normal movement of container area, the width L of interconnection 2042> L0, the width W of vertical passage 2032> W0.To guarantee inventory Container 202 is rotated in Rotary District, length L of the corresponding two-dimensional grid 123 in Rotary District along first direction3> W0, in a second direction WidthEach two-dimensional grid 123 of the channel 121 in addition to Rotary District that sort is along the length of first direction L1> W0, width W in a second direction1> L0, and in order to improve space utilization rate, W1Slightly larger than L, and L1Slightly larger than W0。
The present embodiment additionally provides a kind of picking method, applied to inventory's radio frequency as above.It is provided in this embodiment Picking method the following steps are included:
Step S101: order management center receives picking order, and analyzes the corresponding mesh of order kinds of goods in picking order Stock container 202 is marked in the position in stock container area 20, while planning that the corresponding target of picking order sorts station 1；
Step S102: order management central dispatching Prospect of Robot Sorting System 40, and according to the initial position of Prospect of Robot Sorting System 40 And 202 position of base stock container, the first travel path is planned for Prospect of Robot Sorting System 40；
Step S103: Prospect of Robot Sorting System 40 is run according to the first travel path to the bottom of base stock container 202；
Step S104: the lifting mechanism 401 of Prospect of Robot Sorting System 40 acts, and pallet is driven to rise and 202 bottom of stock container Contact, until stock container 202 is disengaged with ground；
Step S105: control system is gathered around according to the Prospect of Robot Sorting System 40 that target sorts in station 1 in two sorting channels 121 Stifled situation determines that the target that Prospect of Robot Sorting System 40 needs to enter sorts channel 121；
Step S106: control system is according to the entrance grid position in target sorting channel 121 and 202, base stock container It sets, plans the second travel path for Prospect of Robot Sorting System 40；
Step S107: Prospect of Robot Sorting System 40 runs to target the entrance grid for sorting channel 121 according to the second travel path At 1232, during this, divertical motion does not occur for stock container 202, and Prospect of Robot Sorting System 40 can be advanced, be retreated, spinned and change It is acted to equal；
Step S108: control system is according to the initial court in target kinds of goods corresponding sorting face 2021 on stock container 202 Relationship between the working face for sorting point 122, determines the angle of the rotation of stock container 202；
Step S109: the pallet rotation of Prospect of Robot Sorting System 40 drives stock container 202 to rotate predetermined angle.
In the present embodiment, Prospect of Robot Sorting System 40 drives stock container 202 to commutate at entrance grid 1231, so as to sort Face 2021 is consistent with the working face for sorting point 122.In other embodiments, it is also possible to Prospect of Robot Sorting System 40 and carries stock container 202 into public passage 30 when, drive stock container 202 commutate, make a sorting face 2021 of stock container 202 and pick The working face of reconnaissance 122 is consistent.That is, in the present embodiment, for by one of sorting face 2021 of stock container 202 with pick The consistent first time rotation commutation of the working face of reconnaissance 122 can occur in public passage 30, can also occur logical in sorting At the entrance grid 1231 in road 121.
Step S109: Prospect of Robot Sorting System 40 proceeds to access road end according to access road in a second direction, spins 90 ° Afterwards along commutation channel 1213 operation to sorting point 122；
Step S110: it sorts main body and the target kinds of goods on base stock container 202 is sorted；
Step S111: after sorting, drive stock container 202 logical along outlet after 90 ° of commutations of the spin of Prospect of Robot Sorting System 40 At the operation of road 1212 to outlet grid 1232；
Step S112: control system judges whether the stock container 202 is two sides sorting, if so, S113 is thened follow the steps, If it is not, then executing S115.
Step S113: the pallet rotation of Prospect of Robot Sorting System 40 drives stock container 202 to rotate 180 °.
Step S114: system processed sorts two 40 congestions of Prospect of Robot Sorting System sorted in channel 121 in station 1 according to target Situation determines that the target that Prospect of Robot Sorting System 40 needs to be again introduced into sorts channel 121, and enters from place outlet grid 1232 After target sorts in the entrance grid 1231 in channel 121, enters in sorting point 122 through access road 1212 and be chosen, sorted Bi Hou moves into the target through exit passageway 1212 and sorts at the outlet grid 1232 in channel 121.
Step S115: the pallet rotation of Prospect of Robot Sorting System 40 drives stock container 202 to rotate predetermined angle, holds inventory Device 202 restores initial direction；
In the present embodiment, stock container 202 is made to restore initial direction at the outlet grid 1232 for sorting channel 121, In other embodiments, it is also possible to Prospect of Robot Sorting System 40 to drive stock container 202 to remove sorting station 1 and enter public passage After in 30, then stock container 202 is driven to turn to initial direction.
Step S116: control system according to outlet grid 1232 and base stock container 202 stock container area 20 position Planning third travel path is set, Prospect of Robot Sorting System 40 transports stock container 202 to stock container area back according to third travel path 20；
Step S117: the movement of 40 lifting mechanism 401 of Prospect of Robot Sorting System drives pallet decline, until stock container 202 and ground Face contact and pallet is disengaged with 202 bottom of stock container；
Step S118: the movement of 40 driving mechanism 402 of Prospect of Robot Sorting System makes Prospect of Robot Sorting System 40 remove 202 bottom of stock container Portion and stock container 202 are detached from.
For the stock container 202 of two-sided sorting, in the present embodiment, after primary sort, into outlet grid 1232 sortings for carry out after rotation commutation another sorting face 2021 are also possible to once sort in other embodiments After, after being again introduced into the entrance grid sorted in channel 121, then carry out rotation commutation.
In the present embodiment, by the way that Rotary District is arranged, it is advantageously implemented the two-sided sorting work to stock container 202, is reduced Independent Rotary District setting improves the space utilization rate of structural compactness and picking area to the occupancy in space.
The present embodiment additionally provides a kind of products storage circulation system, including above-mentioned inventory's radio frequency.
Embodiment five
Fig. 8 is the structural schematic diagram of inventory's radio frequency provided in an embodiment of the present invention, and Fig. 9 provides for the embodiment of the present invention The structural schematic diagram of sorting station and stock container present embodiments provide a kind of inventory's radio frequency as shown in FIG. 8 and 9, Which are mainly applied to realizing that " goods to people " formula sorts to order kinds of goods, also may be implemented to get in stocks, the routine stored goods such as kinds of goods are made an inventory Stream operation.In the present embodiment, inventory's radio frequency includes stock container area 20, public passage 30, picking area 10 and picker Device people 40, wherein stock container area 20, public passage 30, picking area 10 and Prospect of Robot Sorting System 40 arrangement substantially and embodiment One is identical, and only the set-up mode of picking area 10 has differences, and the present embodiment no longer goes to live in the household of one's in-laws on getting married to the structure being the same as example 1 It states.
In the present embodiment, the sorting face 2021 being oppositely arranged there are two the tools of stock container 202, and two sorting faces 2021 In one towards vertical passage 203, another deviates from vertical passage 203 adjacent thereto.Every layer of interlayer of stock container 202 One can be arranged on 2022 in a second direction or multiple storage containers 50 are arranged side by side.
In the present embodiment, each sorting station 1 includes two sorting points 122 and two sorting channels 121, is sorted logical Road 122 constitutes U-shaped, and its entrance and exit is towards stock container area 20.Two sorting channel relative spacing settings, and two Sort the sorting workspace 11 formed between channel for sorting subject activity.It sorts point 122 and is located at the U-shaped of sorting channel 121 On side, and point 122 is sorted towards sorting workspace 11.
This kind of set-up mode, the side for being located at sorting workspace 11 due to sorting point 122, when Prospect of Robot Sorting System 40 carries library Container 202 is deposited from the operation of stock container area 20 to when sorting point 122, stock container 202 can not need to rotate, and can make The sorting face 2021 of stock container 202 improves towards workspace 11 is sorted and sorts efficiency, avoids additional Rotary District is arranged and cause Space increase.And the two sides for sorting workspace 11 are provided with sorting point 122 and sort channel 121, lead the same sorting Body can be responsible for two sort point 122 sortings, one sort point 122 on stock container 202 sort after and from this When stock container 202 is not transported on the sorting point 122 also by the Ji Xuan robot that sorting channel 121 enters, sorting main body can To sort to stock container 202 to be selected on another sorting point 122 etc., the idle waiting time for sorting main body is reduced, It improves and sorts efficiency.
In this embodiment, it is preferred that two sorting channels 121 sorted in channel 121 are arranged clockwise, it is another A setting counterclockwise of sorting channel 121.That is, the intake channel 1211 in two sorting channels 121 is respectively positioned on 121 phase of sorting channel The exit passageways 1212 of side or two sorting channels 121 that neighbour sorts workspace 11, which are respectively positioned on this sorting channel 121 is adjacent, to be picked Select the side of workspace 11.This kind of set-up mode is carried the operation of stock container 202 to different sorting when Prospect of Robot Sorting System 40 and is led to It is different towards the sorting face 2021 for sorting workspace 11 when the sorting point 122 in road 121.I.e., it is possible to according to target kinds of goods in inventory The direction in corresponding sorting face 2021 on container 202 selects two one sorted in channel 121 to enter and sorts station 1, makes library Container 202 is deposited positioned at when sorting point 122, sorting 2021 face of face direction sorts workspace 11 where target kinds of goods, facilitates sorting Personnel sort.Be conducive to sort the stock container 202 of two-sided sorting, avoid stock container 202 in Prospect of Robot Sorting System 40 Rotation commutation in handling process, improves and sorts efficiency.
In the present embodiment, it sorts station 1 and the side towards stock container area 20 for sorting workspace 11 is provided with company The communicating passage 124 in logical two sortings channel 121, communicating passage 124 is formed by two two-dimensional grids of logical partitioning, and is connected to Two two-dimensional grids in channel and entrance grid 1231 and outlet grid 1232 are arranged side by side, realize two sorting channels 121 it Between connection, so as to make Prospect of Robot Sorting System 40 do not need remove sort station 1 in, it will be able to realize in same sorting station Two movements sorted between channel 122 in 1, to realize the two-sided picking operation to stock container 202.
In the present embodiment, it is further preferable that the intake channel 1211 in two sorting channels 121 is respectively positioned on the sorting channel The 121 adjacent sides for sorting workspace 11, and the two neighboring two neighboring sorting channel 121 for sorting station 1 shares one and goes out Mouth channel 1212.This kind of set-up mode can be improved the characteristics of compact layout for sorting station 1 in picking area 10, save space.
In the present embodiment, it is further preferable that each column two-dimensional grid group includes four two-dimensional grids 123, is picked with improving The space utilization rate in constituency 10 improves the dimensional compactness of inventory's radio frequency.And it is further preferable that in the present embodiment, edge The third two-dimensional grid 123 in 1211 direction of intake channel, which is formed, sorts point 122.This kind of set-up mode, before on the one hand capable of making Two two-dimensional grids 123 enter for Prospect of Robot Sorting System 40 to be sorted channel 121 and waits in sorting channel 121, is improved and is sorted For the quantity of the Prospect of Robot Sorting System of waiting 40 in channel 121；On the other hand, convenient to sort two of point 122 in a second direction Side setting sowing wall 112, so that can quickly the target kinds of goods in sorting work on stock container 202 be picked and placed by sorting main body Into the order box of sowing wall 112.In other one embodiment, it is also possible in intake channel 1211 far from entrance grid 1231 end two-dimensional grid 123, which is formed, sorts point 122.
Stock container 202 is L along the length of first direction0, the width of stock container 202 in a second direction is W0, to guarantee Carrying of the stock container 202 in stock container area 20, the width L of interconnection 2042> L0, the width W of vertical passage 2032> W0；To guarantee that stock container 202 in the operation of picking area 10, avoids colliding in 40 operational process of Prospect of Robot Sorting System, each Length L of the two-dimensional grid 123 along first direction1> L0, the width W of each two-dimensional grid 123 in a second direction1> W0.And in order to Improve space utilization rate, W1Slightly larger than W0, and L1Slightly larger than L0。
It in the present embodiment, is raising to the planning consistency of picking area 10, it is preferable that each two-dimensional grid 123 is homogeneous Together.
In the present embodiment, it sorts and is provided with one side sowing wall 112 in workspace 11, and sow wall 112 and picked positioned at two Between reconnaissance 122, sowing wall 112 faces away from the setting of stock container area 20.In other implementations, sorting workspace 11 can be with Two sides is set and sows wall 112, and two sides sowing wall 112 is oppositely arranged, and is located at two of sorting point 122 in a second direction Side.
In the present embodiment, since the sorting face 2021 of stock container 202 in stock container area 20 is toward and away from longitudinal direction Channel 203 makes the initial working face towards with sorting point 122 in the sorting face 2021 of stock container 202 in stock container area 20 Towards identical.That is, Prospect of Robot Sorting System 40, during carrying to stock container 202, stock container 202 does not need to carry out Commutation.In other embodiments, the placement position of the stock container 202 in stock container area 20 can not be defined, is picked It selects robot 40 carrying stock container 202 to before sorting station 1, the rotation commutation of stock container 202 can be driven, make inventory The working face direction for sorting face 2021 and sorting point 122 of container 202 is consistent.
The present embodiment additionally provides a kind of picking method, applied to above-mentioned inventory's radio frequency, and can be realized to library The two sides for depositing container 202 sorts.Picking method includes the following steps:
Step S101: order management center receives picking order, and analyzes the corresponding mesh of order kinds of goods in picking order Stock container 202 is marked in the position in stock container area 20, while planning that the corresponding target of picking order sorts station 1；
Step S102: order management central dispatching Prospect of Robot Sorting System 40, and according to the initial position of Prospect of Robot Sorting System 40 And 202 position of base stock container, the first travel path is planned for Prospect of Robot Sorting System 40；
Step S103: Prospect of Robot Sorting System 40 is run according to the first travel path to the bottom of base stock container 202；
Step S104: the lifting mechanism 401 of Prospect of Robot Sorting System 40 acts, and pallet is driven to rise and 202 bottom of stock container Contact, until stock container 202 is disengaged with ground；
Step S105: control system determines whether stock container 202 is two-sided sorting, if so, sorting work according to target The jam situation that two sort in channel 121 in position 1 determines that the target for needing to enter sorts channel 121, if it is not, then according to inventory The target that the direction that container 202 sorts face 2021 enters needed for determining sorts channel 2021；
Step S106: control system is according to the entrance grid position in target sorting channel 121 and 202, base stock container It sets, plans the second travel path for Prospect of Robot Sorting System 40；
Step S107: Prospect of Robot Sorting System 40 runs to target the entrance grid for sorting channel 121 according to the second travel path Place, during this, divertical motion do not occur for stock container 202, and Prospect of Robot Sorting System 40 can be advanced, be retreated, spin and is commutated etc. Movement；
In the present embodiment, initial direction of the stock container 202 in stock container area 20 sorts point 122 with one of The direction of middle working face is consistent, therefore, there is no need to commutate to stock container 202；In other embodiments, if stock container 202 is initial inconsistent towards the direction for sorting working face in point 122 with two in stock container area 20, then can make to pick It selects robot 40 before driving stock container 202 to enter sorting station 1, rotation commutation is carried out to stock container 202, makes inventory Container 202 sort face 2021 with it is one of sort put 122 working face towards identical.
Step S108: Prospect of Robot Sorting System 40 is proceeded to according to access road in a second direction at sorting point 122；
Step S109: it sorts main body and the target kinds of goods on base stock container 202 is sorted；
Step S110: after sorting, Prospect of Robot Sorting System 40 is along commutation channel 1213 and the operation of exit passageway 1212 to out At mouth grid 1232.
Step S111: control system judges whether the stock container 202 is two sides sorting, if so, S112 is thened follow the steps, If it is not, then executing S113.
Step S112: Prospect of Robot Sorting System 40 is entered in another sorting channel 121 by communicating passage 124, and drives inventory The operation of container 202 sorts at point 122 to corresponding, is chosen main body sorting, after sorting, moved into through exit passageway 1212 The target sorts at the outlet grid 1232 in channel 121.
Step S113: control system according to outlet grid 1232 and base stock container 202 stock container area 20 position Planning third travel path is set, Prospect of Robot Sorting System 40 transports stock container 202 to stock container area back according to third travel path 20；
Step S114: the movement of 40 lifting mechanism 401 of Prospect of Robot Sorting System drives pallet decline, until stock container 202 and ground Face contact and pallet is disengaged with 202 bottom of stock container；
Step S115: the movement of 40 driving mechanism 402 of Prospect of Robot Sorting System makes Prospect of Robot Sorting System 40 remove 202 bottom of stock container Portion and stock container 202 are detached from.
The present embodiment additionally provides a kind of products storage circulation system, including above-mentioned inventory's radio frequency.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation, It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.

Claims (10)

1. a kind of picking area, which is characterized in that the picking area (10) includes one or more sortings station (1), at least one Sort station (1) includes: two two sortings for sorting channel (121) and being located on two sortings channel (121) Point (122)；
The sorting point (122) sorts target kinds of goods for sorting main body；
The sorting channel (121), providing enters Prospect of Robot Sorting System (40) in the sorting station (1) and passes through the sorting The pass for sorting station (1) is left after the sorting point (122) in station (1).
2. picking area according to claim 1, which is characterized in that two sorting channels (121) are U-shaped respectively, and It side by side or is set side by side, two sort point (122) are located at the U-shaped bottom for sorting channel (121), the sorting Channel (121) is formed with far from one end of the U-shaped opening for the sorting workspace (11) for sorting subject activity.
3. picking area according to claim 2, which is characterized in that two sorting channels (121) are disposed proximate to.
4. picking area according to claim 3, which is characterized in that two sorting points (122) are disposed proximate to.
5. picking area according to claim 4, which is characterized in that it is opposite to be provided with two sides in the sorting workspace (11) Sowing wall (112), multiple order containers are accommodated on the sowing wall (112), two sorting points (122) are located at two In the wider space that sowing wall (112) is formed.
6. picking area according to claim 1, which is characterized in that picked described in each two sorted in station (1) Gating road (121) is U-shaped respectively and relative spacing is arranged, and two sorting points (122) are located at two described sort and lead to It on the U-shaped side in road (121) and is oppositely arranged, is formed between two sorting channels (121) and supply the sorting subject activity Sorting workspace (11).
7. picking area according to claim 6, which is characterized in that the two sorting channel (121) faces and interval set It sets.
8. picking area according to claim 7, which is characterized in that two sorting point (122) faces and interval setting.
9. picking area according to claim 1-8, which is characterized in that in two sorting channels (121) One provides pass along clockwise direction, another provides pass in the counterclockwise direction.
10. according to the described in any item picking areas of claim 2-5, which is characterized in that the sorting channel (121), which has, divides The entrance grid (1231) of the entrance for sorting channel (121) is not formed and forms the outlet for sorting channel (121) It exports grid (1232), the passage width of the entrance grid (1231) and outlet grid (1232) is greater than stock container (202) maximum outside diameter.
CN201910354343.0A 2018-06-06 2019-04-29 Sorting area and inventory sorting system Active CN109928131B (en)

Priority Applications (11)

Application Number Priority Date Filing Date Title
CN201910354343.0A CN109928131B (en) 2019-04-29 2019-04-29 Sorting area and inventory sorting system
CA3102308A CA3102308C (en) 2018-06-06 2019-06-06 Shelf management method and system, pickup area and stock pickup system
MX2020013234A MX2020013234A (en) 2018-06-06 2019-06-06 Shelf management method and system, pickup area, and stock pickup system.
JP2020568239A JP6957772B2 (en) 2018-06-06 2019-06-06 Shelf management methods and systems, picking areas and inventory picking systems
PCT/CN2019/090424 WO2019233484A1 (en) 2018-06-06 2019-06-06 Shelf management method and system, pickup area, and stock pickup system
KR1020217000360A KR102581222B1 (en) 2018-06-06 2019-06-06 Shelf management methods and systems, picking areas and inventory picking systems
EP23207305.6A EP4292881A3 (en) 2018-06-06 2019-06-06 Shelf management method and system, pickup area, and stock pickup system
AU2019281676A AU2019281676B9 (en) 2018-06-06 2019-06-06 Shelf management method and system, pickup area, and stock pickup system
EP19814838.9A EP3805131B1 (en) 2018-06-06 2019-06-06 Shelf management method and system, pickup area, and stock pickup system
US16/972,003 US20210323800A1 (en) 2018-06-06 2019-06-06 Shelf management method and system, pickup area and stock pickup system
JP2021164805A JP7084538B2 (en) 2018-06-06 2021-10-06 Shelf management methods and systems, picking areas and inventory picking systems

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910354343.0A CN109928131B (en) 2019-04-29 2019-04-29 Sorting area and inventory sorting system

Publications (2)

Publication Number Publication Date
CN109928131A true CN109928131A (en) 2019-06-25
CN109928131B CN109928131B (en) 2020-02-21

Family

ID=66991167

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910354343.0A Active CN109928131B (en) 2018-06-06 2019-04-29 Sorting area and inventory sorting system

Country Status (1)

Country Link
CN (1) CN109928131B (en)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110436108A (en) * 2019-09-11 2019-11-12 浙江国自机器人技术有限公司 A kind of high-efficiency dynamic goods sorting system based on AGV platform
CN110668142A (en) * 2019-09-18 2020-01-10 兰剑智能科技股份有限公司 Sorting device
CN110766228A (en) * 2019-10-25 2020-02-07 北京京东乾石科技有限公司 Method, device, picking system, electronic device and medium for picking
CN111776580A (en) * 2019-07-16 2020-10-16 北京京东乾石科技有限公司 Picking station and picking method
CN112215557A (en) * 2020-11-05 2021-01-12 北京极智嘉科技有限公司 Warehouse management system and method
CN112239037A (en) * 2019-07-16 2021-01-19 北京京东乾石科技有限公司 Goods picking method, goods picking device and goods picking system based on goods storage equipment
CN114476467A (en) * 2022-02-21 2022-05-13 深圳易可达科技有限公司 Automated guided vehicle control method, automated guided vehicle control device, automated guided vehicle control system, and storage medium
CN114929602A (en) * 2020-01-09 2022-08-19 西门子股份公司 System for sorting sorted items into target positions in a matrix arrangement which are logically connected to their destinations

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105404250A (en) * 2014-09-08 2016-03-16 株式会社日立制作所 In-coming and shipment auxiliary system, unmanned carrying vehicle and in-coming and shipment auxiliary method
CN109359924A (en) * 2018-11-19 2019-02-19 炬星科技（深圳）有限公司 Logistics subregion picking method, device, terminal, system and storage medium based on robot
EP3453493A2 (en) * 2017-09-12 2019-03-13 Kabushiki Kaisha Toshiba Article movement apparatus, article movement method, and article movement control program

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105404250A (en) * 2014-09-08 2016-03-16 株式会社日立制作所 In-coming and shipment auxiliary system, unmanned carrying vehicle and in-coming and shipment auxiliary method
EP3453493A2 (en) * 2017-09-12 2019-03-13 Kabushiki Kaisha Toshiba Article movement apparatus, article movement method, and article movement control program
CN109359924A (en) * 2018-11-19 2019-02-19 炬星科技（深圳）有限公司 Logistics subregion picking method, device, terminal, system and storage medium based on robot

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111776580A (en) * 2019-07-16 2020-10-16 北京京东乾石科技有限公司 Picking station and picking method
CN112239037B (en) * 2019-07-16 2023-09-26 北京京东乾石科技有限公司 Goods picking method, goods picking device and goods picking system based on goods storage equipment
CN111776580B (en) * 2019-07-16 2022-02-01 北京京东乾石科技有限公司 Picking station and picking method
CN112239037A (en) * 2019-07-16 2021-01-19 北京京东乾石科技有限公司 Goods picking method, goods picking device and goods picking system based on goods storage equipment
CN110436108B (en) * 2019-09-11 2020-08-28 浙江国自机器人技术有限公司 High-efficient developments goods letter sorting system based on AGV platform
CN110436108A (en) * 2019-09-11 2019-11-12 浙江国自机器人技术有限公司 A kind of high-efficiency dynamic goods sorting system based on AGV platform
CN110668142A (en) * 2019-09-18 2020-01-10 兰剑智能科技股份有限公司 Sorting device
CN110766228A (en) * 2019-10-25 2020-02-07 北京京东乾石科技有限公司 Method, device, picking system, electronic device and medium for picking
CN110766228B (en) * 2019-10-25 2022-07-05 北京京东乾石科技有限公司 Method, device, picking system, electronic device and medium for picking
CN114929602A (en) * 2020-01-09 2022-08-19 西门子股份公司 System for sorting sorted items into target positions in a matrix arrangement which are logically connected to their destinations
CN112215557A (en) * 2020-11-05 2021-01-12 北京极智嘉科技有限公司 Warehouse management system and method
WO2022095592A1 (en) * 2020-11-05 2022-05-12 北京极智嘉科技股份有限公司 Warehouse management system and method
CN114476467A (en) * 2022-02-21 2022-05-13 深圳易可达科技有限公司 Automated guided vehicle control method, automated guided vehicle control device, automated guided vehicle control system, and storage medium

Also Published As

Publication number Publication date
CN109928131B (en) 2020-02-21

Similar Documents

Publication Publication Date Title
CN109928131A (en) A kind of picking area and inventory's radio frequency
CA3039049C (en) Automated warehouse fulfillment system and method of operation
US9821960B2 (en) Storage and order-picking system and method for providing articles in a particular order
US11780672B2 (en) Robotic-based storage using versatile shelving array
CN107108122B (en) Storage material handling system
CN207551088U (en) A kind of radio frequency of the logistic storage center based on order to people
CN107628404A (en) Radio frequency and method of a kind of logistic storage center based on order to people
CN109911503A (en) Inventory area, inventory management system and the method for integrating stock and sorting
CN109377125A (en) Warehouse Management System and method
US20210323800A1 (en) Shelf management method and system, pickup area and stock pickup system
CN108584274A (en) A kind of intelligent storage method for sorting and system
CN205345971U (en) Intelligent intensive three -dimensional storehouse
CN109649913A (en) A kind of intelligent warehousing system
EP3997536B1 (en) A method and system for autonomous controlling of movements of container handling vehicles operating in an automated storage and retrieval system
CN108241946B (en) Automatic sorting system and method and automatic conveying unit
JP6796553B2 (en) Operation management system and operation management method
EP1737768B1 (en) Distribution and temporary storage system of transport units
CN107161586A (en) One kind automation filter stick storehouse piler scheduling system
CA3182825A1 (en) Multiposition search
CN116443471B (en) Warehouse system, collaborative access method, carrying equipment and storage medium
CN111176287B (en) Doffer robot scheduling method and system
WO2021012687A1 (en) Sorting system and robot
CN108686962B (en) Sorting system, sorting platform and sorting unit thereof
CN208527330U (en) Sorting system, sorting platform and its sorting unit
WO2023160014A1 (en) Warehousing 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
GR01 Patent grant
GR01 Patent grant
CP01 Change in the name or title of a patent holder

Address after: 100085 101, building 1, No.36 courtyard, Chuangyuan Road, Chaoyang District, Beijing

Patentee after: Beijing jizhijia Technology Co.,Ltd.

Address before: 100085 101, building 1, No.36 courtyard, Chuangyuan Road, Chaoyang District, Beijing

Patentee before: Beijing Geekplus Technology Co.,Ltd.

CP01 Change in the name or title of a patent holder