CN114435840B

CN114435840B - Automatic picking device, material picking method and server

Info

Publication number: CN114435840B
Application number: CN202011246495.8A
Authority: CN
Inventors: 魏华; 陈经贤; 刘宇
Original assignee: Jita International Supply Chain Management Co ltd
Current assignee: Jita International Supply Chain Management Co ltd
Priority date: 2020-11-04
Filing date: 2020-11-10
Publication date: 2023-08-15
Anticipated expiration: 2040-11-10
Also published as: CN114435840A

Abstract

The application discloses an automatic picking device, which comprises a carrying robot, an intelligent material rack, a picking robot and an intelligent skip car, wherein the intelligent material rack is arranged on the carrying robot; the handling robot is used for receiving the navigation path sent by the server, navigating to the initial position of the intelligent material rack according to the navigation path, handling the intelligent material rack to the order picking station and returning the in-place state information of the intelligent material rack to the server; the picking robot is used for receiving the clamping task instruction sent by the server, controlling the manipulator to clamp materials from the intelligent material rack according to the clamping task instruction, and placing the materials into the intelligent skip. The application also provides a material sorting method and a server, which can improve the automatic operation capacity and efficiency of storage.

Description

Automatic picking device, material picking method and server

Technical Field

The application relates to the field of warehouse picking, in particular to an automatic picking device, a material picking method and a server.

Background

With the development of electronic commerce, manufacturers are directly facing end consumers. Therefore, the logistics are developed from small varieties, large batches to multiple varieties, small batches or multiple batches and small batches. And the arrival time of the commodity directly influences the shopping experience of consumers, which puts higher demands on the delivery and distribution of the logistics. Traditional logistics center, sorting operation cost is high, the manpower is spent highly, time occupation is high, is difficult to adapt to the demand of development. With the development of technology, a "AGV (Automated Guided Vehicle) goods-to-person" picking mode has emerged, namely, carrying work is performed by an AGV trolley. However, the current "AGV to person" pick mode relies mainly on the operator to manually pick and drop the material from the shelf, and the drop material requires scanning and counting to complete the one-time pick task, where material and quantity and verification are the bottleneck points of the operation.

Disclosure of Invention

In view of the foregoing, it is necessary to provide an automatic picking device and a material picking method, which can greatly improve the automatic operation capability and efficiency of warehouse.

The first aspect of the application provides an automatic picking device, which is in communication connection with a server and comprises a carrying robot, an intelligent material rack, a picking robot and an intelligent skip; the carrying robot is used for receiving the navigation path sent by the server and navigating to the initial position of the intelligent material rack according to the navigation path, wherein the navigation path is generated according to the position of the carrying robot, the initial position of the intelligent material rack and the position of the picking station; the carrying robot is also used for carrying the intelligent material rack to the pick-up station and returning the in-place state information of the intelligent material rack to a server; the goods picking robot comprises a sliding rail, a base, a manipulator, a clamp and a controller, wherein the manipulator is connected with the sliding rail through the base, the base moves on the sliding rail to adjust the position of the manipulator, and the clamp is arranged at the tail end of the manipulator and is used for clamping materials; the picking robot is used for receiving the clamping task instruction sent by the server, controlling the manipulator to clamp materials from the intelligent material rack according to the clamping task instruction, and placing the materials into the intelligent skip.

According to some embodiments of the application, the intelligent material rack comprises a plurality of layers of storage plates, a plurality of storage positions are arranged in each layer of storage plates in parallel, and a photoelectric detection assembly is arranged in each storage position and is used for sensing and detecting whether materials are put in or taken out from the current storage position.

According to some embodiments of the application, the intelligent skip comprises a plurality of layers of storage plates, a plurality of storage positions are arranged in each layer of storage plates in parallel, a photoelectric detection assembly is arranged in each storage position, and the photoelectric detection assembly is used for sensing and detecting whether materials are put in or taken out from the current storage position.

According to some embodiments of the application, an identification code and an LED lamp are arranged below the storage location, and the identification code is used for identifying the storage location; the LED lamp is used for displaying the state of the material in the storage position.

According to some embodiments of the application, a scanner is arranged on the clamp, and the scanner is used for scanning identification codes on the intelligent material rack and the intelligent skip.

According to some embodiments of the application, the clamp is further provided with a pressure sensing assembly, and the pressure sensing assembly is used for detecting and sensing the clamping state of the material.

According to some embodiments of the application, the handling robot comprises a first camera and a second camera, the first camera is arranged above the handling robot and is used for identifying the identification tag on the intelligent material rack; the second camera is arranged below the carrying robot and used for identifying an identification tag on the current position point of the carrying robot so as to confirm whether the carrying robot walks according to the navigation path.

A second aspect of the application provides a method of sorting materials, the method comprising:

receiving a task order and generating a corresponding order picking task list according to the task order, wherein the order picking task list comprises material information;

matching the order picking task list with an order picking station and acquiring position information of the order picking station;

determining the position of the intelligent material rack in the warehouse according to the material information in the order picking task list;

determining the position of a carrying robot, and generating a navigation path according to the position of the carrying robot, the position of the intelligent material rack and the position of the goods picking station;

the navigation path is sent to the carrying robot, and the carrying robot is controlled to navigate to the position of the intelligent material rack according to the navigation path;

sending control information to the transfer robot to control the transfer robot to transfer the intelligent material rack to the pick-up station;

after receiving the information fed back by the transfer robot, generating a clamping task instruction and sending the clamping task instruction to the goods picking robot;

after the picking robot clamps materials according to the clamping task instruction, receiving material moving-out information fed back by the intelligent material rack; and

And receiving material placement information fed back by the intelligent skip.

According to some embodiments of the application, the matching the pick job ticket with the pick station and obtaining location information of the pick station includes:

acquiring the current state of the picking station, and matching the current state of the picking station with the picking task list;

if the current state of the order picking station is in the working state, the order picking task list cannot be matched with the order picking station;

and if the current state of the order picking station is in an idle state, matching the order picking task list with the order picking station and acquiring the pre-stored position information of the order picking station.

A third aspect of the present application provides a server comprising:

a processor; and

and the memory is used for storing a plurality of program modules, and the program modules are loaded by the processor and execute the material sorting method.

Compared with the prior art, the automatic picking device, the material picking method and the server in the scheme are characterized in that the intelligent material rack is carried from the initial position to the picking station through the carrying robot, and the material on the intelligent material rack is picked to the intelligent skip through the picking robot, so that the intelligent skip is convenient to convey the material to an unmanned vehicle or a freight vehicle. The automatic picking and placing machine inherits the goods-to-person picking mode, the robot technology, the storage photoelectric inspection car technology and the like, so that the materials can be picked and placed on the shelf automatically without personnel participation in the picking and placing operation link, and the correctness of the picked materials can be ensured without checking the materials. Thereby greatly improving the automatic operation capacity and efficiency of the warehouse.

Drawings

FIG. 1 is a schematic view of an application environment of an automated picking apparatus according to an embodiment of the present application.

FIG. 2 is a schematic view of another environment for an automated picking apparatus in accordance with an embodiment of the present application.

Fig. 3 is a schematic view of a transfer robot in the automated picking apparatus according to an embodiment of the present application.

Fig. 4 is a schematic structural view of an intelligent material rack in the automatic picking device according to an embodiment of the application.

Fig. 5 is a schematic view of an application of the intelligent material rack in the automatic picking device according to an embodiment of the application.

Fig. 6 is a schematic structural view of an intelligent skip in the automated picking apparatus according to an embodiment of the present application.

Fig. 7 is a schematic structural view of a picking robot in the automated picking apparatus according to an embodiment of the present application.

Fig. 8 is a schematic structural diagram of a server according to an embodiment of the application.

FIG. 9 is a flow chart of a method for sorting materials according to an embodiment of the application.

Description of the main reference signs

The application will be further described in the following detailed description in conjunction with the above-described figures.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

It is noted that when one component is referred to as being "connected" to another component, it can be directly on the other component or intervening components may also be present. When a component is considered to be a "communication connection" another component, it may be a contact connection, for example, by way of a wire connection, or a contactless connection, for example, by way of a contactless coupling.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.

Referring to fig. 1 and 2, an embodiment of the present application provides an automated picking device 1 including a transfer robot (AGV) 10, an intelligent work carrier 20, a pick robot 30, and an intelligent skip 40. The automated picking device 1 is in communication with a server 2. The automatic picking device 1 is configured to carry the intelligent material rack 20 from an initial position to a picking station through the carrying robot 10 according to the instruction sent by the server 2, and pick the material on the intelligent material rack 20 to the intelligent skip 40 through the picking robot 30, so that the intelligent skip 40 is convenient for carrying the material to an unmanned vehicle or a freight vehicle.

In this embodiment, the handling robot 10 is configured to receive a navigation path sent by the server 2, and navigate to an initial position of the intelligent material rack 20 according to the navigation path, where the navigation path is a path generated according to a position of the handling robot 10, the initial position of the intelligent material rack 20, and a position of a pick-up station; the handling robot 10 is further configured to handle the intelligent material rack 20 to the pick-up station, and return the in-place status information of the intelligent material rack 20 to the server 2; the picking robot 30 is configured to receive a gripping task instruction sent by the server 2, grip a material from the intelligent material rack 20 according to the gripping task instruction, and place the material into the intelligent skip 40.

As shown in fig. 3, the transfer robot 10 is a transfer AGV commonly used in warehouse logistics, and the transfer AGV can submerge the bottom of the pallet to support the pallet, thereby realizing the overall transfer of the pallet. The handling robot 10 may be one or more. The transfer robot 10 includes, but is not limited to, a battery 100, a walking unit 101, a wireless communication unit 102, a first camera 103, a second camera 104, and a controller 105. The battery 100, the walking unit 101, the wireless communication unit 102, the first camera 103, the second camera 104, and the controller 105 are electrically connected.

In the present embodiment, the battery 100 is used to power the walking unit 101, the wireless communication unit 102, the first camera 103, the second camera 104, and the controller 105. The walking unit 101 is configured to walk according to a control instruction sent from the server 2 received by the transfer robot 10. The walking unit 101 may be wheeled, tracked or legged. The wireless communication unit 102 is used for providing a network connection between the transfer robot 10 and the server 2. The first camera 103 is disposed above the handling robot 10 and is used for identifying an identification tag attached below the intelligent material rack 20 so as to identify the intelligent material rack 20. The first camera 103 sends the recognition result to the controller 105 after recognizing the intelligent work or material rest 20. In another embodiment, the first camera 103 acquires an identification tag on the smart shelf 20 and sends the identification tag to the controller 105. The controller 105 confirms the identity of the intelligent work-piece carrier 20 based on the received identification tag being compared to a pre-stored identification tag. The second camera 104 is disposed below the transfer robot 10, and is configured to identify an identification tag (such as a two-dimensional code tag) on a current location point of the transfer robot 10, so as to confirm whether the transfer robot 10 walks according to a navigation path. After identifying the location point, the second camera 104 sends a confirmation result to the controller 105. In another embodiment, the second camera 104 acquires an identification tag at the current location point, and sends the identification tag to the controller 105. The controller 105 confirms whether the transfer robot 10 walks according to the navigation path, based on the received identification tag being compared with the pre-stored identification tag.

In the present embodiment, the controller 105 is configured to control the travel unit 101 to travel along the navigation path, and the controller 105 may also control the travel speed and direction of the transfer robot 10. Specifically, the controller 105 determines whether the current location point is a target location on the navigation path according to the confirmation result, and if it is determined that the current location point is the target location, controls the traveling unit 101 to continue traveling until the transfer robot 10 reaches a target picking station; if it is determined that the current location point is not the target location, abnormal information is fed back to the server 2, so that the server 2 regenerates the navigation path and sends the regenerated navigation path to the transfer robot 10. In this embodiment, the handling robot 10 may further include a charging unit 106, and the charging unit 106 is electrically connected to the controller 105. The charging unit 106 is configured to provide power to the battery 100.

As shown in fig. 4 and 5, the intelligent material rack 20 is used for storing materials. The intelligent material rack 20 comprises a plurality of storage boards 201, and a plurality of storage sites 202 are arranged in each storage board 201 in parallel. Each storage location 202 is internally provided with a photoelectric detection assembly 203, and the photoelectric detection assembly 203 can sense and detect whether the current storage location 202 has materials put in or taken out. An identification code (not shown) and an LED lamp 204 are provided under each of the storage locations 202. The identification code is used to identify the storage location 202. The LED lights 204 may be capable of displaying multiple colors for displaying the status of the material at the storage location 202. For example, when the storage location 202 is storing material normally, the LED light 204 is displayed green; when the materials in the storage place 202 are to be put down, the LED lamps 204 are displayed to flash green; when the material in the storage location 202 is wrong, the LED lamp 204 is displayed as red flashing or the like. It will be appreciated that in this embodiment, the smart shelf 20 further includes a controller 205, a power source 206, and a wireless communication unit 207. The controller 205 is electrically connected to the photodetection assembly 203, the LED lamp 204, the power supply 206, and the wireless communication unit 207. The power supply 206 is used to power the intelligent work or material rest 20. The wireless communication unit 207 provides a communication connection between the intelligent work rack 20 and the server 2.

As shown in fig. 6 and 5, the intelligent skip 40 has a similar structure to the intelligent material rack 20. For example, the intelligent material rack 20 includes multiple layers of storage boards 401, and a plurality of storage sites 402 are arranged in parallel in each layer of storage boards 401. Each storage location 402 is internally provided with a photoelectric detection component 403, and the photoelectric detection component 403 can sense and detect whether the current storage location 402 has materials put in or taken out. An identification code and LED lights 404 are provided under each of the reservoirs 402. The identification code is used to identify the storage location 402. The LED lights 404 may be capable of displaying multiple colors for displaying the status of the material at the storage location 402. The intelligent skip 40 further includes a power source (not shown) for supplying power to the intelligent skip 40. The intelligent skip 40 further includes a controller 405, a power supply 406, and a wireless communication unit 407. The controller 405 is electrically connected to the photodetection assembly 403, the LED lamp 404, the power supply 406, and the wireless communication unit 407. The power supply 406 is used to power the intelligent skip 40. The wireless communication unit 407 provides a communication connection between the intelligent skip 40 and the server 2. Unlike the intelligent skip 40 and the intelligent work rack 20, the intelligent skip 40 further includes a traveling unit 408, and the traveling unit 408 may be a roller (as shown in fig. 2). The identification code can be a bar code or a two-dimensional code.

As shown in fig. 7 and 5, the pick robot 30 includes, but is not limited to, a slide rail 301, a base 302, a manipulator 303, a gripper 304, and a controller 305. The controller 305 is electrically connected with the slide rail 301, the base 302, the manipulator 303, and the clamp 304. The manipulator 303 is a multi-axis manipulator, and the clamp 304 is disposed at the end of the manipulator 303, and is used for clamping materials. The manipulator 303 is connected to the slide rail 301 through the base 302, and can move and adjust the position on the slide rail 301. The manipulator 303 can realize rotation and position adjustment of the manipulator by the base 302. The fixture 304 is provided with a scanner 306 and/or a pressure sensing assembly 307. The scanner 306 may be a two-dimensional code scanner or a bar code scanner for scanning the identification codes on the intelligent material rack 20 and the intelligent skip 40. The pressure sensing component 307 is used for detecting and sensing the clamping state of the material. It will be appreciated that the scanner 306 and the pressure sensing assembly 307 are electrically connected to the controller 305. The pick robot 30 further comprises a wireless communication unit 308, the wireless communication unit 308 providing a communication connection between the pick robot 30 and the server 2.

In the present application, the handling robot 10 may handle the intelligent material rack 20 stored with the target material to the designated picking station according to the order information issued by the warehouse operation management system in the server 2, when the intelligent material rack 20 is handled to the picking station, the picking robot 30 determines whether the picking robot 30 reaches the target storage location according to the position information of the storage location 202 of the intelligent material rack 20 where the target material is located (for example, the scanner 306 scans the identification code of the storage location 202 where the target material is located, and the pressure sensing component 307 determines whether the clamp 304 clamps the material), the material to be picked is taken out of the storage location 202, then the position of the manipulator 303 is rotated by the base 302, and the clamped material is placed in the empty storage location on the intelligent skip 40, thereby completing the task of picking and discharging the material.

Referring to fig. 8, a schematic diagram of a server 2 according to an embodiment of the application is shown. In the present embodiment, the server 2 includes, but is not limited to, a wireless communication unit 21, a memory 22, a processor 23, and an input-output interface 24. The input/output interface 24, the wireless communication unit 21, the memory 22, and the processor 23 are electrically connected.

In this embodiment, the user may interact with the server 2 through the input-output interface 24. The input/output interface 24 may be a non-contact input mode, such as motion input, voice control, etc., or an external remote control unit, and sends control commands to the processor 23 through wireless or wired communication. The input/output interface 24 may also be a capacitive touch screen, a resistive touch screen, other optical touch screens, etc., or a mechanical key input unit, such as a keyboard, a joystick, a flywheel input key, etc.

In this embodiment, the wireless communication unit 21 is configured to provide a network communication function for the server 2 through a wired or wireless network transmission manner. So that the server 2 can be in network communication with the transfer robot 10, the intelligent work rack 20 and the pick robot 30. The wired network may be of any type of conventional wired communication, such as the internet, a local area network. The wireless network may be of any type of conventional wireless communication, such as radio, wireless fidelity (Wireless Fidelity, WIFI), cellular, satellite, broadcast, etc.

In the present embodiment, the memory 22 is used to store software programs and data installed in the server 2. In this embodiment, the memory 22 may be an internal storage unit of the server 2, for example, a hard disk or a memory of the server 2. In other embodiments, the memory 22 may be an external storage device of the server 2, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the server 2. The memory 22 stores a plurality of program modules which are loaded by the processor 23 and which perform the material picking method described below.

In this embodiment, the memory 22 further stores a virtual map (e.g., an electronic map) of the warehouse, where the virtual map includes a plurality of navigation paths. The navigation path is composed of position points and connection relations between the position points. The navigation path defines a plurality of position points of the transfer robot 10 on the whole navigation path, position coordinates corresponding to each position point, and a sequence of each transfer robot 10 passing through the plurality of position points.

In one embodiment, the memory 22 also stores therein two-dimensional code information of the transfer robot 10 at each position point in advance. The navigation path is a path generated by the server 2 on the virtual map according to the position of the transfer robot 10, the position of the intelligent material rack 20, and the position of the pick-up station. In this embodiment, the position coordinates of each position point on the navigation path may refer to coordinates in a first coordinate system (XOY) established based on the region where the entire navigation space is located.

In this embodiment, the processor 23 may be a central processing unit (Central Processing Unit, CPU), or other microprocessor or other data processing chip capable of performing control functions. The processor 23 is for executing software program code or operational data, etc.

In this embodiment, the server 2 may be a computer, a smart phone, a tablet computer, a personal digital assistant, a notebook computer, or the like.

Referring to fig. 9, a flow chart of a material sorting method according to an embodiment of the application is shown. The material sorting method is applied in the server 2. The order of the steps in the flowchart may be changed, and some steps may be omitted or combined according to various needs.

Step S1, receiving a task order and generating a corresponding order picking task list according to the task order, wherein the order picking task list comprises material information.

In this embodiment, the server 2 stores a warehouse job management system, and the warehouse job management system generates a corresponding order picking task list according to a system policy and an operation logic after receiving a task order.

And step S2, matching the order picking task list with an order picking station, and acquiring position information of the order picking station.

In this embodiment, there are a plurality of picking stations in the logistics warehouse, each of which is provided with the automated picking device 1. The server 2 stores therein in advance the positional information of all pickers standing in the warehouse. The server 2 may obtain the current status of the pick station and match the pick job ticket based on the current status of the pick station. If the current state of the order picking station is in the working state, the order picking station can not execute the order picking task any more, and the order picking task list can not be matched with the order picking station; and if the current state of the pick station is in an idle state, determining that the pick station can currently execute the pick task. The server 2 matches the pick job ticket with the pick station and obtains location information of the pick station.

And step S3, determining the position of the intelligent material rack 20 in the warehouse according to the material information in the order picking task list.

In this embodiment, the server 2 further stores a material management system and an AGV management scheduling system. The material management system is used for managing material information in the warehouse, for example, determining the position of the intelligent material rack 20 according to the material information, etc. The AGV management dispatch system user manages the transfer robot 10 in the warehouse. In this embodiment, the material management system determines the position of the intelligent material rack 20 according to the material information in the pick-up task list, then generates a plurality of transport task instructions executable by the transport robot 10, and sends the transport task instructions to the AGV management scheduling system.

Step S4, determining the position of the transfer robot, and generating a navigation path according to the position of the transfer robot, the position of the intelligent material rack 20, and the position of the pick-up station.

In the present embodiment, the server 2 stores current position information of all the transfer robots 10. When the transfer robot 10 does not perform a transfer task, the transfer robot 10 is generally parked in a storage area of the warehouse. The AGV management scheduling system determines the transfer robot 10 according to the transfer task instruction and acquires the position of the transfer robot 10 in a warehouse. The server 2 generates a navigation path from the position of the transfer robot, the position of the intelligent work or material rest 20, and the position of the pick-up station. The navigation path is a path from the position of the transfer robot to the position of the intelligent material rack 20, and then from the position of the intelligent material rack 20 to the position of the picking station.

Step S5, sending the navigation path to the handling robot 10, and controlling the handling robot 10 to navigate to the position of the intelligent material rack 20 according to the navigation path.

In the present embodiment, it is understood that the transfer task may be performed in the warehouse by a plurality of transfer robots 10. For example, the AGV management scheduling system receives the transport task instruction, performs a logical operation based on information such as the state and position of the transport robot 10 (AGV) in the warehouse, and then distributes the transport task to different transport robots 10 based on the operation result.

The material sorting method further comprises the following steps: and a step of confirming whether the intelligent material rack 20 is accurate.

After the transfer robot 10 runs to the bottoms of different intelligent material racks 20 where the materials are located according to the received instructions, the identification codes of the bottoms of the intelligent material racks 20 are scanned to check whether the intelligent material racks 20 are intelligent material racks 20 corresponding to the material information. After checking that the intelligent material rack 20 is the intelligent material rack 20 corresponding to the material information, the intelligent material rack 20 is lifted to be carried to the picking station, and the intelligent material rack 20 is returned to the server 2 in place. When there are a plurality of transfer robots 10, the rest transfer robots 10 transfer the intelligent material rack 20 to be sequentially queued at the pick-up station.

Step S6, sending control information to the handling robot to control the handling robot to carry the intelligent material rack 20 and then continue to navigate to the pick-up station according to the navigation path.

Step S7, after receiving the information fed back by the handling robot 10, generating a gripping task instruction and sending the gripping task instruction to the picking robot 30.

In this embodiment, after the AGV management scheduling system in the server 2 receives the rack in-place information fed back by the transfer robot 10, a plurality of gripping task instructions are generated according to a logic policy and an arithmetic logic. And sends the gripping task instruction to a cargo robot management control system to control the picking robot 30 to perform a material racking operation.

Step S8, after the picking robot 30 clamps the materials according to the clamping task instruction, the material moving information fed back by the intelligent material rack 20 is received.

In this embodiment, the picking robot system in the server 2 controls the picking robot 30 to operate to the position of the intelligent material rack 20 according to the received instruction, then adjusts the positions and states of the manipulator and the material clamp of the picking robot 30 to the storage position 202 where the material on the intelligent material rack 20 is located, scans the identification code on the storage position 202 by using the scanner 306 at the front end of the clamp 304, and after checking the storage position 202, clamps the material by using the clamp 304 and removes the material from the storage position 202. At this time, the intelligent material rack 20 senses that the material is removed and feeds back the material removal state to the material management system in the server 2.

Step S9, receiving the material placement information fed back by the intelligent skip 40.

In this embodiment, the pick robot 30 adjusts the position through the slide rail 301, rotates a certain angle through the base 302, and then places the material into an empty storage position (the empty storage position is specified by the system budget allocation) on the intelligent skip 40. After detecting that a material is put into the storage space 202 on the intelligent skip 40, the photoelectric detection component 203 feeds back the material put status information to the material management system in the server 2. The material management system performs comprehensive logic judgment according to the information of material removal on the intelligent material rack 20 and the information of material placement on the intelligent skip 40. The material management system executes the change of the material picking and placing information state and the information record of the position of the intelligent skip 40 where the material is currently located, so that the above process completes the picking and placing task of the primary material.

It should be noted that steps S7 to S9 are repeated in sequence until the whole material to be picked up and put down on the intelligent material rack 20 is put down on the intelligent skip 40. The server 2 issues a handling instruction to an AGV management scheduling system according to the status information recorded in the material management system, and the AGV management scheduling system sends a control instruction to the handling robot 10 to carry the intelligent material rack 20 back to the storage area of the warehouse. As such, the intelligent shelves 20 that are sequentially queued may sequentially enter the picking station for picking operations by the handling of the handling robot 10.

It should be noted that, steps S3 to S9 are repeated in sequence until all the characters in the order picking task list are completed, all the materials required by the order are picked up and placed on the intelligent skip 40, the material management system changes the material state to the state to be delivered, the task list is completed, and the system task is completed.

The above embodiments are only for illustrating the technical solution of the present application and not for limiting the same, and although the present application has been described in detail with reference to the above preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present application.

Claims

1. An automatic picking device which is in communication connection with a server, and is characterized by comprising a carrying robot, an intelligent material rack, a picking robot and an intelligent skip;

the carrying robot is used for receiving the navigation path sent by the server and navigating to the initial position of the intelligent material rack according to the navigation path, wherein the navigation path is generated according to the position of the carrying robot, the initial position of the intelligent material rack and the position of the picking station;

the carrying robot is also used for carrying the intelligent material rack to the pick-up station and returning the in-place state information of the intelligent material rack to a server;

the goods picking robot comprises a sliding rail, a base, a manipulator, a clamp and a controller, wherein the manipulator is connected with the sliding rail through the base, the base moves on the sliding rail to adjust the position of the manipulator, and the clamp is arranged at the tail end of the manipulator and is used for clamping materials; the picking robot is used for receiving the clamping task instruction sent by the server, controlling the manipulator to clamp materials from the intelligent material rack according to the clamping task instruction, and placing the materials into the intelligent skip.

2. The automated picking device of claim 1, wherein the intelligent material rack comprises a plurality of layers of storage boards, wherein a plurality of storage locations are arranged in each layer of storage boards in parallel, and each storage location is internally provided with a photoelectric detection component which is used for sensing and detecting whether materials are put in or taken out from the current storage location.

3. The automated picking device of claim 1, wherein the intelligent skip comprises a plurality of storage boards, wherein a plurality of storage locations are arranged in parallel in each storage board, and each storage location is internally provided with a photoelectric detection component for sensing and detecting whether a current storage location has materials put in or taken out.

4. An automated picking device according to claim 2 or claim 3, wherein an identification code for identifying the storage location is provided below the storage location, and an LED light; the LED lamp is used for displaying the state of the material in the storage position.

5. The automated picking device of claim 4, wherein a scanner is provided on the fixture, the scanner for scanning identification codes on the intelligent work carrier and the intelligent skip.

6. The automated picking device of claim 5, wherein the clamp is further provided with a pressure sensing assembly for sensing a gripping condition of the material.

7. The automated picking device of claim 1, wherein the handling robot comprises a first camera and a second camera, the first camera disposed above the handling robot for identifying the identification tag on the intelligent shelf; the second camera is arranged below the carrying robot and used for identifying an identification tag on the current position point of the carrying robot so as to confirm whether the carrying robot walks according to the navigation path.

8. A method of sorting materials, the method comprising:

after receiving the information fed back by the carrying robot, generating a clamping task instruction and sending the clamping task instruction to the picking robot;

And receiving material placement information fed back by the intelligent skip.

9. The method of claim 8, wherein matching the pick order with a pick station and obtaining location information for the pick station comprises:

10. A server, the server comprising:

a processor; and

a memory having a plurality of program modules stored therein, the plurality of program modules being loaded by the processor and executing the material picking method of any one of claims 8 to 9.