CN112108386A - Sorting guide device, guide method, sorting system and sorting method - Google Patents
Sorting guide device, guide method, sorting system and sorting method Download PDFInfo
- Publication number
- CN112108386A CN112108386A CN202010800849.2A CN202010800849A CN112108386A CN 112108386 A CN112108386 A CN 112108386A CN 202010800849 A CN202010800849 A CN 202010800849A CN 112108386 A CN112108386 A CN 112108386A
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- goods
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/18—Devices or arrangements for indicating destination, e.g. by code marks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a sorting guide device, a guide method, a sorting system and a sorting method, wherein the sorting guide device comprises a light-emitting unit, a motion unit and a control unit; the light-emitting unit can project light spots to the goods positions on the goods shelf; the motion unit can drive the light-emitting unit to move so as to change the projection position of the light spot projected by the light-emitting unit; the control unit is used for controlling the motion unit to operate. According to the sorting guide device, the sorting guide method, the sorting system and the sorting method, the light-emitting unit and the moving unit are arranged, and after the goods shelf reaches the goods sorting station, the moving unit is controlled to operate, so that the light spot projected by the light-emitting unit is projected onto the goods position corresponding to the goods to be picked, the staff picking the goods can be guided to accurately find the goods to be picked and finish sorting, the time for the staff picking the goods to find the goods to be detected is shortened, the efficiency is improved, and the error rate of goods picking is greatly reduced.
Description
Technical Field
The invention relates to the technical field of warehouse goods sorting, in particular to a sorting guide device, a guide method, a sorting system and a sorting method.
Background
In storage logistics field based on storage AGV, storage AGV will have the goods shelves transport of order goods to choosing goods position, the artifical deposit position that needs to look for target goods from the goods shelves of choosing goods position sorts goods again, among the prior art, the characters and the image information that choose goods staff need indicate on the computer, judge the several layers that should follow goods shelves, several are listed as and are chosen goods, and choose goods to this goods position, this kind of mode of choosing goods is not only inefficient, and it is high to rely on the artifical deposit position error rate of looking for corresponding target goods moreover.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides a sorting guide device, a guide method, a sorting system and a sorting method, which can improve the sorting efficiency and reduce the error rate.
The technical scheme is as follows: in order to achieve the above object, the sorting guide apparatus of the present invention includes a light emitting unit, a moving unit, and a control unit;
the light-emitting unit can project light spots to the goods positions on the goods shelf;
the motion unit can drive the light-emitting unit to move so as to change the projection position of the light spot projected by the light-emitting unit;
the control unit is used for controlling the motion unit to operate.
Further, the motion unit comprises two rotation motion shafts, wherein one rotation motion shaft is operated to enable the light emitting unit to do pitching motion, and the other rotation motion shaft is operated to enable the light emitting unit to do left-right swinging motion.
A sorting guide method based on the above sorting guide device, the method comprising:
receiving a control instruction of an upper system;
and driving the motion unit to operate according to the control instruction so as to adjust the direction of the light-emitting unit, so that the light spot projected by the light-emitting unit is projected on a target cargo space.
Further, the control instruction includes a motion parameter of the motion unit; the driving the motion unit to operate according to the control instruction to adjust the pointing direction of the light-emitting unit comprises:
and controlling each motion axis of the motion unit to move according to the motion parameters until each motion axis moves to a target position.
Furthermore, the control unit stores the information of each goods position in the goods shelf; the control instruction comprises information of goods to be taken; the driving the motion unit to operate according to the control instruction to adjust the pointing direction of the light-emitting unit comprises:
inquiring the goods position corresponding to the goods to be taken as a target goods position according to the information of the goods to be taken;
acquiring motion parameters corresponding to the target cargo space;
and controlling each motion axis of the motion unit to move according to the motion parameters until each motion axis moves to a target position.
Further, the color and/or size of the light spot projected by the light emitting unit is adjustable; the control instruction comprises a color parameter and/or a light spot size parameter of the light-emitting unit, and before the light spot projected by the light-emitting unit is projected on the target cargo space, the method further comprises the following steps:
and adjusting the color and/or the size of the light spot projected by the light-emitting unit according to the color parameter and/or the light spot size parameter.
A sorting system, comprising:
the sorting guide device is as above;
a shelf having a plurality of product spaces for loading products thereon;
an AGV for towing the rack into motion; and
a controller communicatively coupled to the AGV and the control unit.
Furthermore, a plurality of side surfaces of the goods shelf are provided with goods spaces; the sorting system further comprises a detection unit for identifying the orientation of the rack.
A sorting method applied to the sorting system, the method comprising:
acquiring information of a goods shelf positioned at a goods picking station;
obtaining information of goods to be taken on the goods shelf corresponding to the currently processed order according to the currently processed order and the information of the goods shelf;
and sending a control instruction to the control unit of the sorting guide device according to the information of the goods to be taken.
Furthermore, a plurality of side surfaces of the goods shelf are provided with goods spaces; the sorting system further comprises a detection unit for identifying the orientation of the rack; before sending a control instruction to the control unit of the sorting directing device according to the goods information, the method further comprises the following steps:
acquiring the detection data of the detection unit and accordingly acquiring the orientation information of the goods shelf, or directly acquiring the orientation information of the goods shelf acquired according to the detection data of the detection unit;
judging whether the side surface of the goods to be picked faces the sorting guide device or not according to the orientation information and the information of the goods to be picked;
when the side where the goods to be taken are located does not face the sorting guide device, the AGV is controlled to operate to enable the goods shelf to rotate so that the side where the goods to be taken are located faces the sorting guide device.
Has the advantages that: according to the sorting guide device, the sorting guide method, the sorting system and the sorting method, the light-emitting unit and the moving unit are arranged, and after the goods shelf reaches the goods sorting station, the moving unit is controlled to operate, so that the light spot projected by the light-emitting unit is projected onto the goods position corresponding to the goods to be picked, the staff picking the goods can be guided to accurately find the goods to be picked and finish sorting, the time for the staff picking the goods to find the goods to be detected is shortened, the efficiency is improved, and the error rate of goods picking is greatly reduced.
Drawings
FIG. 1 is a view showing a sorting guide apparatus;
FIG. 2 is a schematic flow chart of a sorting guide method;
FIG. 3 is a block diagram of a sorting system;
FIG. 4 is a diagram of the mounting position of the detection unit relative to the AGV;
fig. 5 is a schematic flow diagram of a sorting method.
In the figure: 1-a light-emitting unit; 2-a motion unit; 3-a control unit; 4-a shelf; 5-AGV; 6-a controller; 7-detection unit.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
The sorting guide apparatus shown in fig. 1 includes a light emitting unit 1, a moving unit 2, and a control unit 3.
The light-emitting unit 1 can project light spots to the goods space on the goods shelf, and the light-emitting unit may be in the form of a lamp with certain light-gathering capability, such as a spot lamp, a laser lamp, and the like, and since the goods space on the goods shelf is generally large, in order to enable the light-emitting unit 1 to intuitively guide the target goods space, preferably, the light-emitting unit 1 is a lamp which can generate a large light spot, such that the outline of the light spot can contain the goods space or illuminate most area of the goods space, and a picking staff can intuitively determine the position of the goods to be picked according to which goods space is illuminated.
The motion unit 2 can drive the light-emitting unit 1 to move so as to change the projection position of the light spot projected by the light-emitting unit 1; in this embodiment, the moving unit 2 is in the form of a pan-tilt with two rotational movement axes, one of the two movement axes is operable to enable the light emitting unit 1 to perform a pitching movement, and the other rotational movement axis is operable to enable the light emitting unit 1 to perform a left-right swinging movement. In other embodiments, the motion unit 2 may be in other forms, and it should be understood that any form of the motion unit 2 that can make the projection range of the light emitting unit 1 extend to each cargo space on the shelf should be considered as falling into the protection scope of the present invention, such as the motion unit 2 may also be in the form of a cartesian robot.
The control unit 3 is used for controlling the motion unit 2 to operate, so that the posture of the motion unit 2 is changed, and the position of the light spot projected by the light emitting unit 1 is changed.
In a preferred embodiment, the color and the size of the light spot projected by the light emitting unit 1 are adjustable, and the light emitting unit 1 can adapt to cargo spaces with different sizes by changing the size of the light spot, so that the cargo spaces with different sizes can be projected and illuminated by changing the size of the light spot to ensure inventory, the outer contour of the light spot is prevented from being indistinguishable due to the fact that the outer contour of the light spot simultaneously comprises a plurality of cargo spaces, and the guiding effect is prevented from being weakened due to the fact that the light spot is too small for the larger cargo space. Preferably, the outer contour of the light spot may include the target cargo space or the outer contour of the light spot may include an area of the cargo space exceeding a set proportion, such as a set proportion of 70%, and the like, so that the light spot projected by the light emitting unit 1 not only can play a role of guiding, but also can play a role of illuminating goods in the cargo space, so that the picking staff can conveniently pick the goods.
A sorting direction method, which is executed by the control unit 3 based on the above-mentioned sorting direction device, as shown in fig. 2, the method comprises the following steps a1-a 2:
step A1, receiving a control instruction of an upper system;
and A2, driving the motion unit 2 to operate according to the control instruction to adjust the pointing direction of the light-emitting unit 1, so that the light spot projected by the light-emitting unit 1 is projected on a target cargo space.
The light emitting unit 1 may be in a normally on state, or may be controlled to be powered only when needed, and in the latter case, the following steps are further included before step a 2: controlling the light emitting unit 1 to be turned on; the following steps are also included after step a 2: the light emitting unit 1 is controlled to be turned off.
Regarding the form of the above control command, in an embodiment, the control command includes only the motion parameters (e.g. angular displacement data of each motion axis) of the motion unit 2, so that the driving of the motion unit 2 according to the control command in step a2 specifically includes: and controlling each motion axis of the motion unit 2 to move according to the motion parameters until each motion axis moves to a target position. In this embodiment, the form of the control unit 3 is simple, and only the movement axes of the movement unit 2 need to be controlled to operate and the light-emitting unit 1 needs to be controlled to be turned on or off, a shelf database is stored in the upper system, the database includes information of all goods positions in the shelf, including the form of the shelf, the size of the goods position, the information of goods stored in each goods position, and the movement parameter corresponding to the movement unit 2 when light spots are projected on each goods position, and the upper system queries the movement parameter of the movement unit 2 corresponding to the goods according to the information of the goods to be taken and then sends the movement parameter to the control unit 3.
In another embodiment, the control unit 3 stores a database, and the database includes information of each cargo space in all shelves, including the form of the shelf, the size of the cargo space, information of goods stored in each cargo space, and a motion parameter corresponding to the motion unit 2 when the light spot is projected on each cargo space; the control instruction comprises information of goods to be taken; thus, the step A2 of driving the motion unit 2 to operate according to the control command includes the following steps B1-B3:
step B1, inquiring the goods position corresponding to the goods to be taken as the target goods position according to the information of the goods to be taken;
step B2, obtaining motion parameters corresponding to the target cargo space;
and step B3, controlling each motion axis of the motion unit 2 to move according to the motion parameters until each motion axis moves to a target position.
In this embodiment, the upper system only needs to send information of the goods to be taken to the control unit 3, and the specific operations of querying, determining the motion parameters and driving the motion unit 2 to operate are all executed by the control unit 3.
Preferably, in order to adapt the color and size of the light spot to the size of the cargo space and the type of the goods, the control instruction includes the color parameter and the light spot size parameter of the light-emitting unit 1, and before the step a2 of projecting the light spot projected by the light-emitting unit 1 on the target cargo space, the following step C1 is further included:
and step C1, adjusting the color and size of the light spot projected by the light-emitting unit 1 according to the color parameter and the light spot size parameter.
Therefore, the picking staff can know the position of the goods to be picked according to the position illuminated by the light spot and know the type of the goods to be picked according to the color of the light spot so as to conveniently sort the goods after picking the goods.
Based on the sorting guide device, the invention further provides a sorting system, as shown in fig. 3, which comprises the sorting guide device, a rack 4, an AGV5 and a controller 6.
The shelves 4 have a plurality of positions for loading articles, and in use, each position is loaded with a different article.
AGV5 is used to pull the movement of goods shelves 4, AGV5 can drive goods shelves 4 to move in order to pull goods shelves 4 to the sorting station for the picking staff to pick up goods, and AGV5 can drive goods shelves 4 to rotate to adjust the posture of goods shelves 4, preferably, AGV5 can be a jacking transfer robot or a latent AGV or other AGV form, which is described based on the jacking transfer robot in this embodiment, it includes a jacking rotary mechanism and a movable chassis (such as a transport vehicle shown in chinese patent No. ZL 201710151140.2), the jacking rotary mechanism can jack up goods shelves 4 to make goods shelves 4 break away from the ground, and the movable chassis can drive goods shelves 4 to rotate.
A controller 6 is communicatively coupled to the AGV5 and the control unit 3. the controller 6 may communicate with control modules within the AGV5 to send control commands to the AGV 5. The control unit 3 and the controller 6 may be two independent control elements, or may be two control modules in the same control element, and the existence forms of the two control modules are not limited by their names.
In the sorting system described above, there are multiple racks 4 and there may be multiple AGVs 5.
Based on the sorting system, the present invention further provides a sorting method, which is applied to the sorting system and executed by the controller 6, as shown in fig. 5, wherein the sorting method includes the following steps D1-D3:
step D1, obtaining information of the goods shelf 4 at the picking station;
in this step, the racks 4 at the pick up station are transported by the AGV 5.
Step D2, obtaining information of the goods to be taken on the goods shelf 4 corresponding to the currently processed order according to the currently processed order and the information of the goods shelf 4;
in this step, the information of the goods to be taken is obtained by comparing the currently processed order with the list of the goods on the shelf 4.
Step D3, sending a control command to the control unit 3 of the sorting directing device according to the information of the goods to be taken.
After step D3, the control unit 3 executes the above-mentioned steps A1-A2.
Preferably, the following steps E1-E2 are also included before the step D1:
step E1, obtaining an order;
step E2, generating a shelf list containing corresponding goods according to the goods list on the currently processed order;
and step E3, issuing a task instruction to the AGV5 so that the AGV5 sequentially transports the shelves 4 in the shelf list to the picking station.
Preferably, in the sorting system, a plurality of side surfaces of the shelf 4 are provided with goods spaces; the sorting system further comprises a detection unit 7 for identifying the orientation of the rack 4. In this embodiment, as shown in fig. 4, the detecting unit 7 is a camera disposed at the top center of the AGV5, the lens of the camera faces upward, and the detecting unit 7 is connected to the control module of the AGV 5; the bottom of the shelf 4 is provided with a two-dimensional code, and the two-dimensional code records information such as the number of the shelf.
Based on this, the step D3 further includes the following steps F1-F3:
a step F1 of directly or indirectly acquiring orientation information of the rack 4 obtained from the data acquired by the detection unit 7;
in this step, the controller 6 may directly obtain the orientation information of the shelf 4 obtained according to the data obtained by the detection unit 7, or the controller 6 may first obtain the data obtained by the detection unit 7 and obtain the orientation information of the shelf 4 according to the data; in the former case, the tasks of decoding the two-dimensional code image and calculating the posture of the two-dimensional code are completed by the control module of the AGV5, and the control module of the AGV5 directly sends the analyzed result data to the controller 6; in the latter case, the control module of AGV5 obtains the data obtained by detection unit 7 and forwards the data to controller 6, and controller 6 decodes the two-dimensional code image and calculates the pose of the two-dimensional code accordingly. Since the two-dimensional code is fixed to the bottom of the shelf 4, the orientation information of the shelf 4, which is the posture of the two-dimensional code, is obtained.
Step F2, judging whether the side surface of the goods to be picked is towards the sorting guide device according to the orientation information and the goods to be picked information;
in this step, it is determined whether the side of the current shelf 4 facing the sorting guide device is the side where the goods to be taken are located.
Step F3, when the side on which the item to be picked is not facing the sorting guide, the AGV5 is controlled to rotate the rack 4 so that the side on which the item to be picked is facing the sorting guide.
According to the sorting guide device, the sorting guide method, the sorting system and the sorting method, the light-emitting unit and the moving unit are arranged, and after the goods shelf reaches the goods sorting station, the moving unit is controlled to operate, so that the light spot projected by the light-emitting unit is projected onto the goods position corresponding to the goods to be picked, the staff picking the goods can be guided to accurately find the goods to be picked and finish sorting, the time for the staff picking the goods to find the goods to be detected is shortened, the efficiency is improved, and the error rate of goods picking is greatly reduced.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (10)
1. A sorting guide device is characterized by comprising a light-emitting unit, a motion unit and a control unit;
the light-emitting unit can project light spots to the goods positions on the goods shelf;
the motion unit can drive the light-emitting unit to move so as to change the projection position of the light spot projected by the light-emitting unit;
the control unit is used for controlling the motion unit to operate.
2. The sorting guide apparatus according to claim 1, wherein said moving unit includes two rotational movement axes, one of said rotational movement axes being operative to cause said light emitting unit to perform a pitching movement, and the other of said rotational movement axes being operative to cause said light emitting unit to perform a side-to-side swinging movement.
3. A sorting guide method based on the sorting guide device according to claim 1 or 2, characterized in that the method comprises:
receiving a control instruction of an upper system;
and driving the motion unit to operate according to the control instruction so as to adjust the direction of the light-emitting unit, so that the light spot projected by the light-emitting unit is projected on a target cargo space.
4. The sort direction method according to claim 3, characterized in that the control command includes a motion parameter of the motion unit; the driving the motion unit to operate according to the control instruction to adjust the pointing direction of the light-emitting unit comprises:
and controlling each motion axis of the motion unit to move according to the motion parameters until each motion axis moves to a target position.
5. The sorting guide method according to claim 3, wherein information of each cargo space in a shelf is stored in the control unit; the control instruction comprises information of goods to be taken; the driving the motion unit to operate according to the control instruction to adjust the pointing direction of the light-emitting unit comprises:
inquiring the goods position corresponding to the goods to be taken as a target goods position according to the information of the goods to be taken;
acquiring motion parameters corresponding to the target cargo space;
and controlling each motion axis of the motion unit to move according to the motion parameters until each motion axis moves to a target position.
6. The sorting guide method according to claim 3, wherein the color and/or size of the light spot projected by the light emitting unit is adjustable; the control instruction comprises a color parameter and/or a light spot size parameter of the light-emitting unit, and before the light spot projected by the light-emitting unit is projected on the target cargo space, the method further comprises the following steps:
and adjusting the color and/or the size of the light spot projected by the light-emitting unit according to the color parameter and/or the light spot size parameter.
7. A sorting system, characterized in that it comprises:
the sorting guide apparatus according to claim 1 or 2;
a shelf having a plurality of product spaces for loading products thereon;
an AGV for towing the rack into motion; and
a controller communicatively coupled to the AGV and the control unit.
8. The sortation system as claimed in claim 7, wherein said shelves have cargo spaces on each of a plurality of sides; the sorting system further comprises a detection unit for identifying the orientation of the rack.
9. A sorting method applied to the sorting system according to claim 7, wherein the method comprises:
acquiring information of a goods shelf positioned at a goods picking station;
obtaining information of goods to be taken on the goods shelf corresponding to the currently processed order according to the currently processed order and the information of the goods shelf;
and sending a control instruction to the control unit of the sorting guide device according to the information of the goods to be taken.
10. The sorting method according to claim 9, wherein the plurality of sides of the rack are each provided with a cargo space; the sorting system further comprises a detection unit for identifying the orientation of the rack; before sending a control instruction to the control unit of the sorting directing device according to the goods information, the method further comprises the following steps:
acquiring the detection data of the detection unit and accordingly acquiring the orientation information of the goods shelf, or directly acquiring the orientation information of the goods shelf acquired according to the detection data of the detection unit;
judging whether the side surface of the goods to be picked faces the sorting guide device or not according to the orientation information and the information of the goods to be picked;
when the side where the goods to be taken are located does not face the sorting guide device, the AGV is controlled to operate to enable the goods shelf to rotate so that the side where the goods to be taken are located faces the sorting guide device.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010800849.2A CN112108386A (en) | 2020-08-11 | 2020-08-11 | Sorting guide device, guide method, sorting system and sorting method |
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| CN202010800849.2A CN112108386A (en) | 2020-08-11 | 2020-08-11 | Sorting guide device, guide method, sorting system and sorting method |
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Cited By (1)
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