WO2020253326A1 - 一种物品拣选系统 - Google Patents

一种物品拣选系统 Download PDF

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Publication number
WO2020253326A1
WO2020253326A1 PCT/CN2020/083070 CN2020083070W WO2020253326A1 WO 2020253326 A1 WO2020253326 A1 WO 2020253326A1 CN 2020083070 W CN2020083070 W CN 2020083070W WO 2020253326 A1 WO2020253326 A1 WO 2020253326A1
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WO
WIPO (PCT)
Prior art keywords
storage
storage container
obstacle
area
rows
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Application number
PCT/CN2020/083070
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English (en)
French (fr)
Inventor
刘凯
王梦迪
Original Assignee
北京极智嘉科技有限公司
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Publication of WO2020253326A1 publication Critical patent/WO2020253326A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • 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

Definitions

  • This application relates to the technical field of logistics and warehousing, and in particular to an item picking system.
  • This picking method is to move the handling device to the target storage container according to the order, and then move the target storage container to the workstation, which is equipped with a display Screens and other display devices, the picking workers at the workstations remove the target goods from the target storage container according to the prompt information on the display screen and put them in the designated container to complete the picking task. After the picking task is completed, the handling device returns the target storage container to the original position.
  • the existing item picking system generally includes a storage area, and the storage area includes a plurality of storage container groups and a first obstacle.
  • the existing first obstacle is generally directly arranged inside the storage container group and occupies one or more storage container positions for placing the storage container.
  • Plummet for warehouses under steel platforms with a large number of columns, small diameters and densely arranged steel platforms, such setting of the first obstacle will occupy too many storage container positions, which will result in the storage container positions of the storage containers that can be placed in the storage area. Plummet.
  • the purpose of this application is to provide an item picking system which has a reasonable layout and a large number of storage containers for placing storage containers.
  • An item picking system includes a storage area and a working area.
  • a plurality of storage container groups arranged in rows and columns are arranged in the storage area.
  • the storage container group includes at least two rows of storage containers.
  • At least one first obstacle is arranged between the storage containers.
  • a plurality of the first obstacles are arranged between the storage containers in two adjacent rows.
  • a plurality of the first obstacles are arranged in a row between two adjacent rows of the storage containers.
  • the first obstacle abuts the storage container.
  • it further includes a second obstacle; the second obstacle is located inside the storage container group and occupies a storage container position in the storage container group; and/or
  • the second obstacle is located at the edge of the storage area.
  • At least a plurality of the storage containers arranged in a row or a row are arranged at the edge of the storage area.
  • a plurality of the storage containers located at the edge of the storage area are arranged continuously.
  • the item picking system further includes:
  • At least two charging piles, and the at least two charging piles are arranged around the second obstacle.
  • two charging posts are provided at the second obstacle, and the charging directions of the two charging posts are opposite to each other.
  • the charging direction of the charging pile is arranged facing the second obstacle.
  • the present application also provides an item picking system, which includes a storage area and a work area.
  • a plurality of storage container groups arranged in rows are arranged in the storage area.
  • the storage container group includes at least two columns of storage containers and further includes a Two obstacles; the second obstacle is located inside the storage container group and occupies the storage container position in the storage container group; and/or the second obstacle is located at the edge of the storage area;
  • It also includes at least two charging posts arranged around the at least one second obstacle.
  • two charging posts are provided at the second obstacle, and the charging directions of the two charging posts are opposite to each other.
  • the charging direction of each charging post is arranged facing the second obstacle.
  • the present application provides an item picking system.
  • the item picking system includes a storage area and a working area.
  • the storage area is provided with a first obstacle and a plurality of storage container groups arranged in rows, and the storage container group includes at least two storage columns. container.
  • FIG. 1 is a schematic top view of a partial structure of an item picking system provided by Embodiment 1 of the present application;
  • FIG. 2 is a schematic top view of the item picking system provided by the second embodiment of the present application.
  • FIG. 3 is a schematic diagram of a storage container group provided by Embodiment 2 of the present application.
  • FIG. 4 is another schematic diagram of the storage container group provided in the second embodiment of the present application.
  • Fig. 5 is a schematic top view of the item picking system provided by the third embodiment of the present application.
  • connection should be interpreted broadly unless otherwise clearly specified and limited.
  • connection can be a fixed connection or a detachable connection.
  • Connection can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the internal communication between two components.
  • connection can be a fixed connection or a detachable connection.
  • connection can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the internal communication between two components.
  • the obstacles involved in the embodiments of the present application will be explained.
  • the obstacles are divided into a first obstacle and a second obstacle.
  • it is divided according to the ratio of the area occupied by the obstacle to the area occupied by the storage container.
  • the ratio between the area occupied by the obstacle and the area occupied by the storage container is less than the set value is classified as the first obstacle, and the area occupied by the obstacle is compared to the storage container.
  • the proportion of occupied area greater than or equal to the set value is classified as the second obstacle.
  • the set value can be set according to needs, such as referring to the area in the warehouse and the area occupied by the storage container to determine the set value.
  • the setting value may be between 1/4 and 1/2. Taking the set value as 1/4 as an example, when the ratio of the area occupied by the obstacle to the area occupied by the storage container is less than 1/4, the obstacle is the first obstacle, and the ratio of the area occupied by the obstacle to the area occupied by the storage container When it is greater than or equal to 1/4, the obstacle is the second obstacle.
  • the item picking system includes a storage area 100 and a work area 200.
  • a plurality of storage container groups 10 are provided in the storage area 100, and the plurality of storage container groups 10 are regularly arranged in the storage area 100, for example, may be arranged in rows and columns (ie, arranged in a rectangular array).
  • Each storage container group 10 includes a plurality of storage containers 1, and the plurality of storage containers 1 are also arranged in rows and columns. In this embodiment, at least part of the storage container group 10 includes at least two rows of storage containers 1.
  • a horizontal channel 2 is formed between two adjacent rows of storage container groups 10 to allow the storage container 1 and the conveying device to move laterally, and two adjacent rows of storage container groups 10 are formed to allow the storage container 1 and the conveying device to move vertically.
  • the longitudinal channel 3 and the lateral channel 2 are arranged vertically, and the lateral channel 2 and the longitudinal channel 3 intersect to form a crossroad.
  • a plurality of workstations 20 are provided in the working area 200. In this embodiment, the plurality of workstations 20 are arranged in a direction parallel to the transverse channel 2, and the specific number of the workstations 20 is set according to requirements, which is not specifically limited here.
  • the control server When the transport device transports the storage container 1, the control server first needs to receive the order, according to the order information, a storage container 1 is determined as the target storage container, and a workstation 20 is determined as the target workstation; then the transport device receives the transport instruction from the control server, and Move to the target storage container according to the planned first path, and extract the target storage container; the handling device carrying the target storage container moves to the target workstation in the work area 200 according to the planned second path, and the picking workers follow the control server The received order picks the goods on the target storage container. After the picking workers have finished picking, the handling device transfers the target storage container 1 to its original location according to the planned third path, thereby completing a picking operation.
  • the first path, the second path and the third path are polygonal paths formed by the combination of the horizontal channel 2 and the longitudinal channel 3. The three paths may or may not overlap. The specific selection of each path is determined by the congestion of the path.
  • the first obstacle 30 inevitably exists in the storage area 100.
  • the first obstacles 30 in order to maximize the storage quantity of the storage containers 1, the first obstacles 30 with a slender shape and a small footprint are arranged in the storage container group 10 adjacent to each other.
  • the first obstacle 30 may be an obstacle such as a support column or a pillar guardrail.
  • the first obstacle 30 is arranged between the two rows of storage containers 1 to reduce the number of first obstacles. The space occupied by an obstacle 30 improves the capacity of the storage area 100 to accommodate the storage container 1.
  • first obstacles 30 When the number of first obstacles 30 with a slender shape and a small footprint is large, as shown in FIG. 1, m (m is greater than or equal to 2) first obstacles 30 are simultaneously arranged on two of the storage container group 10 Column storage containers 1 help to further reduce the space occupied by the first obstacle 30 and improve the capacity of the storage area 100 to accommodate the storage containers 1. That is to say, compared with the m first obstacles 30 in the prior art, the occupied area is at least m storage container positions. In this embodiment, the m first obstacles 30 are arranged in two rows for storage. Between the containers 1, only the space between the two rows of storage containers 1 is occupied, which is beneficial to further reduce the space occupied by the first obstacle 30 and improve the capacity of the storage area 100 to accommodate the storage container 1.
  • the m first obstacles 30 located between the two rows of storage containers 1 are arranged in rows to reduce the area of the space required for accommodating the m first obstacles 30 between the two rows of storage containers 1 . Further, the first obstacle 30 is abutted against the storage container 1. Optionally, the first obstacle 30 is abutted against the two rows of storage containers 1 at the same time, so as to further reduce the space between the two rows of storage containers 1. The area of the space required for m first obstacles 30.
  • first obstacles 30 when the m first obstacles 30 are not arranged regularly, when the storage container 1 is set up, as many first obstacles 30 as possible are arranged between the two rows of storage containers 1. Avoid the first obstacle 30 occupying the position of the storage container 1. If there is still the first obstacle 30 that needs to occupy the position of the storage container 1, the number of the first obstacles 30 occupying the location of the storage container 1 should be minimized. .
  • the arrangement of the first obstacle 30 and the storage container 1 in the embodiment of the present application can also adopt other implementable solutions, and the solutions that only need to reduce the first obstacle 30 occupying the position of the storage container 1 can be applied. In the embodiment of this application.
  • storage containers 1 may be provided at the edge of the storage area 100.
  • the storage containers 1 located at the edge of the storage area 100 are arranged in rows and columns. In some embodiments, as shown in FIG. 1, the storage containers 1 located at the edge of the storage area 100 are sequentially arranged in a column or row. Of course, the storage containers 1 located at the edge of the storage area 100 can also be arranged in multiple columns or rows according to requirements.
  • no gap is provided between adjacent storage containers 1 at the edge of the storage area 100, and the storage containers 1 are arranged continuously to further increase the storage quantity of the storage containers 1 at the edge of the storage area 100.
  • this embodiment provides an item picking system.
  • the item picking system also includes a storage area 100 and a work area 200.
  • the difference from the first embodiment is that in this embodiment, there are a large number of obstacles and different thicknesses.
  • the first obstacle can be a relatively small obstacle such as a support column or a pillar guardrail, while the second obstacle 31 can be relatively large obstacles such as elevators, doors, windows, and fire hydrants.
  • the first obstacle is not shown in FIG. 2, and the first obstacle shown in FIG. 1 can be referred to.
  • the first obstacle 30 with a slender shape and less space is placed between two adjacent rows of storage containers 1, and the second obstacle 31 with more space is placed It is arranged inside the storage container group 10 and occupies one or more storage container positions.
  • the item picking system reasonably arranges the storage containers 1 according to the specific conditions of the second obstacle 31, which is beneficial to improve the capacity of the storage area 100 to accommodate the storage containers 1.
  • the item picking system further includes a charging pile 40 for charging the handling device. Due to the large size of the charging pile 40, in this embodiment, as shown in FIG. 2, the charging pile 40 is arranged inside the storage container group 10 and beside the second obstacle 31, so that the charging pile 40 occupies one or Multiple storage container positions. Compared with the space occupied by placing the charging pile 40 outside the storage container group 10, placing the charging pile 40 inside the storage container group 10 is beneficial to reduce the impact on the storage area 100's ability to accommodate the storage container 1.
  • the number of charging piles 40 is one, two or more. When the charging piles 40 are not less than two, the charging piles 40 are arranged around the second obstacle 31.
  • the charging directions of the two adjacent charging piles 40 may be set oppositely, or both may be set facing the second obstacle 31. As shown in FIG. 3, in this embodiment, the charging direction of the charging pile 40 is selected to face the second obstacle 31, so as to free a storage container position between two adjacent charging piles 40. Optionally, the charging pile 40 is arranged next to the second obstacle 31 with a higher moving density of the conveying device to ensure the shortest charging path.
  • a single charging pile 40 when two charging piles 40 are provided in one storage container group 10, and a single charging pile 40 needs to occupy more than one but less than one and a half storage container positions, that is, a single
  • two charging piles 40 can be optionally arranged on both sides adjacent to the second obstacle 31, and The parts of the two charging posts 40 protruding from one storage container position share the other free storage container position.
  • the two charging piles 40 occupy three storage container positions in total. Compared with each charging pile 40 occupies two storage container positions, this arrangement can save one storage container position and increase the storage capacity of one storage container 1.
  • the number of charging piles 40 is three or more, storage container positions can also be saved by sharing storage container positions to increase the storage capacity of the storage container 1.
  • the location of the storage container 1 should be reasonably planned so that the first obstacle can be located between the two rows of storage containers 1 as much as possible, and the second obstacle 31 can occupy the storage container 1. s position.
  • the storage container 1 is set up, as many first obstacles as possible are arranged between the two rows of storage containers 1 to prevent the first obstacle from occupying the position of the storage container 1.
  • the first obstacle needs to occupy the position of the storage container 1, the number of first obstacles occupying the position of the storage container 1 should be minimized.
  • the arrangement of the first obstacle, the second obstacle 31 and the storage container 1 in the embodiment of the present application can also adopt other implementable solutions, and only needs to reduce the occupation of the storage container 1 by the first obstacle. All the solutions can be applied in the embodiments of the present application.
  • this embodiment proposes an item picking system.
  • the item picking system also includes a storage area 100 and a work area 200.
  • the difference between this embodiment and the second embodiment is mainly that the number of columns of storage containers 1 in the storage container group 10 is different.
  • the number of columns of the row of storage container group 10 from left to right is one column, three columns, three columns, and two columns. , Two rows, two rows, two rows, three rows, two rows, two rows, two rows, two rows, three rows, two rows, four rows, two rows, two rows, one row.
  • FIG. 1 the number of columns of storage containers 1 in the storage container group 10 is different.
  • the number of columns of the row of storage container group 10 from left to right is one column, three columns, three columns, and two columns.
  • the row of storage container group 10 closest to the working area 200 is also taken as an example.
  • the number of columns of the row of storage container group 10 is one column, two columns, and two columns from left to right. Column, two columns, one column, two columns, one column, two columns, two columns, two columns, one column, two columns, two columns, two columns, two columns, two columns, two columns, one column, one column, two columns, one column.
  • the second obstacle 31 can be arranged inside the empty space of the storage container group 10 or between two columns of storage containers 1 according to the position of the second obstacle 31.
  • this embodiment also provides an item picking system.
  • the density of the lateral channel 2 close to the working area 200 is set to be greater than the density of the lateral channel 2 far from the working area 200, thereby increasing
  • the number of crossroads close to the working area 200 is such that when a certain area of the storage area 100 is congested, the handling device can flexibly change the moving path, so as to reach the working area 200 quickly.
  • the density of the optional transverse channels 2 gradually increases along the direction of the longitudinal channels 3 approaching the working area 200.
  • the density of the lateral channel 2 can be changed by planning the placement of the storage container group 10, setting the number of storage containers 1 in the storage container group 10 close to the work area 200 to be less than that in the storage container group 10 far away from the work area 200
  • the item picking system is provided with six rows of storage container groups 10. Taking the work area 200 as a reference, each row of storage container group 10 includes six rows of storage containers 1 and five rows of storage containers from far to near.
  • each row of storage container groups 10 from far to near includes There are six rows of storage containers 1, five rows of storage containers 1, four rows of storage containers 1, three rows of storage containers 1, two rows of storage containers 1, and one row of storage containers 1; or six rows of storage containers 1, six rows of storage containers 1, and five rows of storage Container 1, five-row storage container 1, four-row storage container 1, four-row storage container 1, and so on.
  • the number of rows of the storage container group 10 is not limited to six rows, and can be flexibly set according to the area of the storage area 100.
  • the number of columns of storage containers 1 in each storage container group 10 is not limited, and the number of columns of storage containers 1 in each storage container group 10 may be the same or different.
  • the width of the lateral channel 2 closer to the working area 200 is also possible to set the width of the lateral channel 2 closer to the working area 200 to be larger than that of the lateral channel 2 farther from the working area 200.
  • the width of the lateral channel 2 in the storage area 100 close to the working area 200 is greater than the area duty ratio of the lateral channel 2 in the storage area 100 far from the working area 200, so as to increase the density of the lateral channel 2 purpose.
  • the width change of the lateral channel 2 may be gradual or non-gradual.
  • the storage area 100 can be divided into multiple parts, and each part includes multiple lateral channels 2 of equal width. According to the direction of the storage area 100 close to the working area 200, the storage area 100 can be divided into multiple parts.
  • the width of the transverse channel 2 increases in turn.
  • the storage area 100 is divided into three parts: the first area, the second area, and the third area.
  • the first area is closest to the working area 200, and the width of the horizontal channel 2 in the first area is set to be the same, and the widths are all set
  • the second area is located between the first area and the third area.
  • the widths of the lateral channels 2 in the second area are set to be the same, and the widths are all set to n2; the third area is farthest from the working area 200, and the third area
  • the widths of the lateral channels 2 in the area are set to be uniform, and the widths are all set to n3, where n1>n2>n3.
  • the number of the multiple parts divided in the storage area 100 is not specifically limited, for example, it may be two parts, four parts or more.
  • each transverse passage 2 can accommodate multiple conveying devices to move laterally at the same time, which provides more choices for the moving paths of the conveying devices.
  • a buffer channel 4 is provided at the position closest to the work area 200, and no storage container 1 is provided in the buffer channel 4.
  • the buffer channel 4 is parallel to the lateral channel 2, and the width of the buffer channel 4 is greater than the width of any lateral channel 2, so that a larger width area is formed between the storage area 100 and the working area 200, and the transport device can be stored by the buffer channel 4
  • the area 100 enters the work area 200.
  • the control server that controls the handling device can determine the congestion on the buffer passage 4 so as to plan an entrance for the handling device that will enter the buffer passage 4 so that the handling device can enter and exit the work area 200 quickly.
  • each workstation 20 is provided with a picking channel 5 that allows the conveying device to enter and exit.
  • the picking channel 5 and the longitudinal channel 3 are arranged directly opposite, that is, the picking channel 5 It is arranged on the same straight line as the longitudinal channel 3.
  • the storage container group 10 is adjusted by adjusting the number of columns. The number of columns of the container 1 is such that the number of columns of the storage container 1 in the storage container group 10 of different columns is different, so as to achieve the purpose of making the longitudinal channel 3 and the picking channel 5 collinear.
  • each column of storage container group 10 includes three columns of storage containers 1, three columns of storage containers 1, two columns of storage containers 1, and two columns of storage containers. 1.
  • the arrangement is such that the longitudinal channel 3 and the picking channel 5 between the two rows of storage container groups 10 are collinear.
  • the arrangement of different combinations of column numbers can also be selected.
  • the storage container 1 and the working area 200 that are frequently transported The distance is set to be smaller than the distance between the storage container 1 and the working area 200 which are carried with low frequency.
  • the storage container 1 with a high frequency of transportation is arranged close to the work area 200, and the storage container 1 with a low frequency of transportation is arranged at a place away from the work area 200.

Abstract

本申请公开了一种物品拣选系统，属于物流仓储技术领域。本申请所提供的物品拣选系统包括存储区域和工作区域，存储区域内设置有第一障碍物和呈行列排布的多个存储容器组，存储容器组包括至少两列存储容器。该物品拣选系统通过将第一障碍物设置在存储容器组的相邻两列存储容器之间，使整个系统的布局更加合理，减少了第一障碍物占用的空间，提高了库容容器区域所能存储的存储容器的数量。

Description

一种物品拣选系统
本申请要求在2019年6月18日提交中国专利局、申请号为201910527756.4、申请名称为“一种物品拣选系统”的中国专利的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及物流仓储技术领域，尤其涉及一种物品拣选系统。
背景技术
随着电子商务的快速发展，电子商务已在消费者生活中扮演着越来越重要的角色。如何快速有效地处理倍增的用户订单是每个电子商务服务公司都面临的一个巨大挑战。并且，随着电子商务越来越成熟，用户对电子商务服务质量提出了更高的要求。
物流仓储是电子商务中至关重要的环节，而针对用户订单的拣选作业又是物流仓储的重要环节。拣选作业的效率直接决定订单的完成效率，现在一般采用货到人的拣选方式，该种拣选方式是搬运装置按照订单移动至目标存储容器处，然后将目标存储容器搬运至工作站，工作站配有显示屏等显示装置，位于工作站的拣选工人根据显示屏的提示信息将目标货物从目标存储容器取下，并放至指定容器内从而完成拣选任务。拣选任务完成后，搬运装置将目标存储容器送回至原位置。
现有的物品拣选系统一般包括存储区域，存储区域包括多个存储容器组和第一障碍物。现有的第一障碍物一般直接设置在存储容器组内部，并占用一个或者多个用于放置存储容器的存储容器位。但是针对柱子数量多、直径小且排布密集的钢平台下仓库来说，如此设置第一障碍物会占据太多个存储容器位，从而导致存储区域内能够放置的存储容器的存储容器位的锐减。
发明内容
本申请的目的在于提供一种物品拣选系统，该物品拣选系统布局合理，用于放置存储容器的存储容器位多。
为达此目的，本申请采用以下技术方案：
一种物品拣选系统，包括存储区域和工作区域，所述存储区域内设置有呈行列排布的多个存储容器组，所述存储容器组包括至少两列存储容器，部分相邻两列所述存储容器之间设置有至少一个第一障碍物。
在一些实施例中，相邻两列所述存储容器之间设置有多个所述第一障碍物。
在一些实施例中，多个所述第一障碍物在相邻两列所述存储容器之间成列设置。
在一些实施例中，所述第一障碍物与所述存储容器抵接。
在一些实施例中，还包括第二障碍物；所述第二障碍物位于所述存储容 器组内部，并占用所述存储容器组内的存储容器位；和/或
所述第二障碍物位于所述存储区域的边缘处。
在一些实施例中，所述存储区域的边缘处至少设置有呈一行或呈一列排布的多个所述存储容器。
在一些实施例中，位于所述存储区域边缘处的多个所述存储容器连续排布。
在一些实施例中，所述物品拣选系统还包括：
至少两个充电桩，所述至少两个充电桩环绕所述第二障碍物设置。
在一些实施例中，所述第二障碍物处设置有两个所述充电桩，两个所述充电桩的充电方向相对设置。
在一些实施例中，所述充电桩的充电方向面向所述第二障碍物设置。
本申请还提供了一种物品拣选系统，包括存储区域和工作区域，所述存储区域内设置呈行列排布的多个存储容器组，所述存储容器组包括至少两列存储容器，还包括第二障碍物；所述第二障碍物位于所述存储容器组内部，并占用所述存储容器组内的存储容器位；和/或所述第二障碍物位于所述存储区域的边缘处；
还包括环绕所述至少一个第二障碍物设置的至少两个充电桩。
在一些实施例中，所述第二障碍物处设置有两个所述充电桩，两个所述充电桩的充电方向相对设置。
在一些实施例中，每个充电桩的充电方向面向所述第二障碍物设置。
本申请的有益效果：
本申请提供了一种物品拣选系统，该物品拣选系统包括存储区域和工作区域，存储区域内设置有第一障碍物和呈行列排布的多个存储容器组，存储容器组包括至少两列存储容器。通过将第一障碍物设置在存储容器组的相邻两列存储容器之间，使整个系统的布局更加合理，减少了第一障碍物占用的空间，提高了库容容器区域所能存储的存储容器的数量。
附图说明
图1是本申请实施例一所提供的物品拣选系统部分结构的俯视示意图；
图2是本申请实施例二所提供的物品拣选系统的俯视示意图；
图3是本申请实施例二所提供的存储容器组的一种示意图；
图4是本申请实施例二所提供的存储容器组的另一种示意图；
图5是本申请实施例三所提供的物品拣选系统的俯视示意图。
图中：
1、存储容器；2、横向通道；3、纵向通道；4、缓冲通道；5、拣选通道；
10、存储容器组；20、工作站；30、第一障碍物；31、第二障碍物；40、充电桩；
100、存储区域；200、工作区域。
具体实施方式
下面将结合附图对本申请的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
在本申请的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，术语“第一”、“第二”、仅用于描述目的，而不能理解为指示或暗示相对重要性。其中，术语“第一位置”和“第二位置”为两个不同的位置。
在本申请的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本申请中的具体含义。
为方便理解，首先说明一下本申请实施例涉及的障碍物，在本申请中将障碍物划分为第一障碍物以及第二障碍物。示例性的，如按照障碍物占用面积与存储容器占用面积的比例进行划分。将障碍物占用面积与存储容器占用面积的比例与设定值进行比对，障碍物占用面积与存储容器占用面积的比例小于设定值的划分为第一障碍物，障碍物占用面积与存储容器占用面积的比例大于或等于设定值的划分为第二障碍物。其中，设定值可以根据需要进行设定，如参考仓库内面积以及存储容器占用的面积来确定设定值。示例性的，设定值可以介于1/4～1/2之间。以设定值为1/4为例，在障碍物占用面积与存储容器占用面积的比例小于1/4时，该障碍物为第一障碍物，在障碍物占用面积与存储容器占用面积的比例大于或等于1/4时，该障碍物为第二障碍物。
实施例一
本实施例提供了一种物品拣选系统，如图1所示，该物品拣选系统包括存储区域100和工作区域200。其中，存储区域100内设置有多个存储容器组10，多个存储容器组10在存储区域100内规律排布，例如可以行列排布(即矩形阵列排布)。每一存储容器组10均包括多个存储容器1，多个存储容器1同样呈行列排布，在本实施例中，至少部分存储容器组10包括至少两列存储容器1。在存储区域100内，相邻两行存储容器组10之间形成允许存储容器1和搬运装置横向移动的横向通道2，相邻两列存储容器组10之间形成允许存储容器1和搬运装置纵向移动的纵向通道3。可选地，纵向通道3和横向通道2垂直设置，横向通道2和纵向通道3相交形成十字路口。工作区域200内设置有多个工作站20，在本实施例中，多个工作站20沿与横向通道2平行的方向排列，工作站20的具体数量根据需求设定，在此不做具体限制。
在搬运装置搬运存储容器1时，首先需要控制服务器接收订单，根据订 单信息确定一存储容器1为目标存储容器，并确定一工作站20为目标工作站；然后搬运装置接收来自控制服务器的搬运指令，并按照规划好的第一路径移动至目标存储容器处，提取该目标存储容器；携带有目标存储容器的搬运装置按照规划好的第二路径移动至工作区域200的目标工作站处，拣选工人按照控制服务器接收的订单对目标存储容器上的货物进行拣选。待拣选工人拣选完毕后，搬运装置按照规划好的第三路径将目标存储容器1转移至其原来所在的位置，从而完成一次拣选作业。第一路径、第二路径和第三路径是由横向通道2和纵向通道3组合形成的折线形路径，三条路径可以重合，也可以不重合，具体选择每条路径由路径的拥堵情况决定。
由于存储区域100内不可避免的存在第一障碍物30。在第一障碍物30较多的存储区域100内，为了实现存储容器1储存数量的最大化，将外形细长，占用空间较小的第一障碍物30设置在存储容器组10内相邻两列存储容器1之间，示例性的，第一障碍物30可以为支撑柱或柱子护栏等障碍物。相较于现有技术中将第一障碍物30设置在存储容器组10内部并占用一个或者多个存储容器位，将第一障碍物30设置在两列存储容器1之间，有利于减少第一障碍物30占用的空间，提高存储区域100内容纳存储容器1的能力。
当外形细长，占用空间较小的第一障碍物30的数量较多时，如图1所示，将m(m大于等于2)个第一障碍物30同时设置在一个存储容器组10的两列存储容器1之间，有利于进一步减少第一障碍物30占用的空间，提高存储区域100内容纳存储容器1的能力。也就是说，相较于现有技术中m个第一障碍物30需要占用面积为至少m个存储容器位，在本实施例中，将m个第一障碍物30成列设置在两列存储容器1之间，仅占用两列存储容器1之间的空间，有利于进一步降低第一障碍物30占用的空间，提高存储区域100内容纳存储容器1的能力。
可选地，位于两列存储容器1之间的m个第一障碍物30呈列排布，以减小两列存储容器1之间用于容纳m个第一障碍物30所需空间的面积。进一步地，将第一障碍物30与存储容器1抵接，可选地，将第一障碍物30同时与两列存储容器1抵接，以进一步减小两列存储容器1之间用于容纳m个第一障碍物30所需空间的面积。
在一个可选的实施例方案中，在m个第一障碍物30不是规则排列时，在设置存储容器1时，尽可能的将更多的第一障碍物30设置在两列存储容器1之间，避免第一障碍物30占用存储容器1的位置，若仍有第一障碍物30需占用存储容器1的位置时，应尽量减少占用存储容器1设置位置的第一障碍物30的个数。除了上述方式外，本申请实施例中第一障碍物30和存储容器1的设置方式还可采用其他可实施的方案，只需减少第一障碍物30占用存储容器1的位置的方案均可应用在本申请实施例中。
为了提高存储区域100内存储容器1的储存数量，可以在存储区域100的边缘处设置存储容器1。可选地，将位于存储区域100边缘处的存储容器1呈行列排布。在一些实施例中，如图1所示，将位于存储区域100边缘处的存储容器1依次排列呈一列或者一行。当然，根据需求位于存储区域100边 缘处的存储容器1还可以设置成多列或者多行。可选地，在位于存储区域100边缘处的相邻存储容器1之间不设置任何间隙，使存储容器1连续排布，以进一步提高存储区域100边缘处的存储容器1的储存数量。
实施例二
如图2所示，本实施例提供了一种物品拣选系统，该物品拣选系统同样包括存储区域100和工作区域200。与实施例一不同的是：在本实施例中，障碍物数量较多、且粗细不一，如第一障碍物可以为支撑柱或者或柱子护栏等比较细小的障碍物，而第二障碍物31可以为诸如电梯、门、窗、消防栓等比较粗大的障碍物。在图2中未示出第一障碍物，可以参考图1中所示的第一障碍物。在存储区域100内放置存储容器1时，将外形细长、占用空间较少的第一障碍物30设置在相邻两列存储容器1之间，而将占用空间较多的第二障碍物31设置在存储容器组10的内部，并占用一个或者多个存储容器位。该物品拣选系统根据第二障碍物31的具体情况合理排布存储容器1，有利于提高存储区域100内容纳存储容器1的能力。
在一些实施例中，该物品拣选系统还包括给搬运装置充电的充电桩40。由于充电桩40的尺寸较大，在本实施例中，如图2所示，将充电桩40设置在存储容器组10内部并位于第二障碍物31的旁边，以使充电桩40占用一个或者多个存储容器位。相较于将充电桩40置于存储容器组10外部所占用的空间，将充电桩40置于存储容器组10内部有利于降低对存储区域100容纳存储容器1的能力的影响。可选地，充电桩40的数量为一个、两个或者更多个，当充电桩40不少于两个时，将充电桩40环绕第二障碍物31设置。两个相邻设置的充电桩40的充电方向可以相对设置，也可以均面向所述第二障碍物31设置。如图3所示，在本实施例中，选择将充电桩40的充电方向面向第二障碍物31设置，以在相邻两个充电桩40之间空出一个存储容器位。可选地，将充电桩40设置在搬运装置移动密度较高的第二障碍物31旁边，以保证充电路径最短。
在一些实施例中，如图4所示，当一个存储容器组10内设置有两个充电桩40时，且单个充电桩40需要占用多余一个但是少于一个半的存储容器位时，即单个充电桩40的长度大于存储容器1的长度，或者单个充电桩40的宽度大于存储容器1的宽度时，可选将两个充电桩40设置在第二障碍物31相邻的两侧，并使两个充电桩40突出一个存储容器位的部分公用另一个空闲的存储容器位。也就是说，使两个充电桩40一共占用三个存储容器位。相较于每一个充电桩40占用两个存储容器位，如此设置能够节省一个存储容器位，增加一个存储容器1的储量。当然如果充电桩40的数量为三个或者更多个时，也可以通过公用存储容器位的方式来节省存储容器位，以提高存储容器1的储存量。
在具有第一障碍物和第二障碍物31时，合理的规划存储容器1的设置位置，使得第一障碍物能尽量位于两列存储容器1之间，第二障碍物31可占用存储容器1的位置。在一个可能的方式中，在设置存储容器1时，尽可能的将更多的第一障碍物设置在两列存储容器1之间，避免第一障碍物占用存储 容器1的位置，若仍有第一障碍物需占用存储容器1的位置时，应尽量减少占用存储容器1设置位置的第一障碍物的个数。除了上述方式外，本申请实施例中第一障碍物、第二障碍物31和存储容器1的设置方式还可采用其他可实施的方案，只需减少第一障碍物占用存储容器1的位置的方案均可应用在本申请实施例中。
实施例三
在实施例二的基础上，本实施例提出了一种物品拣选系统，如图5所示，该物品拣选系统同样包括存储区域100和工作区域200。该实施例与实施例二的区别点主要在于存储容器组10内存储容器1的列数不同。如图2所示，以实施例二中最靠近工作区域200的一行存储容器组10为例，该行存储容器组10的列数从左到右依次为一列、三列、三列、两列、两列、两列、两列、三列、两列、两列、两列、两列、三列、两列、四列、两列、两列、一列。而在本实施例中，如图5所示，同样以最靠近工作区域200的一行存储容器组10为例，该行存储容器组10的列数从左到右依次为一列、两列、两列、两列、一列、两列、一列、两列、两列、两列、一列、两列、两列、两列、两列、两列、一列、一列、两列、一列。通过改变行存储容器组10的列数，能够根据第二障碍物31所在的位置，将第二障碍物31设置在存储容器组10空位内部，或者两列存储容器1之间。
除了存储容器1的列数不同外，本实施例与实施例二基本相同，在此不再赘述。
实施例四
在实施例一、实施例二或者实施例三的基础上，本实施例还提供了一种物品拣选系统。在本实施例中，为了缓解甚至避免搬运装置在存储区域100内移动时发生堵塞现象，将靠近工作区域200的横向通道2的密度设置为大于远离工作区域200的横向通道2的密度，从而增加靠近工作区域200的十字路口的数量，以便在存储区域100的某一区域发生拥堵时，搬运装置能够灵活地改变移动路径，从而快速达到工作区域200。可选横向通道2的密度沿纵向通道3靠近工作区域200的方向逐渐增大。
横向通道2密度的改变可以通过规划存储容器组10的摆放方式实现，将靠近工作区域200的存储容器组10中的存储容器1的数量设置为少于远离工作区域200的存储容器组10中的存储容器1的数量。即通过调整每一存储容器组10中的存储容器1的行数来调整横向通道2的密度。具体地，如图2所示，该物品拣选系统设置有六行存储容器组10，以工作区域200为参考，由远及近每行存储容器组10依次包括有六行存储容器1、五行存储容器1、四行存储容器1、四行存储容器1、四行存储容器1和四行存储容器1。由于相邻两行存储容器组10之间的横向通道2的距离相等，通过减少靠近工作区域200的存储容器组10中存储容器1的行数能够达到提高横向通道2密度的目的。
当然在其他实施例中，存储容器1行数可以为其他排布规律，仍然以具有六行存储容器组10为例，以工作区域200为参考，由远及近每行存储容器 组10依次包括有六行存储容器1、五行存储容器1、四行存储容器1、三行存储容器1、二行存储容器1和一行存储容器1；或者六行存储容器1、六行存储容器1、五行存储容器1、五行存储容器1、四行存储容器1和四行存储容器1等。此外，存储容器组10的行数不局限于六行，可以根据存储区域100的面积灵活设定。在本实施例中，对每一存储容器组10中的存储容器1的列数不做限制，每一存储容器组10的存储容器1列数可以相同，也可以不同。
当然除了规划存储容器组10的摆放方式来实现横向通道2的密度改变以外，还可以通过将距离工作区域200较近的横向通道2的宽度设置为大于距离工作区域200较远的横向通道2的宽度，以使存储区域100内靠近工作区域200的横向通道2的面积占空比大于存储区域100内远离工作区域200的横向通道2的面积占空比，从而达到增大横向通道2密度的目的。
需要注意的是，沿存储区域100靠近工作区域200的方向，横向通道2的宽度变化可以为渐变的，也可以为非渐变的。
当横向通道2的宽度为非渐变时，可以将存储区域100划分为多个部分，每个部分内包括多个宽度相等的横向通道2，按照存储区域100靠近工作区域200的方向，各部分内的横向通道2的宽度依次增大。例如，将存储区域100划分为第一区域、第二区域和第三区域三个部分，第一区域距离工作区域200最近，第一区域内的横向通道2的宽度设置为一致，且宽度均设置为n1；第二区域位于第一区域和第三区域之间，第二区域内的横向通道2的宽度设置为一致，且宽度均设置为n2；第三区域距离工作区域200最远，第三区域内的横向通道2的宽度设置为一致，且宽度均设置为n3，其中，n1>n2>n3。当然在本实施例中，对存储区域100内划分的多个部分的数量不做具体限制，例如可以为两部分、四部分或者更多部分。
当横向通道2的宽度变化为渐变时，沿存储区域100靠近工作区域200的方向将横向通道2的宽度逐个增大，以达到逐渐增大横向通道2的密度的目的。靠近工作区域200的横向通道2的宽度增大后，每一横向通道2可以容纳多个搬运装置同时横向移动，给搬运装置的移动路径提供更多的选择。
在一些实施例中，由于工作区域200会聚集很多个搬运装置，为了便于搬运装置移动，在最靠近工作区域200的位置设置一缓冲通道4，缓冲通道4内不设置任何存储容器1，缓冲通道4与横向通道2平行，且缓冲通道4的宽度大于任一横向通道2的宽度，从而使存储区域100和工作区域200之间形成一个宽度较大的区域，搬运装置通过缓冲通道4能够由存储区域100进入工作区域200。缓冲通道4内没有设置任何第一障碍物30及第二障碍物31，可用于多个搬运装置快速通行与转换方向。控制搬运装置的控制服务器能够判断缓冲通道4上的拥堵情况，以便为即将进入缓冲通道4的搬运装置规划进入口，使搬运装置快速进出工作区域200。
在一些实施例中，在每一个工作站20内设置有允许搬运装置进出的拣选通道5，为了提高搬运装置移动的流畅性和速度，将拣选通道5与纵向通道3正对设置，即将拣选通道5与纵向通道3设置在同一条直线上。具体地，相较于现有技术中存储容器组10中的存储容器1的列数相等很难实现纵向通道 3和拣选通道5共线，在本实施例中通过调整存储容器组10中的存储容器1的列数，使不同列的存储容器组10中的存储容器1的列数不同，从而达到使纵向通道3和拣选通道5共线的目的。
具体地，如图2所述，沿横向通道3由左向右的方向，各列存储容器组10依次包括有三列存储容器1、三列存储容器1、两列存储容器1、两列存储容器1、两列存储容器1、两列存储容器1、三列存储容器1、两列存储容器1、两列存储容器1、两列存储容器1、两列存储容器1、三列存储容器1、两列存储容器1、四列存储容器1、两列存储容器1和两列存储容器1。如此排布从而使两列存储容器组10之间的纵向通道3和拣选通道5共线。当然除了上述排布外，也可以根据拣选通道5的位置，选择不同列数组合的排布。
在一些实施例中，为了提高搬运装置的搬运效率，缩短搬运装置的移动距离，降低搬运装置的能耗，在本实施例中，将被搬运频率高的存储容器1和工作区域200之间的距离设置为小于被搬运频率低的存储容器1和工作区域200之间的距离。也就是说，将被搬运频率高的存储容器1设置在靠近工作区域200的地方，将被搬运频率低的存储容器1设置在远离工作区域200的地方。
显然，本申请的上述实施例仅仅是为了清楚说明本申请所作的举例，而并非是对本申请的实施方式的限定。对于所属领域的普通技术人员来说，在上述说明的基础上还可以做出其它不同形式的变化或变动。这里无需也无法对所有的实施方式予以穷举。凡在本申请的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本申请权利要求的保护范围之内。

Claims (13)

  1. 一种物品拣选系统，包括存储区域(100)和工作区域(200)，所述存储区域(100)内设置有呈行列排布的多个存储容器组(10)，所述存储容器组(10)包括至少两列存储容器(1)，其特征在于，部分相邻两列所述存储容器(1)之间设置有至少一个第一障碍物(30)。
  2. 根据权利要求1所述的物品拣选系统，其特征在于，
    相邻两列所述存储容器(1)之间设置有多个所述第一障碍物(30)。
  3. 根据权利要求2所述的物品拣选系统，其特征在于，
    多个所述第一障碍物(30)在相邻两列所述存储容器(1)之间成列设置。
  4. 根据权利要求1～3任一项所述的物品拣选系统，其特征在于，
    所述第一障碍物(30)与所述存储容器(1)抵接。
  5. 根据权利要求1～4任一项所述的物品拣选系统，其特征在于，还包括第二障碍物(31)；
    所述第二障碍物(31)位于所述存储容器组(10)内部，并占用所述存储容器组(10)内的存储容器位；和/或
    所述第二障碍物(31)位于所述存储区域(100)的边缘处。
  6. 根据权利要求1～5任一项所述的物品拣选系统，其特征在于，
    所述存储区域(100)的边缘处至少设置有呈一行或呈一列排布的多个所述存储容器(1)。
  7. 根据权利要求6所述的物品拣选系统，其特征在于，
    位于所述存储区域(100)边缘处的多个所述存储容器(1)连续排布。
  8. 根据权利要求5～7任一项所述的物品拣选系统，其特征在于，所述物品拣选系统还包括：
    至少两个充电桩(40)，所述至少两个充电桩(40)环绕所述第二障碍物(31)设置。
  9. 根据权利要求8所述的物品拣选系统，其特征在于，
    所述第二障碍物(31)处设置有两个所述充电桩(40)，两个所述充电桩(40)的充电方向相对设置。
  10. 根据权利要求8所述的物品拣选系统，其特征在于，
    每个充电桩(40)的充电方向面向所述第二障碍物(31)设置。
  11. 一种物品拣选系统，包括存储区域(100)和工作区域(200)，所述存储区域(100)内设置呈行列排布的多个存储容器组(10)，所述存储容器组(10)包括至少两列存储容器(1)，其特征在于，还包括第二障碍物(31)；所述第二障碍物(31)位于所述存储容器组(10)内部，并占用所述存储容器组(10)内的存储容器位；和/或所述第二障碍物(31)位于所述存储区域(100)的边缘处；
    还包括环绕所述至少一个第二障碍物(31)设置的至少两个充电桩(40)。
  12. 根据权利要求11所述的物品拣选系统，其特征在于，所述第二障碍物(31)处设置有两个所述充电桩(40)，两个所述充电桩(40)的充电方向 相对设置。
  13. 根据权利要求11所述的物品拣选系统，其特征在于，每个充电桩(40)的充电方向面向所述第二障碍物(31)设置。
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