WO2019011276A1 - 一种订单完成系统和方法 - Google Patents

一种订单完成系统和方法 Download PDF

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Publication number
WO2019011276A1
WO2019011276A1 PCT/CN2018/095282 CN2018095282W WO2019011276A1 WO 2019011276 A1 WO2019011276 A1 WO 2019011276A1 CN 2018095282 W CN2018095282 W CN 2018095282W WO 2019011276 A1 WO2019011276 A1 WO 2019011276A1
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WO
WIPO (PCT)
Prior art keywords
information
picking
order
tray
goods
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Application number
PCT/CN2018/095282
Other languages
English (en)
French (fr)
Inventor
陶熠昆
吴伟峰
李宏业
韦磊
沈振华
陈凯
Original Assignee
浙江国自机器人技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 浙江国自机器人技术有限公司 filed Critical 浙江国自机器人技术有限公司
Priority to EP18831444.7A priority Critical patent/EP3653541A4/en
Priority to SG11201914025YA priority patent/SG11201914025YA/en
Priority to JP2019541393A priority patent/JP6911131B2/ja
Publication of WO2019011276A1 publication Critical patent/WO2019011276A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1378—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on fixed commissioning areas remote from the storage areas
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1375—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning stacker-crane or truck
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
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    • B65G1/04—Storage devices mechanical
    • B65G1/0478—Storage devices mechanical for matrix-arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0485—Check-in, check-out devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/905—Control arrangements
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
    • G06K7/1404—Methods for optical code recognition
    • G06K7/1408—Methods for optical code recognition the method being specifically adapted for the type of code
    • G06K7/1413—1D bar codes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
    • G06K7/1404—Methods for optical code recognition
    • G06K7/1408—Methods for optical code recognition the method being specifically adapted for the type of code
    • G06K7/1417—2D bar codes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/083—Shipping
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
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    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders

Definitions

  • the invention belongs to the field of warehouse picking technology, and in particular relates to an order fulfillment system and method.
  • the e-commerce warehouse In order to complete the processing of purchase orders issued by consumers as soon as possible, the e-commerce warehouse needs to pick up, package and ship the goods purchased by consumers as soon as possible.
  • the picking in the traditional mode is time-consuming and labor-intensive.
  • the methods used for picking goods in traditional e-commerce warehouses are as follows: 1. “fruit picking + seeding” type: multiple orders are merged into one picking order, and the picking staff picks up all the goods (picked fruit) according to the picking list, and picks up the goods. The goods are mixed together and need to be sorted and distributed, and the mixed goods are distributed to the packing box according to the order (sowing). 2. “Picking fruit” type: Some e-commerce warehouses adopt the picking method directly. The packing box corresponds to the good order before the picking starts. Multiple packing boxes are placed on a special material truck. The picking personnel push the material truck in the warehouse. Looking for the goods and picking them out, the sorted goods are placed directly into the corresponding packing box. This mode does not need to be processed by the distribution. However, because the material truck and the goods are heavier, the picking personnel engaged in this work are labor intensive.
  • the traditional "goods to person” model is actually “shelf to person", that is, the mobile device moves the entire movable shelf storing the goods to be picked to the vicinity of the person.
  • the mobile device In the traditional mode, each time the picking is carried out, the mobile device needs to move the shelf out from the storage area, and the entire shelf is put back after the picking is completed.
  • the movable device can usually only complete one or a small number of goods in one shuttle. This traditional picking mode is inefficient, increases equipment energy consumption and wear and increases maintenance costs.
  • the invention assists in order picking work by means of automatic equipment, which saves manpower and reduces labor intensity.
  • the invention solves the problem of low efficiency of the traditional "goods to goods" mode, and improves the mode of "cargo to person”: the goods are stored in a small cargo box or a tray, and the mobile device is arranged according to the scheduling of the background system each time. Targetedly take a number of small boxes or pallets and send them to the picking station.
  • the movable device used in the present invention can transport a plurality of goods to be picked in one shuttle from the storage area to the picking station, and the efficiency can be significantly improved.
  • the present application provides an order fulfillment system capable of improving efficiency.
  • the application provides an order fulfillment system, including a warehouse, a skip for transport orders, a movable device for transporting carts, a movable device for transporting goods, and a control center
  • the warehouse includes an order preparation area, high frequency picking a zone, a low-frequency picking zone, and an intermediate collaboration zone, the order preparation zone for associating an order with a skip of the shipping order, and associated a skip carrying the order with the movable device of the transported cargo
  • the high The frequency picking area is used for picking goods for carrying orders
  • the low frequency picking area is used for picking up mobile equipment for transporting goods
  • the intermediate cooperation area is used for picking up mobile equipment for transporting goods
  • the cargo is placed in, and the cargo for the feeding vehicle to be docked and the movable equipment for transporting the goods is placed in the skip
  • the control center is used to control the transport of the order, the movable device for transporting the goods, and the middle Work in the collaboration area.
  • the invention also provides an order fulfilling method, comprising the following steps: including the following steps:
  • the mobile device transporting the goods picks up in the low-frequency picking area and delivers the goods to the workstation station in the intermediate coordination area;
  • the picking station prompts the order information and, according to the prompt, places the goods in the corresponding box of the skip.
  • the order fulfillment system and method of the present invention can improve the order completion efficiency.
  • Figure 1 provides an order fulfillment system
  • Figure 2 is a schematic view showing the partial structure of the warehouse in Figure 1;
  • FIG. 3 is a schematic structural view of an inventory unit and a tray in the warehouse of FIG. 2;
  • FIG. 4 is a schematic structural diagram of an intermediate station according to an embodiment of the present invention.
  • Figure 5 is a schematic structural view of a skip in accordance with an embodiment of the present invention.
  • FIG. 6 is a schematic structural view of the skip of the vehicle shown in FIG. 5 after docking with the movable device of the transport vehicle;
  • FIG. 7 is a schematic diagram of a mobile device provided in a warehouse according to the present invention.
  • Figure 8 is a schematic structural view of the mobile device in Figure 7;
  • Figure 9 is a side view of the mobile device provided by the present invention.
  • FIG. 10 is a schematic structural view of a grasping mechanism provided by the present invention.
  • Figure 11 is a side view of the grasping mechanism provided by the present invention.
  • Figure 12 is an enlarged view of a portion A of Figure 11 provided by the present invention.
  • FIG. 13 is a schematic structural view of a stroke amplifying assembly provided by the present invention.
  • FIG. 14 is a schematic diagram of the working state of the mobile device provided by the present invention.
  • FIG. 15 is a schematic diagram of another working state of the mobile device provided by the present invention.
  • Figure 16 is a schematic flow chart of a picking method in an embodiment
  • 17 is a schematic flow chart of a method for comparing picking mechanism position information with the stored position information and controlling the picking mechanism to pick up the goods;
  • 18 is a schematic flow chart of a method for comparing the position information of the grasping mechanism with the stored position information and controlling the picking up of the picking mechanism in another embodiment
  • Figure 19 is a schematic view of a picking device in an embodiment
  • 20 is a schematic flow chart of a method for correcting a tray deviation in an embodiment
  • 21 is a schematic flow chart of a method for obtaining a deviation amount in an embodiment
  • 22 is a flow chart showing a method of correcting a deviation amount in one embodiment
  • 23 is a flow chart showing a method of correcting an X-axis deviation in one embodiment
  • Figure 24 is a flow chart showing a method of correcting the Y-axis deviation in one embodiment
  • Figure 25 is a block diagram showing the structure of a tray deviation correcting device in an embodiment
  • 26 is a structural block diagram of a deviation amount calculation module in one embodiment
  • FIG. 27 is a schematic flowchart of a scheduling method in an embodiment
  • 29 is a flow chart showing a method for matching a current position with a picking station position in an embodiment
  • FIG. 30 is a flow chart showing a method for matching a current position with a picking station position in another embodiment
  • Figure 31 is a block diagram showing the structure of a scheduling apparatus in an embodiment
  • 32 is a schematic flow chart of a method for prompting a picking in an embodiment
  • 33 is a schematic flow chart of a method for prompting according to order information in an embodiment
  • FIG. 34 is a schematic flow chart of a method for prompting according to order information in another embodiment
  • 35 is a schematic flow chart of a picking prompting method in another embodiment
  • Figure 36 is a block diagram showing the structure of a picking prompting device in an embodiment
  • FIG. 37 is a structural block diagram of a prompting module in an embodiment
  • 39 is a schematic flow chart of a method for comparing the position information of the grasping mechanism with the stored position information, and controlling the picking mechanism to obtain the tray to be retrieved;
  • FIG. 40 is a schematic flow chart of a method for comparing the position information of the grasping mechanism with the stored position information, and controlling the grasping mechanism to obtain the tray to be retrieved;
  • 41 is a schematic flow chart of a method for retrieving a tray in an embodiment
  • Figure 42 is a schematic view showing the execution end of the tray retrieval system in one embodiment
  • Figure 43 is a schematic view showing the control end of the tray retrieval system in one embodiment
  • 45 is a schematic flow chart of a method for comparing the position information of the grasping mechanism with the first stored position information, and controlling the method for obtaining the to-be-replenished tray by the picking mechanism;
  • FIG. 46 is a flow chart showing a method for comparing the position information of the grasping mechanism with the first stored position information, and controlling the method for the picking mechanism to obtain the tray to be replenished;
  • Figure 48 is a schematic illustration of the execution end of the replenishment system in one embodiment
  • Figure 49 is a schematic illustration of the control end of the replenishment system in one embodiment.
  • an embodiment of the present invention provides an order fulfillment system 100 for processing an order.
  • the order fulfillment system 100 includes a warehouse, a skip for transporting orders, a movable device for transporting goods, and a movable device for transporting goods. And the control center.
  • the warehouse includes an order preparation area, a high frequency picking area, a low frequency picking area, an intermediate cooperation area, a replenishment area, and an order completion area.
  • the movable device for transporting goods is named as a trolley
  • the movable device for transporting goods is named as a movable device.
  • the order preparation area is used to associate the order with the skip of the transport order.
  • the order received is associated with the skip, so that the skip gets the task of transporting the goods in the order, and then the skip is in After passing through the high-frequency picking area and the intermediate cooperation area, the required goods are loaded into the packing box on the skip, and then go to the order completion area, and the package is packaged in the order completion area to complete the received order.
  • the same skip can be associated with multiple orders at the same time, and multiple orders can be the same or different.
  • the material truck is associated with the order. The exact order is that the order is associated with the storage space on the skip.
  • the specific principle of the association is that the skip has multiple layers, each layer has multiple storage bits, and each storage location is in the material.
  • the specific positions on the vehicle are known values, which are stored in the control center.
  • Each storage location is provided with an identifier to facilitate the control center to prompt the operator to place the order on the skip.
  • the identifiers are, for example, numbers and indicators.
  • the order is first affixed to the package for loading the goods in the order, and then the package is placed in the storage position on the skip, and then the order is stored and bound by the operation terminal such as the scanning device.
  • the skip is transported by a small car, which can be docked with the skip through the docking mechanism. It can be understood that part of the docking mechanism is set on the trolley and the other part is set on the skip. The two parts of the docking mechanism can be docked together or separated.
  • the control center moves the skip by controlling the operation of the trolley.
  • the high-frequency picking area stores orders that require a higher frequency of goods, usually by people following the skip into the high-frequency area, placing the goods directly into the corresponding packing box, and completing the high-frequency area picking.
  • the goods with lower order demand are stored.
  • the goods required in the order correspond to the goods in the low-frequency picking area
  • the goods are picked up by the mobile device and then transported to the intermediate cooperation through the mobile device.
  • the area is then placed in the corresponding package of the corresponding cart, for example by a staff member.
  • the following movable device for transporting goods is directly described as a mobile device. It can be understood that the concept of high-frequency picking area and low-frequency picking area is only used to divide the warehouse. The purpose is to show that there are two areas in the warehouse, one area can directly load the goods into the packing box on the loading car.
  • the other area picks up the goods from the area through the mobile device, and then sends them to the intermediate cooperation area and places the goods in the intermediate cooperation area through the equipment.
  • the operator in the middle cooperation area puts the goods on the skip according to the prompts.
  • the intermediate cooperation area is provided, for example, a plurality of picking stations, the picking station has a docking position at which the feeding vehicle is parked, and a container for placing the goods, and the container can satisfy the plurality of movable devices and simultaneously put the goods into the container. Container, or take out the goods in the container.
  • the picking station is further provided with an operation terminal such as a prompting device and a scanning device.
  • the prompting device is configured, for example, to arrive at the goods corresponding to the order, and the delivery vehicle corresponding to the order arrives, and the control system opens the prompting device to prompt, prompting
  • the contents are, for example, the name, quantity, picture, etc. of the goods.
  • the operation terminal such as the scanning device is used to scan the code after the order is completed, and the feedback signal is sent to the control center to make the car perform the next action.
  • the replenishment area is used to replenish the goods in the low-frequency picking area. It can be understood that after the goods in the low-frequency picking area are picked up by the mobile equipment, the goods in the low-frequency picking area will be correspondingly reduced, when the low-frequency picking area After any one of the goods falls to the threshold, the mobile device can go to the replenishment area to pick up the corresponding goods, and then fill the goods into the low-frequency picking area.
  • the order completion area is used to unload, package, and package the package on the skip after the skip arrives in the area to complete the entire order.
  • the control center is used to issue instructions to the trolley of the transport vehicle, the mobile device and the intermediate coordination area, so that the trolley, the mobile device and the intermediate cooperation area cooperate to complete the packing and transportation of the goods required for the order, and receive the trolley and the mobile device.
  • Feedback signals from the intermediate collaboration area and the order fulfillment area to control the mobile device, the trolley, the intermediate collaboration area, and the order fulfillment area for the next step.
  • Figure 2 provides a warehouse 10 for use in an order fulfillment system 100 for storing goods, and a plurality of workstation stations 30 disposed within the warehouse 10.
  • the workstation station 30 can be a picking station or a tally station and a replenishment station.
  • the picking station is used for the operator to compare the order information
  • the tally station is used for the operator to sort the goods
  • the replenishing station is used for the operator to replenish the goods.
  • the frequency of interaction of the mobile device in the low frequency picking area is relatively low, and the frequency of interaction in the high frequency picking area is relatively high.
  • the mobile device picks up the target goods in the low frequency picking area, and the picked up target goods completes the confirmation of the order information at the workstation station 30 in the warehouse 10, and works in the workstation station 30.
  • the picker confirms that the target goods meet the order information, the target goods are transported to the order completion area by the skip to realize the package and package of the goods.
  • the goods stored in the warehouse 10 can be transported by the mobile device disposed in the order fulfillment system 100 to a preset target location, which can be the workstation station 30 in the warehouse 10 for confirming the order information. It may be a site other than the workstation station 30.
  • the warehouse 10 provided by the present invention is not limited to being applicable only to the order fulfillment system 100 based on the intelligent logistics technology.
  • the warehouse 10 can also be applied to warehousing in a conventional logistics system, and the warehouse 10 provided by the present invention can be applied as long as the goods can be stored in a usage environment within the warehouse 10.
  • a plurality of movable devices for picking work are operated in the warehouse 10, and the warehouse 10 is disposed in a three-dimensional coordinate system having X-axis and Y-axis perpendicular to each other in a horizontal plane, and X-axis and Y
  • the axis is a vertical Z axis
  • the warehouse includes a plurality of clusters 11 arranged at intervals along the X-axis direction in the three-dimensional coordinate system, each of the shelves 11 extending along a Y-axis parallel to the three-dimensional coordinate system.
  • An aisle 12 is provided between the adjacent two clusters of shelves 11 for the movable device to shuttle.
  • the aisles 12 extend parallel to the Y-axis direction.
  • Each cluster of shelves 11 includes two rows of shelves 11 facing away from each other.
  • the coordinates at any position in the warehouse 10 are known in the above three-dimensional coordinate system, that is, after the above-mentioned components are arranged in the warehouse 10, the position coordinates of each component in the three-dimensional coordinate system are known. And the coordinates of the above components are stored at the final end of the order fulfillment system. In other words, that is, the terminal controller knows that in the three-dimensional coordinate system, a specific component is placed in the warehouse 10 at a specific coordinate position.
  • the X-axis coordinate value is 1 and the Y-axis coordinate value is (2, 8)
  • a column 11 is placed, and the X-axis coordinate value is 1, the Y-axis coordinate value is 2, and the Z-axis coordinate value is The position of 2.3 is a storage compartment 13 of the shelf 11 of the column. It can be understood that although each memory cell 13 has a length, a width and a height, when determining the specific position of the memory cell 13, the X-axis coordinate value of 1 refers to the coordinate of the midpoint of the length of the memory cell 13, the Y-axis.
  • the coordinate value of 2 refers to the coordinates of the midpoint of the width of the memory cell 13, and the Z-axis coordinate value is 2, and 3 refers to the coordinates of the midpoint of the height of the memory cell 13. It can be further understood that although each column of the shelf 11 The length and width and height, the X-axis coordinate value refers to the midpoint of the width of the column shelf 11, and the Y-axis coordinate value (2, 8) refers to the coordinates of both ends of the shelf 11.
  • a position coordinate is set for each of the positioning marks 141 and the storage cells 13 in the warehouse 10, and the position coordinates correspond to the X-axis, Y-axis, and Z-axis coordinates of each of the positioning marks 141 and the storage cells 13. .
  • the movable device has a fork mechanism, the fork mechanism is movable relative to the movable device, and the plug mechanism has a side fork function
  • the so-called side fork refers to
  • the fork mechanism is movable in a horizontal direction perpendicular to the moving direction of the movable device, and the initial position of the fork mechanism in a horizontal plane on the movable device is determined, relative to the initial position, the fork mechanism is perpendicular to the moving direction of the movable device
  • the distance in the horizontal direction is fixed, and the fork mechanism can also be straight.
  • the straight fork is rotated by 90° relative to the side fork position, the direction of the straight fork and the moving direction of the movable device.
  • the distance that the forks move relative to the movable device is a fixed value.
  • the coordinates of any position of the movable device in the warehouse are known values.
  • the specific principle is that the ground of the warehouse 10 is paved with a landmark, for example, a two-dimensional code, and any position of the warehouse 10 can be determined by the landmark.
  • the coordinate value on the X-axis of the three-dimensional coordinate system and the coordinate value on the Y-axis determine the coordinate value on the Z-axis of the three-dimensional coordinate system by the height of the arbitrary position.
  • the tracking device is specifically provided with a tracking sensor for acquiring landmark information, thereby determining its own horizontal coordinate in the three-dimensional coordinate system.
  • the movable device has a length width and a height, in a specific setting, Taking the center of the movable device to calibrate the coordinates of the movable device, that is, the tracking sensor can determine the X-axis coordinate and the Y-axis coordinate of the movable device, and the center height of the movable device is a known value, that is, the movable type is determined.
  • the Z-axis coordinate, and the relative position of the fork mechanism on the movable device is determined, so that the X-axis and Y-axis coordinates of the fork mechanism in the three-dimensional coordinate system can be determined, and the fork mechanism is in the straight fork.
  • the movement distance between the fork and the side fork is a fixed value.
  • the movement distance between the fork and the fork of the fork is associated with the three-dimensional coordinate system, and the coordinates of the fork mechanism when the fork mechanism is in the straight fork and the side fork can be determined.
  • the amount of change (specifically, the X-axis coordinate and the Y-axis coordinate), further, the fork mechanism can be lifted and lowered on the movable device, and the fork mechanism is, for example, at the lowest point, which is the fork mechanism in the vertical direction
  • the initial position, the position coordinate of the position in the vertical direction, that is, the Z-axis coordinate can also be obtained by measurement.
  • the distance between the rising and falling of the fork mechanism reflects the change of the Z-axis coordinate, and raises the fork mechanism to the specified height.
  • the height will match the height of the goods to be removed, enabling the fork mechanism to take the cargo out and then take out the goods to be removed by side plugs or straight forks.
  • the tray 14 is a medium for the movable device to grab the goods, the movable device needs to transport the goods to the designated position after the goods are picked up, so after the tray 14 is grasped and placed to the designated position, the tray 14 is placed. The coordinates will be re-established, as described below.
  • Each of the shelves 11 includes a plurality of rows of rear shelves that are opposite to each other and disposed opposite each other.
  • the rear sides of the two rows of shelves 11 abut each other so that the openings of each of the rows of shelves 11 can be outwardly moved, thereby facilitating movement.
  • the equipment picks up the goods placed on the shelf 11. It can be understood that the outermost two-story shelf 11 only needs to be provided with a row of shelves 11.
  • the number of shelves 11 is twenty-one clusters. It can be understood that in other embodiments, the number of shelves 11 can also be other than twenty-one clusters.
  • An aisle 12 which is spaced apart and formed every two clusters of adjacent shelves 11, is capable of allowing the movable device to pass. It can be understood that since the plurality of cluster shelves 11 are arranged in parallel with each other, the plurality of aisles 12 are also arranged in parallel with each other.
  • the mobile device shuttles within the aisle 12 and reaches a designated storage compartment 13 which removes the goods on the designated storage compartment 13 under the direction of the signal from the control center.
  • the mobile device under the guidance of the signal of the control center in the order fulfillment system, shuttles through the aisle 12 to the storage compartment 13 to be carried, and transports the goods stored in the storage compartment 13 to the workstation station 30, thereby realizing the order completion system.
  • the process of picking goods under the guidance of the signal of the control center in the order fulfillment system, shuttles through the aisle 12 to the storage compartment 13 to be carried, and transports the goods stored in the storage compartment 13 to the workstation station 30, thereby realizing the order completion system.
  • the process of picking goods under the guidance of the signal of the control center in the order fulfillment system.
  • the plurality of clusters 11 arranged in parallel form a storage area 111.
  • the number of the storage areas 111 may be plural, and the plurality of storage areas 111 are spaced apart from each other and form a trunk 15 extending in a direction parallel to the X-axis.
  • the aisle 12 is a "single lane" and the width of the aisle 12 allows only one movable device to move linearly parallel to the Y-axis, where linear movement means that the movable device cannot turn in the aisle 12; the main road 15 is "two lanes".
  • the width of the main road 15 allows a plurality of movable devices to move relatively parallel to the X-axis direction, where relative movement means that a plurality of movable devices can move in opposite directions within the main road 15.
  • the opening of the main road 15 allows the mobile device to quickly reach the aisle 12 requiring picking through the laterally disposed main road 15, avoiding the bypassing behavior of the mobile device that must be circumferentially surrounded on the outermost side of the warehouse 10 to reach the picking aisle 12. .
  • FIG. 3 is a schematic structural view of the storage compartment 13 and the tray 14 in the warehouse 10 of FIG. 2.
  • the storage compartment 13 is used for storing goods, and the shelf 11 has a direction parallel to the X-axis direction and the Z-axis direction.
  • a plurality of storage cells 13 each placing a cargo in the storage compartment 13.
  • the cargo may be carried by pallets 14, which may each have a plurality of support legs, in which case the plurality of support legs support the load bearing panels on the pallet 14 in direct contact with the cargo such that the cargo does not directly contact the laminate of the storage compartment 13. Therefore, the fork teeth for picking in the movable device can extend into the space formed by the plurality of support legs, facilitating the removable device to take out the goods.
  • the load-bearing plates of the tray 14 can also carry the cargo directly, at which time the tines of the movable device extend into the gap between the tray 14 and the storage compartment 13 to carry the cargo.
  • the storage compartments 13 in the shelves 11 are not all equipped with trays 14, which are vacant in the storage compartment 13 of the inventory unit, and the vacant storage compartments 13 are used to replenish the goods in the replenishment system in the order fulfillment system.
  • the length, width and height of the storage compartment 13 need to match the size of the cargo, that is, the length of the storage compartment 13 needs to be greater than the length of the cargo, the width of the storage compartment 13 needs to be greater than the width of the cargo, and the height of the storage compartment 13 needs to be greater than the height of the cargo. .
  • the tray 14 is provided with a positioning mark 141 for positioning the movable device, and the positioning mark 141 provided on the tray 14 is capable of positioning the position of the movable device.
  • the movable device moves to the tray 14 on the designated storage compartment 13
  • the movable device acquires an error between its own position and the standard position by the positioning identifier 141, and the movable device compensates the error by means of posture adjustment before carrying the specified cargo.
  • the error between the position and the standard position referred to herein refers to the deviation between the tines on the movable device and the standard position, including the case where the tines are higher than the standard position and the tines are lower than the standard position.
  • the positioning identifier 141 is in the form of a two-dimensional code
  • the movable device captures the two-dimensional code on the tray 14 and takes the position where the two-dimensional code is located as a standard position, and the movable device simultaneously obtains the position between the self position and the standard position.
  • the mobile device adjusts its posture according to the error between its own position and the standard position, thereby eliminating the error.
  • the positioning mark 141 can also adopt sensors, grooves, bumps, and other patterns.
  • the tray 14 is a medium for the movable device to pick up the goods, and the movable device needs to transport the goods to the designated position after the goods are picked up, so the coordinates of the tray 14 are re-established after being placed in the designated position after the tray 14 is grasped.
  • the order fulfillment system dispatches the supplemental goods to the designated location, the coordinates of the specified location are known in the three-dimensional coordinate system, and the movable device senses the tray when the mobile device places the goods in the tray 14.
  • the movable device transmits the coordinates of the specified position and the coordinates of the tray 14 to the control center, that is, the coordinates of the specified position at this time is the coordinates of the current tray 14. Thereby the re-establishment of the coordinates of the tray 14 is completed.
  • the width of the aisle 12 only needs to be no less than 1.1 times the width of the movable device, and the width of the aisle 12 is in the movable device. Between 1.1 times and 1.3 times the width, the width of the movable device needs to be no less than 1.5 times the width of the cargo, and the length of the movable device requires a width of not less than 2.5 times.
  • the width of the aisle 12 is 1.1 times the width of the movable device.
  • the width of the cargo is 600 mm
  • the width of the movable device may be 900 mm
  • the length of the movable device may be 1500 mm
  • the width of the aisle 12 may be 1080 mm.
  • the movable device Since the movable device does not need to turn or rotate in place, the width of the aisle 12 formed between the plurality of shelves 11 is greatly reduced, thereby increasing the density between the plurality of shelves 11, improving the utilization of the warehouse and the entire order completion. The efficiency of the system.
  • the number of picking stations 30 is at least one, and each picking station 30 is at least one cluster of shelves 11, that is, each picking station 30 corresponds to a partial number of trays 14.
  • the picking station 30 preferably docks one or more clusters of shelves 11 adjacent to itself in a near-principle manner, with each picking station 30 preferably corresponding to between 200 and 3000 of said trays.
  • the picking stations 30 are arranged in parallel along the X-axis direction in the three-dimensional coordinate system.
  • the number of workstation stations 30 is six, and each workstation station 30 is docked with a plurality of cluster shelves 11.
  • FIG. 4 is a schematic structural diagram of a workstation station 30 according to an embodiment of the present invention.
  • the workstation station 30 is applied to the order fulfillment system illustrated in the figure, and is used for the order picker to complete the order in the system.
  • the goods stored in the warehouse are checked against the container that meets the order requirements.
  • the container that meets the order requirements is transported to the order completion area after the picker's inspection to complete the packaging process.
  • the workstation station 30 provided by the present invention is not limited to being applicable only to the order fulfillment system described above. In other embodiments, the workstation station 30 can also be applied to other order fulfillment systems or to the order information validation process of a conventional logistics system.
  • the workstation station 30 includes a picking work area 31, at least one shelf 32, and at least one skip stop 33.
  • the shelf 32 and the skip stop 33 are both disposed on the side of the picking work area 31, and the rack 21 is surrounded by picking On at least two sides of the cargo working area 31, a plurality of temporary storage locations 321 are disposed in the shelf 32.
  • the shelf 32 allows a plurality of removable devices to carry the sorted goods into the temporary storage location 321, the picking work area 31 for the picker to compare the order information, and the temporary storage location 321 in the shelf 32 for temporary storage.
  • the goods to be picked up by the pick-up device by the mobile device are used for the order completion system to carry the goods to the order completion area by the picker.
  • the picking work area 31 is substantially square
  • the shelf 32 and the skip position 33 are both located at one side of the square picking work area 31, and the picking work area 31 is set to a square capable and order fulfillment system.
  • the mobile devices arranged in the middle row are matched to avoid the need to increase the movable posture of the mobile device to be docked on the shelf 32.
  • the picking work area 31 can also be set to other shapes than the square, as long as the shape of the picking work area 31 does not interfere with the normal operation of the rack 32 and the docking station 33. .
  • the shelf 32 has a plurality of temporary storage positions 321 arranged along the Z-axis of the order fulfillment system.
  • the number of the shelves 32 may be one or more, and the shelf 32 may be disposed along the X-axis of the order completion system, or may be placed along the order. Complete the Y-axis setting of the system.
  • the shelves 32 are arranged along a straight line, and the number of the shelves 32 arranged along the straight line is three, and the plurality of temporary storage positions 321 of the two shelves 32 are arranged along the Y-axis and the Z-axis of the order completion system.
  • a plurality of temporary storage locations 321 in a shelf 32 are arranged along the X-axis and the Z-axis of the order fulfillment system, and the three shelves 32 are respectively located at three sides of the picking work area 31 and cause the picking work area 31 Having a skip position 33, each of the three shelves 32 can be associated with a mobile device, which enables the workstation station 30 to interact with three mobile devices, which reduces the picker waiting for the mobile device The time of transporting the sorted goods into the temporary storage location 321 even eliminates the waiting time of the picker, thereby improving the work efficiency of the workstation.
  • the number of shelves 32 disposed along a straight line may also be two. Two shelves 32 arranged in a straight line can allow two movable devices to work independently, and also improve the work of the workstation table 30. effectiveness.
  • the shelves 32 can also be arranged as one, and the shelves 32 can be arranged in a "U" shape or a "C" shape, that is, the shelves 32 surround the three sides of the picking work area 31, so that the shelves 32 can simultaneously be combined with three
  • the movable device interacts; the shelf 32 can also be set to an "L" shape, that is, the shelf 32 encloses two adjacent sides of the picking work area 31, and at this time, the docking station 33 is two, and the shelf 32 can simultaneously Interact with two removable devices.
  • the shelves 32 can also be arranged in a straight line, in which case the length of the shelves 32 is suitably extended to allow multiple mobile devices to operate independently at the same time.
  • the movable device can be docked at multiple angles or away from the picking work area 31 at the side of the shelf 32, and the attitude limit of the movable device interacting with the workstation station 30 has more activity.
  • the mobile device can enter and exit the workstation station 30 at multiple angles, and the mobile device can interact with the workstation station 30 at multiple angles and perform its own handling work.
  • the overall height of the shelf 32 preferably matches the height of the picker to facilitate the picker performing work operations.
  • Each of the shelves 32 is provided with a plurality of temporary storage locations 321, and a portion of the temporary storage locations 321 temporarily stores the goods confirmed by the to-be-solder carried by the mobile device, and the remaining temporary storage positions 321 are vacant. The mobile device continues to carry and store the goods that need to confirm the order information.
  • the first and second layers adjacent to the picker for the picker to perform work operations can serve as the direct work area for the picker, and with the picker Other layers that are relatively far apart can be used as secondary buffer areas.
  • the temporary storage location 321 in the direct working area is vacant, the movable device can transport the to-be-confirmed goods of the temporary storage location 321 already stored in the secondary buffer area to the direct working area of the shelf 32, and the secondary buffer area is used as the secondary buffer area.
  • the buffer to be confirmed when the goods are transported to the direct working area can continuously provide the goods to be confirmed to the direct working area at any time, thereby reducing the time for the picker to find the goods to be confirmed and improving the picking efficiency.
  • the workstation station 30 can also set a picking prompting device (not shown) for prompting the picker to check the confirmed order information.
  • the picker obtains the order information prompted by the picking prompting device, and confirms whether the goods to be inspected on the shelf 32 meet the requirements of the order information according to the order information, and if the order information matches the goods, the picker will confirm the completed
  • the goods are transported to the docking station 33, for the order completion system to carry the goods after confirmation to the order completion area for packaging and delivery.
  • FIG. 5 is a schematic structural view of the skip 331 according to an embodiment of the present invention
  • FIG. 6 is a view showing the docking station 331 shown in FIG. 5 docked with the movable device 332 for driving the skip 331.
  • Schematic diagram of the structure the cargo vehicle parking position 33 stops at the cargo truck 331 which is used to carry the cargo after the picker confirms the error, the skip 331 is driven by the movable device 332, and the skip 331 confirms the goods after the picker has confirmed the error. Transfer to the order fulfillment area in the order fulfillment system, so that the order completion area will package and package the goods.
  • the skip 331 may be provided with one layer or multiple layers. In the present embodiment, the skip 331 is preferably three layers.
  • the picking prompting device may include a display (not shown) for displaying order information for confirmation by the picker, including but not limited to the name of the goods, the quantity of the goods, and a picture of the goods.
  • the name of the goods is the name of all the goods in the current order.
  • the quantity of the goods is the number of each type of goods.
  • the picture of the goods is the picture corresponding to each type of goods.
  • the picker confirms whether the goods in the temporary storage position 321 meet the requirements of the order one by one according to the order information displayed on the display. If the goods meet the requirements of the order, the mobile device 332 will drive under the guidance of the information of the control center of the order completion system. The cart 331 carrying the goods moves to the order fulfillment area of the order fulfillment system, and is packaged and packaged by the supply.
  • the picking prompting device may further comprise an indicator light to control the display state of the indicator light, the indicator light is used to indicate the detection and comparison status of the goods, and the different display states of the indicator light indicate different picking states of the goods to the inspection state, and the button is used for The picker switches the display state of the indicator light after the confirmation is confirmed, thereby changing the indicator of the indicator state to the goods detection state.
  • the indicator light can be switched between blinking and steady-on under the switch of the button.
  • the indicator light can flash; and when the picker completes the confirmation of the goods,
  • the picker operation button switches the display state of the indicator light to a constant light, so that the goods at the temporary storage location 321 have been confirmed.
  • the display state of the indicator light is not limited to only the above-mentioned blinking and constant lighting, and may also include different settings such as constant darkness and color, for example, the color of each indicator light may represent idle, currently selected, and currently needs to be supplemented.
  • Various states such as replenishment, error, etc.; the indicator light can also distinguish the first state from the second state by other means such as color, brightness, brightness, or blinking frequency, complete order confirmation, and wait for order confirmation. It is only necessary to select one of the above methods as long as the first state of the indicator light for displaying the order confirmation and the second state of the indicator light for displaying the order confirmation are different.
  • the above button also has the function of operating the movable device to carry the goods that have been confirmed by the picker to the skip 331.
  • the movable device can carry the goods that meet the order information in the current temporary storage position 321 to the skip 331 in the guidance of the control center.
  • the workstation station 30 may further include an operation terminal (not shown), and the operation terminal may be a scanning code device, and the picker can scan the barcode on the goods through the scan code device, thereby assisting the picker in confirming the type of the goods; After the goods are confirmed, the picker can also scan the order placed on the packing box through the scanning device to realize the entry of the order information.
  • the operation terminal may be a scanning code device
  • the picker can scan the barcode on the goods through the scan code device, thereby assisting the picker in confirming the type of the goods; After the goods are confirmed, the picker can also scan the order placed on the packing box through the scanning device to realize the entry of the order information.
  • the operation terminal may also be other devices than the scanning code device.
  • the present invention provides a mobile device 200 for use in a warehouse 10 for picking up and handling items to be transported, the warehouse 10 including a plurality of picking stations (not shown), a multi-row shelf 11, the warehouse 10 is equipped with a control center (not shown), and an X, Y, Z three-dimensional coordinate system is built in the warehouse, and a positioning mark is arranged in the warehouse.
  • a plurality of rows of the shelves 11 are spaced apart from each other in the warehouse 10, and adjacent two rows of the shelves 11 form a passage 12 for the movable device 200 to pass through, the picking station, the shelf 11
  • the object to be transported 14 is disposed on the control center for transmitting instructions to control the movable device 200 to move within the warehouse 10 and interact with the picking station, the shelf 11 or the mobile device 200 itself.
  • the object to be transported 14 may be a tray or a container or a cargo.
  • the pallet can also store goods or containers, or it can be an empty tray.
  • the movable device 200 includes a main body 21, a grasping mechanism 22 connected to the main body 21, and a processing unit (not shown), the main body 21 is movable, and the grasping mechanism 22 is used for grasping and transporting
  • the handling unit 14 is configured to interact with the control center and receive an instruction sent by the control center to control movement of the main body 21 and the grasping mechanism 22 to grasp and transport the to-be-loaded item 14.
  • the processing unit operates independently and the instructions are independently transmitted by the processing unit to control movement of the body 21 and the grasping mechanism 22 to grasp and transport the item 14 to be carried.
  • the main body 21 includes a driving unit 210, a storage unit 220, and a positioning unit (not shown).
  • the driving unit 210 is configured to implement a mobile function of the mobile device 200
  • the storage unit 220 is disposed on the driving unit.
  • the positioning unit is disposed on the driving unit 210 for cooperating with the positioning identifier to obtain current position information of the movable device 200.
  • the grasping mechanism 22 is disposed on the storage unit 220 for grasping and transporting the object to be transported 14.
  • the object to be transported 14 grasped and carried by the grasping mechanism 22 may be that the grasping mechanism 22 grabs from the cargo station, the shelf, or may be the grabbing.
  • Mechanism 22 grabs from storage unit 220.
  • the driving unit 210 includes a chassis frame 211, a driving wheel 212, a driving motor (not shown), and the driving motor is disposed in the chassis frame 211, and the driving wheel 212 is mounted on the chassis frame 211. And connected to the drive motor.
  • the drive motor drives the drive wheel 212 to move to effect advancement, retreat, cornering, and in-situ rotation of the movable device.
  • the driving wheels 212 have at least two, and two of the driving wheels 212 are symmetrically mounted on both sides of the chassis frame 11.
  • the number of the drive motors may be matched to the number of the drive wheels 212, and each of the drive wheels 212 may be driven by a matching drive motor, that is, each of the drive wheels 212 is driven by a separate drive motor to The movement of the mobile device 200 is made more flexible.
  • the drive motor is a servo motor or other type of motor.
  • the control center or the mobile device 200 sends an instruction, the processing unit on the removable device 200 receives an instruction and transmits the instruction to the driving unit 210, the driving motor receives an instruction, and drives the driving wheel 212 moves the removable device 200.
  • the storage unit 220 includes a pillar 221 and a partition plate 222.
  • the number of the pillars 221 is plural, and a plurality of the pillars 221 are vertically disposed on the chassis frame 211.
  • a plurality of the pillars 221 are vertically or axially disposed on the chassis frame 11 in an array or the like.
  • the number of the pillars 221 is three, and the three pillars 221 may be arranged in a triangle.
  • the cloth is disposed on the chassis frame 11; for example, the number of the pillars 221 is four, and the four pillars 221 may be disposed on the chassis frame 11 in a quadrangular arrangement.
  • the partition plate 222 is connected to the pillar 221, and the partition plate 222 is used to partition the space of the storage unit 220 to form a moving shelf 223 for storing the object to be transported 14.
  • the partition 222 may be a full-surface plate or have a hollow or partition.
  • the positioning unit is disposed at a bottom of the chassis frame 211, and the positioning unit is a visual sensor or a radio frequency sensor.
  • the positioning unit cooperates with the positioning identifier to Acquiring the location of the location identifier, that is, acquiring the X coordinate and the Y coordinate value of the specified location, and feeding back the location information to the processing unit of the mobile device 200, so that the mobile device 200 feeds back the location information to The control center determines the arrival of the removable device 200 at the designated location.
  • the grasping mechanism 22 is movable relative to the main body 21, and the gripping mechanism 22 includes a lifting unit 240, a rotating unit 250, a telescopic driving unit 260, a fork unit 270, and an image collecting unit 280, and the lifting unit 240 is installed.
  • the rotating unit 250 is mounted on the lifting unit 240, and moves up and down along the vertical direction of the main body by the lifting unit 24, and the telescopic driving unit 260 and The tines unit 270 is disposed on the rotating unit 250 and rotates under the action of the rotating unit 250.
  • the telescopic driving unit 260 is coupled to the tines unit 270 for driving the fork unit.
  • the fork unit 270 is used to grasp the object to be transported 14, so that the object to be transported 14 is taken from the picking station, the shelf 11 into the storage unit 220, or the object to be transported 14 is removed from the storage unit 220 and placed in the picking station and the shelf 11.
  • the image capturing unit 280 is configured to collect the pose of the object 14 to be transported on the fork unit 270.
  • the lifting unit 240 includes a third driving member (not shown), a mounting plate 241 and a guide rail (not shown).
  • the guide rail is disposed on the pillar 221 along the length direction of the pillar 221, and the mounting plate 241 is mounted.
  • the rotating unit 250 is mounted on the mounting plate 241, and the third driving member is directly or indirectly connected to the mounting plate 241 to drive the mounting plate 241 to move along the guiding rail.
  • the lifting and lowering of the rotating unit 250 is realized, that is, the telescopic driving unit 260, the tines unit 270, and the image collecting unit 280 are integrally lifted and lowered.
  • the third driving member is provided with an encoder (not shown) associated with the third driving member, and the encoder is configured to calculate the number of revolutions of the third driving member, and the calculated The number of turns is fed back to the processing unit, and the processing unit controls the start and stop of the third driving member according to the feedback value, thereby controlling the height of the mounting plate 241 to be lifted along the guide rail to achieve the expansion and contraction.
  • the driving unit 260, the tines unit 270, and the image capturing unit 280 are lifted and lowered to a designated position, and the object to be carried is grasped and carried by the fork unit 270.
  • the initial height of the tines unit 270 is known in the three-dimensional coordinate system, and the three-dimensional coordinates of the object to be transported are known, so that when the movable device reaches a designated position in the warehouse,
  • the control center sends an instruction of the height of the required lifting to the processing unit of the movable device 200, the processing unit receives the instruction, and calculates, by the encoder, the number of turns that the third driving member needs to rotate
  • the specified height of the mounting plate 241 to be raised and lowered along the guide rail is controlled to cause the fork unit 270 to be lifted and lowered to a designated height to grasp and carry the object to be transported.
  • the lifting unit 240 is not limited to the structure described above, and may be other mechanisms.
  • the lifting unit 240 is a pulley mechanism, a chain mechanism, or the like.
  • the mounting plate 241 includes a slider 2411 mounted on the rail, and a positioning plate 2412 disposed on the slider 2411.
  • the rotating unit 250 is mounted on the positioning plate 2412.
  • the rotating unit 250 includes a second driving member 251 and a turntable 252.
  • the second driving member 251 is mounted on the mounting plate 241.
  • the rotating plate 252 is rotatably mounted on the mounting plate 241 and is opposite to the first Two driving members 251 are connected, and the second driving member 251 drives the turntable 252 to rotate at an angle to grasp the objects to be transported 14 on the shelves 11 on both sides of the channel 12 and put them into the storage unit 220. Or, the objects to be transported 14 on the moving shelf 225 are grasped and placed on the shelves 11 on both sides of the channel 12.
  • the telescopic drive unit 260, the prong unit 270 and the image acquisition unit 280 are all mounted on the turntable 252 and are rotatable with the turntable 252, so that when the turntable 252 is rotated, it can be made.
  • the telescopic drive unit 260, the prong unit 270, and the image acquisition unit 280 are integrally rotated.
  • an angle at which the turntable 252 rotates is determined by the movable device 200 or the control center, the movable device 200 or the control center sends a rotation instruction, and the second driving member 251 receives the rotation Commanding and driving the turntable 252 to rotate to a specified angle.
  • the second driving member 251 may be a servo motor or other type of motor.
  • the second driving member 251 is provided with an encoder (not shown) that is interlocked with the second driving member 251, and the encoder is configured to calculate the number of revolutions of the second driving member 251, and Returning the calculated number of turns to the processing unit, the processing unit controls the start and stop of the second driving member 251 according to the feedback value, thereby controlling an angle of rotation of the turntable 252 to enable the telescopic drive
  • the unit 260, the prong unit 270, and the image acquisition unit 280 can rotate a specified angle and cause the prong unit 270 to face the carrier.
  • the telescopic drive unit 260 includes a first driving member 261, a gear 262, and a rack 263.
  • the first driving member 261 is provided with an output shaft (not shown), and the first driving member 261 is mounted on the fork.
  • the gear 262 is mounted to the output shaft, the rack 263 is coupled to the tines unit 270, and the rack 263 is engaged with the gear 262.
  • the first driving member 261 drives the gear 262 to rotate, so that the rack 263 moves on the plane where the rack 263 is perpendicular to the column 221, that is, in the X0Y plane, thereby driving the fork teeth.
  • Unit 270 is moving.
  • the first driving member 261 can be a servo motor or other type of motor.
  • the movement stroke of the telescopic drive unit 260 is determined by the movable device 200 or the control center, that is, the movement stroke of the rack 263 is determined by the mobile device 200 or the control center, and the movable device 200 Or the control center sends a motion command to control the rotation of the first driving member 261 to move the rack 263.
  • the first driving member 261 is provided with an encoder (not shown) associated with the first driving member 261, and the encoder is configured to calculate the number of revolutions of the first driving member 261, and The calculated number of turns is fed back to the processing unit, and the processing unit controls the start and stop of the first driving member 261 according to the feedback value, thereby controlling the number of turns of the gear 262 to rotate the tooth
  • the strip 263 is moved to a designated position to move the tines unit 270 to a designated position for picking and handling of the load.
  • the telescopic drive unit 260 can also be other telescopic drive units, for example, directly as a motor.
  • the fork unit 270 is a folding fork unit, and the fork unit 270 includes a fixing bracket 271, a first tines 272, and a second tines 273.
  • the fixing bracket 271 is fixed to the turntable 252 and is provided with
  • the first fork 272 is fixedly coupled to the rack 263 and is movable relative to the rack 263, preferably the rack 263 drives the first tines 272 to move in the X0Y plane, the second tines 273 are used to grasp the objects to be transported 14, and the second tines 273 are connected to the first tines 272 and can
  • the first tines 272 move in the X0Y plane relative to the first tines 272 as they move relative to the mount 271.
  • the fixing frame 271 may be composed of two fixing plates 2711 which are substantially “rectangular” and arranged in parallel with each other, and the two fixing plates 2711 are fixed on the rotating plate 252 and the two fixing plates 2711 are The height is uniform, and an installation space is formed between the two fixing plates 2711, and the gear 262 and the rack 263 are located in the installation space.
  • the first tines 272 are generally "rectangular”.
  • the second tines 273 are substantially “rectangular”, and the second tines 273 are disposed in parallel with the first tines 272. Further, the second tines 273 are provided with a positioning groove 273a for avoiding the position of the image capturing unit 280, so that the image collecting unit 280 can collect the The pose information of the object to be transported on the second fork 273.
  • first tines 272 are connected to the second tines 273 and the fixing frame 271 by a connecting component 274, and the connecting component 274 is opposite to the first tines 272.
  • the fixing frame 271 moves, the second tines 273 are moved relative to the first tines 271.
  • the connecting component 274 is a stroke amplifying component, and the stroke amplifying component is capable of causing the movement of the second tines 273 to be greater than that when the telescopic driving unit 260 drives the movement of the first tines 272
  • the stroke amplifying assembly 274 causes the movement stroke of the first tines 272 relative to the fixed frame 11 to be in a proportional relationship with the movement stroke of the first tines 272 relative to the fixed frame 11.
  • the ratio of the movement stroke of the first tines 272 relative to the fixed frame 11 to the movement stroke of the first tines 272 relative to the fixed frame 11 is K, and the K may be 2, 3 or Other values.
  • the specific value of K can be set according to the actual situation.
  • the stroke amount of the first tines 272 is 300 mm
  • the stroke amount of the second tines 273 is 600 mm.
  • the provision of the stroke amplifying assembly 274 can increase the stroke of the second tines 273, thereby reducing the size of the entire 27-tooth unit 270 to save space.
  • the stroke amplifying assembly includes a first pulley 2741, a first cable 2742, a second pulley 2743, and a second cable 2744.
  • the first pulley 2741 is fixed to the first tines 272.
  • One end of a pull cord 2742 is fixed to the fixing bracket 271, the other end is wound around the first pulley 2741 and fixed to the second tines 273, and the second pulley 2743 is fixed to the first tines 272.
  • Upper end of the second pull cord 2744 is fixed to the second tines 273, and the other end is wound around the second pulley 2743 and fixed to the fixing bracket 271.
  • the center of the first pulley 2741 is on the same plane as the center of the second pulley 2743.
  • the rack 263 drives the first tines 272 to extend.
  • the first pulley 2741 functions as a driving wheel
  • the second pulley 2743 functions as a driven wheel.
  • the first pull cord 2742 pulls the second tines 273 to extend to enlarge the amount of extension of the second tines 273.
  • the rack 263 drives the first tines 272 to retract.
  • the second pulley 2743 serves as a driving wheel
  • the first pulley 2741 serves as a driven wheel.
  • the second pull cord 2744 pulls the second tines 273 to retract to enlarge the amount of retraction of the second tines 273.
  • the first pulley 2741 is a fixed pulley
  • the second pulley 2743 is also a fixed pulley
  • the stroke magnification assembly is not limited to the structure described above, and the stroke amplification assembly may be implemented with other mechanisms, such as a ratchet assembly or the like.
  • a first guiding structure 275 for guiding the movement of the first tines 272 is disposed between the fixing frame 271 and the first tines 272; the first tines 272 and the second forks
  • a second guiding structure 276 is provided between the teeth 273 for guiding the movement of the second tines 273.
  • the first guiding structure 275 includes a first guiding wheel 275a disposed on the fixing frame 271 and a first guiding groove 275b opened on the first tines 272, the first guiding wheel 275a Adapting to the first guiding groove 275b, the first guiding wheel 275a is slidable along the first guiding groove 275b;
  • the second guiding structure 276 includes a second portion disposed on the second tines 273 a guide wheel 276a and a second guiding groove 276b formed on the first tines 272, the second guiding wheel 276a is adapted to the second guiding groove 276b, and the second guiding wheel 276a can be along The second guiding groove 276b slides.
  • the first guiding groove 275b and the second guiding groove 276b are all opened along the length direction of the first tines 272.
  • first guiding structure 275 and the second guiding structure 276 are not limited to the structures described above.
  • the first guiding structure 275 and the second guiding structure 276 can also be implemented by using other structures, such as a guide rail and a slider structure.
  • the image acquisition unit 280 is a visual sensor or a radio frequency sensor.
  • the pose image of the object to be transported on the second tines 273 is collected, and the acquired pose image is transmitted to the processing unit, and transmitted by the processing unit to the control center, the control center or The processing unit compares the obtained posture image of the object to be transported with the standard pose image of the object to be transported to determine whether the position of the object to be transported in the second tines 273 is deviated, thereby facilitating Correct the deviation.
  • the deviation includes an X-axis deviation, a Y-axis deviation, and an angular deviation.
  • the specific deviation correction method and principle are as follows.
  • the movable device 200 carries/grabs the object to be transported 14 on the shelf 11 on both sides of the aisle to the storage unit 220 through the fork unit 270 as follows:
  • the movable device 200 moves from the aisle 12 to the side of the designated shelf 11; the fork unit 270 is in an initial position, the lifting unit 240 drives the rotating unit 250, and the telescopic driving unit 260 rises to
  • the designated first height is such that the tines unit 270 faces the designated object to be transported 14 on the shelf 11, and the telescopic drive unit 260 drives the second tines 273 to extend to the designated object to be transported 14.
  • the lifting unit 240 continues to rise, so that the bottom of the object to be transported 14 contacts and lifts the second tines 273; the telescopic drive unit 260 drives the second tines 273 to retract, so that The first tines 272 and the second tines 273 are folded together, so that the objects to be transported 14 are simultaneously retracted;
  • the lifting unit 240 drives the rotating unit 250, the telescopic driving unit 260 to rise to a specified second height; the rotating unit 250 rotates to a specified first angle, so that the tines unit 270 is facing the right
  • the storage unit 220 the telescopic drive unit 260 drives the second tines 273 to extend, and drives the objects to be transported 14 to move together to the storage unit 220; the lifting unit 240 descends to make the to-be-handled
  • the bottom of the object 14 is separated from the second tines 273; the telescopic drive unit 260 drives the second tines 273 to retract, so as to carry/grab the articles to be transported 14 on the shelves 11 on both sides of the aisle. Go to the storage unit 220.
  • the process of the movable device 200 carrying/grabbing the objects to be transported 14 on the storage unit 220 to the shelves 11 on both sides of the aisle by the fork unit 270 is as follows:
  • the movable device 200 moves from the aisle to the side of the designated shelf 11; the lifting unit 240 drives the rotating unit 250, the telescopic driving unit 260 rises to a designated second height, and the rotating unit 250 rotates to
  • the first angle is specified such that the tines unit 270 faces the designated object to be transported 14 on the storage unit 220; the telescopic drive unit 260 drives the second tines 273 to extend to the designated object to be transported 14
  • the bottom of the lifting unit 240 continues to rise, so that the bottom of the object to be transported 14 comes into contact with the second tines 273 and lifts up; the telescopic drive unit 260 drives the second tines 273 to retract, Allowing the object to be transported 14 to be retracted at the same time;
  • the lifting unit 240 drives the rotating unit 250 and the telescopic driving unit 260 to rise to a predetermined first height, so that the fork unit 270 faces the shelf 11, and the telescopic driving unit 260 drives the
  • the second tines 273 are elongated, and the workpiece 14 is moved to the shelf 11 together, and the lifting unit 240 is lowered to disengage the bottom of the object to be transported 14 from the second tines 273.
  • the telescopic drive unit 260 retracts the second tines 273 and folds the first tines 272 together, thereby carrying and grasping the objects to be transported 14 on the storage unit 220 into the Shelves 11 on both sides of the aisle.
  • the invention also provides an order fulfillment method comprising the following steps:
  • Step 1 Bind the order to the skip in the order preparation area, bind the skip to the mobile device that transports the goods, bind the order to the mobile device that transports the goods, and issue the order information to the transportable goods.
  • Mobile devices This process is the same as that of the above-mentioned order preparation area, and will not be described here.
  • Step 2 Transport the skip to the high-frequency picking area for picking.
  • the goods in the order information will be loaded into the corresponding packing box.
  • Step 3 The mobile device transporting the goods picks the goods in the low-frequency picking area and sends the goods to the workstation station in the intermediate cooperation area, which is specifically the picking station. This process is performed in synchronization with step 2.
  • Step 4 The picking station prompts the order information, and the staff puts the goods into the corresponding packaging box of the material truck according to the prompt, and feeds back the signal that the goods in the order have been sorted through the operation terminal such as the scanning equipment.
  • Step 5 Transport the skip to the order completion area, and unpack and package the package in the ordering area.
  • the goods located in the low-frequency picking area are accommodated in the corresponding tray or small-sized container, and the movable equipment for transporting the goods is obtained by acquiring the tray or the small-sized container corresponding to the goods when acquiring the goods.
  • the mobile device can obtain the corresponding goods on the same tray or small container multiple times, so that the placement position of the tray or the small container is easily deviated during the multiple take-up process of the goods.
  • the placement position is such that it is not easy to take the tray or the small container at the next take-up, or the tray or small container that is taken is easy to fall.
  • the order fulfillment method of the present invention also includes the step of correcting the goods.
  • the order fulfillment method of the present invention also includes the step of moving the already picked goods to other areas, such as a low frequency picking area or other picking station.
  • the order fulfilling method of the present invention further includes the step of replenishing the goods in the low frequency area.
  • the present invention further provides a picking method, which is applied to a mobile device for picking goods in a low frequency picking area by the mobile device, through the picking Method, the mobile device can complete step 3 of the present invention.
  • the picking method does not limit the picking of the mobile device in the low frequency picking area, and the method can be utilized as long as the picking area of the mobile device can be utilized.
  • the shipping method includes the following steps:
  • Step S111 receiving a picking order, where the picking command includes picking information, where the picking information includes first designated location information, stored location information of the to-be-sold goods, second designated location information, and goods to be picked Pre-position information.
  • the control center after receiving the order, sends a picking order to the mobile device, where the picking command includes picking information, where the picking information includes the first specified location information, the goods to be picked The stored location information, the second specified location information, and the pre-placement location information of the goods to be picked.
  • the stored location information of the goods to be picked includes the location coordinates of the specific goods in the storage area, that is, the X-axis, Y-axis, and Z-axis coordinates of the goods required for the order in the warehouse.
  • the pre-placement position information of the goods to be picked includes a position coordinate.
  • the pre-position position information includes a temporary storage unit coordinate of the picking station, that is, the temporary storage of the picking station.
  • the unit is in the X-axis, Y-axis, and Z-axis coordinates in the warehouse, and after the movable device picks up the goods, the goods are placed in the temporary storage unit of the corresponding picking station based on the pre-placement position information.
  • the picking information includes a picking information and a delivery information
  • the picking information includes first designated location information and stored location information of the to-be-sold goods
  • the delivery information includes 2. Specify location information and pre-position information of the goods to be picked.
  • the picking information includes a plurality of picking information and a plurality of picking information, each picking information and the delivery information are in one-to-one correspondence, and each picking information includes a specified location information and a The stored location information of the goods to be sorted, each of the delivery information includes a specified location information and a pre-placement location information of the goods to be picked.
  • the first specified location information includes a location coordinate corresponding to the stored location information, that is, the X-axis, the Y-axis, and the Z-axis coordinate of the first designated location in the warehouse.
  • the first designated position is an aisle position in front of the stock level of the shelf where the goods are located.
  • the second specified position information includes a position coordinate corresponding to the pre-position position information, that is, the X-axis, the Y-axis, and the Z-axis coordinate of the second designated position in the warehouse.
  • the second designated position is an aisle position in front of the temporary storage unit of the picking station.
  • the difference between the first specified position coordinate and the stored position coordinate there is a difference between the first specified position coordinate and the stored position coordinate, and a difference exists between the second specified position coordinate and the preventive position coordinate.
  • the difference between the X-axis and the Y-axis between the first specified position coordinate and the stored position coordinate is a fixed value, and the difference of the Z-axis is a change value.
  • the difference between the X-axis and the Y-axis between the second specified position coordinate and the preventive position coordinate is a fixed value, and the difference of the Z-axis is a change value.
  • the first designated location information, the stored location information of the goods to be picked, the second designated location information, and the pre-placement location information of the goods to be picked may be the location number of the goods, inventory bits or temporary storage unit.
  • the position number corresponds to the X-axis, Y-axis, and Z-axis coordinates.
  • the goods are loaded in the tray, and the process of picking up and releasing the goods is the process of obtaining the tray and dropping the tray.
  • Step S112 moving the mobile device to the first designated location based on the first specified location information.
  • the mobile device moves to a first designated location based on the first specified location information in the picking information, and at this time, the positioning unit of the movable device Positioning is performed to obtain positioning information, where the positioning information includes X-axis coordinates and Y-axis coordinates of the position of the movable device at this time, and is compared with the coordinates of the first specified position. If they match, the next step is performed. step. If the positioning information does not match the first specified position coordinate, the movable device continues to move, and is positioned and compared until the specified position is reached.
  • the first designated position is an aisle position in front of the stock level of the shelf where the goods are located.
  • the mobile device moves to a first designated location based on the first specified location information in the picking information, and at this time, the positioning unit of the movable device Positioning is performed to obtain positioning information, where the positioning information includes X-axis coordinates and Y-axis coordinates of the position of the movable device at this time, and the positioning information is fed back to the control center, and the control center compares the positioning information with The first designated position coordinates are compared. If they match, the control center sends a command to the mobile device to adjust the grabbing mechanism, and the mobile device receives the command and proceeds to the next step. If the positioning information does not match the first specified position coordinate, the movable device continues to move, and is positioned and compared until the specified position is reached.
  • Step S113 adjusting the position of the gripping mechanism based on the difference between the coordinates of the first designated position and the coordinates of the stored position.
  • the shelf containing the cargo includes multiple levels of inventory.
  • the stored location information further includes a Z-axis coordinate of the cargo, and a difference between the first designated location coordinate and the stored location coordinate is represented in the Z-axis direction as the height of the grasping mechanism and the The difference in the height of the cargo.
  • the movable device adjusts the position of the gripping mechanism based on the difference. Specifically, the initial state of the grasping mechanism is to face the moving direction of the movable device, and when the position of the grasping mechanism is started to be adjusted, the grasping mechanism is first rotated by 90 degrees to the direction of the cargo, and then controlled. The gripping mechanism is raised or lowered to reach the height position of the cargo.
  • the grasping mechanism is a tines.
  • Step S114 acquiring the position information of the grasping mechanism, comparing the position information of the grasping mechanism with the stored position information, and when the obtained position information of the picking mechanism matches the stored position information, the control center The picking agency picks up the goods.
  • the capture mechanism location information is obtained, and the height information in the stored location information is compared, and when the acquired capture mechanism location information matches the height information, the control is performed.
  • the gripping mechanism extends to remove the cargo from the storage location of the shelf and return it to the storage unit of the removable device.
  • obtaining the gripping mechanism position information may obtain the height of the gripping mechanism ascending or descending by obtaining the rotation amount of the motor that drives the gripping mechanism to rise or fall to obtain the gripping mechanism position information.
  • each layer of the shelf is provided with a positioning identifier, and the position information of the grasping mechanism can be determined by identifying the positioning identifier.
  • the comparison may be performed by the control unit of the movable device, or may be performed by the control center.
  • step S115 the pickup completion signal is fed back.
  • the signal of the completion of the pickup is fed back to the control center.
  • the pickup completion signal further includes location information of the goods in a storage unit of the movable device.
  • the pick-up completion signal is fed back to the control center.
  • the picking information includes a plurality of picking information and a plurality of picking information
  • the feeding completion signal is fed back to the control center, and the signal is continued.
  • the next shipment is obtained based on the next pickup information until all the goods in the plurality of pickup information in the picking information are taken out and then proceeds to the next step.
  • Step S116 moving the mobile device to the second designated location based on the second specified location information.
  • the removable device puts the goods into the storage unit, based on the second specified position information in the picking information, moves to a second designated position, where the movable device is positioned.
  • the unit performs positioning to obtain positioning information, where the positioning information includes X-axis coordinates and Y-axis coordinates of the position of the movable device at this time, and feeds the positioning information to the control center, and the control center sets the positioning information. Comparing with the second specified position coordinates, if matched, the control center sends a command to the mobile device to adjust the grabbing mechanism, and the movable device receives the command and proceeds to the next step. If the positioning information does not match the second specified position coordinate, the movable device continues to move, and is positioned and compared until the specified position is reached.
  • the mobile device moves to a second designated location based on the second specified location information in the picking information, and at this time, the positioning unit of the movable device Positioning is performed to obtain positioning information, where the positioning information includes X-axis coordinates and Y-axis coordinates of the position of the movable device at this time, and the positioning information is fed back to the control center, and the control center compares the positioning information with The second designated position coordinates are compared. If they match, the control center sends a command to the mobile device to adjust the grabbing mechanism, and the mobile device receives the command and proceeds to the next step. If the positioning information does not match the second specified position coordinate, the movable device continues to move, and is positioned and compared until the specified position is reached.
  • Step S117 adjusting the position of the gripping mechanism based on the difference between the second designated position and the pre-positioning position.
  • the shelf of the picking station includes a plurality of temporary storage units.
  • the pre-placement position information further includes a Z-axis of the pick-up station temporary storage unit, and the second designated position coordinate and the pre-placed position coordinate are expressed in the Z-axis direction as the height of the grasping mechanism and the temporary The difference in the height of the storage unit.
  • the gripping mechanism takes the goods out of the storage unit and adjusts the position of the grasping mechanism based on the difference.
  • the initial state of the grasping mechanism is to face the moving direction of the movable device, and when the position of the grasping mechanism is started to be adjusted, firstly, the grasping mechanism is rotated by 90 degrees to a direction facing the preset placing position. And then controlling the gripping mechanism to rise or fall to reach the height position of the preset placement position.
  • Step S118 acquiring the position information of the grasping mechanism, comparing the position information of the grasping mechanism with the information of the pre-placement position, and when the acquired position information of the picking mechanism matches the pre-placed position information, the control center The picking agency releases the goods.
  • the position information of the gripping mechanism is obtained, and the height information in the pre-placed position information is compared, and when the acquired position information of the picking mechanism matches the pre-placed position information, the control is performed.
  • the gripping mechanism extends to place the goods on the gripping mechanism into the preset placement position, that is, in the temporary storage unit of the picking station shelf.
  • obtaining the gripping mechanism position information may obtain the height of the gripping mechanism ascending or descending by obtaining the rotation amount of the motor that drives the gripping mechanism to rise or fall to obtain the gripping mechanism position information.
  • each layer of the shelf is provided with a positioning identifier, and the position information of the grasping mechanism can be determined by identifying the positioning identifier.
  • the comparison may be performed by the control unit of the movable device, or may be performed by the control center.
  • step S119 the delivery completion signal is fed back.
  • the movable device takes the goods out of the storage unit and places them in the temporary storage unit of the pickable station shelf, the signal of the completion of the delivery is fed back to the control center.
  • the movable device feeds the goods in the delivery information into the temporary storage unit, and then feeds back to the control center.
  • the goods complete the signal.
  • the movable device puts the goods in one of the delivery information into the temporary storage unit, and feeds back to the control center
  • the goods completion signal continues to place the next goods into the temporary storage unit based on the next delivery information until all the goods in the plurality of delivery information in the picking information are placed in the temporary storage unit.
  • the stored position coordinates of the goods to be sorted are (50, 50, 5), and the goods to be picked are located.
  • the aisle position coordinate in front of the stock bit of the storage area is (51, 50, 0), and the first specified position coordinate is (51, 50, 0).
  • the coordinates of the temporary storage unit of the picking station to which the goods to be picked are placed are (10, 10, 8), and the coordinates of the pre-placement position are (10, 10, 8), the picking station
  • the coordinates of the aisle position in front of the temporary storage unit are (11, 10, 0), and the coordinates of the second specified position are (11, 10, 0).
  • the mobile device After receiving the picking command, the mobile device goes to the first designated position (51, 50, 0), and after reaching the first designated position, the grabbing mechanism coordinates are (51, 50, 0). There is a distance between the gripping mechanism and the goods to be picked up on the X-axis and the Z-axis, so the grasping mechanism rotates 90 degrees in the direction of the goods to be picked, and then lifts up 5 units to reach the goods to be picked. After the height is extended to reach the stored position (50, 50, 5) of the goods to be picked, after the position is reached, the picking mechanism takes the goods to be picked out and puts them back into the storage unit of the movable device. .
  • the movable device After obtaining the goods to be sorted, the movable device goes to the temporary storage unit of the picking station to which the goods to be picked is placed, and first reaches the second designated position (11, 10, 0), and after the arrival, the picking mechanism will The goods to be picked are taken out from the storage unit.
  • the coordinates of the grasping mechanism are (11, 10, 0), and there is a distance between the gripping mechanism and the temporary storage unit on the X-axis and the Z-axis.
  • the grasping mechanism rotates the goods to be sorted by 90 degrees in the direction of the temporary storage position, and then lifts up to 8 unit lengths to reach the height of the temporary storage unit, and then elongates to reach the pre-release position (10, 10, 8), after reaching this position, the picking mechanism puts the goods to be picked into the temporary storage unit and retracts.
  • a method for comparing picking mechanism position information with the stored position information and controlling the picking mechanism to pick up the goods includes the following steps:
  • Step S121 obtaining the location information of the grabbing mechanism.
  • obtaining the gripping mechanism position information may obtain the height of the gripping mechanism ascending or descending by obtaining the rotation amount of the motor that drives the gripping mechanism to obtain the gripping mechanism position information.
  • each layer of the shelf is provided with a positioning identifier, and the position information of the grasping mechanism can be determined by identifying the positioning identifier.
  • Step S122 comparing the grabbing mechanism location information with the stored location information in the mobile device.
  • the mobile device inputs the acquired grabbing mechanism location information and the stored location information into a control unit of the mobile device, and the control unit uses the grabbing mechanism location information and The height information in the stored location information is compared. If the grabbing mechanism location information matches the height information, the control unit outputs a pickup command.
  • Step S123 when the acquired gripping device position information matches the stored location information, the picking mechanism is controlled to pick up the goods.
  • the control unit When the acquired gripping mechanism position information matches the stored location information, the control unit outputs a picking command, controls the grabbing mechanism to extend, and takes the goods out of the shelf storage position and puts them back In the storage unit of the removable device.
  • another method for comparing the gripping mechanism position information with the stored position information and controlling the picking mechanism to pick up the goods includes the following steps:
  • Step S131 obtaining the location information of the grabbing mechanism.
  • obtaining the gripping mechanism position information may obtain the height of the gripping mechanism ascending or descending by obtaining the rotation amount of the motor that drives the gripping mechanism to rise or fall to obtain the gripping mechanism position information.
  • each layer of the shelf is provided with a positioning identifier, and the position information of the grasping mechanism can be determined by identifying the positioning identifier.
  • step S132 the position information of the grasping mechanism is fed back to the control center, so that the control center compares with the stored location information to generate a pickup command.
  • the mobile device feeds back the acquired gripping device position information to the control center, and the control center compares the gripping device position information with the height information in the stored location information. If the gripping mechanism position information matches the height information, the control center generates a pickup command and transmits the pickup command to the mobile device.
  • Step S133 receiving a pickup command sent by the control center.
  • the mobile device receives a pickup command sent by the control center.
  • Step S134 controlling the picking mechanism to pick up the goods.
  • the picking mechanism is controlled to extend, and the goods are taken out of the storage space of the shelf and returned to the storage of the mobile device. In the unit.
  • the step of controlling the picking up of the picking mechanism also includes obtaining the position information of the picking mechanism, and feeding back the obtained position information of the picking mechanism to the control center, where the control center positions the information of the picking mechanism and the pre The height information in the placement information is compared, and if the gripping mechanism position information matches the height information, the control center generates a delivery command and sends the delivery command to the mobile device, the movable device Receiving the delivery command sent by the control center, controlling the grabbing mechanism to extend, and placing the goods into the temporary storage unit of the picking station shelf.
  • the above picking method enables the mobile device to transport only the goods required for the order from the storage area to the picking station when picking the goods, thereby greatly reducing the workload of the mobile device, and the mobile device can put the goods required for the order into the picking. After the station, you can leave directly to pick up a piece of goods, which improves the efficiency of picking.
  • a picking device including: a receiving module 400, a first moving module 410, a first adjusting module 420, a picking control module 430, a first feedback module 440, The second movement module 450, the second adjustment module 460, the delivery control module 470 and the second feedback module 480, wherein:
  • the receiving module 400 is configured to receive picking information, where the picking information includes first designated location information, stored location information of the to-be-sold goods, second designated location information, and pre-placement location information of the to-be-sold goods;
  • the first mobile module 410 is configured to move the mobile device to the first designated location based on the first specified location information
  • a first adjustment module 420 configured to adjust a position of the grasping mechanism based on a difference between coordinates of the first designated position and coordinates of the stored position
  • the picking control module 430 is configured to obtain the position information of the picking mechanism, compare the position information of the picking mechanism with the stored position information, and obtain the position information of the picking mechanism and the stored position information. When matching, controlling the picking mechanism to pick up the goods;
  • a first feedback module 440 configured to feed back a pickup completion signal
  • a second moving module 450 configured to move the mobile device to the second designated location based on the second specified location information
  • a second adjustment module 460 configured to adjust a position of the grasping mechanism based on a difference between the second designated position and the pre-position position
  • a delivery control module 470 configured to acquire the position information of the grasping mechanism, compare the position information of the grasping mechanism with the information of the pre-placement position, and obtain the position information of the grasping mechanism and the information of the pre-position position When matching, controlling the picking mechanism to release the goods;
  • the second feedback module 480 is configured to feed back the delivery completion signal.
  • a pickup control module includes: a first acquisition unit, a comparison unit, and a first pickup control unit, wherein:
  • a first acquiring unit configured to acquire information about the location of the grasping mechanism
  • a matching unit configured to compare the grabbing mechanism location information with the stored location information in the mobile device
  • the first picking control unit is configured to control the picking mechanism to pick up the goods when the acquired picking mechanism position information matches the stored position information.
  • another picking control module comprises: a second obtaining unit, a feedback unit, a receiving unit and a second picking control unit, wherein:
  • a second acquiring unit configured to acquire the position information of the grasping mechanism
  • a feedback unit configured to feed back the position information of the grasping mechanism to the control center, so that the control center compares with the stored location information to generate a pickup command
  • a receiving unit configured to receive a picking up command sent by the control center
  • the second picking control unit is configured to control the picking mechanism to pick up the goods.
  • each of the above-described picking devices may be implemented in whole or in part by software, hardware, and combinations thereof.
  • Each of the above modules may be embedded in or independent of the processor in the computer device, or may be stored in a memory in the computer device in a software form, so that the processor invokes the operations corresponding to the above modules.
  • the present invention provides a tray offset correction method for performing the above-described cargo correction step, the tray offset correction method comprising the following steps:
  • step S21 the grasping mechanism is controlled to take the tray.
  • the mobile device needs to take the tray on the shelf to its own storage unit, and first controls the grasping mechanism to take the tray.
  • the grasping mechanism can be a tines.
  • step S22 the amount of deviation between the grasping mechanism and the tray is obtained.
  • the movable device acquires that the gripping mechanism is in the take-up tray
  • the deviation between the gripping mechanism and the tray is obtained.
  • the grasping mechanism of the movable device can rotate the right side by 90° to take the tray on the right shelf of the movable device, or rotate 90° to the left to take the tray on the left shelf of the movable device.
  • the deviation between the gripping mechanism and the tray includes: X-axis deviation, Y-axis deviation, and angular deviation; X-axis deviation, Y-axis deviation, and angular deviation can be acquired simultaneously.
  • the X-axis deviation may be zero
  • the Y-axis deviation may be zero
  • the angular deviation may be zero.
  • the X-axis deviation is the deviation of the image of the positioning identifier from the standard image on the X-axis; the Y-axis deviation is the deviation of the image of the positioning identifier from the standard image on the Y-axis; the angular deviation is the image and the standard image of the positioning identifier Deviation in the direction of the spin.
  • the X-axis deviation is that the image of the positioning mark is offset from the standard image to the left or right in the X-axis direction by a certain distance;
  • the Y-axis deviation is that the image of the positioning mark is offset from the standard image by a certain distance upward or downward in the Y-axis direction.
  • the angular deviation is an angle at which the image of the positioning mark deviates from the clockwise or counterclockwise direction of the standard image in the spin direction.
  • the method for obtaining the deviation amount includes the following steps:
  • Step S221 acquiring an image of the tray positioning identifier.
  • the positioning is identified as an image disposed on the surface of the tray, and the image is disposed at a fixed position on the surface of the tray.
  • the positioning identifier can be a two-dimensional code, a barcode, a groove, a protrusion or a sensor.
  • An image capturing device is disposed on the grasping mechanism of the movable device, and the position of the image capturing device corresponds to the position of the positioning mark.
  • the image of the positioning mark is acquired by the image collecting device provided on the grasping mechanism.
  • Step S222 comparing the image of the positioning identifier with a standard image to obtain a deviation amount between the grasping mechanism and the tray.
  • the image of the positioning identifier acquired by the image capturing device is compared with the standard image.
  • the standard image is an image captured by the image acquisition device when there is no deviation in the tray. Comparing the acquired image of the positioning mark with the standard image, and the distance of the X-axis direction to the left or right is taken as the X-axis deviation; the distance in which the Y-axis direction is offset upward or downward is taken as the Y-axis deviation; The angle of deviation in the clockwise or counterclockwise direction is used as the angular deviation.
  • the method for calculating the deviation amount may be: obtaining a midpoint coordinate of the positioning identifier in the image of the positioning identifier and a midpoint coordinate of the positioning identifier in the standard image.
  • the X-axis coordinate of the midpoint of the positioning identifier in the image of the positioning identifier is compared with the midpoint X-axis coordinate of the positioning identifier in the standard image to obtain the X-axis deviation.
  • the difference between the midpoint Y-axis coordinate of the positioning identifier in the image of the positioning identifier and the midpoint Y-axis coordinate of the positioning identifier in the standard image is obtained, and the Y-axis deviation is obtained.
  • the image of the positioning identifier is moved to the midpoint coordinate of the positioning identifier in the standard image with reference to the midpoint of the positioning identifier.
  • the angle between the connection point of the positioning point and the midpoint of the positioning identifier in the image of the positioning identifier and the line connecting the positioning point of the positioning identifier in the standard image and the midpoint is calculated as the angular deviation.
  • the calculation of the deviation amount may also be: first obtaining the abscissa X1, the ordinate Y1, and the image angle ⁇ 1 of all the pixels of the image of the positioning identifier, and the abscissa X0, the ordinate Y0, and the image angle ⁇ 0 of all the pixels of the standard image. Substituting the above values into the deviation amount calculation formula to obtain the X-axis deviation, the Y-axis deviation, and the angular deviation.
  • the deviation amount calculation formula can be:
  • R is an angular deviation
  • dx is an X-axis deviation
  • dy is a Y-axis deviation
  • the above method for calculating the deviation amount can accurately calculate the X-axis deviation, the Y-axis deviation, and the angular deviation according to the image of the positioning mark and the standard image, so that the position of the correction tray can be corrected by the subsequent calibration step.
  • Step S23 adjusting the moving distance of the movable device and/or the grasping mechanism telescopic distance and/or the gripping mechanism rotation angle according to the deviation amount to correct the deviation between the grasping mechanism and the tray.
  • the deviation between the gripping mechanism and the tray is corrected by adjusting the moving distance of the movable device, the grasping mechanism telescopic distance, and the gripping mechanism rotation angle.
  • the method of correcting the amount of deviation includes the following steps: Step S231, acquiring the amount of deviation, and determining whether there is an angular deviation in the amount of deviation. Specifically, the calculated deviation amount is obtained, and the deviation amount includes an X-axis deviation, a Y-axis deviation, and an angular deviation. Determine whether there is an angular deviation in the deviation amount. That is, it is judged whether the angular deviation is zero.
  • Step S232 if there is an angular deviation, when the grasping mechanism protrudes toward the storage unit, the grasping mechanism is controlled to rotate the deviation angle in the opposite direction of the angular deviation direction, and then the grasping mechanism is extended to the storage unit.
  • the grasping mechanism protrudes to the storage unit, that is, when the grasping mechanism takes the tray, and the grasping mechanism drives the tray to extend to the storage unit of the movable device itself.
  • the direction of rotation is offset. More specifically, when the angular deviation is a certain angle in the clockwise direction, the control gripping mechanism rotates the deviation angle to correct the angular deviation in the counterclockwise direction; when the angle information is a certain angle in the counterclockwise direction, the grasping mechanism is controlled to Rotate the deviation angle clockwise to correct the angular deviation.
  • the grasping mechanism is controlled to extend to the storage unit. That is, the angular deviation is converted into the X-axis deviation and the Y-axis deviation, and the X-axis deviation and the Y-axis deviation are further corrected to achieve the purpose of correcting the angular deviation. If there is no angular deviation, that is, when the angular deviation is zero, the X-axis deviation is adjusted according to the X-axis deviation, and the Y-axis deviation is adjusted according to the Y-axis deviation.
  • Step S233 acquiring an image of the tray positioning identifier.
  • the positioning is identified as an image disposed on the surface of the tray, and the image is disposed at a fixed position on the surface of the tray.
  • the positioning identifier can be a two-dimensional code, a barcode, a groove, a protrusion or a sensor.
  • An image capturing device is disposed on the grasping mechanism of the movable device, and the position of the image capturing device corresponds to the position of the positioning mark.
  • the image of the positioning mark is acquired by the image collecting device provided on the grasping mechanism.
  • Step S234 comparing the image of the positioning identifier with a standard image to obtain an X-axis deviation and a Y-axis deviation between the grasping mechanism and the tray.
  • the image of the positioning identifier acquired by the image capturing device is compared with the standard image.
  • the standard image is the image captured by the image acquisition device when there is no deviation in the tray.
  • the acquired image of the positioning mark is compared with the standard image, and the distance in which the X-axis direction is shifted to the left or right is taken as the X-axis deviation; and the distance in which the Y-axis direction is shifted upward or downward is taken as the Y-axis deviation.
  • Step S235 adjusting the movement distance to correct the X-axis deviation according to the X-axis deviation.
  • the X-axis deviation is corrected by adjusting the moving distance of the movable device in the corresponding direction according to the X-axis deviation.
  • the method for correcting the X-axis deviation includes the following steps:
  • Step S2351 When the grasping mechanism protrudes from the shelf, it is determined whether the current location information is consistent with the location information of the placement tray.
  • the grasping mechanism protrudes toward the shelf, that is, when the grasping mechanism extends the tray on the movable device to the orientation shelf, it is determined whether the current position of the movable device is consistent with the position of the tray.
  • the mobile device scans the two-dimensional code positioning information of the shelf to determine whether the current location is the location where the tray needs to be placed.
  • step S2352 if they match, the X-axis deviation distance is shifted in the opposite direction to the X-axis deviation direction to correct the X-axis deviation.
  • the movable device scans the landmark of the ground for positioning. If the current location is the position where the tray needs to be placed, the X-axis deviation distance is corrected in the opposite direction of the X-axis deviation direction to correct the X-axis deviation. That is, when the X-axis deviation is a certain distance to the left, the movable device is controlled to move the deviation distance to the right relative to the placed shelf to correct the X-axis deviation; when the X-axis deviation is a certain distance to the right, the movable device is controlled to be relatively The offset distance is corrected to the left by the placed shelf to correct the X-axis deviation.
  • control movable device continues to move until the current position information coincides with the position information of the placement tray, and then the X-axis deviation distance is corrected in the opposite direction of the X-axis deviation direction to correct the X-axis deviation.
  • the above method of correcting the X-axis deviation can accurately correct the deviation distance of the tray in the X-axis direction according to the X-axis deviation, so that the position of the tray placed on the shelf is more accurate.
  • Step S236 adjusting the Y-axis deviation of the grasping mechanism expansion and contraction distance according to the Y-axis deviation.
  • the telescopic distance of the grasping mechanism in the corresponding direction is adjusted to correct the Y-axis deviation.
  • the method for correcting the Y-axis deviation includes the following steps:
  • step S2361 when the grasping mechanism protrudes toward the storage unit or protrudes toward the shelf, it is determined whether the telescopic length of the grasping mechanism is consistent with the preset telescopic length.
  • the grasping mechanism when the grasping mechanism protrudes toward the storage unit or protrudes toward the shelf, that is, when the grasping mechanism takes the tray, the grasping mechanism drives the tray to protrude toward the storage unit of the movable device itself. Or the picking mechanism holds the tray on the removable device when the orientation shelf is extended. It is determined whether the telescopic length of the grasping mechanism is consistent with a preset telescopic length.
  • step S2362 if they match, the Y-axis deviation distance is corrected in the opposite direction to the Y-axis deviation direction to correct the Y-axis deviation.
  • the Y-axis deviation distance is corrected in the opposite direction to the Y-axis deviation direction to correct the Y-axis deviation. That is, when the Y-axis deviation is an upward deviation by a certain distance, the grabbing mechanism telescopic deviation distance is controlled to correct the Y-axis deviation; when the Y-axis deviation is a downward deviation by a certain distance, the gripping mechanism is controlled to extend the deviation distance to correct the Y-axis deviation.
  • the grasping mechanism is controlled to continue to expand and contract until the telescopic length of the grasping mechanism coincides with the preset telescopic length, and then the Y-axis is extended in the opposite direction of the Y-axis deviation direction.
  • the deviation distance corrects the Y-axis deviation.
  • the above method of correcting the Y-axis deviation can accurately correct the deviation distance of the tray in the Y-axis direction according to the Y-axis deviation, so that the position of the tray placed on the shelf is more accurate.
  • a method for correcting the deviation amount may further be: obtaining a deviation amount, and determining whether there is an angular deviation in the deviation amount.
  • the calculated deviation amount is obtained, and the deviation amount includes an X-axis deviation, a Y-axis deviation, and an angular deviation. Determine whether there is an angular deviation in the deviation amount. That is, it is judged whether the angular deviation is zero. If there is an angular deviation, the rotation angle of the gripping mechanism and the telescopic distance of the gripping mechanism are cooperatively adjusted, and the X-axis deviation, the Y-axis deviation, and the angular deviation are adjusted at the same time.
  • the angular deviation can be adjusted first by adjusting the angle of the fork rotation, and then the X-axis deviation can be adjusted by the expansion and expansion of the fork teeth. Deviation from the Y-axis; it is also possible to adjust the angle of the tines rotation and the telescopic adjustment of the forks to adjust the X-axis deviation, the Y-axis deviation, and the angular deviation.
  • a method for correcting the deviation amount may further be: obtaining a deviation amount, and determining whether there is an angular deviation in the deviation amount. Specifically, the calculated deviation amount is obtained, and the deviation amount includes an X-axis deviation, a Y-axis deviation, and an angular deviation. If there is no angular deviation, the X-axis deviation is adjusted according to the X-axis deviation. Specifically, when the grasping mechanism protrudes toward the shelf, it is determined whether the current position information and the position information of the placement tray are identical; if they match, the X-axis deviation distance is corrected in the opposite direction of the X-axis deviation direction to correct the X-axis deviation.
  • the grasping mechanism telescopic distance is adjusted to correct the Y-axis deviation. Specifically, when the grasping mechanism protrudes toward the storage unit or protrudes toward the shelf, it is determined whether the telescopic length of the grasping mechanism is consistent with the preset telescopic length; if they are consistent, the telescopic Y is reversed in the opposite direction of the Y-axis deviation direction. The axis deviation distance corrects the Y-axis deviation.
  • the method further includes: determining whether the deviation amount is greater than a preset threshold; if greater than the preset threshold, performing a movement distance adjustment according to the deviation amount At least one of a grasping mechanism telescopic distance and a gripping mechanism rotation angle correction deviation amount. Determining whether the deviation amount is greater than a preset threshold, that is, determining whether the X-axis deviation is greater than a threshold of the X-axis deviation; determining whether the Y-axis deviation is greater than a threshold of the Y-axis deviation; and determining whether the angular deviation is greater than a threshold of the angular deviation. When the at least one deviation amount exceeds the preset threshold value, at least one of adjusting the movement distance, the grasping mechanism telescopic distance, and the gripping mechanism rotation angle correction deviation amount according to the deviation amount is performed.
  • the amount of correction deviation can be performed in different cases, respectively.
  • the picking mechanism takes the tray, it is detected that the amount of deviation needs to be corrected, and when the tray is placed in the storage unit thereof, the angle deviation and the Y-axis deviation are corrected; then the grasping mechanism puts the tray of the storage unit into the shelf. Correct the X-axis deviation. It is also possible to simultaneously align the X-axis deviation, the Y-axis deviation, and the angular deviation when the gripping mechanism puts the tray of its own storage unit into the rack.
  • the movable device acquires the goods on the shelf, first the forks are in the initial position, the tines move in the vertical direction to the cargo to the corresponding height, and then the forks protrude toward the shelf to take the goods. After the cargo is taken, the tines contract and return to the initial position at the corresponding height. After the tines of the initial position are rotated by 90°, the goods are placed in their own storage unit. During the whole process, when the fork takes the goods back to the initial position, the image of the tray positioning mark is acquired, and the image of the positioning mark is compared with the standard image to obtain the deviation amount between the grasping mechanism and the tray.
  • the movable device controls the grasping mechanism to take the tray.
  • the image for acquiring the positioning mark is shifted by 5 mm to the right in the X axis with respect to the standard image, that is, the X-axis deviation is The right offset is 5mm.
  • the movable device When the movable device needs to move to the position of coordinates (50, 70, 0) and put the goods into the (51, 70, 5) position, the movable device acquires the current coordinate information in real time during the movement, and judges that the current can be Whether the coordinate information of the mobile device is (50, 70, 0), and if the coordinate information of the current mobile device is (50, 70, 0), the movable device is controlled to move to the left by 5 mm with respect to the position of the delivery position at the current position. , adjust the X-axis deviation, after adjustment, control the fork to place the goods at the shelf position of (51, 70, 5).
  • the movable device controls the gripping mechanism to take the tray.
  • the image for acquiring the positioning mark is shifted by 4 mm in the Y-axis direction with respect to the standard image, that is, the Y-axis deviation is shifted upward by 4 mm.
  • the movable device acquires the current coordinates in real time during the movement. The information determines whether the coordinate information of the current mobile device is (50, 70, 0).
  • the movable device controls the tines to rotate, raise, and then Extend to the shelf (51, 70, 5) position, control the fork to shrink 4mm, adjust the Y-axis deviation, after adjustment, control the fork to place the goods at the shelf position of (51, 70, 5).
  • the movable device controls the gripping mechanism to take the tray, and the image for acquiring the positioning mark is shifted to the right by 1° in the spin direction with respect to the standard image, that is, shifted by 1° in the clockwise direction.
  • the tines rotate 1° counterclockwise, adjust the angular deviation, and then move the goods to its own storage unit.
  • the tray deviation correction method and device are configured to obtain a deviation amount between the grasping mechanism and the tray when the tray is taken by the grasping mechanism, and adjust the moving distance, the stretching distance of the grasping mechanism, and the rotation angle of the grasping mechanism according to the deviation amount. Correct the amount of deviation. Thereby correcting the deviation of the position of the movable device when placing the tray on the shelf, further ensuring the accuracy of the movement of the entire system tray.
  • a structural block diagram of a tray offset correction apparatus including: a control module 610, a deviation amount calculation module 620, and a deviation adjustment module 630, wherein:
  • control module 610 configured to control the picking mechanism to take the tray
  • the deviation amount calculation module 620 is configured to obtain a deviation amount between the grasping mechanism and the tray; wherein the deviation amount includes: an X-axis deviation, a Y-axis deviation, and an angular deviation;
  • the deviation adjustment module 630 is configured to adjust a moving distance of the movable device and/or a grabbing mechanism telescopic distance and/or a gripping mechanism rotation angle according to the deviation amount to correct a deviation between the gripping mechanism and the tray.
  • a structural block diagram of a deviation amount calculation module is provided, wherein the deviation amount calculation module 620 includes an acquisition unit 621 and a deviation amount calculation module unit 622.
  • An obtaining unit 621 configured to acquire an image of a tray positioning identifier
  • the deviation amount calculation module unit 622 is configured to compare the image of the positioning identifier with a standard image to obtain a deviation amount between the grasping mechanism and the tray.
  • tray deviation correcting device For the specific definition of the tray deviation correcting device, reference may be made to the definition of the tray deviation correcting method in the above, and details are not described herein again.
  • Each of the above-described tray offset correction devices may be implemented in whole or in part by software, hardware, and combinations thereof.
  • Each of the above modules may be embedded in or independent of the processor in the computer device, or may be stored in a memory in the computer device in a software form, so that the processor invokes the operations corresponding to the above modules.
  • the present invention provides a scheduling method for moving a skip and a mobile device to a corresponding picking station, including the following steps:
  • Step S301 receiving picking station information.
  • the picking station information includes: an X-axis coordinate and a Y-axis coordinate where at least one picking station is located.
  • Another way of picking station information includes: position number, which includes X-axis coordinates and Y-axis coordinates.
  • the picking station information also includes the order of priority between the picking stations.
  • the picking station information includes only the X-axis coordinates and the Y-axis coordinates of one picking station, the current unique picking station is the highest priority picking station.
  • the picking station information includes the X-axis coordinates and the Y-axis coordinates of the plurality of picking stations, the corresponding picking station positions are sequentially followed according to the priority order of the picking stations, that is, the shortest of all the picking stations can be passed.
  • the order of the distances is prioritized, and the first picking station is sorted as the highest priority picking station; it can also be sorted according to how many sorting goods are included in the picking station, and the picking station containing the most orders is used as the picking station.
  • the highest priority picking stations are sorted in order.
  • Step S302 moving the mobile device to the location of the picking station corresponding to the picking station information.
  • the X-axis coordinate and the Y-axis coordinate of the picking station in the picking station information are moved to the corresponding picking station position.
  • the picking station information includes only the X-axis coordinate of the picking station and the Y-axis coordinate, it moves to the position of the corresponding picking station; when the picking station information includes the X-axis coordinates of the plurality of picking stations and the Y-axis In the case of coordinates, the corresponding picking station positions are sequentially followed according to the order of priority of the picking station.
  • a method of traveling to a corresponding picking station location includes the following steps:
  • Step S311 Go to the picking station position corresponding to the highest priority according to the priority order of the picking station.
  • the picking station information includes the X-axis coordinates and the Y-axis coordinates of the plurality of picking stations, and the priority order between the picking stations, and preferentially goes to the high-priority picking station for picking. According to the priority order, the first place to go to the highest priority picking station.
  • Step S312 acquiring current location information of the mobile device, comparing the current location information with the corresponding picking station information, and if the current location information matches the picking station information, staying at the current location.
  • the X-axis coordinate of the current position information and the Y-axis coordinate and the X-axis coordinate of the picking station in the picking station information and the Y-axis coordinate are obtained.
  • the comparison is performed, and when the comparison result is consistent, the position of the picking station whose current position is the highest priority is determined.
  • the comparison result is inconsistent, the movement is continued until the X-axis coordinate and the Y-axis coordinate of the current position information coincide with the X-axis coordinate and the Y-axis coordinate of the picking station in the picking station information.
  • the mobile device stays at the current location, waiting for the picker to pick up the order goods in the current picking station to the mobile device.
  • Step S313 receiving a movement instruction transmitted by the control center, moving to the corresponding picking station position of the next priority according to the priority order of the picking station, until moving to the corresponding picking station position of the lowest priority.
  • the highest priority picking station sends the completed information to the control center, and the control center sends the mobile to the mobile device.
  • the instruction when the mobile device receives the movement instruction, proceeds to the picking station position of the next priority in accordance with the priority order between the picking stations in the picking station information for picking.
  • the current location information of the mobile device is also obtained first, and then the current location information is compared with the location information of the next priority picking station. If they are consistent, they stay at the current location and wait for picking. Picking the goods.
  • next priority picking station picking After the next priority picking station picking is completed, the next priority picking station sends a completed command to the control center, and the control center sends a move command to the mobile device, between the picking stations in the picking station information.
  • the order of priority goes to the picking station location of the next priority for picking. Until you move to the lowest priority picking station location.
  • the above method of going to the corresponding picking station position can reasonably plan the order of the mobile device to the picking station according to the priority order of the picking station, and can more effectively improve the order completion efficiency.
  • Step S303 Acquire current location information of the mobile device, compare the current location information with the corresponding picking station information, and if the current location information matches the picking station information, stay at the current location.
  • the movable device reaches the picking station position, and the X-axis coordinate and the Y-axis coordinate and the current position information are sorted.
  • the X-axis coordinate of the picking station in the cargo station information and the Y-axis coordinate are compared.
  • the comparison result is consistent, it is determined that the current position is the position of the picking station.
  • the movement is continued until the X-axis coordinate and the Y-axis coordinate of the current position information coincide with the X-axis coordinate and the Y-axis coordinate of the picking station in the picking station information.
  • the picking station information includes the X-axis coordinates and the Y-axis coordinates of the plurality of picking stations
  • the X-axis coordinate and the Y-axis coordinate of the current position information are The X-axis coordinates of the lowest priority picking station in the picking station information and the Y-axis coordinates are compared.
  • the comparison result is consistent, the position of the picking station whose current position is the lowest priority is determined.
  • the comparison result is inconsistent, the movement is continued until the X-axis coordinate and the Y-axis coordinate of the current position information coincide with the X-axis coordinate and the Y-axis coordinate of the lowest priority picking station in the picking station information.
  • a method for matching the current location with the location of the picking station may include the following steps:
  • Step S321 acquiring current location information of the mobile device.
  • the movable device determines current position information, including the X-axis coordinate of the current position and the Y-axis coordinate, by scanning the positioning identifier laid on the bottom surface of the current position.
  • the current position information may also be determined by the positioning device carried by the movable device itself, including the X-axis coordinate of the current position and the Y-axis coordinate.
  • Step S322 comparing the current location information with the corresponding picking station information in the mobile device.
  • the X-axis coordinate and the Y-axis coordinate of the current position and the X-axis coordinate and the Y-axis coordinate of the corresponding picking station in the picking station information are compared in the movable device.
  • Step S323 if the current location information matches the picking station information, then stays at the current location.
  • the movable device stays at the current position and waits for the picker to Picking in a mobile device.
  • the moving comparison is continued until the X-axis coordinate of the current position and Y
  • the axis coordinate and the picking station information in the corresponding picking station are in the same X-axis coordinate and Y-axis coordinate.
  • the method of matching the current location with the location of the picking station can accurately determine whether the current location is the waiting location of the corresponding picking station, and the accurate positioning can further improve the efficiency of completing the order.
  • a method for matching the current location with the location of the picking station may include the following steps:
  • Step S331 acquiring current location information of the mobile device.
  • the movable device determines current position information, including the X-axis coordinate of the current position and the Y-axis coordinate, by scanning the positioning identifier laid on the bottom surface of the current position.
  • the current position information may also be determined by the positioning device carried by the movable device itself, including the X-axis coordinate of the current position and the Y-axis coordinate.
  • Step S332 the current location information is transmitted to the control center, so that the control center compares the current location information with the corresponding picking station information.
  • the acquired X-axis coordinate of the current position and the Y-axis coordinate are sent to the control center, and the control center sets the X-axis coordinate of the current position and the Y-axis coordinate and the X-axis coordinate of the corresponding picking station in the picking station information.
  • the Y-axis coordinates are compared in the movable device, and the comparison result is sent to the movable device.
  • Step S333 receiving matching matching information transmitted by the control center, and staying at the current location.
  • the movable device stays at the current position and waits for the picker to pick the goods into the movable device.
  • the moving comparison is continued until the comparison result sent by the receiving control center is matching matching information.
  • the method of matching the current location with the location of the picking station can accurately determine whether the current location is the waiting location of the corresponding picking station, and the accurate positioning can further improve the efficiency of completing the order.
  • Step S304 receiving the order completion area information, and moving to the order completion area location corresponding to the order completion area information according to the order completion area information.
  • the picking station information includes only the X-axis coordinate of the picking station and the Y-axis coordinate, that is, after the pick-up of the current picking station is completed
  • the picking station sends the order completion information to the control center.
  • the control center then sends the order completion area information to the mobile device.
  • the order completion area information includes an X-axis coordinate and a Y-axis coordinate where the order completion area is located.
  • Another way of order completion area information includes: position number, position number including X-axis coordinate and Y-axis coordinate.
  • the mobile device receives the order completion area information, and moves to the order completion area corresponding to the order completion area information for subsequent processing according to the order completion area information.
  • the picking station information includes the X-axis coordinates and the Y-axis coordinates of the plurality of picking stations, that is, the pick-up of the pick-up station corresponding to the lowest priority, the lowest priority corresponding to the picking
  • the cargo station sends the order completion information to the control center, and the control center sends the order completion area information to the mobile device.
  • the order completion area information includes an X-axis coordinate and a Y-axis coordinate where the order completion area is located.
  • the mobile device receives the order completion area information, and moves to the order completion area corresponding to the order completion area information according to the order completion area information.
  • the above scheduling method receives the picking station information by the movable device, moves the movable device to the picking station position corresponding to the picking station information, obtains the current position information of the movable device, and compares the current position information with the picking station information. When they are consistent, the picking system mobile terminal stops at the current position and waits for picking. When the single completion area information is received, move to the order completion area to package the order. By replacing the manual handling with the mobile terminal of the picking system, human resources are saved, and the order completion efficiency is further improved.
  • a picking device is provided, wherein the picking device is a movable device, including: a receiving module 610, a first moving module 620, a comparing module 630, and a second moving module 640. ,among them:
  • a receiving module 610 configured to receive picking station information
  • a first mobile module 620 configured to move the mobile device to a picking station location corresponding to the picking station information
  • the comparing module 630 is configured to obtain current location information of the mobile device, compare the current location information with the corresponding picking station information, and if the current location information matches the picking station information, stay at the current location;
  • the second mobile module 640 is configured to receive the order completion area information, and move to the order completion area location corresponding to the order completion area information according to the order completion area information.
  • the picking station information includes: an X-axis coordinate and a Y-axis coordinate of the at least one picking station; and the order completion area information includes: an X-axis coordinate and a Y-axis coordinate where the order completion area is located.
  • the picking station information further includes: a priority order between the picking stations.
  • the first mobile module is further configured to sequentially go to the corresponding picking station location according to the priority order of the picking station.
  • a picking prompting method is provided to cause the picking station to prompt the picking information, the method comprising the following steps:
  • Step S601 receiving order information transmitted by the control center.
  • each skip has corresponding order information.
  • the order information of the skip corresponds to the packing box.
  • the material is packed in a packing box with corresponding order information to the picking station for picking.
  • the control center assigns the location of the picking station to the skip, so that the skip goes to the designated picking station for picking, and the control center sends the order information to the picking prompting device of the designated picking station.
  • the name of the goods is the name of all the goods in the current order.
  • the quantity of the goods is the number of each type of goods.
  • the picture of the goods is the picture corresponding to each type of goods.
  • step S602 it is determined whether the arrival information of the skip corresponding to the order information is received.
  • the arrival information of the skip car may be sent by the skip corresponding to the order information, and when the skip arrives at the corresponding picking position of the picking station, the arrival information is sent to the picking prompting device.
  • the arrival information can also be sent to the control center.
  • the control center sends the feedback to the picking prompting device. The arrival information of the skip corresponding to the order information.
  • step S603 it is determined whether the arrival information of the goods in the order information is obtained.
  • the picking station receives the arrival information of the goods in the order information.
  • the arrival information of the corresponding goods is obtained. Determine whether the arrival information of the corresponding goods is obtained.
  • Step S604 if the arrival information of the goods and the arrival information of the skip are received, the order information is displayed, and the position corresponding to the goods in the order information is presented.
  • the order information is displayed on the display screen.
  • the temporary storage unit of the picking station shelf stores goods, and each temporary storage unit has a corresponding prompting device.
  • the prompting device is a light.
  • the temporary storage unit corresponding to the goods in the order information is prompted. That is, the lamp of the temporary storage unit corresponding to the order information is lighted to indicate that the corresponding temporary storage unit has the goods included in the order information.
  • the above picking prompt method by receiving the order information, further determines whether the skip corresponding to the order information has reached the picking station and whether the corresponding goods of the order arrive at the picking station, and if they have reached the picking station, the corresponding The order information is displayed, and the temporary storage unit where the corresponding goods are located is displayed on the shelf.
  • the picking efficiency can be improved, and the use of paper orders can be saved through electronic display, thereby further saving resources.
  • a method for prompting based on order information including the following steps:
  • Step S611 obtaining the cargo information and the order information of all the temporary storage units in the shelf.
  • the temporary storage unit of the picking station shelf is used for storing goods
  • the temporary storage unit includes a temporary storage unit with goods and a temporary storage unit without goods.
  • the cargo information of all the temporary storage units is obtained, wherein the cargo information includes: the name of the goods, the position of the goods in the shelf, the remaining quantity of the goods, and a picture of the goods.
  • the order information includes: the name of the goods, the quantity of the goods, and a picture of the goods.
  • Step S612 matching the name of the goods in the order information with the goods information of all the temporary storage units in the shelf.
  • the names of all the goods in the order information are matched with the goods information of all the temporary storage units in the shelf.
  • the order information includes the names of all the goods in the current order, and the names of all the goods in the order information are matched with the goods information corresponding to the temporary storage unit.
  • the cargo information also includes the name of the goods, that is, the name of all the goods in the order information is matched with the name of the goods corresponding to the temporary storage unit.
  • step S613 a prompt is displayed in the temporary storage unit that can match the name of the goods.
  • the goods existing in the order information are prompted in the temporary storage unit, wherein the prompting may be to set a prompting device for each temporary storage unit.
  • the prompts are light prompts with different colors, and are prompted by lighting the light. When there is only one order, all the goods can be prompted with a light of one color; or all the goods can be prompted with lights of different colors.
  • the above method for prompting according to the order information can prompt the goods in the current order to be presented on the corresponding temporary storage unit on the shelf, thereby improving the picking efficiency.
  • order information includes a plurality of sub-order information; and the following steps are included:
  • Step S621 Acquire the cargo information of all the temporary storage units in the shelf and the plurality of sub-order information.
  • the temporary storage unit of the picking station shelf is used for storing goods
  • the temporary storage unit includes a temporary storage unit with goods and a temporary storage unit without goods.
  • the cargo information of all the temporary storage units is obtained, wherein the cargo information includes: the name of the goods, the position of the goods in the shelf, the remaining quantity of the goods, and a picture of the goods.
  • the order information includes a plurality of sub-order information including: the name of the goods, the quantity of the goods, and a picture of the goods.
  • Step S622 matching the name of the goods in the sub-order information with the goods information of all the temporary storage units in the shelf.
  • the names of all the goods in each sub-order information are respectively matched with the goods information of all the temporary storage units in the shelf.
  • the sub-order information includes the names of all the goods of the current order, and the names of all the goods in the sub-order information are matched with the goods information corresponding to the temporary storage unit.
  • the cargo information also includes the name of the goods, that is, the names of all the goods in the sub-order information are matched with the names of the goods corresponding to the temporary storage unit.
  • step S623 the temporary storage unit capable of matching the name of the goods performs a difference prompt according to the difference of the sub-order.
  • the goods existing in each sub-order information are prompted in the temporary storage unit, wherein according to different sub-orders, the goods in different sub-order information are prompted to use different colors of lights, and the goods in the same sub-order information are Use the same color light to make a prompt.
  • the above method for presenting according to the order information can prompt different sub-order goods with lamps of different colors when receiving a plurality of sub-orders at a time, thereby improving picking efficiency.
  • FIG. 35 another picking prompting method is provided, including the following steps:
  • Step S631 receiving order information transmitted by the control center.
  • each skip has corresponding order information.
  • the order information of the skip corresponds to the packing box.
  • the material is packed in a packing box with corresponding order information to the picking station for picking.
  • the control center assigns the location of the picking station to the skip, so that the skip goes to the designated picking station for picking, and the control center sends the order information to the picking prompting device of the designated picking station.
  • the name of the goods is the name of all the goods in the current order.
  • the quantity of the goods is the number of each type of goods.
  • the picture of the goods is the picture corresponding to each type of goods.
  • step S632 it is determined whether the arrival information of the skip corresponding to the order information is received.
  • the control center After receiving the order information transmitted by the control center, it is detected in real time whether the arrival information of the skip corresponding to the order information is received.
  • the arrival information may be sent by the skip corresponding to the order information, and when the skip arrives at the corresponding picking position of the picking station, the arrival information is sent to the picking prompting device.
  • the arrival information can also be sent to the control center.
  • the control center When the skip arrives at the corresponding picking location of the picking station, the feedback information to the designated location is sent to the control center. After receiving the feedback information, the control center sends the feedback to the picking prompting device.
  • the arrival information of the skip corresponding to the order information After receiving the feedback information, the control center sends the feedback to the picking prompting device.
  • step S633 it is determined whether the arrival information of the goods in the order information is obtained.
  • the picking station receives the arrival information of the goods in the order information.
  • the arrival information of the corresponding goods is obtained. Determine whether the arrival information of the corresponding goods is obtained.
  • Step S634 if the arrival information of the goods and the arrival information of the skip are received, the order information is displayed, and the position corresponding to the goods in the order information is prompted.
  • the order information is displayed on the display screen.
  • the display can also display the cargo information of the temporary storage unit corresponding to the goods in the order information.
  • Goods are stored on the temporary storage unit of the picking station shelf, and each temporary storage unit has a corresponding prompting device.
  • the prompting device is a light.
  • the temporary storage unit corresponding to the goods in the order information is prompted. That is, the lamp of the temporary storage unit corresponding to the order information is lighted to indicate that the corresponding temporary storage unit has the goods included in the order information.
  • Step S634 receiving the information that the user input has extracted the information.
  • the pickeder finishes the picking up of the goods in the temporary storage unit
  • the extracted information of the current goods is input to the picking prompting device.
  • the temporary storage unit is provided with a button, and after the picker completes the picking of the current goods, pressing the button of the temporary storage unit corresponding to the current goods indicates that the current goods have been extracted; and the picker passes the sweep.
  • the code device scans the picked goods, it indicates that the current goods have been extracted; and the picker can also input the extracted information of the goods through an input device.
  • step S635 the temporary storage unit corresponding to the extracted goods is cancelled on the shelf, and the order information is updated, and the updated order information is displayed.
  • the prompt of the temporary storage unit corresponding to the goods in the extracted information is cancelled. That is, the light of the extracted goods in the temporary storage unit position is extinguished.
  • the order information is updated, and the extracted goods in the original order information are deleted, and the order information of the extracted goods is deleted as the updated order information.
  • the updated order information is displayed on the display.
  • the picking station After the picking station completes the picking of the order on a skip, or continues to receive the next cart, and picks the order on the next cart, the above process is repeated, and the order on the skip is continuously completed.
  • the above picking prompt method can improve the picking efficiency, and saves the use of paper orders through electronic display, thereby further saving resources.
  • a structural block diagram of a picking prompting device including: an order information receiving module 610, a first determining module 620, a second determining module 630, and a prompting module 640, wherein:
  • the order information receiving module 610 is configured to receive order information transmitted by the control center.
  • the first determining module 620 is configured to determine whether the arrival information of the skip corresponding to the order information is received.
  • the second determining module 630 is configured to determine whether the arrival information of the goods in the order information is received.
  • the prompting module 640 is configured to display the order information if the arrival information of the goods and the arrival information of the skip are received, and prompt the position corresponding to the goods in the order information.
  • the prompting module 640 includes an obtaining unit 641, a matching unit 642, and a prompting unit 643.
  • the obtaining unit 641 is configured to obtain cargo information and order information of all temporary storage units in the shelf;
  • the matching unit 642 is configured to match the name of the goods in the order information with the goods information of all the temporary storage units in the shelf;
  • the prompting unit 643 is configured to prompt the temporary storage unit that can match the name of the goods.
  • the picking prompting device further includes an extracted information receiving module 650 and an updating module 660.
  • the extracted information receiving module 650 is configured to receive the extracted information of the goods input by the user;
  • the update module 660 is configured to cancel the prompting of the temporary storage unit corresponding to the extracted goods on the shelf, and update the order information to display the updated order information.
  • FIG. 38 is a schematic diagram of a method for retrieving a tray according to an embodiment of the present invention to move the remaining goods to other areas after the goods of the picking station are sorted.
  • the tray retrieval method is applied to a movable device including a gripping mechanism capable of adjusting its position, and the tray can store goods.
  • the method for retrieving the tray includes:
  • Step S411 receiving a tray retrieval command, the tray retrieval command includes tray retrieval information, and the tray retrieval information includes first designated location information, stored location information of the tray to be retrieved, second designated location information, and The pre-placement position information of the tray to be retrieved.
  • the control center after receiving the feedback signal that the goods in a certain tray are picked up, the control center sends a tray retrieval command to the movable device, where the tray retrieval command includes the tray retrieval information.
  • the tray retrieval information includes first designated location information, stored location information of the tray to be retrieved, second designated location information, and pre-position information of the tray to be retrieved.
  • the stored location information of the tray to be retrieved includes the location coordinates of the tray to be retrieved, that is, the X-axis, Y-axis, and Z-axis coordinates of the tray to be retrieved in the warehouse.
  • the tray retrieval information includes a tray acquisition information and a tray replacement information
  • the tray acquisition information includes first designated location information and stored location information of the tray to be retrieved, and the tray is placed
  • the return information includes second designated location information and pre-placement location information of the tray to be retrieved.
  • the tray retrieval information includes a plurality of tray acquisition information and a plurality of tray replacement information, each tray acquisition information including a specified location information and a stored location information of the tray to be retrieved, each The tray return information includes a second specified position information and a pre-position position information of the tray to be retrieved.
  • the pre-placement position information of the tray to be retrieved includes a position coordinate.
  • the pre-position position information includes coordinates of an inventory bit of a storage area, that is, the inventory position of the storage area is The X-axis, the Y-axis, and the Z-axis coordinates in the warehouse, after the movable device obtains the to-be-retrieved tray, the tray to be retrieved is placed in the inventory bit of the corresponding storage area based on the pre-placement position information.
  • the first specified location information includes a location coordinate corresponding to the stored location information, that is, the X-axis, the Y-axis, and the Z-axis coordinate of the first designated location in the warehouse.
  • the first designated position is an aisle position in front of a temporary storage unit of the picking station where the to-be-returned tray is located.
  • the second specified position information includes a position coordinate corresponding to the pre-position position information, that is, the X-axis, the Y-axis, and the Z-axis coordinate of the second designated position in the warehouse.
  • the second designated location is an aisle location in front of the inventory location of the storage area.
  • the difference between the first specified position coordinate and the stored position coordinate there is a difference between the first specified position coordinate and the stored position coordinate, and a difference exists between the second specified position coordinate and the pre-position position coordinate.
  • the difference between the X-axis and the Y-axis between the first specified position coordinate and the stored position coordinate is a fixed value, and the difference of the Z-axis is a change value.
  • the difference between the X-axis and the Y-axis between the second specified position coordinate and the pre-position position coordinate is a fixed value, and the difference of the Z-axis is a change value.
  • the first specified location information, the stored location information of the to-be-retrieved tray, the second designated location information, and the pre-placement location information of the tray to be retrieved may be a tray, a stock bit, or a temporary storage unit.
  • Step S412 moving the mobile device to the first designated location based on the first specified location information.
  • the mobile device after receiving the tray retrieval information, moves to a first designated location based on the first specified location information in the tray retrieval information, and at this time, the movable device Positioning unit performs positioning to obtain positioning information, where the positioning information includes X-axis coordinates and Y-axis coordinates of the position of the movable device at this time, and compares with the first specified position coordinates, and if they match, enter The next step. If the positioning information does not match the first specified position coordinate, the movable device continues to move, and is positioned and compared until the first designated position is reached.
  • the mobile device after receiving the tray retrieval information, moves to a first designated location based on the first specified location information in the tray retrieval information, and at this time, the movable device
  • the positioning unit performs positioning to obtain positioning information, where the positioning information includes X-axis coordinates and Y-axis coordinates of the position of the movable device at this time, and feeds the positioning information to the control center, and the control center will locate the positioning
  • the information is compared with the first specified location coordinates. If they match, the control center sends a command to the mobile device to adjust the grabbing mechanism, and the mobile device receives the command and proceeds to the next step. . If the positioning information does not match the first specified position coordinate, the movable device continues to move, and is positioned and compared until the first designated position is reached.
  • Step S413 adjusting the position of the gripping mechanism based on the difference between the first specified position coordinate and the stored position coordinate.
  • the shelf of the picking station in which the tray to be retrieved is loaded includes a multi-level temporary storage unit.
  • the stored location information further includes height information of the tray to be retrieved, and a difference between the first specified location coordinates and the stored location coordinates is reflected in the Z-axis direction as the height of the grasping mechanism and the The difference in the height of the tray to be retrieved.
  • the movable device adjusts the position of the gripping mechanism based on the difference. Specifically, the initial state of the grasping mechanism is to face the moving direction of the movable device, and when the position of the grasping mechanism is started to be adjusted, the grasping mechanism is first rotated by 90 degrees to face the direction of the tray to be retrieved. And then controlling the gripping mechanism to rise or fall to reach the height position of the tray to be retrieved.
  • the grasping mechanism is a tines.
  • Step S414 acquiring the position information of the grasping mechanism, comparing the position information of the grasping mechanism with the stored position information, and when the obtained position information of the picking mechanism matches the stored position information, the control center The grabbing mechanism obtains the tray to be retrieved.
  • the capture mechanism location information is obtained, and the height information in the stored location information is compared, and when the acquired capture mechanism location information matches the height information, the control is performed.
  • the grasping mechanism is extended, and the tray to be retrieved is taken out of the temporary storage unit of the shelf and placed back into the storage unit of the movable device.
  • obtaining the position information of the grasping mechanism may obtain the height of the lifting of the grasping mechanism by obtaining the amount of rotation of the motor that drives the grasping mechanism to obtain the position information of the grasping mechanism.
  • each layer of the shelf is provided with a positioning identifier, and the position information of the grasping mechanism can be determined by identifying the positioning identifier.
  • the comparison may be performed by the control unit of the movable device, or may be performed by the control center.
  • step S415 the feedback tray acquires a signal.
  • the tray acquisition signal further includes location information of the tray to be retrieved in a storage unit of the movable device.
  • the movable device feeds back the tray in the tray acquisition information, that is, feeds the tray acquisition signal to the control center.
  • the movable device obtains a tray in the tray retrieval information, and feeds back a tray acquisition signal to the control center. And continuing to acquire the next tray based on the next tray acquisition information until all the trays in the plurality of tray acquisition information in the tray retrieval information are taken out and proceed to the next step.
  • Step S416 moving the mobile device to the second designated location based on the second specified location information.
  • the removable device After the removable device puts the tray to be retrieved and puts it into the storage unit, it moves to the second designated position based on the second specified position information in the tray retrieval information, and the The positioning unit of the mobile device performs positioning to obtain positioning information, where the positioning information includes X-axis coordinates and Y-axis coordinates of the position of the movable device at this time, and feeds the positioning information to the control center, and the control center will The positioning information is compared with the second specified position coordinates, and if matched, the control center sends a command to the mobile device to adjust the grabbing mechanism, and the movable device receives the command and enters The next step. If the positioning information does not match the second specified position coordinate, the movable device continues to move, and is positioned and compared until the second designated position is reached.
  • the positioning information comparison of the movable device to the second designated location may also be performed in the control center.
  • Step S417 adjusting the position of the gripping mechanism based on the difference between the coordinates of the second designated position and the coordinates of the pre-positioning position.
  • the shelf of the storage area includes a plurality of inventory units, and each inventory unit includes a plurality of inventory locations.
  • the gripping mechanism takes the tray to be retrieved out of the storage unit and adjusts the position of the grasping mechanism based on the difference.
  • the initial state of the grasping mechanism is to face the moving direction of the movable device, and when the position of the grasping mechanism is started to be adjusted, firstly, the grasping mechanism is rotated by 90 degrees to a direction facing the preset placing position. And then controlling the gripping mechanism to rise or fall to reach the height position of the preset placement position.
  • Step S4108 acquiring the position information of the grasping mechanism, comparing the position information of the grasping mechanism with the information of the pre-placement position, and when the acquired position information of the grasping mechanism matches the pre-placed position information, the control center
  • the grabbing mechanism places the tray to be retrieved in the pre-release position.
  • the position information of the gripping mechanism is obtained, and the height information in the pre-placed position information is compared, and when the acquired position information of the picking mechanism matches the pre-placed position information, the control is performed.
  • the grasping mechanism is extended to place the tray to be retrieved on the grasping mechanism into the preset placement position, that is, the stock position of the storage area.
  • the comparison may be performed by the control unit of the movable device, or may be performed by the control center.
  • step S419 the feedback tray puts back the signal.
  • the movable device takes out the tray to be retrieved from the storage unit and puts it into the stock position of the storage area, the signal returned by the tray is fed back to the control center.
  • the movable device returns the tray in the information back to the tray, and returns the tray to the control center. Put back the signal.
  • the movable device returns a tray to the tray in the information and returns the tray to the control center.
  • the signal is retrieved and the next tray is placed back based on the next tray return information until all of the trays in the tray retrieval information are put back into the tray.
  • the stored position coordinates of the tray to be retrieved are (50, 50, 5).
  • the coordinates of the aisle position in front of the temporary storage unit of the picking station where the retrieval tray is located are (51, 50, 0), and the coordinates of the first designated position are (51, 50, 0).
  • the coordinates of the stock bit of the storage area to be returned to the tray to be retrieved are (10, 10, 8), and the pre-position position coordinates are (10, 10, 8), and the stock position of the storage area
  • the coordinates of the aisle position in front are (11, 10, 0), and the coordinates of the second specified position are (11, 10, 0).
  • the mobile device After receiving the tray retrieval command, the mobile device goes to the first designated position (51, 50, 0), and after reaching the first designated position, the coordinates of the grasping mechanism is (51, 50, 0).
  • the grasping mechanism and the tray to be retrieved have a distance on the X-axis and the Z-axis, so the grasping mechanism rotates 90 degrees in the direction of the tray to be retrieved, and then rises up 5 units to reach the to-be-taken After returning the height of the tray, it is extended to reach the stored position (50, 50, 5) of the tray to be retrieved. After reaching this position, the grasping mechanism takes out the tray to be retrieved and puts it back into the movable device. In the storage unit.
  • the movable device After obtaining the tray to be retrieved, the movable device goes to the stock position of the storage area where the tray to be retrieved is to be returned, first reaches the second designated position (11, 10, 0), and after the arrival, the grasping mechanism will The tray to be retrieved is taken out from the storage unit.
  • the gripping mechanism coordinates are (11, 10, 0), and there is a distance between the gripping mechanism and the stocking position on the X-axis and the Z-axis, so The grasping mechanism rotates the tray to be retrieved by 90 degrees toward the stocking position, and then lifts up to 8 unit lengths to reach the height of the stocking position, and then elongates to reach the pre-positioning position (10, 10). , 8), after reaching this position, the grasping mechanism puts the tray to be retrieved into the stock position and retracts.
  • a method for comparing the position information of the grasping mechanism with the stored position information, and controlling the grasping mechanism to obtain the tray to be retrieved including The following steps:
  • Step S421 obtaining the position information of the grabbing mechanism.
  • obtaining the position information of the gripping mechanism can obtain the height of the lifting of the gripping mechanism by obtaining the amount of rotation of the motor that drives the gripping mechanism to obtain the position information of the gripping mechanism.
  • each layer of the shelf is provided with a positioning identifier, and the position information of the grasping mechanism can be determined by identifying the positioning identifier.
  • Step S422 comparing the grabbing mechanism location information with the stored location information in the mobile device.
  • the mobile device inputs the acquired grabbing mechanism location information and the stored location information into a control unit of the mobile device, and the control unit uses the grabbing mechanism location information and The height information in the stored location information is compared. If the grabbing mechanism location information matches the height information, the control unit outputs a tray acquisition command.
  • Step S423 when the acquired gripping device position information matches the stored location information, the picking mechanism is controlled to obtain the to-be-retrieved tray.
  • the control unit When the acquired gripping device position information matches the stored position information, the control unit outputs a tray obtaining command, controls the grasping mechanism to extend, and removes the temporary storage unit of the rack to be retrieved from the rack. And put back into the storage unit of the removable device.
  • FIG. 40 another method for comparing the gripping mechanism position information with the stored position information and controlling the grasping mechanism to obtain the tray to be retrieved is provided. Includes the following steps:
  • Step S431 obtaining the location information of the grabbing mechanism.
  • obtaining the position information of the grasping mechanism may obtain the height of the lifting of the grasping mechanism by obtaining the amount of rotation of the motor that drives the grasping mechanism to obtain the position information of the grasping mechanism.
  • each layer of the shelf is provided with a positioning identifier, and the position information of the grasping mechanism can be determined by identifying the positioning identifier.
  • Step S432 feeding the gripping device position information to the control center, so that the control center compares with the stored location information, and generates a tray obtaining command.
  • the mobile device feeds back the acquired gripping device position information to the control center, and the control center compares the gripping device position information with the height information in the stored location information. If the gripping mechanism position information matches the height information, the control center generates a tray acquisition command and transmits the same to the mobile device.
  • Step S433 receiving a tray acquisition command sent by the control center.
  • the mobile device receives a tray acquisition command sent by the control center.
  • Step S434 controlling the grasping mechanism to obtain the tray to be retrieved.
  • the grabbing mechanism is controlled to extend, and the tray to be retrieved is taken out of the temporary storage unit of the shelf and returned to the In the storage unit of the mobile device.
  • the step of controlling the step of controlling the grasping mechanism to return the tray also includes comparing the position information of the grasping mechanism in the control unit or the control center.
  • a tray retrieval method including the following steps:
  • Step S441 receiving a signal that the picking is completed.
  • the mobile device responsible for the order picking task feeds back a signal of the completion of the picking to the control center, and the control center receives the picking completion. signal of.
  • Step S442 sending a tray retrieval command to the mobile device based on the signal of the completion of the picking, and controlling the removable device to retrieve the tray.
  • the control center after receiving the signal of the completion of the picking, the control center sends a tray retrieval command to the movable device to control the removable device to retrieve the tray.
  • Step S443 receiving a tray acquisition signal and a tray return signal fed back by the mobile device.
  • the mobile device after the control center sends a tray retrieval command to the mobile device, the mobile device performs a tray retrieval command, when the mobile device picks up the tray to be retrieved
  • the movable device feeds back the tray acquisition signal to the control center.
  • the movable device takes out the tray to be retrieved from the storage unit of the movable device and puts it into the inventory position of the shelf of the storage area
  • the movable device feeds back the tray return signal to the control center .
  • the control center receives the tray acquisition signal and the tray return signal.
  • an execution end of a tray retrieval system including: a first receiving module 500, a first moving module 510, a first adjusting module 520, a tray obtaining control module 530, The first feedback module 540, the second movement module 550, the second adjustment module 560, the tray return control module 570, and the second feedback module 580, wherein:
  • the first receiving module 500 is configured to receive a tray retrieval command, where the tray retrieval command includes tray retrieval information, where the tray retrieval information includes first designated location information, stored location information of the tray to be retrieved, and Specifying location information and pre-placement location information of the tray to be retrieved;
  • the first mobile module 510 is configured to move the mobile device to the first designated location based on the first specified location information
  • a first adjustment module 520 configured to adjust a position of the grabbing mechanism based on a difference between the first specified position coordinate and the stored position coordinate;
  • a tray acquisition control module 530 configured to acquire the position information of the grasping mechanism, compare the position information of the grasping mechanism with the stored position information, and obtain the position information of the grasping mechanism and the stored position information. When matching, controlling the grasping mechanism to obtain the tray to be retrieved;
  • a first feedback module 540 configured to feed back a tray acquisition signal
  • a second moving module 550 configured to move the mobile device to the second designated location based on the second specified location information
  • a second adjustment module 560 configured to adjust a position of the grasping mechanism based on a difference between coordinates of the second designated position and coordinates of the pre-position position;
  • the tray return control module 570 is configured to acquire the position information of the grasping mechanism, compare the position information of the grasping mechanism with the information of the pre-placement position, and obtain the position information of the grasping mechanism and the information of the pre-position position When matching, controlling the grasping mechanism to place the tray to be retrieved to the pre-position position;
  • the second feedback module 580 is configured to feed back the tray return signal.
  • a tray acquisition control module including a first acquisition unit, a comparison unit, and a first tray acquisition control unit, wherein:
  • a first acquiring unit configured to acquire information about the location of the grasping mechanism
  • a matching unit configured to compare the grabbing mechanism location information with the stored location information in the mobile device
  • the first tray acquisition control unit is configured to control the grasping mechanism to obtain the to-be-retrieved tray when the acquired gripping mechanism position information matches the stored position information.
  • another tray acquisition control module including a second acquisition unit, a feedback unit, a receiving unit, and a second tray acquisition control unit, wherein:
  • a second acquiring unit configured to acquire the position information of the grasping mechanism
  • a feedback unit configured to feed back the position information of the grabbing mechanism to the control center, so that the control center compares the stored location information, and generates a tray obtaining command
  • a receiving unit configured to receive a tray obtaining command sent by the control center
  • a second tray obtaining control unit configured to control the grasping mechanism to obtain the tray to be retrieved.
  • a control terminal of a tray retrieval system including a second receiving module 800, a command sending module 810, and a third receiving module 820, wherein:
  • a second receiving module 800 configured to receive a signal of completion of picking
  • the command sending module 810 is configured to send a tray retrieval command to the mobile device based on the signal of the completion of the picking, and control the removable device to retrieve the tray;
  • the third receiving module 820 is configured to receive a tray acquisition signal and a tray return signal fed back by the mobile device.
  • FIG. 44 is a schematic diagram of a replenishing method according to an embodiment of the present invention.
  • the replenishing method is applied to a movable device that includes a gripping mechanism that is capable of adjusting its own position.
  • the replenishment method is used to complete the above-mentioned low frequency area replenishment process.
  • the replenishing method includes:
  • Step S501 Receive a pallet replenishment command, where the pallet replenishment command includes pallet replenishment information, where the pallet replenishment information includes first designated location information, first stored location information of the to-be-replenished pallet, and a second designated location. Information and first pre-placement position information of the pallet to be replenished.
  • the control center when each cargo is stored in the storage area, the control center receives the signal, and the control center counts each time the signal is received, thereby obtaining the quantity of the deposited goods in the storage area;
  • the control center also receives a signal, and each time the signal is received, the control center counts to obtain the quantity of the sorted goods. Therefore, by subtracting the quantity of goods stored in the storage area from the quantity of goods picked up, the quantity of the existing goods in the warehouse can be obtained, that is, the inventory information.
  • the tray replenishment information includes first specified location information, first stored location information of the to-be-replenished pallet, second designated location information, and first pre-placement information of the to-be-replenished pallet.
  • the first stored location information of the to-be-replenished pallet includes the location coordinates of the to-be-replenished pallet in the storage area, that is, the x-axis, y-axis, and z-axis coordinates of the to-be-replenished pallet in the warehouse. .
  • the tray replenishment information includes a tray acquisition information including a first designated location information and stored location information of the to-be-replenished tray, and the tray arrival information, the tray arrival information The second designated position information and the first pre-placement position information of the to-be-replenished tray are included.
  • the tray replenishment information includes a plurality of tray acquisition information and a plurality of tray arrival information, each tray acquisition information including a specified location information and stored location information of a to-be-replenished tray, each The tray arrival information includes a specified location information and a pre-placement location information of the to-be-replenished pallet.
  • the first pre-placement position information of the to-be-replenished pallet includes a position coordinate.
  • the first pre-disposition position information includes coordinates of a temporary storage station of the replenishing station, that is, the The temporary storage position of the replenishing station is in the x-axis, the y-axis and the z-axis coordinate in the warehouse, and the movable device obtains the to-be-replenished tray based on the first pre-position position information after acquiring the to-be-replenished tray Put it in the temporary storage location of the corresponding replenishment station.
  • the first specified location information includes a location coordinate corresponding to the first stored location information, that is, the x-axis, y-axis, and z-axis coordinates of the first specified location in the warehouse.
  • the first designated position is an aisle position in front of the inventory unit of the shelf where the to-be-replenished tray is located.
  • the second specified position information includes a position coordinate corresponding to the first pre-position position information, that is, the x-axis, y-axis, and z-axis coordinates of the second specified position in the warehouse.
  • the second designated position is an aisle position in front of the temporary storage station of the replenishment station.
  • the difference between the first specified position coordinate and the first stored position coordinate there is a difference between the first specified position coordinate and the first stored position coordinate, and a difference exists between the second specified position coordinate and the first pre-position position coordinate.
  • the difference between the x-axis and the y-axis between the first specified position coordinate and the first stored position coordinate is a fixed value, and the difference of the z-axis is a change value.
  • the difference between the x-axis and the y-axis between the second specified position coordinate and the first pre-position position coordinate is a fixed value, and the difference of the z-axis is a change value.
  • the first specified location information, the first stored location information of the to-be-replenished tray, the second designated location information, and the first pre-placement location information of the to-be-replenished tray may be a tray, a stock bit, or The position number of the temporary storage bit, which corresponds to the X-axis, Y-axis, and Z-axis coordinates.
  • Step S502 moving the mobile device to the first designated location based on the first specified location information.
  • the mobile device After the mobile device receives the pallet replenishment information, it moves to the first designated location based on the first specified location information in the pallet replenishment information.
  • the positioning unit of the mobile device performs positioning to obtain positioning information, where the positioning information includes x-axis coordinates and y-axis coordinates of the position where the movable device is located, and is in the control unit of the movable device.
  • the first specified position coordinates are compared, and if they match, the next step is entered. If the positioning information does not match the first specified position coordinate, the movable device continues to move, and is positioned and compared until the first designated position is reached.
  • the first designated position is an aisle position in front of the inventory unit of the shelf where the to-be-replenished pallet is located.
  • the mobile device moves to the first designated location based on the first specified location information in the pallet replenishment information.
  • the positioning unit of the mobile device performs positioning to acquire positioning information, where the positioning information includes x-axis coordinates and y-axis coordinates of the position of the movable device at this time, and the positioning information and the first specified position coordinate are For comparison, the process of adjusting the position of the movable device can also be performed in the control center.
  • Step S503 adjusting the position of the grabbing mechanism based on the difference between the first specified position coordinate and the first stored position coordinate.
  • the shelf in which the storage area of the tray to be replenished is loaded includes a plurality of stock positions.
  • the first stored location information further includes z-axis coordinates of the to-be-replenished tray, and the difference between the first specified location coordinates and the first stored location coordinates is reflected in the z-axis direction as the grabbing The difference between the height of the mechanism and the height of the pallet to be replenished.
  • the movable device adjusts the position of the gripping mechanism based on the difference. Specifically, the initial state of the grasping mechanism is opposite to the moving direction of the movable device, and when the position of the grasping mechanism is started to be adjusted, the grasping mechanism is first rotated by 90 degrees to the direction of the tray to be replenished. And then controlling the gripping mechanism to rise or fall to reach the height position of the pallet to be replenished.
  • the grasping mechanism is a tines.
  • Step S504 acquiring the position information of the grasping mechanism, comparing the position information of the grasping mechanism with the first stored position information, and matching the acquired position information of the picking mechanism with the first stored position information And controlling the grasping mechanism to obtain the to-be-replenished tray.
  • the position information of the grasping mechanism is acquired, and the height information in the first stored position information is compared, and when the acquired position information of the grasping mechanism matches the height information, the control is performed.
  • the gripping mechanism extends to take the stock tray to be replenished and put it back into the storage unit of the mobile device.
  • obtaining the gripping mechanism position information may obtain the height of the gripping mechanism by obtaining the amount of rotation of the motor that drives the gripping mechanism to adjust the position to obtain the gripping mechanism position information.
  • each layer of the shelf is provided with a positioning identifier, and the position information of the grasping mechanism can be determined by identifying the positioning identifier.
  • the comparison may be performed by the control unit of the movable device, or may be performed by the control center.
  • Step S505 feeding back the first tray acquisition signal.
  • the tray acquisition signal further includes location information of the to-be-replenished tray in a storage unit of the movable device.
  • the tray replenishment information includes a tray acquisition information and a tray arrival information
  • the movable device acquires the tray in the tray acquisition information
  • the first tray acquisition signal is fed back to the control center.
  • the tray replenishment information includes a plurality of tray acquisition information and a plurality of tray arrival information
  • the movable device obtains a tray in the tray replenishment information, and feeds back the first tray to the control center.
  • the signal continues to acquire the next tray based on the next tray acquisition information until all the trays in the plurality of tray acquisition information in the tray replenishment information are taken out and proceed to the next step.
  • Step S506 moving the movable device to the second designated location based on the second specified location information.
  • the removable device after the removable device takes out the to-be-replenished tray and puts it into the storage unit, it moves to the second designated position based on the second specified position information in the tray replenishment information, and the Positioning unit of the mobile device performs positioning to obtain positioning information, where the positioning information includes x-axis coordinates and y-axis coordinates of the position of the movable device at this time, and compares the positioning information with the coordinates of the second specified position.
  • the process of adjusting the position of the movable device according to the comparison result may be performed in a control unit of the movable device or in the control center.
  • Step S507 adjusting the position of the gripping mechanism based on the difference between the coordinates of the second designated position and the coordinates of the first pre-positioning position.
  • the shelf of the replenishment station includes a plurality of temporary storage locations.
  • the first pre-position position information further includes a z-axis coordinate of a temporary storage position of the replenishing station, and a difference between a coordinate of the second designated position and a coordinate of the first pre-positioning position is reflected in the z-axis direction.
  • the initial state of the grasping mechanism is opposite to the moving direction of the movable device, and when the position of the grasping mechanism is started to be adjusted, the grasping mechanism is first rotated by 90 degrees to the direction of the replenishing position. The gripping mechanism is then controlled to rise or fall to reach the height position of the replenishment position.
  • Step S508 obtaining the position information of the grasping mechanism, comparing the position information of the grasping mechanism with the information of the first pre-placement position, and matching the acquired position information of the picking mechanism with the information of the first pre-placed position And controlling the grasping mechanism to place the to-be-replenished tray to the first pre-release position.
  • the position information of the grasping mechanism is obtained, and the height information in the first pre-position position information is compared, and the acquired position information of the grasping mechanism is compared with the information of the first pre-position position.
  • the gripping mechanism is controlled to extend, and the pallet to be replenished on the gripping mechanism is placed in the replenishing position, that is, in the temporary storage position of the replenishing station.
  • the comparison may be performed by the control unit of the movable device, or may be performed by the control center.
  • step S509 the feedback tray arrives at the signal.
  • the tray arrival signal is fed back to the control center.
  • the movable device feeds back the tray in the tray arrival information, that is, feeds the tray arrival signal to the control center.
  • the movable device returns a pallet arrival signal to the control center after returning the tray in the tray arrival information. And continuing to put the next tray back based on the next tray arrival information until all the trays in the tray arrival information in the pallet replenishment information are put back.
  • Step S510 receiving a tray return command
  • the tray return command includes tray return information
  • the tray return information includes third designated position information, second stored position information of the replenished tray, and fourth designation Position information and second pre-placement position information of the replenished pallet.
  • the tray returning information includes a tray obtaining information including a third specified position information and a second stored position information of the replenished tray, the tray obtaining information
  • the tray placement information includes fourth designated position information and second pre-placement position information of the replenished pallet.
  • the tray return information includes a plurality of tray acquisition information and a plurality of tray placement information, each tray acquisition information including a specified location information and a stored location information of a replenished tray, each The tray placement information includes a specified location information and a pre-placement location information of the replenished pallet.
  • the control center when the to-be-replenished pallet is placed in the temporary storage position of the replenishing station, the control center receives the feedback pallet arrival signal, and at this time, the control center sends a supplement to the replenishing station.
  • the cargo order, the staff of the replenishing station puts the goods into the to-be-replenished pallet, and sends a replenishment completion signal to the control center, and after receiving the replenishment completion signal, the control center is movable
  • the device sends a tray return command, the tray return command includes a tray return information, the tray replacement information includes third designated location information, second stored location information of the replenished tray, and fourth designated location information And the second pre-placement position information of the pallet completed by the replenishment.
  • the second stored location information of the replenished pallet includes the position coordinates of the replenished pallet, that is, the x-axis, y-axis, and z-axis coordinates of the replenished pallet in the warehouse.
  • the second pre-position position information includes a position coordinate.
  • the second pre-position position information includes coordinates of an inventory bit of a storage area, that is, the inventory bit of the storage area is in a warehouse.
  • the x-axis, y-axis, and z-axis coordinates after the removable device obtains the replenished tray, the tray is placed in the stock position of the corresponding storage area based on the second pre-placement position information.
  • the second pre-positioning position may be the coordinates of the temporary storage unit of the picking station, and the control center controls the movable device to directly send the replenished pallet to the picking station for picking goods.
  • the second pre-positioning position may also be any position of the replenishment station, and the tray may stay in place after the replenishment is completed.
  • the third specified location information includes a location coordinate corresponding to the second stored location information, that is, the x-axis, y-axis, and z-axis coordinates of the third specified location in the warehouse.
  • the third designated position is an aisle position in front of a temporary storage location of the replenishment station where the replenished pallet is located.
  • the fourth specified position information includes one position coordinate corresponding to the second pre-position position information, that is, the x-axis, y-axis, and z-axis coordinates of the fourth designated position in the warehouse.
  • the fourth designated location is an aisle location in front of the inventory location of the storage area.
  • the difference between the third specified position coordinate and the second stored position coordinate there is a difference between the third specified position coordinate and the second stored position coordinate, and a difference exists between the fourth specified position coordinate and the second pre-position position coordinate.
  • the difference between the x-axis and the y-axis between the third specified position coordinate and the second stored position coordinate is a fixed value, and the difference of the z-axis is a change value.
  • the difference between the x-axis and the y-axis between the fourth specified position coordinate and the second pre-position position coordinate is a fixed value, and the difference of the z-axis is a change value.
  • the third specified location information, the second stored location information of the replenished pallet, the fourth designated location information, and the second pre-placement location information of the replenished pallet may be a tray, inventory A position number of a bit or a temporary storage location, the position number corresponding to the X-axis, Y-axis, and Z-axis coordinates.
  • Step S511 moving the mobile device to the third designated location based on the third designated location information.
  • the mobile device after receiving the tray return information, the mobile device moves to a third designated location based on the third specified location information in the tray replacement information, and at this time, the movable device Positioning unit performs positioning to obtain positioning information, where the positioning information includes x-axis coordinates and y-axis coordinates of the position of the movable device at this time, and compares the positioning information with the third specified position coordinates and according to the ratio
  • the process of adjusting the position of the movable device to the result may be performed within the control unit of the mobile device or in the control center. .
  • Step S512 adjusting the position of the grasping mechanism based on the difference between the coordinates of the third designated position and the coordinates of the second stored position.
  • the shelf of the replenishment station in which the replenished pallet is loaded includes a plurality of temporary storage locations.
  • the tray position information further includes a z-axis coordinate of the replenished tray, and a difference between the coordinates of the third designated position and the coordinates of the second stored position is reflected in the axial direction as the grasping mechanism The difference between the height and the height of the pallet that is completed by the replenishment.
  • the movable device adjusts the position of the gripping mechanism based on the difference. Specifically, the initial state of the grasping mechanism is opposite to the moving direction of the movable device, and when the position of the grasping mechanism is started to be adjusted, the grasping mechanism is first rotated by 90 degrees to the tray that is facing the replenishment. The direction is then controlled to raise or lower the gripping mechanism to reach the height position of the replenished pallet.
  • Step S513 acquiring the position information of the grasping mechanism, comparing the position information of the grasping mechanism with the information of the second stored position, and matching the acquired position information of the picking mechanism with the second stored position information At the time, the picking mechanism is controlled to obtain a tray for replenishment completion.
  • the capture mechanism location information is obtained, and the height information in the second stored location information is compared, and when the acquired capture mechanism location information matches the height information, the control is performed.
  • the grasping mechanism is extended to take the replenished tray out of the temporary storage position of the replenishing station and put it back into the storage unit of the movable device.
  • the comparison may be performed by the control unit of the movable device, or may be performed by the control center.
  • step S514 the second tray acquisition signal is fed back.
  • the movable device takes out the replenished pallet from the temporary storage position of the replenishing station and puts it into the storage unit of the movable device, feeds back the second tray obtaining signal to the control center.
  • the movable device feeds back the tray in the tray acquisition information, that is, feeds the tray acquisition signal to the control center.
  • the movable device obtains a tray in the tray acquisition information, and feeds back a tray acquisition signal to the control center to continue The next tray is acquired based on the next tray acquisition information until all the trays in the plurality of tray acquisition information in which the tray is placed back into the information are taken out and then proceeds to the next step.
  • Step S515 moving the mobile device to the fourth designated location based on the fourth designated location information.
  • the movable device moves to the fourth designated position based on the fourth specified position information in the tray return information, and the Positioning unit of the mobile device performs positioning to obtain positioning information, where the positioning information includes x-axis coordinates and y-axis coordinates of the position of the movable device at this time, and compares the positioning information with the fourth specified position coordinates.
  • the process of adjusting and adjusting the position of the movable device according to the comparison result may be performed in a control unit of the movable device or in the control center.
  • Step S516 adjusting the position of the grasping mechanism based on the difference between the coordinates of the fourth designated position and the coordinates of the second pre-positioned position.
  • the shelf of the storage area includes a plurality of inventory units, and each inventory unit includes a plurality of inventory locations.
  • the second pre-position position information further includes z-axis coordinates of the storage area inventory bit, and the difference between the coordinates of the fourth designated position and the coordinates of the second pre-position position is expressed in the z-axis direction. The difference between the height of the gripping mechanism and the height of the storage area of the storage area. When the movable device moves to the fourth designated position, the gripping mechanism takes out the replenished tray from the storage unit and adjusts the gripping mechanism position based on the difference.
  • the initial state of the grasping mechanism is to face the moving direction of the movable device, and when the position of the grasping mechanism is started to be adjusted, firstly, the grasping mechanism is rotated by 90 degrees to a direction facing the preset placing position. And then controlling the gripping mechanism to rise or fall to reach the height position of the preset placement position.
  • Step S517 acquiring the position information of the grasping mechanism, comparing the position information of the grasping mechanism with the information of the second pre-placement position, and matching the acquired position information of the picking mechanism with the information of the second pre-placed position When the gripping mechanism is controlled to put the tray back.
  • the position information of the grasping mechanism is obtained, and the height information in the second pre-position position information is compared, and the acquired position information of the grasping mechanism and the second pre-position information are
  • the grasping mechanism is controlled to extend, and the replenishing tray on the gripping mechanism is placed in the preset placement position, that is, in the stock position of the storage area.
  • the comparison may be performed by the control unit of the movable device, or may be performed by the control center.
  • step S5128 the feedback tray returns the signal.
  • the movable device takes out the replenished tray from the storage unit and puts it into the stock position of the storage area, the signal returned by the tray is fed back to the control center.
  • the movable device returns the tray in the tray placement information, that is, returns the tray to the control center. signal.
  • the movable device returns the tray in one tray placement information, and returns the tray to the control center.
  • the signal continues to place the next tray back based on the next tray placement information until all of the trays in the plurality of tray placement information in the tray are placed back into the information.
  • the first stored position coordinates of the to-be-replenished tray are (50, 50, 5)
  • the waiting The coordinates of the aisle position in front of the stock level of the storage area in which the replenishment tray is located are (51, 50, 0)
  • the coordinates of the first designated position are (51, 50, 0).
  • the coordinates of the temporary storage location of the replenishment station for replenishing the to-be-replenished pallet are (10, 10, 8), and the coordinates of the first pre-displacement position are (10, 10, 8),
  • the coordinates of the aisle position in front of the temporary storage station of the replenishment station are (11, 10, 0), and the coordinates of the second specified position are (11, 10, 0).
  • the mobile device After receiving the tray replenishment command, the mobile device goes to the first designated position (51, 50, 0), and after reaching the first designated position, the coordinates of the grabbing mechanism is (51, 50, 0).
  • the grasping mechanism and the to-be-replenished tray have a distance on the x-axis and the z-axis, so the grasping mechanism rotates 90 degrees in the direction of the to-be-replenished tray, and then rises up 5 units to reach the to-be-replenished After the height of the pallet is extended, the first stored position (50, 50, 5) of the pallet to be replenished is reached. After reaching the position, the gripping mechanism takes out the replenishing pallet and puts it back. In the storage unit of the mobile device.
  • the movable device After obtaining the to-be-replenished pallet, the movable device goes to the temporary storage position of the replenishing station to replenish the to-be-replenished pallet, and first reaches the second designated position (11, 10, 0), and after the arrival, the grabbing The taking mechanism takes out the to-be-replenished tray from the storage unit. At this time, the gripping mechanism coordinates are (11, 10, 0), and the grabbing mechanism and the temporary storage position exist on the x-axis and the z-axis.
  • the grasping mechanism first rotates the tray to be replenished to the temporary storage position by 90 degrees, and then lifts up to 8 unit lengths to reach the height of the temporary storage position, and then elongates to reach the The first pre-positioning position (10, 10, 8), after reaching the position, the grasping mechanism puts the to-be-replenished tray into the temporary storage position and retracts.
  • the process of obtaining the replenished pallet and returning it to the storage location of the storage area is similar to the process of obtaining the replenishment pallet and sending it to the temporary storage station of the replenishment station.
  • a method for comparing the gripping mechanism position information with the first stored position information and controlling the grasping mechanism to obtain the to-be-replenished pallet including the following steps:
  • Step S521 acquiring the position information of the grabbing mechanism.
  • obtaining the gripping mechanism position information may obtain the height of the gripping mechanism by obtaining the amount of rotation of the motor that drives the gripping mechanism to adjust the position to obtain the gripping mechanism position information.
  • each layer of the shelf is provided with a positioning identifier, and the position information of the grasping mechanism can be determined by identifying the positioning identifier.
  • Step S522 comparing the grabbing mechanism location information with the first stored location information in the mobile device.
  • the mobile device inputs the acquired grasping mechanism position information and the first stored position information into a control unit of the movable device, and the control unit positions the grasping mechanism The information is compared with the height information in the first stored location information. If the grasping mechanism location information matches the height information, the control unit outputs a tray acquisition command.
  • Step S523 when the acquired grasping mechanism position information matches the first stored position information, the grasping mechanism is controlled to obtain the to-be-replenished tray.
  • the control unit When the acquired gripping mechanism position information matches the first stored position information, the control unit outputs a tray obtaining command, controls the grasping mechanism to extend, and takes out the stock of the rack to be replenished. The bit is placed back into the storage unit of the removable device.
  • another method for comparing the gripping mechanism position information with the first stored position information, and controlling the grasping mechanism to obtain the to-be-replenished pallet.
  • the method includes the following steps:
  • Step S531 acquiring the position information of the grabbing mechanism.
  • obtaining the gripping mechanism position information may obtain the height of the gripping mechanism by obtaining the amount of rotation of the motor that drives the gripping mechanism to adjust the position to obtain the gripping mechanism position information.
  • each layer of the shelf is provided with a positioning identifier, and the position information of the grasping mechanism can be determined by identifying the positioning identifier.
  • Step S532 feeding the gripping device position information to the control center, so that the control center compares with the first stored location information, and generates a tray obtaining command.
  • the mobile device feeds back the acquired gripping device position information to the control center, and the control center compares the grasping mechanism position information with the height information in the first stored location information. And, if the gripping mechanism position information matches the height information, the control center generates a tray obtaining command and sends the same to the mobile device.
  • Step S533 receiving a tray acquisition command sent by the control center.
  • the mobile device receives a tray acquisition command sent by the control center.
  • Step S534 controlling the grasping mechanism to obtain the to-be-replenished pallet.
  • the movable device controls the grasping mechanism to extend, and takes the to-be-replenished tray out of the inventory position of the shelf and puts it back into the movable In the storage unit of the device.
  • a replenishment method comprising the steps of:
  • Step S541 Acquire inventory information of the storage area, and generate an inventory shortage signal based on the inventory information.
  • the control center when each cargo is stored in the storage area, the control center receives the signal, and the control center counts each time the signal is received, thereby obtaining the quantity of the deposited goods in the storage area;
  • the control center also receives a signal, and each time the signal is received, the control center counts to obtain the quantity of the sorted goods. Therefore, by subtracting the quantity of goods stored in the storage area from the quantity of goods picked up, the quantity of the existing goods in the warehouse can be obtained, that is, the inventory information.
  • the control center generates an inventory shortage signal when the amount of existing goods in the warehouse is below a predetermined threshold.
  • Step S542 sending a pallet replenishment command to the mobile device based on the insufficient inventory signal, and controlling the mobile device to perform pallet replenishment.
  • the tray replenishment command is sent to the mobile device based on the insufficient inventory signal, and the mobile device is controlled to replenish the to-be-replenished pallet in the storage area.
  • Step S543 receiving a first tray acquisition signal and a tray arrival signal fed back by the mobile device.
  • the movable device after the control center sends the tray replenishment command to the movable device, the movable device performs the tray replenishment command, when the movable device stores the to-be-replenished tray from the storage When the inventory bit of the zone is taken out and placed in the storage unit of the removable device, the movable device feeds back the first tray acquisition signal to the control center. When the movable device takes out the to-be-replenished tray from the storage unit of the removable device and places it in the temporary storage location of the replenishing station, the movable device feeds back the tray arrival signal to the control center. The control center receives the first tray acquisition signal and the tray arrival signal.
  • Step S544 sending a replenishment command based on the tray arrival signal.
  • the control center when the to-be-replenished pallet is placed in the temporary storage position of the replenishing station, the control center receives the feedback pallet arrival signal, and at this time, the control center goes to the replenishing station. Sending a replenishment order, instructing the staff of the replenishment station to place the goods in the to-be-replenished pallet.
  • Step S545 receiving a replenishment completion signal.
  • the staff of the replenishing station after receiving the replenishment order, puts the goods into the to-be-replenished pallet, and sends the replenishment completion signal to the control center after being placed, and controls The center receives the replenishment completion signal.
  • Step S546 sending a tray return command to the mobile device based on the replenishment completion signal.
  • the control center after receiving the replenishment completion signal, the control center sends a tray return command to the mobile device, and controls the mobile device to put the replenished pallet back into the storage location of the storage area.
  • Step S547 receiving a second tray acquisition signal and a tray return signal fed back by the mobile device.
  • the control center sends a tray return command to the mobile device, in the process of executing the command, when the mobile device replenishes the completed tray from the replenishing station
  • the movable device feeds back the second tray acquisition signal to the control center.
  • the mobile device takes the replenished pallet out of the storage unit and puts it back into the inventory of the storage area
  • the movable device feeds back the tray return signal to the control center.
  • the second tray acquisition signal and the tray return signal are received in the control.
  • an execution end of a replenishment system including: a first receiving module 502, a first moving module 504, a first adjusting module 506, and a first tray obtaining control module 508.
  • the two tray acquisition control module 526, the third feedback module 528, the fourth movement module 530, the fourth adjustment module 532, the tray return control module 534 and the fourth feedback module 536 wherein:
  • the first receiving module 502 is configured to receive a pallet replenishment command, where the pallet replenishment command includes pallet replenishment information, where the pallet replenishment information includes first designated location information, and first stored location information of the to-be-replenished pallet And second designated position information and first pre-placement position information of the to-be-replenished pallet;
  • a first moving module 504 configured to move the mobile device to the first specified location based on the first specified location information
  • a first adjustment module 506, configured to adjust a position of the grabbing mechanism based on a difference between the first specified position coordinate and the first stored position coordinate;
  • a first tray acquisition control module 508 configured to acquire the position information of the grasping mechanism, compare the position information of the grasping mechanism with the first stored position information, and obtain the position information of the grasping mechanism and the first Controlling, by the grasping mechanism, the to-be-replenished tray when a stored location information is matched;
  • a first feedback module 510 configured to feed back a tray acquisition signal
  • a second moving module 512 configured to move the mobile device to the second designated location based on the second specified location information
  • a second adjustment module 514 configured to adjust a position of the grasping mechanism based on a difference between coordinates of the second designated position and coordinates of the first pre-positioned position;
  • a tray arrival control module 516 configured to acquire the position information of the grasping mechanism, compare the position information of the grasping mechanism with the information of the first pre-placement position, and obtain the position information of the grasping mechanism and the first pre-preparation When the placement position information is matched, the grasping mechanism is controlled to place the to-be-replenished tray to the first pre-release position;
  • the second feedback module 518 is configured to feed back the tray arrival signal.
  • the second receiving module 520 is configured to receive a tray return command, the tray return command includes a tray returning information, where the tray returning information includes a third specified location information, and a second stored location of the replenished pallet Information, fourth designated location information, and second pre-placement location information of the replenished pallet;
  • a third mobile module 522 configured to move the mobile device to the third designated location based on the third designated location information
  • a third adjustment module 524 configured to adjust a position of the grasping mechanism based on a difference between coordinates of the third designated position and coordinates of the second stored position;
  • a second tray acquisition control module 526 configured to acquire the position information of the grasping mechanism, compare the position information of the grasping mechanism with the information of the second stored position, and obtain the position information of the grasping mechanism and the first When the two stored location information matches, the picking mechanism is controlled to obtain a tray for completing the replenishment;
  • a third feedback module 528 configured to feed back a second tray acquisition signal
  • a fourth mobile module 530 configured to move the mobile device to the fourth designated location based on the fourth designated location information
  • a fourth adjustment module 532 configured to adjust a position of the grasping mechanism based on a difference between coordinates of the fourth designated position and coordinates of the second pre-positioned position;
  • the tray return control module 534 is configured to acquire the position information of the grasping mechanism, compare the position information of the grasping mechanism with the second pre-placement position information of the second pre-position position information, and obtain the position of the grasping mechanism When the information matches the second pre-position position information and the second pre-position position information, the grasping mechanism is controlled to put the tray back;
  • the fourth feedback module 536 is configured to feed back the tray return signal.
  • a control terminal of a replenishment system including an acquisition module 800, a first command sending module 810, a third receiving module 820, a second command sending module 830, and a fourth.
  • the receiving module 840, the third command sending module 850, and the fifth receiving module 860 wherein:
  • the obtaining module 800 is configured to acquire inventory information of the storage area, and generate an inventory shortage signal based on the inventory information;
  • the first command sending module 810 is configured to send a pallet replenishment command to the mobile device based on the insufficient inventory signal, and control the mobile device to perform pallet replenishment;
  • a third receiving module 820 configured to receive a first tray acquisition signal and a tray arrival signal fed back by the mobile device
  • a second command sending module 830 configured to send a replenishment command based on the pallet arrival signal
  • a fourth receiving module 840 configured to receive a replenishment completion signal
  • the third command sending module 850 is configured to send a tray return command to the mobile device based on the replenishment completion signal
  • the fifth receiving module 860 is configured to receive a second tray obtaining signal and a tray putting back signal fed back by the movable device.
  • the warehouse in the order fulfillment system sets the location identifier on the tray, so the mobile device can obtain its own location information through the location identifier and eliminate the posture information according to the location information.
  • the error between the position information and the standard position of the user, which accurately positions the movable device and the goods, improves the stability and reliability of the operation of the entire order completion system, and the warehouse and the order fulfillment system using the above warehouse have Wide application prospects.
  • the workstation station is set in the intermediate cooperation area, and the workstation station can set the at least one shelf on the side of the picking work area, so that the workstation station can interact with multiple mobile devices, thereby improving the workstation platform.
  • Work efficiency The present invention provides an order fulfillment system using the above workstation station with relatively high work efficiency.
  • the movable device in the order fulfillment system can make the movable device grasp the goods by side insertion by setting the telescopic drive unit and the fork unit, and the movable device does not need to turn or rotate in place, thereby saving
  • the width of the aisle and the arrangement of the warehouse are more compact, which improves the utilization rate of the warehouse, shortens the distance of the goods, and improves the efficiency of the goods.
  • the system and method of the present invention enables the mobile device to transport only the goods required for the order from the storage area to the picking station when picking the goods, thereby greatly reducing the workload of the mobile device, and the mobile device will place the order. After the goods are placed at the picking station, they can leave directly to take off one item, which improves the efficiency of picking.
  • the system and method of the present invention acquires the amount of deviation between the grasping mechanism and the tray when the tray is taken by the grasping mechanism, and adjusts the moving distance, the telescopic distance of the grasping mechanism, and the grasping mechanism according to the amount of deviation.
  • the rotation angle corrects the amount of deviation.
  • the system and method of the present invention further determines whether the delivery vehicle corresponding to the order information has arrived at the picking station and whether the corresponding goods of the order have arrived at the picking station by receiving the order information, if all have arrived at the picking station. , the corresponding order information is displayed, and the temporary storage unit where the corresponding goods are located is displayed on the shelf. Through the order information displayed on the large screen and prompting the goods in the order in the shelf temporary storage unit, the picking efficiency can be improved, and the use of paper orders can be saved through electronic display, thereby further saving resources.
  • the system and device of the present invention receives the picking station information through the movable device, moves the movable device to the picking station position corresponding to the picking station information, acquires the current position information of the movable device, and obtains the current position information and The picking station information is compared. When they are consistent, the picking system mobile terminal stops at the current position and waits for picking. When the single completion area information is received, move to the order completion area to package the order. By replacing the manual handling with the mobile terminal of the picking system, human resources are saved, and the order completion efficiency is further improved.
  • the system and method of the present invention returns the tray left at the picking station to the original position or to another position in the storage area after completing the picking of an order, thereby avoiding the temporary storage position of the picking station being filled.
  • the system and method of the present invention utilizes a movable device to send an empty pallet to a replenishment position, and then returns the replenished pallet to the corresponding replenishment position instead of the manual replenishment method, thereby greatly reducing the cost. It also improves the replenishment efficiency.

Abstract

本申请提供一种订单完成系统，包括仓库、运输订单的料车、运输料车的可移动装置、运输货物的可移动设备以及控制中心，其中，仓库包括订单准备区、高频拣货区、低频拣货区以及中间协作区，订单准备区用于将订单与运输订单的料车关联，将携带订单的料车与运输货物的可移动装置关联，高频拣货区用于供携带订单的料车拣货，低频拣货区用于供运输货物的可移动设备拣货，中间协作区用于供运输货物的可移动设备将拣取的货物放入、以及用于供料车停靠并将运输货物的可移动设备放入的货物放入料车，控制中心用于控制运输订单的料车、运输货物的可移动装置以及中间协作区进行工作。本发明还涉及一种订单完成方法。。

Description

一种订单完成系统和方法
相关申请
本申请要求2017年7月11日申请的，申请号为201710562402.4，名称为“一种订单完成系统和方法”的中国专利申请的优先权，在此将其全文引入作为参考。
技术领域
本发明属于仓储拣货技术领域，尤其涉及一种订单完成系统和方法。
背景技术
随着电子商务的发展，大型、超大型的仓库不断建设并投入使用，面对每天大量的订单，如何实现仓库内高效、准确、及时地拣货，已成为影响订单处理、发货速度的重要因素，尤其是存货种类多、数量大、拣货频次高的仓库，科学、高效的拣货方法将直接决定仓库的使用效率和发货速度。
电商仓库为了尽快完成消费者下发的采购订单的处理，需要尽快把消费者购买的货物从仓库内拣出、包装、发货，传统模式下的拣货耗时、费力。
传统电商仓库拣货采用的方法有：1.“摘果+播种”式：多个订单合并成一个拣货单，拣货人员根据拣货单一次性拣取所有货物(摘果)，拣出的货物是混在一起的，需要再经过分拨处理，把混在一起的多种货物按照订单分配到包装箱中(播种)。2.“摘果”式：部分电商仓库直接采取摘果式，包装箱在拣货开始前对应好订单，多个包装箱放置到一台特殊的料车上，拣货人员推动料车在仓库内寻找货物并拣出，拣出的货物直接放进对应的包装箱中，此模式不需要再经过分拨处理，但因料车及货物较重，从事此工作的拣货人员劳动强度大。
传统的“货到人”模式其实是“货架到人”，即：可移动设备将存储有待拣货物的整个可移动货架移动到人附近。传统模式下，每次拣货，都需要可移动设备从存储区将货架搬出，完成拣货后整个货架再放回，可移动设备一次穿梭通常只能完成一个或少量几个货物的拣出。这种传统拣货模式效率低下、增加了设备能耗和磨损从而提高了维护保养成本。
因此，本领域的技术人员致力于开发一种减少人工、降低劳动强度并提高效率的仓储拣货拣货方法。本发明借助自动化设备辅助实现订单拣选工作，既节省人力又降低了劳动强度。本发明为解决传统“货到人”模式效率较低的问题，改进为“货箱到人”的模式：货物存储在小型货箱或托盘中，可移动设备根据后台系统的调度，每次“针对性地”拿取多个小型货箱或托盘，送到拣货站。本发明使用的可移动设备在存储区到拣货站的一次穿梭中可以运送多个待拣货物，效率能够有明显的提高。
发明内容
针对上述问题，本申请提供一种能够提升效率的订单完成系统。
本申请提供一种订单完成系统，包括仓库、运输订单的料车、运输料车的可移动装置、运输货物的可移动设备以及控制中心，其中，所述仓库包括订单准备区、高频拣货区、低频拣货区以及中间协作区，所述订单准备区用于将订单与所述运输订单的料车关联，将携带订单的料车与所述运输货物的可移动装置关联，所述高频拣货区用于供携带订单的料车拣货，所述低频拣货区用于供运输货物的可移动设备拣货，所述中间协作区用于供运输货物的可移动设备将拣取的货物放入、以及用于供料车停靠并将运输货物的可移动设备放入的货物放入料车，所述控制中心用于控制运输订单的料车、运输货物的可移动装置以及中间协作区进行工作。
本发明还提供一种订单完成方法，包括以下步骤：包括以下步骤：
在订单准备区将订单与料车绑定、以将料车与运输货物的可移动装置绑定；
将料车运输至高频拣货区拣货；
运输货物的可移动设备在低频拣货区拣货，并将货物送至中间协作区的工作站台；以及
拣货站对订单信息进行提示，根据提示将货物放入料车对应的包装箱内。
相对现有技术而言，本发明的订单完成系统及方法，能够提高订单完成效率。
附图说明
图1提供一种订单完成系统；
图2图1中仓库的局部结构示意图；
图3为图2所述仓库中存货单元及托盘的结构示意图；
图4为本发明一个实施方式中中间站台的结构示意图；
图5为本发明一个实施方式中料车的结构示意图；
图6为图5所示料车与运输料车的可移动装置对接后的结构示意图；
图7为本发明提供的可移动设备在仓库中工作的示意图；
图8图7中的可移动设备的结构示意图；
图9为本发明提供的可移动设备的侧视图；
图10为本发明提供的抓取机构的结构示意图；
图11为本发明提供的抓取机构的侧视图；
图12为本发明提供的图11中A处的放大图；
图13为本发明提供的行程放大组件的结构示意图；
图14为本发明提供的可移动设备的工作状态示意图；
图15为本发明提供的可移动设备的另一工作状态示意图；
图16为一个实施例中拣货方法的流程示意图；
图17为一个实施例中将抓取机构位置信息与所述已存储位置信息进行比对，控制所述抓取机构取货的方法的流程示意图；
图18为另一实施例中将抓取机构位置信息与所述已存储位置信息进行比对，控制所述抓取机构取货的方法的流程示意图；
图19为一个实施例中拣货装置的示意图；
图20为一个实施例中托盘偏差校正方法的流程示意图；
图21为一个实施例中获取偏差量的方法的流程示意图；
图22为一个实施例中校正偏差量的方法的流程示意图；
图23为一个实施例中校正X轴偏差的方法的流程示意图；
图24为一个实施例中校正Y轴偏差的方法的流程示意图；
图25为一个实施例中托盘偏差校正装置的结构框图；
图26为一个实施例中偏差量计算模块的结构框图；
图27为一个实施例中调度方法的流程示意图；
图28为一个实施例中前往相应的拣货站位置的方法流程示意图；
图29为一个实施例中当前位置与拣货站位置匹配的方法流程示意图；
图30为另一个实施例中当前位置与拣货站位置匹配的方法流程示意图；
图31为一个实施例中调度装置的结构框图；
图32为一个实施例中拣货提示方法的流程示意图；
图33为一个实施例中根据订单信息进行提示的方法流程示意图；
图34为另一个实施例中根据订单信息进行提示的方法流程示意图；
图35为另一个实施例中拣货提示方法的流程示意图；
图36为一个实施例中拣货提示装置的结构框图；
图37为一个实施例中提示模块的结构框图；
图38为一个实施例中托盘取回方法的流程示意图；
图39为一个实施例中将抓取机构位置信息与所述已存储位置信息进行比对，控制所述抓取机构取得所述待取回托盘的方法的流程示意图；
图40为一个实施例中将抓取机构位置信息与所述已存储位置信息进行比对，控制所述抓取机构取得所述待取回托盘的方法的流程示意图；
图41为一个实施例中托盘取回方法的流程示意图；
图42为一个实施例中托盘取回系统执行端的示意图；
图43为一个实施例中托盘取回系统控制端的示意图；
图44为一个实施例中补货方法的流程示意图；
图45为一个实施例中将抓取机构位置信息与所述第一已存储位置信息进行比对，控制所述抓取机构取得所述待补货托 盘的方法的流程示意图；
图46为一个实施例中将抓取机构位置信息与所述第一已存储位置信息进行比对，控制所述抓取机构取得所述待补货托盘的方法的流程示意图；
图47为一个实施例中补货方法的流程示意图；
图48为一个实施例中补货系统执行端的示意图；
图49为一个实施例中补货系统控制端的示意图。
具体实施方式
下面将对本申请实施方式中的技术方案进行清楚、完整地描述，显然，所描述的实施方式仅仅是本申请一部分实施方式，而不是全部的实施方式。基于本申请中的实施方式，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其它实施方式，都属于本申请保护的范围。
请参阅图1，本发明实施例中提供一种订单完成系统100，用于处理订单，该订单完成系统100包括仓库、运输订单的料车、运输货物的可移动装置、运输货物的可移动设备以及控制中心。其中，仓库包括订单准备区、高频拣货区、低频拣货区、中间协作区、补货区以及订单完成区。为了表述方便，运输货物的可移动装置命名为小车，运输货物的可移动设备命名为可移动设备。
需要说明的是，订单准备区用于将订单与运输订单的料车关联，简单地说就是将接到的订单与料车关联，使料车获取运输订单内的货物的任务，然后料车在通过高频拣货区、中间协作区后将需要的货物装载到料车上的包装箱内，然后前往订单完成区，在订单完成区对包装箱进行封装，完成接到的订单。可以理解，同一个料车可以同时与多个订单关联，多个订单可以相同也可以不同。料车与订单关联确切的来说是订单与料车上的存储位关联，该关联的具体原理为；料车一般有多层，每一层都有多个存储位，每个存储位在料车上的具体位置为已知值，均存储在控制中心中，每个存储位都设有标示符，以便于控制中心提示操作人员订单在料车上的位置，标示符例如为数字、指示灯等；终控系统在发出订单信息至订单准备区时，订单准备区的工作人员将订单打印出来，订单上均有条码或二维码，通过条码或者二维码反映出订单内货物的名称、规格、数量，同时还可以通过条码或者二维码与料车的存储位绑定。进一步地，订单首先会粘贴在用于装载订单内货物的包装箱上，然后将包装箱放入料车上的存储位，然后在通过扫码设备等操作终端将订单与存储为绑定。在料车与订单绑定后，料车具体是通过一种小车来运输的，该小车能够与料车通过对接机构对接，可以理解，对接机构一部分设置在小车上，另一部分设置在料车上，对接机构的两个部分可以对接在一起也可以分开。料车在与小车对接后，该小车与料车上的订单也会进行绑定，控制中心通过控制小车的运作，来移动料车。
高频拣货区内储存订单需要频次较高的货物，通常是通过人跟随料车进入高频区，将货物直接放入对应的包装箱内，完成高频区拣货。
低频拣货区内存储订单需求频次较低的货物，订单中所需要的货物与低频拣货区内的货物对应时，该货物会通过可移动设备拣取，然后通过可以移动设备运输到中间协作区，然后例如通过工作人员，将该货物放入对应料车的对应包装箱内。为了表述方便，以下将运输货物的可移动设备直接描述为可移动设备。可以理解，高频拣货区与低频拣货区的概念仅仅是用于对仓库进行划分，其目的是为了体现出仓库存在两个区域，一个区域可以将货物直接装入料车上的包装箱，另一区域通过可移动设备将货物从该区域拣出，然后送往中间协作区并通过该设备将货物放在中间协作区，中间协作区的操作人员根据提示将货物放入料车上的对应包装箱内。具体地，中间协作区例如设置多个拣货站，该拣货站会有供料车停靠的停靠位置，以及用来放置货物的货柜，货柜能够满足多个可移动设备同时将货物放入该货柜，或者将该货柜内的货物取出。拣货站内例如还设有提示设备、扫描设备等操作终端，该提示设备例如被配置为在与订单对应的货物到达，以及与订单对应的料车到达，控制系统开启提示设备进行提示，提示的内容例如为货物名称、数量、图片等。扫描设备等操作终端用于在订单完成后扫码，以反馈信号给控制中心，使小车进行下一步动作。
补货区用于向低频拣货区内补货，可以理解，低频拣货区内的货物在被可移动设备拣取后，低频拣货区内的货物会相应地减少，当低频拣货区内的任意一种货物下降到阈值后，可移动设备前往补货区拣取对应的货物，然后将货物补入低频拣货区。
订单完成区，用于在料车到达该区域后，对料车上的包装箱进行卸载、包装以及封装等工作，完成整个订单。
控制中心用于发出指令给运输料车的小车、可移动设备以及中间协作区，使小车、可移动设备以及中间协作区协作完成订单所需货物的装箱以及运输，并接收小车、可移动设备、中间协作区以及订单完成区的反馈信号，以控制可移动设备、小车、中间协作区以及订单完成区进行下一步作动。
请一并参阅图2，图2提供一种仓库10，仓库10应用于订单完成系统100中并用于存储货物，仓库10内设置有多个 工作站台30。工作站台30可以为拣货站，也可以为理货站及补货站。拣货站用以供操作人员对照订单信息，理货站用以供操作人员整理货物，补货站用以供操作人员补充货物。下面以拣货站为实施对象，描述具体实施方式。
可移动设备在低频拣货区内的交互频次相对较低，在高频拣货区内的交互频次相对较高。订单准备区生成订单信息后，可移动设备在低频拣货区内拣出目标货物，拣出的目标货物在仓库10内的工作站台30处完成与订单信息的确认，当在工作站台30内工作的拣货员确认目标货物符合订单信息后，目标货物通过料车运送至订单完成区实现货物的封装打包。
仓库10中存放的货物可以由订单完成系统100中配设的可移动设备搬运至预设的目标位置处，该预设的目标位置可以是仓库10中用以确认订单信息的工作站台30，也可以是除工作站台30之外的其他站点。
可以理解，本发明提供的仓库10并不限于仅能够应用于基于智能物流技术的订单完成系统100中。在其他的实施方式中，仓库10还可以应用于传统物流系统中的仓储，只要货物能够存储至仓库10内的使用环境均可应用本发明提供的仓库10。
用以供拣货的多个可移动设备在仓库10内工作，仓库10布设于一个三维坐标系内，该三维坐标系具有在水平面内互相垂直的X轴及Y轴、以及与X轴及Y轴均垂直的Z轴，仓库包括沿平行于三维坐标系中的X轴方向间隔地排列的多簇货架11，每簇货架11均沿着沿平行于三维坐标系中的Y轴方向延伸，相邻的两簇货架11之间形成供所述可移动设备穿梭的过道12，过道12沿平行于Y轴方向延伸，每簇货架11包括两列背向设置的货架11，每列货架都具有沿平行于Y轴方向和Z轴方向行列排布的多个存储格13，部分存储格13内设置有用以承载货物的托盘14，余下部分的存储格13空置，托盘14上设置有用以确定自身在三维坐标系中的位置信息的定位标志141。
需要说明的是，仓库10内的任意一个位置处的坐标在上述三维坐标系中都是已知的，即仓库10在布置上述元件后，每一个元件在上述三维坐标系的位置坐标已知，并且上述元件的坐标会存储在订单完成系统的终控端。换句话说，也就是终控端知道在该三维坐标系中，在一个特定地坐标位置，仓库10内设置一个特定的元件。例如在X轴坐标值为1，Y轴坐标值为(2，8)的这个区间内，放置了一列货架11，在X轴坐标值为1，Y轴坐标值至为2，Z轴坐标值为2.3的位置是该列货架11的一个存储格13。可以理解的是，虽然每个存储格13都有长度和宽度和高度，在确定存储格13的具体位置时，X轴坐标值为1指的是存储格13的长度中点的坐标，Y轴坐标值为2指的是存储格13的宽度中点的坐标，Z轴坐标值为2，3指的是存储格13的高度中点的坐标，可以进一步理解的是，虽然每列货架11都长度和宽度以及高度，X轴坐标值指的是该列货架11的宽度中点，Y轴坐标值为(2，8)指的是该货架11的两端的坐标。
另外，对仓库10中每个定位标志141和存储格13都设定一个位置坐标，所述位置坐标与所述每个定位标志141和存储格13的X轴、Y轴和Z轴坐标相对应。
对于可移动设备(运输货物的可移动设备)而言，可移动设备上带有叉齿机构，叉齿机构能够相对可移动设备运动，插接机构具有侧叉功能，所谓的侧叉指的是叉齿机构能够在与可移动设备移动方向垂直的水平方向上运动，叉齿机构在可移动设备上的水平面内的初始位置确定，相对该初始位置，叉齿机构在与可移动设备移动方向垂直的水平方向上运动的距离是定值，另外叉齿机构也能够直叉，相对侧叉而言，直叉是相对能够侧叉位置旋转了90°，直叉的方向与可移动设备的移动方向相同，并且相对初始位置，直叉时叉齿相对可移动设备移动的距离为定值。可移动设备在仓库内的位置任意一位置的坐标是已知值，具体原理为，仓库10的地面上铺设有地标，该地标例如为二维码，可以通过地标确定仓库10的任意一位置在三维坐标系的X轴上坐标值以及Y轴上的坐标值，通过该任意一位置所在的高度确定出在三维坐标系的Z轴上的坐标值。更具体地，可移动设备上具体设有寻迹传感器，用于获取地标信息，进而确定其自身在三维坐标系中的水平坐标，虽然可移动设备有长度宽度和高度，在具体设置时，可以取可移动设备的中心来标定可移动设备的坐标，即寻迹传感器可以确定出可移动设备的X轴坐标和Y轴坐标，可移动设备的中心高度是已知值，即确定出可移动式的Z轴坐标，而叉齿机构在可移动设备上的相对位置是确定的，这样就可以确定出叉齿机构在三维坐标系中的X轴向和Y轴向坐标，叉齿机构在直叉和侧叉时候的运动距离是定值，将叉齿的侧叉与直叉时的运动距离与三维坐标系关联，即可确定出叉齿机构在直叉和侧叉时，叉齿机构的坐标变化量(具体为X轴坐标和Y轴坐标)，进一步地，叉齿机构能够在可移动设备上升降，叉齿机构例如位于最低点时，该位置为叉齿机构在竖直方向上的初始位置，竖直方向的位置的位置坐标，也就是Z轴坐标，也可以通过测量得到，叉齿机构上升和下降的距离即反应出Z轴坐标变化，将叉齿机构升高到指定高度该高度会和待取出货物的高度匹配，使叉齿机构能够取出货物，然后通过侧插或者直叉取出待取出货物。
对于运输货物的可移动装置而言，其只需通过自身安装的寻迹传感器来寻找自身在三维坐标系中的X轴坐标和Y轴坐标即可。其原理与上述过程相似，在此不再赘述。
对于仓库10内的其他元件的位置坐标的定义，也参照上述方式，在此不再赘述。
需要进一步说明的是，由于托盘14是可移动设备抓取货物的媒介，可移动设备在抓取货物后需要将货物运送到指定位置，所以在托盘14被抓取后放置到指定位置后托盘14的坐标会重新建立，该重建过程详见下述。
每一簇货架11包括两排后侧面相互抵持并相背设置的多个货架11，两排货架11的后侧面相互抵持使得每一排货架11的开口都能够朝外，从而方便可移动设备拣出设置于货架11上的货物。可以理解，最外侧的两簇货架11仅需要设置一列货架11。
本实施方式中，货架11的数量为二十一簇。可以理解，在其他的实施方式中，货架11的数量还可以采用除二十一簇之外的其他数量。
每两簇相邻的货架11间隔设置并形成的过道12能够允许可移动设备通过。可以理解，由于多簇货架11相互平行排列，多个过道12之间也相互平行排列。可移动设备在过道12内穿梭移动并达到指定的存储格13，其在控制中心的信号指引下取下指定存储格13上的货物。
可移动设备在订单完成系统中控制中心的信号指引下，通过过道12穿梭至需要搬运的存储格13处，将存放于存储格13内的货物搬运至工作站台30内，从而实现订单完成系统中对货物的拣货过程。
多簇平行排列的货架11组成一个存储区111，存储区111的数量可以是多个，多个存储区111之间间隔设置并形成沿平行于X轴方向延伸的干道15。过道12为“单车道”，过道12的宽度仅允许一个可移动设备沿平行于Y轴方向直线移动，这里的直线移动指的是可移动设备无法在过道12内转弯；干道15为“双车道”，干道15的宽度允许多个可移动设备沿平行于X轴方向相对地移动，这里的相对移动指的是多个可移动设备可以在干道15内以相反的两个方向移动。
干道15的开设，使得可移动设备可以通过横向设置的干道15快速到达需要拣货的过道12内，避免可移动设备出现必须在仓库10最外侧周向环绕才可以到达拣货过道12的绕道行为。
请一并参阅图3，图3为图2所述仓库10中存储格13及托盘14的结构示意图，存储格13用以存放货物，货架11具有沿平行于X轴方向和Z轴方向延伸的多个存储格13，每一个存储格13内放置一个货物。
货物可以由托盘14承载，托盘14可以均具有多个支撑腿，此时多个支撑腿支撑托盘14上与货物直接接触的承重板，从而使得货物与存储格13的层板并不直接接触。因此可移动设备中用以拣货的叉齿能够伸入多个支撑腿形成的空间内，方便可移动设备将货物取出。
当然，托盘14的承重板也可以直接承载货物，此时可移动设备的叉齿伸入托盘14与存储格13之间的缝隙从而搬运货物。
货架11中的存储格13并不全部都装设有托盘14，部分存货单元的存储格13内空置，空置的存储格13用以供订单完成系统中的补货系统补充货物。
存储格13的长度、宽度以及高度需要与货物的尺寸匹配，也即存储格13的长度需要大于货物的长度、存储格13的宽度需要大于货物的宽度、存储格13的高度需要大于货物的高度。
托盘14上设有用以供可移动设备定位的定位标识141，托盘14上设置的定位标识141能够定位可移动设备的位置。当可移动设备移动至指定存储格13上的托盘14处，可移动设备通过定位标识141获取自身位置与标准位置之间的误差，可移动设备通过姿态调节的方式补偿该误差后再搬运指定货物。这里所指的自身位置与标准位置之间的误差，是指可移动设备上的叉齿与标准位置之间的偏差，包括叉齿高于标准位置、叉齿低于标准位置等多种情况。
本实施方式中，定位标识141采用二维码的形式，可移动设备拍摄托盘14上的二维码并以二维码所在的位置为标准位置，可移动设备同时获得自身位置与标准位置之间的误差；同时，可移动设备根据自身位置与标准位置之间的误差，调节自身的姿态，从而消除该误差。
可以理解，在其他的实施方式中，定位标识141还可以采用传感器、凹槽、凸块以及其它的图案。
托盘14是可移动设备抓取货物的媒介，可移动设备在抓取货物后需要将货物运送到指定位置，所以在托盘14被抓取后放置到指定位置后托盘14的坐标会重新建立。在建立托盘14的坐标时，订单完成系统会向指定位置派送补充的货物，指定位置的坐标在三维坐标系内已知，当可移动设备将货物设置于托盘14内时，可移动设备感知托盘14上的定位标识141与自身位置的偏差，此时可移动设备将指定位置的坐标与托盘14的坐标绑定发送至控制中心，也即此时指定位置的坐标即是当前托盘14的坐标，从而完成对托盘14坐标的重新建立。
由于可移动设备可向两侧出叉拣货，因此可移动设备无需转弯或者原地转动，过道12的宽度仅需要不小于1.1倍的可移动设备的宽度，过道12的宽度在可移动设备的宽度的1.1倍与1.3倍之间，可移动设备的宽度需要不小于1.5倍货物宽度，可移动设备的长度则需要不小于2.5倍的货物宽度。
优选地，过道12的宽度为1.1倍的可移动设备的宽度。
例如，货物宽度600mm，则可移动设备的宽度可以为900mm，可移动设备的长度可以为1500mm，过道12宽度可以为1080mm。
由于可移动设备无需转弯或者原地转动，多簇货架11之间所形成的过道12的宽度大幅度下降，因此提高了多簇 货架11之间的密度，提高了仓库的利用率和整个订单完成系统的工作效率。
拣货站30的数量至少为一个，每个拣货站30至少对接一簇货架11，也即每个拣货站30会对应部分数量的托盘14。优选地，拣货站30优选地以就近原则的方式对接与自身临近的一簇或者多簇货架11，每个拣货站30优选地对应200个至3000个所述托盘。当拣货站30的数量为多个时，拣货站30沿平行于三维坐标系中的X轴方向间隔排列。
本实施方式中，工作站台30的数量为六个，每一个工作站台30对接多簇货架11。
请参阅图4，图4为本发明一个实施方式中工作站台30的结构示意图，工作站台30应用于图示所述的订单完成系统中，用于将供拣货员将所述订单完成系统中存储于仓库内的货物对照检查为满足订单需求的货箱，满足订单需求的货箱在拣货员的检查后运送至订单完成区完成打包过程。
可以理解，本发明提供的工作站台30并不限于仅能够应用于上述的订单完成系统中。在其他的实施方式中，工作站台30还可以应用于其他的订单完成系统或者传统物流系统的订单信息确认的过程中。
工作站台30包括一个拣货工作区域31、至少一个货架32以及至少一个料车停靠位33，货架32与料车停靠位33均设置在拣货工作区域31的侧边，货架21围设于拣货工作区域31的至少两个侧边上，货架32内设置有多个暂存位321，
货架32允许多个可移动设备将拣出的货物搬运至暂存位321内，拣货工作区域31用以供拣货员对照订单信息，货架32内的暂存位321用以暂时性的存储由可移动设备拣出的待拣货员对照的货物，料车停靠位33用以供订单完成系统将拣货员对照确认后的货物搬运至订单完成区打包送出。
本实施方式中，拣货工作区域31大致呈方形，货架32以及料车停靠位33均位于方形拣货工作区域31的一个侧边处，将拣货工作区域31设置为方形能够与订单完成系统中行列排布的可移动设备相配适，避免增加可移动设备需要转变姿态才可以停靠在货架32。
可以理解，在其他的实施方式中，拣货工作区域31还可以设置为除方形之外的其他形状，只要拣货工作区域31的形状不干扰货架32以及料车停靠位33的正常运转即可。
货架32沿订单完成系统的Z轴向排列有多个暂存位321，货架32的数量可以是一个，也可以是多个，货架32可以沿订单完成系统的X轴向设置，也可以沿订单完成系统的Y轴向设置。
本实施方式中，货架32沿直线设置，沿直线设置的货架32的数量为三个，两个货架32中的多个暂存位321沿订单完成系统的Y轴向和Z轴向延伸排列，一个货架32中的多个暂存位321沿订单完成系统的X轴向和Z轴向延伸排列，三个货架32分别位于拣货工作区域31的三个侧边处并使得拣货工作区域31具有一个料车停靠位33，三个货架32中的每一个都可以与一个可移动设备配设，这使得工作站台30能够与三个可移动设备交互，这减少了拣货员等待可移动设备将拣出的货物搬运至暂存位321内的时间甚至消除了拣货员的等待时间，提高了工作站台的工作效率。
可以理解，在其他的实施方式中，沿直线设置的货架32的数量也可以是两个，两个沿直线设置的货架32能够允许两个可移动设备独立工作，也提高了工作站台30的工作效率。
当然，货架32也可以设置为一个，货架32可以设置为“U”形或“C”形，也即货架32围住拣货工作区域31的三个侧边，使得货架32可以同时与三个可移动设备交互；货架32也可以设置为“L”形，也即货架32围住拣货工作区域31的两个相邻侧边，此时料车停靠位33为两个，货架32可以同时与两个可移动设备交互。此外，货架32也可以设置为直线形，此时货架32的长度适当延长，以允许多个可移动设备独立地同时工作。
由于货架32的设置，可移动设备可以按照多个角度停靠或离开拣货工作区域31设置有货架32的侧边处，可移动设备与工作站台30交互时的姿态限制具有更多的活动程度，也即可移动设备能够以多角度进出工作站台30，可移动设备可以以多个角度与工作站台30交互并执行自身的搬运工作。
货架32的总高度优选地与拣货员的身高匹配，以便于拣货员执行工作操作。每一个货架32上设置多个暂存位321，部分的暂存位321内暂时存储着由可移动设备搬运来的待拣货员确认的货物，余下部分的暂存位321空置，以待可移动设备继续将需要确认订单信息的货物搬运并存储。
如果货架32具有三层及三层以上的层数，与拣货员临近的便于拣货员执行工作操作的第一层与第二层可以作为拣货员的直接工作区域，而与拣货员相对较远的其他层可以作为二级缓冲区域。当直接工作区域内的暂存位321空置时，可移动设备可以将已经存放于二级缓冲区域内的暂存位321的待确认货物搬运至货架32的直接工作区域内，二级缓冲区域作为待确认货物搬运至直接工作区域时的缓冲，能够随时向直接工作区域内不断地提供待确认的货物，从而减少了拣货员寻找待确认货物的时间，提高了拣货效率。
当工作站台30为拣货站时，工作站台30还可以设置拣货提示设备(图未示)，所述拣货提示设备用以提示需要拣货员对照确认的订单信息。拣货员获取拣货提示设备提示的订单信息，并对照该订单信息确认货架32上的待检货物是否符合订单信息的要求，若该订单信息与货物相符，拣货员会将已经确认完毕的货物搬运至料车停靠位33处，以供订单完成 系统将对照确认后的货物搬运至订单完成区打包送出。
请一并参阅图5及图6，图5为本发明一个实施方式中料车331的结构示意图，图6为图5所示料车331与驱动料车331运动的可移动装置332对接后的结构示意图，料车停靠位33处停靠有用以承载拣货员确认完毕无误后货物的料车331，料车331由可移动装置332驱动运动，料车331将拣货员确认完毕无误后的货物搬运至订单完成系统中的订单完成区，从而供订单完成区将货物打包封装。
料车331可以设置一层，也可以设置多层。本实施方式中，料车331优选为3层。
拣货提示设备可以包括显示器(图未示)，该显示器用以显示供拣货员确认的订单信息，所述订单信息包括但不限于货物名称、货物的数量以及货物的图片。货物名称为当前订单中所有货物的名称，货物的数量为每一种货物所对应的个数，货物的图片为每一种货物所对应的图片。
拣货员对照显示器上显示的订单信息逐个确认暂存位321内的货物是否符合订单的要求，若货物符合订单的要求，那么可移动装置332会在订单完成系统的控制中心的信息指引下驱动承载着货物的料车331移动至订单完成系统的订单完成区，以供货物打包封装。
拣货提示设备还可以包括指示灯以控制指示灯显示状态的按钮，指示灯用以指示货物的检测对照状态，指示灯的不同显示状态指示了拣货员对货物的不同检测状态，按钮用以供拣货员在对照确认后切换指示灯的显示状态，从而改变指示灯对货物检测状态的标识。
例如，指示灯可以在按钮的切换作用下在闪烁与常亮之间变换，当货物需要拣货员对照订单信息进行确认时，指示灯可以闪烁；而当拣货员完成对货物的对照确认后，拣货员操作按钮将指示灯的显示状态切换为常亮，从而指标该暂存位321处的货物已经完成确认。
当然，指示灯的显示状态并不限于仅为上述的闪烁与常亮，还可以包括常暗以及颜色的不同设置等，例如：每种指示灯的颜色可以代表空闲、当前要拣、当前要补、补货中、错误等多种状态；指示灯还可以通过颜色、亮度、明灭或者闪烁频率等其他方式区别所述第一状态与所述第二状态，完成订单确认以及等待订单确认的状态只需要在上述方式中择一即可，只要用以显示订单确认完毕的指示灯的第一状态以及显示订单待确认的指示灯的第二状态不同即可。
上述的按钮还有操作可移动设备将拣货员已经确认完毕后的货物搬运至料车331处的功能，当拣货员按下按钮操作当前暂存位321内的货物符合订单信息的要求后，可移动设备可以在控制中心的指引下降当前暂存位321内符合订单信息的货物搬运至料车331处。
工作站台30还可以包括操作终端(图未示)，该操作终端可以为扫码设备，拣货员可以通过该扫码设备扫描货物上的条码，从而协助拣货员确认货物的种类时候正确；当货物确认无误后，拣货员还可以通过该扫码设备扫描贴设于货物包装箱上的订单，从而实现对订单信息的录入。
可以理解，在其他的实施方式中，操作终端还可以是除扫码设备之外的其他装置。
请结合参阅图7-图15，本发明提供一种可移动设备200，所述可移动设备200应用于仓库10，用以抓取和搬运待搬运物，所述仓库10包括多个拣货站(图未示)、多排货架11，所述仓库10内配备有控制中心(图未示)，在所述仓库内构建X、Y、Z三维坐标系，所述仓库内铺设有定位标识，多排所述货架11间隔地设于所述仓库10内，相邻的两排所述货架11之间形成供所述可移动设备200通过的通道12，所述拣货站、所述货架11上设有待搬运物14；所述控制中心用以发送指令，控制所述可移动设备200在所述仓库10内移动并与所述拣货站、货架11或者可移动设备200本身进行交互，实现拣货站及货架11上待搬运物14的自动抓取及自动搬运在本实施例中，所述待搬运物14上可以是托盘，也可以是货箱或者货物。当然，所述托盘上也可以存放货物或货箱，也可以为空托盘。
所述可移动设备200包括主体21、与所述主体21连接的抓取机构22以及处理单元(图未示)，所述主体21能够移动，所述抓取机构22用以抓取和搬运待搬运物14，所述处理单元用以与所述控制中心交互，并接收所述控制中心所发送指令，控制所述主体21移动以及抓取机构22抓取和搬运待搬运物14。当然，在其他实施例中，所述处理单元独立运行，并由所述处理单元独立发送指令，控制所述主体21移动以及抓取机构22抓取和搬运待搬运物14。
所述主体21包括驱动单元210、存储单元220及定位单元(图未示)，所述驱动单元210用以实现所述可移动设备200的移动功能，所述存储单元220设于所述驱动单元210上，用以存放所述待搬运物14，所述定位单元设于所述驱动单元210上，用以与所述定位标识配合以获取所述可移动设备200当前的位置信息。所述抓取机构22设于所述存储单元220上用以抓取和搬运待搬运物14。在这里，需要解释的是，所述抓取机构22抓取和搬运的待搬运物14可以是，所述抓取机构22从所述货站、货架上抓取，也可以是所述抓取机构22从存储单元220上抓取。
所述驱动单元210包括底盘框架211、驱动轮212、驱动电机(图未示)及，所述驱动电机设于所述底盘框架211内，所述驱动轮212安装于所述底盘框架211上，并与所述驱动电机连接。所述驱动电机驱动所述驱动轮212运动，以实现 所述可移动设备的前进、后退、转弯以及原地旋转等运动。
具体地，所述驱动轮212至少具有两个，且两个所述驱动轮212对称地安装于所述底盘框架11两侧。所述驱动电机的数量可以与所述驱动轮212的数量匹配，每个所述驱动轮212可由与之匹配的驱动电机驱动运动，即每个所述驱动轮212由单独的驱动电机驱动，以使所述可移动设备200的运动更加灵活。
所述驱动电机为伺服电机或者其他类型的电机。所述控制中心或者可移动设备200发送指令，所述可移动设备200上的处理单元接收指令，并将该指令传输给所述驱动单元210，所述驱动电机接收指令，并驱动所述驱动轮212使所述可移动设备200移动。
存储单元220包括支柱221及隔板222，所述支柱221的数量具有多根，多根所述支柱221竖直地设于所述底盘框架211。优选地，多根所述支柱221以阵列等方式竖直地即沿Z轴方向设于所述底盘框架11上，例如，所述支柱221的数量为三根，三根所述支柱221可以以三角形排布的方式设于所述底盘框架11上；又如，所述支柱221的数量为四根，四根所述支柱221可以以四边形排布的方式设于所述底盘框架11上。所述隔板222与所述支柱221连接，所述隔板222用以分隔所述存储单元220的空间，以形成存储所述待搬运物14的移动货架223。优选地，所述隔板222可以为整面平板或具有镂空或隔断。
所述定位单元设于所述底盘框架211的底部，所述定位单元为视觉传感器或者射频传感器，当所述可移动设备200移动到指定位置时，所述定位单元与所述定位标识配合，以获取所述定位标识的位置，即获取指定位置的X坐标以及Y坐标值，并将该位置信息反馈给所述可移动设备200的处理单元，从而所述可移动设备200将该位置信息反馈给所述控制中心，以确定所述可移动设备200的到达该指定位置。
所述抓取机构22能够相对所述主体21运动，所述抓取机构22包括升降单元240、旋转单元250、伸缩驱动单元260、叉齿单元270以及图像采集单元280，所述升降单元240安装于所述存储单元220上，所述旋转单元250安装于所述升降单元240上，并在所述升降单元24的作用下沿所述主体的竖直方向升降运动，所述伸缩驱动单元260及所述叉齿单元270设于旋转单元250上，并在所述旋转单元250的作用下作旋转运动，所述伸缩驱动单元260与所述叉齿单元270连接，用以驱动所述叉齿单元270运动，所述叉齿单元270用以抓取待搬运物14，从而将待搬运物14从拣货站、货架11抓取放入所述存储单元220上，或者，将所述待搬运物14从所述存储单元220上取下放入所述拣货站、货架11上。所述图像采集单元280用以采集所述叉齿单元270上待搬运物14的位姿。
升降单元240包括第三驱动件(图未示)、安装板241及导轨(图未示)，所述导轨沿所述支柱221的长度方向设于所述支柱221上，所述安装板241安装于所述导轨上，所述旋转单元250安装于所述安装板241上，所述第三驱动件与所述安装板241直接或者间接连接，以驱动所述安装板241沿所述导轨运动，从而实现所述旋转单元250的升降，即实现所述伸缩驱动单元260、叉齿单元270以及图像采集单元280整体升降。
进一步地，所述第三驱动件上设有与所述第三驱动件联动的编码器(图未示)，所述编码器用以计算所述第三驱动件旋转的圈数，并将计算的圈数反馈给所述处理单元，所述处理单元根据所述反馈值以控制所述第三驱动件的启停，进而控制所述安装板241沿所述导轨升降的高度，以实现所述伸缩驱动单元260、叉齿单元270以及图像采集单元280的整体升降到指定位置，并通过所述叉齿单元270抓取和搬运待搬运物。
具体地，所述叉齿单元270的初始高度在所述三维坐标系内已知，所述待搬运物的三维坐标已知，从而当所述可移动设备到达所述仓库内的指定位置后，所述控制中心给所述可移动设备200的处理单元发送所需升降的高度的指令，所述处理单元接收所述指令，并通过所述编码器计算所述第三驱动件需要旋转的圈数，从而控制所述安装板241沿所述导轨升降的指定的高度，以使所述叉齿单元270升降至指定的高度抓取和搬运待搬运物。
当然，在其他实施例中，所述升降单元240不限于上述所描述的结构，还可以为其他机构，例如，所述升降单元240为皮带轮机构、链条机构等。
进一步地，所述安装板241包括安装于所述导轨上的滑块2411，以及设于所述滑块2411上定位板2412，所述旋转单元250安装于所述定位板2412上。
所述旋转单元250包括第二驱动件251及转盘252，所述第二驱动件251安装于所述安装板241上，所述转盘252转动地安装于所述安装板241上并与所述第二驱动件251连接，所述第二驱动件251驱动所述转盘252转动一定角度，以将所述通道12两侧货架11上的待搬运物14抓取，放入所述的存储单元220上，或者将所述移动货架225上的待搬运物14抓取放入所述通道12两侧货架11上。所述伸缩驱动单元260、所述叉齿单元270以及所述图像采集单元280均安装于所述转盘252上，并能够随所述转盘252转动，从而，当所述转盘252转动时，能够使所述伸缩驱动单元260、所述叉齿单元270以及所述图像采集单元280整体转动。
进一步地，所述转盘252转动的角度由所述可移动设备200或者所述控制中心决定，所述可移动设备200或者所 述控制中心发送旋转指令，所述第二驱动件251接收所述旋转指令，并驱动所述转盘252旋转到指定角度。优选地，所述第二驱动件251可以为伺服电机或者其他类型的电机。
优选地，所述第二驱动件251上设有与所述第二驱动件251联动的编码器(图未示)，所述编码器用以计算所述第二驱动件251旋转的圈数，并将计算的圈数反馈给所述处理单元，所述处理单元根据所述反馈值以控制所述第二驱动件251的启停，从而控制所述转盘252转动的角度，以使所述伸缩驱动单元260、所述叉齿单元270以及所述图像采集单元280能旋转指定角度，并使所述叉齿单元270正对所述搬运物。
所述伸缩驱动单元260包括第一驱动件261、齿轮262以及齿条263，所述第一驱动件261上设有输出轴(图未示)，所述第一驱动件261安装于所述叉齿单元270上，所述齿轮262安装于所述输出轴，所述齿条263与所述叉齿单元270连接且所述齿条263与所述齿轮262齿合。所述第一驱动件261带动所述齿轮262转动，从而使所述齿条263在所述齿条263垂直于所述立柱221所在的平面，即在X0Y平面上运动，从而带动所述叉齿单元270运动。
所述第一驱动件261可以为伺服电机或者其他类型的电机。所述伸缩驱动单元260的运动行程由所述可移动设备200或者所述控制中心决定，即所述齿条263的运动行程由可移动设备200或者所述控制中心决定，所述可移动设备200或者所述控制中心发送运动指令，从而控制所述第一驱动件261转动，以使所述齿条263的运动。
优选地，所述第一驱动件261上设有与所述第一驱动件261联动的编码器(图未示)，所述编码器用以计算所述第一驱动件261旋转的圈数，并将计算的圈数反馈给所述处理单元，所述处理单元根据所述反馈值以控制所述第一驱动件261的启停，从而控制所述齿轮262转动的圈数，以使所述齿条263运动至指定位置，从而使所述叉齿单元270运动到指定位置，以进行搬运物的抓取和搬运。
当然，在其他实施例中，所述伸缩驱动单元260还可以为其他伸缩驱动单元，例如可以直接为电机。
所述叉齿单元270为折叠式叉齿单元，所述叉齿单元270包括固定架271、第一叉齿272以及第二叉齿273，所述固定架271固定在所述转盘252并随所述转盘252的转动而转动，所述第一叉齿272安装于所述固定架271上与所述齿条263固定连接，并且并能够相对所述固定架271运动，优选地，所述齿条263带动所述第一叉齿272在X0Y平面上运动运动，所述第二叉齿273用以抓取所述待搬运物14，第二叉齿273与所述第一叉齿272连接并能够在所述第一叉齿272相对所述固定架271运动时相对所述第一叉齿272在X0Y平面内运动。
具体地，所述固定架271可以由两块大致呈“矩形”且互相平行设置的固定板2711构成，两块所述固定板2711固定于所述转盘252上且两块所述固定板2711的高度一致，两块所述固定板2711之间形成安装空间，所述齿轮262以及齿条263位于所述安装空间内。所述第一叉齿272大致呈“矩形”。所述第二叉齿273大致呈“矩形”，所述第二叉齿273与所述第一叉齿272平行设置。进一步地，所述第二叉齿273上开设有让位槽273a，所述让位槽273a用以避让所述图像采集单元280的位置，以使所述图像采集单元280能够采集位于所述第二叉齿273上待搬运物的位姿信息。
进一步地，所述第一叉齿272与所述第二叉齿273以及所述固定架271之间通过连接组件274连接，所述连接组件274用以在所述第一叉齿272相对所述固定架271运动时，带动所述第二叉齿273相对所述第一叉齿271运动。
优选地，所述连接组件274为行程放大组件，所述行程放大组件能够在所述伸缩驱动单元260驱动所述第一叉齿272运动时，使所述第二叉齿273的运动行程大于所述第一叉齿272相对所述固定架11的运动行程。在本实施例中，所述行程放大组件274使得所述第一叉齿272相对所述固定架11的运动行程与所述第一叉齿272相对所述固定架11的运动行程呈正比关系。在这里，所述第一叉齿272相对所述固定架11的运动行程与所述第一叉齿272相对所述固定架11运动行程的比例系数为K，所述K可以为2、3或者其他数值。当然，其K的具体数值可以根据实际的情况而设定。在本实施例中，例如，当所述K＝2，所述第一叉齿272的行程量为300mm，那么所述第二叉齿273的行程量为600mm。从上述的描述可知，设置行程放大组件274能够增大所述第二叉齿273的行程，从而减少整个所述27叉齿单元270的尺寸以节约空间。
具体地，述行程放大组件包括第一滑轮2741、第一拉绳2742、第二滑轮2743以及第二拉绳2744，所述第一滑轮2741固定于所述第一叉齿272上，所述第一拉绳2742的一端固定于所述固定架271，另一端绕于所述第一滑轮2741并固定于所述第二叉齿273，所述第二滑轮2743固定于所述第一叉齿272上，所述第二拉绳2744的一端固定于所述第二叉齿273，另一端绕于所述第二滑轮2743并固定于所述固定架271。优选地，所述第一滑轮2741中心与所述第二滑轮2743的中心在同一平面上。
当所述第二叉齿273伸出时，所述齿条263带动所述第一叉齿272伸出，此时，所述第一滑轮2741作为主动轮，所述第二滑轮2743作为从动轮，所述第一拉绳2742拉动所述第二叉齿273伸出以放大所述第二叉齿273伸长量。当所述第二叉齿273回缩时，所述齿条263带动所述第一叉齿272回缩，此时，所述第二滑轮2743作为主动轮，所述第一滑轮2741作为从动轮，所述第二拉绳2744拉动所述第二叉齿273回缩以放大所述第二叉齿273回缩量。
优选地，所述第一滑轮2741为定滑轮，所述第二滑轮2743也为定滑轮。
在其他实施例中，所述行程放大组件不限于上述所描述的结构，所述行程放大组件还可以采用其他机构来实现，例如棘轮组件等。
进一步地，所述固定架271与所述第一叉齿272之间设有用以导向所述第一叉齿272运动的第一导向结构275；所述第一叉齿272与所述第二叉齿273之间设有用以导向所述第二叉齿273运动的第二导向结构276。
具体地，所述第一导向结构275包括设于所述固定架271上的第一导向轮275a以及开设于所述第一叉齿272上的第一导向槽275b，所述第一导向轮275a与所述第一导向槽275b适配，所述第一导向轮275a能够沿所述第一导向槽275b滑动；所述第二导向结构276包括设于所述第二叉齿273上的第二导向轮276a以及开设于所述第一叉齿272上的第二导向槽276b，所述第二导向轮276a与所述第二导向槽276b适配，所述第二导向轮276a能够沿所述第二导向槽276b滑动。优选地，所述第一导向槽275b、所述第二导向槽276b均沿所述第一叉齿272的长度方向开设。
当然，在其他实施例中，第一导向结构275、所述第二导向结构276不限于为上述所述描述的结构。所述第一导向结构275、所述第二导向结构276还可以其采用他结构来实现，例如采用导轨、滑块结构。
所述图像采集单元280为视觉传感器或射频传感器。在使用的过程中，当所述第二叉齿273伸出抓取待搬运物，所述待搬运物随所述第二叉齿273回缩复位，所述图像采集单元280将此时所述第二叉齿273上的待搬运物的位姿图像进行采集，并将采集到的位姿图像传输给所述处理单元，并由所述处理单元传输给所述控制中心，所述控制中心或所述处理单元将得到的待搬运物位姿图像与待搬运物的标准位姿图像进行比较，以判断所述待搬运物在所述第二叉齿273的位姿是否有偏差，从而以便于校正该偏差。在这里，所述偏差包括X轴偏差、Y轴偏差、角度偏差。而具体的偏差校正方法以及原理详见下述。
下面阐述所述可移动设备200的使用过程：
所述可移动设备200通过叉齿单元270将过道两侧的货架11上的待搬运物14搬运/抓取到所述存储单元220上的过程如下：
首先，所述可移动设备200从所述过道12移动到指定货架11侧面；所述叉齿单元270位于初始位置，所述升降单元240带动所述旋转单元250、所述伸缩驱动单元260上升至指定的第一高度，使所述叉齿单元270正对所述货架11上的指定待搬运物14，所述伸缩驱动单元260带动所述第二叉齿273伸长至指定待搬运物14的下方；所述升降单元240继续上升，使所述待搬运物14的底部与所述第二叉齿273接触并抬起；所述伸缩驱动单元260带动所述第二叉齿273回缩，使得所述第一叉齿272与所述第二叉齿273折叠在一起，使得所述待搬运物14同时回缩；
然后，所述升降单元240带动所述旋转单元250、所述伸缩驱动单元260上升至指定的第二高度；所述旋转单元250旋转至指定的第一角度，使所述叉齿单元270正对所述存储单元220；所述伸缩驱动单元260带动所述第二叉齿273伸长，并带动所述待搬运物14共同移动到存储单元220；所述升降单元240下降，使所述待搬运物14的底部与所述第二叉齿273脱离；所述伸缩驱动单元260带动所述第二叉齿273回缩，从而实现将过道两侧的货架11上的待搬运物14搬运/抓取到所述存储单元220上。
所述可移动设备200通过叉齿单元270将所述存储单元220上的待搬运物14搬运/抓取到所述过道两侧的货架11上的过程如下：
首先，所述可移动设备200从所述过道移动到指定货架11侧面；升降单元240带动所述旋转单元250、所述伸缩驱动单元260上升至指定的第二高度，所述旋转单元250旋转至指定的第一角度，使所述叉齿单元270正对所述存储单元220上的指定待搬运物14；所述伸缩驱动单元260带动所述第二叉齿273伸长至指定待搬运物14的下方；所述升降单元240继续上升，使所述待搬运物14的底部与所述第二叉齿273接触并抬起；所述伸缩驱动单元260带动所述第二叉齿273回缩，使得所述待搬运物14同时回缩；
然后，所述升降单元240带动所述旋转单元250、所述伸缩驱动单元260上升至指定的第一高度，使所述叉齿单元270正对所述货架11，所述伸缩驱动单元260带动所述第二叉齿273伸长，并带动所述待搬运物14共同移动到所述货架11，所述升降单元240下降，使所述待搬运物14的底部与所述第二叉齿273脱离；所述伸缩驱动单元260带动所述第二叉齿273回缩与所述第一叉齿272折叠在一起，从而实现将所述存储单元220上的待搬运物14搬运及抓取到所述过道两侧的货架11。
本发明还提供一种订单完成方法包括以下步骤：
步骤1：在订单准备区将订单与料车绑定，将料车与运输货物的可移动装置绑定，以将订单与运输货物的可移动装置绑定，并发出订单信息至运输货物的可移动设备。该过程与上述订单准备区的工作方法相同在此不再赘述。
步骤2：将料车运输至高频拣货区拣货。即将订单信息中的货物装入对应的包装箱中。
步骤3：运输货物的可移动设备在低频拣货区拣货，并将货物送至中间协作区的工作站台，该工作站台具体为拣 货站。该过程与步骤2同步进行。
步骤4：拣货站对订单信息进行提示，工作人员根据提示将货物放入料车对应的包装箱内，同时料通过扫面设备等操作终端反馈订单内货物已完成拣选的信号。
步骤5：将料车运输到订单完成区，在订单完成区将料车中的包装箱卸下以及打包封装。
可以理解，位于低频拣货区的货物均容置在对应的托盘或者小型货箱内，上述运输货物的可移动设备在获取货物时，都是通过获取与货物对应的托盘或者小型货箱来获取的，在货物拿取过程中，可移动设备会多次对同一个托盘或者小型货箱来获取对应的货物，这样在货物被多次拿取过程中，托盘或者小型货箱的放置位置容易偏离预定放置位置，这样容易导致下一次拿取时无法拿取托盘或者小型货箱，或者拿取的托盘或者小型货箱容易掉落。本发明的订单完成方法还包括对货物进行校正的步骤。
拣货站内的货物被拣选后，托盘或者小型货箱让然停留在拣货站内，占用拣货站的存储空间，需要将托盘或者小型货箱从拣货站拣出并送到其他区域，故本发明的订单完成方法还包括将已经被拣选的货物移动至其他区域(例如低频拣货区或者其他拣货站)的步骤。
低频拣货区的货物被拣选后，货物容量下降，因此本发明的订单完成方法还包括对低频区的货物进行补货的步骤。
需要说明的，本发明的订单完成方法的步骤的顺序不限于此，只要利用上述步骤，实现将订单完成即可。
具体地，请参阅图图16-图18，本发明还提供一种拣货方法，该接货方法应用在可移动设备上，以供可移动设备在低频拣货区拣货，通过该拣货方法，可移动设备能够完成本发明的步骤3，可以理解，该拣货方法不限定可移动设备在低频拣货区拣货，只要能够通过可移动设备拣货区域均可以利用本方法，该拣货方法包括以下步骤：
步骤S111，接收拣货命令，所述拣货命令中包括拣货信息，所述拣货信息包括第一指定位置信息、待拣货物的已存储位置信息、第二指定位置信息和待拣货物的预放位置信息。
在本实施例中，控制中心接收到订单后向所述可移动设备发送拣货命令，所述拣货命令中包括拣货信息，所述拣货信息中包括第一指定位置信息、待拣货物的已存储位置信息、第二指定位置信息和待拣货物的预放位置信息。在本实施例中，所述待拣货物的已存储位置信息包括具体一货物在存储区中的位置坐标，即订单所需货物在仓库内的X轴、Y轴和Z轴坐标。在本实施例中，所述待拣货物的预放位置信息包括一个位置坐标，具体地，所述预放位置信息包括一个拣货站的暂存单元坐标，即所述拣货站的暂存单元在仓库内的X轴、Y轴、Z轴坐标，所述可移动设备取货之后基于所述预放位置信息将货物放到对应拣货站的暂存单元中。
在本实施例中，所述拣货信息包括一个取货信息和一个放货信息，所述取货信息包括第一指定位置信息和待拣货物的已存储位置信息，所述放货信息包括第二指定位置信息和待拣货物的预放位置信息。
在其它实施例中，所述拣货信息包括多个取货信息和多个放货信息，每个取货信息和放货信息一一对应，每个取货信息中包括一个指定位置信息和一个待拣货物的已存储位置信息，每个放货信息中包括一个指定位置信息和一个待拣货物的预放位置信息。
在本实施例中，所述第一指定位置信息包括与所述已存储位置信息相应的一个位置坐标，即所述第一指定位置在仓库内的X轴、Y轴、Z轴坐标。具体地，所述第一指定位置即为所述货物位于的货架的存货位前方的过道位置。
在本实施例中，所述第二指定位置信息包括与所述预放位置信息相应的一个位置坐标，即所述第二指定位置在仓库内的X轴、Y轴、Z轴坐标。具体地，所述第二指定位置即为所述拣货站的暂存单元前方的过道位置。
具体地，所述第一指定位置坐标与所述已存储位置坐标之间存在差值，所述第二指定位置坐标与所述预防位置坐标之间存在差值。所述第一指定位置坐标与所述已存储位置坐标之间的X轴与Y轴的差值为固定值，Z轴的差值为变化值。所述第二指定位置坐标与所述预防位置坐标之间的X轴与Y轴的差值为固定值，Z轴的差值为变化值。
在其它实施例中，所述第一指定位置信息、待拣货物的已存储位置信息、第二指定位置信息和待拣货物的预放位置信息可以为货物、存货位或暂存单元的位置编号，所述位置编号与所述X轴、Y轴和Z轴坐标相对应。
在本实施例中，所述货物装在托盘中，取货与放货的过程即为取得托盘与放下托盘的过程。
步骤S112，基于所述第一指定位置信息移动可移动设备到第一指定位置。
在本实施例中，所述可移动设备接收所述拣货信息后，基于所述拣货信息中的第一指定位置信息，移动到第一指定位置，此时所述可移动设备的定位单元进行定位，获取定位信息，定位信息中包含所述可移动设备此时所在位置的X轴坐标和Y轴坐标，并与所述第一指定位置坐标进行比对，若相匹配，则进入下一步骤。若所述定位信息与所述第一指定位置坐标不相匹配，则所述可移动设备继续移动，并定位，并进行比对，直至到达指定位置。具体地，所述第一指定位置即为所述货物位于的货架的存货位前方的过道位置。
在其它实施例中，所述可移动设备接收所述拣货信息后，基于所述拣货信息中的第一指定位置信息，移动到第一 指定位置，此时所述可移动设备的定位单元进行定位，获取定位信息，定位信息中包含所述可移动设备此时所在位置的X轴坐标和Y轴坐标，并将所述定位信息反馈给控制中心，所述控制中心将所述定位信息与所述第一指定位置坐标进行比对，若相匹配，则所述控制中心给所述可移动设备发送调整抓取机构的命令，所述可移动设备接收所述命令后进入下一步骤。若所述定位信息与所述第一指定位置坐标不相匹配，则所述可移动设备继续移动，并定位，并进行比对，直至到达指定位置。
步骤S113，基于所述第一指定位置的坐标和所述已存储位置的坐标之间的差值调整抓取机构位置。
在本实施例中，装有所述货物的货架包括多层存货位。所述已存储位置信息还包括货物的Z轴坐标，所述第一指定位置坐标与所述已存储位置坐标之间的差值在Z轴方向上的体现为所述抓取机构高度与所述货物高度的差值。所述可移动设备基于所述差值调整抓取机构位置。具体地，所述抓取机构初始状态为正对所述可移动设备移动方向，开始调整抓取机构位置时，先控制所述抓取机构旋转90度至正对所述货物的方向，然后控制所述抓取机构上升或下降以达到所述货物的高度位置。
在本实施例中，所述抓取机构为叉齿。
步骤S114，获取抓取机构位置信息，将抓取机构位置信息与所述已存储位置信息进行比对，当获取的所述抓取机构位置信息与所述已存储位置信息相匹配时，控制所述抓取机构取货。
在本实施例中，获取抓取机构位置信息，与所述已存储位置信息中的高度信息进行比对，当获取的所述抓取机构位置信息与所述高度信息相匹配时，控制所述抓取机构伸出，将货物取出货架的存储位并放回到所述可移动设备的存储单元中。
在本实施例中，获取抓取机构位置信息可以通过获取驱动抓取机构上升或下降的电机的转动量来获得所述抓取机构上升或下降的高度，以获得抓取机构位置信息。在其它实施例中，所述货架每层设置有定位标识，可以通过识别所述定位标识来确定所述抓取机构的位置信息。
具体地，可以通过所述可移动设备的控制单元进行比对，也可以通过控制中心进行比对。
步骤S115，反馈取货完成信号。
具体地，当所述可移动设备将货物从所述货架的存货位中取出，放回到所述可移动设备的存储单元中时，向所述控制中心反馈取货完成的信号。在本实施例中，所述取货完成信号还包括所述货物在所述可移动设备的存储单元中的位置信息。
在所述拣货信息包括一个取货信息和一个放货信息的实施例中，所述可移动设备取得所述取货信息中的货物后，即向所述控制中心反馈取货完成信号。
在所述拣货信息包括多个取货信息和多个放货信息的实施例中，所述可移动设备取得一个取货信息中的货物后，向所述控制中心反馈取货完成信号，继续基于下一取货信息取得下一货物，直至将所述拣货信息中的多个取货信息中的货物全部取完再进入下一步骤。
步骤S116，基于所述第二指定位置信息移动可移动设备到第二指定位置。
在本实施例中，所述可移动设备将货物取出放到存储单元后，基于所述拣货信息中的第二指定位置信息，移动到第二指定位置，此时所述可移动设备的定位单元进行定位，获取定位信息，定位信息中包含所述可移动设备此时所在位置的X轴坐标和Y轴坐标，并将所述定位信息反馈给控制中心，所述控制中心将所述定位信息与所述第二指定位置坐标进行比对，若相匹配，则所述控制中心给所述可移动设备发送调整抓取机构的命令，所述可移动设备接收所述命令后进入下一步骤。若所述定位信息与所述第二指定位置坐标不相匹配，则所述可移动设备继续移动，并定位，并进行比对，直至到达指定位置。
在其它实施例中，所述可移动设备接收所述拣货信息后，基于所述拣货信息中的第二指定位置信息，移动到第二指定位置，此时所述可移动设备的定位单元进行定位，获取定位信息，定位信息中包含所述可移动设备此时所在位置的X轴坐标和Y轴坐标，并将所述定位信息反馈给控制中心，所述控制中心将所述定位信息与所述第二指定位置坐标进行比对，若相匹配，则所述控制中心给所述可移动设备发送调整抓取机构的命令，所述可移动设备接收所述命令后进入下一步骤。若所述定位信息与所述第二指定位置坐标不相匹配，则所述可移动设备继续移动，并定位，并进行比对，直至到达指定位置。
步骤S117，基于所述第二指定位置和所述预放位置的差值调整抓取机构位置。
在本实施例中，拣货站的货架包括多层暂存单元。所述预放位置信息还包括拣货站暂存单元的Z轴，所述第二指定位置坐标与所述预放位置坐标在Z轴方向上的体现为所述抓取机构高度与所述暂存单元高度的差值。当所述可移动设备移动到所述第二指定位置时，所述抓取机构将货物从存储单元中取出，并基于所述差值调整所述抓取机构位置。具体地，所述抓取机构初始状态为正对所述可移动设备移动方向，开始调整抓取机构位置时，先控制所述抓取机构旋转90度至正对所述预设放置位置的方向，然后控制所述抓取机构上升或下降以达到所述预设放置位置的高度位置。
步骤S118，获取抓取机构位置信息，将抓取机构位置信息与所述预放位置信息进行比对，当获取的所述抓取机构 位置信息与所述预放位置信息相匹配时，控制所述抓取机构放货。
在本实施例中，获取抓取机构位置信息，与所述预放位置信息中的高度信息进行比对，当获取的所述抓取机构位置信息与所述预放位置信息相匹配时，控制所述抓取机构伸出，将抓取机构上的货物放到所述预设放置位置，也即拣货站货架的暂存单元中。
在本实施例中，获取抓取机构位置信息可以通过获取驱动抓取机构上升或下降的电机的转动量来获得所述抓取机构上升或下降的高度，以获得抓取机构位置信息。在其它实施例中，所述货架每层设置有定位标识，可以通过识别所述定位标识来确定所述抓取机构的位置信息。
具体地，可以通过所述可移动设备的控制单元进行比对，也可以通过控制中心进行比对。
步骤S119，反馈放货完成信号。
具体地，当所述可移动设备将货物从存储单元中取出，放到所述可拣货站货架的暂存单元中时，向所述控制中心反馈放货完成的信号。
在所述拣货信息包括一个取货信息和一个放货信息的实施例中，所述可移动设备将所述放货信息中的货物放入暂存单元后，即向所述控制中心反馈放货完成信号。
在所述拣货信息包括多个取货信息和多个放货信息的实施例中，所述可移动设备将一个放货信息中的货物放入暂存单元后，向所述控制中心反馈放货完成信号，继续基于下一放货信息将下一货物放入暂存单元，直至将所述拣货信息中的多个放货信息中的货物全部放入暂存单元。
例如，当待拣货物在存储区的存货位的坐标为(50，50，5)，所述待拣货物的已存储位置坐标即为(50，50，5)，所述待拣货物位于的存储区的存货位前方的过道位置坐标为(51，50，0)，所述第一指定位置坐标即为(51，50，0)。要将所述待拣货物放到的拣货站的暂存单元的坐标为(10，10，8)，所述预放位置坐标即为(10，10，8)，所述拣货站的暂存单元前方的过道位置坐标为(11，10，0)，所述第二指定位置坐标即为(11，10，0)。可移动设备接收到拣货命令后，前往所述第一指定位置(51，50，0)，到达所述第一指定位置后，所述抓取机构坐标为(51，50，0)，所述抓取机构与待拣货物之间存在X轴和Z轴上的距离，因此所述抓取机构向所述待拣货物方向旋转90度，再向上抬升5个单位长度达到所述待拣货物的高度后，伸长以达到所述待拣货物的已存储位置(50，50，5)，达到这个位置后所述抓取机构就将待拣货物取出并放回可移动设备的存储单元中。取得待拣货物后，可移动设备前往要将所述待拣货物放到的拣货站的暂存单元，先到达第二指定位置(11，10，0)，到达后所述抓取机构将待拣货物从存储单元中取出，此时所述抓取机构坐标为(11，10，0)，所述抓取机构与所述暂存单元之间存在X轴和Z轴上的距离，因此所述抓取机构带着待拣货物向所述暂存位方向旋转90度，再向上抬升8个单位长度达到所述暂存单元的高度后，伸长以达到所述预放位置(10，10，8)，达到这个位置后所述抓取机构就将待拣货物放入所述暂存单元中并缩回。
在一个实施例中，提供了一种将抓取机构位置信息与所述已存储位置信息进行比对，控制所述抓取机构取货的方法，包括以下步骤：
步骤S121，获取抓取机构位置信息。
在本实施例中，获取抓取机构位置信息可以通过获取驱动抓取机构的电机的转动量来获得所述抓取机构上升或下降的高度，以获得抓取机构位置信息。在其它实施例中，所述货架每层设置有定位标识，可以通过识别所述定位标识来确定所述抓取机构的位置信息。
步骤S122，将所述抓取机构位置信息与所述已存储位置信息在所述可移动设备内进行比对。
在本实施例中，所述可移动设备将获取的抓取机构位置信息和所述已存储位置信息输入所述可移动设备的控制单元中，所述控制单元将所述抓取机构位置信息与所述已存储位置信息中的高度信息进行比对，若所述抓取机构位置信息与所述高度信息相匹配时，则所述控制单元输出取货命令。
步骤S123，当获取的所述抓取机构位置信息与所述已存储位置信息相匹配时，控制所述抓取机构取货。
当获取的所述抓取机构位置信息与所述已存储位置信息相匹配时，所述控制单元输出取货命令，控制所述抓取机构伸出，将货物取出货架的存储位并放回到所述可移动设备的存储单元中。
在一个实施例中，提供了另一种将抓取机构位置信息与所述已存储位置信息进行比对，控制所述抓取机构取货的方法，包括以下步骤：
步骤S131，获取抓取机构位置信息。
在本实施例中，获取抓取机构位置信息可以通过获取驱动抓取机构上升或下降的电机的转动量来获得所述抓取机构上升或下降的高度，以获得抓取机构位置信息。在其它实施例中，所述货架每层设置有定位标识，可以通过识别所述定位标识来确定所述抓取机构的位置信息。
步骤S132，将抓取机构位置信息反馈给控制中心，以供控制中心与已存储位置信息进行比对，生成取货命令。
在本实施例中，所述可移动设备将获取到的抓取机构位置信息反馈给控制中心，所述控制中心将所述抓取机构位置信息与已存储位置信息中的高度信息进行比对，若所述抓取机构位置信息与所述高度信息相匹配，则所述控制中心生成取货命令并发送给所述可移动设备。
步骤S133，接收控制中心发送的取货命令。
在本实施例中，所述可移动设备接收所述控制中心发送的取货命令。
步骤S134，控制所述抓取机构取货。
在本实施例中，所述可移动设备接收所述控制中心发送的取货命令后，控制所述抓取机构伸出，将货物取出货架的存储位并放回到所述可移动设备的存储单元中。
在本实施例中，所述获取抓取机构位置信息，将抓取机构位置信息与所述预放位置信息进行比对，当获取的所述抓取机构位置信息与所述预放位置信息相匹配时，控制所述抓取机构放货的步骤也包括获取抓取机构位置信息，将获取到的抓取机构位置信息反馈给控制中心，所述控制中心将所述抓取机构位置信息与预放位置信息中的高度信息进行比对，若所述抓取机构位置信息与所述高度信息相匹配，则所述控制中心生成放货命令并发送给所述可移动设备，所述可移动设备接收所述控制中心发送的放货命令，控制所述抓取机构伸出，将货物放入所述拣货站货架的暂存单元中。
上述拣货方法使可移动设备在拣货时仅将订单需要的货物从存储区运送到拣货站，大大减少了可移动设备的工作量，同时可移动设备将订单所需货物放到拣货站后可以直接离开去取下一件货物，提高了拣货效率。
在一个实施例中，如图19所示，提供了一种拣货装置，包括：接收模块400、第一移动模块410、第一调整模块420、取货控制模块430、第一反馈模块440、第二移动模块450、第二调整模块460、放货控制模块470和第二反馈模块480，其中：
接收模块400，用于接收拣货信息，所述拣货信息包括第一指定位置信息、待拣货物的已存储位置信息、第二指定位置信息和待拣货物的预放位置信息；
第一移动模块410，用于基于所述第一指定位置信息移动可移动设备到第一指定位置；
第一调整模块420，用于基于所述第一指定位置的坐标和所述已存储位置的坐标之间的差值调整抓取机构位置；
取货控制模块430，用于获取抓取机构位置信息，将抓取机构位置信息与所述已存储位置信息进行比对，当获取的所述抓取机构位置信息与所述已存储位置信息相匹配时，控制所述抓取机构取货；
第一反馈模块440，用于反馈取货完成信号；
第二移动模块450，用于基于所述第二指定位置信息移动可移动设备到第二指定位置；
第二调整模块460，用于基于所述第二指定位置和所述预放位置的差值调整抓取机构位置；
放货控制模块470，用于获取抓取机构位置信息，将抓取机构位置信息与所述预放位置信息进行比对，当获取的所述抓取机构位置信息与所述预放位置信息相匹配时，控制所述抓取机构放货；
第二反馈模块480，用于反馈放货完成信号。
在一个实施例中，提供了一种取货控制模块，其中取货控制模块包括：第一获取单元、比对单元和第一取货控制单元，其中：
第一获取单元，用于获取抓取机构位置信息；
比对单元，用于将所述抓取机构位置信息与所述已存储位置信息在所述可移动设备内进行比对；
第一取货控制单元，用于当获取的所述抓取机构位置信息与所述已存储位置信息相匹配时，控制所述抓取机构取货。
在一个实施例中，提供了另一种取货控制模块，其中取货控制模块包括：第二获取单元、反馈单元、接收单元和第二取货控制单元，其中：
第二获取单元，用于获取抓取机构位置信息；
反馈单元，用于将抓取机构位置信息反馈给控制中心，以供控制中心与已存储位置信息进行比对，生成取货命令；
接收单元，用于接收控制中心发送的取货命令；
第二取货控制单元，用于控制所述抓取机构取货。
关于拣货装置的具体限定可以参见上文中对于拣货方法的限定，在此不再赘述。上述拣货装置中的各个模块可全部或部分通过软件、硬件及其组合来实现。上述各模块可以硬件形式内嵌于或独立于计算机设备中的处理器中，也可以以软件形式存储于计算机设备中的存储器中，以便于处理器调用执行以上各个模块对应的操作。
如图20所示，本发明提供了一种托盘偏差校正方法，以完成上述的货物校正步骤，该托盘偏差校正方法包括以 下步骤：
步骤S21，控制抓取机构拿取托盘。
具体地，可移动设备需要将货架上的托盘拿取到自身存储单元，首先控制抓取机构拿取托盘。其中，抓取机构可以为叉齿。
步骤S22，获取抓取机构与托盘之间的偏差量。
具体地，当可移动设备获取到抓取机构处于拿取托盘时，获取抓取机构与托盘之间的偏差。其中，可移动设备的抓取机构在拿取托盘时，可以向右旋转90°拿取可移动设备右边货架上的托盘，也可以向左旋转90°拿取可移动设备左边货架上的托盘。抓取机构与托盘之间的偏差量包括：X轴偏差、Y轴偏差以及角度偏差；X轴偏差、Y轴偏差以及角度偏差可以同步获取。其中，X轴偏差可以为零、Y轴偏差可以为零、角度偏差可以为零。X轴偏差为所述定位标识的图像与标准图像在X轴的偏差；Y轴偏差为所述定位标识的图像与标准图像在Y轴的偏差；角度偏差为所述定位标识的图像与标准图像在自旋方向的偏差。X轴偏差为所述定位标识的图像与标准图像在X轴方向向左或向右偏差一定距离；Y轴偏差为所述定位标识的图像与标准图像在Y轴方向向上或向下偏差一定距离；角度偏差为所述定位标识的图像与标准图像在自旋方向的顺时针方向或逆时针方向偏差一定角度。
其中，如图21所示，获取偏差量的方法，包括以下步骤：
步骤S221，获取托盘定位标识的图像。
具体地，定位标识为设置在托盘表面的图像，图像设置在托盘表面的固定位置。优选的，定位标识可以为二维码、条形码、凹槽、凸起或传感器。可移动设备的抓取机构上设置有图像采集装置，图像采集装置的位置与定位标识的位置相对应。可移动设备通过抓取机构拿取托盘时，通过设置在抓取机构上的图像采集装置获取定位标识的图像。
步骤S222，将所述定位标识的图像与标准图像进行比较，得到抓取机构与托盘之间的偏差量。
具体地，将图像采集装置获取到的定位标识的图像与标准图像进行比较。其中标准图像为，托盘没有偏差时，图像采集装置所采集到的图像。将获取到的定位标识的图像与标准图像进行比较，将X轴方向向左或向右偏差的距离作为X轴偏差；将Y轴方向向上或向下偏差的距离作为Y轴偏差；将自身在顺时针方向或逆时针方向偏差的角度作为角度偏差。
其中，计算偏差量的方法，可以为：获取定位标识的图像中定位标识的中点坐标以及标准图像中定位标识的中点坐标。将定位标识的图像中定位标识的中点X轴坐标与标准图像中定位标识的中点X轴坐标做差，得到X轴偏差。将定位标识的图像中定位标识的中点Y轴坐标与标准图像中定位标识的中点Y轴坐标做差，得到Y轴偏差。根据X轴偏差以及Y轴偏差将定位标识的图像以定位标识的中点为参照移动至标准图像中定位标识的中点坐标。获取定位标识的图像中定位标识的定位点坐标以及标准图像中定位标识的定位点坐标。计算定位标识的图像中定位标识的定位点与中点的连线与标准图像中定位标识的定位点与中点的连线之间的角度，作为角度偏差。
计算偏差量还可以为：首先获取定位标识的图像的所有像素点的横坐标X1、纵坐标Y1以及图像角度θ1，以及标准图像的所有像素点的横坐标X0、纵坐标Y0以及图像角度θ0。将上述值代入偏差量计算公式得到X轴偏差、Y轴偏差以及角度偏差。
其中，偏差量计算公式可以为：
T＝(dx，dy)
其中，R为角度偏差、dx为X轴偏差、dy为Y轴偏差。
上述计算偏差量的方法，能够根据定位标识的图像与标准图像准确的计算得到X轴偏差、Y轴偏差以及角度偏差，以便后续的校准步骤能够进准的校正托盘的位置。
步骤S23，根据所述偏差量调整可移动设备的移动距离和/或抓取机构伸缩距离和/或抓取机构旋转角度以校正抓取机构和托盘之间的偏差。
具体地，通过调整可移动设备的移动距离、抓取机构伸缩距离和抓取机构旋转角度以校正抓取机构和托盘之间的偏差。
其中，如图22所示，校正偏差量的方法，包括以下步骤：步骤S231，获取偏差量，判断偏差量中是否存在角度偏差。具体地，获取计算得到的偏差量，偏差量包括X轴偏差、Y轴偏差以及角度偏差。判断偏差量中是否存在角度偏差。也即判断角度偏差是否为零。
步骤S232，若存在角度偏差，则当抓取机构向存储单元伸出时，控制抓取机构向角度偏差方向的反方向旋转偏差角度，再控制抓取机构向储存单元伸出。
具体地，若存在角度偏差，也即当角度偏差不为零。则当抓取机构向存储单元伸出，也即当抓取机构拿取到托盘，将抓取机构带动托盘向可移动设备自身的存储单元伸出时，控制抓取机构向角度偏差方向的反方向旋转偏差角度。更具体的，当角度偏差为在顺时针方向偏差一定角度，则控制抓取机构向逆时针方向旋转偏差角度校正角度偏差；当角度信息为在逆时针方向偏差一定角度，则控制抓取机构向顺时针方向旋转偏差角度校正角度偏差。旋转偏差角度之后，再控制抓取机构向存储单元伸出。也就是将角度偏差转换为X轴偏差和Y轴偏差，进一步的校正X轴偏差和Y轴偏差达到校正角度偏差的目的。若不存在角度偏差，也即当角度偏差为零，则根据所述X轴偏差，调整移动距离校正X轴偏差；根据所述Y轴偏差，调整抓取机构伸缩距离校正Y轴偏差。
步骤S233，获取托盘定位标识的图像。
具体地，定位标识为设置在托盘表面的图像，图像设置在托盘表面的固定位置。优选的，定位标识可以为二维码、条形码、凹槽、凸起或传感器。可移动设备的抓取机构上设置有图像采集装置，图像采集装置的位置与定位标识的位置相对应。可移动设备通过抓取机构拿取托盘时，通过设置在抓取机构上的图像采集装置获取定位标识的图像。
步骤S234，将所述定位标识的图像与标准图像进行比较，得到抓取机构与托盘之间的X轴偏差和Y轴偏差。
具体地，将图像采集装置获取到的定位标识的图像与标准图像进行比较。其中标准图像为托盘没有偏差时，图像采集装置所采集到的图像。将获取到的定位标识的图像与标准图像进行比较，将X轴方向向左或向右偏差的距离作为X轴偏差；将Y轴方向向上或向下偏差的距离作为Y轴偏差。
步骤S235，根据所述X轴偏差，调整移动距离校正X轴偏差。
具体地，根据X轴偏差，调整可移动设备在相应方向的移动距离校正X周偏差。
其中，如图23所示，校正X轴偏差的方法，包括以下步骤：
步骤S2351，当抓取机构向货架伸出时，则判断所述当前位置信息与放置托盘的位置信息是否一致。
具体地，当抓取机构向货架伸出时，也即当抓取机构将可移动设备上的托盘拿取向货架伸出时，判断当前可移动设备所在的位置与放置托盘的位置是否一致。可移动设备扫描货架的二维码定位信息，判断当前所在的位置是否为托盘需要放置的位置。
步骤S2352，若一致，则向X轴偏差方向的反方向移动X轴偏差距离校正X轴偏差。
具体地，可移动设备扫描地面的地标进行定位，若当前所在的位置是托盘需要放置的位置，则向X轴偏差方向的反方向移动X轴偏差距离校正X轴偏差。也即当X轴偏差为向左偏差一定距离，则控制可移动设备相对于放置的货架向右移动偏差距离校正X轴偏差；当X轴偏差为向右偏差一定距离，则控制可移动设备相对于放置的货架向左移动偏差距离校正X轴偏差。若当前所在的位置不是托盘需要放置的位置，则控制可移动设备继续移动直到当前位置信息与放置托盘的位置信息一致，再向X轴偏差方向的反方向移动X轴偏差距离校正X轴偏差。
上述校正X轴偏差的方法，能够根据X轴偏差，准确的校正托盘在X轴方向的偏差距离，使托盘放置的在货架上的位置更加的精确。
步骤S236，根据所述Y轴偏差，调整抓取机构伸缩距离校正Y轴偏差。
具体地，根据Y轴偏差，调整抓取机构在相应方向的伸缩距离校正Y轴偏差。
其中，如图24所示，校正Y轴偏差的方法，包括以下步骤：
步骤S2361，当抓取机构向存储单元伸出或向货架伸出，则判断所述抓取机构的伸缩长度与预设伸缩长度是否一致。
具体地，当抓取机构向存储单元伸出或向货架伸出，也即当抓取机构拿取到托盘，将抓取机构带动托盘向可移动设备自身的存储单元伸出时。或抓取机构将可移动设备上的托盘拿取向货架伸出时。判断抓取机构的伸缩长度与预先设定的伸缩长度是否一致。
步骤S2362，若一致，则向Y轴偏差方向的反方向伸缩Y轴偏差距离校正Y轴偏差。
具体地，当抓取机构的伸缩长度与预先设定的伸缩长度一致，则向Y轴偏差的方向的反方向伸缩Y轴偏差距离校正Y轴偏差。也即当Y轴偏差为向上偏差一定距离，则控制抓取机构伸缩偏差距离校正Y轴偏差；当Y轴偏差为向下偏差一定距离，则控制抓取机构伸出偏差距离校正Y轴偏差。当抓取机构的伸缩长度与预先设定的伸缩长度不一致，则控制抓取机构继续伸缩直到抓取机构的伸缩长度与预设伸缩长度一致，再向Y轴偏差的方向的反方向伸缩Y轴偏差距离校正Y轴偏差。
上述校正Y轴偏差的方法，能够根据Y轴偏差，准确的校正托盘在Y轴方向的偏差距离，使托盘放置的在货架 上的位置更加的精确。
优选的，一种校正偏差量的方法，还可以为：获取偏差量，判断偏差量中是否存在角度偏差。具体地，获取计算得到的偏差量，偏差量包括X轴偏差、Y轴偏差以及角度偏差。判断偏差量中是否存在角度偏差。也即判断角度偏差是否为零。若存在角度偏差，通过协作调整抓取机构旋转角度与抓取机构伸缩距离，同时调整X轴偏差、Y轴偏差以及角度偏差。也就是，在叉齿将货物向存储单元放置时或将存储单元内放置的货物通过叉齿取出时，可以首先通过调整叉齿旋转的角度调整角度偏差，再通过叉齿的伸缩调整X轴偏差和Y轴的偏差；也可以同时调整叉齿旋转的角度以及叉齿的伸缩调整X轴偏差、Y轴偏差以及角度偏差。
优选的，一种校正偏差量的方法，还可以为：获取偏差量，判断偏差量中是否存在角度偏差。具体地，获取计算得到的偏差量，偏差量包括X轴偏差、Y轴偏差以及角度偏差。若不存在角度偏差，则根据所述X轴偏差，调整移动距离校正X轴偏差。具体地，当抓取机构向货架伸出时，则判断当前位置信息与放置托盘的位置信息是否一致；若一致，则向X轴偏差方向的反方向移动X轴偏差距离校正X轴偏差。根据所述Y轴偏差，调整抓取机构伸缩距离校正Y轴偏差。具体地，当抓取机构向存储单元伸出或向货架伸出，则判断所述抓取机构的伸缩长度与预设伸缩长度是否一致；若一致，则向Y轴偏差方向的反方向伸缩Y轴偏差距离校正Y轴偏差。
优选的，在步骤S22，获取抓取机构与托盘之间的偏差量之后还可以包括：判断所述偏差量是否大于预设阈值；若大于预设阈值，则执行根据所述偏差量调整移动距离、抓取机构伸缩距离以及抓取机构旋转角度校正偏差量中的至少一个。判断所述偏差量是否大于预设阈值，也就是判断X轴偏差是否大于X轴偏差的阈值；判断Y轴偏差是否大于Y轴偏差的阈值；判断角度偏差是否大于角度偏差的阈值。至少一个偏差量超过预设阈值时，则执行根据所述偏差量调整移动距离、抓取机构伸缩距离以及抓取机构旋转角度校正偏差量中的至少一个。
更具体地，校正偏差量可以分别在不同的情况下进行。其中，可以在抓取机构拿取托盘时检测到需要校正偏差量，将托盘放入自身存储单元时，校正角度偏差以及Y轴偏差；之后抓取机构再将自身存储单元的托盘放入货架上时，校正X轴偏差。也可以为在抓取机构将自身存储单元的托盘放入货架上时，同时校准X轴偏差、Y轴偏差以及角度偏差。也可以为抓取机构拿取托盘时检测到需要校正偏差量，再重新将托盘放入当前货架时，同时校准X轴偏差、Y轴偏差以及角度偏差。也可以为抓取机构拿取托盘时检测到需要校正偏差量，将可移动设备移动到指定位置，同时校准X轴偏差、Y轴偏差以及角度偏差。
更具体地，可移动设备获取货架上的货物，首先叉齿位于初始位置，叉齿在竖直方向移动至货物向相应高度，然后叉齿向货架方向伸出，拿取货物。在拿取到货物之后叉齿收缩，在下降相应高度回到初始位置。在初始位置叉齿旋转90°之后，将货物放至自身存储单元。在整个过程中，叉齿拿取到货物回到初始位置时，获取托盘定位标识的图像，将定位标识的图像与标准图像进行比较，得到抓取机构与托盘之间的偏差量。
上述托盘偏差校正方法在具体实施时，例如可移动设备控制抓取机构拿取托盘，此时获取定位标识的图像相对于标准图像在X轴向右偏移了5mm，也就是X轴偏差为向右偏移5mm。当可移动设备需要移动至坐标(50，70，0)的位置将货物放进(51，70，5)位置时，可移动设备在移动的过程中实时的获取当前的坐标信息，判断当前可移动设备的坐标信息是否为(50，70，0)，若当前可移动设备的坐标信息为(50，70，0)时，控制可移动设备在当前位置相对于放货的位置向左移动5mm，调整X轴偏差，调整之后，控制叉齿将货物放置在(51，70，5)的货架位置。
例如可移动设备控制抓取机构拿取托盘，此时获取定位标识的图像相对于标准图像在Y轴向上偏移了4mm，也即是Y轴偏差为向上偏移4mm。当可移动设备需要当可移动设备需要移动至坐标(50，70，0)的位置将货物放进(51，70，5)位置时，可移动设备在移动的过程中实时的获取当前的坐标信息，判断当前可移动设备的坐标信息是否为(50，70，0)，若当前可移动设备的坐标信息为(50，70，0)时，可移动设备控制叉齿旋转，升高，再伸出至货架(51，70，5)位置，控制叉齿收缩4mm，调整Y轴偏差，调整之后，控制叉齿将货物放置在(51，70，5)的货架位置。
例如可移动设备控制抓取机构拿取托盘，此时获取定位标识的图像相对于标准图像在自旋方向上向右偏移了1°，也就是在顺时针方向偏移了1°。当可移动设备向自身存储单元伸出时，叉齿在逆时针方向旋转1°，调整角度偏差，再将货物移动至自身存储单元。上述托盘偏差校正方法以及装置，通过在抓取机构拿取托盘时，获取抓取机构与托盘之间的偏差量，根据偏差量，通过调整移动距离、抓取机构伸缩距离以及抓取机构旋转角度校正偏差量。从而校正可移动设备将托盘放置在货架上时放置位置的偏差，进一步的保证整个系统托盘移动的准确性。
应该理解的是，虽然图20-24的流程图中的各个步骤按照箭头的指示依次显示，但是这些步骤并不是必然按照箭头指示的顺序依次执行。除非本文中有明确的说明，这些步骤的执行并没有严格的顺序限制，这些步骤可以以其它的顺序执行。而且，图20-24中的至少一部分步骤可以包括多个子步骤或者多个阶段，这些子步骤或者阶段并不必然是在同一时刻执行完成，而是可以在不同的时刻执行，这些子步骤或者阶段的执行顺序也不必然是依次进行，而是可以与其它步骤或者其它 步骤的子步骤或者阶段的至少一部分轮流或者交替地执行。
在一个实施例中，如图25所示，提供了一种托盘偏差校正装置的结构框图，包括：控制模块610、偏差量计算模块620以及偏差调整模块630，其中：
控制模块610，用于控制抓取机构拿取托盘；
偏差量计算模块620，用于获取抓取机构与托盘之间的偏差量；其中偏差量包括：X轴偏差、Y轴偏差以及角度偏差；
偏差调整模块630，用于根据所述偏差量调整可移动设备的移动距离和/或抓取机构伸缩距离和/或抓取机构旋转角度以校正抓取机构和托盘之间的偏差。
在一个实施例中，如图26所示，提供了一种偏差量计算模块的结构框图，其中，偏差量计算模块620包括：获取单元621以及偏差量计算模块单元622。
获取单元621，用于获取托盘定位标识的图像；
偏差量计算模块单元622，用于将所述定位标识的图像与标准图像进行比较，得到抓取机构与托盘之间的偏差量。
关于托盘偏差校正装置的具体限定可以参见上文中对于托盘偏差校正方法的限定，在此不再赘述。上述托盘偏差校正装置中的各个模块可全部或部分通过软件、硬件及其组合来实现。上述各模块可以硬件形式内嵌于或独立于计算机设备中的处理器中，也可以以软件形式存储于计算机设备中的存储器中，以便于处理器调用执行以上各个模块对应的操作。
如图27所示，本发明提供了一种调度方法，以将料车和可移动设备移动调整至相应的拣货站，包括以下步骤：
步骤S301，接收拣货站信息。
具体地，拣货站信息包括：至少一个拣货站所在的X轴坐标以及Y轴坐标。另一种方式拣货站信息包括：位置编号，位置编号包括X轴坐标以及Y轴坐标。拣货站信息还包括：拣货站之间的优先级顺序。当拣货站信息中只包括一个拣货站所在的X轴坐标以及Y轴坐标时，则当前唯一的拣货站为最高优先级拣货站。当拣货站信息中包括多个拣货站所在的X轴坐标以及Y轴坐标时，根据拣货站的优先级顺序依次前往相应的拣货站位置，也即可以经过所有拣货站的最短距离的顺序作为优先级顺序，并将第一个拣货站作为最高优先级拣货站依次排序；也可以按照拣货站包含订单货物的多少排序，并将包含订单货物最多的拣货站作为最高优先级的拣货站依次排序。
步骤S302，移动可移动装置至拣货站信息所对应的拣货站位置。
具体地，按照拣货站信息中拣货站所在的X轴坐标以及Y轴坐标，移动至对应的拣货站位置。当拣货站信息中只包括一个拣货站的X轴坐标以及Y轴坐标，则移动至相应拣货站的位置；当拣货站信息中包括多个拣货站的X轴坐标以及Y轴坐标时，根据拣货站的优先级顺序依次前往相应的拣货站位置。
如图28所示，一种前往相应的拣货站位置的方法，包括以下步骤：
步骤S311，根据拣货站的优先级顺序前往最高优先级相应的拣货站位置。
具体地，按照拣货站信息中拣货站所在的X轴坐标以及Y轴坐标，移动至对应的拣货站位置。拣货站信息中包括多个拣货站的X轴坐标以及Y轴坐标，以及拣货站之间的优先级顺序，优先前往高优先级的拣货站进行拣货。根据优先级顺序，最先前往最高优先级的拣货站的相应位置。
步骤S312，获取可移动装置当前位置信息，将所述当前位置信息与相应拣货站信息进行比对，若当前位置信息与拣货站信息相匹配时，则停留在当前位置。
具体地，当可移动装置到达最高优先级的拣货站位置后，会将当前的位置信息的X轴坐标以及Y轴坐标和拣货站信息中的拣货站的X轴坐标以及Y轴坐标进行比对，当比对结果一致时，判定当前位置为最高优先级的拣货站的位置。当比对结果不一致，则继续移动直到当前的位置信息的X轴坐标以及Y轴坐标和拣货站信息中的拣货站的X轴坐标以及Y轴坐标一致。当比对结果一致，则可移动装置停留在当前位置，等待拣货员将当前拣货站中的订单货物捡取至可移动装置。
步骤S313，接收控制中心传输的移动指令，根据拣货站的优先级顺序移动至下一优先级相应的拣货站位置，直至移动至最低优先级相应的拣货站位置。
具体地，当最高优先级的拣货站中所有订单货物都被捡取至可移动装置后，最高优先级的拣货站会向控制中心发送已完成信息，控制中心再向可移动装置发送移动指令，当可移动装置接收到移动指令后，在根据拣货站信息中的拣货站之间的优先级顺序前往下一优先级的拣货站位置进行拣货。到下一优先级拣货站之后同样会先获取可移动装置当前位置信息，再将当前位置信息与下一优先级拣货站的位置信息进行比对，若一致则停留在当前位置等待拣货员拣货。在下一优先级拣货站拣货完成后，下一优先级拣货站向控制中心发送已完成指令，控制中心向可移动装置发送移动指令，在根据拣货站信息中的拣货站之间的优先级顺序前往再下一优先级的拣货站位置进行拣货。直到移动至最低优先级的拣货站位置。
上述前往相应的拣货站位置的方法，能够根据拣货站的优先级顺序，合理的规划可移动装置前往拣货站的顺序， 能够更有效的提高了订单完成效率。
步骤S303，获取可移动装置当前位置信息，将所述当前位置信息与相应拣货站信息进行比对，若当前位置信息与拣货站信息相匹配时，则停留在当前位置。
具体地，当拣货站信息中只包括一个拣货站的X轴坐标以及Y轴坐标，可移动装置到达拣货站位置后，会将当前的位置信息的X轴坐标以及Y轴坐标和拣货站信息中的拣货站的X轴坐标以及Y轴坐标进行比对，当比对结果一致时，判定当前位置为拣货站的位置。当比对结果不一致，则继续移动直到当前的位置信息的X轴坐标以及Y轴坐标和拣货站信息中的拣货站的X轴坐标以及Y轴坐标一致。
具体地，当拣货站信息中包括多个拣货站的X轴坐标以及Y轴坐标时，可移动装置到达拣货站位置后，会将当前的位置信息的X轴坐标以及Y轴坐标和拣货站信息中的最低优先级的拣货站的X轴坐标以及Y轴坐标进行比对，当比对结果一致时，判定当前位置为最低优先级的拣货站的位置。当比对结果不一致，则继续移动直到当前的位置信息的X轴坐标以及Y轴坐标和拣货站信息中的最低优先级的拣货站的X轴坐标以及Y轴坐标一致。
如图29所示，一种当前位置与拣货站位置匹配的方法，可以包括以下步骤：
步骤S321，获取可移动装置当前位置信息。
具体地，可移动装置通过扫描当前位置底面铺设的定位标识，确定当前位置信息，包括当前位置的X轴坐标以及Y轴坐标。也可以通过可移动装置自身携带的定位设备，确定当前位置信息，包括当前位置的X轴坐标以及Y轴坐标。
步骤S322，将所述当前位置信息与相应拣货站信息在可移动装置内进行比对。
具体地，将当前位置的X轴坐标以及Y轴坐标和拣货站信息中相应拣货站所在的X轴坐标以及Y轴坐标再可移动装置内进行比对。
步骤S323，若当前位置信息与拣货站信息相匹配时，则停留在当前位置。
具体地，当当前位置的X轴坐标以及Y轴坐标和拣货站信息中相应拣货站所在的X轴坐标以及Y轴坐标比对一致时，可移动装置停留在当前位置等待拣货员向可移动装置内拣货。当当前位置的X轴坐标以及Y轴坐标和拣货站信息中相应拣货站所在的X轴坐标以及Y轴坐标比对不一致时，则继续移动比对，直到当前位置的X轴坐标以及Y轴坐标和拣货站信息中相应拣货站所在的X轴坐标以及Y轴坐标一致。
上述当前位置与拣货站位置匹配的方法，能够准确的确定当前位置是否为相应拣货站的待取货位置，准确的定位能够进一步的提高完成订单的效率。
如图30所示，一种当前位置与拣货站位置匹配的方法，可以包括以下步骤：
步骤S331，获取可移动装置当前位置信息。
具体地，可移动装置通过扫描当前位置底面铺设的定位标识，确定当前位置信息，包括当前位置的X轴坐标以及Y轴坐标。也可以通过可移动装置自身携带的定位设备，确定当前位置信息，包括当前位置的X轴坐标以及Y轴坐标。
步骤S332，将当前位置信息传输至控制中心，以供控制中心将当前位置信息与相应拣货站信息进行比对。
具体地，将获取到的当前位置的X轴坐标以及Y轴坐标发送至控制中心，控制中心将当前位置的X轴坐标以及Y轴坐标和拣货站信息中相应拣货站所在的X轴坐标以及Y轴坐标再可移动装置内进行比对，并生成比对结果发送给可移动装置。
步骤S333，接收控制中心传输的匹配一致信息，停留在当前位置。
具体地，接收控制中心发送的对比结果为匹配一致信息时，可移动装置停留在当前位置等待拣货员向可移动装置内拣货。接收控制中心发送的对比结果匹配不一致时，则继续移动比对，直到接收控制中心发送的对比结果为匹配一致信息。
上述当前位置与拣货站位置匹配的方法，能够准确的确定当前位置是否为相应拣货站的待取货位置，准确的定位能够进一步的提高完成订单的效率。
步骤S304，接收订单完成区信息，根据订单完成区信息，移动至订单完成区信息所对应的订单完成区位置。
具体地，当拣货站信息中只包括一个拣货站的X轴坐标以及Y轴坐标，也就是可移动装置在当前拣货站取货完成后，拣货站向控制中心发送订单已完成信息，控制中心再向可移动装置发送订单完成区信息。其中，订单完成区信息包括订单完成区所在的X轴坐标以及Y轴坐标。另一种方式订单完成区信息包括：位置编号，位置编号包括X轴坐标以及Y轴坐标。可移动装置接收到订单完成区信息，根据订单完成区信息，移动至订单完成区信息所对应的订单完成区位置进行后续处理。
具体地，当拣货站信息中包括多个拣货站的X轴坐标以及Y轴坐标时，也就是可移动装置在最低优先级相应的拣货站取货完成后，最低优先级相应的拣货站向控制中心发送订单已完成信息，控制中心再向可移动装置发送订单完成区信息。其中，订单完成区信息包括订单完成区所在的X轴坐标以及Y轴坐标。可移动装置接收到订单完成区信息，根据订单完成区信息，移动至订单完成区信息所对应的订单完成区位置后续处理。
上述调度方法，通过可移动装置接收拣货站信息，移动可移动装置至拣货站信息所对应的拣货站位置，获取可移动装置当前位置信息，将当前位置信息与拣货站信息进行对比，当一致时，则拣货系统移动端停靠在当前位置，等待拣货。当接收到单完成区信息时，移动至订单完成区进行订单打包。通过拣货系统移动端代替人力搬运，节省了人力资源，进一步的提高了订单完成效率。
应该理解的是，虽然图27-30的流程图中的各个步骤按照箭头的指示依次显示，但是这些步骤并不是必然按照箭头指示的顺序依次执行。除非本文中有明确的说明，这些步骤的执行并没有严格的顺序限制，这些步骤可以以其它的顺序执行。而且，图27-30中的至少一部分步骤可以包括多个子步骤或者多个阶段，这些子步骤或者阶段并不必然是在同一时刻执行完成，而是可以在不同的时刻执行，这些子步骤或者阶段的执行顺序也不必然是依次进行，而是可以与其它步骤或者其它步骤的子步骤或者阶段的至少一部分轮流或者交替地执行。
在一个实施例中，如图31所示，提供了一种拣货装置，其中拣货装置为可移动装置，包括：接收模块610、第一移动模块620、比较模块630和第二移动模块640，其中：
接收模块610，用于接收拣货站信息；
第一移动模块620，用于移动可移动装置至拣货站信息所对应的拣货站位置；
比较模块630，用于获取可移动装置当前位置信息，将所述当前位置信息与相应拣货站信息进行比对，若当前位置信息与拣货站信息相匹配时，则停留在当前位置；
第二移动模块640，用于接收订单完成区信息，根据订单完成区信息，移动至订单完成区信息所对应的订单完成区位置。
具体地，所述拣货站信息包括：至少一个拣货站所在的X轴坐标以及Y轴坐标；所述订单完成区信息包括：订单完成区所在的X轴坐标以及Y轴坐标。所述拣货站信息还包括：所述拣货站之间的优先级顺序。
更具体地，所述第一移动模块，还用于根据拣货站的优先级顺序依次前往相应的拣货站位置。
如图32所示，提供了一种拣货提示方法，使拣货站对拣货信息进行提示，该方法包括以下步骤：
步骤S601，接收控制中心传输的订单信息。
具体地，每一个料车都对应有相应的订单信息。料车的订单信息对应的有包装箱。料车载着有对应订单信息的包装箱到拣货站进行拣货。控制中心向料车指定拣货站位置，使料车前往指定的拣货站进行拣货，同时控制中心向指定拣货站的拣货提示装置发送订单信息。接收控制中心传输的订单信息，其中，订单信息包括：所述订单信息包括：货物名称、货物的数量、订单所对应的包装箱位置以及货物的图片。货物名称为当前订单中所有货物的名称，货物的数量为每一种货物所对应的个数，货物的图片为每一种货物所对应的图片。
步骤S602，判断是否接收到与订单信息对应的料车的到达信息。
具体地，当接收到控制中心传输的订单信息后，实时检测是否接收到与订单信息对应的料车的到达信息。其中，料车的到达信息可以为载着与订单信息对应的料车发送，当料车到达拣货站的相应拣货位置后，向拣货提示装置发送到达信息。到达信息也可以为控制中心发送，当料车到达拣货站的相应拣货位置后，向控制中心发送到达指定位置的反馈信息，控制中心在接收到反馈信息后，向拣货提示装置发送与订单信息对应的料车的到达信息。
步骤S603，判断是否获取到订单信息中货物的到达信息。
具体地，实时检测拣货站是否接收到订单信息中货物的到达信息。其中，当订单中的货物到达拣货站后，会获取相应货物的到达信息。判断是否获取到相应货物的到达信息。
步骤S604，若接收到货物的到达信息以及料车的到达信息，则显示订单信息，并且在订单信息中的货物所对应的位置进行提示。
具体地，当检测到货物的到达信息以及料车的到达信息，也就是接收到料车的到达信息，并且接收到货物的到达信息后，将订单信息在显示屏进行显示。拣货站货架的暂存单元上存储有货物，并且每个暂存单元都会有对应的提示装置，优选的，提示装置为灯。在订单信息中的货物所对应的暂存单元进行提示。也就是，将订单信息对应的暂存单元的灯点亮，以表示对应的暂存单元中有订单信息所包含的货物。
上述拣货提示方法，通过接收订单信息，再进一步的判断订单信息所对应的料车是否已经到达拣货站以及订单相应的货物是否到达拣货站，若均已经到达拣货站，则对相应订单信息进行显示，并在货架上对相应的货物所在的暂存单元进行提示。通过大屏幕显示的订单信息，以及在货架暂存单元对订单中的货物进行提示，能够提高拣货效率，并且通过电子显示，节省了纸质订单的使用，进一步的节约了资源。
在一个实施例中，如图33所示，提供了一种根据订单信息进行提示的方法，包括以下步骤：
步骤S611，获取货架中所有暂存单元的货物信息以及订单信息。
具体地，拣货站货架的暂存单元用于存储货物，暂存单元包括有货物的暂存单元以及没有货物的暂存单元。首先获取所有暂存单元的货物信息，其中货物信息包括：货物名称、货物在货架中的位置、货物的剩余数量以及货物的图片。订单信息包括：货物名称、货物的数量以及货物的图片。
步骤S612，将订单信息中的货物名称与货架中所有暂存单元的货物信息进行匹配。
具体地，将订单信息中的所有货物的名称与货架中所有暂存单元的货物信息进行匹配。具体的，订单信息中包含当前订单中的所有货物的名称，将订单信息中所有货物的名称一一与暂存单元所对应的货物信息进行匹配。货物信息中也包括货物名称，也就是将订单信息中所有货物的名称与暂存单元所对应的货物名称进行匹配。
步骤S613，在能够匹配到货物名称的暂存单元进行提示。
具体地，将订单信息中存在的货物在暂存单元进行提示，其中提示可以为给每个暂存单元设置提示装置。所述提示为颜色不同的灯光提示，通过点亮灯进行提示。只有一个订单时，可以所有的货物用一种颜色的灯进行提示；也可以所有的货物分别用不同颜色的灯进行提示。
上述根据订单信息进行提示的方法，能够将当前订单中的货物，在货架上的相应暂存单元进行提示，从而能够提高拣货效率。
在一个实施例中，如图34所示，提供了另一种根据订单信息进行提示的方法，其中，所述订单信息包括多个子订单信息；包括以下步骤：
步骤S621，获取货架中所有暂存单元的货物信息以及多个子订单信息。
具体地，拣货站货架的暂存单元用于存储货物，暂存单元包括有货物的暂存单元以及没有货物的暂存单元。首先获取所有暂存单元的货物信息，其中货物信息包括：货物名称、货物在货架中的位置、货物的剩余数量以及货物的图片。订单信息包括多个子订单信息，子订单信息包括：货物名称、货物的数量以及货物的图片。
步骤S622，分别将子订单信息中的货物名称与货架中所有暂存单元的货物信息进行匹配。
具体地，分别将每个子订单信息中的所有货物的名称与货架中所有暂存单元的货物信息进行匹配。具体的，子订单信息中包含当前订单的所有货物的名称，将子订单信息中所有货物的名称一一与暂存单元所对应的货物信息进行匹配。货物信息中也包括货物名称，也就是将子订单信息中所有货物的名称与暂存单元所对应的货物名称进行匹配。
步骤S623，在能够匹配到货物名称的暂存单元根据子订单的不同进行差异提示。
具体地，将每个子订单信息中存在的货物在暂存单元进行提示，其中根据子订单的不同，对不同子订单信息中的货物使用不同颜色的灯进行提示，对相同子订单信息中的货物使用相同颜色的灯进行提示。
上述根据订单信息进行提示的方法，能够在一次接收多个子订单的情况下，以不同的颜色的灯对不同的子订单货物进行提示，从而能够提高拣货效率。
在一个实施例中，如图35所示，提供了另一种拣货提示方法，包括以下步骤：
步骤S631，接收控制中心传输的订单信息。
具体地，每一个料车都对应有相应的订单信息。料车的订单信息对应的有包装箱。料车载着有对应订单信息的包装箱到拣货站进行拣货。控制中心向料车指定拣货站位置，使料车前往指定的拣货站进行拣货，同时控制中心向指定拣货站的拣货提示装置发送订单信息。接收控制中心传输的订单信息，其中，订单信息包括：所述订单信息包括：货物名称、货物的数量以及货物的图片。货物名称为当前订单中所有货物的名称，货物的数量为每一种货物所对应的个数，货物的图片为每一种货物所对应的图片。
步骤S632，判断是否接收到与订单信息对应的料车的到达信息。
具体地，当接收到控制中心传输的订单信息后，实时检测是否接收到与订单信息对应的料车的到达信息。其中，到达信息可以为载着与订单信息对应的料车发送，当料车到达拣货站的相应拣货位置后，向拣货提示装置发送到达信息。到达信息也可以为控制中心发送，当料车到达拣货站的相应拣货位置后，向控制中心发送到达指定位置的反馈信息，控制中心在接收到反馈信息后，向拣货提示装置发送与订单信息对应的料车的到达信息。
步骤S633，判断是否获取到订单信息中货物的到达信息。
具体地，实时检测拣货站是否接收到订单信息中货物的到达信息。其中，当订单中的货物到达拣货站后，会获取相应货物的到达信息。判断是否获取到相应货物的到达信息。
步骤S634，若接收到货物的到达信息以及料车的到达信息，则显示订单信息，并且在订单信息中的货物所对应的位置进行提示。
具体地，当检测到货物的到达信息以及料车的到达信息，也就是接收到料车的到达信息，并且接收到货物的到达信息后，将订单信息在显示屏进行显示。显示屏还可以显示，订单信息中货物对应的暂存单元的货物信息。拣货站货架的暂 存单元上存储有货物，并且每个暂存单元都会有对应的提示装置，优选的，提示装置为灯。在订单信息中的货物所对应的暂存单元进行提示。也就是，将订单信息对应的暂存单元的灯点亮，以表示对应的暂存单元中有订单信息所包含的货物。
步骤S634，接收用户输入的货物已提取信息。
具体地，当拣货员对进行提示的暂存单元中的货物拿取完成后，向拣货提示装置输入当前货物的已提取信息。具体的，暂存单元对应的设置有按钮，拣货员完成当前货物的拣货后，按下当前货物对应的暂存单元的按钮，表示当前货物已提取；还可以为，拣货员通过扫码装置对拿取的货物进行扫码后，表示当前货物已提取；还可以为拣货员通过一个输入装置，输入货物的已提取信息。
步骤S635，将已提取货物在货架上所对应的暂存单元取消提示，并且更新订单信息，显示更新后的订单信息。
具体地，将已提取信息中的货物所对应的暂存单元的提示取消。也就是将已提取货物在暂存单元位置的灯熄灭。更新订单信息，将原订单信息中的已提取货物删除，将删除已提取货物的订单信息作为更新后的订单信息。在显示屏上显示更新后的订单信息。
在拣货站对一个料车上的订单完成拣货后，或继续接收下一料车，并对下一料车上的订单进行拣货，循环上述过程，不断的完成料车上的订单。
上述拣货提示方法，能够提高拣货效率，并且通过电子显示，节省了纸质订单的使用，进一步的节约了资源。
应该理解的是，虽然图32-35的流程图中的各个步骤按照箭头的指示依次显示，但是这些步骤并不是必然按照箭头指示的顺序依次执行。除非本文中有明确的说明，这些步骤的执行并没有严格的顺序限制，这些步骤可以以其它的顺序执行。而且，图32-35中的至少一部分步骤可以包括多个子步骤或者多个阶段，这些子步骤或者阶段并不必然是在同一时刻执行完成，而是可以在不同的时刻执行，这些子步骤或者阶段的执行顺序也不必然是依次进行，而是可以与其它步骤或者其它步骤的子步骤或者阶段的至少一部分轮流或者交替地执行。
在一个实施例中，如图36所示，提供了一种拣货提示装置的结构框图，包括：订单信息接收模块610、第一判断模块620、第二判断模块630以及提示模块640，其中：
订单信息接收模块610，用于接收控制中心传输的订单信息。
第一判断模块620，用于判断是否接收到与订单信息相应的料车的到达信息。
第二判断模块630，用于判断是否接收到订单信息中货物的到达信息。
提示模块640，用于若接收到货物的到达信息以及料车的到达信息，则显示订单信息，并且在订单信息中的货物所对应的位置进行提示。
在一个实施例中，如图37所示，提供了一种提示模块的结构框图，其中提示模块640包括：获取单元641、匹配单元642以及提示单元643。
获取单元641，用于获取货架中所有暂存单元的货物信息以及订单信息；
匹配单元642，用于将订单信息中的货物名称与货架中所有暂存单元的货物信息进行匹配；
提示单元643，用于在能够匹配到货物名称的暂存单元进行提示。
拣货提示装置还包括：已提取信息接收模块650以及更新模块660。
已提取信息接收模块650，用于接收用户输入的货物已提取信息；
更新模块660，用于将已提取货物在货架上所对应的暂存单元取消提示，并且更新订单信息，显示更新后的订单信息。
请参阅图38，图38为本发明一个实施例中的托盘取回方法的示意图，以在拣货站的货物被拣选后，将剩余货物移动至其他区域。在本实施例中，所述托盘取回方法应用于一种可移动设备，所述可移动设备包括抓取机构，所述抓取机构能够调整自身位置，所述托盘内能够存放货物。
在本实施例中，所述托盘取回方法包括：
步骤S411，接收托盘取回命令，所述托盘取回命令包括托盘取回信息，所述托盘取回信息包括第一指定位置信息、待取回托盘的已存储位置信息、第二指定位置信息和待取回托盘的预放位置信息。
在本实施例中，控制中心接收到某一托盘中的货物被拣货完成的反馈信号后，向所述可移动设备发送托盘取回命令，所述托盘取回命令中包括托盘取回信息，所述托盘取回信息中包括第一指定位置信息、待取回托盘的已存储位置信息、第二指定位置信息和待取回托盘的预放位置信息。在本实施例中，所述待取回托盘的已存储位置信息包括待取回托盘的位置坐标，即待取回托盘在仓库内的X轴、Y轴和Z轴坐标。
在本实施例中，所述托盘取回信息包括一个托盘取得信息和一个托盘放回信息，所述托盘取得信息包括第一指定位置信息和待取回托盘的已存储位置信息，所述托盘放回信息包括第二指定位置信息和待取回托盘的预放位置信息。
在其它实施例中，所述托盘取回信息包括多个托盘取得信息和多个托盘放回信息，每个托盘取得信息中包括一个指定位置信息和一个待取回托盘的已存储位置信息，每个托盘放回信息中包括一个第二指定位置信息和一个待取回托盘的预放位置信息。
在本实施例中，所述待取回托盘的预放位置信息包括一个位置坐标，具体地，所述预放位置信息包括一个存储区的存货位的坐标，即所述存储区的存货位在仓库内的X轴、Y轴和Z轴坐标，所述可移动设备取得所述待取回托盘之后基于所述预放位置信息将所述待取回托盘放到对应存储区的存货位中。
在本实施例中，所述第一指定位置信息包括与所述已存储位置信息相应的一个位置坐标，即所述第一指定位置在仓库内的X轴、Y轴、Z轴坐标。具体地，所述第一指定位置即为所述待取回托盘位于的拣货站的暂存单元前方的过道位置。
在本实施例中，所述第二指定位置信息包括与所述预放位置信息相应的一个位置坐标，即所述第二指定位置在仓库内的X轴、Y轴、Z轴坐标。具体地，所述第二指定位置即为所述存储区的存货位前方的过道位置。
具体地，所述第一指定位置坐标与所述已存储位置坐标之间存在差值，所述第二指定位置坐标与所述预放位置坐标之间存在差值。所述第一指定位置坐标与所述已存储位置坐标之间的X轴与Y轴的差值为固定值，Z轴的差值为变化值。所述第二指定位置坐标与所述预放位置坐标之间的X轴与Y轴的差值为固定值，Z轴的差值为变化值。
在其它实施例中，所述第一指定位置信息、待取回托盘的已存储位置信息、第二指定位置信息和待取回托盘的预放位置信息可以为托盘、存货位或暂存单元的位置编号，所述位置编号与所述X轴、Y轴和Z轴坐标相对应。
步骤S412，基于所述第一指定位置信息移动可移动设备到第一指定位置。
在本实施例中，所述可移动设备接收所述托盘取回信息后，基于所述托盘取回信息中的第一指定位置信息，移动到第一指定位置，此时所述可移动设备的定位单元进行定位，获取定位信息，定位信息中包含所述可移动设备此时所在位置的X轴坐标和Y轴坐标，并与所述第一指定位置坐标进行比对，若相匹配，则进入下一步骤。若所述定位信息与所述第一指定位置坐标不相匹配，则所述可移动设备继续移动，并定位，并进行比对，直至到达所述第一指定位置。
在其它实施例中，所述可移动设备接收所述托盘取回信息后，基于所述托盘取回信息中的第一指定位置信息，移动到第一指定位置，此时所述可移动设备的定位单元进行定位，获取定位信息，定位信息中包含所述可移动设备此时所在位置的X轴坐标和Y轴坐标，并将所述定位信息反馈给控制中心，所述控制中心将所述定位信息与所述第一指定位置坐标进行比对，若相匹配，则所述控制中心给所述可移动设备发送调整抓取机构的命令，所述可移动设备接收所述命令后进入下一步骤。若所述定位信息与所述第一指定位置坐标不相匹配，则所述可移动设备继续移动，并定位，并进行比对，直至到达所述第一指定位置。
步骤S413，基于所述第一指定位置坐标和已存储位置坐标之间的差值调整抓取机构位置。
在本实施例中，装有所述待取回托盘的拣货站的货架包括多层暂存单元。所述已存储位置信息还包括待取回托盘的高度信息，所述第一指定位置坐标和已存储位置坐标之间的差值在Z轴方向上的体现为所述抓取机构高度与所述待取回托盘高度的差值。所述可移动设备基于所述差值调整抓取机构位置。具体地，所述抓取机构初始状态为正对所述可移动设备移动方向，开始调整抓取机构位置时，先控制所述抓取机构旋转90度至正对所述待取回托盘的方向，然后控制所述抓取机构上升或下降以达到所述待取回托盘的高度位置。
在本实施例中，所述抓取机构为叉齿。
步骤S414，获取抓取机构位置信息，将抓取机构位置信息与所述已存储位置信息进行比对，当获取的所述抓取机构位置信息与所述已存储位置信息相匹配时，控制所述抓取机构取得所述待取回托盘。
在本实施例中，获取抓取机构位置信息，与所述已存储位置信息中的高度信息进行比对，当获取的所述抓取机构位置信息与所述高度信息相匹配时，控制所述抓取机构伸出，将待取回托盘取出货架的暂存单元并放回到所述可移动设备的存储单元中。
在本实施例中，获取抓取机构位置信息可以通过获取驱动抓取机构抬升的电机的转动量来获得所述抓取机构抬升的高度，以获得抓取机构位置信息。在其它实施例中，所述货架每层设置有定位标识，可以通过识别所述定位标识来确定所述抓取机构的位置信息。
具体地，可以通过所述可移动设备的控制单元进行比对，也可以通过控制中心进行比对。
步骤S415，反馈托盘取得信号。
具体地，当所述可移动设备将待取回托盘从所述拣货站货架的暂存单元中取出，放回到所述可移动设备的存储单元中时，向所述控制中心反馈托盘取得的信号。在本实施例中，所述托盘取得信号还包括所述待取回托盘在所述可移动设备的存储单元中的位置信息。
在所述托盘取回信息包括一个托盘取得信息和一个托盘放回信息的实施例中，所述可移动设备取得所述托盘取得 信息中的托盘后，即向所述控制中心反馈托盘取得信号。
在所述托盘取回信息包括多个托盘取得信息和多个托盘放回信息的实施例中，所述可移动设备取得一个托盘取回信息中的托盘后，向所述控制中心反馈托盘取得信号，继续基于下一托盘取得信息取得下一托盘，直至将所述托盘取回信息中的多个托盘取得信息中的托盘全部取完再进入下一步骤。
步骤S416，基于所述第二指定位置信息移动可移动设备到第二指定位置。
在本实施例中，所述可移动设备将待取回托盘取出放到存储单元后，基于所述托盘取回信息中的第二指定位置信息，移动到第二指定位置，此时所述可移动设备的定位单元进行定位，获取定位信息，定位信息中包含所述可移动设备此时所在位置的X轴坐标和Y轴坐标，并将所述定位信息反馈给控制中心，所述控制中心将所述定位信息与所述第二指定位置坐标进行比对，若相匹配，则所述控制中心给所述可移动设备发送调整抓取机构的命令，所述可移动设备接收所述命令后进入下一步骤。若所述定位信息与所述第二指定位置坐标不相匹配，则所述可移动设备继续移动，并定位，并进行比对，直至到达所述第二指定位置。
在其它实施例中，所述可移动设备移动到第二指定位置的定位信息比对也可在控制中心中进行。
步骤S417，基于所述第二指定位置的坐标和预放位置的坐标之间的差值调整抓取机构位置。
在本实施例中，存储区的货架包括多个存货单元，每个存货单元中包括多层存货位。当所述可移动设备移动到所述第二指定位置时，所述抓取机构将待取回托盘从存储单元中取出，并基于所述差值调整所述抓取机构位置。具体地，所述抓取机构初始状态为正对所述可移动设备移动方向，开始调整抓取机构位置时，先控制所述抓取机构旋转90度至正对所述预设放置位置的方向，然后控制所述抓取机构上升或下降以达到所述预设放置位置的高度位置。
步骤S418，获取抓取机构位置信息，将抓取机构位置信息与所述预放位置信息进行比对，当获取的所述抓取机构位置信息与所述预放位置信息相匹配时，控制所述抓取机构将所述待取回托盘放到所述预放位置。
在本实施例中，获取抓取机构位置信息，与所述预放位置信息中的高度信息进行比对，当获取的所述抓取机构位置信息与所述预放位置信息相匹配时，控制所述抓取机构伸出，将抓取机构上的待取回托盘放到所述预设放置位置，也即存储区的存货位中。
具体地，可以通过所述可移动设备的控制单元进行比对，也可以通过控制中心进行比对。
步骤S419，反馈托盘放回信号。
具体地，当所述可移动设备将待取回托盘从存储单元中取出，放到所述存储区的存货位中时，向所述控制中心反馈托盘放回的信号。
在所述托盘取回信息包括一个托盘取得信息和一个托盘放回信息的实施例中，所述可移动设备将所述托盘放回信息中的托盘放回后，即向所述控制中心反馈托盘放回信号。
在所述托盘取回信息包括多个托盘取得信息和多个托盘放回信息的实施例中，所述可移动设备将一个托盘放回信息中的托盘放回后，向所述控制中心反馈托盘取得信号，继续基于下一托盘放回信息将下一托盘放回，直至将所述托盘取回信息中的多个托盘放回信息中的托盘全部放回。
例如，当待取回托盘在拣货站的暂存单元的坐标为(50，50，5)，所述待取回托盘的已存储位置坐标即为(50，50，5)，所述待取回托盘位于的拣货站的暂存单元前方的过道位置坐标为(51，50，0)，所述第一指定位置坐标即为(51，50，0)。要将所述待取回托盘放回的存储区的存货位的坐标为(10，10，8)，所述预放位置坐标即为(10，10，8)，所述存储区的存货位前方的过道位置坐标为(11，10，0)，所述第二指定位置坐标即为(11，10，0)。可移动设备接收到托盘取回命令后，前往所述第一指定位置(51，50，0)，到达所述第一指定位置后，所述抓取机构坐标为(51，50，0)，所述抓取机构与待取回托盘存在X轴和Z轴上的距离，因此所述抓取机构向所述待取回托盘方向旋转90度，再向上抬升5个单位长度达到所述待取回托盘的高度后，伸长以达到所述待取回托盘的已存储位置(50，50，5)，达到这个位置后所述抓取机构就将待取回托盘取出并放回可移动设备的存储单元中。取得待取回托盘后，可移动设备前往要将所述待取回托盘放回的存储区的存货位，先到达第二指定位置(11，10，0)，到达后所述抓取机构将待取回托盘从存储单元中取出，此时所述抓取机构坐标为(11，10，0)，所述抓取机构与所述存货位之间存在X轴和Z轴上的距离，因此所述抓取机构带着待取回托盘向所述存货位方向旋转90度，再向上抬升8个单位长度达到所述存货位的高度后，伸长以达到所述预放位置(10，10，8)，达到这个位置后所述抓取机构就将待取回托盘放入所述存货位中并缩回。
在一个实施例中，如图39所示，提供了一种将抓取机构位置信息与所述已存储位置信息进行比对，控制所述抓取机构取得所述待取回托盘的方法，包括以下步骤：
步骤S421，获取抓取机构位置信息。
在本实施例中，获取抓取机构位置信息可以通过获取驱动抓取机构抬升的电机的转动量来获得所述抓取机构抬升 的高度，以获得抓取机构位置信息。在其它实施例中，所述货架每层设置有定位标识，可以通过识别所述定位标识来确定所述抓取机构的位置信息。
步骤S422，将所述抓取机构位置信息与所述已存储位置信息在所述可移动设备内进行比对。
在本实施例中，所述可移动设备将获取的抓取机构位置信息和所述已存储位置信息输入所述可移动设备的控制单元中，所述控制单元将所述抓取机构位置信息与所述已存储位置信息中的高度信息进行比对，若所述抓取机构位置信息与所述高度信息相匹配时，则所述控制单元输出托盘取得命令。
步骤S423，当获取的所述抓取机构位置信息与所述已存储位置信息相匹配时，控制所述抓取机构取得所述待取回托盘。
当获取的所述抓取机构位置信息与所述已存储位置信息相匹配时，所述控制单元输出托盘取得命令，控制所述抓取机构伸出，将待取回托盘取出货架的暂存单元并放回到所述可移动设备的存储单元中。
在一个实施例中，如图40所示，提供了另一种将抓取机构位置信息与所述已存储位置信息进行比对，控制所述抓取机构取得所述待取回托盘的方法，包括以下步骤：
步骤S431，获取抓取机构位置信息。
在本实施例中，获取抓取机构位置信息可以通过获取驱动抓取机构抬升的电机的转动量来获得所述抓取机构抬升的高度，以获得抓取机构位置信息。在其它实施例中，所述货架每层设置有定位标识，可以通过识别所述定位标识来确定所述抓取机构的位置信息。
步骤S432，将抓取机构位置信息反馈给控制中心，以供控制中心与已存储位置信息进行比对，生成托盘取得命令。
在本实施例中，所述可移动设备将获取到的抓取机构位置信息反馈给控制中心，所述控制中心将所述抓取机构位置信息与已存储位置信息中的高度信息进行比对，若所述抓取机构位置信息与所述高度信息相匹配，则所述控制中心生成托盘取得命令并发送给所述可移动设备。
步骤S433，接收控制中心发送的托盘取得命令。
在本实施例中，所述可移动设备接收所述控制中心发送的托盘取得命令。
步骤S434，控制所述抓取机构取得所述待取回托盘。
在本实施例中，所述可移动设备接收所述控制中心发送的托盘取得命令后，控制所述抓取机构伸出，将待取回托盘取出货架的暂存单元并放回到所述可移动设备的存储单元中。
在本实施例中，所述获取抓取机构位置信息，将抓取机构位置信息与所述预放位置信息进行比对，当获取的所述抓取机构位置信息与所述预放位置信息相匹配时，控制所述抓取机构将托盘放回的步骤中也包括将所述抓取机构的位置信息在所述控制单元或控制中心中进行比对。
在一个实施例中，如图41所示，提供了一种托盘取回方法，包括以下步骤：
步骤S441，接收拣货完成的信号。
在本实施例中，当一个订单中的货物拣货完成后，负责该订单拣货任务的可移动设备会反馈拣货完成的信号给所述控制中心，所述控制中心接收所述拣货完成的信号。
步骤S442，基于所述拣货完成的信号向可移动设备发送托盘取回命令，控制所述可移动设备取回托盘。
在本实施例中，所述控制中心接收到所述拣货完成的信号后，向所述可移动设备发送托盘取回命令，控制所述可移动设备取回托盘。
步骤S443，接收可移动设备反馈的托盘取得信号和托盘放回信号。
在本实施例中，所述控制中心向所述可移动设备发送托盘取回命令后，所述可移动设备执行托盘取回命令的过程中，当所述可移动设备将待取回托盘从拣货站的货架的暂存单元中取出，放到所述可移动设备的存储单元中时，所述可移动设备向所述控制中心反馈托盘取得信号。当所述可移动设备将待取回托盘从所述可移动设备的存储单元中取出，放到存储区的货架的存货位中时，所述可移动设备向所述控制中心反馈托盘放回信号。所述控制中心接收所述托盘取得信号和托盘放回信号。
在一个实施例中，如图42所示，提供了一种托盘取回系统的执行端，包括：第一接收模块500、第一移动模块510、第一调整模块520、托盘取得控制模块530、第一反馈模块540、第二移动模块550、第二调整模块560、托盘放回控制模块570和第二反馈模块580，其中：
第一接收模块500，用于接收托盘取回命令，所述托盘取回命令包括托盘取回信息，所述托盘取回信息包括第一指定位置信息、待取回托盘的已存储位置信息、第二指定位置信息和待取回托盘的预放位置信息；
第一移动模块510，用于基于所述第一指定位置信息移动可移动设备到第一指定位置；
第一调整模块520，用于基于所述第一指定位置坐标和已存储位置坐标之间的差值调整抓取机构位置；
托盘取得控制模块530，用于获取抓取机构位置信息，将抓取机构位置信息与所述已存储位置信息进行比对，当获取的所述抓取机构位置信息与所述已存储位置信息相匹配时，控制所述抓取机构取得所述待取回托盘；
第一反馈模块540，用于反馈托盘取得信号；
第二移动模块550，用于基于所述第二指定位置信息移动可移动设备到第二指定位置；
第二调整模块560，用于基于所述第二指定位置的坐标和预放位置的坐标之间的差值调整抓取机构位置；
托盘放回控制模块570，用于获取抓取机构位置信息，将抓取机构位置信息与所述预放位置信息进行比对，当获取的所述抓取机构位置信息与所述预放位置信息相匹配时，控制所述抓取机构将所述待取回托盘放到所述预放位置；
第二反馈模块580，用于反馈托盘放回信号。
在一个实施例中，提供了一种托盘取得控制模块，包括第一获取单元、比对单元和第一托盘取得控制单元，其中：
第一获取单元，用于获取抓取机构位置信息；
比对单元，用于将所述抓取机构位置信息与所述已存储位置信息在所述可移动设备内进行比对；
第一托盘取得控制单元，用于当获取的所述抓取机构位置信息与所述已存储位置信息相匹配时，控制所述抓取机构取得所述待取回托盘。
在一个实施例中，提供了另一种托盘取得控制模块，包括第二获取单元、反馈单元、接收单元和第二托盘取得控制单元，其中：
第二获取单元，用于获取抓取机构位置信息；
反馈单元，用于将抓取机构位置信息反馈给控制中心，以供控制中心与已存储位置信息进行比对，生成托盘取得命令；
接收单元，用于接收控制中心发送的托盘取得命令；
第二托盘取得控制单元，用于控制所述抓取机构取得所述待取回托盘。
在一个实施例中，如图43所示，提供了一种托盘取回系统的控制端，包括第二接收模块800、命令发送模块810和第三接收模块820，其中：
第二接收模块800，用于接收拣货完成的信号；
命令发送模块810，用于基于所述拣货完成的信号向可移动设备发送托盘取回命令，控制所述可移动设备取回托盘；
第三接收模块820，用于接收可移动设备反馈的托盘取得信号和托盘放回信号。
请参阅图44，图44为本发明一个实施例中补货方法的示意图。在本实施例中，所述补货方法应用于一种可移动设备，所述可移动设备包括抓取机构，所述抓取机构能够调整自身位置。该补货方法用于完成上述的低频区补货流程。
在本实施例中，所述补货方法包括：
步骤S501，接收托盘补货命令，所述托盘补货命令包括托盘补货信息，所述托盘补货信息包括第一指定位置信息、待补货托盘的第一已存储位置信息、第二指定位置信息和待补货托盘的第一预放位置信息。
在本实施例中，每个货物被存放入存储区时，所述控制中心会接收到信号，每次接收到信号时控制中心进行计数，即可得到存储区中的存入货物数量；每个货物在拣货站被拣走时，所述控制中心也会接收到信号，每次接收到信号时控制中心进行计数，即可得到被拣走的货物数量。因此将存储区中存入的货物数量减去被拣走的货物数量，即可得到仓库中现有的货物数量，即为库存信息。当仓库中现有的货物数量低于预设阈值时，所述控制中心生成库存不足信号，并基于所述库存不足信号向所述可移动设备发送托盘补货命令，所述托盘补货命令中包括托盘补货信息，所述托盘补货信息中包括第一指定位置信息、待补货托盘的第一已存储位置信息、第二指定位置信息和待补货托盘的第一预放位置信息。在本实施例中，所述待补货托盘的第一已存储位置信息包括待补货托盘在存储区中的位置坐标，即待补货托盘在仓库内的x轴、y轴和z轴坐标。
在本实施例中，所述托盘补货信息包括一个托盘取得信息和一个托盘到达信息，所述托盘取得信息包括第一指定位置信息和待补货托盘的已存储位置信息，所述托盘到达信息包括第二指定位置信息和待补货托盘的第一预放位置信息。
在其它实施例中，所述托盘补货信息包括多个托盘取得信息和多个托盘到达信息，每个托盘取得信息中包括一个指定位置信息和一个待补货托盘的已存储位置信息，每个托盘到达信息中包括一个指定位置信息和一个待补货托盘的预放位置信息。
在本实施例中，所述待补货托盘的第一预放位置信息包括一个位置坐标，具体地，所述第一预放位置信息包括一个补货站的暂存位的坐标，即所述补货站的暂存位在仓库内的x轴、y轴和z轴坐标，所述可移动设备取得所述待补货托盘之后基于所述第一预放位置信息将所述待补货托盘放到对应补货站的暂存位中。
在本实施例中，所述第一指定位置信息包括与所述第一已存储位置信息相应的一个位置坐标，即所述第一指定位置在仓库内的x轴、y轴、z轴坐标。具体地，所述第一指定位置即为所述待补货托盘位于的货架的存货单元前方的过道位置。
在本实施例中，所述第二指定位置信息包括与所述第一预放位置信息相应的一个位置坐标，即所述第二指定位置在仓库内的x轴、y轴、z轴坐标。具体地，所述第二指定位置即为所述补货站的暂存位前方的过道位置。
具体地，所述第一指定位置坐标与所述第一已存储位置坐标之间存在差值，所述第二指定位置坐标与所述第一预放位置坐标之间存在差值。所述第一指定位置坐标与所述第一已存储位置坐标之间的x轴与y轴的差值为固定值，z轴的差值为变化值。所述第二指定位置坐标与所述第一预放位置坐标之间的x轴与y轴的差值为固定值，z轴的差值为变化值。
在其它实施例中，所述第一指定位置信息、待补货托盘的第一已存储位置信息、第二指定位置信息和待补货托盘的第一预放位置信息可以为托盘、存货位或暂存位的位置编号，所述位置编号与所述X轴、Y轴和Z轴坐标相对应。
步骤S502，基于所述第一指定位置信息移动可移动设备到第一指定位置。
在本实施例中，所述可移动设备接收所述托盘补货信息后，基于所述托盘补货信息中的第一指定位置信息，移动到第一指定位置。此时所述可移动设备的定位单元进行定位，获取定位信息，定位信息中包含所述可移动设备此时所在位置的x轴坐标和y轴坐标，并在所述可移动设备的控制单元内与所述第一指定位置坐标进行比对，若相匹配，则进入下一步骤。若所述定位信息与所述第一指定位置坐标不相匹配，则所述可移动设备继续移动，并定位，并进行比对，直至到达所述第一指定位置。具体地，所述第一指定位置所述待补货托盘位于的货架的存货单元前方的过道位置。
在其它实施例中，所述可移动设备接收所述托盘补货信息后，基于所述托盘补货信息中的第一指定位置信息，移动到第一指定位置。此时所述可移动设备的定位单元进行定位，获取定位信息，定位信息中包含所述可移动设备此时所在位置的x轴坐标和y轴坐标，将定位信息与所述第一指定位置坐标进行比对，调整所述可移动设备位置的过程也可在控制中心中进行。
步骤S503，基于所述第一指定位置坐标和第一已存储位置坐标之间的差值调整抓取机构位置。
在本实施例中，装有所述待补货托盘的存储区的货架包括多层存货位。所述第一已存储位置信息还包括待补货托盘的z轴坐标，所述第一指定位置坐标和第一已存储位置坐标之间的差值在z轴方向上的体现为所述抓取机构高度与所述待补货托盘高度的差值。所述可移动设备基于所述差值调整抓取机构位置。具体地，所述抓取机构初始状态为正对所述可移动设备移动方向，开始调整抓取机构位置时，先控制所述抓取机构旋转90度至正对所述待补货托盘的方向，然后控制所述抓取机构上升或下降以达到所述待补货托盘的高度位置。
在本实施例中，所述抓取机构为叉齿。
步骤S504，获取抓取机构位置信息，将抓取机构位置信息与所述第一已存储位置信息进行比对，当获取的所述抓取机构位置信息与所述第一已存储位置信息相匹配时，控制所述抓取机构取得所述待补货托盘。
在本实施例中，获取抓取机构位置信息，与所述第一已存储位置信息中的高度信息进行比对，当获取的所述抓取机构位置信息与所述高度信息相匹配时，控制所述抓取机构伸出，将待补货托盘取出货架的存货位并放回到所述可移动设备的存储单元中。
在本实施例中，获取抓取机构位置信息可以通过获取驱动抓取机构调整位置的电机的转动量来获得所述抓取机构高度，以获得抓取机构位置信息。在其它实施例中，所述货架每层设置有定位标识，可以通过识别所述定位标识来确定所述抓取机构的位置信息。
具体地，可以通过所述可移动设备的控制单元进行比对，也可以通过控制中心进行比对。
步骤S505，反馈第一托盘取得信号。
具体地，当所述可移动设备将待补货托盘从所述存储区的存货位中取出，放回到所述可移动设备的存储单元中时，向所述控制中心反馈托盘取得的信号。在本实施例中，所述托盘取得信号还包括所述待补货托盘在所述可移动设备的存储单元中的位置信息。
在所述托盘补货信息包括一个托盘取得信息和一个托盘到达信息的实施例中，所述可移动设备取得所述托盘取得信息中的托盘后，即向所述控制中心反馈第一托盘取得信号。
在所述托盘补货信息包括多个托盘取得信息和多个托盘到达信息的实施例中，所述可移动设备取得一个托盘补货信息中的托盘后，向所述控制中心反馈第一托盘取得信号，继续基于下一托盘取得信息取得下一托盘，直至将所述托盘补货信息中的多个托盘取得信息中的托盘全部取完再进入下一步骤。
步骤S506，基于所述第二指定位置信息移动可移动设备到第二指定位置。
在本实施例中，所述可移动设备将待补货托盘取出放到存储单元后，基于所述托盘补货信息中的第二指定位置信 息，移动到第二指定位置，此时所述可移动设备的定位单元进行定位，获取定位信息，定位信息中包含所述可移动设备此时所在位置的x轴坐标和y轴坐标，将所述定位信息与所述第二指定位置坐标进行比对并根据比对结果调整所述可移动设备位置的过程，可在所述可移动设备的控制单元内进行，也可在所述控制中心中进行。
步骤S507，基于所述第二指定位置的坐标和第一预放位置的坐标之间的差值调整抓取机构位置。
在本实施例中，补货站的货架包括多层暂存位。所述第一预放位置信息还包括补货站的暂存位的z轴坐标，所述第二指定位置的坐标和第一预放位置的坐标之间的差值在z轴方向上的体现为所述抓取机构高度与所述补货站的暂存位高度的差值。当所述可移动设备移动到所述第二指定位置时，所述抓取机构将待补货托盘从存储单元中取出，并基于所述差值调整所述抓取机构位置。具体地，所述抓取机构初始状态为正对所述可移动设备移动方向，开始调整抓取机构位置时，先控制所述抓取机构旋转90度至正对所述补货位置的方向，然后控制所述抓取机构上升或下降以达到所述补货位置的高度位置。
步骤S508，获取抓取机构位置信息，将抓取机构位置信息与所述第一预放位置信息进行比对，当获取的所述抓取机构位置信息与所述第一预放位置信息相匹配时，控制所述抓取机构将所述待补货托盘放到所述第一预放位置。
在本实施例中，获取抓取机构位置信息，与所述第一预放位置信息中的高度信息进行比对，当获取的所述抓取机构位置信息与所述第一预放位置信息相匹配时，控制所述抓取机构伸出，将抓取机构上的待补货托盘放到所述补货位置，也即补货站的暂存位中。
具体地，可以通过所述可移动设备的控制单元进行比对，也可以通过控制中心进行比对。
步骤S509，反馈托盘到达信号。
具体地，当所述可移动设备将待补货托盘从存储单元中取出，放到所述补货站的暂存位中时，向所述控制中心反馈托盘到达信号。
在所述托盘补货信息包括一个托盘取得信息和一个托盘到达信息的实施例中，所述可移动设备将所述托盘到达信息中的托盘放回后，即向所述控制中心反馈托盘到达信号。
在所述托盘补货信息包括多个托盘取得信息和多个托盘到达信息的实施例中，所述可移动设备将一个托盘到达信息中的托盘放回后，向所述控制中心反馈托盘到达信号，继续基于下一托盘到达信息将下一托盘放回，直至将所述托盘补货信息中的多个托盘到达信息中的托盘全部放回。
步骤S510，接收托盘放回命令，所述托盘放回命令包括托盘放回信息，所述托盘放回信息包括第三指定位置信息、补货完成的托盘的第二已存储位置信息、第四指定位置信息和补货完成的托盘的第二预放位置信息。
在本实施例中，所述托盘放回信息包括一个托盘取得信息和一个托盘放置信息，所述托盘取得信息包括第三指定位置信息和补货完成的托盘的第二已存储位置信息，所述托盘放置信息包括第四指定位置信息和补货完成的托盘的第二预放位置信息。
在其它实施例中，所述托盘放回信息包括多个托盘取得信息和多个托盘放置信息，每个托盘取得信息中包括一个指定位置信息和一个补货完成的托盘的已存储位置信息，每个托盘放置信息中包括一个指定位置信息和一个补货完成的托盘的预放位置信息。
在本实施例中，所述待补货托盘被放入补货站的暂存位中时，所述控制中心接收到反馈的托盘到达信号，此时，所述控制中心向补货站发送补货命令，补货站的工作人员将货物放入所述待补货托盘中，并向所述控制中心发送补货完成信号，接收到所述补货完成信号后，所述控制中心向可移动设备发送托盘放回命令，所述托盘放回命令包括托盘放回信息，所述托盘放回信息包括第三指定位置信息、补货完成的托盘的第二已存储位置信息、第四指定位置信息和补货完成的托盘的第二预放位置信息。在本实施例中，所述补货完成的托盘的第二已存储位置信息包括补货完成的托盘的位置坐标，即补货完成的托盘在仓库内的x轴、y轴和z轴坐标。
在本实施例中，所述第二预放位置信息包括一个位置坐标，具体地，所述第二预放位置信息包括一个存储区的存货位的坐标，即所述存储区的存货位在仓库内的x轴、y轴和z轴坐标，所述可移动设备取得补货完成的托盘之后基于所述第二预放位置信息将所述托盘放到对应存储区的存货位中。在其它实施例中，所述第二预放位置可以为拣货站的暂存单元的坐标，所述控制中心控制所述可移动设备将补货完成的托盘直接送到拣货站以供拣货。在其它实施例中，所述第二预放位置还可以为补货站的任一位置，补货完成后所述托盘可以停留在原地。
在本实施例中，所述第三指定位置信息包括与所述第二已存储位置信息相应的一个位置坐标，即所述第三指定位置在仓库内的x轴、y轴、z轴坐标。具体地，所述第三指定位置即为所述补货完成的托盘位于的补货站的暂存位前方的过道位置。
在本实施例中，所述第四指定位置信息包括与所述第二预放位置信息相应的一个位置坐标，即所述第四指定位置在仓库内的x轴、y轴、z轴坐标。具体地，所述第四指定位置即为所述存储区的存货位前方的过道位置。
具体地，所述第三指定位置坐标与所述第二已存储位置坐标之间存在差值，所述第四指定位置坐标与所述第二预放位置坐标之间存在差值。所述第三指定位置坐标与所述第二已存储位置坐标之间的x轴与y轴的差值为固定值，z轴的差值为变化值。所述第四指定位置坐标与所述第二预放位置坐标之间的x轴与y轴的差值为固定值，z轴的差值为变化值。
在其它实施例中，所述第三指定位置信息、补货完成的托盘的第二已存储位置信息、第四指定位置信息和补货完成的托盘的第二预放位置信息可以为托盘、存货位或暂存位的位置编号，所述位置编号与所述X轴、Y轴和Z轴坐标相对应。
步骤S511，基于所述第三指定位置信息移动可移动设备到第三指定位置。
在本实施例中，所述可移动设备接收所述托盘放回信息后，基于所述托盘放回信息中的第三指定位置信息，移动到第三指定位置，此时所述可移动设备的定位单元进行定位，获取定位信息，定位信息中包含所述可移动设备此时所在位置的x轴坐标和y轴坐标，将所述定位信息与所述第三指定位置坐标进行比对并根据比对结果调整所述可移动设备位置的过程，可在所述可移动设备的控制单元内进行，也可在所述控制中心中进行。。
步骤S512，基于所述第三指定位置的坐标和第二已存储位置的坐标之间的差值调整抓取机构位置。
在本实施例中，装有所述补货完成的托盘的补货站的货架包括多层暂存位。所述托盘位置信息还包括补货完成的托盘的z轴坐标，所述第三指定位置的坐标和第二已存储位置的坐标之间的差值在轴方向上的体现为所述抓取机构高度与所述补货完成的托盘高度的差值。所述可移动设备基于所述差值调整抓取机构位置。具体地，所述抓取机构初始状态为正对所述可移动设备移动方向，开始调整抓取机构位置时，先控制所述抓取机构旋转90度至正对所述补货完成的托盘的方向，然后控制所述抓取机构上升或下降以达到所述补货完成的托盘的高度位置。
步骤S513，获取抓取机构位置信息，将抓取机构位置信息与所述第二已存储位置信息进行比对，当获取的所述抓取机构位置信息与所述第二已存储位置信息相匹配时，控制所述抓取机构取得补货完成的托盘。
在本实施例中，获取抓取机构位置信息，与所述第二已存储位置信息中的高度信息进行比对，当获取的所述抓取机构位置信息与所述高度信息相匹配时，控制所述抓取机构伸出，将补货完成的托盘取出补货站的暂存位并放回到所述可移动设备的存储单元中。
具体地，可以通过所述可移动设备的控制单元进行比对，也可以通过控制中心进行比对。
步骤S514，反馈第二托盘取得信号。
具体地，当所述可移动设备将补货完成的托盘从补货站的暂存位中取出，放到所述可移动设备的存储单元中时，向所述控制中心反馈第二托盘取得信号。
在所述托盘放回信息包括一个托盘取得信息和一个托盘放置信息的实施例中，所述可移动设备取得所述托盘取得信息中的托盘后，即向所述控制中心反馈托盘取得信号。
在所述托盘放回信息包括多个托盘取得信息和多个托盘放置信息的实施例中，所述可移动设备取得一个托盘取得信息中的托盘后，向所述控制中心反馈托盘取得信号，继续基于下一托盘取得信息取得下一托盘，直至将所述托盘放回信息中的多个托盘取得信息中的托盘全部取完再进入下一步骤。
步骤S515，基于所述第四指定位置信息移动可移动设备到第四指定位置。
在本实施例中，所述可移动设备将补货完成的托盘取出放到存储单元后，基于所述托盘放回信息中的第四指定位置信息，移动到第四指定位置，此时所述可移动设备的定位单元进行定位，获取定位信息，定位信息中包含所述可移动设备此时所在位置的x轴坐标和y轴坐标，将所述定位信息与所述第四指定位置坐标进行比对并根据比对结果调整所述可移动设备位置的过程，可在所述可移动设备的控制单元内进行，也可在所述控制中心中进行。
步骤S516，基于所述第四指定位置的坐标和第二预放位置的坐标之间的差值调整抓取机构位置。
在本实施例中，存储区的货架包括多个存货单元，每个存货单元中包括多层存货位。所述第二预放位置信息还包括存储区存货位的z轴坐标，所述第四指定位置的坐标和第二预放位置的坐标之间的差值在z轴方向上的体现为所述抓取机构高度与所述存储区存货位高度的差值。当所述可移动设备移动到所述第四指定位置时，所述抓取机构将补货完成的托盘从存储单元中取出，并基于所述差值调整所述抓取机构位置。具体地，所述抓取机构初始状态为正对所述可移动设备移动方向，开始调整抓取机构位置时，先控制所述抓取机构旋转90度至正对所述预设放置位置的方向，然后控制所述抓取机构上升或下降以达到所述预设放置位置的高度位置。
步骤S517，获取抓取机构位置信息，将抓取机构位置信息与所述第二预放位置信息进行比对，当获取的所述抓取机构位置信息与所述第二预放位置信息相匹配时，控制所述抓取机构将托盘放回。
在本实施例中，获取抓取机构位置信息，与所述第二预放位置信息中的高度信息进行比对，当获取的所述抓取机构位置信息与所述第二预放位置信息相匹配时，控制所述抓取机构伸出，将抓取机构上的补货完成的托盘放到所述预设放置位置，也即存储区的存货位中。
具体地，可以通过所述可移动设备的控制单元进行比对，也可以通过控制中心进行比对。
步骤S518，反馈托盘放回信号。
具体地，当所述可移动设备将补货完成的托盘从存储单元中取出，放到所述存储区的存货位中时，向所述控制中心反馈托盘放回的信号。
在所述托盘放回信息包括一个托盘取得信息和一个托盘放置信息的实施例中，所述可移动设备将所述托盘放置信息中的托盘放回后，即向所述控制中心反馈托盘放回信号。
在所述托盘放回信息包括多个托盘取得信息和多个托盘放置信息的实施例中，所述可移动设备将一个托盘放置信息中的托盘放回后，向所述控制中心反馈托盘放回信号，继续基于下一托盘放置信息将下一托盘放回，直至将所述托盘放回信息中的多个托盘放置信息中的托盘全部放回。
例如，当待补货托盘在存储区的存货位的坐标为(50，50，5)，所述待补货托盘的第一已存储位置坐标即为(50，50，5)，所述待补货托盘位于的存储区的存货位前方的过道位置坐标为(51，50，0)，所述第一指定位置坐标即为(51，50，0)。要对所述待补货托盘进行补货的补货站的暂存位的坐标为(10，10，8)，所述第一预放位置坐标即为(10，10，8)，所述补货站的暂存位前方的过道位置坐标为(11，10，0)，所述第二指定位置坐标即为(11，10，0)。可移动设备接收到托盘补货命令后，前往所述第一指定位置(51，50，0)，到达所述第一指定位置后，所述抓取机构坐标为(51，50，0)，所述抓取机构与待补货托盘存在x轴和z轴上的距离，因此所述抓取机构向所述待补货托盘方向旋转90度，再向上抬升5个单位长度达到所述待补货托盘的高度后，伸长以达到所述待补货托盘的第一已存储位置(50，50，5)，达到这个位置后所述抓取机构就将待补货托盘取出并放回可移动设备的存储单元中。取得待补货托盘后，可移动设备前往要对所述待补货托盘进行补货的补货站的暂存位，先到达第二指定位置(11，10，0)，到达后所述抓取机构将待补货托盘从存储单元中取出，此时所述抓取机构坐标为(11，10，0)，所述抓取机构与所述暂存位之间存在x轴和z轴上的距离，因此所述抓取机构先带着待补货托盘向所述暂存位方向旋转90度，再向上抬升8个单位长度达到所述暂存位的高度后，伸长以达到所述第一预放位置(10，10，8)，达到这个位置后所述抓取机构就将待补货托盘放入所述暂存位中并缩回。
取得所述补货完成的托盘并将其放回存储区的存货位的过程与上述取得待补货托盘并送到补货站的暂存位的过程类似。
在一个实施例中，如图45所示，提供了一种将抓取机构位置信息与所述第一已存储位置信息进行比对，控制所述抓取机构取得所述待补货托盘的方法，包括以下步骤：
步骤S521，获取抓取机构位置信息。
在本实施例中，获取抓取机构位置信息可以通过获取驱动抓取机构调整位置的电机的转动量来获得所述抓取机构的高度，以获得抓取机构位置信息。在其它实施例中，所述货架每层设置有定位标识，可以通过识别所述定位标识来确定所述抓取机构的位置信息。
步骤S522，将所述抓取机构位置信息与所述第一已存储位置信息在所述可移动设备内进行比对。
在本实施例中，所述可移动设备将获取的抓取机构位置信息和所述第一已存储位置信息输入所述可移动设备的控制单元中，所述控制单元将所述抓取机构位置信息与所述第一已存储位置信息中的高度信息进行比对，若所述抓取机构位置信息与所述高度信息相匹配时，则所述控制单元输出托盘取得命令。
步骤S523，当获取的所述抓取机构位置信息与所述第一已存储位置信息相匹配时，控制所述抓取机构取得所述待补货托盘。
当获取的所述抓取机构位置信息与所述第一已存储位置信息相匹配时，所述控制单元输出托盘取得命令，控制所述抓取机构伸出，将待补货托盘取出货架的存货位并放回到所述可移动设备的存储单元中。
在一个实施例中，如图46所示，提供了另一种将抓取机构位置信息与所述第一已存储位置信息进行比对，控制所述抓取机构取得所述待补货托盘的方法，包括以下步骤：
步骤S531，获取抓取机构位置信息。
在本实施例中，获取抓取机构位置信息可以通过获取驱动抓取机构调整位置的电机的转动量来获得所述抓取机构的高度，以获得抓取机构位置信息。在其它实施例中，所述货架每层设置有定位标识，可以通过识别所述定位标识来确定所述抓取机构的位置信息。
步骤S532，将抓取机构位置信息反馈给控制中心，以供控制中心与第一已存储位置信息进行比对，生成托盘取得命令。
在本实施例中，所述可移动设备将获取到的抓取机构位置信息反馈给控制中心，所述控制中心将所述抓取机构位置信息与第一已存储位置信息中的高度信息进行比对，若所述抓取机构位置信息与所述高度信息相匹配，则所述控制中心生 成托盘取得命令并发送给所述可移动设备。
步骤S533，接收控制中心发送的托盘取得命令。
在本实施例中，所述可移动设备接收所述控制中心发送的托盘取得命令。
步骤S534，控制所述抓取机构取得所述待补货托盘。
在本实施例中，所述可移动设备接收所述控制中心发送的托盘取得命令后，控制所述抓取机构伸出，将待补货托盘取出货架的存货位并放回到所述可移动设备的存储单元中。
在一个实施例中，如图47所示，提供了一种补货方法，包括以下步骤：
步骤S541，获取存储区的库存信息，基于所述库存信息生成库存不足信号。
在本实施例中，每个货物被存放入存储区时，所述控制中心会接收到信号，每次接收到信号时控制中心进行计数，即可得到存储区中的存入货物数量；每个货物在拣货站被拣走时，所述控制中心也会接收到信号，每次接收到信号时控制中心进行计数，即可得到被拣走的货物数量。因此将存储区中存入的货物数量减去被拣走的货物数量，即可得到仓库中现有的货物数量，即为库存信息。当仓库中现有的货物数量低于预设阈值时，所述控制中心生成库存不足信号。
步骤S542，基于所述库存不足信号向可移动设备发送托盘补货命令，控制所述可移动设备进行托盘补货。
在本实施例中，所述控制中心生成库存不足信号后，基于所述库存不足信号向可移动设备发送托盘补货命令，控制可移动设备对存储区中的待补货托盘进行补货。
步骤S543，接收可移动设备反馈的第一托盘取得信号和托盘到达信号。
在本实施例中，所述控制中心向所述可移动设备发送托盘补货命令后，所述可移动设备执行托盘补货命令的过程中，当所述可移动设备将待补货托盘从存储区的存货位中取出，放到所述可移动设备的存储单元中时，所述可移动设备向所述控制中心反馈第一托盘取得信号。当所述可移动设备将待补货托盘从所述可移动设备的存储单元中取出，放到补货站的暂存位中时，所述可移动设备向所述控制中心反馈托盘到达信号。所述控制中心接收所述第一托盘取得信号和托盘到达信号。
步骤S544，基于所述托盘到达信号发送补货命令。
在本实施例中，所述所述待补货托盘被放入补货站的暂存位中时，所述控制中心接收到反馈的托盘到达信号，此时，所述控制中心向补货站发送补货命令，命令补货站的工作人员将货物放入所述待补货托盘中。
步骤S545，接收补货完成信号。
在本实施例中，所述补货站的工作人员接收到所述补货命令后，将货物放入所述待补货托盘中，放好后向所述控制中心发送补货完成信号，控制中心接收所述补货完成信号。
步骤S546，基于所述补货完成信号向可移动设备发送托盘放回命令。
在本实施例中，控制中心接收到所述补货完成信号后，向可移动设备发送托盘放回命令，控制所述可移动设备将补货完成的托盘放回存储区的存货位中。
步骤S547，接收可移动设备反馈的第二托盘取得信号和托盘放回信号。
在本实施例中，所述控制中心向所述可移动设备发送托盘放回命令，所述可移动设备执行命令的过程中，当所述可移动设备将补货完成的托盘从补货站的暂存位中取出，放到所述可移动设备的存储单元中时，所述可移动设备向所述控制中心反馈第二托盘取得信号。当所述可移动设备将补货完成的托盘从存储单元中取出，放回存储区的存货位中时，所述可移动设备向所述控制中心反馈托盘放回信号。所述控制中接收所述第二托盘取得信号和托盘放回信号。
在一个实施例中，如图48所示，提供了一种补货系统的执行端，包括：第一接收模块502、第一移动模块504、第一调整模块506、第一托盘取得控制模块508、第一反馈模块510、第二移动模块512、第二调整模块514、托盘到达控制模块516、第二反馈模块518、第二接收模块520、第三移动模块522、第三调整模块524、第二托盘取得控制模块526、第三反馈模块528、第四移动模块530、第四调整模块532、托盘放回控制模块534和第四反馈模块536，其中：
第一接收模块502，用于接收托盘补货命令，所述托盘补货命令包括托盘补货信息，所述托盘补货信息包括第一指定位置信息、待补货托盘的第一已存储位置信息、第二指定位置信息和待补货托盘的第一预放位置信息；
第一移动模块504，用于基于所述第一指定位置信息移动可移动设备到第一指定位置；
第一调整模块506，用于基于所述第一指定位置坐标和第一已存储位置坐标之间的差值调整抓取机构位置；
第一托盘取得控制模块508，用于获取抓取机构位置信息，将抓取机构位置信息与所述第一已存储位置信息进行比对，当获取的所述抓取机构位置信息与所述第一已存储位置信息相匹配时，控制所述抓取机构取得所述待补货托盘；
第一反馈模块510，用于反馈托盘取得信号；
第二移动模块512，用于基于所述第二指定位置信息移动可移动设备到第二指定位置；
第二调整模块514，用于基于所述第二指定位置的坐标和第一预放位置的坐标之间的差值调整抓取机构位置；
托盘到达控制模块516，用于获取抓取机构位置信息，将抓取机构位置信息与所述第一预放位置信息进行比对，当获取的所述抓取机构位置信息与所述第一预放位置信息相匹配时，控制所述抓取机构将所述待补货托盘放到所述第一预放位置；
第二反馈模块518，用于反馈托盘到达信号。
第二接收模块520，用于接收托盘放回命令，所述托盘放回命令包括托盘放回信息，所述托盘放回信息包括第三指定位置信息、补货完成的托盘的第二已存储位置信息、第四指定位置信息和补货完成的托盘的第二预放位置信息；
第三移动模块522，用于基于所述第三指定位置信息移动可移动设备到第三指定位置；
第三调整模块524，用于基于所述第三指定位置的坐标和第二已存储位置的坐标之间的差值调整抓取机构位置；
第二托盘取得控制模块526，用于获取抓取机构位置信息，将抓取机构位置信息与所述第二已存储位置信息进行比对，当获取的所述抓取机构位置信息与所述第二已存储位置信息相匹配时，控制所述抓取机构取得补货完成的托盘；
第三反馈模块528，用于反馈第二托盘取得信号；
第四移动模块530，用于基于所述第四指定位置信息移动可移动设备到第四指定位置；
第四调整模块532，用于基于所述第四指定位置的坐标和第二预放位置的坐标之间的差值调整抓取机构位置；
托盘放回控制模块534，用于获取抓取机构位置信息，将抓取机构位置信息与所述第二预放位置信息第二预放位置信息进行比对，当获取的所述抓取机构位置信息与所述第二预放位置信息第二预放位置信息相匹配时，控制所述抓取机构将托盘放回；
第四反馈模块536，用于反馈托盘放回信号。
在一个实施例中，如图49所示，提供了一种补货系统的控制端，包括获取模块800、第一命令发送模块810、第三接收模块820、第二命令发送模块830、第四接收模块840、第三命令发送模块850和第五接收模块860，其中：
获取模块800，用于获取存储区的库存信息，基于所述库存信息生成库存不足信号；
第一命令发送模块810，用于基于所述库存不足信号向可移动设备发送托盘补货命令，控制所述可移动设备进行托盘补货；
第三接收模块820，用于接收可移动设备反馈的第一托盘取得信号和托盘到达信号；
第二命令发送模块830，用于基于所述托盘到达信号发送补货命令；
第四接收模块840，用于接收补货完成信号；
第三命令发送模块850，用于基于所述补货完成信号向可移动设备发送托盘放回命令；
第五接收模块860，用于接收可移动设备反馈的第二托盘取得信号和托盘放回信号。
本发明的订单完成系统及方法具有以下效果：
(1)、订单完成系统中的仓库通过在所述托盘上设置所述定位标识，因此所述可移动设备可以通过所述定位标识获知自身的位置信息并根据该位置信息通过姿态调节的方式消除自身的位置信息与标准位置之间的误差，从而精确了可移动设备与货物之间的定位，提高了整个订单完成系统运行的稳定性与可靠性，仓库及使用上述仓库的订单完成系统均具有广泛的应用前景。
(2)、订单完成系统中通过在中间协作区设置工作站台，工作站台通过在拣货工作区域的侧边设置至少一个货架，使得工作站台能够与多个可移动设备交互，提高了工作站台的工作效率。本发明提供使用上述工作站台的订单完成系统具有相对较高的工作效率。
(3)、订单完成系统中的可移动设备通过设置伸缩驱动单元以及叉齿单元，使得所述可移动设备能够通过侧插的方式抓取货物，可移动设备无需转弯或者原地转动，从而节省过道的宽度，仓库的排布更加紧凑，提高了仓库的利用率的同时，缩短了运货的距离，提高了运货效率。
(4)、本发明的系统及方法使可移动设备在拣货时仅将订单需要的货物从存储区运送到拣货站，大大减少了可移动设备的工作量，同时可移动设备将订单所需货物放到拣货站后可以直接离开去取下一件货物，提高了拣货效率。
(5)、本发明的系统及方法通过在抓取机构拿取托盘时，获取抓取机构与托盘之间的偏差量，根据偏差量，通过调整移动距离、抓取机构伸缩距离以及抓取机构旋转角度校正偏差量。从而校正可移动设备将托盘放置在货架上时放置位置的偏差，进一步的保证整个系统托盘移动的准确性。
(6)、本发明的系统及方法通过接收订单信息，再进一步的判断订单信息所对应的料车是否已经到达拣货站以及订单相应的货物是否到达拣货站，若均已经到达拣货站，则对相应订单信息进行显示，并在货架上对相应的货物所在的暂存单元进行提示。通过大屏幕显示的订单信息，以及在货架暂存单元对订单中的货物进行提示，能够提高拣货效率，并且通过电子显示，节省了纸质订单的使用，进一步的节约了资源。
(7)、本发明的系统和装置通过可移动装置接收拣货站信息，移动可移动装置至拣货站信息所对应的拣货站位置，获取可移动装置当前位置信息，将当前位置信息与拣货站信息进行对比，当一致时，则拣货系统移动端停靠在当前位置，等待拣货。当接收到单完成区信息时，移动至订单完成区进行订单打包。通过拣货系统移动端代替人力搬运，节省了人力资源，进一步的提高了订单完成效率。
(8)、本发明的系统和方法在完成一个订单的拣货后将留在拣货站的托盘放回原来位置或放到存储区的其它位置，避免拣货站出现暂存位装满，无法拣货的情况，同时让托盘中剩余的货物能得到有效调度，提高了订单完成的效率。
(9)、本发明的系统和方法利用可移动设备将空托盘送到补货位置，再将补货完成的托盘送回相应补货位，代替了人力补货的方式，大大降低了成本，也提高了补货效率。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。

Claims (88)

  1. 一种订单完成系统，其特征在于，包括仓库、运输订单的料车、运输料车的可移动装置、运输货物的可移动设备以及控制中心，其中，所述仓库包括订单准备区、高频拣货区、低频拣货区以及中间协作区，所述订单准备区用于将订单与所述运输订单的料车关联，将携带订单的料车与所述运输货物的可移动装置关联，所述高频拣货区用于供携带订单的料车拣货，所述低频拣货区用于供运输货物的可移动设备拣货，所述中间协作区用于供运输货物的可移动设备将拣取的货物放入、以及用于供料车停靠并将运输货物的可移动设备放入的货物放入料车，所述控制中心用于控制运输订单的料车、运输货物的可移动装置以及中间协作区进行工作。
  2. 如权利要求1所述的订单完成系统，其特征在于，所述仓库还包括补货区，所述补货区用于供运输货物的可移动设备将货物补入低频拣货区。
  3. 如权利要求1所述的订单完成系统，其特征在于，所述仓库还包括订单完成区，所述订单完成区用于供料车料车卸货并将货物封装打包。
  4. 如权利要求1所述的订单完成系统，其特征在于，所述仓库包括沿三维坐标系中的X轴方向间隔地排列的多簇货架，每簇货架均沿着三维平行于坐标系中的Y轴方向延伸，相邻的两簇所述货架之间形成供所述可移动设备穿梭的过道，所述过道沿平行于Y轴方向延伸，每簇货架包括两列背向设置的货架，每列货架都包括沿平行于Y轴方向和平行于Z轴方向行列排布的多个存储格，部分所述存储格内设置有用以承载货物的托盘，余下部分的存储格空置，所述托盘上设置有用以确定自身在三维坐标系中的位置信息的定位标志。
  5. 如权利要求4所述的订单完成系统，其特征在于，所述定位标志为二维码。
  6. 如权利要求4所述的订单完成系统，其特征在于，多簇所述货架形成一个存储区，所述存储区的数量为多个，多个存储区之间间隔设置并形成沿平行于X轴方向延伸的干道。
  7. 如权利要求6所述的订单完成系统，其特征在于，所述干道允许多个所述可移动设备沿平行于X轴方向相对地移动。
  8. 如权利要求4所述的订单完成系统，其特征在于，所述过道的宽度仅允许一个所述可移动设备平行于沿Y轴方向直线移动。
  9. 如权利要求8所述的订单完成系统，其特征在于，所述过道的宽度为所述可移动设备宽度的1.1至1.3倍。
  10. 如权利要求9所述的订单完成系统，其特征在于，所述过道的宽度为1.1倍的所述可移动设备的宽度。
  11. 如权利要求4所述的订单完成系统，其特征在于，所述仓库还包括与多簇所述货架对应的至少一个拣货站，所述拣货站用于供拣货员对照订单信息。
  12. 如权利要求11所述的订单完成系统，其特征在于，所述拣货站的数量为多个，每个所述拣货站对应200个至3000个所述托盘。
  13. 如权利要求1所述的订单完成系统，其特征在于，所述中间协作区设有工作站台，所述工作站台包括拣货工作区域及料车停靠位，所述料车停靠位设置于所述拣货工作区域的侧边，所述工作站台还包括至少一个货架，所述货架设置于所述拣货工作区域的侧边处，所述货架包括多个暂存位，所述暂存位用以存储所述可移动设备拣出的货物，所述货架允许多个所述可移动设备同时工作。
  14. 如权利要求13所述的订单完成系统，其特征在于，所述货架的数量为三个，每个所述货架均沿直线设置，三个所述货架围设所述拣货工作区域的三个侧边。
  15. 如权利要求14所述的工作站台，其特征在于，所述货架的数量为两个，所述货架均沿直线设置，两个所述货架围设所述拣货工作区域的两个相邻侧边或者两个相对侧边。
  16. 如权利要求13所述的订单完成系统，其特征在于，所述货架的数量为一个，所述货架呈“U”形或“C”形，所述货架围设所述拣货工作区域的三个侧边；或者所述货架呈“L”形，所述货架围设所述拣货工作区域的两个相邻侧边。
  17. 如权利要求13所述的工作站台，其特征在于，所述工作站台为拣货站、理货站、补货站中的一种，所述拣货站用以供操作人员对照订单信息，所述理货站用以供操作人员整理货物，所述补货站用以供操作人员补充货物。
  18. 如权利要求17所述的订单完成系统，其特征在于，所述工作站台为拣货站，所述工作站台还包括拣货提示设备，所述拣货提示设备用以显示所述货物对应的所述订单信息。
  19. 如权利要求18所述的订单完成系统，其特征在于，所述拣货提示设备还包括指示灯以及按钮，所述指示灯具有第一状态及第二状态，所述第一状态用以指示所述货物待与所述订单信息对照，所述第二状态用以指示所述货物已与所述订单信息对照完毕，所述按钮用以切换所述第一状态与所述第二状态。
  20. 如权利要求19所述的订单完成系统，其特征在于，所述指示灯通过颜色、亮度、明灭或者闪烁频率中的至少一种区别 所述第一状态与所述第二状态。
  21. 如权利要求13所述的订单完成系统，其特征在于，所述可移动设备执行的工作操作包括停靠于货架的侧边、离开所述货架或将拣出的货物搬运至对应的所述暂存位内。
  22. 如权利要求1所述的订单完成系统，其特征在于，所述可移动设备用以抓取和搬运待搬运物，包括主体以及与所述主体连接的抓取机构，所述主体能够移动，其特征在于，所述抓取机构能够相对所述主体运动。
  23. 根据权利要求22所述的订单完成系统，其特征在于，所述抓取机构包括叉齿单元以及驱动所述叉齿单元运动的伸缩驱动单元，所述叉齿单元包括安装于所述主体的固定架、安装于所述固定架并能够相对所述固定架运动的第一叉齿、以及与所述第一叉齿连接并能够在所述第一叉齿相对所述固定架运动时相对所述第一叉齿运动的第二叉齿，所述伸缩驱动单元与所述第一叉齿连接，用于驱动所述第一叉齿相对所述固定架运动。
  24. 根据权利要求23所述的订单完成系统，其特征在于，所述第一叉齿与所述第二叉齿以及所述固定架之间通过连接组件连接，所述连接组件用以在所述第一叉齿相对所述固定架运动时，带动所述第二叉齿相对所述第一叉齿运动。
  25. 根据权利要求24所述的订单完成系统，其特征在于，所述连接组件为行程放大组件，所述行程放大组件能够在所述伸缩驱动单元驱动所述第一叉齿运动时，使所述第二叉齿的运动行程大于所述第一叉齿相对所述固定架的运动行程。
  26. 根据权利要求25所述的订单完成系统，其特征在于，所述行程放大组件包括第一滑轮、第一拉绳、第二滑轮以及第二拉绳，所述第一滑轮固定于所述第一叉齿上，所述第一拉绳的一端固定于所述固定架，另一端绕于所述第一滑轮并固定于所述第二叉齿，所述第二滑轮固定于所述第一叉齿上，所述第二拉绳的一端固定于所述第二叉齿，另一端绕于所述第二滑轮并固定于所述固定架。
  27. 根据权利要求23所述的订单完成系统，其特征在于，所述固定架与所述第一叉齿之间设有用以导向所述第一叉齿运动的第一导向结构，所述第一叉齿与所述第二叉齿之间设有用以导向第二叉齿运动的第二导向结构。
  28. 根据权利要求27所述的订单完成系统，其特征在于，所述第一导向结构包括设于所述固定架上的第一导向轮以及开设于所述第一叉齿上的第一导向槽，所述第一导向轮与所述第一导向槽适配；所述第二导向结构包括设于所述第二叉齿上的第二导向轮以及开设于所述第一叉齿上的第二导向槽，所述第二导向轮与所述第二导向槽适配。
  29. 根据权利要求23所述的订单完成系统，其特征在于，所述伸缩驱动单元包括第一驱动件、齿轮以及齿条，所述第一驱动件上设有输出轴，所述第一驱动件安装于所述固定架上，所述齿轮安装于所述输出轴，所述齿条与所述第一叉齿连接且所述齿条与所述齿轮齿合。
  30. 根据权利要求22-29任意一项所述的订单完成系统，其特征在于，所述抓取机构还包括升降单元，所述叉齿单元与所述升降单元连接，所述升降单元安装在所述主体上，并能够相对所述主体在竖直方向上移动。
  31. 根据权利要求30所述的订单完成系统，其特征在于，所述抓取机构还包括旋转单元，所述旋转单元与所述升降单元连接并能够相对所述升降单元旋转，且在所述升降单元的带动下升降，所述叉齿单元安装在所述旋转单元上。
  32. 根据权利要求31所述的订单完成系统，其特征在于，所述抓取机构还包括图像采集单元，所述图像采集单元用以采集所述第二叉齿上搬运物的位姿信息。
  33. 根据权利要求32所述的可移动设备，其特征在于，所述可移动设备还包括处理单元，所述处理单元能够控制所述图像采集单元所述采集的搬运物的位姿信息，及控制所述旋转单元、升降单元动作。
  34. 一种订单完成方法，其特征在于，包括以下步骤：
    在订单准备区将订单与料车绑定、以将料车与运输货物的可移动装置绑定；
    将料车运输至高频拣货区拣货；
    运输货物的可移动设备在低频拣货区拣货，并将货物送至中间协作区的工作站台；以及
    拣货站对订单信息进行提示，根据提示将货物放入料车对应的包装箱内。
  35. 如权利要求34所述的订单完成方法，其特征在于，所述步骤“运输货物的可移动设备在低频拣货区拣货，并将货物送至中间协作区的工作站台”包括以下步骤：
    接收拣货命令，所述拣货命令中包括拣货信息，所述拣货信息包括第一指定位置信息、待拣货物的已存储位置信息、第二指定位置信息和待拣货物的预放位置信息；
    基于所述第一指定位置信息移动可移动设备到第一指定位置；
    基于所述第一指定位置的坐标和所述已存储位置的坐标之间的差值调整抓取机构位置；
    获取抓取机构位置信息，将抓取机构位置信息与所述已存储位置信息进行比对，当获取的所述抓取机构位置信息与所述已存储位置信息相匹配时，控制所述抓取机构取货；
    反馈取货完成信号；
    基于所述第二指定位置信息移动可移动设备到第二指定位置；
    基于所述第二指定位置的坐标和所述预放位置的坐标之间的差值调整抓取机构位置；
    获取抓取机构位置信息，将抓取机构位置信息与所述预放位置信息进行比对，当获取的所述抓取机构位置信息与所述预放位置信息相匹配时，控制所述抓取机构放货；
    反馈放货完成信号。
  36. 根据权利要求35所述的订单完成方法，其特征在于，所述已存储位置信息包括货物所在的X轴、Y轴和Z轴坐标或者货物所在的位置编号，所述位置编号与所述X轴、Y轴和Z轴坐标相对应。
  37. 根据权利要求35所述的订单完成方法，其特征在于，所述基于所述第一指定位置和所述已存储位置的差值调整抓取机构位置包括基于所述差值控制抓取机构旋转、上升或下降。
  38. 根据权利要求35所述的订单完成方法，其特征在于，获取抓取机构位置信息，所述将抓取机构位置信息与所述已存储位置信息进行比对，当获取的所述抓取机构位置信息与所述已存储位置信息相匹配时，控制所述抓取机构取货的步骤包括：获取抓取机构位置信息；
    将所述抓取机构位置信息与所述已存储位置信息在所述可移动设备内进行比对；
    当获取的所述抓取机构位置信息与所述已存储位置信息相匹配时，控制所述抓取机构取货。
  39. 根据权利要求35所述的订单完成方法，其特征在于，所述获取抓取机构位置信息，将抓取机构位置信息与所述已存储位置信息进行比对，当获取的所述抓取机构位置信息与所述已存储位置信息相匹配时，控制所述抓取机构取货的步骤包括：获取抓取机构位置信息；
    将抓取机构位置信息反馈给控制中心，以供控制中心与已存储位置信息进行比对，生成取货命令；
    接收控制中心发送的取货命令；
    控制所述抓取机构取货。
  40. 根据权利要求38或39所述的订单完成方法，其特征在于，所述获取抓取机构位置信息包括获取驱动抓取机构调整位置的电机的转动量来获得所述抓取机构的位置信息。
  41. 根据权利要求38或39所述的订单完成方法，其特征在于，所述控制所述抓取机构取货包括控制所述抓取机构伸出，将货物取出存货位并放回到所述可移动设备的存储单元中。
  42. 根据权利要求41所述的订单完成方法，其特征在于，所述取货完成信号中包括货物在所述可移动设备的存储单元中的位置信息。
  43. 根据权利要求38或39所述的订单完成方法，其特征在于，所述控制所述抓取机构放货包括控制所述抓取机构将货物从所述可移动设备的存储单元中取出并放入拣货站的暂存单元中。
  44. 根据权利要求34所述的订单完成方法，其特征在于，还包括步骤：
    通过所述可移动设备拣货时对货物位置进行校正。
  45. 根据权利要求44所述的订单完成方法，其特征在于，所述步骤“通过所述可移动设备拣货时对货物位置进行校正”的步骤包括：
    控制抓取机构拿取托盘；
    获取抓取机构与托盘之间的偏差量；其中偏差量包括：X轴偏差、Y轴偏差以及角度偏差；
    根据所述偏差量调整可移动设备的移动距离和/或抓取机构伸缩距离和/或抓取机构旋转角度以校正抓取机构和托盘之间的偏差。
  46. 根据权利要求45所述的订单完成方法，其特征在于，
    所述X轴偏差、Y轴偏差以及角度偏差同步获取。
  47. 根据权利要求45所述的订单完成方法，其特征在于，所述根据所述偏差量调整可移动设备的移动距离和/或抓取机构伸缩距离和/或抓取机构旋转角度以校正抓取机构和托盘之间的偏差包括：
    获取偏差量，判断偏差量中是否存在角度偏差；
    若存在角度偏差，则当抓取机构向存储单元伸出时，控制抓取机构向角度偏差方向的反方向旋转偏差角度，再控制抓取机构向储存单元伸出；
    获取托盘定位标识的图像；
    将所述定位标识的图像与标准图像进行比较，得到抓取机构与托盘之间的X轴偏差和Y轴偏差；
    根据所述X轴偏差，调整移动距离校正X轴偏差；
    根据所述Y轴偏差，调整抓取机构伸缩距离校正Y轴偏差。
  48. 根据权利要求45所述的订单完成方法，其特征在于，根据所述偏差量调整可移动设备的移动距离和/或抓取机构伸缩距离和/或抓取机构旋转角度以校正抓取机构和托盘之间的偏差包括：
    获取偏差量，判断偏差量中是否存在角度偏差；
    若存在角度偏差，通过协作调整抓取机构旋转角度与抓取机构伸缩距离，同时调整X轴偏差、Y轴偏差以及角度偏差。
  49. 根据权利要求45所述的订单完成方法，其特征在于，根据所述偏差量调整可移动设备的移动距离和/或抓取机构伸缩距离和/或抓取机构旋转角度以校正抓取机构和托盘之间的偏差包括：
    获取偏差量，判断偏差量中是否存在角度偏差；
    若不存在角度偏差，则根据所述X轴偏差，调整移动距离校正X轴偏差；
    根据所述Y轴偏差，调整抓取机构伸缩距离校正Y轴偏差。
  50. 根据权利要求47或49中任一项所述的订单完成方法，其特征在于，所述根据所述X轴偏差，调整移动距离校正X轴偏差包括：
    当抓取机构向货架伸出时，则判断当前位置信息与放置托盘的位置信息是否一致；
    若一致，则向X轴偏差方向的反方向移动X轴偏差距离校正X轴偏差。
  51. 根据权利要求47或49中任一项所述的订单完成方法，其特征在于，所述根据所述Y轴偏差，调整抓取机构伸缩距离校正Y轴偏差包括：
    当抓取机构向存储单元伸出或向货架伸出，则判断所述抓取机构的伸缩长度与预设伸缩长度是否一致；
    若一致，则向Y轴偏差方向的反方向伸缩Y轴偏差距离校正Y轴偏差。
  52. 根据权利要求45所述的订单完成方法，其特征在于，所述获取抓取机构与托盘之间的偏差量之后还包括：
    判断所述偏差量是否大于预设阈值；
    若大于预设阈值，则执行根据所述偏差量调整移动距离、抓取机构伸缩距离以及抓取机构旋转角度校正偏差量。
  53. 根据权利要求52所述的订单完成方法，其特征在于，所述判断所述偏差量是否大于预设阈值包括：
    判断X轴偏差是否大于X轴偏差的阈值；
    判断Y轴偏差是否大于Y轴偏差的阈值；以及
    判断角度偏差是否大于角度偏差的阈值。
  54. 根据权利要求45所述的订单完成方法，其特征在于，所述获取抓取机构与托盘之间的偏差量包括：
    获取托盘定位标识的图像；
    将所述定位标识的图像与标准图像进行比较，得到抓取机构与托盘之间的偏差量。
  55. 根据权利要求34所述的订单完成方法，其特征在于，所述步骤“拣货站对订单信息进行提示”包括以下步骤：
    接收控制中心传输的订单信息；
    判断是否接收到与订单信息对应的料车的到达信息；
    判断是否获取到订单信息中货物的到达信息；
    若接收到货物的到达信息以及料车的到达信息，则显示订单信息，并且在订单信息中的货物所对应的位置进行提示。
  56. 根据权利要求55所述的订单完成方法，其特征在于，
    所述订单信息包括：货物名称、货物的数量以及订单所对应的包装箱位置。
  57. 根据权利要求56所述的订单完成方法，其特征在于，所述在订单信息中的货物所对应的位置进行提示包括：
    获取货架中所有暂存单元的货物信息以及订单信息；
    将订单信息中的货物名称与货架中所有暂存单元的货物信息进行匹配；
    在能够匹配到货物名称的暂存单元进行提示。
  58. 根据权利要求56所述的订单完成方法，其特征在于，所述在订单信息中的货物所对应的位置进行提示包括：所述订单信息包括多个子订单信息；
    获取货架中所有暂存单元的货物信息以及多个子订单信息；
    分别将子订单信息中的货物名称与货架中所有暂存单元的货物信息进行匹配；
    在能够匹配到货物名称的暂存单元根据子订单的不同进行差异提示。
  59. 根据权利要求57-58任意一项所述的订单完成方法，其特征在于，
    所述货物信息包括：货物名称、货物在货架中的位置以及货物的剩余数量。
  60. 根据权利要求57-58任意一项所述的订单完成方法，其特征在于，
    所述提示为颜色不同的灯光提示。
  61. 根据权利要求55所述的订单完成方法，其特征在于，所述方法还包括：
    接收用户输入的货物已提取信息；
    将已提取货物在货架上所对应的暂存单元取消提示，并且更新订单信息，显示更新后的订单信息。
  62. 根据权利要求34所述的订单完成方法，其特征在于，还包括步骤：调度料车与可移动设备进入对应拣货站。
  63. 根据权利要求62所述的订单完成方法，其特征在于，所述步骤“调度料车与可移动设备进入对应拣货站”包括以下步骤：
    接收拣货站信息；
    移动可移动装置至拣货站信息所对应的拣货站位置；
    获取可移动装置当前位置信息，将所述当前位置信息与相应拣货站信息进行比对，若当前位置信息与拣货站信息相匹配时，则停留在当前位置；
    接收订单完成区信息，根据订单完成区信息，移动至订单完成区信息所对应的订单完成区位置。
  64. 根据权利要求63所述的订单完成方法，其特征在于，
    所述拣货站信息包括：至少一个拣货站所在的X轴坐标以及Y轴坐标；
    所述订单完成区信息包括：订单完成区所在的X轴坐标以及Y轴坐标。
  65. 根据权利要求64所述的订单完成方法，其特征在于，
    所述拣货站信息还包括：所述拣货站之间的优先级顺序。
  66. 根据权利要求62所述的订单完成方法，其特征在于，所述移动可移动装置至拣货站信息所对应的拣货站位置包括：
    根据拣货站的优先级顺序依次前往相应的拣货站位置。
  67. 根据权利要求66所述的订单完成方法，其特征在于，所述根据拣货站的优先级顺序依次前往相应的拣货站位置包括：根据拣货站的优先级顺序前往最高优先级相应的拣货站位置；
    获取可移动装置当前位置信息，将所述当前位置信息与相应拣货站信息进行比对，若当前位置信息与拣货站信息相匹配时，则停留在当前位置；
    接收控制中心传输的移动指令，根据拣货站的优先级顺序移动至下一优先级相应的拣货站位置，直至移动至最低优先级相应的拣货站位置。
  68. 根据权利要求67所述的订单完成方法，其特征在于，所述获取可移动装置当前位置信息，将所述当前位置信息与相应拣货站信息进行比对，若当前位置信息与拣货站信息相匹配时，则停留在当前位置包括：
    获取可移动装置当前位置信息；
    将所述当前位置信息与相应拣货站信息在可移动装置内进行比对；
    若当前位置信息与拣货站信息相匹配时，则停留在当前位置。
  69. 根据权利要求67所述的订单完成方法，其特征在于，所述获取可移动装置当前位置信息，将所述当前位置信息与相应拣货站信息进行比对，若当前位置信息与拣货站信息相匹配时，则停留在当前位置包括：
    获取可移动装置当前位置信息；
    将当前位置信息传输至控制中心，以供控制中心将当前位置信息与相应拣货站信息进行比对；
    接收控制中心传输的匹配一致信息，停留在当前位置。
  70. 根据权利要求34所述的订单完成方法，其特征在于，还包括步骤：将剩余货物从拣货站取出。
  71. 根据权利要求70所述的订单完成方法，其特征在于，所述步骤“将剩余货物从拣货站取出”包括以下步骤：
    接收托盘取回命令，所述托盘取回命令包括托盘取回信息，所述托盘取回信息包括第一指定位置信息、待取回托盘的已存储位置信息、第二指定位置信息和待取回托盘的预放位置信息；
    基于所述第一指定位置信息移动可移动设备到第一指定位置；
    基于所述第一指定位置坐标和已存储位置坐标之间的差值调整抓取机构位置；
    获取抓取机构位置信息，将抓取机构位置信息与所述已存储位置信息进行比对，当获取的所述抓取机构位置信息与所述已存储位置信息相匹配时，控制所述抓取机构取得所述待取回托盘；
    反馈托盘取得信号；
    基于所述第二指定位置信息移动可移动设备到第二指定位置；
    基于所述第二指定位置的坐标和预放位置的坐标之间的差值调整抓取机构位置；
    获取抓取机构位置信息，将抓取机构位置信息与所述预放位置信息进行比对，当获取的所述抓取机构位置信息与所述预放位置信息相匹配时，控制所述抓取机构将所述待取回托盘放到所述预放位置；
    反馈托盘放回信号。
  72. 根据权利要求71所述的订单完成方法，其特征在于，所述已存储位置信息信息包括待取回托盘在仓库内的X轴、Y轴和Z轴坐标或者待取回托盘所在的位置编号，所述位置编号与所述X轴、Y轴和Z轴坐标相对应。
  73. 根据权利要求71所述的订单完成方法，其特征在于，所述基于所述第一指定位置坐标和已存储位置坐标之间的差值调整抓取机构位置包括基于所述第一指定位置坐标和已存储位置坐标之间的差值控制抓取机构旋转、上升或下降。
  74. 根据权利要求71所述的订单完成方法，其特征在于，所述获取抓取机构位置信息，将抓取机构位置信息与所述已存储位置信息进行比对，当获取的所述抓取机构位置信息与所述已存储位置信息相匹配时，控制所述抓取机构取得所述待取回托盘的步骤包括：
    获取抓取机构位置信息；
    将所述抓取机构位置信息与所述已存储位置信息在所述可移动设备内进行比对；
    当获取的所述抓取机构位置信息与所述已存储位置信息相匹配时，控制所述抓取机构取得所述待取回托盘。
  75. 根据权利要求71所述的订单完成方法，其特征在于，所述获取抓取机构位置信息，将抓取机构位置信息与所述已存储位置信息进行比对，当获取的所述抓取机构位置信息与所述已存储位置信息相匹配时，控制所述抓取机构取得所述待取回托盘的步骤包括：
    获取抓取机构位置信息；
    将抓取机构位置信息反馈给控制中心，以供控制中心将所述抓取机构位置信息与已存储位置信息进行比对，生成托盘取得命令；
    接收控制中心发送的托盘取得命令；
    控制所述抓取机构取得所述待取回托盘。
  76. 根据权利要求74或75所述的订单完成方法，其特征在于，所述获取抓取机构位置信息包括获取驱动抓取机构调整位置的电机的转动量来获得所述抓取机构的位置信息。
  77. 根据权利要求74或75所述的订单完成方法，其特征在于，所述控制所述抓取机构取得所述待取回托盘包括控制所述抓取机构伸出，将待取回托盘取出并放回到所述可移动设备的存储单元中。
  78. 根据权利要求70所述的订单完成方法，其特征在于，所述步骤“将剩余货物从拣货站取出”包括以下步骤：
    接收拣货完成的信号；
    基于所述拣货完成的信号向可移动设备发送托盘取回命令，控制所述可移动设备取回托盘；
    接收可移动设备反馈的托盘取得信号和托盘放回信号。
  79. 根据权利要求34所述的订单完成方法，其特征在于，还包括步骤：对低频拣货区补货。
  80. 根据权利要求79所述的订单完成方法，其特征在于，所述步骤“对低频区补货”包括以下步骤：
    接收托盘补货命令，所述托盘补货命令包括托盘补货信息，所述托盘补货信息包括第一指定位置信息、待补货托盘的第一已存储位置信息、第二指定位置信息和待补货托盘的第一预放位置信息；
    基于所述第一指定位置信息移动可移动设备到第一指定位置；
    基于所述第一指定位置坐标和第一已存储位置坐标之间的差值调整抓取机构位置；
    获取抓取机构位置信息，将抓取机构位置信息与所述第一已存储位置信息进行比对，当获取的所述抓取机构位置信息与所述第一已存储位置信息相匹配时，控制所述抓取机构取得所述待补货托盘；
    反馈第一托盘取得信号；
    基于所述第二指定位置信息移动可移动设备到第二指定位置；
    基于所述第二指定位置的坐标和第一预放位置的坐标之间的差值调整抓取机构位置；
    获取抓取机构位置信息，将抓取机构位置信息与所述第一预放位置信息进行比对，当获取的所述抓取机构位置信息与所述第一预放位置信息相匹配时，控制所述抓取机构将所述待补货托盘放到所述第一预放位置；
    反馈托盘到达信号；
    接收托盘放回命令，所述托盘放回命令包括托盘放回信息，所述托盘放回信息包括第三指定位置信息、补货完成的托盘的第 二已存储位置信息、第四指定位置信息和补货完成的托盘的第二预放位置信息；
    基于所述第三指定位置信息移动可移动设备到第三指定位置；
    基于所述第三指定位置的坐标和第二已存储位置的坐标之间的差值调整抓取机构位置；
    获取抓取机构位置信息，将抓取机构位置信息与所述第二已存储位置信息进行比对，当获取的所述抓取机构位置信息与所述第二已存储位置信息相匹配时，控制所述抓取机构取得补货完成的托盘；
    反馈第二托盘取得信号；
    基于所述第四指定位置信息移动可移动设备到第四指定位置；
    基于所述第四指定位置的坐标和第二预放位置的坐标之间的差值调整抓取机构位置；
    获取抓取机构位置信息，将抓取机构位置信息与所述第二预放位置信息第二预放位置信息进行比对，当获取的所述抓取机构位置信息与所述第二预放位置信息第二预放位置信息相匹配时，控制所述抓取机构将托盘放回；
    反馈托盘放回信号。
  81. 根据权利要求80所述的订单完成方法，其特征在于，所述第一已存储位置信息包括待补货托盘在仓库内的X轴、Y轴和Z轴坐标或者待补货托盘所在的位置编号，所述位置编号与所述X轴、Y轴和Z轴坐标相对应。
  82. 根据权利要求80所述的订单完成方法，其特征在于，所述基于所述第一指定位置坐标和第一已存储位置坐标之间的差值调整抓取机构位置包括基于所述第一指定位置坐标和第一已存储位置坐标之间的差值控制抓取机构旋转、上升或下降。
  83. 根据权利要求80所述的订单完成方法，其特征在于，所述获取抓取机构位置信息，将抓取机构位置信息与所述第一已存储位置信息进行比对，当获取的所述抓取机构位置信息与所述第一已存储位置信息相匹配时，控制所述抓取机构取得所述待补货托盘的步骤包括：
    获取抓取机构位置信息；
    将所述抓取机构位置信息与所述第一已存储位置信息在所述可移动设备内进行比对；
    当获取的所述抓取机构位置信息与所述第一已存储位置信息相匹配时，控制所述抓取机构取得所述待补货托盘。
  84. 根据权利要求80所述的订单完成方法，其特征在于，所述获取抓取机构位置信息，将抓取机构位置信息与所述第一已存储位置信息进行比对，当获取的所述抓取机构位置信息与所述第一已存储位置信息相匹配时，控制所述抓取机构取得所述待补货托盘的步骤包括：
    获取抓取机构位置信息；
    将抓取机构位置信息反馈给控制中心，以供控制中心与第一已存储位置信息进行比对，生成托盘取得命令；
    接收控制中心发送的托盘取得命令；
    控制所述抓取机构取得所述待补货托盘。
  85. 根据权利要求83或84所述的订单完成方法，其特征在于，所述控制所述抓取机构取货包括控制所述抓取机构伸出，将货物取出存储位并放回到所述可移动设备的存储单元中。
  86. 根据权利要求79所述的订单完成方法，其特征在于，所述步骤“对低频区补货”包括以下步骤：
    获取存储区的库存信息，基于所述库存信息生成库存不足信号；
    基于所述库存不足信号向可移动设备发送托盘补货命令，控制所述可移动设备进行托盘补货；
    接收可移动设备反馈的第一托盘取得信号和托盘到达信号；
    基于所述托盘到达信号发送补货命令；
    接收补货完成信号；
    基于所述补货完成信号向可移动设备发送托盘放回命令；
    接收可移动设备反馈的第二托盘取得信号和托盘放回信号。
  87. 根据权利要求86所述的订单完成方法，其特征在于，所述库存信息为存储区内货物存储量减去拣货量的数值，所述库存不足信号为所述库存信息小于预设阈值的信号。
  88. 根据权利要求34所述的订单完成方法，其特征在于，还包括以下步骤：将料车移动到订单完成区封装打包。
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