CN110148257A - A kind of picking method and system - Google Patents
A kind of picking method and system Download PDFInfo
- Publication number
- CN110148257A CN110148257A CN201910255960.5A CN201910255960A CN110148257A CN 110148257 A CN110148257 A CN 110148257A CN 201910255960 A CN201910255960 A CN 201910255960A CN 110148257 A CN110148257 A CN 110148257A
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- China
- Prior art keywords
- commodity
- picking
- information
- mobile device
- instruction
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Classifications
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
- G07F11/02—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
- G07F11/04—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other
- G07F11/16—Delivery means
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F17/00—Coin-freed apparatus for hiring articles; Coin-freed facilities or services
- G07F17/0092—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for assembling and dispensing of pharmaceutical articles
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
Abstract
The present invention provides a kind of picking method and system, method is applied to mobile device, and method includes: the pick-up instruction that receiving terminal apparatus is sent, and includes the information to picking commodity in the pick-up instruction；The storage position information that the commodity are determined according to the information to picking commodity generates movement routine according to the storage position information, according to the movement routine be moved to it is described to the position of picking at；It identifies and grabs the commodity, and be moved at output port, place at the commodity to output port.The convenience of picking so can be improved.
Description
Technical field
The present invention relates to automatic control technology fields, in particular to a kind of picking method and system.
Background technique
In the prior art, it such as when pharmacy carries out selling medicine, needs shopping guide and carries out searching drug and arrive the drug
Storage position at carry out taking medicine, need shopping guide that must be very familiar to the storage position of every kind of drug at this time, when pharmacy's scale ratio
When larger, then need that different shoppers' guides is respectively configured in different drug regions, human cost is higher.
Summary of the invention
In view of this, the purpose of the present invention is to provide picking method and picking system, it is convenient, efficient to reach picking
Good effect.
In a first aspect, being applied to mobile device the embodiment of the invention provides a kind of picking method, which comprises
The pick-up instruction that receiving terminal apparatus is sent includes the information to picking commodity in the pick-up instruction；
The storage position information that the commodity are determined according to the information to picking commodity, according to the storage position confidence
Breath generates movement routine, according to the movement routine be moved to it is described to the position of picking at；
It identifies and grabs the commodity, and be moved at output port, place at the commodity to output port.
Second aspect, the embodiment of the invention provides a kind of automatic picking systems, comprising: terminal device and mobile device,
The terminal device is used for the information to user's displaying commodity, so that the user selects the required commodity bought and using shifting
Dynamic terminal completes the purchase payment of commodity；
The terminal device generates pick-up instruction after the user buys payment, and the pick-up instruction is sent to
The mobile device；
The mobile device carries out picking according to method as described in relation to the first aspect.
A kind of picking method and system provided in an embodiment of the present invention, are automatically moved by mobile device to picking
At the position of commodity, the commodity then should be automatically grabbed, and be moved to output port after picking commodity by mobile device identification
Place takes for user, has more efficient, convenient and fast good effect.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows a kind of flow diagram of picking method provided by the embodiment of the present invention；
Fig. 2 shows a kind of structural schematic diagrams of picking system provided by the embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
Middle attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
It is a part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is real
The component for applying example can be arranged and be designed with a variety of different configurations.Therefore, of the invention to what is provided in the accompanying drawings below
The detailed description of embodiment is not intended to limit the range of claimed invention, but is merely representative of selected reality of the invention
Apply example.Based on the embodiment of the present invention, those skilled in the art institute obtained without making creative work
There are other embodiments, shall fall within the protection scope of the present invention.
Fig. 1 is a kind of flow diagram of picking method provided by the embodiments of the present application.This method is particularly suitable for nobody
It takes in pharmacy to drug.Shown in referring to Fig.1, this method is applied to mobile device, which can be robot, can
Mobile mechanical arm etc., this method comprises the following steps S101-S103:
The pick-up instruction that S101, receiving terminal apparatus are sent includes the information to picking commodity in the pick-up instruction.
Above-mentioned terminal device refers to sales terminal, user can be carried out by the sales terminal inquiry product type,
Information such as price, effect, manufacturer, and then select to need the commodity bought, the commodity for needing to buy in selection and pay at
After function, sales terminal can send pick-up instruction to mobile device through wireless communication.User pays in sales terminal
Mode can be by using swipe the card or mobile terminal barcode scanning after paid using modes such as Alipay, wechats.The shifting
Dynamic terminal can refer to the equipment such as mobile phone, tablet computer used in server.
S102, the storage position information for determining the commodity to the information of picking commodity according to, according to the storage
Location information generates movement routine, according to the movement routine be moved to it is described to the position of picking at.
The above-mentioned information to picking commodity includes the location information of commodity, which can be depositing to picking commodity
The number of goods putting frame and location information, such as the number of plies to picking commodity on shelf etc. are moved in a possible embodiment
It is previously stored with shelf distribution map in dynamic equipment, after the number for determining the storage shelf with picking commodity, is passed through
The position that the shelf distribution map determines shelf is inquired, mobile road is generated according to the current position of mobile device and the position of shelf
Diameter.
Optionally, several two dimensional codes be can use, indoor plane map is divided into a series of two dimensional code coordinate, such as
One two dimensional code is set on the ground at interval of certain distance, and mobile device determines that oneself is presently according to the two dimensional code is scanned
Position and planning purpose ground coordinate, at this point, to guarantee that equipment travels on own orbit, then using gyroscope to equipment
Direction is positioned (i.e. equipment is currently towards angle), guarantees that equipment driving direction does not deviate by errant.
The information of above-mentioned commodity is also possible to the mark of commodity, and the storage position of the commodity is obtained by the mark of the commodity
Confidence breath.
Optionally, above-mentioned mobile device further carried out according to detecting distance apart from detection by ultrasonic wave
Barrier judgment realizes automatic obstacle-avoiding.
S103, identification simultaneously grab the commodity, and are moved at output port, place at the commodity to output port.
Above-mentioned terminal device in the present embodiment should be provided with image acquisition component, such as camera.Camera acquisition
Image comprising the outer packing to picking commodity is provided with the identification code of commodity, the expression code in the outer packing of the commodity
Can be includes two dimensional code, bar code or other specific coding patterns of merchandise news etc., is also possible to electronic tag,
Such as RFID label tag.Mobile device obtains merchandise news included in the identification code, the merchandise news that will acquire with
The information to picking commodity is matched, and after matching is consistent, grabs the commodity.
Optionally, above-mentioned mobile device, comprising: mobile chassis, elevating mechanism and grasping mechanism；The grasping mechanism peace
Above the elevating mechanism, the elevating mechanism is installed on above the mobile chassis.Specifically, can be in gripper
Image acquisition component is set on structure.
Optionally, above-mentioned mobile device can also receive the telecommand of remote control equipment transmission, parse and execute described
Telecommand.
Optionally, above-mentioned grasping mechanism includes: clamping device or sucker.Preferably, when above-mentioned to picking commodity
When for drug, since drug weight will not be overweight, spacing between shelf is arranged, and, substantially in 1.2m or so, conventional medication is box
Dress, it is most reliable and stable using sucker mode at this time.
Preferably, when above-mentioned grasping mechanism is mechanical arm, the working radius of the mechanical arm is 0.6 meter, mechanical arm
Weight bearing is 3 kilograms, and the grasp mode used is sucker.And it is 50cm/s that the speed of travel, which is arranged,.
In the above method, after mobile device is placed at the commodity to output port, the method also includes:
Mobile charging area charges.
Charging zone setting will do it automatic charging after mobile device is moved to charge position by charge power supply；Together
When the mobile device can detect charging current and temperature automatically, have the function of overcurrent protection or overvoltage protection, overheat protector.
Optionally, the above method further include:
The status information is sent to host computer or server by the status information for obtaining the mobile device in real time.
The status information includes: fault condition, electricity, working condition, the picking information such as unsuccessfully.
In the present embodiment, mobile device just has auto-alarm function, and mobile device carries out fault self-checking, and can be according to failure
Content reports to host computer in time.
Referring to shown in Fig. 2, a kind of automatic picking system, 200 He of terminal device are provided in another embodiment of the present invention
Mobile device 202, the terminal device 200 are used to show the information of commodity to user, so that purchase required for user selection
The commodity bought and the purchase payment for using mobile device 202 to complete commodity；
The terminal device generates pick-up instruction after the user buys payment, and the pick-up instruction is sent to
The mobile device 202；
The mobile device 202 carries out picking according to above-mentioned picking method.
A kind of picking method and system provided in an embodiment of the present invention, are automatically moved by mobile device to picking
At the position of commodity, the commodity then should be automatically grabbed, and be moved to output port after picking commodity by mobile device identification
Place takes for user, has more efficient, convenient and fast good effect.
The computer program product of method provided by the embodiment of the present invention, the computer including storing program code can
Storage medium is read, the instruction that said program code includes can be used for executing previous methods method as described in the examples, specific real
Now reference can be made to embodiment of the method, details are not described herein.
The device that legal document provided by the embodiment of the present invention is sent to can be the specific hardware or installation in equipment
In software or firmware etc. in equipment.The technical effect of device provided by the embodiment of the present invention, realization principle and generation and
Preceding method embodiment is identical, and to briefly describe, Installation practice part does not refer to place, can refer in preceding method embodiment
Corresponding contents.It is apparent to those skilled in the art that for convenience and simplicity of description, foregoing description is
The specific work process of system, device and unit, the corresponding process during reference can be made to the above method embodiment, it is no longer superfluous herein
It states.
In embodiment provided by the present invention, it should be understood that disclosed device and method, it can be by others side
Formula is realized.The apparatus embodiments described above are merely exemplary, for example, the division of the unit, only one kind are patrolled
Function division is collected, there may be another division manner in actual implementation, in another example, multiple units or components can combine or can
To be integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Coupling, direct-coupling or communication connection can be INDIRECT COUPLING or communication link by some communication interfaces, device or unit
It connects, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in embodiment provided by the invention can integrate in one processing unit, it can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing, in addition, term " the
One ", " second ", " third " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
Finally, it should be noted that embodiment described above, only a specific embodiment of the invention, to illustrate the present invention
Technical solution, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, those skilled in the art should understand that: anyone skilled in the art
In the technical scope disclosed by the present invention, it can still modify to technical solution documented by previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention.Should all it cover in protection of the invention
Within the scope of.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. a kind of picking method, which is characterized in that be applied to mobile device, which comprises
The pick-up instruction that receiving terminal apparatus is sent includes the information to picking commodity in the pick-up instruction；
The storage position information that the commodity are determined according to the information to picking commodity, it is raw according to the storage position information
At movement routine, according to the movement routine be moved to it is described to the position of picking at；
It identifies and grabs the commodity, and be moved at output port, place at the commodity to output port.
2. the method according to claim 1, wherein the mobile device, comprising: mobile chassis, elevating mechanism
And grasping mechanism；The grasping mechanism is installed on above the elevating mechanism, and the elevating mechanism is installed on the mobile chassis
Top.
3. the method according to claim 1, wherein further include:
The telecommand that remote control equipment is sent is received, parses and executes the telecommand.
4. the method according to claim 1, wherein described identify and grab the commodity, comprising:
Acquisition includes the image of the outer packing of the commodity, and commodity sign code is provided in the outer packing of the commodity, obtains institute
Merchandise news included in identification code is stated, the merchandise news that will acquire and the information progress to picking commodity
Match, after matching is consistent, grabs the commodity.
5. according to the method described in claim 4, it is characterized in that, the identification code are as follows: two dimensional code, bar code or electronics mark
Any one in label.
6. according to the method described in claim 2, it is characterized in that, the grasping mechanism includes: clamping device or sucker.
7. the method according to claim 1, wherein the information of the commodity includes: the mark of commodity.
8. described the method according to claim 1, wherein after described place at the commodity to output port
Method further include:
Mobile charging area charges.
9. method according to claim 1, which is characterized in that the method also includes:
The status information is sent to host computer or server by the status information for obtaining the mobile device in real time.
10. a kind of automatic picking system characterized by comprising terminal device and mobile device, the terminal device be used for
User shows the information of commodity, so that the commodity bought required for user selection and the purchase for completing commodity using mobile terminal
Buy payment；
The terminal device generates pick-up instruction after the user buys payment, and the pick-up instruction is sent to described
Mobile device；
The mobile device carries out picking according to the method as described in claim 1-9 is any.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910255960.5A CN110148257A (en) | 2019-04-01 | 2019-04-01 | A kind of picking method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910255960.5A CN110148257A (en) | 2019-04-01 | 2019-04-01 | A kind of picking method and system |
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| CN110148257A true CN110148257A (en) | 2019-08-20 |
Family
ID=67589331
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| CN201910255960.5A Pending CN110148257A (en) | 2019-04-01 | 2019-04-01 | A kind of picking method and system |
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Cited By (5)
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| CN111401823A (en) * | 2020-06-08 | 2020-07-10 | 北京云迹科技有限公司 | Cargo distribution method, device and system for unmanned vehicle |
| WO2021051755A1 (en) * | 2019-09-18 | 2021-03-25 | 五邑大学 | Automatic shopping method and device for shopping mall, storage medium, and electronic device |
| CN112605986A (en) * | 2020-11-09 | 2021-04-06 | 深圳先进技术研究院 | Method, device and equipment for automatically picking up goods and computer readable storage medium |
| WO2021129608A1 (en) * | 2019-12-26 | 2021-07-01 | 北京极智嘉科技股份有限公司 | Pickup robot, pickup method, and computer-readable storage medium |
| CN114194696A (en) * | 2021-09-30 | 2022-03-18 | 杭州拼便宜网络科技有限公司 | Goods shelf goods taking method and goods taking system based on interactive positioning |
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