WO2019233484A1 - 货架的管理方法及系统、拣选区及库存拣选系统 - Google Patents

货架的管理方法及系统、拣选区及库存拣选系统 Download PDF

Info

Publication number
WO2019233484A1
WO2019233484A1 PCT/CN2019/090424 CN2019090424W WO2019233484A1 WO 2019233484 A1 WO2019233484 A1 WO 2019233484A1 CN 2019090424 W CN2019090424 W CN 2019090424W WO 2019233484 A1 WO2019233484 A1 WO 2019233484A1
Authority
WO
WIPO (PCT)
Prior art keywords
picking
area
station
queuing
shelf
Prior art date
Application number
PCT/CN2019/090424
Other languages
English (en)
French (fr)
Inventor
刘凯
王梦迪
Original Assignee
北京极智嘉科技有限公司
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.)
Filing date
Publication date
Priority claimed from CN201810577628.6A external-priority patent/CN108945920A/zh
Priority claimed from CN201910354343.0A external-priority patent/CN109928131B/zh
Application filed by 北京极智嘉科技有限公司 filed Critical 北京极智嘉科技有限公司
Priority to AU2019281676A priority Critical patent/AU2019281676B9/en
Priority to MX2020013234A priority patent/MX2020013234A/es
Priority to KR1020217000360A priority patent/KR102581222B1/ko
Priority to EP19814838.9A priority patent/EP3805131B1/en
Priority to EP23207305.6A priority patent/EP4292881A3/en
Priority to JP2020568239A priority patent/JP6957772B2/ja
Priority to US16/972,003 priority patent/US20210323800A1/en
Priority to CA3102308A priority patent/CA3102308C/en
Publication of WO2019233484A1 publication Critical patent/WO2019233484A1/zh

Links

Images

Classifications

    • 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
    • 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
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0297—Fleet control by controlling means in a control room
    • 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
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • 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
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
    • 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

Definitions

  • the present application relates to the field of logistics automation, for example, to a method and system for shelf management, a picking area, and an inventory picking system.
  • Robot-based goods-to-person systems have been widely used in western developed countries' warehousing industries due to their flexibility and low cost.
  • traditional warehouse operations the shelves are fixed, and workers need to walk to the designated cargo location to perform operations.
  • the robot-based cargo-to-person system is different from the traditional operation method.
  • the shelves are moved to the station by mobile robots and queued. The operators operate at the station without walking.
  • Robot-based cargo-to-person greatly improves the efficiency of human operations .
  • the moving shelves can be placed on multiple sides.
  • the front and back, left, and right sides can be set with cargo spaces, while manual operation can only operate one side at the same time, so the shelves need to be rotated to make the operation side face the operation. personnel.
  • the workstation will accommodate multiple shelves, but the operator can only operate one shelf at the same time. Therefore, before being operated, the robot needs to bring the shelves to line up at the workstation and wait for the operator to operate.
  • a fixed queuing area design is adopted, and a fixed turning area is used for rack turning operation.
  • an arc method is used to enter the turning area.
  • the number of robots that can be accommodated in the fixed queuing area is limited, and robots that cannot be accommodated will stay on the aisle to hinder other robot paths; the queuing path is relatively fixed, which is likely to cause path deadlock; the fixed turning area is easy to become a bottleneck of efficiency.
  • the waiting robots in the queue wait for the release of the turning area, so that the circulation becomes worse; the arc path entering the rotation area requires a large margin between shelves, which is not conducive to improving the overall space utilization of the warehouse.
  • this application proposes a shelf management method and system to solve at least one of the above problems, thereby improving the system picking efficiency.
  • a shelf management method including:
  • a shelf is selected from the unallocated shelves allocated to the station, and a mobile robot is controlled to carry the selected shelf;
  • the mobile robot is controlled to carry the selected shelf to the queuing area of the vacant workstations, and carry the mobile robot Determining whether the selected shelf arrives in a preset area around the queuing area of the estimated working space, and determines whether there is any vacancy in the queuing area of the estimated working space;
  • the mobile robot In a case where it is determined that a space is vacated in the work queuing area estimated to be vacant, the mobile robot is controlled to enter the work queuing area estimated to be vacant.
  • the method further includes: controlling that the mobile robots wait in line in a situation where there are no vacancies in the station queuing area of all the stations.
  • the method further includes: controlling the mobile robot to move less than a set number of movements in a surrounding set range in a case where there is no free space in the queuing area of the station where the space is estimated to be available. It does not hinder the positions of other mobile robots ’paths, or controls the mobile robot to move the selected rack to another station that requires the selected rack.
  • the method further includes: after controlling the mobile robot to enter the queuing station with an estimated space, determining in real time whether there is any space vacated in front of the mobile robot, and determining the When a space is vacated in front of the mobile robot, the mobile robot is controlled to move forward to the vacant space, and when no space is vacated in front of the mobile robot, the mobile robot is controlled to wait in line.
  • estimating whether there is a vacant space in the queuing area of a station includes: in the case that the number of mobile robots that are currently delivering racks for a station is smaller than the size of the queuing area of the one station. To determine that there is a vacancy in the station queuing area of the one station; in the case that the number of mobile robots currently delivering the rack for the one station is greater than or equal to the size of the station queuing area of the one station, calculate The vacant time of the station queuing area of the one station is determined in a case where the time is less than the time for the newly allocated mobile robot to reach the station queuing area of the one station. There are vacancies in the station queuing area.
  • the method further includes: controlling the mobile robot to perform real-time detection of the surrounding environment where the selected shelf is located within a running path of the mobile robot carrying the selected shelf; When the surrounding environment in which the selected shelf meets the rotation condition, the mobile robot is controlled to perform a rotation operation on the selected shelf.
  • the mobile robot within the running path of the mobile robot carrying the selected shelf, the mobile robot is controlled to detect the surrounding environment in which the selected shelf is located in real time; when the selected shelf is detected, When the surrounding environment meets the rotation condition, the mobile robot is controlled to perform a rotation operation on the selected shelf.
  • controlling the mobile robot to perform real-time detection of the surrounding environment where the selected shelf is located in a running path where the mobile robot carries the selected shelf includes: In the running path of the selected shelf, controlling the mobile robot to detect whether a cell in a preset range around the forward path point is occupied, and when applying for a cell in the preset range around the forward path point, Then the forward path point is used as the rotation point; in the case that the mobile robot reaches the set rotation point, cells in a preset range around the forward path point are used as the rotation area, and the forward path point is not successfully occupied In the case of cells in a preset range around, the mobile robot is controlled to continue walking.
  • controlling the mobile robot to perform a rotation operation on the selected shelf includes: when the mobile robot arrives at the In the case where the mobile robot is not rotated on the running path for carrying the selected shelf before the operation position of the queuing area of the station where the space is estimated, the mobile robot is controlled to enter The queuing area of the station where the space is estimated to rotate rotates the selected shelf corresponding to the rotation area of the station.
  • the above method further includes: in a case where the selected shelf that has completed the rotation still needs to be rotated, determining whether it can occupy cells in a preset range around the mobile robot's original place, In the case where the cells within the preset range around the mobile robot's place are occupied, the corresponding cells are occupied as the rotation area, and when the cells within the preset range around the mobile robot's place cannot be occupied, controlling the The mobile robot again enters the station queuing area where there is an estimated space, continues to queue and enters the rotation area of the corresponding station.
  • controlling the mobile robot to rotate the selected shelf includes: in the rotation area, controlling the mobile robot to rotate the selected shelf by using a straight line and a polyline path.
  • the technical solution of the present application also provides a shelf management system, including:
  • Mobile robot set to carry shelves
  • Shelves set to set the goods storage place, and can be carried by mobile robots;
  • Shelf area set to store shelves
  • Work station and work station queuing area the work station is a worker's work position;
  • the work queuing area is an area set near the worker's work position, and mobile robot handling racks are queued in the work queuing area to wait for workers' work;
  • the layout method of the station queuing area includes one of a dual-station symmetrical layout method, a side-by-side layout method, and a queuing method without a specific rotation zone.
  • the workstation queuing area in a case where the layout mode of the workstation queuing area includes a dual-station symmetrical layout mode, the workstation queuing area includes two rotation areas and a rotation area surrounding the two rotation areas respectively. Two queuing channels, and the two queuing channels are partially overlapped to form a channel area between the two rotation zones, and each queuing channel is provided with an entrance position, an operation position, and multiple rotation zone entry positions , Multiple queuing return positions and one exit position; wherein, the operating position is a position where the mobile robot handles the shelves waiting for workers to work, and the rotation zone entry position is a position that allows the mobile robots to enter the rotation zone from the queuing lane and return in line The position is a position that allows a mobile robot to enter the queuing passage from the rotating area, the entrance position is set on the passage area and the two queuing passages share a single entrance position, and the rotating areas on the two queuing lanes enter The position, the queuing return position and the exit position are
  • the workstation queuing area in a case where the layout mode of the workstation queuing area includes a side-by-side layout mode, includes two rotating areas and two queuing channels respectively surrounding the two rotating areas.
  • Each queuing lane is provided with an entrance position, an operating position, multiple rotating zone entry positions, multiple queuing return positions, and exit positions.
  • the two queuing lanes are arranged side by side; among them, the operating position is a mobile robot handling shelf waiting for workers to work
  • the position where the rotating area enters is a position that allows mobile robots to enter the rotating area from the queuing channel
  • the line return position is a position that allows mobile robots to enter the queuing channel from the rotating area.
  • the workstation queuing area in a case where the layout mode of the workstation queuing area includes a queuing mode without a specific rotating area, the workstation queuing area includes a queuing channel, and the queuing channel is used as a rotating area, An operation position, an exit position, and a plurality of entry positions are provided, and the plurality of entry positions are located between the one operation position and the one exit position.
  • the exit position is set in multiple directions to allow the mobile robot to re-enter the work station queuing area from the exit position when the mobile robot needs to rotate the shelf again after the operation is completed. Or can leave the station queuing area from the exit location and return to the station queuing area again via an external path.
  • the workstation queuing area in a case where the layout mode of the workstation queuing area includes a multiple operation point layout mode, includes a plurality of operation positions, and the plurality of operation positions are arranged in a line, and each The operation position is used as the entrance position and the exit position, and the operation position is the position where the mobile robot carries the rack and waits for the work of the worker.
  • the mobile robot is a wheel-driven cart and has a jacking mechanism, and the jacking mechanism is configured to lift the shelf.
  • the lifting mechanism and the trolley body move independently, so that the trolley body does not move, the jacking mechanism descends and lifts; the trolley body does not move, the jacking mechanism rotates; the trolley body and the jacking mechanism are locked. , Rotating at the same speed; the trolley body and the jacking mechanism rotate at different speeds at the same time.
  • the goods-to-person method is based on an intelligent picking robot.
  • the robot automatically drives to the target tray / target inventory container directly under the order and inventory information and lifts the target tray / target inventory container to the picking point.
  • the picking point is equipped with a display. Display devices such as screens.
  • the display device prompts the location information of the goods required for the picking order.
  • the picking staff takes the required goods and places them in the designated container to complete the picking task. After the picking task is completed, the robot sends the tray / stock container Back to the specified position.
  • the above-mentioned goods-to-person scheme does not require personnel to move throughout the process, which greatly improves the picking efficiency and reduces the labor intensity of personnel.
  • the above-mentioned robot-to-person robot solution usually adopts a picking point corresponding to a picking person, and a certain degree of idle time of a robot such as a person will occur, which is not conducive to improving the picking efficiency.
  • the application also provides a picking area, which reduces the waiting time of picking robots in the picking area to improve picking efficiency.
  • the application also provides an inventory picking system, which reduces the waiting time of the picking robot to improve picking efficiency.
  • a picking area including one or more picking stations, each picking station including: two picking channels and two picking points respectively located on the two picking channels;
  • Each picking point is set for the picking subject to pick the target goods
  • Each picking channel is configured to provide a picking robot to enter the each picking station and leave the each picking station after passing through a picking point on the each picking channel in the each picking station. Bit of the path.
  • two of the picking channels are U-shaped and are arranged side by side or side by side, and the two picking points are respectively located at the U-shaped bottoms of the two picking channels, and the two A picking working area is formed at one end of the picking channel away from the U-shaped opening.
  • two of the picking channels are arranged next to each other.
  • two of the picking points are arranged next to each other.
  • each seeding wall contains a plurality of order containers, and the two picking points are located in an extension space formed by the two seeding walls.
  • two of the picking channels in each of the picking stations are U-shaped and spaced apart from each other, and the two picking points are respectively located on U-shaped sides of the two picking channels.
  • a picking work area is formed between the two picking channels for the picking subject to move.
  • the two picking channels are directly opposite and spaced apart.
  • the two picking points are directly opposite and spaced apart.
  • one of the two picking channels provides a passage in a clockwise direction and the other provides a passage in a counterclockwise direction.
  • each picking channel has an entrance grid forming an entrance of the picking channel and an exit grid forming an exit of the picking channel, and the passage width of the entrance grid and the exit grid is greater than The maximum outer diameter of the inventory container.
  • each picking channel includes an inlet channel and an exit channel forming two sides of the U-shape, and the exit channel is located on a side of each picking channel adjacent to another picking station, Two adjacent picking stations share one of the exit channels.
  • the picking area is logically provided with a two-dimensional grid, and one of the two-dimensional grids corresponds to one of the picking points.
  • the two-dimensional grid located upstream of the picking point on each picking channel in each picking channel forms an area for the picking robot to pass and wait.
  • a reference mark used by the picking robot for positioning is set at the center of at least one of the two-dimensional grids.
  • An inventory picking system including:
  • Stock container area set to store multiple stock containers
  • a picking robot configured to carry the inventory container
  • a picking area configured for a picking body to pick a target product from the inventory container carried by the picking robot
  • the picking area includes one or more picking stations, and each picking station includes: two picking channels and two picking points respectively located on the two picking channels;
  • Each picking point is set for a picking subject to pick the target goods
  • Each picking channel is configured to provide that the picking robot enters each of the picking stations and passes through a picking point on each of the picking channels in the each picking station to leave the each picking The path of the work station.
  • the two picking channels are U-shaped and are arranged side by side or side by side.
  • the two picking points are respectively located at the bottom of the U-shape of the picking channel, and the two picking channels are far from the inventory.
  • a picking work area is formed at one end of the container area for the picking subject to move.
  • two of the picking channels are arranged next to each other.
  • two of the picking points are arranged next to each other.
  • each seeding wall contains a plurality of order containers, and the two picking points are located between the two seeding walls.
  • two of the picking channels in each picking station are U-shaped and spaced apart from each other, and the two picking points are respectively located on the U-shaped sides of the two picking channels and are positive.
  • a picking work area is formed between the two picking channels for the picking subject to move.
  • the picking surface of the inventory container in the picking area is parallel to the U-shaped side of each picking channel.
  • one of the two picking channels provides a passage in a clockwise direction and the other provides a passage in a counterclockwise direction.
  • each picking channel has an entrance grid forming an entrance of the picking channel and an exit grid forming an exit of the picking channel, and the passage width of the entrance grid and the exit grid is greater than The maximum outer diameter of the inventory container.
  • each picking channel includes an inlet channel and an exit channel forming two sides of the U-shape, and the exit channel is located on a side of each picking channel adjacent to another picking station, Two adjacent picking stations share one of the exit channels.
  • the inventory container area and the picking area are logically provided with a two-dimensional grid, and a two-dimensional grid in the picking area corresponds to one of the picking points.
  • the two-dimensional grid located upstream of the picking point on each picking channel in each picking channel forms an area for the picking robot to pass and wait.
  • a reference mark used by the picking robot for positioning is set at the center of at least one of the two-dimensional grids.
  • FIG. 1 is a flowchart of a method of queuing and rotating a shelf according to an embodiment of the present application
  • FIG. 2 is a flowchart of planning a path for a transporting tool to carry a rack for a transporting tool and adjusting a running path of the transporting tool in real time according to an order requirement according to an embodiment of the present application;
  • FIG. 3 is a flowchart of a rotating operation on a shelf according to an embodiment of the present application.
  • FIG. 4 is a schematic plan view of a shelf structure according to an embodiment of the present application.
  • FIG. 5 is a schematic structural diagram of a two-station symmetrical layout according to an embodiment of the present application.
  • FIG. 6 is a schematic structural diagram of a side-by-side layout according to an embodiment of the present application.
  • FIG. 7 is a schematic structural diagram of a queuing method without a specific rotation zone according to an embodiment of the present application.
  • FIG. 8 is a schematic structural diagram of a multi-operation point workstation according to an embodiment of the present application.
  • FIG. 9 is a schematic diagram of using a straight line and an arc path to rotate in a rotation area according to an embodiment of the present application.
  • FIG. 10 is a structural block diagram of a shelf management device according to an embodiment of the present application.
  • FIG. 11 is a structural block diagram of a shelf management system according to an embodiment of the present application.
  • FIG. 12 is a schematic structural diagram of an inventory picking system according to an embodiment of the present application.
  • FIG. 13 is a schematic structural diagram of an inventory container according to an embodiment of the present application.
  • FIG. 14 is a schematic structural diagram of a picking robot according to an embodiment of the present application.
  • FIG. 15 is a schematic structural diagram of a picking station in FIG. 12;
  • 16 is a schematic structural diagram of a picking station and an inventory container provided in an embodiment of the present application.
  • 17 is a schematic structural diagram of a picking station and an inventory container provided in an embodiment of the present application.
  • FIG. 18 is a schematic structural diagram of a picking station and an inventory container provided in an embodiment of the present application.
  • FIG. 19 is a schematic structural diagram of an inventory picking system according to an embodiment of the present application.
  • FIG. 20 is a schematic structural diagram of a picking station and an inventory container in FIG. 19.
  • 20- inventory container area 201- inventory container group; 202- inventory container; 2021- picking surface; 2022- compartment; 2023- tag code; 2024- support column; 203- longitudinal channel; 204- horizontal channel;
  • Aisle The area where the robotic transport rack can walk in the field.
  • Work station queuing area The area set near the worker's work position, the robot moves the shelves and queues in this area to wait for the workers to work.
  • Shelves square or rectangular shelves that can be carried by mobile robots. Shelves can be divided into multiple layers, and cargo directions can be set in the four directions of each layer (that is, the four sides of the shelf).
  • a method of queuing and rotating a shelf includes:
  • Step S110 At the same time as the transfer task is allocated, the transfer tools of the transfer rack are queued and scheduled. The queue scheduling starts when the task is allocated.
  • Step S120 According to the requirements of the order, plan the path for the transport tool to carry the rack for the transport tool, and adjust the running path of the transport tool in real time.
  • Step S130 Perform real-time detection on the surrounding environment where the shelf is located in the running path allocated to the completion of the handling task by the handling task.
  • Step S140 If it is detected that the surrounding environment where the shelf is suitable for rotation, perform a rotation operation on the shelf.
  • the carrying tool is a mobile robot.
  • queuing and scheduling of mobile robots while assigning handling tasks includes: real-time monitoring of the task time and number of mobile robots in the work station queuing area, and according to the mobile robots in the work queuing area.
  • the task time and quantity determine whether a new mobile robot is assigned to carry the rack to the workstation. If the task time and number of mobile robots in the queuing area of the station are under full load, no new mobile robots will be assigned, that is, the new assignment of transport tasks will be suspended.
  • the above-mentioned handling task when allocated, it includes prioritizing in-line scheduling for handling tools of shelves with a high priority level or requiring no rotation. That is, a mobile robot that does not need to perform a turn operation on a shelf, or a mobile robot with a high priority, can directly plan the nearest path to be inserted into a cell closest to the operation position, and a robot with a low priority waits.
  • the method further includes reducing scheduling of rotating operations on the shelf.
  • the shelf In the case of symmetrical station layout.
  • assigning tasks suppose that a certain rack needs R surface to be presented to the workers, and the first station needs to rotate the shelf, but in the second station, which is mirrored with the first station, the shelf does not need to rotate, the shelf can be generated
  • the order for the task is assigned to station number two. As shown in Figure 4.
  • the above-mentioned handling task allocation includes allocating a corresponding work station queue path layout method to the handling task according to the attributes of the task in the handling task.
  • the station queuing path layout method includes a dual-station symmetrical layout method, a side-by-side layout method, a no-specific rotation zone queue method, and a multi-operation point layout method.
  • the two-station symmetrical layout the area in the middle of cells 1 to 12 is the rotation area.
  • Cells 8 or 9 are docked as mobile robots waiting for workers to operate.
  • Cell 10 is the exit of the station queuing area.
  • the path of the mobile robot that does not rotate the shelf is: 1 ⁇ 4 ⁇ 7 ⁇ 9, or 12 ⁇ 5 ⁇ 7 ⁇ 9.
  • the mobile robot can carry the shelves from 11, 12, 2 or 3 cells into the rotation zone and complete the rotation of the shelves in the rotation zone. From the rotation zone to 5, 6, 8 or 9 cells, they can return to the queue from the rotation zone. District, the specific cell is determined according to the vacancy in the queue.
  • the mobile robot can also rotate in 4 cells as the second rotation point of the station queuing area, increasing the efficiency when multiple mobile robots need to rotate. Before the 4 cells are rotated, the system locks the front, back, left and right cells of the 4 cells to ensure the safe rotation of the shelf.
  • 1 to 12 are queuing paths, which can be queued clockwise or counterclockwise.
  • the middle of cells 1 to 12 is the rotation area.
  • the path of the mobile robot that does not rotate the shelf is: 1 ⁇ 4 ⁇ 6, or 12 ⁇ 5 ⁇ 6.
  • the mobile robot can carry the shelves from 2, 11, or 12 cells into the rotation area, and complete the rotation of the shelves in the rotation area. From the rotation area to the 3, 5 or 6 cells, it can return to the queue area from the rotation area. At the position of 6 cells, the mobile robot is docked and waits for the worker to work.
  • Cell 10 is the exit of the station queuing area.
  • the station queuing area can be arranged next to each other, or it can be arranged several cells apart.
  • the mobile robot can also rotate in 4 cells as the second rotation point of the station queuing area, increasing the efficiency when multiple mobile robots need to rotate.
  • the system locks the front, back, left and right cells of the 4 cells to ensure the safe rotation of the shelf.
  • the operation position is in 8 cells. 10 is the exit of the station queuing area. 1 to 8 cells can be used as the rack rotation position of the work station queuing area.
  • the system locks the four cells around the front, back, left, and right, and does not allow other mobile robots to enter, ensuring rotation safety.
  • the queuing method without a specific rotation zone is not limited to the layout of 2 rows and 5 columns, and can be increased or decreased according to demand.
  • a flat font is adopted, and the mobile robot at each operating point can enter and leave independently. In this operation position, the mobile robot does not need to wait in line for another mobile robot when it reaches the operating point.
  • the number of operating points is not limited.
  • the mobile robot can rotate the shelf at the operation point; during the path of the mobile robot to the operation point, the mobile robot can apply for the surrounding cells to complete the shelf rotation task.
  • the mobile robot decides to lower the shelf or wait for the operation to complete. If the shelf operation time exceeds the time the mobile robot performs the next task, the mobile robot can lower the shelf and continue to the next task. After the shelf operation is completed, the system assigns a mobile robot to remove the shelf.
  • the exit position 10 cell sets multiple directions. If the operation needs to rotate the shelf, the mobile robot can re-enter the station queuing area from the exit position 10 cell, and can also leave the station queuing area from the exit position 10 cell. After returning to the station queuing area via the external path.
  • the rotating operation is performed on the rack during the process of assigning the handling task to the completion of the handling task, that is, the environment of the rack is inspected in real time during the process of assigning the handling task to the completion of the handling task. Rotation occurs when the environment meets the rotation conditions.
  • planning a path for the transport tool to transport the shelf for the transport tool, and adjusting the running path of the transport tool in real time including:
  • Step S210 Estimate the vacancy of the work station queuing area.
  • Step S220 If there is a vacant space in the queuing area of the work station, that is, if there is a vacant space in the queuing area of the work station or a possible work station is estimated, then select a shelf from the unremoved racks in the queuing area of the work station and allocate one. The mobile robot picks up the shelf.
  • Step S230 After the mobile robot picks up the shelf (it means that the mobile robot has docked with the shelf but has not yet moved the shelf), it estimates the vacancy of the queuing area of the station from the new position, and estimates all the stations that require the shelf. If it is estimated that there is a vacancy, it will start to move the shelves. If it is estimated that there is no vacancy, it will wait in line.
  • Step S240 When the shelves reach the vicinity of the queuing area of the work station, if the vacant position of the queuing area of the work station is not vacated, select a position where the density of the mobile robot is low and does not block the path of other mobile robots, or wait for the delivery rack to another If there is a vacant space in the station queuing area of the shelf, then enter the station queuing area.
  • Step S250 When it is determined in real time that there is a free space in front of the workstation queuing area, move to the workstation, and when there is no free space in front, wait in line.
  • the estimated vacancy in the station queuing area is: if the number of mobile robots (including the number of mobile robots in the queuing area inside the station queuing area) currently being delivered to a station is less than the station The size of the queuing area is sure to be free. If the number of mobile robots currently working for a station's delivery rack is greater than or equal to the size of the station's queuing area, calculate the time for the mobile robot at the end of the queuing area to make a vacancy, which is all the movements that precede it. The sum of the robot moving one step time and the rack staying operation time at the head of the line. If this time is less than the time for the newly assigned mobile robot to arrive at the work station queuing area, it is estimated that there is a possibility of vacancy.
  • the shelf is rotated.
  • the surrounding environment where the shelf is located is detected in real time, such as the surrounding environment where the shelf is located is detected. If it is suitable for rotation, the shelf is rotated, including the following steps.
  • Step S310 Determine whether the shelf needs to be rotated. If no rotation is required, plan the path directly. If rotation is required, go to step S320.
  • Step S320 In the process of the mobile robot walking along the path, it is detected whether the cells near the forward path point are occupied. If adjacent cells around the forward path can be applied at the same time, the path point is used as the rotation point.
  • Step S330 When the mobile robot reaches the set rotation point, it occupies the surrounding cells. If the occupancy is successful, it rotates the shelves. After the rotation of the shelves is completed, the occupancy of the surrounding cells is released. If it is not occupied, it continues to walk.
  • Step S340 Before the mobile robot arrives at the station, if the shelf is not rotated on the path, it enters the rotation zone set by the station to rotate.
  • Step S350 if the rotating shelf needs to be rotated, judge whether the surrounding cells can be occupied in place, if it can be taken, rotate it in place, if it can't be taken, enter the workstation queuing area again, continue to line up and enter the set rotation Click for shelf rotation.
  • the rotation of the shelf is performed by using a tangent path of a straight line to an arc or a path of a fold line in the rotation area.
  • a tangent path of a straight line to an arc or a path of a fold line in the rotation area When entering a specific rotation area, if a whole arc is used, a large margin between shelves is required.
  • the straight and arc tangent method is adopted, and the shelf in the straight section is kept parallel to the adjacent shelf angle. With a broken line path, the shelves are always parallel to the adjacent shelves.
  • Adopt straight line and circular arc method or folding line method so that when the shelf normally enters the rotation point, the reserved gap between the shelf and the shelf in the case of a pure arc path is reduced, and the shelf size can be larger in the same size cell.
  • Improve warehouse space utilization As shown in Figure 9.
  • the technical solution of the present application provides a shelf management device, including a queuing and scheduling unit: arranged to distribute and move tasks while queuing and scheduling the moving tools of the moving shelves; a path adjustment unit : Set to plan the path of the carrying tool to carry the rack for the carrying tool according to the order requirements, and adjust the running path of the carrying tool in real time; environmental detection unit: set to be within the running path that the handling task is assigned to the completion of the carrying task, The surrounding environment where the shelf is located is detected in real time; the rotation operation unit is configured to perform a rotating operation on the shelf when it is detected that the surrounding environment where the shelf is located is suitable for rotation.
  • a queuing and scheduling unit arranged to distribute and move tasks while queuing and scheduling the moving tools of the moving shelves
  • a path adjustment unit Set to plan the path of the carrying tool to carry the rack for the carrying tool according to the order requirements, and adjust the running path of the carrying tool in real time
  • environmental detection unit set to be within the running path that the handling task is assigned to the completion of
  • the carrying tool is a mobile robot.
  • the queuing and scheduling unit includes a handling allocation module: configured to monitor the task time and quantity of the moving tools in the queuing area of the workstation in real time, and according to the task time and quantity of the moving tools in the queuing area of the workstation. Decide whether to assign a new handling tool to the rack.
  • the queuing and scheduling unit includes a queue cutting module: it is configured to perform priority queue cutting on a transportation tool with a high priority or a rack that does not require rotation.
  • the queuing and scheduling unit includes an optimized scheduling module: configured to reduce scheduling of rotating operations on the shelves when allocating handling tasks.
  • the queuing and scheduling unit further includes a queuing path layout allocation module: set to assign a corresponding work station queuing path layout method to the handling task according to the attributes of the task in the handling task.
  • the station queuing path layout method includes a dual-station symmetrical layout method, a side-by-side layout method, a no-specific rotation zone queuing method, and a multi-operation point layout method.
  • the transportation tool does not need to wait in line for another transportation tool when it reaches the operation point.
  • the transportation tool can be operated. Point to rotate the shelf; during the path of the conveying tool to the operating point, the conveying tool can apply the surrounding cells to complete the shelf rotation task; and according to the shelf operation time, determine whether the next move of the conveying tool is to lower the shelf or wait for the operation to complete. If the shelf operation time exceeds the time required for the carrying tool to perform the next task, the handling tool will lower the shelf and continue to perform the next task. After the shelf operation is completed, the handling tool will be assigned to remove the shelf. If the shelf operation time does not exceed the carrying tool execution At the next task time, the handling tool waits for the operation to complete.
  • the exit position is set in multiple directions. If the operation is completed and a rotating rack is required, the transport tool can be moved from The exit position enters the station queuing area again. It can also leave the station queuing area from the exit position and return to the station queuing area again via the external path.
  • the rotating operation unit includes a real-time inspection module: configured to inspect the environment of the shelf in real time during the process of assigning the transportation task to completion of the transportation task, and when the environment of the shelf meets the rotation condition Rotation is now performed.
  • a real-time inspection module configured to inspect the environment of the shelf in real time during the process of assigning the transportation task to completion of the transportation task, and when the environment of the shelf meets the rotation condition Rotation is now performed.
  • the path adjustment unit includes: an estimation module: set to estimate the vacancy in the queuing area of the work station; and a selection module: set to vacate the work in the queuing area of the estimated work station. Select a shelf from the unremoved shelves in the queuing area and assign a moving tool to move the shelf; Evaluation module: Set to take the shelf to the moving tool, and estimate the empty space in the queuing area of the new station. All the workstations are estimated. When there is an estimated empty space, the shelves are started to be moved. If there is no estimated space, they are queued in place. The first path planning module: when the shelves arrive near the queued area of the workstation.
  • the judgment module set to determine in real time that there is a free space in the front of the work queuing area, and go to the work station. Move and wait in line without leaving any space in front.
  • the estimation module is configured to estimate that there is a vacant space in the queuing area of the work station when the number of transport tools currently being delivered to the work station is less than the size of the queuing area of the work station. , In the case that the number of moving tools for a certain station's delivery rack is greater than or equal to the size of the queuing area of the station, calculate the time that the moving tool at the end of the queuing area makes a vacant space, which is less than the new time In the case of allocating the time to reach the queuing area of the work station, it is estimated that there is a vacancy.
  • the rotating operation unit includes three methods for rotating the shelf: rotating on a conveying path, rotating at a rotation point set in a station queuing area, and rotating in place at the operating point.
  • the environment detection unit includes a detection module, a first rotation judgment module, a second rotation judgment module, and a third rotation judgment module.
  • the transport tool walking along the path, it is detected whether the cells near the forward path point are occupied. If the adjacent cells around the forward path can be applied at the same time, the path point is used as the rotation point; the transport tool reaches the setting When the rotation point is set, the surrounding cells are occupied. If the occupation is successful, the shelf rotation is performed. After the rotation of the shelf is completed, the occupation of the surrounding cells is released. If the occupation is not successful, continue walking.
  • the rotation zone set by the station Before the conveying tool arrives at the station, without rotating the shelf on the path, enter the rotation zone set by the station to rotate; if the completed shelf needs to rotate, judge whether it can Occupy the surrounding cells. If the surrounding cells can be occupied, rotate in place. If the surrounding cells cannot be occupied, enter the workstation queuing area again, continue to queue and enter the set rotation point for shelf rotation.
  • the rotation of the shelf is performed by using a tangent path of a straight line to an arc or a path of a fold line in the rotation area.
  • the technical solution of the present application also provides a shelf management system, including: a transport tool: set as a transport rack; a shelf: set as a place for storing goods, and can be transported by the tool Handling; Shelf area: set to store shelves; Server: Shelf management method that runs this technical solution schedules and arranges the handling tools and shelves.
  • the carrying tool is a mobile robot.
  • the mobile robot is a wheel-driven trolley, which is provided with a jacking mechanism, and has the ability of straight walking, arc walking, and turning in place.
  • the lifting mechanism and the trolley body move independently, so that the trolley body does not move, the jacking mechanism descends and lifts up; the trolley body does not move, the jacking mechanism rotates; the trolley body and the jacking mechanism lock Dead, rotate at the same speed; the car body and the jacking mechanism rotate at different speeds at the same time.
  • it further includes a work station and a work station queuing area; a work station (work station): a worker's work position; a work station queuing area: an area set near the worker's work position, and a conveyance tool transports a rack And in this area caches are queued for worker jobs.
  • a work station work station
  • a work station queuing area an area set near the worker's work position, and a conveyance tool transports a rack And in this area caches are queued for worker jobs.
  • the technical solution of this application is based on the overall efficiency and adopts a full-area queuing strategy, that is, while assigning tasks, it expands the robot queuing scheduling to the entire area.
  • the queuing starts from the time when the task is assigned to the robot, and the workstation queue is monitored in real time.
  • the robot task time and the number of robots in the area decide whether to allocate new robots to take the shelves and send them to the workstation.
  • This overcomes the shortcomings of the limited number of robots that can be accommodated in the fixed queuing area.
  • the rack rotation is refined into a task.
  • the path rotation point can be flexibly and dynamically set according to needs, and the rack rotation can be performed at multiple positions. Reduce the need for shelf rotation tasks. Therefore, the rotation area is fixed and it is easy to become a bottleneck. When multiple mobile robots need to turn around, the robots waiting in line wait for the release of the rotation area, so that the circulation becomes worse, so as to improve the efficiency of shelf handling.
  • the queuing path is multi-directional to avoid deadlock.
  • the symmetrical layout of the work stations avoids the production of shelf rotation tasks when assigning tasks and further improves efficiency.
  • the shelf In the rotation area, the shelf is rotated using a tangent path of a straight line to an arc or a polygonal path, so that when the shelf normally enters the rotation point, the reserved gap between the shelf and the shelf is reduced in the case of a pure arc path, which can be within the same size. Under the cell, the shelf size can be larger, improving the utilization of warehouse space.
  • a sequenced list of executable instructions that can be considered to implement a logical function can be embodied in any computer-readable medium,
  • the instruction execution system, device, or device such as a computer-based system, a system including a processor, or other system that can fetch and execute instructions from the instruction execution system, device, or device), or combine these instruction execution systems, devices, or devices Or equipment.
  • a "computer-readable medium” may be any device that can contain, store, communicate, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device.
  • computer-readable media include the following: electrical connections (electronic devices) with one or more wirings, portable computer disk enclosures (magnetic devices), random access memories (Random Access Memory , RAM), Read-Only Memory (ROM), Erasable Programmable Random Access Memory (EPROM) or flash memory, fiber optic devices, and compact disc read-only memory (Compact Disc Read-Only Memory (CDROM).
  • the computer-readable medium may even be paper or other suitable medium on which the program can be printed, because, for example, by optically scanning the paper or other medium, followed by editing, interpretation, or other suitable Processing to obtain the program electronically and then store it in computer memory.
  • multiple steps or methods may be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system.
  • a suitable instruction execution system For example, if implemented in hardware, as in another embodiment, it may be implemented using any one or a combination of the following techniques known in the art: Discrete logic circuits, ASICs with suitable combinational logic gate circuits, Programmable Gate Array (PGA), Field Programmable Gate Array (FPGA), etc.
  • the term “a” should be understood as “at least one” or “one or more”, that is, in one embodiment, the number of one element can be one, and in other embodiments, the number of The number may be plural, and the term “a” cannot be understood as a limitation on the number.
  • first may be referred to as a second component, and as such, a second component may be referred to as a first component without departing from the teachings of the inventive concepts.
  • the term "and / or” as used herein includes any and all combinations of one or more of the associated listed items.
  • FIG. 12 is a schematic structural diagram of an inventory picking system provided by an embodiment of the present application. As shown in FIG. 12, this embodiment provides an inventory picking system.
  • the inventory picking system is mainly used in a warehousing and logistics system to remove order goods from inventory. Pick-up from container 202 to order box.
  • the inventory picking system is applied to a "cargo-to-person" type picking job as an example to explain the inventory picking system.
  • the stock picking system provided by this embodiment is not limited to the picking of goods.
  • the stock picking system includes a stock container area 20, a picking area 10, a common channel 30, and a picking robot 40.
  • the storage container area 20 is configured to store the storage container 202, and a storage container 50 configured to store goods is placed on the storage container 202, and goods are placed in the storage container 50;
  • the picking area 10 is separated from the storage container area 20 and is set as a main body for picking Pick the order goods and place the picked order goods in the order box;
  • the picking robot 40 is set to move the stock containers 202 in the stock container area 20 to the pick area 10, or move the picked stock containers 202 back to inventory
  • the common channel 30 is provided between the inventory container area 20 and the picking area 10, and is used for high-speed passage of the picking robot 40 to realize the operation of the picking robot 40 between the stock container area 20 and the picking area 10.
  • the order management center determines the position of the inventory container 202 where the order product is located in the inventory container area 20 and mobilizes the picking robot 40; the order management center sends the target inventory container 202 to the picking robot 40.
  • the picking robot 40 autonomously navigates to the bottom of the target inventory container 202 according to the position, and carries the target inventory container 202 to the picking area 10; the picking subject of the picking area 10 according to the pickup order to the target inventory container 202
  • the order goods are picked out and placed in the order box; the picked inventory container 202 is transported by the picking robot 40 from the picking area 10 to the inventory container area 20 through a common channel.
  • a plurality of inventory container groups 201 are provided in the inventory container area 20.
  • a passage for the picking robot 40 to run is formed between two adjacent storage container groups 201.
  • the inventory container groups 201 in the inventory container area 20 are arranged in rows.
  • Each row of the inventory container group 201 includes at least one inventory container group 201, and the adjacent two rows of the inventory container group 201 form a horizontal channel 204 arranged along the first direction; each column of the inventory container group 201 includes at least one inventory container group 201, A longitudinal channel 203 is formed between two adjacent columns of the inventory container group 201 along the second direction.
  • the first direction and the second direction are perpendicular, and the intersection of the horizontal channel 204 and the vertical channel 203 forms a "T" intersection or a "T" intersection.
  • each inventory container group 201 includes at least one inventory container 202, and in order to improve the utilization efficiency of the inventory container area 20, in one embodiment, each inventory container group 201 includes multiple inventory containers 202, and a plurality of inventory containers 202 are arranged in rows and columns in the inventory container group 201.
  • FIG. 13 is a schematic structural diagram of an inventory container 202 according to an embodiment of the present application.
  • the inventory container 202 includes a plurality of compartments 2022 and four floor support columns 2024 arranged at intervals in the longitudinal direction.
  • a variety of goods can be placed directly, and the goods can also be placed on the inner or outer surface of the inventory container 202 by any suitable means such as a hook or a rod in the inventory container 202 or on the inventory container 202.
  • the compartment 2022 of the inventory container 202 may also be provided with a storage container 50.
  • the storage container 50 may be separated from the inventory container 202, or may be an integrated structure with the inventory container 202.
  • One or more goods may be placed in the storage container 50.
  • the inventory container 202 may be a one-way opening, that is, a goods or storage container 50 may be placed along the depth direction of the partition 2022.
  • the inventory container 202 is a two-way opening, that is, the inventory container 202 can place two goods or storage containers 50 along the depth direction of the partition 2022, that is, one goods or storage container 50 can be placed in each opening direction.
  • the storage container 202 may also be a four-way open type, that is, goods or storage containers 50 may be placed along all four sides of the storage container 202.
  • a storage container 50 is provided as an example on the partition 2022 of the inventory container 202, and the goods are placed in the storage container 50. It can be understood that whether the goods are directly placed in the inventory container 202 or placed in the inventory container 202 through the storage container 50 does not affect the work of the inventory picking system in this embodiment.
  • an opening of the inventory container 202 is referred to as a picking surface, that is, a surface for picking and placing the storage container 50.
  • the picking main body can face the inventory container 202 through the picking of the inventory container 202 The goods in the upper storage container 50 are operated.
  • the order item may be placed in a storage container 50 corresponding to any picking surface of the stock container 202; for a stock container 202 with a one-way opening, there is one The picking surface, the picking operation only operates the storage container 50 corresponding to the picking surface; for the four-way opening storage container 202, there are four picking surfaces, and the picking work can correspond to any of the four picking surfaces
  • the storage container 50 is operated.
  • FIG. 14 is a schematic structural diagram of a picking robot 40 according to an embodiment of the present application.
  • the picking robot 40 includes a driving mechanism 402 and a lifting mechanism 401. Through the driving mechanism 402, the picking robot 40 can Zone 10, inventory container zone 20, and public aisle 30 move.
  • the lifting mechanism 401 is configured to lift the inventory container 202 so that the inventory container 202 is out of contact with the ground, thereby driving the inventory container 202 to move.
  • the picking robot 40 When the picking robot 40 transports the inventory container 202, the picking robot 40 runs through the horizontal passage 204 and / or the vertical passage 203 to the bottom of the inventory container 202 to be transported.
  • a tray is connected to the top of the lifting mechanism 401, and the lifting mechanism 401 moves to drive The tray rises to contact the bottom of the inventory container 202, so that the support column 2024 of the inventory container 202 is lifted off the ground, so that the picking robot 40 lifts the entire target inventory container 202 from the ground, so that the picking robot 40 drives the inventory container 202 to the target. position.
  • the lifting mechanism 401 operates to drive the tray down, thereby driving the inventory container 202 to drop to contact the ground, and the tray continues to drop until it comes out of contact with the inventory container 202, and the picking robot 40 passes
  • the driving mechanism 402 moves out of the bottom of the inventory container 202 to separate the inventory container 202 from the picking robot 40.
  • the handling of the inventory container 202 may also be submerged.
  • a docking device is provided at the bottom of the inventory container 202 or at the top of the picking robot 40 for docking the inventory container 202 with the picking robot 40.
  • the picking robot 40 travels along the horizontal passage 204 and / or the longitudinal passage 203 in the inventory container area 20, and runs to the bottom of the inventory container 202. After the docking connection between the inventory container 202 and the picking robot 40 is achieved through the docking device, drag The inventory container 202 moves to a target position.
  • the picking robot 40 can also use a traction type for handling the inventory container 202.
  • the picking robot 40 is linked to the inventory container 202 through a traction mechanism, and the movement of the picking robot 40 drags the inventory container 202 to move.
  • the handling of the inventory container 202 by the picking robot 40 may also take other forms, and this embodiment will not list them one by one.
  • the picking robot 40 is further provided with a rotating mechanism connected to the tray.
  • the rotating mechanism can drive the tray to rotate, so as to keep the running direction of the picking robot 40 unchanged, it can drive the inventory container 202 to rotate to change The orientation of the inventory container 202 during handling. That is, in this embodiment, the rotation movement of the picking robot 40 may be separated from the rotation movement of the inventory container 202, and the movement of the picking robot 40 may be forward, backward, spin reversal, turning, etc. During actions such as, back, spin reversal, the orientation of the inventory container 202 may not change. When the orientation of the inventory container 202 needs to be changed, the tray can be rotated by the rotation mechanism action, that is, the inventory container 202 is rotated.
  • the picking robot 40 also has an autonomous navigation function. Taking autonomous navigation as a two-dimensional code navigation as an example, the picking robot 40 further includes a navigation recognition component configured to recognize a two-dimensional code mark laying on the ground. The picking robot 40 also includes a downward-facing camera. The picking robot 40 can navigate forward based on the two-dimensional code information (also other ground marks) captured by the downward-facing camera, and can drive according to the route determined by the control system. Go below the target inventory container 202 as prompted by the control system. In other embodiments, in addition to the two-dimensional code navigation, the picking robot 40 can also use other navigation methods, such as inertial navigation, instant positioning and map construction (SLAM) navigation, etc. One or more navigation methods, such as two-dimensional code navigation and inertial navigation, SLAM navigation and two-dimensional code navigation, etc.
  • SLAM instant positioning and map construction
  • the picking robot 40 further includes a scanning device 403 with the scanning head facing up. As shown in FIG. 14, the center of the bottom of the target inventory container 202 is provided with a label code 2023. After the picking robot 40 travels below the target inventory container 202, the upward scanning device 403 correctly shoots the label code 2023 to ensure that the picking robot 40 is just right. It is located directly below the target inventory container 202 to ensure that the picking robot 40 can smoothly lift and carry the target inventory container 202.
  • the tag code 2023 is a two-dimensional code
  • the scanning device 403 is a camera.
  • the tag code 2023 may be a barcode, a Radio Frequency Identification (FRID) tag, and the like, and the type of the scanning device 403 corresponds to the type of the tag code 2023.
  • FRID Radio Frequency Identification
  • each inventory container group 201 is provided with two columns of the inventory container 202, and each column of the inventory container 202 A plurality of stock containers 202 are provided side by side along the second direction. That is, each inventory container 202 faces a longitudinal channel 203.
  • the picking robot 40 handles any inventory container 202 in the inventory container group 201, it can enter the inventory container 202 through the longitudinal channel 203 that the inventory container 202 faces.
  • the storage container 202 is driven into the vertical channel 203, so that the storage container 202 can be removed; or when the storage container 202 needs to be moved back to the initial position of the storage container group 201,
  • the picking robot 40 drives the inventory container 202 into the initial position through the longitudinal channel 203 to realize the reset of the inventory container 202. That is, setting two rows of inventory containers 202 in each inventory container group 201 can avoid interference with other inventory containers 202 in the inventory container group 201 when the picking robot 40 transports the inventory containers 202, and improves the efficiency of transportation.
  • each row of the inventory container 202 includes a plurality of inventory containers 202, that is, each inventory container in the inventory container group 201 202 are all adjacent to a horizontal channel 204, and the picking robot 40 can move the target inventory container 202 into or into the inventory container group 201 through the corresponding lateral channel 204.
  • each inventory container group 201 may be provided with more than two columns and more than two rows of the inventory container 202. At this time, the inventory container Part of the inventory container 202 in the group 201 is surrounded by the inventory container 202.
  • another or multiple picking robots 40 need to be dispatched to move the inventory container 202 on the side of the target inventory container 202 at the same time. After opening, the target inventory container 202 is transferred.
  • a set of inventory container groups 201 are respectively provided at the three edges of the inventory container area 20 which are not adjacent to the picking area 10.
  • the inventory container area 20 is disposed along the first direction and is far from the inventory container area 20
  • the inventory container group 201 at the edge includes a row of inventory containers 202.
  • Two edges of the inventory container area 20 along the second direction are respectively provided with two columns of inventory containers 202, and two ends of the row of inventory containers 202 and the two columns of inventory containers The two ends of 202 are butted together so that the storage container area 20 forms a semi-closed space whose opening faces the picking area 10.
  • the common channel 30 is disposed along the first direction and is located between the picking area 10 and the storage container area 20.
  • the picking robot 40 enters or exits the inventory container area 20 through the common passage 30, or enters or exits the picking area 10, or moves between the picking area 10 and the inventory container area 20. Therefore, the density of the picking robot 40 in the public passage 30 is greater than that of the inventory container area 20 and The density of the picking robot 40 in the picking area 10. In order to reduce the obstacles to the operation of the picking robot 40, no obstacles are provided on the common channel 30.
  • the common channel 30 includes four running channels arranged along the first direction, and the picking robots 40 of two adjacent running channels are allowed to run in opposite directions to avoid the picking robot 40 causing collision during the running of the common channel 30 At the same time, the traffic in the public channel 30 can be eased.
  • the number of running channels in the common channel 30 may be two, or six or more, and in one embodiment, the number of running channels in the common channel 30 is even, and the picking robot The running direction of 40 in two adjacent running channels is opposite.
  • the picking area 10 is disposed on one side of the inventory container area 20, and the picking area 10 faces an opening of the inventory container area 20.
  • the picking is performed manually, that is, the picking body picks the order goods delivered to the inventory container 202 in the picking area 10.
  • an automatic picking method may also be adopted, that is, a robotic arm is used to pick the order goods in the inventory container 202 moved to the picking area 10.
  • manual selection is used as an example to describe the selection work in the selection area 10.
  • the picking area 10 includes a plurality of picking stations 1 arranged side by side along the first direction, and each picking station 1 is responsible for picking order goods by a picking body.
  • the number of the picking stations 1 in the picking area 10 can be set according to requirements.
  • FIG. 15 is a schematic structural diagram of a picking station and an inventory container according to an embodiment of the present application.
  • each picking station 1 is provided with two picking points 122 and two The picking channel 121 is arranged in a one-to-one correspondence with the picking point 122 so that each picking channel 121 provides a path for the picking robot 40 to pass through the corresponding picking point 122.
  • the two picking points 122 of each picking station 1 can be used by the same picking subject for target goods selection.
  • each picking channel 121 enables the picking robot 40 to enter the corresponding picking point 122 In this way, the same picking body can be responsible for the picking of two picking points 122. After the picking body has finished picking the inventory container 202 on one picking point 122 and the picking robot 40 entering from the picking channel 121 has not yet put the stock container 202 In the case of being delivered to the picking point 122, the picking subject can pick the inventory container 202 waiting to be picked at another picking point 122, reducing the idle waiting time of the picking subject, and improving the picking efficiency.
  • the picking channel 121 has a U-shape opening toward the inventory container area 20, and the entrance and exit of the picking channel 121 are facing the inventory container area 20.
  • the picking channel 121 is formed by a two-dimensional grid plan arranged in a rectangular array, which is beneficial to improving the regularity of the picking channel 121, thereby improving the planning consistency and compactness of the entire picking area 10.
  • the picking channel 121 is formed by two rows of two-dimensional grid groups arranged side by side along the first direction.
  • the grid group includes a plurality of two-dimensional grids 123 arranged side by side along the second direction.
  • One column of the two-dimensional grid group is connected along the center of the second direction to form the inlet channel 1211 of the U-shaped channel, and the two-dimensional grid 123 of the inlet channel 1211 connected to the common channel 30 is the inlet grid 1231; the other column of two-dimensional grids
  • the group is connected along the center in the second direction to form the exit channel 1212 of the U-shaped channel.
  • the exit channel 1212 is connected to the two-dimensional grid 123 of the common channel 30 as the exit grid 1232.
  • the central connection of the two-dimensional grid 123 at the end forms the U-shaped reversing channel 1213.
  • the reversing channel 1213 is arranged in the first direction, and the two ends of the reversing channel 1213 are respectively at the ends of the outlet channel 1212 and the inlet channel 1211.
  • the picking robot 40 performs a spin reversal when the picking robot 40 runs to the intersection of the reversing channel 1213 with the inlet channel 1211 or with the exit channel 1212, and changes the running direction of the picking robot 40.
  • each column of the two-dimensional grid group includes four two-dimensional grids 123 to improve the space utilization rate of the picking area 10 and the space compactness of the inventory picking system.
  • the two-dimensional grid 123 may be formed by virtual logic division in the controller of the inventory picking system, or may be formed by grid scribing in an actual site.
  • the center of at least one two-dimensional grid is provided with a reference mark for positioning of the picking robot 40.
  • a reference mark for navigation of the picking robot 40 is affixed to the center of each two-dimensional grid 123.
  • the reference mark is a two-dimensional code, and a camera for scanning the two-dimensional code is disposed on the picking robot 40.
  • the navigation of the picking robot 40 by using a two-dimensional code is a conventional technical means in the art, and its principles and specific operations are not described in this embodiment.
  • the picking point 122 is disposed at the U-shaped bottom of the picking channel 121, and the picking channel 121 is provided at a side away from the inventory container area 20 with a picking work area 11 provided for the main activity of the picking.
  • two picking channels 121 of the same picking station 1 are arranged next to each other.
  • a two-dimensional grid group of two columns forming a picking channel 121 is located at the bottom end and adjacent to the other picking channel 121. The grid forms the picking points 122 so that the two picking points 122 can be arranged next to each other next to each other, reducing the distance between the two picking points 122.
  • the two-dimensional grid forming the two picking points 122 may be arranged at intervals.
  • the exit channel 1212 of each picking channel 121 is adjacent to another picking channel 121 of the same picking station 1. That is, in this embodiment, the picking point 122 occupies the two-dimensional grid 123 where the exit channel 1212 and the reversing channel 1213 meet.
  • the picking robot 40 runs to the picking point 122 via the inlet channel 1211 and the reversing channel 1213, the stock container 202 carried by the picking robot 40 is picked by the picking body at the picking point 122. After the picking is completed, the picking robot 40 moves out of the picking station 1 along the exit passage 1212.
  • each two-dimensional grid 123 can be occupied by only one picking robot 40.
  • the two-dimensional grid between the entrance grid 1231 of the picking channel 121 and the picking point 122 forms a waiting area for the picking robot 40 to run and wait.
  • Each waiting area can accommodate a picking robot 40 waiting to move into the picking point 122 in the waiting area.
  • the picking robot 40 located on the picking point 122 is sorted and moved out of the picking point 122, the next waiting picking robot 40 moves the inventory container 202 to the picking point 122 and waits for being picked.
  • two seeding walls 112 for placing order boxes are arranged in the picking work area 11, two seeding walls 112 are oppositely arranged, and two picking points 122 are located on the two seeding walls 112 to form a space.
  • a plurality of order containers for storing order boxes are arranged on the seeding wall 112.
  • a display screen is set in the picking work area 11, and the display screen is in communication with the controller of the inventory picking system, and is set to display the order information and picking information of the picking station 1 responsible for picking, which is convenient for the picking subject Pick the goods with reference to the order information.
  • the order information includes at least the type of the order item in each pick-up order, the quantity of each order item, the inventory container 202 corresponding to each order item, and its position on the inventory container 202.
  • the picking information may include the currently picked inventory container 202, the type of the target goods on the currently picked inventory container 202, the location of each target item in the currently picked inventory container 202, the picked quantity of each target item on the currently picked inventory container 202, each The position of one or more order boxes corresponding to the target product on the seeding wall 112 and the like.
  • the picking subject may pick only one order at a time, that is, after the target goods on each order have been picked, the next order may be picked.
  • the picking body can perform picking operations on multiple orders at the same time. Whether it is single-order picking or multi-order synchronous picking is a conventional technical means in the art, which is not described in this embodiment.
  • the picking surface 2021 of the stock container 202 faces the picking area 10
  • the picking surface 2021 of the stock container 202 and the working surface of the picking point 122 are oriented in the same direction.
  • the working surface of the point 122 is the side of the picking point 122 facing the picking working area 11. That is, in the process that the picking robot 40 drives the stock container 202 to the picking point 122, the stock container 202 does not need to be rotated and reversed, that is, the picking body can pick the goods.
  • the storage container 202 has two opposite openings, and at least one storage container 50 can be arranged side by side in the first direction on each layer 2022 of the storage container 202, and only one storage container 50 is provided in the second direction.
  • the storage container 202 has four side openings, but only one storage container 50 is provided on each layer 2022 of the storage container 202.
  • the length of the inventory container 202 in the first direction is L 0
  • the width of the inventory container 202 in the second direction is W 0.
  • the width W 2 > W 0 of the longitudinal channel 203 in order to ensure the operation of the inventory container 202 in the picking area 10 and avoid collisions during the operation of the picking robot 40, each two-dimensional grid 123 runs along the first direction
  • the width W 1 > W 0 of each two-dimensional grid 123 along the second direction in order to improve space utilization, W 1 is slightly larger than W 0
  • L 1 is slightly larger than L 0 .
  • the sizes of each two-dimensional grid 123 are the same.
  • the inventory picking system provided by this embodiment further includes a control system for controlling operations of multiple components in the inventory picking system.
  • the control system includes an order management center, which is set to receive and send orders to picking robots and picking stations.
  • This embodiment also provides a picking method, which is applied to the above-mentioned inventory picking system.
  • the picking method provided in this embodiment includes the following steps:
  • Step S1010 The order management center receives the pick-up order, analyzes the position of the target inventory container 202 corresponding to the order item in the pick-up order in the inventory container area 20, and simultaneously plans the target picking station 1 corresponding to the pick-up order.
  • Step S1020 The order management center schedules the picking robot 40 and plans a first travel path for the picking robot 40 according to the initial position of the picking robot 40 and the location of the target inventory container 202.
  • Step S1030 The picking robot 40 moves to the bottom of the target inventory container 202 according to the first travel path.
  • Step S1040 The lifting mechanism 401 of the picking robot 40 moves, causing the tray to rise to contact the bottom of the target inventory container 202 until the target inventory container 202 comes out of contact with the ground.
  • Step S1050 The control system determines the target picking channel 121 that the picking robot 40 needs to enter according to the congestion of the picking robots 40 in the two picking channels 121 in the target picking station 1.
  • Step S1060 The control system plans a second travel path for the picking robot 40 according to the entrance grid position of the target picking channel 121 and the position of the target inventory container 202.
  • Step S1060 The picking robot 40 moves to the entrance grid of the target picking channel 121 according to the second travel path. In this process, the target inventory container 202 does not undergo a turning movement, and the picking robot 40 can perform forward, backward, spin reversal, etc. action.
  • Step S1070 The picking robot 40 advances in the second direction to the end of the entrance channel according to the entrance channel, and then rotates along the reversing channel 1213 to the picking point 122 after spinning 90 °.
  • Step S1080 The picking body sorts the target goods on the target inventory container 202.
  • Step S1090 After the picking is completed, the picking robot 40 rotates 90 ° to reverse and drives the inventory container 202 along the exit channel 1212 to the exit grid 1232.
  • Step S1100 The control system plans a third travel path according to the positions of the exit grid 1232 and the target inventory container 202 in the inventory container area 20, and the picking robot 40 transports the inventory container 202 back to the inventory container area 20 according to the third travel route.
  • Step S1110 The lifting mechanism 401 of the picking robot 40 moves, causing the tray to descend until the inventory container 202 comes into contact with the ground and the tray comes out of contact with the bottom of the inventory container 202.
  • Step S1120 The picking robot 40 drives the mechanism 402 to move the picking robot 40 out of the bottom of the inventory container 202 and detach from the inventory container 202.
  • This embodiment also provides a warehouse logistics system, which includes the above-mentioned inventory picking system.
  • FIG. 16 is a schematic structural diagram of an inventory picking system according to an embodiment of the present application.
  • This embodiment provides an inventory picking system.
  • the inventory picking system is mainly used to implement a “cargo-to-person” approach to order goods. Picking can also achieve conventional warehousing and logistics operations such as loading and inventory.
  • the inventory picking system includes an inventory container area 20, a common aisle 30, a picking area 10, and a picking robot 40.
  • the layout and implementation of the inventory container area 20, a common aisle 30, picking area 10, and a picking robot 40 are basically and implemented.
  • the first example is the same, only the setting method of the picking channel 121 in the picking station 1 is different. This embodiment will not repeat the same structure as the first example.
  • an inlet channel 1211 of each picking channel 121 is set adjacent to another picking channel 121, and an exit channel 1212 of each picking channel 121 is set adjacent to another picking station 1.
  • two neighboring picking channels 1211 share one exit channel 1212.
  • two seeding stations 1 adjacent to each other can share a seeding wall 112.
  • the seeding wall 112 has two side openings, and each side opening has a container for placing an order.
  • a seeding wall 112 may be set in the picking work area 11 of a picking station 1, and the seeding wall 112 is spaced apart from the picking point 122, so that the picking subject moves between the seeding wall 112 and the picking point 122.
  • FIG. 17 is a schematic structural diagram of an inventory picking system provided by an embodiment of the present application. As shown in FIG. 17, this embodiment provides an inventory picking system.
  • the inventory picking system is mainly used to implement a “cargo-to-person” style for order goods. Picking can also achieve conventional warehousing and logistics operations such as loading and inventory.
  • the inventory picking system includes an inventory container area 20, a common aisle 30, a picking area 10, and a picking robot 40.
  • the layout and implementation of the inventory container area 20, a common aisle 30, picking area 10, and a picking robot 40 are basically and implemented.
  • the first embodiment is the same. Only the arrangement manner of the inventory container 202 in the inventory container area 20 and the arrangement manner of the two-dimensional grid 123 are different. This embodiment will not repeat the same structure as the first embodiment.
  • the inventory container 202 is open on both sides, and one opening of the inventory container 202 faces the picking area 10, and the other opening faces away from the picking area 10.
  • Each compartment 2022 of the inventory container 202 is provided with two rows of storage containers 50 side by side along the second direction, and each row of storage containers 50 includes at least one storage container 50. That is, the inventory container 202 has two opposing picking surfaces 2021, and each picking surface 2021 can only pick up and place the storage container 50 corresponding to the open side.
  • the stock container 202 does not need to turn to realize picking; if the target product is placed away from the pick At the picking surface 2021 of the area 10, during the process of the picking robot 40 moving the inventory container 202 to the picking point 122, the stock container 202 needs to be rotated 180 ° so that the picking surface 2021 corresponding to the target product faces the picking work area 11.
  • the length of the inventory container 202 in the first direction is L0
  • the width of the inventory container 202 in the second direction is W 0.
  • the width L 2 of the lateral channel 204 is greater than L 0
  • the width W 2 of the longitudinal channel 203 is W 2 > W 0
  • each two-dimensional grid 123 is along the first direction
  • W1 is slightly larger than W 0
  • L 1 is slightly larger than L 0 .
  • each picking channel 121 is provided with a rotation area for the rotation and reversal of the inventory container 202, and since the inventory container 202 needs to be rotated and reversed before running to the picking point 122, the rotation area is to form an inlet One of the two-dimensional grids 123 corresponding to the channel 1211.
  • the entrance grid 1231 of each picking channel 121 forms the above-mentioned rotation area to ensure the consistency of the subsequent two-dimensional grid 123, reduce the difficulty of classification, and avoid running interference between the picking robots 40.
  • any one of the two-dimensional grids 123 forming the inlet channel 1211 may form the above-mentioned rotation region.
  • the two-dimensional grid 123 corresponding to the rotation area is along the first direction.
  • the length L 3 corresponds to the length L1 of the two-dimensional grid 123 corresponding to the non-rotation zone in the first direction.
  • the width of the two-dimensional grid 123 corresponding to the rotation zone in the second direction is greater than the maximum outer diameter of the inventory container 202, that is,
  • the exit grid 1232 and the entrance grid 1231 have the same size, that is, the exit container 1232 can also rotate the inventory container 202 to make the rotated inventory container 202 Return to the original orientation. That is, in this embodiment, the length of the two-dimensional grid 123 in the first direction in each picking channel 121 is the same, but the width of the exit grid 1232 and the entrance grid 1231 in the second direction is greater than the other two in the picking channel 121. The width of the grid 123 is to provide space for the rotation and reversal of the inventory container 202, and at the same time, to improve the space utilization rate of the picking area 10.
  • This embodiment also provides a picking method, which can realize double-sided picking of the inventory container.
  • the selection method provided in this embodiment is as follows:
  • Step S2010 The order management center receives the pick-up order, analyzes the position of the target inventory container 202 corresponding to the order item in the pick-up order in the inventory container area 20, and simultaneously plans the target picking station 1 corresponding to the pick-up order.
  • Step S2020 the order management center schedules the picking robot 40, and plans a first travel path for the picking robot 40 according to the initial position of the picking robot 40 and the location of the target inventory container 202;
  • Step S2030 The picking robot 40 moves to the bottom of the target inventory container 202 according to the first travel path.
  • Step S2040 The lifting mechanism 401 of the picking robot 40 moves to bring the tray up to contact the bottom of the target inventory container 202 until the inventory container 202 comes out of contact with the ground.
  • Step S2050 The control system determines the target picking channel 121 that the picking robot 40 needs to enter according to the congestion of the picking robot 40 in the two picking channels 121 in the target picking station 1.
  • Step S2060 The control system plans a second travel path for the picking robot 40 according to the entrance grid position of the target picking channel 121 and the position of the target inventory container 202.
  • Step S2070 The picking robot 40 moves to the entrance grid 1231 of the target picking channel 121 according to the second travel path. During this process, the target inventory container 202 does not undergo a turning movement, and the picking robot 40 can perform forward, backward, and spin reversal. Wait for action.
  • Step S2080 The control system judges whether the target inventory container 202 is selected on both sides or on one side according to the order information. When the selection of the target inventory container 202 is one-sided and the picking surface 2021 is away from the picking point 122, step S2090 is executed. When the selection of the inventory container 202 is a one-side selection and the selection surface 2021 faces the selection point 122, step S21100 is performed.
  • Step S2090 After the tray of the picking robot 40 rotates, the target inventory container 202 is rotated 180 °, and then step S2100 is performed.
  • Step S2100 The picking robot 40 advances in the second direction to the end of the entrance channel according to the entrance channel 1211, and after 90 ° of rotation, runs along the reversing channel 1213 to the picking point 122.
  • Step S2110 The selection subject selects the target goods on the target inventory container 202.
  • Step S2120 After the picking is completed, the picking robot 40 rotates 90 ° to reverse the direction and drives the target inventory container 202 along the exit channel 1212 to the exit grid 1232.
  • Step S2130 The control system plans a third travel path according to the location of the exit grid 1232 and the target inventory container 202 in the inventory container area 20, and the picking robot 40 transports the inventory container 202 back to the inventory container area 20 according to the third travel route.
  • Step S2140 The lifting mechanism 401 of the picking robot 40 moves to drive the tray down until the target inventory container 202 is in contact with the ground and the tray is out of contact with the bottom of the target inventory container 202.
  • Step S2150 The picking robot 40 drives the mechanism 402 to move the picking robot 40 out of the bottom of the inventory container 202 and detach from the target inventory container 202.
  • the inventory container 202 may be rotated and reversed at the exit grid 1232 so that The orientation of the inventory container 202 is restored to the original position, and the direction change may not be performed. At this time, the orientation of the inventory container 202 needs to be updated in the control system.
  • the exit grid 1232 for rotation and reversal, and then picks another picking surface 2021. In other embodiments, it can also be performed once. After the sorting is completed, the entry grid 1231 in the picking channel 121 is entered again, and then the rotary commutation is performed.
  • This embodiment also provides a warehouse logistics system, which includes the above-mentioned inventory picking system.
  • FIG. 18 is a schematic structural diagram of an inventory picking system provided by an embodiment of the present application.
  • this embodiment provides an inventory picking system, which is mainly used to implement "goods-to-person" sorting for order goods. Can achieve conventional warehouse logistics operations such as loading and inventory.
  • the inventory picking system includes an inventory container area 20, a common aisle 30, a picking area 10, and a picking robot 40.
  • the layout and implementation of the inventory container area 20, a common aisle 30, picking area 10, and a picking robot 40 are basically and implemented.
  • the second embodiment is the same, except that there is a difference between the way of setting the inventory container 202 in the inventory container area 20 and the way of setting the two-dimensional grid 123. This embodiment will not repeat the same structure as the first embodiment.
  • the picking surface 2021 of the stock container 202 faces the vertical channel 203 or faces away from the vertical channel 203. At this time, because the picking surface 2021 of the stock container 202 does not face the picking area 10, Regardless of which picking surface 2021 the target goods are in, the inventory container 202 needs to be rotated so that the picking surface 2021 faces the picking work area 11.
  • double-sided picking of the inventory container 202 is required, after the one-side picking is performed, the inventory container 202 needs to be reversed, and then the other side of the inventory container 202 is selected.
  • the length of the inventory container 202 in the first direction is L0
  • the width of the inventory container 202 in the second direction is W 0.
  • the longitudinal channel width W 2> W 0 203 a is L 3 > W 0 and the width in the second direction.
  • the length of the two-dimensional grid 123 of each picking channel 121 except for the rotation area in the first direction is L 1 > W 0
  • the width in the second direction is W 1 > L 0.
  • W 1 is slightly larger than L
  • L 1 is slightly larger than W 0 .
  • This embodiment also provides a picking method, which is applied to the inventory picking system as described above.
  • the picking method provided in this embodiment includes the following steps:
  • Step S3010 The order management center receives the pick-up order, analyzes the position of the target inventory container 202 corresponding to the order item in the pick-up order in the inventory container area 20, and simultaneously plans the target picking station 1 corresponding to the pick-up order.
  • Step S3020 The order management center schedules the picking robot 40 and plans a first travel path for the picking robot 40 according to the initial position of the picking robot 40 and the location of the target inventory container 202.
  • Step S3030 The picking robot 40 moves to the bottom of the target inventory container 202 according to the first travel path.
  • Step S3040 The lifting mechanism 401 of the picking robot 40 moves, causing the tray to rise to contact the bottom of the target inventory container 202 until the target inventory container 202 comes out of contact with the ground.
  • Step S3050 The control system determines the target picking channel 121 that the picking robot 40 needs to enter according to the congestion of the picking robots 40 in the two picking channels 121 in the target picking station 1.
  • Step S3060 The control system plans a second travel path for the picking robot 40 based on the entrance grid position of the target picking channel 121 and the position of the target inventory container 202.
  • Step S3070 The picking robot 40 moves to the entrance grid 1232 of the target picking channel 121 according to the second travel path. During this process, the inventory container 202 does not perform a turning movement, and the picking robot 40 can perform forward, backward, spin reversal, etc. action.
  • Step S3080 The control system determines the rotation angle of the inventory container 202 according to the relationship between the initial orientation of the picking surface 2021 corresponding to the target goods on the target inventory container 202 and the working surface of the picking point 122.
  • Step S3090 The tray of the picking robot 40 rotates, which drives the inventory container 202 to rotate a preset angle.
  • the picking robot 40 drives the inventory container 202 to reverse at the entrance grid 1231 so that the picking surface 2021 is consistent with the working surface of the picking point 122.
  • the inventory container 202 may be driven to change direction, so that one picking surface 2021 of the inventory container 202 is consistent with the working surface of the picking point 122. That is, in the present embodiment, the first rotation reversal that matches one of the picking surfaces 2021 of the inventory container 202 with the working surface of the picking point 122 may occur in the common channel 30 or in the picking channel 121. Entrance grid 1231.
  • Step S3100 The picking robot 40 advances in the second direction to the end of the entrance channel according to the entrance channel, and after 90 ° of rotation, runs along the reversing channel 1213 to the picking point 122.
  • Step S3110 The picking subject sorts the target goods on the target inventory container 202.
  • Step S3120 After the picking is completed, the picking robot 40 rotates 90 ° and reverses to drive the inventory container 202 along the exit passage 1212 to the exit grid 1232.
  • Step S3130 The control system determines whether the target inventory container 202 is double-sided picking. If the target inventory container 202 is double-sided pick, execute step S3140, and execute S3160 if the target inventory container 202 is not double-sided pick.
  • Step S3140 The tray of the picking robot 40 rotates, which drives the target inventory container 202 to rotate 180 °.
  • Step S3150 The control system determines the target picking channel 121 that the picking robot 40 needs to enter again according to the congestion of the picking robot 40 in the two picking channels 121 in the target picking station 1, and enters the target picking channel from the exit grid 1232 where it is located. After entering the entrance grid 1231 of 121, it is sorted into the picking point 122 through the entrance passage 1212, and after the selection is completed, it is moved into the exit grid 1232 of the target picking passage 121 through the exit passage 1212.
  • Step S3160 The tray of the picking robot 40 rotates to drive the inventory container 202 to rotate a preset angle, so that the inventory container 202 returns to the original orientation.
  • the inventory container 202 is restored to the initial orientation at the exit grid 1232 of the picking channel 121.
  • the picking robot 40 may also drive the stock container 202 out of the picking station 1 and enter the public channel 30 After the middle, the inventory container 202 is driven to rotate to the initial orientation.
  • Step S3170 The control system plans a third travel path according to the positions of the exit grid 1232 and the target inventory container 202 in the inventory container area 20.
  • the picking robot 40 transports the inventory container 202 back to the inventory container area 20 according to the third travel route.
  • Step S3180 The picking robot 40 lifts the mechanism 401 to move the tray down until the target inventory container 202 is in contact with the ground and the tray is out of contact with the bottom of the inventory container 202;
  • Step S3190 The picking robot 40 drives the mechanism 402 to move the picking robot 40 out of the bottom of the target inventory container 202 and detach from the target inventory container 202.
  • the exit grid 1232 for rotation and reversal, and then picks another picking surface 2021. In other embodiments, it can also be performed once. After the picking is completed, the entry grid in the picking channel 121 is entered again, and then the rotary commutation is performed.
  • This embodiment also provides a warehouse logistics system, which includes the above-mentioned inventory picking system.
  • FIG. 19 is a schematic structural diagram of an inventory picking system provided in an embodiment of the present application
  • FIG. 20 is a schematic structural diagram of a picking station and an inventory container provided in an embodiment of the present application.
  • this embodiment provides a This kind of inventory picking system is mainly used to realize the "goods-to-person" sorting of order goods, and can also realize conventional warehousing and logistics operations such as loading and inventory.
  • the inventory picking system includes an inventory container area 20, a common aisle 30, a picking area 10, and a picking robot 40.
  • the layout and implementation of the inventory container area 20, a common aisle 30, picking area 10, and a picking robot 40 are basically and implemented.
  • the first example is the same, and only the setting method of the picking area 10 is different. This embodiment will not repeat the same structure as the first example.
  • the inventory container 202 has two picking surfaces 2021 opposite to each other, and one of the two picking surfaces 2021 faces the longitudinal channel 203 and the other faces away from the adjacent longitudinal channel 203.
  • Each of the compartments 2022 of the inventory container 202 may be provided with one or a plurality of storage containers 50 along the second direction.
  • each picking station 1 includes two picking points 122 and two picking channels 121.
  • the picking channels 122 form a U-shape, and the entrances and exits of the picking channels 122 face the storage container area 20.
  • the two picking channels are arranged relatively spaced apart, and a picking work area 11 is formed between the two picking channels for the main activity of the picking.
  • the picking point 122 is located on the U-shaped side of the picking channel 121, and the picking point 122 faces the picking work area 11.
  • the picking point 122 is located on one side of the picking work area 11, when the picking robot 40 moves the stock container 202 from the stock container area 20 to the picking point 122, the stock container 202 can be rotated without having to rotate.
  • the picking surface 2021 of the inventory container 202 faces the picking work area 11, which improves picking efficiency and avoids an increase in space caused by setting an additional rotating area.
  • the picking work area 11 is provided with picking points 122 and picking channels 121 on both sides, so that the same picking subject can be responsible for the picking of the two picking points 122.
  • the picking subject can sort the stocking container 202 waiting to be picked at another picking point 122, reducing the idle waiting time of the picking subject. Improve picking efficiency.
  • one of the two picking channels 121 is set clockwise, and the other picking channel 121 is set counterclockwise. That is, the inlet channels 1211 of the two picking channels 121 are located on one side of the picking channel 121 adjacent to the picking work area 11, or the exit channels 1212 of the two picking channels 121 are located in the picking channel 121 adjacent to the picking work area 11. One side. With this arrangement, when the picking robot 40 transports the inventory container 202 to a picking point 122 of a different picking channel 121, the picking surface 2021 facing the picking work area 11 is different.
  • one of the two picking channels 121 can be selected to enter the picking station 1, so that when the stock container 202 is located at the picking point 122, the picking surface 2021 where the target product is located Facing towards the picking work area 11, it is convenient for the picking staff to pick. It is beneficial for picking the inventory container 202 picked on both sides, avoiding the rotation and reversal of the inventory container 202 during the handling process of the picking robot 40, and improving the picking efficiency.
  • the picking station 1 is provided with a communication channel 124 connecting two picking channels 121 on a side of the picking work area 11 facing the inventory container area 20, and the communication channel 124 is logically divided into two two-dimensional grids. Is formed, and the two two-dimensional grids connecting the channels are arranged side by side with the entrance grid 1231 and the exit grid 1232 to realize the communication between the two picking channels 121, so that the picking robot 40 does not need to move out of the picking station 1 In this way, the movement between the two picking channels 122 in the same picking station 1 can be realized, thereby realizing the double-sided picking operation of the inventory container 202.
  • the inlet channels 1211 of the two picking channels 121 are located on one side of the picking channel 121 adjacent to the picking work area 11, and two neighboring picking channels 121 of two neighboring picking stations 1 share one. Exit channel 1212. This arrangement can improve the compactness of the layout of the picking station 1 in the picking area 10 and save space.
  • each column of the two-dimensional grid group includes four two-dimensional grids 123 to improve the space utilization rate of the picking area 10 and the space compactness of the inventory picking system.
  • a third two-dimensional grid 123 along the direction of the inlet passage 1211 forms a picking point 122.
  • This setting method can make the first two two-dimensional grids 123 used for the picking robot 40 to enter the picking channel 121 and wait in the picking channel 121, thereby increasing the number of picking robots 40 available in the picking channel 121;
  • the picking point 122 may be formed by the two-dimensional grid 123 at the end of the entrance channel 1211 far from the entrance grid 1231.
  • Stock container 202 in a first longitudinal direction is L0
  • a second stock container 202 in the width direction is W 0, 202 to ensure the conveyance region 20 of the container stock
  • the width W 2 of the channel 203 is greater than W 0 ; in order to ensure the operation of the inventory container 202 in the picking area 10 and avoid collisions during the operation of the picking robot 40, the length of each two-dimensional grid 123 along the first direction L 1 > L 0
  • W 1 is slightly larger than W 0
  • L 1 is slightly larger than L 0 .
  • each two-dimensional grid 123 is the same.
  • a seeding wall 112 is set in the picking work area 11, and the seeding wall 112 is located between two picking points 122.
  • the seeding wall 112 is disposed away from the inventory container area 20.
  • the picking work area 11 may be provided with two seeding walls 112, and the two seeding walls 112 are oppositely disposed, and are respectively located at two sides of the picking point 122 along the second direction.
  • the picking surface 2021 of the stock container 202 in the stock container area 20 faces or faces away from the longitudinal channel 203, the initial direction of the picking surface 2021 of the stock container 202 in the stock container area 20 and the working surface of the picking point 122 face the same. That is, during the process of the picking robot 40 transporting the stock container 202, the stock container 202 does not need to be reversed. In other embodiments, the placement position of the inventory container 202 in the inventory container area 20 may not be limited. Before the picking robot 40 moves the inventory container 202 to the picking station 1, the inventory container 202 may be rotated and reversed to make the inventory The picking surface 2021 of the container 202 is aligned with the working surface of the picking point 122.
  • This embodiment also provides a picking method, which is applied to the above-mentioned inventory picking system, and can realize picking on both sides of the inventory container 202.
  • the selection method includes the following steps.
  • Step S4010 The order management center receives the pick-up order, analyzes the position of the target inventory container 202 corresponding to the order item in the pick-up order in the inventory container area 20, and simultaneously plans the target picking station 1 corresponding to the pick-up order.
  • Step S4020 the order management center schedules the picking robot 40, and plans a first travel path for the picking robot 40 according to the initial position of the picking robot 40 and the location of the target inventory container 202;
  • Step S4030 The picking robot 40 moves to the bottom of the target inventory container 202 according to the first travel path.
  • Step S4040 The lifting mechanism 401 of the picking robot 40 moves, causing the tray to rise to contact the bottom of the target inventory container 202 until the target inventory container 202 comes out of contact with the ground.
  • Step S4050 The control system determines whether the target inventory container 202 is double-sided picking. In the case where the target inventory container 202 is double-sided picking, the target to be entered is determined according to the congestion in the two picking channels 121 in the target picking station 1.
  • the picking channel 121 determines the target picking channel 2021 to be entered according to the orientation of the picking surface 2021 of the target inventory container 202 when the target inventory container 202 is not a double-sided picking.
  • Step S4060 The control system plans a second travel path for the picking robot 40 according to the entrance grid position of the target picking channel 121 and the position of the target inventory container 202.
  • Step S4070 The picking robot 40 moves to the entrance grid of the target picking channel 121 according to the second travel path. During this process, the target inventory container 202 does not undergo a turning movement, and the picking robot 40 can perform forward, backward, spin reversal, etc. action.
  • the initial orientation of the inventory container 202 in the inventory container area 20 is the same as the orientation of the working surface in one of the picking points 122, so there is no need to reverse the inventory container 202; in other embodiments, if The initial orientation of the inventory container 202 in the inventory container area 20 is different from the orientation of the working surface in the two picking points 122, so that the picking robot 40 can rotate the inventory container 202 before driving the inventory container 202 into the picking station 1. The orientation is changed so that the picking surface 2021 of the stock container 202 and the working surface of one of the picking points 122 have the same orientation.
  • Step S4080 The picking robot 40 advances to the picking point 122 in the second direction according to the entrance passage.
  • Step S4090 The picking body sorts the target goods on the target inventory container 202.
  • Step S4100 After the selection is completed, the picking robot 40 runs along the reversing passage 1213 and the exit passage 1212 to the exit grid 1232.
  • Step S4110 The control system determines whether the inventory container 202 is a double-sided picking. If the target inventory container 202 is a double-sided picking, execute step S4120, and if the target inventory container 202 is not a double-sided pick, execute S4130.
  • Step S4120 The picking robot 40 enters another picking channel 121 through the communication channel 124, and drives the target inventory container 202 to the corresponding picking point 122 and is picked by the picking subject. After the picking is completed, it is moved to the target picking through the exit channel 1212
  • the exit grid of channel 121 is at 1232.
  • Step S4130 the control system plans a third travel path according to the position of the exit grid 1232 and the target inventory container 202 in the inventory container area 20, and the picking robot 40 transports the target inventory container 202 back to the inventory container area 20 according to the third travel path;
  • Step S4140 The lifting mechanism 401 of the picking robot 40 moves, causing the tray to descend until the target inventory container 202 is in contact with the ground and the tray is out of contact with the bottom of the target inventory container 202;
  • Step S4150 The picking robot 40 drives the mechanism 402 to move the picking robot 40 out of the bottom of the target inventory container 202 and away from the inventory container 202.
  • This embodiment also provides a warehouse logistics system, which includes the above-mentioned inventory picking system.

Landscapes

  • Engineering & Computer Science (AREA)
  • Business, Economics & Management (AREA)
  • Mechanical Engineering (AREA)
  • Economics (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Strategic Management (AREA)
  • Human Resources & Organizations (AREA)
  • Marketing (AREA)
  • Tourism & Hospitality (AREA)
  • Theoretical Computer Science (AREA)
  • General Business, Economics & Management (AREA)
  • Entrepreneurship & Innovation (AREA)
  • Development Economics (AREA)
  • Operations Research (AREA)
  • Quality & Reliability (AREA)
  • Robotics (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Accounting & Taxation (AREA)
  • Finance (AREA)
  • Game Theory and Decision Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

本申请公开了一种货架的管理方法及系统、拣选区及库存拣选系统。货架的管理方法包括：预估一个工位的工位排队区是否有空位；在预估工位排队区有空位的情况下，在分配给该工位且未搬运的货架中选择一个货架，并控制一个移动机器人搬运选择的货架；在移动机器人与选择的货架对接后，重新预估需求选择的货架的所有工位的工位排队区是否有空位；在预估有空位的情况下，则控制移动机器人搬运选择的货架到预估有空位的工位排队区，并在移动机器人搬运选择的货架到达预估有空位的工位排队区周围预设区域内的情况下，确定在预估有空位的工位排队区是否有空位腾出；在确定预估有空位的工位排队区有空位腾出的情况下，控制移动机器人进入所述预估有空位的工位排队区。

Description

货架的管理方法及系统、拣选区及库存拣选系统
本公开要求申请日为2018年06月06日、申请号为201810577628.6以及申请日为2019年4月29日、申请号为201910354343.0的中国专利申请的优先权，该申请的全部内容通过引用结合在本公开中。
技术领域
本申请涉及物流自动化领域，例如涉及一种货架的管理方法及系统、拣选区及库存拣选系统。
背景技术
物流自动化技术蓬勃发展，基于机器人的货到人系统以其灵活柔性并且低成本的优势，在西方发达国家仓储行业中得到了广泛应用。传统仓库作业中，货架固定，作业人员需要行走到指定货位处才能进行作业。基于机器人的货到人系统有别于传统作业方式，货架由移动机器人搬运到工位，并进行排队，作业人员在工位进行操作，无需行走，基于机器人的货到人大大提高了人员作业效率。
基于机器人的货到人系统中，移动的货架可以多面放货，例如，前后左右4面均可设置货位，而人工操作只能同时操作一面，因而需要对货架进行旋转，使操作面朝向作业人员。同时，为了提高拣选效率，工位处会容纳多个货架，但作业人员同时只能操作一个货架，因此，在被操作前，机器人需要携带货架在工位处排队，等待作业人员操作。
发明内容
基于机器人的货到人系统中采用了固定排队区域设计，并固定转面区域进行货架转面操作，同时采用了弧线进入转面区方法。然而，固定排队区域可容纳机器人数量有限，不能容纳的机器人会停留在通道上阻碍其他机器人路径；排队路径相对固定，容易造成路径死锁；转面区域固定，容易成为效率的瓶颈，当多个机器人需要转面时，排队的机器人等待转面区域的释放，以至于流通性变差；弧线路径进入旋转区需要货架之间的余量较大，不利于提高仓库整体空间利用率。
因此，本申请，提出一种货架的管理方法及系统，以解决上述问题中的至少一个，进而提高系统拣选效率。
本申请技术方案一方面，提供了一种货架的管理方法，包括：
预估一个工位的工位排队区是否有空位；
在预估所述工位排队区有空位的情况下，在分配给所述工位且未搬运的货架中选择一个货架，并控制一个移动机器人搬运选择的货架；
在所述移动机器人与所述选择的货架对接后，重新预估需求所述选择的货架的所有工位的工位排队区是否有空位；
在预估所述所有工位的工位排队区中有空位的情况下，则控制所述移动机器人搬运所述选择的货架到预估有空位的工位排队区，并在所述移动机器人搬运所述选择的货架到达所述预估有空位的工位排队区周围预设区域内的情况下，确定在所述预估有空位的工位排队区是否有空位腾出；
在确定所述预估有空位的工位排队区有空位腾出的情况下，控制所述移动机器人进入所述预估有空位的工位排队区。
在一实施例中，上述方法还包括：在预估所述所有工位的工位排队区中没有空位的情况下，控制所述移动机器人在原地排队等待。
在一实施例中，上述方法还包括：在所述预估有空位的工位排队区未有空位腾出的情况下，控制所述移动机器人在周围设定范围内的移动数量小于设定数量且不阻碍其他移动机器人路径的位置排队等待，或者，控制所述移动机器人搬运所述选择的货架到另一个需要所述选择的货架的工位。
在一实施例中，上述方法还包括：在控制所述移动机器人进入所述预估有空位的工位排队区后，实时判断在所述移动机器人的前方是否有空位腾出，在确定所述移动机器人的前方有空位腾出的情况下，控制所述移动机器人向前方空位移动，在所述移动机器人的前方未有空位腾出的情况下，控制所述移动机器人原地排队等待。
在一实施例中，预估一个工位的工位排队区是否有空位包括：在当前正在为一个工位送货架的移动机器人的数量小于所述一个工位的工位排队区大小的情况下，确定所述一个工位的工位排队区有空位；在当前正在为所述一个工位送货架的移动机器人的数量大于或等于所述一个工位的工位排队区大小的情况下，计算所述一个工位的工位排队区腾出一个空位的时间，在所述时间小于新分配移动机器人到达所述一个工位的工位排队区的时间的情况下，确定所述一个工位的工位排队区有空位。
在一实施例中，上述方法还包括：在所述移动机器人搬运所述选择的货架的运行路径内，控制所述移动机器人对所述选择的货架所处的周围环境进行实时探测；在探测到所述选择的货架所处的周围环境满足旋转条件的情况下，控 制所述移动机器人对所述选择的货架进行旋转操作。
在一实施例中，在所述移动机器人搬运所述选择的货架的运行路径内，控制所述移动机器人对所述选择的货架所处的周围环境进行实时探测；在探测到所述选择的货架所处的周围环境满足旋转条件的情况下，控制所述移动机器人对所述选择的货架进行旋转操作。
在一实施例中，在所述移动机器人搬运所述选择的货架的运行路径内，控制所述移动机器人对所述选择的货架所处的周围环境进行实时探测，包括：在所述移动机器人搬运所述选择的货架的运行路径内，控制所述移动机器人检测前方路径点周围预设范围内的单元格是否被占用，并在申请到前方路径点周围预设范围内的单元格的情况下，则将所述前方路径点作为旋转点；在所述移动机器人到达设置的旋转点的情况下，占用前方路径点周围预设范围内的单元格作为旋转区，在未成功占用所述前方路径点周围预设范围内的单元格的情况下，控制所述移动机器人继续行走。
在一实施例中，在探测到所述选择的货架所处的周围环境满足旋转条件的情况下，控制所述移动机器人对所述选择的货架进行旋转操作，包括：在所述移动机器人到达所述预估有空位的工位排队区的操作位置前，且所述移动机器人未在搬运所述选择的货架的运行路径上对所述选择的货架进行旋转的情况下，控制所述移动机器人进入所述预估有空位的工位排队区对应工位的旋转区旋转所述选择的货架。
在一实施例中，上述方法还包括：在完成旋转的所述选择的货架还需要旋转的情况下，判断是否能占用所述移动机器人原地周围预设范围内的单元格，在能占用所述移动机器人原地周围预设范围内的单元格的情况下，占用相应的单元格作为旋转区，在不能占用所述移动机器人原地周围预设范围内的单元格的情况下，控制所述移动机器人再次进入所述预估有空位的工位排队区，继续排队并进入对应工位的旋转区。
在一实施例中，控制所述移动机器人对所述选择的货架进行旋转操作，包括：在所述旋转区内，控制所述移动机器人采用直线与折线路径对所述选择的货架进行旋转。
本申请技术方案另一方面，还提供了一种货架的管理系统，包括：
移动机器人：设置为搬运货架；
货架：设置为设置放置商品的货位，且能被移动机器人搬运；
货架区：设置为存放货架；
工位和工位排队区：所述工位为工人作业位置；所述工位排队区在工人作 业位置附近设定的区域，移动机器人搬运货架在所述工位排队区缓存排队等待工人作业；
服务器：与移动机器人通信连接，设置为运行上述的货架的管理方法。
在一实施例中，工位排队区的布局方式包括：双工位对称布局方式、并列布局方式、无特定旋转区排队方式中的一种。
在一实施例中，在所述工位排队区的布局方式包括双工位对称布局方式的情况下，所述工位排队区包括两个旋转区以及分别围绕在所述两个旋转区四周的两个排队通道，且所述两个排队通道部分重合，形成位于所述两个旋转区之间的通道区域，每个排队通道上设置有一个入口位置、一个操作位置、多个旋转区进入位置、多个排队返回位置以及一个出口位置，；其中，操作位置为移动机器人搬运货架等待工人作业的位置，旋转区进入位置为允许移动机器人从所述排队通道进入所述旋转区的位置，排队返回位置为允许移动机器人从所述旋转区进入所述排队通道的位置，入口位置设置于所述通道区域上且所述两个排队通道共用一个入口位置，所述两个排队通道上的旋转区进入位置、排队返回位置以及出口位置对称设置在所述所述通道区域的两侧。
在一实施例中，在所述工位排队区的布局方式包括并列布局方式的情况下，工位排队区包括两个旋转区以及分别围绕在所述两个旋转区四周的两个排队通道，每个排队通道上设置有一个入口位置、一个操作位置、多个旋转区进入位置、多个排队返回位置以及出口位置，两个排队通道并列设置；其中，操作位置为移动机器人搬运货架等待工人作业的位置，旋转区进入位置为允许移动机器人从所述排队通道进入所述旋转区的位置，排队返回位置为允许移动机器人从所述旋转区进入所述排队通道的位置。
在一实施例中，在所述工位排队区的布局方式包括无特定旋转区排队方式的情况下，工位排队区包括排队通道，且所述排队通道用作旋转区，所述排队通道上设置有一个操作位置、一个出口位置以及多个入口位置，所述多个入口位置位于所述一个操作位置和所述一个出口位置之间。
在一实施例中，出口位置设定多个方向，以允许所述移动机器人在操作完成需要再进行旋转所述货架的情况下，所述移动机器人能够从所述出口位置再次进入工位排队区域，或者能够从所述出口位置离开工位排队区，经过外部路径再次回到工位排队区域。
在一实施例中，在所述工位排队区的布局方式包括多操作点布局方式的情况下，所述工位排队区包括多个操作位置，多个操作位置呈一字排列，且每个操作位置作为入口位置和出口位置，操作位置为移动机器人搬运货架等待工人 作业的位置。
在一实施例中，所述移动机器人，为轮式驱动的小车，具备顶升机构，所述顶升机构设置为举起所述货架。
在一实施例中，所述顶升机构与小车本体独立运动，实现小车本体不动，顶升机构下降和顶升动作；小车本体不动，顶升机构旋转；小车本体和顶升机构锁死，以相同速度旋转；小车本体和顶升机构同时以不同速度旋转。
另外，在机器人自动库存拣选系统中，货到人是一种较为常见的模式。所述货到人方式基于智能拣选机器人，机器人根据订单需要及库存信息，自动行驶至目标托盘/目标库存容器正下方并将目标托盘/目标库存容器抬起送到拣选点，拣选点配有显示屏等显示装置，该显示装置提示配货订单所需货品所在货位信息，拣选人员根据提示取下所需货品放到指定容器从而完成拣选任务，在拣选任务结束后机器人将托盘/库存容器送回指定位置。
上述货到人方案全程无需人员走动，大幅提高了拣选效率、降低人员劳动强度。但是，上述货到人机器人方案通常采用一个拣选点对应一个拣选人员的方式，会出现一定程度上人等机器人的空闲时间，不利于拣选效率的提高。
本申请还提供一种拣选区，减小拣选区内拣选机器人排队等待时间，以提高拣选效率。
本申请还提供一种库存拣选系统，减小拣选机器人排队等待时间，以提高拣选效率。
本申请采用下述技术方案：
一种拣选区，所述拣选区包括一个或多个拣选工位，每个拣选工位包括：两个拣选通道和分别位于两个拣选通道上的两个拣选点；
每个拣选点，设置为供拣选主体拣选目标货品；
每个拣选通道，设置为提供使拣选机器人进入所述每个拣选工位内并经过所述每个拣选工位中的所述每个拣选通道通道上的拣选点后离开所述每个拣选工位的通行路径。
作为一种拣选区的可选方案，两个所述拣选通道分别呈U型，且并排或并列设置，两个所述拣选点分别位于两个所述拣选通道的U型底部，两个所述拣选通道远离所述U型的开口的一端形成有供所述拣选主体活动的拣选工作区。
在一实施例中，两个所述拣选通道紧邻设置。
在一实施例中，两个所述拣选点紧邻设置。
在一实施例中，所述拣选工作区内设置有两面相对的播种墙，每个播种墙 上容纳有多个订单容器，两个所述拣选点位于两个所述播种墙形成的延伸空间内。
在一实施例中，每个所述拣选工位中的两个所述拣选通道分别呈U型且相对间隔设置，两个所述拣选点分别位于两个所述拣选通道的U型侧边上且相对设置，两个所述拣选通道之间形成供所述拣选主体活动的拣选工作区。
在一实施例中，两个所述拣选通道正对且间隔设置。
在一实施例中，两个所述拣选点正对且间隔设置。
在一实施例中，两个所述拣选通道中的一个沿顺时针方向提供通行路径，另一个沿逆时针方向提供通行路径。
在一实施例中，每个拣选通道具有形成所述拣选通道的入口的入口网格和形成所述拣选通道的出口的出口网格，所述入口网格和所述出口网格的通行宽度大于库存容器的最大外径。
在一实施例中，每个拣选通道包括形成所述U型两侧边的进口通道和出口通道，所述出口通道位于所述每个拣选通道相邻另一所述拣选工位的一侧，相邻两个拣选工位共用一个所述出口通道。
在一实施例中，所述拣选区在逻辑上设置有二维网格，其中一个二维网格对应一个所述拣选点。
在一实施例中，每个拣选通道中位于所述每个拣选通道上的拣选点上游的所述二维网格形成用于所述拣选机器人经过和等待的区域。
在一实施例中，至少一个所述二维网格的中心设置有所述拣选机器人用于定位的基准标记。
一种库存拣选系统，包括：
库存容器区，设置为储存多个库存容器；
拣选机器人，设置为搬运所述库存容器；
拣选区，设置为供拣选主体从所述拣选机器人搬运的所述库存容器中拣选目标货品；
所述拣选区包括一个或多个拣选工位，每个拣选工位包括：两个拣选通道和分别位于两个拣选通道上的两个拣选点；
每个拣选点，设置为供拣选主体拣选所述目标货品；
每个拣选通道，设置为提供使所述拣选机器人进入所述每个拣选工位内并经过所述每个拣选工位中的所述每个拣选通道上的拣选点后离开所述每个拣选 工位的通行路径。
在一实施例中，两个所述拣选通道分别呈U型，且并排或并列设置，两个所述拣选点分别位于所述拣选通道的U型底部，两个所述拣选通道远离所述库存容器区的一端形成有供所述拣选主体活动的拣选工作区。
在一实施例中，两个所述拣选通道紧邻设置。
在一实施例中，两个所述拣选点紧邻设置。
在一实施例中，所述拣选工作区内设置有两面相对的播种墙，每个播种墙上容纳有多个订单容器，两个所述拣选点位于两个所述播种墙之间。
在一实施例中，每个拣选工位中的两个所述拣选通道分别呈U型且相对间隔设置，两个所述拣选点分别位于两个所述拣选通道的U型侧边上且正对设置，两个所述拣选通道之间形成供所述拣选主体活动的拣选工作区。
在一实施例中，位于所述拣选区中的所述库存容器的拣选面与每个拣选通道的U型侧边平行。
在一实施例中，两个所述拣选通道中的一个沿顺时针方向提供通行路径，另一个沿逆时针方向提供通行路径。
在一实施例中，每个拣选通道具有形成所述拣选通道的入口的入口网格和形成所述拣选通道的出口的出口网格，所述入口网格和所述出口网格的通行宽度大于所述库存容器的最大外径。
在一实施例中，每个拣选通道包括形成所述U型两侧边的进口通道和出口通道，所述出口通道位于所述每个拣选通道相邻另一所述拣选工位的一侧，相邻两个拣选工位共用一个所述出口通道。
在一实施例中，所述库存容器区以及拣选区在逻辑上设置有二维网格，所述拣选区中一个二维网格对应一个所述拣选点。
在一实施例中，每个拣选通道中位于所述每个拣选通道上的拣选点上游的所述二维网格形成用于所述拣选机器人经过和等待的区域。
在一实施例中，至少一个所述二维网格的中心设置有所述拣选机器人用于定位的基准标记。
附图说明
图1为本申请实施例所述的货架的排队和旋转方法的流程图；
图2为本申请实施例所述的根据订单要求，为搬运工具规划搬运工具搬运货架的路径，并实时调整所述搬运工具的运行路径的流程图；
图3为本申请实施例所述的对货架进行旋转操作的流程图；
图4为本申请实施例所述的货架的俯视结构示意图；
图5为本申请实施例所述的双工位对称布局的结构示意图；
图6为本申请实施例所述的并列布局的结构示意图；
图7为本申请实施例所述的无特定旋转区排队方式的结构示意图；
图8为本申请实施例所述的多操作点的工位的结构示意图；
图9为本申请实施例所述的在旋转区采用直线加圆弧路径旋转的示意图；
图10为本申请实施例所述的货架的管理装置的结构框图；
图11为本申请实施例所述的货架的管理系统的结构框图；
图12是本申请实施例提供的库存拣选系统的结构示意图；
图13是本申请实施例提供的库存容器的结构示意图；
图14是本申请实施例提供的拣选机器人的结构示意图；
图15是图12中拣选工位的结构示意图；
图16是本申请实施例中提供的拣选工位和库存容器的结构示意图；
图17是本申请实施例中提供的拣选工位和库存容器的结构示意图；
图18是本申请实施例中提供的拣选工位和库存容器的结构示意图；
图19是本申请实施例提供的库存拣选系统的结构示意图；
图20是图19中拣选工位和库存容器的结构示意图。
图中标记如下：
10-拣选区；1-拣选工位；11-拣选工作区；112-播种墙；12-拣选等待区；121-拣选通道；1211-进口通道；1212-出口通道；1213-换向通道；122-拣选点；123-二维网格；1231-入口网格；1232-出口网格；
20-库存容器区；201-库存容器组；202-库存容器；2021-拣选面；2022-隔层；2023-标签码；2024-支撑柱；203-纵向通道；204-横向通道；
30-公共通道；
40-拣选机器人；401-举升机构；402-驱动机构；403-扫描装置；
50-存储容器。
具体实施方式
通道：场地中机器人搬运货架可行走的区域。
工位排队区：在工人作业位置附近设定的区域，机器人搬运货架并在该区域缓存排队等待工人作业。
货架：可被移动机器人搬运的正方形或者长方形货架。货架可分多层，每层的四个方向(即货架的四个面)均可设置货位。
如图1所示，一种货架的排队和旋转方法，包括，
步骤S110：搬运任务分配的同时，对搬运货架的搬运工具进行排队调度，排队调度从分配任务时即开始。
步骤S120：根据订单要求，为搬运工具规划搬运工具搬运货架的路径，并实时调整所述搬运工具的运行路径。
步骤S130：在搬运任务分配至搬运任务完成的运行路径内，对所述货架所处的周围环境进行实时探测。
步骤S140：如探测到所述货架所处的周围环境适合旋转，则对货架进行旋转操作。
作为一种可选的实施方式，搬运工具为移动机器人。
作为一种可选的实施方式，搬运任务分配的同时，对移动机器人进行排队调度，包括：实时监控工位排队区域的移动机器人的任务时间和数量，根据所述工位排队区域的移动机器人的任务时间和数量确定是否分配新移动机器人搬运货架至工位。如工位排队区域的移动机器人的任务时间和数量处于满负荷状态则不再分配新移动机器人，即暂缓分配新的搬运任务。
作为一种可选的实施方式，上述搬运任务分配时，包括对优选级高或不需要旋转的货架的搬运工具进行优先插队调度。即不需要对货架进行转面操作的移动机器人，或优先级高的移动机器人，可以直接规划最近路径插入到离操作位置最近的单元格，优先级低的机器人等待。
作为一种可选的实施方式，搬运任务分配时，还包括，减少对货架进行旋转操作的调度。即对称工位布局情况下。在分配任务时，假设某个货架需要R面呈现到工人，在一号工位需要旋转货架，但是在与一号工位镜像的二号工位，货架不需要旋转，则可将产生该货架任务的订单分配到二号工位。如图4所示。
作为一种可选的实施方式，上述搬运任务分配时，包括，根据搬运任务中任务的属性对搬运任务分配相应的工位排队路径布局方式。
根据本申请实施例的一种具体实现方式，工位排队路径布局方式，包括双工位对称布局方式、并列布局方式和无特定旋转区排队方式和多操作点布局方 式。
如图5所示，双工位对称布局：1～12单元格中间的区域为旋转区。8或9单元格作为移动机器人停靠等待工人操作位置。10单元格为工位排队区出口。不旋转货架的移动机器人的路径为：1→4→7→9，或者为12→5→7→9。移动机器人可以携带货架从11、12、2或3单元格进入旋转区，并在旋转区完成货架旋转，从旋转区进入到5、6、8或9单元格，从而从旋转区重新回到排队区，具体单元格根据排队空位决定。移动机器人也可以在4单元格旋转，作为工位排队区的第二个旋转点，增加多个移动机器人需要旋转时的效率。在4单元格旋转前，系统锁定4单元格的前后左右单元格，保证货架旋转安全。
如图6所示，并列布局：这种布局方式下1～12为排队路径，可以是顺时针排队，也可以是逆时针排队。1～12单元格中间为旋转区。不旋转货架的移动机器人的路径为：1→4→6，或者为12→5→6。移动机器人可以携带货架从2、11或12单元格进入旋转区，并在旋转区完成货架旋转，从旋转区进入到3、5或6单元格，从而从旋转区重新回到排队区。在6单元格的位置，移动机器人停靠等待工人作业。10单元格为工位排队区的出口。工位排队区可以相邻排布，也可以间隔几个单元格排布。移动机器人也可以在4单元格旋转，作为工位排队区的第二个旋转点，增加多个移动机器人需要旋转时的效率。在4单元格旋转前，系统锁定4单元格的前后左右单元格，保证货架旋转安全。
如图7所示，无特定旋转区排队方式：操作位置在8单元格。10为工位排队区的出口。1～8单元格均可作为工位排队区的货架旋转位置。移动机器人旋转货架前，系统锁定周围前后左右四个单元格，不允许其他移动机器人进入，保证旋转安全。无特定旋转区的排队方式不限于2行5列布局，可根据需求进行增减。
作为一种可选的实施方式，如图8所示，对于多操作点的工位设计，采用一字型，每个操作点移动机器人可以单独进入和离开。在这种操作位中，移动机器人在到达操作点过程中不需要排队等待另一个移动机器人。操作点的个数不限制。在周围单元格没有被占用情况下，移动机器人可在操作点旋转货架；在移动机器人到达操作点的路径过程中，移动机器人可申请周围单元格以完成货架旋转任务。根据货架操作时间决定移动机器人放下货架或者等待操作完。如果货架操作时间超过移动机器人执行下一个任务时间，移动机器人可将货架放下，继续执行下一个任务。待货架操作完成后，系统再分配移动机器人来取走货架。
作为一种可选的实施方式，如图5、图6和图7所示，在双工位对称布局方式、并列布局方式和无特定旋转区排队方式中，为避免排队移动机器人出现头 尾相接死锁情况。出口位置10单元格设定多个方向，如操作完成需要再进行旋转货架，移动机器人能从出口位置10单元格再次进入工位排队区，也能从出口位置10单元格离开工位排队区，经过外部路径再次回到工位排队区。
作为一种可选的实施方式，在搬运任务分配至搬运任务完成的过程中对货架进行旋转操作，即在搬运任务分配至搬运任务完成的过程中实时对货架所处的环境进行检验，当货架所处的环境满足旋转条件时即进行旋转。
作为一种可选的实施方式，如图2所示，根据订单要求，为搬运工具规划搬运工具搬运货架的路径，并实时调整所述搬运工具的运行路径，包括：
步骤S210:预估工位排队区空位。
步骤S220:如预估工位排队区有空位，即如果工位排队区有空位或者预估存在可能性工位，则在该工位排队区的未搬取的货架中选择一个货架并分配一个移动机器人搬取该货架。
步骤S230:移动机器人取到货架后(取到货架即为移动机器人已经与货架对接，但还未搬运货架)，从新预估工位排队区空位，对于需求该货架的所有工位均进行预估，如果预估有空位则开始搬运货架，如果预估没有空位，则在原地排队等待。
步骤S240:当货架到达临近工位排队区附近时，如果工位排队区空闲位置未腾出，则选择移动机器人密度低且不阻碍其他移动机器人路径的位置排队等待，或者送货架到另一个需要该货架的工位，如果工位排队区有空位腾出则进入工位排队区。
步骤S250:在工位排队区实时判断前方有空位腾出时，向工位移动，前方未有空位腾出时，原地排队等待。
作为一种可选的实施方式，步骤S210，预估工位排队区空位为：如果当前正在为某工位送货架的移动机器人的数量(含工位排队区内部移动机器人数量)小于该工位排队区大小，则可肯定有空位。如果当前正在为某工位送货架的移动机器人的数量大于或等于该工位排队区大小，计算工位排队区末尾的移动机器人腾出一个空位的时间，该时间为排在其之前的所有移动机器人移动一步时间和排在队首的货架停留操作时间之和，如果此时间小于新分配移动机器人到达工位排队区的时间，则预估存在可能性空位。
作为一种可选的实施方式，如探测到所述货架所处的周围环境适合旋转，则对货架进行旋转操作。对货架进行旋转操作包括三种方式：在搬运的路径上旋转，在工位排队区设定的旋转点旋转，以及在操作点原地旋转。
作为一种可选的实施方式，如图3所示，在搬运任务分配至搬运任务完成 的运行路径内，对货架所处的周围环境进行实时探测，如探测到所述货架所处的周围环境适合旋转，则对货架进行旋转操作，包括如下步骤。
步骤S310：判断货架是否需要旋转，如不需要旋转则直接优先规划路径，如需要旋转则进行步骤S320。
步骤S320：在移动机器人沿路径行走过程中，检测前方路径点附近单元格是否被占用，如果能同时申请到前方路径的周围相邻单元格，则将该路径点作为旋转点。
步骤S330：移动机器人到达设置的旋转点时，占用周围单元格，如果占用成功则进行货架旋转，货架旋转完成后释放周围单元格的占用，如果未占用成功则继续行走。
步骤S340：在移动机器人到达工位前，如果未在路径上对货架进行旋转操作，则进入工位设定的旋转区进行旋转。
步骤S350：完成旋转的货架如果还需要旋转，则在原地判断是否能占用周围单元格，如果能占用则在原地旋转，如果不能占用则再次进入工位排队区，继续排队并进入设定的旋转点进行货架旋转。
作为一种可选的实施方式，旋转区内采用直线与弧线相切路径或折线路径进行货架旋转。在进入特定旋转区域时，如果采用一整段弧线，需要货架之间的余量较大。采用直线与弧线相切方式，在直线段货架保持与相邻货架角度平行。采用折线路径方式，货架始终与相邻货架平行。采用直线加圆弧方式或者折线方式，使货架正常进入旋转点时减小纯弧线路径情况下货架与货架之间的预留间隙，可以在相同大小的单元格下，货架尺寸能更大，提高仓库空间利用率。如图9所示。
本申请技术方案另一方面，如图10所示，提供了一种货架的管理装置，包括，排队调度单元：设置为分配搬运任务的同时，对搬运货架的搬运工具进行排队调度；路径调整单元：设置为根据订单要求，为所述搬运工具规划搬运工具搬运货架的路径，并实时调整所述搬运工具的运行路径；环境探测单元：设置为在搬运任务分配至搬运任务完成的运行路径内，对所述货架所处的周围环境进行实时探测；旋转操作单元：设置为在探测到所述货架所处的周围环境适合旋转的情况下，对货架进行旋转操作。
作为一种可选的实施方式，搬运工具为移动机器人。
作为一种可选的实施方式，排队调度单元，包括搬运分配模块：设置为实时监控工位排队区域的搬运工具的任务时间和数量，根据所述工位排队区域的搬运工具的任务时间和数量决定是否分配新搬运工具搬运货架至工位。
作为一种可选的实施方式，排队调度单元，包括插队模块：设置为对优选级高或不需要旋转的货架的搬运工具进行优先插队调度。
作为一种可选的实施方式，排队调度单元，包括优化调度模块：设置为在分配搬运任务时，减少对货架进行旋转操作的调度。
作为一种可选的实施方式，排队调度单元，还包括，排队路径布局分配模块：设置为根据搬运任务中任务的属性对搬运任务分配相应的工位排队路径布局方式。
作为一种可选的实施方式，工位排队路径布局方式，包括双工位对称布局方式、并列布局方式和无特定旋转区排队方式和多操作点布局方式。
作为一种可选的实施方式，多操作点布局方式中，搬运工具在到达操作点过程中不需要排队等待另一个搬运工具，在搬运工具周围单元格没有被占用情况下，搬运工具能在操作点对货架进行旋转操作；在搬运工具到达操作点的路径过程中，搬运工具能申请周围单元格完成货架旋转任务；并根据货架操作时间来判断搬运工具下一步动作是放下货架或者等待操作完，如货架操作时间超过搬运工具执行下一个任务时间，搬运工具则将货架放下，继续执行下一个任务，待货架操作完成后，再分配搬运工具来取走货架，如货架操作时间不超过搬运工具执行下一个任务时间，搬运工具则等待操作完成。
作为一种可选的实施方式，在双工位对称布局方式、并列布局方式和无特定旋转区排队方式中，出口位置设定多个方向，如操作完成需要再进行旋转货架，搬运工具能从出口位置再次进入工位排队区，也能从出口位置离开工位排队区，经过外部路径再次回到工位排队区。
作为一种可选的实施方式，旋转操作单元，包括实时检验模块：设置为在搬运任务分配至搬运任务完成的过程中实时对货架所处的环境进行检验，当货架所处的环境满足旋转条件时即进行旋转。
作为一种可选的实施方式，路径调整单元，包括：预估模块：设置为预估工位排队区空位；选择模块：设置为在预估工位排队区有空位的情况下，在该工位排队区的未搬取的货架中选择一个货架并分配一个搬运工具搬取该货架；评估模块：设置为搬运工具取到货架后，从新预估工位排队区空位，对于需求该货架的所有工位均进行预估，在预估有空位的情况下，开始搬运货架，在预估没有空位的情况下，在原地排队等待；第一路径规划模块：当货架到达临近工位排队区附近时，在工位排队区空闲位置未腾出的情况下，选择搬运工具密度低且不阻碍其他搬运工具路径的位置排队等待，或者送货架到另一个需要该货架的工位，在工位排队区有空位腾出的情况下，进入工位排队区；判断模块： 设置为在工位排队区实时判断前方有空位腾出的情况下，向工位移动，在前方未有空位腾出的情况下，原地排队等待。
作为一种可选的实施方式，预估模块是设置为：在当前正在为某个工位送货架的搬运工具的数量小于该工位排队区大小的情况下，预估工位排队区有空位，在当前正在为某个工位送货架的搬运工具的数量大于或等于该工位排队区大小的情况下，计算工位排队区末尾的搬运工具腾出一个空位的时间，在此时间小于新分配搬运工具到达工位排队区的时间的情况下，预估存在空位。
作为一种可选的实施方式，旋转操作单元，对货架进行旋转操作包括三种方式：在搬运的路径上旋转，在工位排队区设定的旋转点旋转，以及在操作点原地旋转。
作为一种可选的实施方式，环境探测单元，包括检测模块、第一旋转判断模块、第二旋转判断模块和第三旋转判断模块。
在搬运工具沿路径行走过程中，检测前方路径点附近单元格是否被占用，在能同时申请到前方路径的周围相邻单元格的情况下，则将该路径点作为旋转点；搬运工具到达设置的旋转点时，占用周围单元格，在占用成功的情况下，进行货架旋转，货架旋转完成后释放周围单元格的占用，在未占用成功的情况下，继续行走。
当搬运工具到达工位前，在未在路径上对货架进行旋转操作的情况下，进入工位设定的旋转区进行旋转；在完成旋转的货架还需要旋转的情况下，在原地判断是否能占用周围单元格，在能占用周围单元格的情况下，在原地旋转，在不能占用周围单元格的情况下，再次进入工位排队区，继续排队并进入设定的旋转点进行货架旋转。
作为一种可选的实施方式，旋转区内采用直线与弧线相切路径或折线路径进行货架旋转。
本申请技术方案另一方面，如图11所示，还提供了一种货架的管理系统，包括，搬运工具：设置为搬运货架；货架：设置为设置放置商品的货位，且能被搬运工具搬运；货架区：设置为存放货架；服务器：运行本技术方案的货架的管理方法对搬运工具和货架进行调度配置。
作为一种可选的实施方式，搬运工具，为移动机器人。
根据本申请实施例的一种具体实现方式，移动机器人，为轮式驱动的小车，具备顶升机构，具有直线行走、弧线行走和原地转弯动作能力。
作为一种可选的实施方式，顶升机构与小车本体独立运动，实现小车本体不动，顶升机构下降和顶升动作；小车本体不动，顶升机构旋转；小车本体和 顶升机构锁死，以相同速度旋转；小车本体和顶升机构同时以不同速度旋转。
作为一种可选的实施方式，还包括，工位和工位排队区；工位(工位)：工人作业位置；工位排队区：在工人作业位置附近设定的区域，搬运工具搬运货架并在该区域缓存排队等待工人作业。
本申请的技术方案具有以下有益效果：
1、本申请的技术方案，从整体效率出发，采用全区域排队策略，即在分配任务的同时，将机器人排队调度扩展到全区域，排队从为机器人分配任务时即开始，实时监控工位排队区域的机器人任务时间和机器人数量，决定是否分配新机器人取货架并送到工位。从而克服了固定排队区域可容纳机器人数量有限的缺陷，同时将货架旋转提炼成一个任务，根据需要灵活动态设置路径旋转点，且可在多个位置进行货架旋转；并可通过工位对称设计，减少货架旋转任务需求。从而克服旋转区域固定，容易成为瓶颈，当多个移动机器人需要转面时，排队的机器人等待旋转区域的释放，以至于流通性变差的缺陷，从而达到提高货架搬运效率的目的。
2、排队路径增加多方向，避免死锁。
3、排队有插队机制，优先级高或者不需要旋转的货架设置插队路径，进一步提高效率。
4、在工位区域设置多个操作点，对于操作时间长的货架，机器人可放下后继续其他工作，操作完成后机器人再将货架取走，同时补充另一个货架，进一步提高效率。
5、工位对称布局，在分配任务时避免货架旋转任务的产生，进一步提高效率。
6、旋转区内采用直线与弧线相切路径或折线路径进行货架旋转，使货架正常进入旋转点时减小纯弧线路径情况下货架与货架之间的预留间隙，可以在相同大小的单元格下，货架尺寸能更大，提高仓库空间利用率。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
本说明书中的多个实施例均采用相关的方式描述，多个实施例之间相同相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同之处。
在流程图中表示或在此以其他方式描述的逻辑和/或步骤，例如，可以被认为是用于实现逻辑功能的可执行指令的定序列表，可以具体实现在任何计算机可读介质中，以供指令执行系统、装置或设备(如基于计算机的系统、包括处理器的系统或其他可以从指令执行系统、装置或设备取指令并执行指令的系统)使用，或结合这些指令执行系统、装置或设备而使用。就本说明书而言，"计算机可读介质"可以是任何可以包含、存储、通信、传播或传输程序以供指令执行系统、装置或设备或结合这些指令执行系统、装置或设备而使用的装置。计算机可读介质的更具体的示例(非穷尽性列表)包括以下：具有一个或多个布线的电连接部(电子装置)，便携式计算机盘盒(磁装置)，随机存取存储器(Random Access Memory，RAM)，只读存储器(Read-Only Memory，ROM)，可擦除可编辑只读存储器(Erasable Programmable Random Access Memory，EPROM)或闪速存储器，光纤装置，以及便携式光盘只读存储器(Compact Disc Read-Only Memory，CDROM)。另外，计算机可读介质甚至可以是可在其上打印所述程序的纸或其他合适的介质，因为可以例如通过对纸或其他介质进行光学扫描，接着进行编辑、解译或必要时以其他合适方式进行处理来以电子方式获得所述程序，然后将其存储在计算机存储器中。
应当理解，本申请的多个部分可以用硬件、软件、固件或它们的组合来实现。
在上述实施方式中，多个步骤或方法可以用存储在存储器中且由合适的指令执行系统执行的软件或固件来实现。例如，如果用硬件来实现，和在另一实施方式中一样，可用本领域公知的下列技术中的任一项或他们的组合来实现：具有用于对数据信号实现逻辑功能的逻辑门电路的离散逻辑电路，具有合适的组合逻辑门电路的专用集成电路，可编程门阵列(Programmable Gate Array，PGA)，现场可编程门阵列(Field Programmable Gate Array，FPGA)等。
可以理解的是，术语“一”应理解为“至少一”或“一个或多个”，即在一个实施例中，一个元件的数量可以为一个，而在另外的实施例中，该元件的数量可以为多个，术语“一”不能理解为对数量的限制。
虽然比如“第一”、“第二”等的序数将用于描述多种组件，但是在这里不限制那些组件。该术语仅用于区分一个组件与另一组件。例如，第一组件可以被称为第二组件，且同样地，第二组件也可以被称为第一组件，而不脱离发明构思的教导。在此使用的术语“和/或”包括一个或多个关联的列出的项目的任何和全部组合。
在这里使用的术语仅用于描述多种实施例的目的且不意在限制。如在此使用的，单数形式意在也包括复数形式，除非上下文清楚地指示例外。另外将理解术语“包括”和/或“具有”当在该说明书中使用时指定所述的特征、数目、步骤、操作、组件、元件或其组合的存在，而不排除一个或多个其它特征、数目、步骤、操作、组件、元件或其组的存在或者附加。
包括技术和科学术语的在这里使用的术语具有与本领域技术人员通常理解的术语相同的含义，只要不是不同地限定该术语。应当理解在通常使用的词典中限定的术语具有与相关技术中的术语的含义一致的含义。
图12为本申请实施例提供的库存拣选系统的结构示意图，如图12所示，本实施例提供了一种库存拣选系统，该库存拣选系统主要应用于仓储物流系统中，对订单货品从库存容器202到订单箱的“货到人”式拣选。本实施例以该库存拣选系统应用于“货到人”式拣选工作为例，对该库存拣选系统进行阐述，但可以理解的是，本实施例提供的库存拣选系统不仅限于实现货品的拣选工作，也可应用于对货品进行上货、库存盘点等常规仓储物流操作。
如图12所示，本实施例提供的库存拣选系统包括库存容器区20、拣选区10、公共通道30及拣选机器人40。库存容器区20设置为放置库存容器202，库存容器202上放置有设置为存放货品的存储容器50，存储容器50中放置有货品；拣选区10与库存容器区20分隔设置，设置为供拣选主体对订单货品进行拣选并将拣选后的订单货品放置在订单箱中；拣选机器人40设置为将库存容器区20中的库存容器202搬运至拣选区10，或将拣选完毕的库存容器202搬运回库存容器区20；公共通道30设置在库存容器区20与拣选区10之间，用于拣选机器人40高速通行，以实现拣选机器人40在库存容器区20和拣选区10之间的运行。
当订单管理中心接收到取货订单时，订单管理中心确定订单货品所在的库存容器202在库存容器区20的位置，并调动拣选机器人40；订单管理中心将目标库存容器202所在位置发送至拣选机器人40，拣选机器人40根据该位置自主导航运行至目标库存容器202的底部，并将该目标库存容器202搬运至拣选区10；拣选区10的拣选主体根据取货订单对该目标库存容器202中的订单货品拣出，并放置在订单箱中；经拣选完毕的库存容器202，被拣选机器人40从拣选区10经共同通道运回至库存容器区20。
如图12所示，为实现拣选机器人40对库存容器区20中库存容器202的搬运以及实现拣选机器人40在库存容器区20中的行走，库存容器区20内设置有多个库存容器组201，相邻两个库存容器组201之间形成有供拣选机器人40运 行的通道。为实现对库存容器区20的合理、整齐规划，减小拣选机器人40的行走障碍，在一实施例中，库存容器区20中的库存容器组201呈行列排布。每行库存容器组201至少包括一个库存容器组201，相邻两行库存容器组201之间形成沿第一方向设置的横向通道204；每列库存容器组201中至少包括一个库存容器组201，且相邻两列库存容器组201中之间形成有沿第二方向设置的纵向通道203。第一方向和第二方向垂直，且横向通道204和纵向通道203交汇处形成“十”字路口或“T”型路口。
在本实施例中，每个库存容器组201中均至少包括一个库存容器202，且为了提高库存容器区20的利用效率，在一实施例中，每个库存容器组201中包括多个库存容器202，且多个库存容器202在库存容器组201中呈行列排布。
图13为本申请实施例提供的库存容器202的结构示意图，如图13所示，库存容器202包括沿纵向间隔设置的多个隔层2022以及四个落地支撑柱2024，每个隔层2022上可以直接放置多种货品，货品也可以通过库存容器202内或库存容器202上的挂钩或杆等任何适当的方式设置在库存容器202的内部或外表面。库存容器202的隔层2022也可以设置有存储容器50，该存储容器50可以与库存容器202分离，也可以与库存容器202为一体式结构，存储容器50中可以放置一个或多个货品。
在本实施例中，库存容器202可以是单向开口，即沿隔层2022的纵深方向可以放置一个货品或存储容器50。在其他一个实施例中，库存容器202为双向开口，即库存容器202沿隔层2022的纵深方向可以放置两个货品或存储容器50，即，每个开口方向放置一个货品或存储容器50。在其他另一个实施例中，库存容器202的也可以为四向开口式，即沿库存容器202的四面均可以放置货品或存储容器50。
为方便后续描述，以库存容器202的隔层2022上设置的是存储容器50为例进行描述，货品放置在存储容器50中。可以理解的是，货品是直接放置在库存容器202中，还是通过存储容器50放置在库存容器202中，并不对本实施例库存拣选系统的工作产生影响。
为方便后续拣选说明，在本实施例中，将库存容器202的一个开口称为一个拣选面，即用于取放存储容器50的面，拣选主体可以通过库存容器202的拣选面对库存容器202上存储容器50中的货品进行操作。即，对于双向开口的库存容器202，具有相对设置的两个拣选面，订单货品可能放置在库存容器202任一拣选面对应的存储容器50中；对于单向开口的库存容器202，具有一个拣选面，拣选工作仅对该拣选面对应的存储容器50进行操作；对于四向开口的库存容器202，具有四个拣选面，拣选工作可以通过四个拣选面中的任一个拣选面对 应的存储容器50进行操作。
为方便拣选机器人40对库存容器202的搬运，在本实施例中，拣选机器人40对库存容器202的搬运为顶举式。图14为本申请实施例提供的拣选机器人40的结构示意图，如图12和图14所示，拣选机器人40包括驱动机构402和举升机构401，通过该驱动机构402，拣选机器人40能够在拣选区10、库存容器区20及公共通道30中移动。举升机构401设置为举升库存容器202，使库存容器202与地面脱离接触，从而带动库存容器202移动。拣选机器人40对库存容器202进行搬运时，拣选机器人40经过横向通道204和/或纵向通道203运行至待搬运的库存容器202的底部，举升机构401顶部连接有托盘，举升机构401动作带动托盘上升与库存容器202的底部接触，以使库存容器202的支撑柱2024脱离地面，从而实现拣选机器人40将整个目标库存容器202从地面抬起，以使拣选机器人40带动库存容器202移动至目标位置。当拣选机器人40完成对库存容器202的搬运时，举升机构401动作，带动托盘下降，从而带动库存容器202下降至与地面接触，托盘继续下降至与库存容器202脱离接触后，拣选机器人40通过驱动机构402移出库存容器202的底部，实现库存容器202与拣选机器人40的分离。
在其他一个实施例中，对库存容器202的搬运还可以为潜入式，库存容器202底部或拣选机器人40顶部设置有用于实现库存容器202与拣选机器人40对接的对接装置。拣选机器人40沿库存容器区20内的横向通道204和/或纵向通道203行驶，并运行至库存容器202的底部，通过对接装置实现库存容器202与拣选机器人40之间的对接连接后，拖拽库存容器202移动至目标位置。
在其他另一个实施例中，拣选机器人40对库存容器202的搬运还可以采用牵引式，拣选机器人40通过牵引机构与库存容器202挂接，拣选机器人40的移动拖动库存容器202移动。在其他实施例中，拣选机器人40对库存容器202的搬运还可以为其他形式，本实施例不再一一进行列举。
在本实施例中，拣选机器人40还设置有与托盘连接的旋转机构，旋转机构能够带动托盘转动，从而能够在保持拣选机器人40运行方向不变的基础上，带动库存容器202发生转动，以改变库存容器202在搬运过程中的朝向。即，在本实施例中，拣选机器人40的旋转运动可以与库存容器202的旋转运动分离，拣选机器人40的运动可以为前进、后退、自旋换向、转弯等，且在拣选机器人40产生前进、后退、自旋换向等动作时，库存容器202的朝向可以不发生改变。当需要库存容器202的朝向发生改变时，可通过旋转机构动作带动托盘转动，即带动库存容器转动202。
在本实施例中，拣选机器人40还具备自主导航功能。以自主导航为二维码 导航为例，拣选机器人40还包括导航识别组件，设置为识别铺设在地面上的二维码标记。拣选机器人40还包括向下的摄像头，拣选机器人40能够根据向下的摄像头拍摄到的二维码信息(也可以是其它地面标识)进行导航而向前行驶，并且能够根据控制系统确定的路线行驶至控制系统提示的目标库存容器202下面。在其他实施例中，拣选机器人40除了可以采用二维码导航外，还可以采用其它导航方式，如惯性导航、即时定位与地图构建(Simultaneous Localization And Mapping，SLAM)导航等，还可以同时结合两种或者两种以上导航方式，如二维码导航和惯性导航，SLAM导航和二维码导航等等。
在一实施例中，拣选机器人40还包括扫描头朝上的的扫描装置403。如图14所示，目标库存容器202底部的正中央设有标签码2023，当拣选机器人40行驶到目标库存容器202下面后，通过向上的扫描装置403正确拍摄标签码2023，确保拣选机器人40正好位于目标库存容器202的正下方，以此保证拣选机器人40可以平稳的抬起和搬运目标库存容器202。在本实施例中，标签码2023为二维码，扫描装置403为摄像头。在其他实施例中，标签码2023可以为条形码、射频识别(Radio Frequency Identification，FRID)标签等，扫描装置403的类型与标签码2023的类型对应。
在本实施例中，为减小拣选机器人40对库存容器202的搬运障碍，在本实施例中，每个库存容器组201中设置均设置有两列库存容器202，且每列库存容器202中沿第二方向并排设置有多个库存容器202。即每个库存容器202均朝向一个纵向通道203，当拣选机器人40对该库存容器组201中的任意库存容器202进行搬运时，均可通过该库存容器202朝向的纵向通道203进入该库存容器202的底部，对库存容器202进行顶升后，带动该库存容器202进入该纵向通道203，从而实现库存容器202的移出；或当需要将库存容器202搬回至库存容器组201的初始位置时，拣选机器人40带动库存容器202通过该纵向通道203移入初始位置，实现库存容器202的复位。即，每个库存容器组201中，设置两列库存容器202能够避免拣选机器人40对库存容器202进行搬运时，对该库存容器组201中的其他库存容器202造成干涉，提高搬运的效率。在其他另一个实施例中，也可以是每个库存容器组201中设置有两行库存容器202，每行库存容器202中包括多个库存容器202，即库存容器组201中的每个库存容器202均紧邻一个横向通道204，拣选机器人40可以通过对应的横向通道204将目标库存容器202移出或移入库存容器组201中。在其他实施例中，为了提高库存容器区20布置的紧密性，节省库存容器202的空间，每个库存容器组201中可以设置两列以上及两行以上的库存容器202，此时，库存容器组201中部分库存容器202的四周均围设有库存容器202，在对目标库存容器202进行搬运时，需要同时调度另一个或多个拣选机器人40将目标库存容器202一侧的库存容器202移开后，再 对目标库存容器202进行搬运。
为提高库存容器区20的利用率，库存容器区20未邻近拣选区10的三个边缘处分别设置有一组库存容器组201，其中库存容器区20沿第一方向设置、且远离库存容器区20的边缘的库存容器组201包括一行库存容器202，库存容器区20沿第二方向设置的两个边缘分别设置有两列库存容器202，且该行库存容器202的两端与该两列库存容器202的两端对接，以使库存容器区20形成开口朝向拣选区10的半封闭式空间。
在本实施例中，公共通道30沿第一方向设置，且位于拣选区10和库存容器区20之间。拣选机器人40通过公共通道30进出库存容器区20、或进出拣选区10或在拣选区10与库存容器区20之间移动，因此，公共通道30中，拣选机器人40的密度大于库存容器区20和拣选区10中拣选机器人40的密度。为减小拣选机器人40的运行障碍，公共通道30上未设置任何障碍。
在本实施例中，公共通道30包括四条沿第一方向设置的运行通道，且允许相邻两条运行通道的拣选机器人40运行方向相反，以避免拣选机器人40在公共通道30运行过程中造成碰撞，同时能够缓解公共通道30中的交通。在其他实施例中，公共通道30中运行通道的条数可以为两条、也可以为六条或更多条，且在一实施例中，公共通道30中运行通道的条数为偶数，拣选机器人40在相邻两条运行通道中的运行方向相反。
拣选区10设置在库存容器区20的一侧，且拣选区10朝向库存容器区20的开口。在本实施例中，拣选采用人工进行，即拣选主体对运送至拣选区10的库存容器202中的订单货品进行拣选。在其他实施例中，也可以采用自动拣选方式，即采用机械臂对运动至拣选区10的库存容器202中的订单货品进行拣选。本实施例以人工拣选为例对拣选区10的拣选工作进行描述。
拣选区10包括沿第一方向并排设置的多个拣选工位1，每个拣选工位1由一个拣选主体负责进行订单货品的拣选。在本实施例中，拣选区10中拣选工位1的个数可以根据需求进行自行设置。
图15为本申请实施例提供的拣选工位和库存容器的结构示意图，如图12和图15所示，在本实施例中，每个拣选工位1设置有两个拣选点122和两个拣选通道121，拣选通道121与拣选点122一一对应设置，以使每个拣选通道121提供使拣选机器人40经过对应拣选点122的路径。且每个拣选工位1的两个拣选点122均能供同一拣选主体进行目标货品拣选。
在本实施例中，通过在每个拣选工位1中设置两个拣选点122及与拣选点122对应的拣选通道121，每个拣选通道121能使供拣选机器人40进入到对应 的拣选点122中，使同一个拣选主体可以负责两个拣选点122的拣选，在拣选主体对一个拣选点122上的库存容器202拣选完毕后且从该拣选通道121进入的拣选机器人40还未将库存容器202运送至该拣选点122上的情况下，拣选主体可以对另一拣选点122上等待拣选的库存容器202进行拣选，减少拣选主体的空闲等待时间，提高拣选效率。
在本实施例中，拣选通道121呈开口朝向库存容器区20的U型，且拣选通道121的入口和出口均朝向库存容器区20。在一实施例中，拣选通道121由矩形阵列设置的二维网格规划形成，有利于提高拣选通道121的规整性，从而提高整个拣选区10的规划一致性和布局紧凑性。
在本实施例中，为减少拣选机器人40的运行路径，提高拣选区10的空间利用率，拣选通道121由两列沿第一方向并排设置的二维网格组规划形成，每列二维网格组包括沿第二方向并排设置的多个二维网格123。其中一列二维网格组沿第二方向的中心连线形成该U型通道的进口通道1211，进口通道1211对接公共通道30的二维网格123为入口网格1231；另一列二维网格组沿第二方向的中心连线形成该U型通道的出口通道1212，出口通道1212对接公共通道30的二维网格123为出口网格1232；两列二维网格组远离公共通道30的末端二维网格123的中心连线形成该U型通道的换向通道1213，换向通道1213沿第一方向设置，且换向通道1213的两端分别与出口通道1212和进口通道1211的末端连接，拣选机器人40在运行至换向通道1213与进口通道1211或与出口通道1212的交汇处的情况下，进行自旋换向，改变拣选机器人40的运行方向。
在一实施例中，每列二维网格组均包括四个二维网格123，以提高拣选区10的空间利用率，提高库存拣选系统的空间紧凑性。
在本实施例中，二维网格123可以为在库存拣选系统的控制器中虚拟逻辑划分形成，也可以是在实际场地中，经网格划线形成。为更好地实现对拣选机器人40沿拣选通道121运行的导航，在本实施例中，至少一个二维网格的中心设置有供拣选机器人40定位的基准标记。在一实施例中，每个二维网格123的中心均贴附有用于拣选机器人40导航的基准标记。在一实施例中，基准标记为二维码，拣选机器人40上设置有用于扫描二维码的摄像头。采用二维码进行拣选机器人40的导航为本领域的常规技术手段，本实施例不再对其原理和具体操作进行赘述。
在本实施例中，拣选点122设置在拣选通道121的U型底部，拣选通道121远离库存容器区20的一侧设置有设置为供拣选主体活动的拣选工作区11。为提高空间利用率和布局紧凑性，在一实施例中，同一拣选工位1的两个拣选通道121紧邻设置。且为减少拣选主体切换拣选点122时的移动距离，在本实施例中， 形成一个拣选通道121的两列二维网格组中，位于底端且相邻另一个拣选通道121的二维网格形成拣选点122，以使两个拣选点122能够并排紧邻设置，减小两个拣选点122之间的距离。在其他实施例中，形成两个拣选点122的二维网格也可以间隔设置。在本实施例中，每个拣选通道121的出口通道1212均与同一拣选工位1的另一拣选通道121相邻。即在本实施例中，拣选点122占据出口通道1212和换向通道1213交汇处的二维网格123。拣选机器人40经进口通道1211和换向通道1213运行至拣选点122时，在拣选点122处，拣选机器人40搬运的库存容器202被拣选主体拣选。拣选完毕后，拣选机器人40沿出口通道1212移出拣选工位1。
为了避免拣选机器人40之间或拣选机器人40搬运的库存容器202之间发生碰撞干涉，在本实施例中，每个二维网格123仅能被一个拣选机器人40占据。为了提高拣选效率，在拣选点122上存在被拣选的拣选机器人40时，拣选通道121的入口网格1231与拣选点122之间的二维网格形成供拣选机器人40运行和等待的等待区域，每个等待区域均可容置一个拣选机器人40在等待区域内等待移入拣选点122中。且当位于拣选点122上的拣选机器人40被拣选完毕并移出拣选点122后，下一个等待的拣选机器人40搬运库存容器202移动至该拣选点122上，等待被拣选。为避免拣选通道121发生堵塞，出口通道1212对应的二维网格123中除拣选点122占据的二维网格123外不存在等待的拣选机器人40，拣选机器人40被拣选完毕后，直接从出口通道1212移出拣选工位1。由于出口通道1212不存在滞留的拣选机器人40，通过将两个拣选通道121的出口通道1212相邻设置，能够减小拣选机器人40之间的运行干涉。
在本实施例中，为提高拣选效率，拣选工作区11内设置有两面用于放置订单货箱的播种墙112，两面播种墙112相对设置，且两个拣选点122位于两面播种墙112形成空间的延伸侧，播种墙112上设置有多个用于存放订单箱的订单容器。该种设置方式，能够提高拣选工作区11内订单箱的存放数，即提高拣选主体同步可处理的订单量。
为进一步方便拣选主体的拣选，拣选工作区11内设置有显示屏，显示屏与库存拣选系统的控制器通讯连接，设置为显示该拣选工位1负责拣选的订单信息和拣选信息，方便拣选主体参照订单信息对货品进行拣选。订单信息至少包括每个取货订单中订单货品的种类、每种订单货品的数量、每种订单货品对应的库存容器202及其在库存容器202上的位置。拣选信息可以包括当前拣选库存容器202、当前拣选库存容器202上目标货品的种类、每个目标货品在当前拣选库存容器202的位置、当前拣选库存容器202上每个目标货品的拣选数量、每个目标货品对应的一个或多个订单箱在播种墙112上的位置等。
在本实施例中，拣选主体一次可以仅对一个订单进行拣选，即每个订单上的目标货品均被拣选完毕后，再进行下一个订单的拣选。但由于多个订单通常存在相同的货品或多个订单中存在位于同一库存容器202的货品，为提高拣选效率，在一实施例中，拣选主体可以同时对多个订单进行拣选操作。无论是单订单拣选或多订单同步拣选均为本领域的常规技术手段，本实施例不再进行赘述。
在本实施例中，当库存容器202放置在库存容器区20中时，库存容器202的拣选面2021朝向拣选区10，库存容器202的拣选面2021与拣选点122的工作面的朝向一致，拣选点122的工作面即拣选点122朝向拣选工作区11的一面。即在拣选机器人40带动库存容器202运行至拣选点122的过程中，库存容器202不需要转动换向，即能够实现拣选主体对货品的拣选。该种情况适用于，库存容器202具有相对的两侧开口，且库存容器202的每层隔层2022上能沿第一方向并排设置至少一个存储容器50，沿第二方向仅设置一个存储容器50；或库存容器202具有四侧开口，但库存容器202的每层隔层2022上仅设置有一个存储容器50。
在本实施例中，库存容器202沿第一方向的长度为L 0，库存容器202沿第二方向的宽度为W 0，为保证库存容器202在库存容器区20的搬运，横向通道204的宽度L 2＞L 0，纵向通道203的宽度W 2＞W 0；为保证库存容器202在拣选区10的运行，避免拣选机器人40运行过程中发生碰撞，每个二维网格123沿第一方向的长度L 1＞L 0，每个二维网格123沿第二方向的宽度W 1＞W 0。且为了提高空间利用率，W 1略大于W 0，且L 1略大于L 0。在一实施例中，为了提高空间利用率和路径规划的便利性，每个二维网格123的大小相同。
本实施例提供的库存拣选系统还包括控制系统，用于控制库存拣选系统中多个部件的运行。控制系统中包括订单管理中心，设置为接收及向拣选机器人和拣选工位派送订单。
本实施例还提供了一种拣选方法，应用于上述的库存拣选系统。本实施例提供的拣选方法包括如下步骤：
步骤S1010：订单管理中心接收到取货订单，并分析取货订单中订单货品对应的目标库存容器202在库存容器区20的位置，同时规划取货订单对应的目标拣选工位1。
步骤S1020：订单管理中心调度拣选机器人40，并根据拣选机器人40初始所在位置及目标库存容器202所在位置，为拣选机器人40规划第一行进路径。
步骤S1030：拣选机器人40根据第一行进路径运行至目标库存容器202的 底部。
步骤S1040：拣选机器人40的举升机构401动作，带动托盘上升与目标库存容器202底部接触，直至目标库存容器202与地面脱离接触。
步骤S1050：控制系统根据目标拣选工位1中两个拣选通道121中的拣选机器人40拥堵情况，确定拣选机器人40需要进入的目标拣选通道121。
步骤S1060：控制系统根据目标拣选通道121的入口网格位置及目标库存容器202位置，为拣选机器人40规划第二行进路径。
步骤S1060：拣选机器人40根据第二行进路径运行至目标拣选通道121的入口网格处，此过程中，目标库存容器202不发生转向运动，拣选机器人40可进行前进、后退、自旋换向等动作。
步骤S1070：拣选机器人40根据入口通道沿第二方向前行至入口通道末端，自旋90°后沿换向通道1213运行至拣选点122处。
步骤S1080：拣选主体对目标库存容器202上的目标货品进行拣选。
步骤S1090：拣选完毕后，拣选机器人40自旋90°换向后带动库存容器202沿出口通道1212运行至出口网格1232处。
步骤S1100：控制系统根据出口网格1232和目标库存容器202在库存容器区20的位置规划第三行进路径，拣选机器人40根据第三行进路径将库存容器202运回至库存容器区20。
步骤S1110：拣选机器人40举升机构401动作，带动托盘下降，直至库存容器202与地面接触且托盘与库存容器202底部脱离接触。
步骤S1120：拣选机器人40驱动机构402动作，使拣选机器人40移出库存容器202底部与库存容器202脱离。
本实施例还提供了一种仓储物流系统，包括上述的库存拣选系统。
图16为本申请实施例提供的库存拣选系统的结构示意图，如图16所示，本实施例提供了一种库存拣选系统，该库存拣选系统主要应用于对订单货品实现“货到人”式拣选，也可以实现上货、货品盘点等常规仓储物流操作。在本实施例中，库存拣选系统包括库存容器区20、公共通道30、拣选区10及拣选机器人40，其中，库存容器区20、公共通道30、拣选区10及拣选机器人40的布置基本与实施例一相同，仅拣选工位1中拣选通道121的设置方式不一样，本实施例不再对与实施例一相同的结构进行赘述。
在本实施例中，同一拣选工位1中，每个拣选通道121的进口通道1211相 邻另一个拣选通道121设置，每个拣选通道121的出口通道1212相邻另一个拣选工位1设置。
在本实施例中，为进一步提高拣选区空间利用率，相邻两个拣选工位1中，相邻两个拣选通道1211共用一个出口通道1212。
在本实施例中，可以使相邻两个拣选工位1共用一个播种墙112，播种墙112具有双侧开口，每侧开口具有用于放置订单容器。或可以在一个拣选工位1的拣选工作区11内设置一面播种墙112，播种墙112相对拣选点122间隔设置，使拣选主体在播种墙112与拣选点122之间活动。
图17为本申请实施例提供的库存拣选系统的结构示意图，如图17所示，本实施例提供了一种库存拣选系统，该库存拣选系统主要应用于对订单货品实现“货到人”式拣选，也可以实现上货、货品盘点等常规仓储物流操作。在本实施例中，库存拣选系统包括库存容器区20、公共通道30、拣选区10及拣选机器人40，其中，库存容器区20、公共通道30、拣选区10及拣选机器人40的布置基本与实施例一相同，仅库存容器202在库存容器区20的设置方式及二维网格123的设置方式存在差异，本实施例不再对与实施例一相同的结构进行赘述。
在本实施例中，库存容器202为为双侧开口，且库存容器202的一侧开口朝向拣选区10，另一侧开口背离拣选区10。库存容器202的每层隔层2022上沿第二方向并排设置有两排存储容器50，且每排存储容器50包括至少一个存储容器50。即，库存容器202具有两个相对的拣选面2021，且每个拣选面2021仅能对对应开口侧的存储容器50进行取放。该种情况下，若目标货品放置在朝向拣选区10的拣选面2021处，则拣选机器人40在搬运库存容器202时，库存容器202不需要进行转向即可实现拣选；若目标货品放置在背离拣选区10的拣选面2021处，则在拣选机器人40搬运库存容器202至拣选点122的过程中，需要使库存容器202转动180°，以使目标货品对应的拣选面2021朝向拣选工作区11。
在本实施例中，库存容器202沿第一方向的长度为L0，库存容器202沿第二方向的宽度为W 0，为保证拣选机器人40带动库存容器202在库存容器区20及拣选区10中的运行并避免与其他拣选机器人40或库存容器202发生干涉碰撞，横向通道204的宽度L 2＞L 0，纵向通道203的宽度W 2＞W 0；每个二维网格123沿第一方向的长度L 1＞L 0，每个二维网格123沿第二方向的宽度W 1＞W 0。且为了提高空间利用率，W1略大于W 0，且L 1略大于L 0。
在本实施例中，每个拣选通道121设置有一个用于库存容器202转动换向 的旋转区，且由于库存容器202需要在运行至拣选点122之前进行转动换向，则旋转区为形成进口通道1211对应的二维网格123中的一个。在一实施例中，每个拣选通道121的入口网格1231形成上述的旋转区，以保证后续二维网格123的一致性，减小划归难度和避免拣选机器人40之间的运行干涉。在其他实施例中，也可以是形成进口通道1211的二维网格123中的任意一个形成上述的旋转区。
在本实施例中，为避免库存容器202换向时对该旋转区四周的拣选机器人40的运行造成干涉以及保持拣选区10的规划一致性，旋转区对应的二维网格123沿第一方向的长度L 3与非旋转区对应的二维网格123沿第一方向的长度L1一致，旋转区对应的二维网格123沿第二方向的宽度大于库存容器202的最大外径，即
Figure PCTCN2019090424-appb-000001
在本实施例中，为了保证路径单元格规划一致性，出口网格1232与入口网格1231的尺寸相同，即在出口网格1232也可以进行库存容器202旋转，以使旋转过的库存容器202恢复至原始朝向。即，在本实施例中，每个拣选通道121中二维网格123沿第一方向的长度一致，但出口网格1232和入口网格1231沿第二方向的宽度大于拣选通道121中其他二维网格123的宽度，以为库存容器202的旋转换向提供空间，同时，提高拣选区10的空间利用率。
本实施例还提供了一种拣选方法，能够实现对库存容器的双面拣选。且本实施例提供的拣选方法如下：
步骤S2010：订单管理中心接收到取货订单，并分析取货订单中订单货品对应的目标库存容器202在库存容器区20的位置，同时规划取货订单对应的目标拣选工位1。
步骤S2020：订单管理中心调度拣选机器人40，并根据拣选机器人40初始所在位置及目标库存容器202所在位置，为拣选机器人40规划第一行进路径；
步骤S2030：拣选机器人40根据第一行进路径运行至目标库存容器202的底部。
步骤S2040：拣选机器人40的举升机构401动作，带动托盘上升与目标库存容器202底部接触，直至库存容器202与地面脱离接触.
步骤S2050：控制系统根据目标拣选工位1中两个拣选通道121中的拣选机器人40拥堵情况，确定拣选机器人40需要进入的目标拣选通道121.
步骤S2060：控制系统根据目标拣选通道121的入口网格位置及目标库存容器202位置，为拣选机器人40规划第二行进路径。
步骤S2070：拣选机器人40根据第二行进路径运行至目标拣选通道121的 入口网格1231处，此过程中，目标库存容器202不发生转向运动，拣选机器人40可进行前进、后退、自旋换向等动作.
步骤S2080：控制系统根据订单信息判断对该目标库存容器202进行两面拣选或是一面拣选，当对该目标库存容器202的拣选为一面拣选且拣选面2021背离拣选点122时，则执行步骤S2090，当对该库存容器202的拣选为一面拣选且拣选面2021面向拣选点122时，执行步骤S21100。
步骤S2090：拣选机器人40的托盘转动，带动目标库存容器202转动180°后，执行步骤S2100。
步骤S2100：拣选机器人40根据入口通道1211沿第二方向前行至入口通道末端，自旋90°后沿换向通道1213运行至拣选点122处.
步骤S2110：拣选主体对目标库存容器202上的目标货品进行拣选.
步骤S2120：拣选完毕后，拣选机器人40自旋90°换向后带动目标库存容器202沿出口通道1212运行至出口网格1232处.
步骤S2130：控制系统根据出口网格1232和目标库存容器202在库存容器区20的位置规划第三行进路径，拣选机器人40根据第三行进路径将库存容器202运回至库存容器区20。
步骤S2140：拣选机器人40举升机构401动作，带动托盘下降，直至目标库存容器202与地面接触且托盘与目标库存容器202底部脱离接触。
步骤S2150：拣选机器人40驱动机构402动作，使拣选机器人40移出库存容器202底部与目标库存容器202脱离。
在本实施例中，对于单面拣选的库存容器202，若库存容器202在入口网格1231处有过旋转换向的动作，则库存容器202在出口网格1232处可以进行旋转换向以使库存容器202的朝向恢复初始位置，也可以不进行换向，此时，需要在控制系统中更新库存容器202的位置朝向。
对于双面拣选的库存容器202，在本实施例中，在一次拣选完毕后，进入出口网格1232进行旋转换向后进行另一个拣选面2021的拣选，在其他实施例中，也可以是一次拣选完毕后，再次进入拣选通道121中的入口网格1231后，再进行旋转换向。
本实施例中，通过设置旋转区，有利于实现对库存容器202的双面拣选工作，减小单独旋转区设置对空间的占用，提高结构紧凑性和拣选区的空间利用率。
本实施例还提供了一种仓储物流系统，包括上述的库存拣选系统。
图18为本申请实施例提供的库存拣选系统的结构示意图，如图18所示，本实施例提供了一种库存拣选系统，该主要应用于对订单货品实现“货到人”式拣选，也可以实现上货、货品盘点等常规仓储物流操作。在本实施例中，库存拣选系统包括库存容器区20、公共通道30、拣选区10及拣选机器人40，其中，库存容器区20、公共通道30、拣选区10及拣选机器人40的布置基本与实施例二相同，仅库存容器202在库存容器区20的设置方式及二维网格123的设置方式存在差异，本实施例不再对与实施例一相同的结构进行赘述。
在本实施例中，库存容器202在库存容器区20时，库存容器202的拣选面2021朝向纵向通道203或背离纵向通道203，此时，由于库存容器202的拣选面2021不朝向拣选区10，无论目标货品位于哪个拣选面2021，均需要对库存容器202进行旋转，以使拣选面2021朝向拣选工作区11。且需要对库存容器202进行双面拣选时，需要在进行一面拣选之后，对库存容器202进行换向后，再进行库存容器202的另一面拣选。
在本实施例中，库存容器202存放至库存容器区20时，库存容器202沿第一方向的长度为L0，库存容器202沿第二方向的宽度为W 0，为保证拣选机器人40带动库存容器202在库存容器区20正常移动，横向通道204的宽度L 2＞L 0，纵向通道203的宽度W 2＞W 0。为保证库存容器202在旋转区旋转，旋转区对应的二维网格123沿第一方向的长度L 3＞W 0，沿第二方向的宽度
Figure PCTCN2019090424-appb-000002
每个拣选通道121除旋转区以外的二维网格123沿第一方向的长度L 1＞W 0，沿第二方向的宽度W 1＞L 0，且为了提高空间利用率，W 1略大于L，且L 1略大于W 0。
本实施例还提供了一种拣选方法，应用于如上的库存拣选系统。本实施例提供的拣选方法包括以下步骤：
步骤S3010：订单管理中心接收到取货订单，并分析取货订单中订单货品对应的目标库存容器202在库存容器区20的位置，同时规划取货订单对应的目标拣选工位1。
步骤S3020：订单管理中心调度拣选机器人40，并根据拣选机器人40初始所在位置及目标库存容器202所在位置，为拣选机器人40规划第一行进路径。
步骤S3030：拣选机器人40根据第一行进路径运行至目标库存容器202的底部。
步骤S3040：拣选机器人40的举升机构401动作，带动托盘上升与目标库存容器202底部接触，直至目标库存容器202与地面脱离接触。
步骤S3050：控制系统根据目标拣选工位1中两个拣选通道121中的拣选机器人40拥堵情况，确定拣选机器人40需要进入的目标拣选通道121。
步骤S3060：控制系统根据目标拣选通道121的入口网格位置及目标库存容器202位置，为拣选机器人40规划第二行进路径。
步骤S3070：拣选机器人40根据第二行进路径运行至目标拣选通道121的入口网格1232处，此过程中，库存容器202不发生转向运动，拣选机器人40可进行前进、后退、自旋换向等动作。
步骤S3080：控制系统根据目标货品在目标库存容器202上对应的拣选面2021的初始朝向与拣选点122的工作面之间的关系，确定定库存容器202转动的角度。
步骤S3090：拣选机器人40的托盘转动，带动库存容器202转动预设角度。
在本实施例中，拣选机器人40在入口网格1231处带动库存容器202换向，以使拣选面2021与拣选点122的工作面一致。在其他实施例中，也可以是拣选机器人40搬运库存容器202至公共通道30中时，带动库存容器202进行换向，使库存容器202的一个拣选面2021与拣选点122的工作面一致。即，在本实施例中，对于将库存容器202的其中一个拣选面2021与拣选点122的工作面一致的第一次转动换向可以发生在公共通道30中，也可以发生在拣选通道121的入口网格1231处。
步骤S3100：拣选机器人40根据入口通道沿第二方向前行至入口通道末端，自旋90°后沿换向通道1213运行至拣选点122处。
步骤S3110：拣选主体对目标库存容器202上的目标货品进行拣选。
步骤S3120：拣选完毕后，拣选机器人40自旋90°换向后带动库存容器202沿出口通道1212运行至出口网格1232处。
步骤S3130：控制系统判断该目标库存容器202是否为两面拣选，在目标库存容器202为两面拣选的情况下，执行步骤S3140，在目标库存容器202不为两面拣选的情况下，执行S3160。
步骤S3140：拣选机器人40的托盘转动，带动目标库存容器202转动180°。
步骤S3150：控制系统根据目标拣选工位1中两个拣选通道121中的拣选机器人40拥堵情况，确定拣选机器人40需要再次进入的目标拣选通道121，并从所在出口网格1232中进入目标拣选通道121的入口网格1231中后，经入口通道1212进入拣选点122中被拣选，拣选完毕后，经出口通道1212移入至该目标拣选通道121的出口网格1232处。
步骤S3160：拣选机器人40的托盘转动，带动库存容器202转动预设角度，使库存容器202恢复初始朝向。
在本实施例中，在拣选通道121的出口网格1232处使库存容器202恢复初始朝向，在其他实施例中，也可以是拣选机器人40带动库存容器202移出拣选工位1并进入公共通道30中后，再带动库存容器202转动至初始朝向。
步骤S3170：控制系统根据出口网格1232和目标库存容器202在库存容器区20的位置规划第三行进路径，拣选机器人40根据第三行进路径将库存容器202运回至库存容器区20。
步骤S3180：拣选机器人40举升机构401动作，带动托盘下降，直至目标库存容器202与地面接触且托盘与库存容器202底部脱离接触；
步骤S3190：拣选机器人40驱动机构402动作，使拣选机器人40移出目标库存容器202底部与目标库存容器202脱离。
对于双面拣选的库存容器202，在本实施例中，在一次拣选完毕后，进入出口网格1232进行旋转换向后进行另一个拣选面2021的拣选，在其他实施例中，也可以是一次拣选完毕后，再次进入拣选通道121中的入口网格后，再进行旋转换向。
本实施例中，通过设置旋转区，有利于实现对库存容器202的双面拣选工作，减小单独旋转区设置对空间的占用，提高结构紧凑性和拣选区的空间利用率。
本实施例还提供了一种仓储物流系统，包括上述的库存拣选系统。
图19为本申请实施例提供的库存拣选系统的结构示意图，图20为本申请实施例提供的拣选工位和库存容器的结构示意图，如图19和图20所示，本实施例提供了一种库存拣选系统，该库存拣选系统的主要应用于对订单货品实现“货到人”式拣选，也可以实现上货、货品盘点等常规仓储物流操作。在本实施例中，库存拣选系统包括库存容器区20、公共通道30、拣选区10及拣选机器人40，其中，库存容器区20、公共通道30、拣选区10及拣选机器人40的布置基本与实施例一相同，仅拣选区10的设置方式存在差异，本实施例不再对与实施例一相同的结构进行赘述。
在本实施例中，库存容器202具有两个相对设置的拣选面2021，且两个拣选面2021中的一个朝向纵向通道203，另一个背离与其相邻的纵向通道203。库存容器202的每层隔层2022上可沿第二方向设置一个或并排设置多个存储容器50。
在本实施例中，每个拣选工位1包括两个拣选点122和两个拣选通道121，拣选通道122构成U型，且拣选通道122的入口和出口均朝向库存容器区20。两个拣选通道相对间隔设置，且两个拣选通道之间形成供拣选主体活动的拣选工作区11。拣选点122位于拣选通道121的U型的一侧上，且拣选点122朝向拣选工作区11。
该种设置方式，由于拣选点122位于拣选工作区11的一侧，当拣选机器人40将库存容器202从库存容器区20搬运至拣选点122时，库存容器202可以不需要发生旋转，即可使库存容器202的拣选面2021朝向拣选工作区11，提高拣选效率，避免设置额外的旋转区造成的空间增大。且拣选工作区11的两侧均设置有拣选点122和拣选通道121，使同一个拣选主体可以负责两个拣选点122的拣选，在一个拣选点122上的库存容器202拣选完毕后且从该拣选通道121进入的机选机器人还未将库存容器202运送至该拣选点122上时，拣选主体可以对另一拣选点122上等待拣选的库存容器202进行拣选，减少拣选主体的空闲等待时间，提高拣选效率。
在一实施例中，两个拣选通道121中的一个拣选通道121顺时针设置，另一个拣选通道121逆时针设置。即，两个拣选通道121的进口通道1211均位于该拣选通道121相邻拣选工作区11的一侧，或两个拣选通道121的出口通道1212均位于该拣选通道121相邻拣选工作区11的一侧。该种设置方式，当拣选机器人40将库存容器202搬运至不同的拣选通道121的拣选点122时，朝向拣选工作区11的拣选面2021不同。即，可以根据目标货品在库存容器202上对应的拣选面2021的朝向，选择两个拣选通道121中的一个进入拣选工位1，使库存容器202位于拣选点122时，目标货品所在拣选面2021正对朝向拣选工作区11，方便拣选人员拣选。有利于对双面拣选的库存容器202进行拣选，避免库存容器202在拣选机器人40搬运过程中的转动换向，提高拣选效率。
在本实施例中，拣选工位1于拣选工作区11的朝向库存容器区20的一侧设置有连通两个拣选通道121的连通通道124，连通通道124由逻辑划分的两个二维网格形成，且连通通道的两个二维网格与入口网格1231及出口网格1232并排设置，实现两个拣选通道121之间的连通，从而能够使拣选机器人40不需要移出拣选工位1中，就能够实现在同一拣选工位1中两个拣选通道122之间的移动，从而实现对库存容器202的双面拣选操作。
在一实施例中，两个拣选通道121的进口通道1211均位于该拣选通道121相邻拣选工作区11的一侧，且相邻两个拣选工位1的相邻两个拣选通道121共用一个出口通道1212。该种设置方式，能够提高拣选区10中拣选工位1的布置紧凑性，节省空间。
在一实施例中，每列二维网格组均包括四个二维网格123，以提高拣选区10的空间利用率，提高库存拣选系统的空间紧凑性。在一实施例中，沿进口通道1211方向的第三个二维网格123形成拣选点122。该种设置方式，一方面能够使前两个二维网格123用于拣选机器人40进入拣选通道121并在拣选通道121中等待，提高拣选通道121中可供等待的拣选机器人40的数量；另一方面，方便在拣选点122沿第二方向的两侧设置播种墙112，以使拣选主体能够快捷地将拣选工作中库存容器202上的目标货品取放至播种墙112的订单箱中。在其他一个实施例中，也可以是进口通道1211中远离入口网格1231的末端二维网格123形成拣选点122。
库存容器202沿第一方向的长度为L0，库存容器202沿第二方向的宽度为W 0，为保证库存容器202在库存容器区20的搬运，横向通道204的宽度L 2＞L 0，纵向通道203的宽度W 2＞W 0；为保证库存容器202在拣选区10的运行，避免拣选机器人40运行过程中发生碰撞，每个二维网格123沿第一方向的长度L 1＞L 0，每个二维网格123沿第二方向的宽度W 1＞W 0。且为了提高空间利用率，W 1略大于W 0，且L 1略大于L 0。
在一实施例中，为提高对拣选区10的规划一致性，每个二维网格123均相同。
在一实施例中，拣选工作区11中设置有一面播种墙112，且播种墙112位于两个拣选点122之间，播种墙112的朝向背离库存容器区20设置。在其他实施中，拣选工作区11可以设置两面播种墙112，且两面播种墙112相对设置，且分别位于拣选点122沿第二方向的两侧。
在本实施例中，由于库存容器区20中库存容器202的拣选面2021朝向或背离纵向通道203，使库存容器区20中库存容器202的拣选面2021的初始朝向与拣选点122的工作面朝向相同。即，拣选机器人40在对库存容器202进行搬运的过程中，库存容器202不需要进行换向。在其他实施例中，可以不对库存容器区20中的库存容器202的摆放位置进行限定，拣选机器人40在搬运库存容器202至拣选工位1之前，可以带动库存容器202旋转换向，使库存容器202的拣选面2021与拣选点122的工作面朝向一致。
本实施例还提供了一种拣选方法，应用于上述的库存拣选系统，且能够实现对库存容器202的两面拣选。拣选方法包括如下步骤。
步骤S4010：订单管理中心接收到取货订单，并分析取货订单中订单货品对应的目标库存容器202在库存容器区20的位置，同时规划取货订单对应的目标拣选工位1。
步骤S4020：订单管理中心调度拣选机器人40，并根据拣选机器人40初始所在位置及目标库存容器202所在位置，为拣选机器人40规划第一行进路径；
步骤S4030：拣选机器人40根据第一行进路径运行至目标库存容器202的底部。
步骤S4040：拣选机器人40的举升机构401动作，带动托盘上升与目标库存容器202底部接触，直至目标库存容器202与地面脱离接触。
步骤S4050：控制系统确定目标库存容器202是否为双面拣选，在目标库存容器202为双面拣选的情况下，根据目标拣选工位1中两条拣选通道121中的拥堵情况确定需要进入的目标拣选通道121，在目标库存容器202不为双面拣选的情况下，根据目标库存容器202拣选面2021的朝向确定所需进入的目标拣选通道2021。
步骤S4060：控制系统根据目标拣选通道121的入口网格位置及目标库存容器202位置，为拣选机器人40规划第二行进路径。
步骤S4070：拣选机器人40根据第二行进路径运行至目标拣选通道121的入口网格处，此过程中，目标库存容器202不发生转向运动，拣选机器人40可进行前进、后退、自旋换向等动作。
在本实施例中，库存容器202在库存容器区20中的初始朝向与其中一个拣选点122中工作面的朝向一致，因此，不需要对库存容器202进行换向；在其他实施例中，若库存容器202在库存容器区20中的初始朝向与两个拣选点122中工作面的朝向均不一致，则可以使拣选机器人40在带动库存容器202进入拣选工位1之前，对库存容器202进行旋转换向，使库存容器202的拣选面2021与其中一个拣选点122的工作面的朝向相同。
步骤S4080：拣选机器人40根据入口通道沿第二方向前行至拣选点122处。
步骤S4090：拣选主体对目标库存容器202上的目标货品进行拣选。
步骤S4100：拣选完毕后，拣选机器人40沿换向通道1213及出口通道1212运行至出口网格1232处。
步骤S4110：控制系统判断该库存容器202是否为两面拣选，在目标库存容器202为双面拣选的情况下，执行步骤S4120，在目标库存容器202不为双面拣选的情况下，执行S4130。
步骤S4120：拣选机器人40通过连通通道124进入另一拣选通道121中，并带动目标库存容器202运行至对应拣选点122处，被拣选主体拣选，拣选完毕后，经出口通道1212移入至该目标拣选通道121的出口网格1232处。
步骤S4130：控制系统根据出口网格1232和目标库存容器202在库存容器区20的位置规划第三行进路径，拣选机器人40根据第三行进路径将目标库存容器202运回至库存容器区20；
步骤S4140：拣选机器人40举升机构401动作，带动托盘下降，直至目标库存容器202与地面接触且托盘与目标库存容器202底部脱离接触；
步骤S4150：拣选机器人40驱动机构402动作，使拣选机器人40移出目标库存容器202底部与库存容器202脱离。
本实施例还提供了一种仓储物流系统，包括上述的库存拣选系统。

Claims (67)

  1. 一种货架管理方法，包括：
    预估一个工位的工位排队区是否有空位；
    在预估所述工位排队区有空位的情况下，在分配给所述工位且未搬运的货架中选择一个货架，并控制一个移动机器人搬运选择的货架；
    在所述移动机器人与所述选择的货架对接后，重新预估需求所述选择的货架的所有工位的工位排队区是否有空位；
    在预估所述所有工位的工位排队区中有空位的情况下，则控制所述移动机器人搬运所述选择的货架到预估有空位的工位排队区，并在所述移动机器人搬运所述选择的货架到达所述预估有空位的工位排队区周围预设区域内的情况下，确定在所述预估有空位的工位排队区是否有空位腾出；
    在确定所述预估有空位的工位排队区有空位腾出的情况下，控制所述移动机器人进入所述预估有空位的工位排队区。
  2. 根据权利要求1所述的方法，还包括：在预估所述所有工位的工位排队区中没有空位的情况下，控制所述移动机器人在原地排队等待。
  3. 根据权利要求1或2所述的方法，还包括：在所述预估有空位的工位排队区未有空位腾出的情况下，控制所述移动机器人在周围设定范围内的移动数量小于设定数量且不阻碍其他移动机器人路径的位置排队等待，或者，控制所述移动机器人搬运所述选择的货架到另一个需要所述选择的货架的工位。
  4. 根据权利要求1-3中任一项所述的方法，还包括：在控制所述移动机器人进入所述预估有空位的工位排队区后，实时判断在所述移动机器人的前方是否有空位腾出，在确定所述移动机器人的前方有空位腾出的情况下，控制所述移动机器人向前方空位移动，在所述移动机器人的前方未有空位腾出的情况下，控制所述移动机器人原地排队等待。
  5. 根据权利要求1-4中任一项所述的方法，其中，所述预估一个工位的工位排队区是否有空位包括：
    在当前正在为一个工位送货架的移动机器人的数量小于所述一个工位的工位排队区大小的情况下，确定所述一个工位的工位排队区有空位；
    在当前正在为所述一个工位送货架的移动机器人的数量大于或等于所述一个工位的工位排队区大小的情况下，计算所述一个工位的工位排队区腾出一个空位的时间，在所述时间小于新分配移动机器人到达所述一个工位的工位排队区的时间的情况下，确定所述一个工位的工位排队区有空位。
  6. 根据权利要求1-4任一项所述的方法，还包括：
    在所述移动机器人搬运所述选择的货架的运行路径内，控制所述移动机器人对所述选择的货架所处的周围环境进行实时探测；
    在探测到所述选择的货架所处的周围环境满足旋转条件的情况下，控制所述移动机器人对所述选择的货架进行旋转操作。
  7. 根据权利要求6所述的方法，其中，所述在探测到所述选择的货架所处的周围环境满足旋转条件的情况下，控制所述移动机器人对所述选择的货架进行旋转操作包括：在探测到所述选择的货架所处的周围环境满足旋转条件的情况下，控制所述移动机器人对所述选择的货架在以下三个位置中的至少一个位置旋转：
    在搬运的路径上旋转，在所述预估有空位的工位排队区对应工位的旋转区旋转，以及在所述预估有空位的工位排队区的操作位置原地旋转。
  8. 根据权利要求7所述的方法，其中，所述在所述移动机器人搬运所述选择的货架的运行路径内，控制所述移动机器人对所述选择的货架所处的周围环境进行实时探测，包括：
    在所述移动机器人搬运所述选择的货架的运行路径内，控制所述移动机器人检测前方路径点周围预设范围内的单元格是否被占用，并在申请到前方路径点周围预设范围内的单元格的情况下，则将所述前方路径点作为旋转点；
    在所述移动机器人到达设置的旋转点的情况下，占用前方路径点周围预设范围内的单元格作为旋转区，在未成功占用所述前方路径点周围预设范围内的单元格的情况下，控制所述移动机器人继续行走。
  9. 根据权利要求7所述的方法，其中，所述在探测到所述选择的货架所处的周围环境满足旋转条件的情况下，控制所述移动机器人对所述选择的货架进行旋转操作，包括：
    在所述移动机器人到达所述预估有空位的工位排队区的操作位置前，且所述移动机器人未在搬运所述选择的货架的运行路径上对所述选择的货架进行旋转的情况下，控制所述移动机器人进入所述预估有空位的工位排队区对应工位的旋转区旋转所述选择的货架。
  10. 根据权利要求9所述的方法，还包括：
    在完成旋转的所述选择的货架还需要旋转的情况下，判断是否能占用所述移动机器人原地周围预设范围内的单元格，在能占用所述移动机器人原地周围预设范围内的单元格的情况下，占用相应的单元格作为旋转区，在不能占用所述移动机器人原地周围预设范围内的单元格的情况下，控制所述移动机器人再次进入所述预估有空位的工位排队区，继续排队并进入对应工位的旋转区。
  11. 根据权利要求7-10中任一项所述的方法，其中，所述控制所述移动机器人对所述选择的货架进行旋转操作，包括：
    在所述旋转区内，控制所述移动机器人采用直线与折线路径对所述选择的货架进行旋转。
  12. 一种货架的管理系统，包括，
    移动机器人：设置为搬运货架；
    货架：设置为设置有放置商品的货位，且能被所述移动机器人搬运；
    货架区：设置为存放所述货架；
    工位和工位排队区：所述工位为工人作业位置；所述工位排队区：在工人作业位置附近设定的区域，移动机器人搬运货架在所述工位排队区缓存排队等待工人作业；
    服务器，与所述移动机器人通信连接，设置为：运行权利要求1至权利要求11任一项所述的货架的管理方法。
  13. 根据权利要求12所述的系统，其中，所述工位排队区的布局方式包括：
    双工位对称布局方式、并列布局方式和无特定旋转区排队方式中的一种。
  14. 根据权利要求13所述的系统，其中，在所述工位排队区的布局方式包括双工位对称布局方式的情况下，所述工位排队区包括两个旋转区以及分别围绕在所述两个旋转区四周的两个排队通道，且所述两个排队通道部分重合，形成位于所述两个旋转区之间的通道区域，每个排队通道上设置有一个入口位置、一个操作位置、多个旋转区进入位置、多个排队返回位置以及一个出口位置，；其中，操作位置为移动机器人搬运货架等待工人作业的位置，旋转区进入位置为允许移动机器人从所述排队通道进入所述旋转区的位置，排队返回位置为允许移动机器人从所述旋转区进入所述排队通道的位置，入口位置设置于所述通道区域上且所述两个排队通道共用一个入口位置，所述两个排队通道上的旋转区进入位置、排队返回位置以及出口位置对称设置在所述所述通道区域的两侧。
  15. 根据权利要求13所述的系统，其中，在所述工位排队区的布局方式包括并列布局方式的情况下，工位排队区包括两个旋转区以及分别围绕在所述两个旋转区四周的两个排队通道，每个排队通道上设置有一个入口位置、一个操作位置、多个旋转区进入位置、多个排队返回位置以及出口位置，所述两个排队通道并列设置；其中，操作位置为移动机器人搬运货架等待工人作业的位置，旋转区进入位置为允许移动机器人从所述排队通道进入所述旋转区的位置，排队返回位置为允许移动机器人从所述旋转区进入所述排队通道的位置。
  16. 根据权利要求13所述的系统，其中，在所述工位排队区的布局方式包括无特定旋转区排队方式的情况下，工位排队区包括排队通道，且所述排队通道用作旋转区，所述排队通道上设置有一个操作位置、一个出口位置以及多个入口位置，所述多个入口位置位于所述一个操作位置和所述一个出口位置之间。
  17. 根据权利要求14-16任一项所述的系统，其中，
    所述出口位置设定多个方向，以允许所述移动机器人在操作完成需要再进行旋转所述货架的情况下，所述移动机器人能够从所述出口位置再次进入工位排队区域，或者能够从所述出口位置离开工位排队区，经过外部路径再次回到工位排队区域。
  18. 根据权利要求12所述的系统，其中，在所述工位排队区的布局方式包括多操作点布局方式的情况下，所述工位排队区包括多个操作位置，多个操作位置呈一字排列，且每个操作位置作为入口位置和出口位置，操作位置为移动机器人搬运货架等待工人作业的位置。
  19. 根据权利要求13所述的系统，其中，
    所述移动机器人，为轮式驱动的小车，具备顶升机构，所述顶升机构设置为举起所述货架。
  20. 根据权利要求19所述的系统，其中，
    所述顶升机构与小车本体独立运动，实现小车本体不动，顶升机构下降和顶升动作；小车本体不动，顶升机构旋转；小车本体和顶升机构锁死，以相同速度旋转；小车本体和顶升机构同时以不同速度旋转。
  21. 一种货架的管理方法，包括：
    搬运任务分配的同时，对搬运货架的搬运工具进行排队调度；
    根据订单要求，为所述搬运工具规划搬运工具搬运货架的路径，并实时调整所述搬运工具的运行路径；
    在搬运任务分配至搬运任务完成的运行路径内，对所述货架所处的周围环境进行实时探测；
    在探测到所述货架所处的周围环境适合旋转的情况下，对货架进行旋转操作。
  22. 根据权利要求21所述的方法，其中，所述搬运工具为移动机器人。
  23. 根据权利要求21所述的方法，其中，所述搬运任务分配的同时，对搬运工具进行排队调度，包括：
    实时监控工位排队区的搬运工具的任务时间和数量，决定是否分配新搬运工具搬运货架至工位。
  24. 根据权利要求21所述的方法，其中，所述对搬运货架的搬运工具进行排队调度，包括：
    对优选级高或不需要旋转的货架进行优先插队调度。
  25. 根据权利要求21所述的方法，其中，所述对搬运货架的搬运工具进行排队调度，包括：
    减少对货架进行旋转操作的搬运工具的调度。
  26. 根据权利要求21所述的方法，其中，所述对搬运货架的搬运工具进行排队调度，包括：
    根据搬运任务中任务的属性对搬运任务分配相应的工位排队路径布局方式。
  27. 根据权利要求26所述的方法，其中，所述工位排队路径布局方式，包括：
    双工位对称布局方式、并列布局方式和无特定旋转区排队方式和多操作点布局方式。
  28. 根据权利要求27所述的方法，其中，所述多操作点布局方式中：
    搬运工具在到达操作点过程中不需要排队等待另一个搬运工具，在搬运工具周围单元格没有被占用情况下，搬运工具能在操作点对货架进行旋转操作；在搬运工具到达操作点的路径过程中，搬运工具能申请周围单元格完成货架旋转任务；
    并根据货架操作时间来判断搬运工具下一步动作是放下货架或者等待操作完，如货架操作时间超过搬运工具执行下一个任务时间，搬运工具则将货架放下，继续执行下一个任务，待货架操作完成后，再分配搬运工具来取走货架，如货架操作时间不超过搬运工具执行下一个任务时间，搬运工具则等待操作完成。
  29. 根据权利要求27所述的方法，其中，在所述双工位对称布局方式、并列布局方式和无特定旋转区排队方式中：
    出口位置设定多个方向，如操作完成需要再进行旋转货架，搬运工具能从出口位置再次进入工位排队区，也能从出口位置离开工位排队区，经过外部路径再次回到工位排队区。
  30. 根据权利要求21所述的方法，其中，所述在搬运任务分配至搬运任务 完成的过程中对货架进行旋转操作包括：
    在搬运任务分配至搬运任务完成的过程中实时对货架所处的环境进行检验，在货架所处的环境满足旋转条件的情况下，进行旋转。
  31. 根据权利要求21至30任一所述的方法，其中，所述根据订单要求，为所述搬运工具规划搬运工具搬运货架的路径，并实时调整所述搬运工具的运行路径，包括：
    预估工位排队区空位；
    在预估工位排队区有空位的情况下，在该工位排队区的未搬取的货架中选择一个货架并分配一个搬运工具搬取该货架；
    搬运工具取到货架后，从新预估工位排队区空位，对于需求该货架的所有工位均进行预估，在预估有空位的情况下，开始搬运货架，在预估没有空位没有空位的情况下，在原地排队等待；
    在货架到达临近工位排队区附近，且工位排队区空闲位置未腾出的情况下，选择搬运工具密度低且不阻碍其他搬运工具路径的位置排队等待，或者送货架到另一个需要该货架的工位，在工位排队区有空位腾出的情况下，入工位排队区；
    在工位排队区实时判断前方有空位腾出的情况下，向工位移动，在前方没有空位的情况下，原地排队等待。
  32. 根据权利要求31所述的方法，其中，所述预估工位排队区空位包括：
    在当前正在为某个工位送货架的搬运工具的数量小于该工位排队区大小的情况下，有空位，在当前正在为某个工位送货架的搬运工具的数量小于该工位排队区大小的情况下，计算工位排队区末尾的搬运工具腾出一个空位的时间，在计算出的时间小于新分配搬运工具到达工位排队区的时间的情况下，预估存在空位。
  33. 根据权利要求21至30任一所述的方法，其中，所述在探测到所述货架所处的周围环境适合旋转的情况下，对货架进行旋转操作包括：在探测到所述货架所处的周围环境适合旋转的情况下，对采用以下方式之一对货架进行旋转操作：
    在搬运的路径上旋转，在工位排队区设定的旋转点旋转，以及在操作点原地旋转。
  34. 根据权利要求33所述的方法，其中，所述在搬运任务分配至搬运任务完成的运行路径内，对所述货架所处的周围环境进行实时探测，包括：
    在搬运工具路径行走过程中，检测前方路径点附近单元格是否被占用，在能同时申请到前方路径点附近单元格的情况下，将该路径点作为旋转点；
    在搬运工具到达设置的旋转点的情况下，占用周围单元格，在未占用成功的情况下，继续行走；
    在搬运工具到达工位前，在未在路径上对货架进行旋转操作的情况下，进入工位设定的旋转区；
    在完成旋转的货架还需要旋转的情况下，在原地判断是否能占用周围单元格，在能占用周围单元格的情况下，占用所述周围单元格，在不能占用的情况下，再次进入工位排队区，继续排队并进入设定的旋转点。
  35. 根据权利要求34所述的方法，其中，
    所述旋转区内采用直线与弧线相切路径或折线路径进行货架旋转。
  36. 一种货架的管理系统，包括：
    搬运工具：设置为搬运货架；
    货架：设置为设置放置商品的货位，且能被搬运工具搬运；
    货架区：设置为存放货架；
    服务器：运行权利要求21至权利要求35任一项所述的货架的管理方法。
  37. 根据权利要求36所述的系统，其中，所述搬运工具，为移动机器人。
  38. 根据权利要求37所述的系统，其中，
    所述移动机器人，为轮式驱动的小车，具备顶升机构，具有直线行走、弧线行走和原地转弯动作能力。
  39. 根据权利要求38所述的系统，其中，
    所述顶升机构与小车本体独立运动，以实现小车本体不动，顶升机构下降和顶升动作；小车本体不动，顶升机构旋转；小车本体和顶升机构锁死，以相同速度旋转；小车本体和顶升机构同时以不同速度旋转。
  40. 根据权利要求36所述的系统，还包括，
    工位和工位排队区；
    所述工位：工人作业位置；
    所述工位排队区：在工人作业位置附近设定的区域，搬运工具搬运货架在该区域缓存排队等待工人作业。
  41. 一种拣选区，所述拣选区(10)包括至少一个拣选工位(1)，每个拣 选工位(1)包括：两个拣选通道(121)和分别位于两个拣选通道(121)上的两个拣选点(122)；
    每个拣选点(122)，设置为供拣选主体拣选目标货品；
    每个拣选通道(121)，设置为提供使拣选机器人(40)进入所述每个拣选工位(1)内并经过所述每个拣选工位(1)中的所述每个拣选通道(121)上的拣选点(122)后离开所述每个拣选工位(1)的通行路径。
  42. 根据权利要求41所述的拣选区，其中，两个所述拣选通道(121)分别呈U型，且并排或并列设置，两个所述拣选点(122)分别位于两个所述拣选通道(121)的U型底部，两个所述拣选通道(121)远离所述U型的开口的一端形成有供所述拣选主体活动的拣选工作区(11)。
  43. 根据权利要求42所述的拣选区，其中，两个所述拣选通道(121)紧邻设置。
  44. 根据权利要求43所述的拣选区，其中，两个所述拣选点(122)紧邻设置。
  45. 根据权利要求44所述的拣选区，其中，所述拣选工作区(11)内设置有两面相对的播种墙(112)，每个播种墙(112)上容纳有多个订单容器，两个所述拣选点(122)位于两个所述播种墙(112)形成的延伸空间内。
  46. 根据权利要求41所述的拣选区，其中，每个拣选工位(1)中的两个所述拣选通道(121)分别呈U型且相对间隔设置，两个所述拣选点(122)分别位于两个所述拣选通道(121)的U型侧边上且相对设置，两个所述拣选通道(121)之间形成供所述拣选主体活动的拣选工作区(11)。
  47. [根据细则91更正 14.08.2019]　
    根据权利要求46所述的拣选区，其中，两个所述拣选通道(121)正对且间隔设置。
  48. [根据细则91更正 14.08.2019]　
    根据权利要求47所述的拣选区，其中，两个所述拣选点(122)正对且间隔设置。
  49. 根据权利要求41-48任一项所述的拣选区，其中，两个所述拣选通道(121)中的一个拣选通道(121)沿顺时针方向提供通行路径，另一个拣选通道(121)沿逆时针方向提供通行路径。
  50. 根据权利要求42-45任一项所述的拣选区，其中，每个拣选通道(121)具有形成所述拣选通道(121)的入口的入口网格(1231)和形成所述拣选通道(121)的出口的出口网格(1232)，所述入口网格(1231)和所述出口网格(1232)的通行宽度大于库存容器(202)的最大外径。
  51. 根据权利要求42-48中任一项所述的拣选区，其中，每个拣选通道(121)包括形成所述U型两侧边的进口通道(1211)和出口通道(1212)，所述出口通道(1212)位于所述每个拣选通道(121)相邻另一所述拣选工位(1)的一侧，相邻两个拣选工位(1)共用一个所述出口通道(1212)。
  52. 根据权利要求41所述的拣选区，其中，所述拣选区(10)在逻辑上设置有二维网格，其中一个二维网格对应一个所述拣选点(122)。
  53. [根据细则91更正 14.08.2019]　
    根据权利要求52所述的拣选区，其中，每个拣选通道(121)中位于所述每个拣选通道(121)上的拣选点(122)上游的所述二维网格形成用于所述拣选机器人(40)经过和等待的区域。
  54. 根据权利要求52所述的拣选区，其中，至少一个所述二维网格的中心设置有所述拣选机器人(40)用于定位的基准标记。
  55. 一种库存拣选系统，包括：
    库存容器区(20)，设置为储存多个库存容器(202)；
    拣选机器人(40)，设置为搬运所述库存容器(202)；
    拣选区(10)，设置为供拣选主体从所述拣选机器人(40)搬运的所述库存容器(202)中拣选目标货品；
    所述拣选区(10)包括至少一个拣选工位(1)，每个拣选工位(1)包括：两个拣选通道(121)和分别位于两个拣选通道(121)上的两个拣选点(122)；
    每个拣选点(122)，设置为供所述拣选主体拣选所述目标货品；
    每个拣选通道(121)，设置为提供使所述拣选机器人(40)进入所述每个拣选工位(1)内并经过所述每个拣选工位(1)中的所述每个拣选通道(121)上的拣选点(122)后离开所述每个拣选工位(1)的通行路径。
  56. [根据细则91更正 14.08.2019]　
    根据权利要求55所述的库存拣选系统，其中，两个所述拣选通道(121)分别呈U型，且并排或并列设置，两个所述拣选点(122)分别位于所述拣选通道(121)的U型底部，两个所述拣选通道(121)远离所述库存容器区(20)的一端形成有供所述拣选主体活动的拣选工作区(11)。
  57. [根据细则91更正 14.08.2019]　
    根据权利要求56所述的库存拣选系统，其中，两个所述拣选通道(121)紧邻设置。
  58. [根据细则91更正 14.08.2019]　
    根据权利要求57所述的库存拣选系统，其中，两个所述拣选点(122)紧邻设置。
  59. [根据细则91更正 14.08.2019]　
    根据权利要求58所述的库存拣选系统，其中，所述拣选工作区(11)内设置有两面相对的播种墙(112)，每个播种墙(112)上容纳有多个订单容 器，两个所述拣选点(122)位于两个所述播种墙(112)形成的延伸空间内。
  60. [根据细则91更正 14.08.2019]　
    根据权利要求56所述的库存拣选系统，其中，每个拣选工位(1)中的两个所述拣选通道(121)分别呈U型且相对间隔设置，两个所述拣选点(122)分别位于两个所述拣选通道(121)的U型侧边上且正对设置，两个所述拣选通道(121)之间形成供所述拣选主体活动的拣选工作区(11)。
  61. [根据细则91更正 14.08.2019]　
    根据权利要求60所述的库存拣选系统，其中，位于所述拣选区(10)中的所述库存容器(202)的拣选面(2021)与每个拣选通道(121)的U型侧边平行。
  62. [根据细则91更正 14.08.2019]　
    根据权利要求56-61任一项所述的库存拣选系统，其中，两个所述拣选通道(121)中的一个拣选通道(121)沿顺时针方向提供通行路径，另一个拣选通道(121)沿逆时针方向提供通行路径。
  63. [根据细则91更正 14.08.2019]　
    根据权利要求57-59任一项所述的库存拣选系统，其中，所每个拣选通道(121)具有形成所述拣选通道(121)的入口的入口网格(1231)和形成所述拣选通道(121)的出口的出口网格(1232)，所述入口网格(1231)和所述出口网格(1232)的通行宽度大于所述库存容器(202)的最大外径。
  64. [根据细则91更正 14.08.2019]　
    根据权利要求57-61任一项所述的库存拣选系统，其中，每个拣选通道(121)包括形成所述U型两侧边的进口通道(1211)和出口通道(1212)，所述出口通道(1212)位于所述每个拣选通道(121)相邻另一所述拣选工位(1)的一侧，相邻两个拣选工位(1)共用一个所述出口通道(1212)。
  65. [根据细则91更正 14.08.2019]　
    根据权利要求55所述的库存拣选系统，其中，所述库存容器区(20)以及拣选区(10)在逻辑上设置有二维网格，所述拣选区(10)中一个二维网格对应一个所述拣选点(122)。
  66. [根据细则91更正 14.08.2019]　
    根据权利要求65所述的库存拣选系统，其中，每个拣选通道(121)中位于所述每个拣选通道(121)上的拣选点(122)上游的所述二维网格形成用于所述拣选机器人(40)经过和等待的区域。
  67. [根据细则91更正 14.08.2019]　
    根据权利要求65所述的库存拣选系统，其中，至少一个所述二维网格的中心设置有所述拣选机器人(40)用于定位的基准标记。
PCT/CN2019/090424 2018-06-06 2019-06-06 货架的管理方法及系统、拣选区及库存拣选系统 WO2019233484A1 (zh)

Priority Applications (8)

Application Number Priority Date Filing Date Title
AU2019281676A AU2019281676B9 (en) 2018-06-06 2019-06-06 Shelf management method and system, pickup area, and stock pickup system
MX2020013234A MX2020013234A (es) 2018-06-06 2019-06-06 Metodo y sistema de gestion de estante, area de recoleccion y sistema de recoleccion de inventario.
KR1020217000360A KR102581222B1 (ko) 2018-06-06 2019-06-06 선반 관리 방법과 시스템, 피킹 영역 및 재고 피킹 시스템
EP19814838.9A EP3805131B1 (en) 2018-06-06 2019-06-06 Shelf management method and system, pickup area, and stock pickup system
EP23207305.6A EP4292881A3 (en) 2018-06-06 2019-06-06 Shelf management method and system, pickup area, and stock pickup system
JP2020568239A JP6957772B2 (ja) 2018-06-06 2019-06-06 棚の管理方法およびシステム、ピッキングエリアと在庫ピッキングシステム
US16/972,003 US20210323800A1 (en) 2018-06-06 2019-06-06 Shelf management method and system, pickup area and stock pickup system
CA3102308A CA3102308C (en) 2018-06-06 2019-06-06 Shelf management method and system, pickup area and stock pickup system

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN201810577628.6A CN108945920A (zh) 2018-06-06 2018-06-06 货架的排队和旋转方法、装置及系统
CN201810577628.6 2018-06-06
CN201910354343.0 2019-04-29
CN201910354343.0A CN109928131B (zh) 2019-04-29 2019-04-29 一种拣选区及库存拣选系统

Publications (1)

Publication Number Publication Date
WO2019233484A1 true WO2019233484A1 (zh) 2019-12-12

Family

ID=68770799

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/090424 WO2019233484A1 (zh) 2018-06-06 2019-06-06 货架的管理方法及系统、拣选区及库存拣选系统

Country Status (8)

Country Link
US (1) US20210323800A1 (zh)
EP (2) EP3805131B1 (zh)
JP (2) JP6957772B2 (zh)
KR (1) KR102581222B1 (zh)
AU (1) AU2019281676B9 (zh)
CA (1) CA3102308C (zh)
MX (1) MX2020013234A (zh)
WO (1) WO2019233484A1 (zh)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113581713A (zh) * 2020-10-10 2021-11-02 深圳市海柔创新科技有限公司 仓储系统、货物搬运方法、控制终端、机器人及存储介质
US11345026B2 (en) * 2018-07-06 2022-05-31 Fanuc Corporation Robot program generation apparatus
JP2023518447A (ja) * 2020-03-31 2023-05-01 北京京邦▲達▼▲貿▼易有限公司 注文の生産スケジューリング方法、システム、装置及び電子機器
EP4160347A4 (en) * 2020-05-29 2024-05-15 Beijing Geekplus Technology Co., Ltd. INVENTORY MANAGEMENT METHOD AND SYSTEM

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220227580A1 (en) * 2021-01-15 2022-07-21 Thanh Dang Nguyen Automated package delivery devices, machines, and systems
JP2023046495A (ja) * 2021-09-24 2023-04-05 株式会社東芝 棚処理システム、棚搬送制御システム、及び棚搬送制御方法
CN114275430B (zh) * 2021-11-23 2024-07-02 杭州拼便宜网络科技有限公司 仓储任务处理方法、装置、设备及存储介质
CN114565266A (zh) * 2022-02-24 2022-05-31 江苏国范智能科技有限公司 一种服装按订单配比系统及方法
WO2023182369A1 (ja) * 2022-03-23 2023-09-28 株式会社 東芝 指示装置、ハンドリングシステム、ハンドリング方法、プログラム、及び記憶媒体
IL293899A (en) * 2022-06-13 2024-01-01 Caja Elastic Dynamic Solutions Ltd Task management system and method for this
CN115367364A (zh) * 2022-09-29 2022-11-22 上海木蚁机器人科技有限公司 仓储管理系统
CN117079371B (zh) * 2023-10-13 2024-04-05 成都越凡创新科技有限公司 一种门禁控制权的调度方法及系统
KR102687351B1 (ko) * 2023-12-14 2024-07-23 주식회사 트위니 복수의 주문을 동시에 관리하는 과정에서 피킹 존에 대하여 로봇을 할당하는 서버 및 시스템

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0407703A1 (de) * 1989-07-12 1991-01-16 KEURO Besitz GmbH & Co. EDV-Dienstleistungs KG Verfahren und Vorrichtung zur Aus- und Einlagerung von stangen- oder plattenförmiges Material enthaltenden Kassetten bei einem Regallager
CN104364121A (zh) * 2012-05-14 2015-02-18 亚马逊科技公司 用于操纵移动驱动单元的系统和方法
CN105404250A (zh) * 2014-09-08 2016-03-16 株式会社日立制作所 进出货辅助系统、无人搬运车及进出货辅助方法
CN106843238A (zh) * 2017-04-10 2017-06-13 锥能机器人（上海）有限公司 一种仓库自动化分拣系统及方法
CN107235276A (zh) * 2017-06-05 2017-10-10 北京京东尚科信息技术有限公司 货物搬运方法和装置
CN108100548A (zh) * 2017-11-10 2018-06-01 北京科捷物流有限公司 一种仓储机器人自动分拣方法及分拣系统
CN108945920A (zh) * 2018-06-06 2018-12-07 北京极智嘉科技有限公司 货架的排队和旋转方法、装置及系统

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6171723A (ja) * 1984-09-14 1986-04-12 Nec Corp Ｄ／ａ変換器測定方式
JP5377961B2 (ja) * 2005-07-19 2013-12-25 アマゾン・テクノロジーズ・インコーポレーテッド 目録品目を取り出すための方法およびシステム
US8483869B2 (en) * 2005-07-19 2013-07-09 Amazon Technologies, Inc. Method and system for fulfilling requests in an inventory system
US8220710B2 (en) * 2006-06-19 2012-07-17 Kiva Systems, Inc. System and method for positioning a mobile drive unit
WO2012032866A1 (ja) 2010-09-09 2012-03-15 村田機械株式会社 ピッキングシステムとピッキング方法
JP6117368B2 (ja) * 2013-10-11 2017-04-19 株式会社日立製作所 搬送車制御装置及び搬送車制御方法
US9111251B1 (en) * 2014-03-31 2015-08-18 Amazon Technologies, Inc. Shuffling inventory holders
US9378482B1 (en) * 2015-03-13 2016-06-28 Amazon Technologies, Inc. Exchange of containers
JP6739299B2 (ja) * 2016-09-13 2020-08-12 株式会社日立製作所 搬送システム及び搬送方法

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0407703A1 (de) * 1989-07-12 1991-01-16 KEURO Besitz GmbH & Co. EDV-Dienstleistungs KG Verfahren und Vorrichtung zur Aus- und Einlagerung von stangen- oder plattenförmiges Material enthaltenden Kassetten bei einem Regallager
CN104364121A (zh) * 2012-05-14 2015-02-18 亚马逊科技公司 用于操纵移动驱动单元的系统和方法
CN105404250A (zh) * 2014-09-08 2016-03-16 株式会社日立制作所 进出货辅助系统、无人搬运车及进出货辅助方法
CN106843238A (zh) * 2017-04-10 2017-06-13 锥能机器人（上海）有限公司 一种仓库自动化分拣系统及方法
CN107235276A (zh) * 2017-06-05 2017-10-10 北京京东尚科信息技术有限公司 货物搬运方法和装置
CN108100548A (zh) * 2017-11-10 2018-06-01 北京科捷物流有限公司 一种仓储机器人自动分拣方法及分拣系统
CN108945920A (zh) * 2018-06-06 2018-12-07 北京极智嘉科技有限公司 货架的排队和旋转方法、装置及系统

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11345026B2 (en) * 2018-07-06 2022-05-31 Fanuc Corporation Robot program generation apparatus
JP2023518447A (ja) * 2020-03-31 2023-05-01 北京京邦▲達▼▲貿▼易有限公司 注文の生産スケジューリング方法、システム、装置及び電子機器
EP4160347A4 (en) * 2020-05-29 2024-05-15 Beijing Geekplus Technology Co., Ltd. INVENTORY MANAGEMENT METHOD AND SYSTEM
CN113581713A (zh) * 2020-10-10 2021-11-02 深圳市海柔创新科技有限公司 仓储系统、货物搬运方法、控制终端、机器人及存储介质
US11498766B2 (en) 2020-10-10 2022-11-15 Hai Robotics Co., Ltd. Warehousing system, material transporting method, control terminal, robot, and storage medium
US11971711B2 (en) 2020-10-10 2024-04-30 Hai Robotics Co., Ltd. Warehousing system

Also Published As

Publication number Publication date
EP4292881A3 (en) 2024-02-28
CA3102308A1 (en) 2019-12-12
MX2020013234A (es) 2021-02-22
CA3102308C (en) 2023-08-01
EP3805131B1 (en) 2023-12-13
EP3805131A1 (en) 2021-04-14
KR102581222B1 (ko) 2023-09-21
EP4292881A2 (en) 2023-12-20
AU2019281676A1 (en) 2021-01-07
US20210323800A1 (en) 2021-10-21
JP2021520329A (ja) 2021-08-19
JP7084538B2 (ja) 2022-06-14
AU2019281676B2 (en) 2022-10-06
EP3805131A4 (en) 2022-06-29
JP6957772B2 (ja) 2021-11-02
KR20210016464A (ko) 2021-02-15
JP2022002999A (ja) 2022-01-11
AU2019281676B9 (en) 2023-02-02

Similar Documents

Publication Publication Date Title
WO2019233484A1 (zh) 货架的管理方法及系统、拣选区及库存拣选系统
JP6829779B2 (ja) 倉庫管理システムおよび方法
CN110348749B (zh) 货架的排队方法及系统
CN109279252B (zh) 货物拣选系统和方法
CN109118137B (zh) 一种订单处理方法、装置、服务器及存储介质
US9051120B2 (en) Control system for storage and retrieval systems
JP7018547B2 (ja) 物品の準備と仕分けとを一体に統合する在庫管理システムおよび方法
CN109928131B (zh) 一种拣选区及库存拣选系统
CN109911503A (zh) 集备货和拣选为一体的库存区域、库存管理系统及方法
CN109823758B (zh) 物料搬运方法、装置、系统、服务器及存储介质
TWI829045B (zh) 倉儲機器人、其控制方法、其控制裝置、調度伺服器及儲存媒體
CN111907999A (zh) 一种阁楼式仓储系统及仓储处理方法
CN115735215A (zh) 多位置搜索
CN215709084U (zh) 仓储系统
CN111382969B (zh) 订单处理方法、装置、设备及存储介质
CN112978166B (zh) 一种智能立体仓库及其入库控制方法、装置及系统
CN110712907A (zh) 可用于agv的控制方法以及智能仓储系统
JP2003285906A (ja) 搬送システム
TWI843186B (zh) 貨架、倉儲系統、轉運機器人及系統、倉儲排程方法及裝置、計算設備、電腦可讀儲存媒體、電腦程式產品
KR20240125644A (ko) 창고 저장 시스템 및 그 제어 방법

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19814838

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 3102308

Country of ref document: CA

ENP Entry into the national phase

Ref document number: 2020568239

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 20217000360

Country of ref document: KR

Kind code of ref document: A

ENP Entry into the national phase

Ref document number: 2019281676

Country of ref document: AU

Date of ref document: 20190606

Kind code of ref document: A

ENP Entry into the national phase

Ref document number: 2019814838

Country of ref document: EP

Effective date: 20210111