CN208485145U

CN208485145U - Intelligent storage Picking System

Info

Publication number: CN208485145U
Application number: CN201820085777.6U
Authority: CN
Inventors: 董胜伟; 卓晖; 吕江
Original assignee: Water Rock Intelligent Technology Ningbo Co ltd
Current assignee: Gangwan Intelligent Technology Suzhou Co ltd
Priority date: 2018-01-18
Filing date: 2018-01-18
Publication date: 2019-02-12
Anticipated expiration: 2028-01-18

Abstract

This disclosure relates to a kind of intelligent storage Picking System, the system comprises: control system, picking resource, goods storage unit, picking instruction device, picking storage unit, picking instruction device, control system control picking process for issuing control instruction；Picking resource is used to sort cargo according to control instruction, and the cargo picked is stored in picking storage unit；Picking instruction device is used to indicate the currently position to picking object in goods storage unit by visual information according to control instruction；Picking instruction device is used to indicate position of the picking resource by the cargo storage picked into picking storage unit according to control instruction.The disclosure can further realize the automation of picking process, improve picking efficiency.

Description

Intelligent storage Picking System

Technical field

This disclosure relates to a kind of Picking System in intelligent storage field, being applied especially to configuration has intelligent transport robot Warehousing system in.

Background technique

The fast development of internet and e-commerce brings life to the development of logistic industry, however explosive growth Electric business business also to traditional logistics storage bring new challenge, constantly force traditional logistics storage sector from labor-intensive Steering technique is intensive, has expedited the emergence of the development of Intelligent logistics storage.In traditional logistics storage sector, it is mainly used in conveyer belt And the robot based on relevant device in more and more logistic storage services, introduces automatic guided vehicle AGV in recent years (Automated Guided Vehicle) reduces human cost；The logistic storage robot of a new generation will be with logistics management system System docking forms the logistics system of height intelligence, automation in conjunction with technologies such as artificial intelligence, machine vision, mechanical arms, reduces Cost of labor improves logistic efficiency and logistics quality.

However AGV reducing in logistic storage system using brought cost and efficiency raising are relied solely on, also not Be able to satisfy the growing demand of logistic storage, more systematicization, globalization, intelligent and automation logistic storage system at For the research and development focus of current each large enterprises.

The introducing of AGV realizes the positioning of shelf where cargo and the carrying of shelf, and by target goods picking station from The process that completion order is taken out on shelf will still be completed by manpower, how further realize the automation of picking process, be improved Picking efficiency is disclosure problem to be solved.

Utility model content

The purpose of the disclosure is to propose a kind of new intelligent storage Picking System.

Specifically, according to the one side of the disclosure, a kind of intelligent storage Picking System is provided, and the system comprises: control System processed, picking resource, goods storage unit, picking instruction device, picking storage unit, picking instruction device, in which:

The control system and the picking resource, picking instruction device, picking storage unit, pick goods storage unit It can be communicated between goods instruction device, for issuing control instruction, control picking process；

The picking resource is used to carry out the sorting of cargo, and the goods that will be picked according to the control instruction of the control system Object is stored in picking storage unit；

The goods storage unit is used to store cargo in storage region；

The picking instruction device be used for according to the control instruction of the control system by visual information instruction currently to Position of the picking object in the goods storage unit；

The picking storage unit is used to store the picking resource from the cargo in the way of corresponding to order The cargo taken out in storage unit；

The picking instruction device is used to indicate that the picking resource will pick according to the control instruction of the control system Position of the cargo storage into picking storage unit.

According to the one side of the disclosure, a kind of intelligent storage Picking System is provided, the system comprises: control system, goods Object storage unit and one or more intelligent storage picking subsystem, in which:

The intelligent storage picking subsystem is used to execute intelligent storage picking operation parallel according to the control of control system；

The intelligent storage picking subsystem includes controlling terminal, picking resource, picking instruction device, picking storage unit With picking instruction device, in which:

The controlling terminal refers to the control system, goods storage unit, picking storage unit, picking resource, picking It can be communicated between showing device and picking instruction device, for issuing control instruction according to the instruction of control system, control picking Process；

The picking resource is used to carry out the sorting of cargo, and the goods that will be picked according to the control instruction of the controlling terminal Object is stored in picking storage unit；

The goods storage unit is used to store cargo in storage region；

The picking instruction device be used for according to the control instruction of the controlling terminal by visual information instruction currently to Position of the picking object in the goods storage unit；

The picking storage unit is used to store picking resource from goods storage unit in the way of corresponding to order The cargo of taking-up；

The picking instruction device is used to indicate the goods that picking resource will pick according to the control instruction of the controlling terminal Object stores the position into picking storage unit.

Optionally, further include vehicle equipment, the toter be used for according to the control instruction of the control system for The goods storage unit is delivered.

According to the one side of the disclosure, a kind of intelligent storage Picking System is provided, the system comprises: control system, goods Object storage unit, picking storage unit and one or more intelligent storage picking subsystem, in which:

The intelligent storage picking subsystem includes controlling terminal, picking resource, picking instruction device and picking instruction dress It sets, in which:

The goods storage unit is used to store cargo in storage region；

The disclosure passes through control system, picking resource, goods storage unit, picking instruction device, picking storage unit, picks The mutual cooperation of the devices such as goods instruction device, component can further realize the automation of picking process, improve picking efficiency.

Detailed description of the invention

Each exemplary embodiment is described in detail by referring to accompanying drawing, above and other feature and advantage are common for this field It will become more apparent for technical staff, in the accompanying drawings:

Fig. 1 is the structural block diagram according to the intelligent storage Picking System of one embodiment of the disclosure；

Fig. 2 is the scheme of installation according to the light emitting device of one embodiment of the disclosure；

Fig. 3 is the structural block diagram according to the intelligent storage picking subsystem of one embodiment of the disclosure；

Fig. 4 is the projected image display area according to the projection arrangement of one embodiment of the disclosure in goods storage unit Presentation mode schematic diagram；

Fig. 5 A is the allocation plan schematic diagram according to the picking partition holding of one embodiment of the disclosure；

Fig. 5 B is the allocation plan schematic diagram according to the picking partition holding of another embodiment of the disclosure；

Fig. 5 C is the allocation plan schematic diagram according to the picking partition holding of disclosure another embodiment；

Fig. 6 is the structural block diagram according to the intelligent storage Picking System of another embodiment of the disclosure；

Fig. 7 is the flow chart according to the intelligent storage goods sorting method of one embodiment of the disclosure；

Fig. 8 is the flow chart according to the intelligent storage goods sorting method of another embodiment of the disclosure；

Fig. 9 is the flow chart according to the intelligent storage goods sorting method of disclosure another embodiment.

Specific embodiment

In order to keep technical solution and the advantage of the disclosure clearer, in the following with reference to the drawings and specific embodiments to the disclosure It is described in detail.

This disclosure relates to a kind of goods sorting method and system in storage field, being applied especially to configuration has intelligent storage machine In the warehousing system of people, herein intelligent storage robot be refer to can be applied to storage, logistics, transport goods in transport, shelf, The mobile handling unit of the objects such as counter, also commonly known as merchandising machine people, AGV, intelligent carrier etc., however, disclosure institute The intelligent storage cargo picking method and systematic difference of proposition, however it is not limited to the warehousing system configured with intelligent storage robot In, as long as described method and system can be applied with the picking station of the same or similar configuration of the disclosure by having；The storage system System both includes large-scale logistics warehouse, such as customs, the collecting and distributing area of logistics, also includes middle-size and small-size logistics transfer house, further includes Retail storage region etc., above-mentioned warehousing system is merely illustrative, and the disclosure is not limited to this, and institute is in need to store in a warehouse The system that cargo sorts is each fallen in the protection scope of the disclosure.

According to the one side of the disclosure, propose that a kind of intelligent storage Picking System, the intelligent storage Picking System are related to Consisting of part, and may be wrapped according to the difference of concrete scene scale of warehousing system application, the difference of automation demanding It includes several or whole in consisting of part.Fig. 1 is the structure according to the intelligent storage Picking System of one embodiment of the disclosure Block diagram, as shown in Figure 1.In one embodiment of the disclosure, the intelligent storage Picking System include: control system, picking resource, Goods storage unit, picking instruction device, action recognition device, picking storage unit, picking instruction device, cargo identification dress It sets, vehicle equipment and caution device in order to guarantee effective work of the intelligent storage Picking System, should be also equipped with certainly The picking region for having storage region and being present in storage region, being marked off to realize picking, in which:

The control system and the picking resource, picking instruction device, action recognition device, pick goods storage unit It can be communicated between goods storage unit, picking instruction device, stock keeping unit, vehicle equipment and caution device, for issuing Control instruction controls picking process；

The goods storage unit is used to store cargo in storage region；

The action recognition device is used to detect picking resource and sorts the movement of cargo in the goods storage unit It is no correct, and will test result and be sent to the control system；

The picking instruction device is used to indicate that the picking resource will pick according to the control instruction of the control system Position of the cargo storage into picking storage unit；

The goods information of the stock keeping unit cargo that picking resource is taken out from goods storage unit for identification；

The toter is for transporting the goods storage unit according to the control instruction of the control system It carries；

The caution device is used to issue information warning according to the control instruction of the control system.

It describes in detail below for each component part of the intelligent storage Picking System.

Control system

The control system includes central processing unit (CPU), read-only memory (ROM), random access storage device (RAM), bus, input/output (I/O) interface, input equipment, output equipment, storage equipment, communication equipment, may also include drive The components such as dynamic device, detachable media.In practical applications, the control system can be implemented as total and fractional computer control system System, also can be implemented as distributed computer control system, the total and fractional computer control system includes master control control server With the controlling terminal of multiple reception master control control server controls；The distributed computer control system includes multiple independent controls Terminal processed, the multiple independent controlling terminal can realize collaborative work to each other by collision algorithm.

The control system also can receive the picking resource, goods storage unit, picking instruction device, action recognition dress It sets, the information that picking storage unit, picking instruction device, stock keeping unit, vehicle equipment are sent, according to reception information pair Judged in the working condition of each unit, unit, and when judging that abnormal state occur in each unit, unit, Control instruction is sent to caution device, indicates its alarm.

Picking resource

The picking resource can be people, machine or man-machine combination, such as with auxiliary machinery equipment People, it is alternatively possible to be the people equipped with mechanical exoskeleton.It is said from another angle, the picking resource may include multiple Picking component, such as the component for executing picking, the component for providing support, the component for controlling each component movement etc. Deng the work of multiple picking component coordinations is to realize picking for cargo.

The picking resource can also be installed with condition detecting device, and the condition detecting device is provided for real-time monitoring picking Working condition from body, and status information is fed back into control system in real time or every prefixed time interval, in picking Resource can at the first time succour picking resource when breaking down, and picking work is scheduled.Wherein, described Status information includes: each picking component operation status information, picking resource location information etc..

Goods storage unit

In one embodiment of the disclosure, the goods storage unit can be shelf, counter, basket, goods basket and refrigerator, The storage units such as warm cabinet.

The cargo storage areas that the goods storage unit is formed can be divided into multiple cargo partition holdings, the goods Object partition holding either opened and formed by physical separation, such as separated with partition components such as partition, drawer, subpackage boxes, It is also possible to the partition holding of virtual partition, such as different cargos are spaced each other and put and formed.The cargo partition holding was both It can be set to regular shape, such as latticed, may be set to be with irregular shape, to accommodate irregular cargo Or the cargo reserved space will to store later.The cargo partition holding can both be evenly distributed, and can also be in non- It is uniformly distributed, such as can be set as that certain partition holdings are intensive according to the needs of practical application and other partition holdings are dredged relatively Pine.The division of the cargo partition holding is also possible to support dynamic adjustment, the cargo is deposited either changeless The division mode of storage subregion is stored in the control system, and the real-time update according to the change of division mode.In addition, institute Stating cargo partition holding may also be configured with unique positions identification marking, such as can be according to its region, row, column, serial number The unique positions identification marking of the more specific location informations such as code setting cargo partition holding, can also be according to the cargo partition holding Spatial position coordinate be its be arranged unique positions identification marking.It above are only the exemplary illustration for cargo partition holding, Those skilled in the art can carry out reasonable distribution and adjustment, the disclosure pair for cargo partition holding according to the needs of practical application It is not especially limited.

The position of the goods storage unit is also possible to moveable either fixed, stores in the cargo When unit is removable, move mode can be actively mobile or passive mobile, wherein actively it is mobile can be achieved be Automatic autonomous, passive movement can be achieved to carry out delivery movement by push-and-pull move, or by toter.

In another embodiment of the disclosure, the goods storage unit can also be installed with condition detecting device, the state Detection device is used to detect the status information of the goods storage unit, and in real time, every Fixed Time Interval or detecting State detecting information is sent to control system when breaking down to the goods storage unit.

Picking instruction device

In one embodiment of the disclosure, the picking instruction device can use visual information, to indicate currently to picking Location information of the object in the goods storage unit, i.e., currently to the cargo partition holding where picking object, so that picking provides Source can correctly take out currently according to the position instruction of picking instruction device to picking object.

In this embodiment, the picking instruction device is visual information output device, and there are many kinds of its implementations, For example can be implemented as light emitting device, light launcher, projection arrangement, display device, electronic tag, bat modulator etc., when So it also can be implemented as other visual information output devices, the disclosure is not especially limited it.Below only with light emitting device, light The picking instruction device is illustrated for line emitter, projection arrangement and display device, other visions are believed The implementation of breath output device can similarly analogize.

Embodiment one, the picking instruction device are light emitting device

In this embodiment, the picking instruction device is one group of dress that shines in the goods storage unit It sets, such as LED light, for example as shown in Fig. 2, the goods storage unit is shelf 1, the picking instruction device is to be mounted on goods One group of LED light 2 on frame 1, shelf 1 are divided into multiple virtual cargo partition holdings, LED light 2 further comprise laterally and Longitudinally disposed row, column LED light, row LED light and column LED light combined application can uniquely determine depositing where a certain cargo Store up subregion.In addition, the indicating mode of the light emitting device can be shone using lighting, flashing, changing colour or other indicating modes Color is chosen as using bright-coloured eye-catching color, such as red.

Certainly, the light emitting device can also be realized using electronic tag or other luminescence components, the disclosure to it not Make specific limit, wherein the electronic tag can show that the unique positions of corresponding cargo partition holding are known in eye-catching mode Not Biao Shi or other can unique identification wait for the identification information of picking object.

Embodiment two, the picking instruction device are light launcher

In this embodiment, the picking instruction device, which is one group near goods storage unit, can emit light Light launcher, set-up mode identical with the light emitting device can be used, utilize row and column corresponding light transmitting The crosspoint of light emitted by device uniquely determines the partition holding where a certain cargo, naturally it is also possible to directly penetrate light To at currently to the partition holding where picking object.

The light launcher and the goods storage unit distance away, being capable of adjust automatically light hairs The angle penetrated and light is emitted to the corresponding position of the goods storage unit, such as cargo partition holding row indicating bit It sets, cargo partition holding column indicating positions or currently to the partition holding where picking object.

The light launcher can be visible light emitter, such as laser emitter or other light transmitting dress It sets.

Embodiment three, the picking instruction device are projection arrangement

The projection arrangement is by projecting image to goods storage unit and/or picking storage unit, in cargo to be removed Cargo partition holding and/or cargo to be stored picking partition holding in show special visual image information to be referred to Show.

In this embodiment, the picking instruction device is the projection being separated by a certain distance with the goods storage unit Device, projected image display area with it is currently corresponding to partition holding where picking object, can just cover currently wait pick Partition holding where cargo can also be more than or less than currently to the partition holding where picking object, as long as can be only One ground indicates currently to the partition holding where picking object.

For example as shown in figure 3, the goods storage unit is shelf 505, picking instruction device is apart from shelf 505 1 The projection arrangement 504 of set a distance, the size for being adjusted to projected position and view field can just cover in shelf 505 Currently to the partition holding where picking object, or it is slightly more than the currently boundary to partition holding where picking object, such as super The distance on boundary is less than 3cm out.

Fig. 4 shows presentation mode of the projected image display area of projection arrangement in goods storage unit, such as Fig. 4 Shown, projection arrangement instruction currently can be by currently to where picking object in partition holding to the position where picking object It shows the information such as special visual information, such as special pattern, special color, designated character to realize, wherein described specified Character can be for currently to the picking information of picking object, such as the picture to picking object, title, specification, classification, quantity to be picked Deng, or currently to the unique positions identification marking of picking object.It is alternatively possible to using that can just cover currently wait pick The shape of partition holding where cargo indicates the partition holding slightly larger than the pattern of partition holding shape to distinguish, and projects face Color can take color that is bright-coloured eye-catching and being different from other cargo partition holdings, and in addition the size of projection instruction pattern should be suitable for, It will not project to other partition holdings, partition holding is caused to indicate mistake, misguidance picking resource to other cargos storage point Area takes wrong cargo.

Embodiment four, the picking instruction device are display screen

In this embodiment, the picking instruction device is the display easily observed by picking resource in picking Screen shows that the goods storage unit divides feelings in the partition holding on picking resource direction in the display screen Condition, and shown currently by modes such as special pattern, color or designated characters to the partition holding where picking object.It is described aobvious Display screen curtain can also show the currently picking information to picking object, for example, the picture to picking object, title, specification, classification, wait pick Quantity etc. can also show the unique positions identification marking currently to picking object.

Embodiment five, the picking instruction device are combination described in above-mentioned implementation

Indicate that the embodiment of cargo storage position can be used alone above by picking instruction device, it can also phase Mutually it is applied in combination to reduce picking error rate.

In another embodiment of the disclosure, the picking instruction device can also be installed with condition detecting device, the state Detection device is used to detect the status information of the picking instruction device, and in real time, every Fixed Time Interval or detecting State detecting information is sent to control system when breaking down to the picking instruction device.

Action recognition device

In one embodiment of the disclosure, the action recognition device is for detecting picking resource in the goods storage unit Whether the middle movement for sorting cargo and/or storing cargo in the picking storage unit is correct, and will test result and be sent to The control system.

In another embodiment of the disclosure, the action recognition device detect picking resource sort cargo movement when, Whether one or more picking component has exceeded single to the cargo storage where picking object when detectable picking resource sorts cargo The bounds of the cargo partition holding of member, the bounds can be partition holding boundary and permissible error amount With, and/or, when the action recognition device is for detecting picking resource storage cargo, the one or more of the picking resource Whether picking component has exceeded the bounds of the picking partition holding for the picking storage unit being stored to picking object, and will Testing result is sent to the control system.For example, when the action recognition device detects that the picking component of picking resource is super When having gone out the bounds of partition holding where picking object, detection information is fed back to control system, keeps the control system logical Cross the caution device prompt operating mistake.Wherein, the permissible error amount can be a fixed value, such as 5cm, can also To be a relative value, such as it can be taken as the 30% of cargo storage areas side length, it is of course also possible to be 0.

The action recognition device can be Grating examinations device, motion capture equipment or other can be with identification maneuver The device of range, the disclosure are not especially limited it.

Picking storage unit

In one embodiment of the disclosure, the picking storage unit can be shelf, counter, basket, goods basket and refrigerator, The storage units such as warm cabinet.

The storage region that the picking storage unit is formed can be divided into multiple picking partition holdings, and the picking is deposited Storage subregion either separated and formed by actual physics, such as separated with partition components such as partition, drawer, subpackage boxes, It is also possible to the partition holding of virtual partition, such as different cargos are spaced each other and put and formed.The picking partition holding was both It can be set to regular shape, such as latticed, may be set to be with irregular shape, to accommodate irregular cargo Or the cargo reserved space will to store later.The picking partition holding can both be evenly distributed, and can also be in non- It is uniformly distributed, such as can be set as that certain partition holdings are intensive according to the needs of practical application and other partition holdings are dredged relatively Pine.The division mode of the picking partition holding is also possible to support dynamic adjustment, such as above either changeless The goods storage unit of description is the same, and the division mode of the picking partition holding is stored in the control system, and root The real-time update according to the change of division mode.In addition, the picking partition holding may also be configured with unique positions identification marking, than It can such as be known according to the unique positions of its region, row, column, sequence numbering more specific location information setting picking partition holding It does not identify, unique positions identification marking can also be arranged for it according to the spatial position coordinate of the picking partition holding.It is above-mentioned Only for the exemplary illustration of picking partition holding, those skilled in the art can according to the needs of practical application be deposited picking Storage subregion carries out reasonable distribution and adjustment, the disclosure are not especially limited it.

Fig. 5 A is picked as shown in Figure 5A according to the allocation plan schematic diagram of the picking partition holding of one embodiment of the disclosure The storage region 401 that goods storage unit is formed can be evenly divided into multiple open picking partition holdings 403, each be picked Goods partition holding 403 is additionally provided with its unique positions identification marking 402 at corresponding position.

Fig. 5 B be according to the allocation plan schematic diagram of the picking partition holding of another embodiment of the disclosure, as shown in Figure 5 B, Multiple picking partition holdings 404 are set as salable region, for example can be installed with detachable cabinet door.

Fig. 5 C be according to the allocation plan schematic diagram of the picking partition holding of disclosure another embodiment, as shown in Figure 5 C, Multiple picking partition holdings 405 are based on virtual partition and are formed.

The position of the picking storage unit is also possible to moveable either fixed, stores in the picking When unit is removable, move mode can be actively mobile or passive mobile, wherein actively it is mobile can be achieved be Automatic autonomous, passive movement can be achieved to carry out delivery movement by push-and-pull move, or by toter.

In another embodiment of the disclosure, the picking storage unit can also be installed with condition detecting device, the state Detection device is used to detect the status information of the picking storage unit, and in real time, every Fixed Time Interval or detecting State detecting information is sent to control system when breaking down to the picking storage unit.

Picking instruction device

In one embodiment of the disclosure, the picking instruction device picking resource will cargo be sorted store from cargo it is single After taking out in member, its specific location by the cargo storage picked into picking storage unit is indicated, the specific location can To be the specific picking partition holding that picks cargo and will be placed in picking storage unit.

The picking instruction device can similar with above-described picking instruction device mode realize, except this it Outside, the picking instruction device can also be realized using electronic tag or bat modulator.

When the picking instruction device is embodied as electronic tag, the electronic tag, which can be set, is storing list with picking The one-to-one position of picking partition holding in member, the position as shown in appended drawing reference 402 in Fig. 5 A, 5B, 5C, the electronics Label can be shown in eye-catching mode corresponding picking partition holding unique positions identification marking or other being capable of unique identification The identification information of picking partition holding.In this embodiment, picking resource takes cargo to be sorted from goods storage unit It after out, the corresponding electronic tag flashing of a certain picking partition holding or brightens, instruction cargo should be put into picking for corresponding position Goods partition holding, if picking partition holding is if being separated by the way of goods basket, cargo is put into corresponding goods by instruction In basket.

In addition, in addition to the identification information for capableing of unique identification picking partition holding described in display, the electronic tag may be used also To show that being somebody's turn to do the quantity etc. that cargo residue to be sorted needs to sort in the corresponding order of current picking partition holding sorts information.

Stock keeping unit

In one embodiment of the disclosure, the stock keeping unit can be barcode scanning device, then the goods information identified is Shipment identifier information, such as bar code or two dimensional code, the stock keeping unit are also possible to pattern recognition device, then identify Goods information be cargo image information or cargo image information a part.

In another embodiment of the disclosure, the stock keeping unit can also be installed with condition detecting device, the state Detection device is used to detect the status information of the stock keeping unit, and in real time, every Fixed Time Interval or detecting State detecting information is sent to control system when breaking down to the stock keeping unit.

Toter

In automated warehousing, the toter can usually use AGV (automated guided vehicle), fork truck, suspension The toters such as formula robot above are only the exemplary illustration of toter, and the disclosure is not especially limited it, Suo Youneng Enough protection scopes for each falling within the disclosure for the device that goods storage unit is delivered according to the control instruction of control system It is interior.In another embodiment of the disclosure, the toter can also be installed with condition detecting device, and the condition detecting device is used In the status information for detecting the toter, and in real time, every Fixed Time Interval or detecting the toter State detecting information is sent to control system when failure.

Caution device

In one embodiment of the disclosure, the caution device can be acousto-optic warning equipment, such as buzzer, warning lamp etc. Equipment can be visual information caution device, for example prompt printed words are shown, can also be multimedia caution device, such as sound Frequency alarm, image warner, animation alarm, video alarm etc., naturally it is also possible to be the combination of above-mentioned caution device.

The caution device receives the control instruction that control system is sent and implements alarm operation, for example, when picking resource goes out When existing failure, caution device is alarmed according to the control instruction of control system and is notified to the current location of picking resource, to make to rescue Help source that can succour at the first time for picking resource；For example, when action recognition device detects the picking of picking resource When component has exceeded the bounds of partition holding where picking object, caution device can according to the control instruction of control system into Row alarm, to suspend faulty operation at the first time；For another example, when goods storage unit, picking instruction device, picking storage are single When member, picking instruction device, stock keeping unit and vehicle equipment detection oneself state break down, caution device can be according to control The control instruction of system processed is alarmed, and goods storage unit, picking instruction device, picking is stored with first time single Member, picking instruction device, stock keeping unit and vehicle equipment are repaired.

Workbench

In one embodiment of the disclosure, the intelligent storage Picking System may also include workbench, and the workbench is used for Place various components, such as controlling terminal, mouse, keyboard, printer in control system etc. or other objects for needing to place Product.

In another embodiment of the disclosure, the intelligent storage Picking System includes control system, goods storage unit, picks Goods storage unit, vehicle equipment and one or more intelligent storage picking subsystem, in which:

The intelligent storage picking subsystem includes controlling terminal, picking resource, picking instruction device, picking instruction dress It sets, stock keeping unit and caution device, in which:

The controlling terminal refers to the control system, goods storage unit, picking storage unit, picking resource, picking It can be communicated between showing device and picking instruction device, for issuing control instruction according to the instruction of control system, control picking Process.

Certainly, the intelligent storage picking subsystem can further include the composition such as action recognition device, workbench.

Wherein, the function and operation of each component part in the intelligent storage picking subsystem and intelligent storage picking The function and operation of corresponding component part is similar in system, and details are not described herein for the disclosure, only, intelligent storage picking System needs to be communicated by controlling terminal with the control system of intelligent storage Picking System.

In addition, one or more intelligent storage picking subsystem can share goods storage unit, picking storage Unit and vehicle equipment can also be separately configured.

In an alternative embodiment, intelligent storage picking subsystem also can also include picking storage unit, such as Picking storage unit is integrated with picking instruction device.

The intelligent storage picking subsystem is not an individual device, nor one can only execution part operation System element, what the definition of intelligent storage picking subsystem was to divide the intelligent storage Picking System One can complete the minimum functional unit of a complete picking operation.

Fig. 3 is according to the structural block diagram of the intelligent storage picking subsystem of one embodiment of the disclosure, in this embodiment, institute State intelligent storage picking subsystem include picking resource 501, picking storage unit 502, controlling terminal 503, as picking indicate The projection arrangement 504 of device and display 505 above goods storage unit stop place, as picking instruction device Electronic tag (not shown) in picking storage unit, the barcode scanning device (not shown) as stock keeping unit, movement Identification device 506 and workbench 507.

Fig. 6 is according to the structural block diagram of the intelligent storage Picking System of another embodiment of the disclosure, as shown in fig. 6, described Intelligent storage Picking System include master control control server 801, controlling terminal 803, display device 804, picking instruction device 805, Action recognition device 806, picking instruction device 807, stock keeping unit 808 and printing device 809, in which:

The master control control server 801 includes order processing unit, for receiving and distributing order according to certain algorithm；

Controlling terminal 803, display device 804, picking instruction device 805, action recognition device 806, picking instruction device 807, stock keeping unit 808 and printing device 809 constitute picking work station 802；

It is communicated between master control control server 801 and controlling terminal 803 by wireless and/or wired connection；

The order of distribution and relevant information are sent to controlling terminal 803 by master control control server；

Controlling terminal 803 and display device 804, picking instruction device 805, action recognition device 806, picking instruction device 807, wired or wireless communication connection mode is used between stock keeping unit 808 and printing equipment 809.

According to another aspect of the present disclosure, it is also proposed that a kind of intelligent storage goods sorting method, which comprises

The current position to picking object in goods storage unit in current order is indicated by visual information, according to described Cargo is taken out in the instruction of visual information from the position；

Judge whether cargo matches；If it does, then instruction cargo will be placed into the position in picking storage unit, and will Cargo is put to indicating positions.

In one embodiment of the disclosure, the visual information includes: illuminated message, light transmitting information, projection information, shows Show one of information or a variety of combinations.

Wherein, the visual information is projection information, specifically by goods storage unit and/or picking storage unit Image is projected, it is special to show in the cargo partition holding of cargo to be removed and/or the picking partition holding of cargo to be stored Visual image information is indicated.

Wherein, the special visual image information, including one in special pattern, special color, designated character or It is multiple, wherein the designated character be currently to the picture of picking object, title, specification, classification, quantity to be picked, currently to picking One or more goods informations in the unique positions identification marking of object；The special pattern is to be formed and other partition holdings Visual pattern there are vision difference, cause the pattern of vision attention；The special color is that can just cover currently to picking The shape of partition holding where object or the color segment slightly larger than partition holding shape.

It is described to judge whether cargo matches and specifically include in one embodiment of the disclosure:

Identify the goods information of the cargo taken out；

Judge whether match with the current cargo to be selected in current order according to the goods information of identification.

In one embodiment of the disclosure, the method also includes detect in the goods storage unit sort cargo and/ Or whether the movement of storage cargo is correct in the picking storage unit, and carries out miscue when detection has mistake.

Wherein, the detection operation includes: with the presence or absence of mistake

When detecting picking resource sorting cargo, whether one or more picking components of picking resource are had exceeded to picking object The bounds of the cargo partition holding of the goods storage unit at place, and detect and carry out miscue when there is mistake；

And/or detection picking resource storage cargo when, one or more picking components of picking resource whether have exceeded to The bounds of the picking partition holding for the picking storage unit being stored are detected and carry out mistake when there is mistake by picking object Prompt.

Wherein, the bounds be partition holding boundary and permissible error amount and.

Wherein, the method also includes carrying out the step of correcting instruction for malfunction.

It further include that selection will execute picking before through visual information indicating positions in one embodiment of the disclosure The step of order of operation.

Wherein, the order of picking operation will be executed according to preset rules selection, the preset rules are in following rule Any one:

The sequencing of time is generated according to order；

It randomly selects；

According to the sequence of type of merchandize quantity from small to large；

According to the sequence of commodity amount from small to large.

Wherein, the selection will execute picking operation order the step of before further include:

For the pending picking operation such as current intelligent storage Picking System or the distribution of current intelligent storage picking subsystem Order；

The goods storage unit that storage has cargo in the order is delivered to the intelligent storage picking for being assigned the order At the position of subsystem.

It is described to put cargo to indicating positions in one embodiment of the disclosure, further includes:

Judge whether the current order is completed, be, indicates that the picking operation of current order has been completed, continue Next order operation；Otherwise continue to execute picking according to the instruction of visual information, until completing the picking operation of current order；

It further include that selection will execute picking before through visual information indicating positions in one embodiment of the disclosure The step of cargo of operation.

It randomly selects；

According to quantity of the cargo in order by up to few sequence.

In one embodiment of the disclosure, believe after the step of selection will execute the cargo of picking operation, through vision Before breath indicating positions further include:

In one embodiment of the disclosure, the cargo is put to the position of instruction, the method also includes:

Judge it is described currently whether be fully completed to the sorting of picking object, be indicate the cargo picking operation complete, Execute next picking operation to picking object, otherwise continue according to the instruction of visual information carry out picking, until for currently to The sorting for sorting cargo is fully completed；

In one embodiment of the disclosure, before through visual information indicating positions, the method also includes:

Selection will execute the goods storage unit of picking operation；

Selection will execute the cargo of picking operation；

And after the position put the cargo to instruction, further includes:

Judge it is described currently whether be fully completed to the sorting of picking object, be indicate the cargo picking operation it is complete At, otherwise continue according to the instruction of visual information carry out picking, until all to picking object sort finish；

Judge it is to indicate that current cargo storage unit is left to work as whether not to picking object in current cargo storage unit Preceding intelligent storage picking subsystem position, then proceedes to the picking operation for executing next goods storage unit, otherwise after Continuous selection will execute the cargo of picking operation, until not belonging to current intelligent storage picking in current cargo storage unit System to picking object.

In one embodiment of the disclosure, the method also includes by the detailed list of goods of current order and/or express delivery face singles Print finishes and is put into the step in the picking partition holding of corresponding picking storage unit.

It is current the method also includes being indicated by way of visual information or acoustic information in one embodiment of the disclosure Picking operation to picking object has been completed.

In one embodiment of the disclosure, the intelligent storage goods sorting method be implemented based on order, as shown in fig. 7, In the embodiment, it the described method comprises the following steps:

Step 101, selection will execute the order of picking operation；

Step 102, the current position to picking object in goods storage unit in current order is indicated by visual information；

Step 103, cargo is taken out from the position according to the instruction of the visual information；

Step 104, the goods information of cargo is taken out in identification；

Step 105, current to picking in the cargo and current order that the goods information judgement obtained according to identification is taken out Whether object matches, and is, continues to execute step 106, otherwise return step 103, until take out with it is current wait pick in current order The cargo that cargo matches；

Step 106, instruction cargo will be placed into the position in picking storage unit, and cargo is put to indicating positions；

Step 107, judge whether the current order is completed, be, enter step 108, otherwise return step 102, until Complete current order；

Step 108, it indicates that the picking operation of current order has been completed, and return step 101, continues to execute next order Picking operation.

Above method step is the cargo sorting process for an independent order.Certainly, above method step can be by reality It applies and executes two and more than two orders for sequence, or execute two and more than two orders parallel simultaneously, but needle It to each of two and more than two orders order, is performed according to picking step above.

For the above-mentioned intelligent storage goods sorting method based on order, each step specifically be may be implemented are as follows:

Step 101, selection will execute the order of picking operation, can be implemented as:

It selects that the order that picking operates will be executed according to certain preset rules, wherein the preset rules are such as It can be with are as follows: for distributing to the order of current intelligent storage Picking System or current intelligent storage picking subsystem according to order The generation time is ranked up, and the order of picking operation then will be executed according to the sequencing selection that order generates the time；? It can be with are as follows: carried out in the order for distributing to current intelligent storage Picking System or current intelligent storage picking subsystem random It extracts；Or: the order for distributing to current intelligent storage Picking System or current intelligent storage picking subsystem Ascending sort is carried out according to type of merchandize quantity, then will execute and pick according to the sequential selection of type of merchandize quantity from small to large The order of goods operation；Or: for distributing to current intelligent storage Picking System or current intelligent storage picking subsystem The order of system carries out ascending sort according to commodity amount, then will execute and pick according to the sequential selection of commodity amount from small to large The order of goods operation.

Further include step 1011 before the step 101 in one embodiment of the disclosure, is current intelligent storage picking system The order of the pending picking operation such as system or current intelligent storage picking subsystem distribution.

Order is distributed for current intelligent storage Picking System or current intelligent storage picking subsystem to refer to distribution Order information is sent to the control system of current intelligent storage Picking System by communication mode wirelessly or non-wirelessly.It is ordered in distribution Dan Shi, can be with the one or a set of order of every sub-distribution to intelligent storage Picking System, can also be according to the prefixed time interval period Property distribute order, either wait current intelligent storage Picking System or current intelligent storage picking subsystem processes be complete divides It reallocates after all orders matched new order, is also based on load-balancing algorithm and stores in a warehouse picking subsystem for different intelligent Order is distributed to realize the load balance of intelligent storage picking subsystem processes picking operation.

Wherein, the order may include the single good or more than one piece cargo corresponding to single category, also may include pair Should in multiple categories the single good of each category or more than one piece cargo.

In one embodiment of the disclosure, the intelligent storage Picking System includes that one or more intelligent storage picks Goods subsystem can also include step 1012 before or after the step 101, storage is had to the goods of cargo in the order Object storage unit is delivered to being assigned at the position of intelligent storage picking subsystem of the order.

Wherein, the pure artificial, people that the means of conveyance of the goods storage unit can be artificial push-and-pull etc drives transport Mechanical carrier (such as fork truck) or utilization robot delivery (such as delivery type AGV), the disclosure is not especially limited it.

Under normal conditions, step 1011 executes before step 1012.

Step 102, the position by cargo to be sorted in visual information instruction current order in goods storage unit；

In this step, it can use the picking instruction device in intelligent storage Picking System to realize the finger of visual information Show.The position refers to the currently specific partition holding to picking object in goods storage unit.

Corresponding to the 1st kind of embodiment of picking instruction device, shine using one group in goods storage unit Device is indicated, such as LED light.It is right such as shown in Fig. 2, shelf 1 are divided into multiple virtual cargo partition holdings , respectively in horizontal and vertical upper setting row, column LED light 2, corresponding row and column LED should be passed through in multiple virtual goods partition holdings Lamp 2 light, flash, changing colour or other illumination modes can be uniquely determined to the cargo partition holding where picking object, wherein The luminescent color of LED light 2 can use bright-coloured eye-catching color, such as red.

Certainly, LED light 2 can also be realized using electronic tag or other luminescence components.

Corresponding to the 2nd kind of embodiment of picking instruction device, using one group of light in goods storage unit Emitter is set to the light launcher at a certain distance from goods storage unit to indicate.

One group of light launcher in goods storage unit can be used and light emitting device in the 1st kind of embodiment The crosspoint of identical set-up mode, the light projected using the corresponding light launcher of row and column can be uniquely determined wait pick Cargo partition holding where cargo.

The light launcher being set at a certain distance from goods storage unit is capable of the transmitting of adjust automatically light Angle and light is emitted to the corresponding partition holding position of goods storage unit.

Corresponding to the 3rd kind of embodiment of picking instruction device, the throwing being separated by a certain distance with goods storage unit is utilized Image device indicates, projected image display area with it is currently corresponding to partition holding where picking object, can just cover Currently to the partition holding where picking object, can also be more than or less than currently to the partition holding where picking object, as long as It is that can uniquely indicate currently to the partition holding where picking object.

Corresponding to the 4th kind of embodiment of picking instruction device, observed by picking resource in picking using easily aobvious Display screen curtain is indicated, shows the goods storage unit in the storage on picking resource direction in the display screen Subregion dividing condition, and shown currently by modes such as special pattern, color or designated characters to the storage where picking object Subregion.The display screen can also show the currently picking information to picking object, such as the picture to picking object, title, rule Lattice, classification, quantity to be picked etc. can also show the unique positions identification marking currently to picking object.

Corresponding to the 5th kind of embodiment of picking instruction device, instruction, example are combined using 1-4 kind embodiment Such as, in such a way that projection arrangement and display screen are combined instruction, the type of instruction information is not only increased, is also reduced The error rate of picking.

In one embodiment of the disclosure, which can realize the instruction for picking resource according to visual information, make a stretch of the arm Or auxiliary grip equipment enters the cargo storage areas in goods storage unit and takes out currently to picking object.

Optionally, artificial sorter receives the instruction of visual information by the organs of vision, is completed to take out cargo with arm Process or machine sorter identify the visual information by machine vision, and are converted to the executable operation of robot The process for taking out cargo is completed in instruction using mechanical arm.

Optionally, the step 103 further includes detection picking movement with the presence or absence of mistake, and when there is mistake in detection into The step of row miscue, specifically can be achieved to work as and detecting that sorter's arm or other picking components extend into cargo storage list Beyond when the bounds of partition holding, mistake occurs in prompt where picking object in member.The bounds can be storage The boundary of subregion and permissible error amount and, the permissible error amount can be a fixed value, such as 5cm, can also be with It is a relative value, such as the 30% of cargo storage areas side length can be taken as, it is of course also possible to is 0.It further, can be by Actions described above identification device executes the detection, for example, Grating examinations device, motion capture equipment or other can With the device of identification maneuver range, the disclosure is not especially limited it.

Wherein, described miscue mode, including the alarm of sound-light alarm, visual information, multimedia messages alarm etc., such as It is alarmed by modes such as color change, flashing variation, light and shade variation or presentation " mistake " " ERROR " printed words.

Wherein, the detection picking movement whether there is wrong step, can further include for malfunction It carries out the step of correcting instruction, such as is prompted by showing correct storage location on the display screen, or by prominent The mode of correct picking position, or realized using combination.

Step 104, the goods information of cargo is taken out in identification；

Further, which is implemented the identification by stock keeping unit and operates.

For example, identifying goods information by barcode scanning device, the goods information identified is shipment identifier information, such as item Shape code or two-dimensional barcode information；Alternatively, identifying goods information by pattern recognition device, the goods information identified is cargo figure As a part in information or cargo image information.

Step 105, current wait pick in the cargo and current order that the goods information judgement obtained according to identification is taken out Whether cargo matches, and is, continues to execute step 106, otherwise the picking again of return step 103, until in taking-up and current order The current cargo to match to picking object.

In one embodiment of the disclosure, for goods information included in order information and obtained cargo can be identified Information is compared to judge whether cargo matches, wherein the order information includes O/No., Description of Goods, cargo number Amount, goods information and instruction currently sort the instruction information of which cargo, the goods information can be shipment identifier information, A part of cargo image information or cargo image information.

In one embodiment of the disclosure, the correct cargo of sort out can be indicated in picking by picking instruction device The position that will be placed in storage unit, the position specifically refer to which picking storage point in picking storage unit Area.

Wherein, as described above, the picking instruction device can be using mode similar with picking instruction device come real It is existing, it can also be realized using picking storage unit electronic tag or bat modulator.

For example after step 105 confirms and takes out correct cargo, picking instruction device indicates that cargo will be placed into Picking partition holding, such as indicated by the modes such as lighting or flashing, picking instruction device can also show that the cargo is corresponding Residue quantity to be sorted, such as when using electronic tag as picking instruction device, currently quantity of goods to be sorted is 3 A, the cargo for being put into picking storage unit is 2, then the remaining quantity for needing to sort of picking instruction device display is 1, so The cargo is put into corresponding picking partition holding further according to the instruction of picking instruction device by picking resource afterwards.

Step 107, judge whether the current order is completed, be, enter step 108, otherwise return step 102 after It is continuous to execute picking operation, until completing all pickings operation of current order；

Wherein, judge whether current order is completed to refer to, judge whether cargo included in current order all sorts It finishes, certainly, which can also include that the detailed list of goods of current order and/or express delivery face singles print are finished and be put into corresponding In the picking partition holding of picking storage unit.

When judging that current order is completed, the prompt completed about order can also be shown or issue, for example, can pass through The modes such as visual information or acoustic information, display or the sending completed notification information of current order.

Step 108, it indicates that the picking operation of current order has been completed, and return step 101, continues to execute next order Single picking operation.

In the step, indicate that the picking operation of current order has been completed to be directed to control system sending instruction notice.

It can be by way of triggering empty built-in terminal and inputting information, such as click enter key, click mouse confirmation key, touching The modes such as screen confirmation are touched, the instruction can also be triggered by way of the bat modulator on triggering picking storage device.

When multiple orders are assigned in intelligent storage Picking System or intelligent storage picking subsystem, part of order In may contain identical cargo, thus can by for the cargo carry out it is disposable sort to meet in the order of part be directed to The summation of the cargo sorts the cargo to avoid repeated multiple times, to improve sorting working efficiency.

In one embodiment of the disclosure, the intelligent storage goods sorting method be implemented based on cargo, as shown in figure 8, In the embodiment, it the described method comprises the following steps:

Step 201, selection will execute the cargo of picking operation；

Step 202, the currently position to picking object in goods storage unit is indicated by visual information；

Step 203, cargo is taken out from the position according to the instruction of the visual information；

Step 204, the goods information of cargo is taken out in identification；

Step 205, judge according to identification obtained goods information the cargo of taking-up with currently whether matched to picking object, be 206 are thened follow the steps, otherwise return step 203, until taking out and the current cargo to match to picking object in current order；

Step 206, instruction cargo will be placed into the position in picking storage unit, and cargo is put to indicating positions；

Step 207, judge it is described currently whether be fully completed to the sorting of picking object, be to continue to execute step 208, it is no Then return step 203 to the sorting of picking object until all finish；

Step 208, indicate that the picking operation of the cargo is completed, return step 201 executes next sorting to picking object and grasps Make.

For the above-mentioned intelligent storage goods sorting method based on cargo, each step specifically be may be implemented are as follows:

Step 201, selection will execute the cargo of picking operation；

In one embodiment of the disclosure, further includes step 2011 before the step, pick current intelligent storage is distributed to The order of goods system or current intelligent storage picking subsystem is pre-processed, generate include in distributed order wait pick The goods information of cargo, such as cargo list, wherein the cargo list includes at least Description of Goods, identification information and quantity Etc. information.The following table 1 shows a cargo list, and which includes the title of different cargos, quantity, id information, picture and phases The order information answered.

Table 1

Number	Description of Goods	Quantity	ID	Picture	Order information
						1	XX toothbrush	4	XXXX	(not shown)	Order 1,2,5
2	XX earphone	6	XXXX	(not shown)	Order
						……	……	……	……	……	……

In one embodiment of the disclosure, the cargo that will execute picking operation can be selected according to certain algorithm, For example can be selected according to quantity of goods from more to few sequence, it can also be according to involved quantity on order from more to few Sequence is selected, and can also be selected, can also be randomly choosed according to the collating sequence in cargo list.The above is only for The exemplary illustration of picking object selection mode, those skilled in the art can use other selecting partys according to the needs of practical application Formula, the disclosure are not especially limited it.

In one embodiment of the disclosure, before or after the step 201, it can also include step 2012, will deposit The goods storage unit for being placed with cargo in the order is delivered to the position for the intelligent storage picking subsystem that the order is assigned Set place.

Wherein, the means of conveyance of the goods storage unit can be the pure manual type of artificial push-and-pull etc, utilize fortune The mode of equipment such as AGV delivery is carried, such as drives the semi-artificial mode of Transport Machinery delivery (such as fork truck).

Under normal conditions, step 2011 executes before step 2012.

In the step, picking instruction device can use to realize the instruction of visual information.The position refers to currently To specific partition holding of the picking object in goods storage unit.

Optionally, the step 203 further includes detection picking movement with the presence or absence of mistake, and when there is mistake in detection into The step of row miscue, specifically can be achieved to work as and detecting that sorter's arm is extend into goods storage unit beyond to picking Where object when the bounds of partition holding, prompt mistake occur.The bounds can be the boundary of partition holding with can The sum of allowable error value, the permissible error amount can be a fixed value, such as 5cm, be also possible to a relative value, example It can be such as taken as the 30% of cargo storage areas side length, it is of course also possible to be 0.Further, can be known by actions described above Other device executes the detection, for example, Grating examinations device, motion capture equipment or other can be with identification maneuver range Device, the disclosure are not especially limited it.

Step 204, the goods information of cargo is taken out in identification；

Step 205, judge according to identification obtained goods information the cargo of taking-up with currently whether matched to picking object, It is to continue to execute step 206, the otherwise picking again of return step 203, until the goods for taking out and currently matching to picking object Object；

Step 206, instruction cargo will be placed into the position in picking storage unit, and cargo is put to indicating positions.

Wherein, as described above, the picking instruction device, can be using mode similar with picking instruction device come real It is existing, it can also be realized using picking storage unit electronic tag or bat modulator.

For example after step 205 confirms and takes out correct cargo, picking instruction device indicates that cargo will be placed into Picking partition holding, such as indicated by the modes such as lighting or flashing, picking instruction device can also show that the cargo is corresponding Residue quantity to be sorted, such as when using electronic tag as picking instruction device, currently quantity of goods to be sorted is 3 A, the cargo for being put into picking storage unit is 2, then the remaining quantity for needing to sort of picking instruction device display is 1, so The cargo is put into corresponding picking partition holding further according to the instruction of picking instruction device by picking resource afterwards.

Optionally, when cargo being put into picking storage unit corresponding picking partition holding every time, also judgement corresponds to Whether the order of the picking partition holding is completed, and judgment method is similar with step 107, if it is as step 108 instruction is worked as The picking operation of preceding order has been completed, if otherwise continuing waiting for being fully completed until the picking operation of current order.

Step 207, whether judgement is currently fully completed to the sorting of picking object, is to continue to execute step 208, otherwise Return step 203, until being fully completed the currently sorting to picking object；

Wherein, judgement currently refers to which whether the sorting of picking object is fully completed, and intelligent storage picking is distributed in judgement It is included in all orders of system current to be finished to which whether picking object all sorts.

When judging that order is completed, the prompt that display or sending are completed about order, for example, visual information or sound can be passed through The modes such as message breath, display or the sending completed notification information of current order.

Step 208, instruction currently to picking object picking operation completed, return step 201, sort it is next to Picking object.

Wherein, step instruction has currently been completed to the picking operation of picking object, is directed to control system and is notified the letter Breath.

Optionally, the sorting currently to picking object can also be prompted complete by way of visual information or acoustic information At.

The final purpose that cargo sorts is the sorting of listed all cargos in each order for complete distribution.But It is that sometimes, may include the cargo being stored in multiple goods storage units in an order, rather than be deposited in a cargo On storage unit.Therefore the sorting process of cargo can also be realized for different goods storage units.Implement in the disclosure one In example, the intelligent storage goods sorting method is implemented based on goods storage unit, described as shown in figure 9, in this embodiment Method the following steps are included:

Step 301, selection will execute the goods storage unit of picking operation；

Step 302, selection will execute the cargo of picking operation；

Step 303, the currently position to picking object in goods storage unit is indicated by visual information；

Step 304, cargo is taken out from the position according to the instruction of the visual information；

Step 305, the goods information of cargo is taken out in identification；

Step 306, judge according to identification obtained goods information the cargo of taking-up with currently whether matched to picking object, be 306 are thened follow the steps, otherwise return step 304, until taking out and the current cargo to match to picking object in current order；

Step 307, instruction cargo will be placed into the position in picking storage unit, and cargo is put to indicating positions；

Step 308, judge it is described currently whether be fully completed to the sorting of picking object, be to continue to execute step 309, it is no Then return step 304 to the sorting of picking object until all finish；

Step 309, indicate that the picking operation of the cargo has been completed；

Step 310, judge whether not to picking object in current cargo storage unit, be to continue to execute step 311, it is no Then return step 302 until current cargo storage unit on do not belong to current intelligent storage picking subsystem to picking object.

Step 311, instruction current cargo storage unit leaves current intelligent storage picking subsystem position, then returns Return the picking operation that step 301 continues to execute next goods storage unit.

For the above-mentioned intelligent storage goods sorting method based on goods storage unit, each step specifically be may be implemented are as follows:

Step 301, selection will execute the goods storage unit of picking operation；

In one embodiment of the disclosure, can be selected according to the order for distributing to current intelligent storage picking subsystem will Execute the goods storage unit of picking operation.

Include step 3011 before step 301 in one embodiment of the disclosure, it is single to pre-select one group of cargo storage Member, and the selection of step 301 is one goods storage unit of selection from one group of goods storage unit for preselect selection；

In step 3011, original place may remain in some or all of in this group of goods storage unit of pre-selection, or It is transported to some or all of in this group of goods storage unit near the position where intelligent storage picking subsystem, so as to It, being capable of rapid cover after the sorting of previous goods storage unit is completed.

Optionally, step 301 further includes where being carried to goods storage unit in current intelligent storage picking subsystem The step of position.

Step 302, selection will execute the cargo of picking operation；

In one embodiment of the disclosure, further includes step 3021 before the step, pick current intelligent storage is distributed to The order of goods system or current intelligent storage picking subsystem is pre-processed, generate include in distributed order wait pick The goods information of cargo, such as cargo list, wherein the cargo list includes at least Description of Goods, identification information and quantity Etc. information.The following table 2 shows a cargo list, and which includes the title of different cargos, quantity, id information, picture and phases The order information answered.

Table 2

In one embodiment of the disclosure, before or after the step 302, it can also include step 3022, will deposit The goods storage unit for being placed with cargo in the order is delivered to the intelligent storage picking subsystem position that the order is assigned Place.

Under normal conditions, step 3021 is before step 3022.

Step 302, the currently position to picking object in goods storage unit is indicated by visual information；

Corresponding to the 1st kind of embodiment of picking instruction device, shine using one group in goods storage unit Device is indicated, such as LED light.It is right such as shown in Fig. 2, shelf 1 are divided into multiple virtual cargo partition holdings , respectively in the row, column LED light 2 of horizontal and vertical upper setting, corresponding row and column should be passed through in multiple virtual goods partition holdings LED light 2 light, flash, changing colour or other illumination modes can be uniquely determined to the cargo partition holding where picking object, The luminescent color of middle LED light 2 can use bright-coloured eye-catching color, such as red.

Corresponding to the 2nd kind of way of example of picking instruction device, using one group of light in goods storage unit Line emitter is set to the light launcher at a certain distance from goods storage unit to indicate.

One group of light launcher in goods storage unit can be used and light emitting device in the 1st kind of embodiment Identical set-up mode, the goods that the crosspoint of the light projected using the corresponding light launcher of row and column can uniquely determine Cargo partition holding where object.

Corresponding to the 5th kind of embodiment of picking instruction device, instruction, example are combined using 1-4 kind embodiment Such as, it in such a way that projection arrangement and display screen are combined instruction, using the type for increasing instruction information, also reduces The error rate of picking.

Optionally, artificial sorter receives the instruction of visual information by the organs of vision, is completed to take out cargo mistake with arm Journey or machine sorter identify the visual information by machine vision, and are converted to the executable operation of robot and refer to It enables, the process for taking out cargo is completed using mechanical arm.

Optionally, the step 304 further includes detection picking movement with the presence or absence of mistake, and when there is mistake in detection into The step of row miscue, specifically can be achieved to work as and detecting that sorter's arm is extend into goods storage unit beyond to picking Where object when the bounds of partition holding, prompt mistake occur.The bounds can be the boundary of partition holding with can The sum of allowable error value, the permissible error amount can be a fixed value, such as 5cm, be also possible to a relative value, example The 30% of cargo storage areas side length can be such as taken as it is of course also possible to be 0.Further, can be known by actions described above Other device executes the detection, for example, Grating examinations device, motion capture equipment or other can be with identification maneuver range Device, the disclosure are not especially limited it.

Step 305, the goods information of cargo is taken out in identification；

Step 306, judge according to identification obtained goods information the cargo of taking-up with currently whether matched to picking object, It is to continue to execute step 307, the otherwise picking again of return step 304, until the goods for taking out and currently matching to picking object Object；

Step 307, instruction cargo will be placed into the position in picking storage unit, and cargo is put to indicating positions.

For example after step 306 confirms and takes out correct cargo, picking instruction device indicates that cargo will be placed into Picking partition holding, such as indicated by the modes such as lighting or flashing, picking instruction device can also show that the cargo is corresponding Residue quantity to be sorted, such as when using electronic tag as picking instruction device, currently quantity of goods to be sorted is 3 A, the cargo for being put into picking storage unit is 2, then the remaining quantity for needing to sort of picking instruction device display is 1, so The cargo is put into corresponding picking partition holding according to the instruction of picking instruction device by picking resource afterwards.

Step 308, whether judgement is currently fully completed to the sorting of picking object, is to continue to execute step 309, otherwise Return step 304, until being fully completed the currently sorting to picking object；

Step 309, instruction has currently been completed to the picking operation of picking object；

Step 310, judge whether not to picking object in current cargo storage unit, be to enter step 311, otherwise Return step 302 continues to select next to picking object.

Wherein, refer to and be not allocated in current cargo storage unit not to picking object in current cargo storage unit The cargo not yet sorted included in the order of current intelligent storage picking subsystem.

Optionally, when the judgment is yes, the completed notification information of sorting for being directed to current cargo storage unit is issued, and And the sorting of current cargo storage unit can be directed to the prompt of picking resource by way of visual information or acoustic information It completes.

Step 311, instruction current cargo storage unit leaves current intelligent storage picking subsystem position, and returns Step 301 is returned, next goods storage unit that execute picking operation is selected and goods storage unit is carried to intelligent storehouse At position where storage picking subsystem.

The above process is the cargo sorting process for a goods storage unit, in practical application, both can sequence The sorting for more than two goods storage units is executed, can also execute and be deposited for more than two adjacent cargos parallel simultaneously The cargo of storage unit sorts process, but for each of more than two goods storage units goods storage unit, is all It is executed also according to sorting process above.

Particular embodiments described above has carried out further in detail the purpose of the disclosure, technical scheme and beneficial effects Describe in detail it is bright, it is all it should be understood that be not limited to the disclosure the foregoing is merely the specific embodiment of the disclosure Within the spirit and principle of the disclosure, any modification, equivalent substitution, improvement and etc. done should be included in the guarantor of the disclosure Within the scope of shield.

The present disclosure discloses A1, a kind of intelligent storage Picking System, the system comprises: control system, picking resource, goods Object storage unit, picking instruction device, picking storage unit, picking instruction device, in which: the control system and the picking Resource, picking instruction device, picking storage unit, can communicate between picking instruction device goods storage unit, for issuing Control instruction controls picking process；The picking resource is used to carry out picking for cargo according to the control instruction of the control system Choosing, and the cargo picked is stored in picking storage unit；The goods storage unit is used to store cargo in storage region； The picking instruction device is used to currently be existed to picking object according to the control instruction of the control system by visual information instruction Position in the goods storage unit；The picking storage unit is used to store described pick in the way of corresponding to order The cargo that goods resource is taken out from the goods storage unit；The picking instruction device is used for the control according to the control system System instruction indicates position of the picking resource by the cargo storage picked into picking storage unit.It is A2, according to a1 System, the control system are total and fractional computer control system or distributed computer control system, wherein the total score Formula computer control system includes master control control server and multiple controlling terminals for receiving the control of master control control server；The distribution Formula computer control system includes multiple independent controlling terminals.A3, system according to a1, the picking resource behaviour, Machine or man-machine combination.A4, system according to a1, the picking resource includes multiple picking components, described Multiple picking component coordination work are to realize picking for cargo.A5, system according to a1, the goods storage unit are formed Cargo storage areas include multiple cargo partition holdings.A6, system according to a5, the cargo partition holding physics every From or virtual isolation.A7, system according to a1, the cargo storage areas that the picking storage unit is formed includes multiple Picking partition holding.A8, the system according to A7, the picking partition holding physical isolation or virtual isolation.A9, basis System described in A5 or A7, the partition holding are that dynamic adjusts.A10, system according to a1, the picking instruction dress It sets and/or picking instruction device is visual information output device.A11, the system according to A10, visual information output device For the group of one or more of light emitting device, light launcher, projection arrangement, display device, electronic tag, bat modulator It closes.A12, the system according to A11, wherein visual information output device is specially projection arrangement, and the projection arrangement is by goods Object storage unit and/or picking storage unit project image, in the cargo partition holding and/or goods to be stored of cargo to be removed Special visual image information is shown in the picking partition holding of object to be indicated.A13, the system according to A12, wherein described One or more of special visual image information, including special pattern, special color, designated character, wherein described specified Character be currently to the picture of picking object, title, specification, classification, quantity to be picked, currently to picking object unique positions identify mark One or more goods informations in knowledge；The special pattern is to form that there are visual differences with the visual pattern of other partition holdings Not, cause the pattern of vision attention；The special color is that can just cover the currently shape to partition holding where picking object Shape or color segment slightly larger than partition holding shape.A14, according to the described in any item systems of A1-A10, further include that movement is known Other device, the action recognition device sort cargo and/or in institute for detecting picking resource in the goods storage unit Whether the movement for stating storage cargo in picking storage unit is correct, and will test result and be sent to the control system.A15, root It further include action recognition device according to the described in any item systems of A1-A10, the action recognition device is for detecting picking resource When sorting cargo, whether one or more picking components of the picking resource have exceeded single to the cargo storage where picking object The bounds of the cargo partition holding of member, and will test result and be sent to the control system；And/or the action recognition When device is for detecting picking resource storage cargo, whether one or more picking components of the picking resource are had exceeded wait pick The bounds of the picking partition holding for the picking storage unit being stored will test result and are sent to the control by cargo System.A16, the system according to A15, the bounds be partition holding boundary, with permissible error amount and. A17, according to the described in any item systems of A1-A10, further include stock keeping unit, the stock keeping unit picks for identification The goods information for the cargo that goods resource is taken out from goods storage unit.A18, according to the described in any item systems of A1-A10, also Including vehicle equipment, the toter be used for according to the control instruction of the control system for the goods storage unit into Row delivery.A19, according to the described in any item systems of A1-A10, further include caution device, the caution device be used for according to The control instruction of control system issues information warning.A20, the system according to A1-A16, the picking resource, cargo storage Unit, picking instruction device, action recognition device, picking storage unit, picking instruction device, stock keeping unit, delivery are set Standby and/or caution device is installed with condition detecting device, and the condition detecting device is for picking resource, goods described in real-time monitoring Object storage unit, picking instruction device, action recognition device, picking storage unit, picking instruction device, stock keeping unit, The status information of vehicle equipment and/or caution device, and fed back to the control system.

The present disclosure discloses B21, a kind of intelligent storage Picking System, the system comprises: control system, cargo storage are single First and one or more intelligent storage picking subsystem, in which: the intelligent storage picking subsystem is used for according to control The control of system processed executes intelligent storage picking operation parallel；The intelligent storage picking subsystem includes controlling terminal, picking Resource, picking instruction device, picking storage unit and picking instruction device, in which: the controlling terminal and the control system, It can communicate, use between goods storage unit, picking storage unit, picking resource, picking instruction device and picking instruction device In issuing control instruction according to the instruction of control system, picking process is controlled；The picking resource is used for according to the control eventually The control instruction at end carries out the sorting of cargo, and the cargo picked is stored in picking storage unit；The goods storage unit For storing cargo in storage region；The picking instruction device is used to pass through view according to the control instruction of the controlling terminal Feel the information instruction currently position to picking object in the goods storage unit；The picking storage unit is used for according to correspondence The cargo that picking resource is taken out from goods storage unit is stored in the mode of order；The picking instruction device is used for according to institute State position of the control instruction instruction picking resource of controlling terminal by the cargo storage picked into picking storage unit.B22, root Further include vehicle equipment according to system described in B21, the toter be used for according to the control instruction of the control system for The goods storage unit is delivered.B23, the system according to B21, the intelligent storage picking subsystem further includes goods Object identification device, the goods of the stock keeping unit cargo that picking resource is taken out from the goods storage unit for identification Object information.B24, the system according to B21, the intelligent storage picking subsystem further includes caution device, and the warning is set It is ready for use on and information warning is issued according to the control instruction of the controlling terminal.B25, the system according to B21, the intelligence storehouse Storing up picking subsystem further includes action recognition device, and the action recognition device is stored for detecting picking resource in the cargo Whether the movement for sorting cargo in unit and/or storing cargo in the picking storage unit is correct, and will test result hair Give the controlling terminal.B26, the system according to B21, further include action recognition device, and the action recognition device is used When detecting picking resource sorting cargo, whether one or more picking components of the picking resource are had exceeded to picking object institute Goods storage unit cargo partition holding bounds, and will test result and be sent to the control system；With/ Or, when the action recognition device is for detecting picking resource storage cargo, one or more picking groups of the picking resource Whether part has exceeded the bounds of the picking partition holding for the picking storage unit being stored to picking object, and will test knot Fruit is sent to the control system.B27, the system according to B25, the bounds are the boundary of partition holding, and can The sum of allowable error value.

The present disclosure discloses C28, a kind of intelligent storage Picking System, the system comprises: control system, cargo storage are single Member, picking storage unit and one or more intelligent storage picking subsystem, in which: the intelligent storage picking subsystem System for executing intelligent storage picking operation according to the control of control system parallel；The intelligent storage picking subsystem includes control Terminal, picking resource, picking instruction device and picking instruction device processed, in which: the controlling terminal and the control system, goods It can communicate, be used between object storage unit, picking storage unit, picking resource, picking instruction device and picking instruction device Control instruction is issued according to the instruction of control system, controls picking process；The picking resource is used for according to the controlling terminal Control instruction carry out the sorting of cargo, and the cargo picked is stored in picking storage unit；The goods storage unit is used In storage region in store cargo；The picking instruction device is used to pass through vision according to the control instruction of the controlling terminal Information indicates the currently position to picking object in the goods storage unit；The picking storage unit is used for according to corresponding to The mode of order stores the cargo that picking resource is taken out from goods storage unit；The picking instruction device is used for according to Position of the control instruction instruction picking resource of controlling terminal by the cargo storage picked into picking storage unit.C29, basis System described in C28 further includes vehicle equipment, and the toter is used for the control instruction according to the control system for institute Goods storage unit is stated to be delivered.C30, the system according to C28, the intelligent storage picking subsystem further includes cargo Identification device, the cargo of the stock keeping unit cargo that picking resource is taken out from the goods storage unit for identification Information.C31, the system according to C28, the intelligent storage picking subsystem further includes caution device, the caution device For issuing information warning according to the control instruction of the controlling terminal.C32, the system according to C28, the intelligent storage Picking subsystem further includes action recognition device, and the action recognition device stores list in the cargo for detecting picking resource Whether the movement for sorting cargo in member and/or storing cargo in the picking storage unit is correct, and will test result transmission To the controlling terminal.C33, the system according to C28, further include action recognition device, and the action recognition device is used for When detecting picking resource sorting cargo, whether one or more picking components of the picking resource are had exceeded to where picking object Goods storage unit cargo partition holding bounds, and will test result and be sent to the control system；And/or When the action recognition device is for detecting picking resource storage cargo, one or more picking components of the picking resource are The bounds of the no picking partition holding for having exceeded the picking storage unit that will be stored to picking object, and will test result hair Give the control system.C34, the system according to C33, the bounds be partition holding boundary, with allow The sum of error amount.

Claims

1. a kind of intelligent storage Picking System, which is characterized in that the system comprises: control system, picking resource, cargo storage Unit, picking instruction device, picking storage unit, picking instruction device, in which:

The control system refers to the picking resource, goods storage unit, picking instruction device, picking storage unit, picking It can be communicated between showing device, for issuing control instruction, control picking process；

The picking resource is used to carry out the sorting of cargo according to the control instruction of the control system, and the cargo picked is deposited Storage is in picking storage unit；

The goods storage unit is used to store cargo in storage region；

The picking instruction device is used to be indicated by visual information currently to picking according to the control instruction of the control system Position of the object in the goods storage unit；

The picking storage unit is used to store in the way of corresponding to order to store the picking resource from the cargo The cargo taken out in unit；

The picking instruction device is used to indicate the goods that the picking resource will pick according to the control instruction of the control system Object stores the position into picking storage unit.

2. system according to claim 1, which is characterized in that the control system be total and fractional computer control system or Person's distributed computer control system, wherein the total and fractional computer control system includes master control control server and multiple connects Receive the controlling terminal of master control control server control；The distributed computer control system includes multiple independent controlling terminals.

3. system according to claim 1, which is characterized in that the picking resource behaviour, machine or man-machine Combination.

4. system according to claim 1, which is characterized in that the picking resource includes multiple picking components, described more A picking component coordination work is to realize picking for cargo.

5. system according to claim 1, which is characterized in that the cargo storage areas packet that the goods storage unit is formed Include multiple cargo partition holdings.

6. system according to claim 5, which is characterized in that cargo partition holding physical isolation or virtually every From.

7. system according to claim 1, which is characterized in that the cargo storage areas packet that the picking storage unit is formed Include multiple picking partition holdings.

8. system according to claim 7, which is characterized in that picking partition holding physical isolation or virtually every From.

9. the system according to claim 5 or 7, which is characterized in that the partition holding is that dynamic adjusts.

10. system according to claim 1, which is characterized in that the picking instruction device and/or picking instruction device are Visual information output device.

11. system according to claim 10, which is characterized in that visual information output device is light emitting device, light hair The combination of one or more of injection device, projection arrangement, display device, electronic tag, bat modulator.

12. system according to claim 11, wherein visual information output device is specially projection arrangement, the projection dress Set by projecting image to goods storage unit and/or picking storage unit, cargo to be removed cargo partition holding and/or Special visual image information is shown in the picking partition holding of cargo to be stored to be indicated.

13. system according to claim 12, wherein the special visual image information, including it is special pattern, special One or more of color, designated character,

Wherein, the designated character be currently to the picture of picking object, title, specification, classification, quantity to be picked, currently to picking One or more goods informations in the unique positions identification marking of object；

The special pattern is the figure to form with the visual pattern of other partition holdings there are vision difference, cause vision attention Case；

The special color is that can just cover currently to the shape of partition holding where picking object or slightly larger than partition holding The color segment of shape.

14. system according to claim 9, which is characterized in that it further include action recognition device, the action recognition device Cargo is sorted in the goods storage unit for detecting picking resource and/or stores cargo in the picking storage unit Movement it is whether correct, and will test result and be sent to the control system.

15. -8,10 described in any item systems according to claim 1, which is characterized in that it further include action recognition device, it is described Action recognition device sorts cargo and/or in picking storage list for detecting picking resource in the goods storage unit Whether the movement that cargo is stored in member is correct, and will test result and be sent to the control system.

16. system according to claim 9, which is characterized in that it further include action recognition device,

When the action recognition device sorts cargo for detecting picking resource, one or more picking groups of the picking resource Whether part has exceeded the bounds of the cargo partition holding to the goods storage unit where picking object, and will test result hair Give the control system；

And/or the action recognition device is used to detect picking resource when storing cargo, the one or more of the picking resource Whether picking component has exceeded the bounds of the picking partition holding for the picking storage unit being stored to picking object, and will Testing result is sent to the control system.

17. -8,10 described in any item systems according to claim 1, which is characterized in that it further include action recognition device,

18. system according to claim 16, which is characterized in that the bounds are the boundary of partition holding, and can The sum of allowable error value.

19. system according to claim 17, which is characterized in that the bounds are the boundary of partition holding, and can The sum of allowable error value.

20. system according to claim 9, which is characterized in that it further include stock keeping unit, the stock keeping unit The goods information for the cargo that picking resource is taken out from goods storage unit for identification.

21. -8,10 described in any item systems according to claim 1, which is characterized in that it further include stock keeping unit, it is described The goods information of the stock keeping unit cargo that picking resource is taken out from goods storage unit for identification.

22. system according to claim 9, which is characterized in that further include vehicle equipment, the vehicle equipment is used for basis The control instruction of the control system delivers the goods storage unit.

23. -8,10 described in any item systems according to claim 1, which is characterized in that it further include vehicle equipment, the delivery Equipment is for delivering the goods storage unit according to the control instruction of the control system.

24. system according to claim 9, which is characterized in that further include caution device, the caution device is used for basis The control instruction of the control system issues information warning.

25. -8,10 described in any item systems according to claim 1, which is characterized in that it further include caution device, the warning Equipment is used to issue information warning according to the control instruction of the control system.

26. system according to claim 9, which is characterized in that the picking resource, goods storage unit, picking instruction Device, action recognition device, picking storage unit, picking instruction device, stock keeping unit, vehicle equipment and/or warning are set Standby to be installed with condition detecting device, the condition detecting device is used for picking resource described in real-time monitoring, goods storage unit, takes Goods instruction device, action recognition device, picking storage unit, picking instruction device, stock keeping unit, vehicle equipment and/or The status information of caution device, and fed back to the control system.

27. system according to claim 15, which is characterized in that the picking resource, goods storage unit, picking instruction Device, action recognition device, picking storage unit, picking instruction device, stock keeping unit, vehicle equipment and/or warning are set Standby to be installed with condition detecting device, the condition detecting device is used for picking resource described in real-time monitoring, goods storage unit, takes Goods instruction device, action recognition device, picking storage unit, picking instruction device, stock keeping unit, vehicle equipment and/or The status information of caution device, and fed back to the control system.

28. system according to claim 17, which is characterized in that the picking resource, goods storage unit, picking instruction Device, action recognition device, picking storage unit, picking instruction device, stock keeping unit, vehicle equipment and/or warning are set Standby to be installed with condition detecting device, the condition detecting device is used for picking resource described in real-time monitoring, goods storage unit, takes Goods instruction device, action recognition device, picking storage unit, picking instruction device, stock keeping unit, vehicle equipment and/or The status information of caution device, and fed back to the control system.

29. system according to claim 21, which is characterized in that the picking resource, goods storage unit, picking instruction Device, action recognition device, picking storage unit, picking instruction device, stock keeping unit, vehicle equipment and/or warning are set Standby to be installed with condition detecting device, the condition detecting device is used for picking resource described in real-time monitoring, goods storage unit, takes Goods instruction device, action recognition device, picking storage unit, picking instruction device, stock keeping unit, vehicle equipment and/or The status information of caution device, and fed back to the control system.

30. system according to claim 23, which is characterized in that the picking resource, goods storage unit, picking instruction Device, action recognition device, picking storage unit, picking instruction device, stock keeping unit, vehicle equipment and/or warning are set Standby to be installed with condition detecting device, the condition detecting device is used for picking resource described in real-time monitoring, goods storage unit, takes Goods instruction device, action recognition device, picking storage unit, picking instruction device, stock keeping unit, vehicle equipment and/or The status information of caution device, and fed back to the control system.

31. system according to claim 25, which is characterized in that the picking resource, goods storage unit, picking instruction Device, action recognition device, picking storage unit, picking instruction device, stock keeping unit, vehicle equipment and/or warning are set Standby to be installed with condition detecting device, the condition detecting device is used for picking resource described in real-time monitoring, goods storage unit, takes Goods instruction device, action recognition device, picking storage unit, picking instruction device, stock keeping unit, vehicle equipment and/or The status information of caution device, and fed back to the control system.

32. -8,10-14,16, the described in any item systems in 18-20,22,24 according to claim 1, which is characterized in that described to pick Goods resource, goods storage unit, picking instruction device, action recognition device, picking storage unit, picking instruction device, cargo Identification device, vehicle equipment and/or caution device are installed with condition detecting device, and the condition detecting device is used for real-time monitoring The picking resource, goods storage unit, picking instruction device, action recognition device, picking storage unit, picking instruction dress It sets, the status information of stock keeping unit, vehicle equipment and/or caution device, and is fed back to the control system.

33. a kind of intelligent storage Picking System, which is characterized in that the system comprises: control system, goods storage unit and one A or more than one intelligent storage picking subsystem, in which:

The intelligent storage picking subsystem includes controlling terminal, picking resource, picking instruction device, picking storage unit and picks Goods instruction device, in which:

The controlling terminal and the control system, goods storage unit, picking storage unit, picking resource, picking instruction fill Setting can communicate between picking instruction device, for issuing control instruction according to the instruction of control system, control picking process；

The picking resource is used to carry out the sorting of cargo according to the control instruction of the controlling terminal, and the cargo picked is deposited Storage is in picking storage unit；

The goods storage unit is used to store cargo in storage region；

The picking instruction device is used to be indicated by visual information currently to picking according to the control instruction of the controlling terminal Position of the object in the goods storage unit；

The picking storage unit is used to store picking resource in the way of corresponding to order and take out from goods storage unit Cargo；

The picking instruction device is used to indicate that picking resource deposits the cargo picked according to the control instruction of the controlling terminal Put the position into picking storage unit.

34. system according to claim 33, which is characterized in that further include vehicle equipment, the vehicle equipment is used for root The goods storage unit is delivered according to the control instruction of the control system.

35. system according to claim 33, which is characterized in that the intelligent storage picking subsystem further includes that cargo is known Other device, the cargo letter of the stock keeping unit cargo that picking resource is taken out from the goods storage unit for identification Breath.

36. system according to claim 33, which is characterized in that the intelligent storage picking subsystem further includes that warning is set Standby, the caution device is used to issue information warning according to the control instruction of the controlling terminal.

37. system according to claim 33, which is characterized in that the intelligent storage picking subsystem further includes that movement is known Other device, the action recognition device sort cargo and/or in institute for detecting picking resource in the goods storage unit Whether the movement for stating storage cargo in picking storage unit is correct, and will test result and be sent to the controlling terminal.

38. system according to claim 33, which is characterized in that it further include action recognition device, the action recognition dress When setting for detecting picking resource sorting cargo, whether one or more picking components of the picking resource are had exceeded to picking The bounds of the cargo partition holding of goods storage unit where object, and will test result and be sent to the control system；

39. the system according to claim 38, which is characterized in that the bounds are the boundary of partition holding, and can The sum of allowable error value.

40. a kind of intelligent storage Picking System, which is characterized in that the system comprises: control system, picks goods storage unit Goods storage unit and one or more intelligent storage picking subsystem, in which:

The intelligent storage picking subsystem includes controlling terminal, picking resource, picking instruction device and picking instruction device, In:

The goods storage unit is used to store cargo in storage region；

41. system according to claim 40, which is characterized in that further include vehicle equipment, the vehicle equipment is used for root The goods storage unit is delivered according to the control instruction of the control system.

42. system according to claim 40, which is characterized in that the intelligent storage picking subsystem further includes that cargo is known Other device, the cargo letter of the stock keeping unit cargo that picking resource is taken out from the goods storage unit for identification Breath.

43. system according to claim 40, which is characterized in that the intelligent storage picking subsystem further includes that warning is set Standby, the caution device is used to issue information warning according to the control instruction of the controlling terminal.

44. system according to claim 40, which is characterized in that the intelligent storage picking subsystem further includes that movement is known Other device, the action recognition device sort cargo and/or in institute for detecting picking resource in the goods storage unit Whether the movement for stating storage cargo in picking storage unit is correct, and will test result and be sent to the controlling terminal.

45. system according to claim 40, which is characterized in that it further include action recognition device, the action recognition dress When setting for detecting picking resource sorting cargo, whether one or more picking components of the picking resource are had exceeded to picking The bounds of the cargo partition holding of goods storage unit where object, and will test result and be sent to the control system；

46. system according to claim 45, which is characterized in that the bounds are the boundary of partition holding, and can The sum of allowable error value.