WO2021036300A1 - 物品拣选系统及拣选方法 - Google Patents

物品拣选系统及拣选方法 Download PDF

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Publication number
WO2021036300A1
WO2021036300A1 PCT/CN2020/086066 CN2020086066W WO2021036300A1 WO 2021036300 A1 WO2021036300 A1 WO 2021036300A1 CN 2020086066 W CN2020086066 W CN 2020086066W WO 2021036300 A1 WO2021036300 A1 WO 2021036300A1
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WO
WIPO (PCT)
Prior art keywords
item
storage
items
storage device
picked
Prior art date
Application number
PCT/CN2020/086066
Other languages
English (en)
French (fr)
Inventor
马成龙
Original Assignee
北京京东乾石科技有限公司
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
Application filed by 北京京东乾石科技有限公司 filed Critical 北京京东乾石科技有限公司
Priority to US17/631,194 priority Critical patent/US20220267095A1/en
Priority to JP2022506233A priority patent/JP2022545863A/ja
Priority to EP20859235.2A priority patent/EP3992118A4/en
Publication of WO2021036300A1 publication Critical patent/WO2021036300A1/zh

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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
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1375—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning stacker-crane or truck
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/02—Apparatus characterised by the means used for distribution
    • B07C3/08—Apparatus characterised by the means used for distribution using arrangements of conveyors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
    • B65G1/08—Storage devices mechanical with means for presenting articles for removal at predetermined position or level the articles being fed by gravity
    • 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
    • B65G33/00—Screw or rotary spiral conveyors
    • B65G33/02—Screw or rotary spiral conveyors for articles
    • B65G33/04—Screw or rotary spiral conveyors for articles conveyed between a single screw and guiding means
    • 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
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles

Definitions

  • the present disclosure relates to the technical field of logistics and warehousing, and in particular to an item picking system and picking method.
  • the goods-to-person work mode is generally adopted, that is, the items are placed on the shelves.
  • the dispatching system will dispatch an automatic guided transport vehicle according to a series of algorithms (full name: " Automated Guided Vehicle", AGV for short) transports different shelves in the warehouse to preset picking positions, and then manually picks the required goods from the shelves.
  • an item picking system including:
  • the storage device is configured to drive the items to be picked in the storage device to move after receiving the item removal instruction;
  • the transport device is configured to transport items
  • the scheduling system is configured to move the transport device to the storage device where the items to be picked is located according to the storage location of each item to be picked in the storage device, so that the items to be picked are driven out of the storage device and land on the transport device.
  • the item picking system further includes:
  • the container which is provided on the transport device, is configured to contain the items to be picked falling from the storage device.
  • the item picking system further includes:
  • the item detection component is arranged on the inner wall of the container near the opening, and is configured to detect whether the item to be picked falls into the container;
  • the scheduling system is configured to determine whether the number of items falling into the container from the storage device is consistent with the pre-allocated number of items according to the detection result of the item detection component, and determine that the current storage device has completed the item picking if they are consistent.
  • the item picking system further includes:
  • the packaging review station is configured to perform packaging review of items
  • the scheduling system is configured to move the transport device to the next storage device when the current picking task is not completed after the item picking of one storage device is completed, and when the current picking task is completed In this case, the transport device is used to transport the items to the packing review station.
  • the storage device includes:
  • the shelf body is provided with multiple storage places for storing items, and the shelf body is provided with a parking space A below the bottommost storage place, which is configured for the transportation device to park when receiving the goods;
  • the driving component is configured to drive the items in the storage position to move after receiving the item removal instruction.
  • the driving component includes a plurality of independent driving units, which are respectively provided in each storage location, and are configured to drive the movement of items in the storage location;
  • the dispatching system is configured to control each drive unit to make the required number of items to be picked out of the storage location.
  • the shelf body includes:
  • a plurality of partitions are arranged at intervals along the height direction of the frame to divide the frame into multiple layers in the height direction;
  • a plurality of storage compartments are detachably arranged on each partition, and at least part of the storage compartments on each partition are arranged side by side along the width direction of the shelf main body, and the internal space of the storage compartment forms a storage place.
  • the partition is provided with a guide groove extending along the thickness direction of the shelf body, and the storage compartment can be inserted into the guide groove from one end of the guide groove.
  • the shelf body includes a plurality of guides, which are respectively fixed in each storage position, and the driving unit includes:
  • the power component has an output shaft and is configured to output rotary motion
  • the fixed wheel is coaxially connected with the output shaft of the power unit;
  • the screw is sleeved outside the guide, one end of the screw is connected to the fixed wheel, and is configured to drive the objects placed on the guide and located between the adjacent spirals of the screw to move when the power part drives the fixed wheel to rotate .
  • the storage device includes a double-sided shelf, the storage device is provided with a channel configured to provide guidance for falling items, and the channel is provided at the middle position of the double-sided shelf along the thickness direction.
  • an item picking method including:
  • the storage device drives the items to be picked in the storage device to move, so that the items to be picked are separated from the storage device and land on the transport device.
  • the item picking method further includes: determining whether the item picking of the current storage device is completed.
  • the step of determining whether the item picking of the current storage device is completed includes:
  • the detection result of the item detection component it is determined whether the number of items falling into the container from the storage device is consistent with the number of pre-allocated items, and if they are consistent, it is determined that the item picking of the current storage device is completed.
  • the item picking method further includes:
  • the transport device After the item picking of a storage device is completed, it is determined whether the current picking task is completed, if it is completed, the transport device is moved to the next storage device; if not, the transport device is transported to the packing review station.
  • the storage device includes a shelf body and a drive component.
  • the shelf body is provided with multiple storage locations for storing items.
  • the drive component includes multiple independent drive units, which are respectively provided in each storage location. The steps to drive the items to be picked out of the storage location include:
  • the required number of items to be picked can be separated from the storage location.
  • the item picking method before moving the transport device to the storage device where each item to be picked is located, the item picking method further includes:
  • the items that need to be transported by the transport device at a time are allocated.
  • the item picking method before moving the transport device to the storage device where each item to be picked is located according to the storage position of each item to be picked in the storage device, the item picking method further includes:
  • the movement path of the transport device is planned.
  • Figure 1 is a schematic structural diagram of some embodiments of the disclosed item picking system
  • FIG. 2 is a schematic structural view of some embodiments of inserting the storage grid into the guide groove on the partition in the storage device of the present disclosure
  • FIG. 3 is a schematic structural diagram of some embodiments of a drive unit in the storage device of the present disclosure.
  • FIG. 4 is a side view of some embodiments of fixed wheels in the drive unit of the storage device of the present disclosure
  • FIG. 5 is a front view of some embodiments of fixed wheels in the drive unit of the storage device of the present disclosure
  • FIG. 6 is a schematic flowchart of some embodiments of the item picking method of the present disclosure.
  • FIG. 7 is a schematic flowchart of other embodiments of the item picking method of the present disclosure.
  • FIG. 8 is a schematic diagram of the module composition of some embodiments of the item picking system of the present disclosure.
  • FIG. 9 is a schematic structural diagram of other embodiments of the item picking system of the present disclosure.
  • first and second appearing in the present disclosure are only for convenience of description, to distinguish different components with the same name, and do not indicate a sequence or a primary-secondary relationship.
  • orientation or positional relationship indicated by “upper”, “lower”, “top”, “bottom”, “front”, “rear”, “inner” and “outer” is based on the attached
  • the orientation or positional relationship shown in the figure is only for the convenience of describing the present disclosure, rather than indicating or implying that the device referred to must have a specific orientation, be constructed and manipulated in a specific orientation, and therefore cannot be understood as a limitation on the scope of protection of the present disclosure. .
  • the shelf generally has double-sided storage space, each side of the storage space is divided into multiple layers, each layer of the storage space is provided with different storage compartments, and the storage compartments are configured to store items.
  • the scheduling system will specifically locate the items in the order to the storage compartment of the shelf according to a series of algorithms, and then notify the AGV to arrive at the storage position, and the AGV consigns the shelf to the picking position, and then manually according to the computer interface. Prompt, pick different items in different storage compartments into the container.
  • This sorting method has at least one of the following shortcomings:
  • the embodiments of the present disclosure provide an item picking system and picking method, which can improve picking efficiency.
  • the storage device can remove the items placed therein, and the dispatch system can move the transport device to the storage device where the items to be picked are located according to the storage position of each item to be picked in the storage device, so that The items to be picked are driven away from the storage device where they are located and then fall on the transport device to achieve item picking.
  • the system can realize the automatic picking of items through the cooperation of the storage device with the function of automatically removing items and the transport device, eliminating the need for manual picking, and without transporting the storage device. It can simplify the picking process and improve the efficiency of item picking. Improve the safety of the picking process.
  • the present disclosure provides an item picking system, including: a storage device 1, a transportation device 2 and a scheduling system 6.
  • the storage device 1 is used to store items, and may be set in a warehouse of a logistics system, such as an unmanned warehouse, where multiple storage devices 1 may be set.
  • the storage device 1 may be a shelf device, which has a function of moving the items to be picked placed therein, and can drive the items to be picked in the storage device 1 to move after receiving an item removal instruction.
  • the transport device 2 is used to transport items.
  • the transportation device 2 may be an AGV, which is equipped with electromagnetic or optical automatic guidance devices, which can travel along a prescribed guidance path according to the route planned by the dispatch system 6, and the path is more flexible when moving between different storage devices 1; or
  • the transportation device 2 may also be a rail-guided vehicle (full name: “Rail Guided Vehicle”, RGV for short), which can travel along a preset track; or the transportation device 2 may also be a robot or the like.
  • the scheduling system 6 is used to move the transport device 2 to the storage device 1 where the items to be picked is located according to the storage location of the items to be picked, so that the items to be picked are driven out of the storage device 1 and land on the transport device 2 to achieve Item picking.
  • the items to be picked can be items to be picked in an order, or items to be picked determined according to a preset task goal.
  • the dispatch system 6 can send an item removal instruction to the storage device 1 so that the storage device 1 drives the items to be picked out of the storage device 1.
  • This method can realize automatic picking, make the entire picking process smoother and improve the efficiency of picking.
  • the button on the storage device 1 can also be triggered so that the storage device 1 receives the item removal instruction.
  • the dispatch system 6 needs to determine the storage location of each item to be picked in the order, so as to determine the storage device 1 where the items to be picked are located. To plan the movement path of the transport device 2. Moreover, the scheduling system 6 is also used to allocate the items that the transport device 2 needs to transport at a time according to the type and quantity of the items to be picked in the order.
  • the items that the transport device 2 needs to transport at a time can include only the items in an order, or The items in multiple orders need to be determined according to the size and quantity of the items in the order.
  • the embodiment of the present disclosure cooperates with the storage device 1 with the function of automatically removing items and the transport device 2, which can realize the automatic picking of items, without the transport device 2 to transport the storage device 1 such as the shelf to the manual picking location, and eliminates the need for manual picking In the link, there is no need for the transportation device 2 to carry the storage device 1 such as the rack, which can simplify the picking process and improve the picking efficiency in the warehouse.
  • the transport device 2 does not need to carry racks and other transport devices during the picking process, and directly transports the items, the center of gravity of the transport device 2 during driving can be reduced, and it is not easy for the vehicle to tilt or deviate from the guide due to eccentric load. It can be a guide line or track set on the ground, which can improve the safety of transported goods.
  • the item picking system of the present disclosure may further include a container 3, which is provided on the transportation device 2, and is used for accommodating the items to be picked falling from the storage device 1.
  • a container 3 which is provided on the transportation device 2, and is used for accommodating the items to be picked falling from the storage device 1.
  • the container 3 can be manually placed on the transport device 2 or automatically loaded on the transport device 2 by a transfer device such as a belt conveyor, which can further increase the degree of automation of the picking process.
  • a transfer device such as a belt conveyor
  • the bottom of the container 3 may be provided with a guide structure that tapers from top to bottom, so that the items are evenly placed in the container 3.
  • the item picking system of the present disclosure may further include: an item detection component B, which is arranged on the inner wall of the container 3 near the opening, and is used to detect whether the item to be picked falls into the container 3.
  • the article detection component B may include a reflective plate 4 provided on one of the side walls of the container 3 and a through-beam sensor 5 provided on the opposite side wall. The reflective plate 4 can emit light that can be received by the through-beam sensor 5. When an item falls into the container 3, the light will be cut off, and a detection signal that the item falls into the container 3 is sent out.
  • the article detection component B may also include photoelectric radiation tubes arranged on opposite side walls in the container 3.
  • the scheduling system 6 is used to determine whether the number of items falling into the container 3 from the storage device 1 is consistent with the number of pre-allocated items according to the detection result of the item detection component B, and In the case of consistency, it is determined that the current storage device 1 has completed the item picking and can leave the current storage device 1; in the case of inconsistency, it is determined that the current storage device 1 has not completed the item picking.
  • This embodiment can more accurately determine whether the current storage device 1 has completed the item picking, and finally determine whether the current picking task is completed, which can improve the correct rate of picking and prevent the occurrence of missing or excessively removed items.
  • the storage device 1 can also judge whether it has completed the item removal task, and the judgment result of the storage device 1 and the judgment result of the item detection component B can be mutually verified, which can more accurately judge whether the item picking is completed.
  • the item picking system of the present disclosure may further include: a packing review station 7 for packing and reviewing items.
  • a packing review station 7 for packing and reviewing items.
  • the scheduling system 6 is used to move the transport device 2 to the next storage device 1 when the current picking task is not completed after the item picking of one storage device 1 is completed.
  • the transport device 2 is allowed to transport the articles to the packing review station 7.
  • This embodiment can receive the items picked by each storage device 1 in the current picking task through the movement of the transport device 2, and can automatically complete the picking of all items in the current picking task, and flexibly complete the picking task without carrying the storage device 1. Can improve the efficiency and reliability of item picking.
  • the storage device 1 includes: a shelf body C and a driving component.
  • the shelf body C is provided with multiple storage locations for storing items, and each storage location can place the same or different items.
  • each storage location in the shelf body C can be provided with multiple layers along the height direction.
  • Each layer is provided with a plurality of storage positions side by side along the width direction of the shelf body (W direction in Figure 1).
  • the shelf main body is provided with a parking space A below the bottommost storage position, which is used to park the transport device 2 to receive items.
  • the driving component is used to drive the items in the storage position to move after receiving the item removal instruction.
  • the scheduling system 6 is used to move the transport device 2 to the parking space A below the storage device 1 where the items to be picked is located according to the storage location of the items to be picked in the order, and drive the drive components to drive the items to be picked out of the storage location to fall in Transport device 2 to achieve item picking.
  • the transportation device 2 When the storage device 1 is in the process of picking items, the transportation device 2 is located at the bottom of the storage device 1, which can prevent collisions with other transportation devices traveling in the field. When the storage device 1 is a double-sided rack, it can also prevent the transportation device 2 from frequenting The position switching between the two sides of the storage device 1 can improve the safety of the picking process.
  • the driving component may include a plurality of independent driving units D, which are respectively provided in each storage location and used to drive the movement of the items in the storage location.
  • the scheduling system 6 is used to control the working time or working parameters of each drive unit D, so that the required number of items to be picked are separated from the storage location. For example, when the drive component includes a motor, the rotation time and rotation circle of the motor can be controlled. Count the required number of items to be picked out of the storage location.
  • This embodiment can independently control the removal of items in each storage location, and can flexibly remove the items in a specific storage location.
  • the same items can be placed in the same storage location, which is conducive to controlling the type and quantity of items removed.
  • multiple storage locations can share one drive component, and the drive component has multiple output terminals or output terminals that can switch positions so that items in different storage locations can be removed.
  • the shelf body includes: a frame 11, a plurality of partitions 12 and a plurality of storage compartments 13.
  • the partitions 12 are arranged at intervals along the height direction of the frame 11 to divide the frame 11 into multiple layers in the height direction.
  • the distance between adjacent partitions 12 can be set according to the height of the article; each storage compartment 13 is detachable
  • the storage compartments 13 on each compartment 12 are arranged side by side along the width direction of the shelf body.
  • the internal space of the storage compartment 13 forms a storage location, and the end surface of the storage compartment 13 can be U-shaped. Or rectangular structure.
  • the storage compartments 13 on each partition 12 are arranged side by side along the width direction of the shelf body; for a double-sided shelf, each partition 12 is provided with two rows of storage compartments 13 along the thickness direction.
  • the partition plate 12 is provided with a guide groove 121 extending along the thickness direction of the shelf body C.
  • the storage compartment 13 can be inserted into the guide groove 121 from one end of the guide groove 121.
  • the guide groove 121 may be U-shaped. , Cover the bottom area of the storage compartment 13.
  • the drive component includes a plurality of drive units D, which are respectively arranged corresponding to each storage compartment 13.
  • the drive unit D has a first electrical interface, and the position corresponding to each storage compartment 13 on the frame 11 is provided with a second electrical interface.
  • the electrical interface and the second electrical interface form a quick plug interface, which is used to implement at least one of powering the drive unit D and providing control signals.
  • the quick-plug interface is connected in place.
  • the first electrical interface can be a plug and the second electrical interface is a jack; or the first electrical interface can be a jack and the second electrical interface is a plug; or the first electrical interface and the second electrical interface are both plugs,
  • the buckle realizes the connection.
  • the installation of the storage compartment 13 and the electrical connection of the drive unit D can be completed through the same operation, eliminating the need for wiring and disconnection links.
  • the removal of the storage compartment 13 can be improved. The efficiency of the installation.
  • the shelf body C includes a plurality of guides 15, which are respectively fixed in each storage position along the thickness direction of the shelf body C.
  • the guide member 15 may be a long plate-like structure, and the end of the guide member 15 may be bent downward to be fixed to the storage compartment 13.
  • the driving unit D includes: a power component 17, a fixed wheel 14 and a screw 16.
  • the power component 17 has an output shaft for outputting rotational motion.
  • the power component 17 can be a motor or a motor, etc.
  • the fixed wheel 14 can be provided at one end of the storage compartment 13 and is coaxially connected with the output shaft of the power component 17, As shown in Fig. 4, the fixed wheel 14 includes a sleeve portion 141 and a mounting portion 142 connected to one end of the sleeve portion 141.
  • the output shaft of the power component 17 is inserted into the sleeve portion 141 and locked by a jack screw.
  • the spiral member 16, such as a spring, is sleeved outside the guide member 15 along the length direction of the guide member 15, and the guide member 15 can guide the spiral member 16.
  • One end of the screw 16 is connected to the fixed wheel 14 for rotating the screw 16 when the power part 17 drives the fixed wheel 14 to rotate, so as to drive the screw 16 placed on the guide 15 and located between the adjacent spirals of the screw 16 Items move.
  • a ring groove 1421 is provided at the middle position of the mounting portion 142 in the thickness direction.
  • the two ends of the ring groove 1421 have stop portions 1422, and one end of the screw 16 is sleeved in the ring groove 1421.
  • a hole 1423 is provided on the fixed wheel 14 for fixing the screw 16.
  • the items stored in each storage place are of the same type, and the scheduling system 6 is used to control the power component 17 to drive the screw 16 to rotate a preset number of turns according to the number of items to be picked in the order, so that the required number of items to be picked Leave the storage bit. In this way, the number of items to be picked out of the storage position can be accurately controlled.
  • the dispatch system 6 can also control the number of turns of the power component 17 to remove the required number of items to be picked from the storage position.
  • the storage device 1 In order to make the items to be picked out of the storage position smoothly fall into the container 3 and prevent the items to be picked from being damaged, the storage device 1 is provided with a channel to provide guidance for the falling items, and each storage position is connected to the entrance of the channel. , The container 3 needs to be aligned with the outlet end of the channel.
  • the storage device 1 includes a double-sided shelf
  • the storage device 1 is provided with a channel for guiding the falling items, and the channel is set at the middle position of the double-sided shelf along the thickness direction, so that the items to be picked in the double-sided storage area When falling, they can all directly fall into the container 3 without adjusting the position of the transport device 2.
  • the item picking system of the embodiment of the present disclosure provides an automatic picking mode for the transport device 2 without the transport device 2 to carry the storage device 1. Instead, the storage device 1 with the function of automatically removing items is used, and the dispatching system 6 informs the transport device 2 to bring Take the container 3 to the storage device 1 for picking, and according to the items in the order, the power component in the storage compartment 13 where the item to be inspected is located will push the corresponding number of items to be inspected into the container 3, and the item detection component B can detect that it has fallen into The number of items to be picked in the container 3, and the number of items to be checked through communication with the dispatching system 6. After the picking of each storage device 1 is completed, it will request the scheduling system 6 to query the details of the picking task. If the picking needs to be continued, the scheduling system 6 will calculate the next storage device 1 that needs to be picked. If the current picking task is completed, the transport device will Ship directly to the packaging review station 7 to review the packaging and complete the delivery.
  • This kind of item picking system can completely release manpower and realize the fully automated operation of picking.
  • the optimal storage device 1 is planned in real time to ensure that the entire process is in the optimal picking plan, which can avoid production factors.
  • Various abnormalities caused by the handling of the storage device 1 can increase the traveling speed of the transportation device 2, thereby improving the working efficiency of the transportation device 2, thereby improving the warehouse out efficiency, and avoiding the need for manual ladders to pick high-level items.
  • the present disclosure provides a picking method based on the item picking system of the above-mentioned embodiment.
  • the picking method includes:
  • Step 101 According to the storage location of each item to be picked in the storage device 1, the transport device 2 is moved to the storage device 1 where each item to be picked is located; the storage location of the items to be picked in the storage device 1 can be pre-stored in the scheduling system 6 in.
  • items to be picked can be items to be picked in an order, or items to be picked determined according to a preset task goal.
  • Step 102 The storage device 1 responds to the item removal instruction to drive the items to be picked out of the storage device 1 and land on the transportation device 2.
  • steps 101 and 102 are executed sequentially, and step 101 can be executed by the scheduling system 6.
  • This kind of picking method can realize the automatic picking of items, without the transportation device 2 to transport the storage device 1 such as the shelf to the manual picking location, and eliminates the manual picking link, and does not require the transportation device 2 to transport the storage device 1 such as the rack, which can simplify The picking process improves the efficiency of picking items in the warehouse.
  • the transport device 2 does not need to transport storage devices 1 such as shelves during the picking process, and directly transports the items, the center of gravity of the transport device 2 during driving can be reduced, and it is not easy for the vehicle to tilt or deviate from the guide due to eccentric load.
  • the piece can be a guide line or track set on the ground, which can improve the safety of the transported goods.
  • the picking method of the present disclosure may further include:
  • Step 103 Determine whether the current item picking of the storage device 1 is completed.
  • Step 103 can be executed after each item to be picked leaves the storage location, or after the dispatching system 6 completes the actions of each drive unit D corresponding to the item to be picked, it can be determined that the transport device 2 has left the current storage device 1. opportunity.
  • step 103 of judging whether the current item picking of the storage device 1 is completed specifically includes:
  • Step 103A detecting whether the item to be picked falls into the container 3 on the transport device 2 through the item detection component B;
  • Step 103B According to the detection result of the item detection component B, determine whether the number of items falling into the container 3 from the storage device 1 is consistent with the number of pre-allocated items. If they are the same, it is determined that the item picking of the current storage device 1 is completed; otherwise, it is determined that the current item is selected. The item picking of the storage device 1 is not completed. Steps 103A and 103B are not shown in the figure.
  • This embodiment can more accurately determine whether the current storage device 1 has completed the item picking, and finally determine whether the current picking task is completed, which can improve the correct rate of picking and prevent the occurrence of missing or excessively removed items.
  • the storage device 1 can also judge whether it has completed the item removal task, and the judgment result of the storage device 1 and the judgment result of the item detection component B can be mutually verified, which can more accurately judge whether the item picking is completed.
  • the selection method of the present disclosure may further include:
  • Step 104 Judge whether the current picking task is completed, if it is completed, go to step 105, otherwise go to step 106;
  • Step 105 Move the transport device 2 to the next storage device 1;
  • Step 106 Make the transportation device 2 transport the articles to the packing review station 7.
  • This embodiment can receive the items picked by each storage device 1 in the current picking task through the movement of the transport device 2, and can automatically complete the picking of all items in the current picking task, and flexibly complete the picking task without carrying the storage device 1. Can improve the efficiency and reliability of item picking.
  • the storage device 1 includes a shelf body C and a drive component.
  • the shelf body C is provided with a plurality of storage locations for storing items
  • the drive component includes a plurality of drive units D, respectively corresponding to each storage location.
  • driving the item to be picked out of the storage device 1 where it is located specifically includes:
  • the scheduling system 6 can control the power component 17 to drive the screw 16 to rotate a preset number of turns according to the number of items to be picked in the order, or control the number of rotations of the power component 17 to remove the required number of items to be picked from storage. This allows flexible and precise control of the picking process.
  • the picking method of the present disclosure may further include:
  • Step 100 According to the type and quantity of the items to be picked in the order, the items that need to be transported by the transport device 2 in a single time are allocated.
  • the items to be transported by the transport device 2 in a single order can be items in one order or multiple orders. After being transported to the packing review station 7, the items need to be reviewed, and the items shipped in a single shipment must be split or matched according to the order. Items are packed, etc.
  • the accommodating capacity of the container 3 can be fully utilized, which not only improves the transport efficiency of the items, but also facilitates the review and packing operation after picking.
  • the picking method before moving the transport device 2 to the storage device 1 where each item to be picked is located according to the storage position of each item to be picked in the storage device 1, the picking method further includes:
  • Step 100A Determine the storage location of each item to be picked, for example, the storage device 1 where each item to be picked in the order is located and the specific storage location can be determined.
  • Step 100B Plan the movement path of the transport device 2 according to the location of the storage device 1 corresponding to each item to be picked.
  • step 100B is executed after step 100A.
  • step 100B before the transportation device 2 reaches the storage device 1, all the movement paths of the transportation device 2 to each storage device 1 can be planned, or it can be completed after a storage device After the selection of 1, the movement path of the next storage device 1 is dynamically planned.
  • the order of execution of steps 100 and 100A and 100B is not limited.
  • steps 102 and 103A can be executed by the scheduling system 6.

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Abstract

一种物品拣选系统及拣选方法，其中，拣选系统包括：存储装置（1），被配置为在接收到物品移出指令后驱动存储装置（1）中的待拣物品移动；运输装置（2），被配置为运送物品；和调度系统（6），被配置为根据各待拣物品在存储装置（1）中的存放位置，使运输装置（2）运动至待拣物品所在的存储装置（1），以使待拣物品被驱动脱离所在存储装置（1）后落于运输装置（2）。

Description

物品拣选系统及拣选方法
相关申请的交叉引用
本申请是以CN申请号为201910807827.6，申请日为2019年8月29日的申请为基础，并主张其优先权，该CN申请的公开内容在此作为整体引入本申请中。
技术领域
本公开涉及物流仓储技术领域，尤其涉及一种物品拣选系统及拣选方法。
背景技术
在目前的无人仓库中，一般都是采用货到人的工作模式，即把物品放到货架中，在接收到上游订单后，调度系统会根据一系列算法派出自动引导运输车(全称：“Automated Guided Vehicle”，简称AGV)将仓库中的不同的货架运到预设的拣选工作位置，再由人工从货架中拣选所需货物。
发明内容
根据本公开的第一方面，提供了一种物品拣选系统，包括：
存储装置，被配置为在接收到物品移出指令后驱动存储装置中的待拣物品移动；
运输装置，被配置为运送物品；和
调度系统，被配置为根据各待拣物品在存储装置中的存放位置，使运输装置运动至待拣物品所在的存储装置，以使待拣物品被驱动脱离所在存储装置后落在运输装置上。
在一些实施例中，物品拣选系统还包括：
容器，设在运输装置上，被配置为容纳从存储装置落下的待拣物品。
在一些实施例中，物品拣选系统还包括：
物品检测部件，设在容器内壁上靠近开口的位置，被配置为检测待拣物品是否落入容器内；
其中，调度系统被配置为根据物品检测部件的检测结果，判断从存储装置落入容器内的物品数量与预先分配的物品数量是否一致，并在一致的情况下判定当前存储装置完成物品拣选。
在一些实施例中，物品拣选系统还包括：
打包复核台，被配置为对物品进行打包复核；
其中，存储装置设有多个，调度系统被配置为在一个存储装置的物品拣选完成后，在当前拣选任务未完成的情况下使运输装置运动至下一个存储装置，并在当前拣选任务完成的情况下使运输装置将物品运送至打包复核台。
在一些实施例中，存储装置包括：
货架主体，设有多个用于存放物品的存储位，且货架主体在最底部的存储位的下方设有停放空间A，被配置为供运输装置在接货时停放；和
驱动部件，被配置为在接收到物品移出指令后驱动存储位中的物品移动。
在一些实施例中，驱动部件包括多个独立的驱动单元，分别对应设在各存储位中，被配置为驱动所在存储位中的物品移动；
其中，调度系统被配置为控制各驱动单元以使所需数量的待拣物品脱离所在存储位。
在一些实施例中，货架主体包括：
框架；
多个隔板，沿框架的高度方向间隔设置，以将框架在高度方向上分为多层；和
多个存储格，可拆卸地设在各隔板上，每个隔板上的至少部分存储格沿着货架主体的宽度方向并排设置，存储格的内部空间形成存储位。
在一些实施例中，隔板上设有沿货架主体的厚度方向延伸的导向槽，存储格能够从导向槽的一端插入导向槽内。
在一些实施例中，货架主体包括多个导向件，分别固定在各存储位中，驱动单元包括：
动力部件，具有输出轴，被配置为输出旋转运动；
固定轮，与动力部件的输出轴同轴连接；和
螺旋件，套设在导向件外，螺旋件的一端与固定轮连接，被配置为在动力部件带动固定轮转动时，驱动放置在导向件上且位于螺旋件相邻螺旋线之间的物品移动。
在一些实施例中，存储装置包括双面货架，存储装置中设有通道，被配置为对落下的物品提供导向，通道设在双面货架沿厚度方向的中间位置。
根据本公开的第二方面，提供了一种物品拣选方法，包括：
根据各待拣物品在存储装置中的存放位置，使运输装置运动至各待拣物品所在的 存储装置；
存储装置响应于物品移出指令，驱动存储装置中的待拣物品移动，以使待拣物品脱离所在存储装置后落于运输装置。
在一些实施例中，物品拣选方法还包括：判断当前存储装置的物品拣选是否完成。
在一些实施例中，判断当前存储装置的物品拣选是否完成的步骤包括：
通过物品检测部件检测待拣物品是否落入运输装置上的容器内；
根据物品检测部件的检测结果，判断从存储装置落入容器内的物品数量是否与预先分配的物品数量一致，如果一致则判定当前存储装置的物品拣选完成。
在一些实施例中，存储装置设有多个，物品拣选方法还包括：
在一个存储装置的物品拣选完成后，判断当前拣选任务是否完成，如果完成，则使运输装置运动至下一个存储装置；如果未完成，则使运输装置将物品运送至打包复核台。
在一些实施例中，存储装置包括：货架主体和驱动部件，货架主体中设有多个用于存放物品的存储位，驱动部件包括多个独立的驱动单元，分别对应设在各存储位中，驱动待拣物品脱离所在存储位的步骤包括：
使待拣物品所在存储位对应的驱动单元开启；
通过控制各驱动单元使所需数量的待拣物品脱离所在的存储位。
在一些实施例中，在使运输装置运动至各待拣物品所在的存储装置之前，物品拣选方法还包括：
根据订单中待拣物品的类型和数量分配运输装置单次需要运送的物品。
在一些实施例中，在根据各待拣物品在存储装置中的存放位置，使运输装置运动至各待拣物品所在的存储装置之前，物品拣选方法还包括：
确定各待拣物品的存放位置；
根据各待拣物品对应的存储装置的位置，规划运输装置的运动路径。
附图说明
此处所说明的附图用来提供对本公开的进一步理解，构成本申请的一部分，本公开的示意性实施例及其说明用于解释本公开，并不构成对本公开的不当限定。在附图中：
图1为本公开物品拣选系统的一些实施例的结构示意图；
图2为本公开的存储装置中将存储格插入隔板上的导向槽的一些实施例的结构示意图；
图3为本公开的存储装置中驱动单元的一些实施例的结构示意图；
图4为本公开的存储装置的驱动单元中固定轮的一些实施例的侧视图；
图5为本公开的存储装置的驱动单元中固定轮的一些实施例的主视图；
图6为本公开的物品拣选方法的一些实施例的流程示意图；
图7为本公开的物品拣选方法的另一些实施例的流程示意图；
图8为本公开物品拣选系统的一些实施例的模块组成示意图；
图9为本公开物品拣选系统的另一些实施例的结构示意图。
附图标记说明
1、存储装置；11、框架；12、隔板；121、导向槽；13、存储格；14、固定轮；141、套筒部；142、安装部；1421、环槽；1422、限位部；1423、孔；15、导向件；16、螺旋件；17、动力部件；2、运输装置；21、挂钩；3、容器；4、反射板；5、对射传感器；B、物品检测部件；C、货架主体；D、驱动单元；6、调度系统；7、打包复核台。
具体实施方式
以下详细说明本公开。在以下段落中，更为详细地限定了实施例的不同方面。如此限定的各方面可与任何其他的一个方面或多个方面组合，除非明确指出不可组合。尤其是，被认为是优选的或有利的任何特征可与其他一个或多个被认为是优选的或有利的特征组合。
本公开中出现的“第一”、“第二”等用语仅是为了方便描述，以区分具有相同名称的不同组成部件，并不表示先后或主次关系。
在本公开的描述中，采用了“上”、“下”、“顶”、“底”、“前”、“后”、“内”和“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公开，而不是指示或暗示所指的装置必须具有特定的方位、以特定的方位构造和操控，因此不能理解为对本公开保护范围的限制。
发明人所知晓的相关技术中，货架一般具有双面储货空间，每一面储货空间分为多层，每一层储货空间内设有不同的存储格，存储格被配置为存储物品。在接收到上 游订单后，调度系统会根据一系列算法将订单中的物品具体定位到货架的存储格，然后通知AGV到达储位，并由AGV托运货架到达拣选工作位置，人工再根据电脑界面的提示，把不同存储格的不同物品拣选到容器中。如果货架另一面也有需要拣选的物品，则需要使AGV执行换面任务，然后再由人工拣选另一面存储格的物品，直至把容器需要的物品拣选完成后，再把容器放到输送线上，到复合台去打包复核。
此种拣选方式至少具备如下缺点之一：
1、需要有人工参与，而且货架一般较高，高层存储格中的物品，需要人工借助梯子等工具才能完成拣选。
2、对于两面的货架，经常会有两面的物品都需要拣选，所以需要AGV频繁托运货架执行换面任务，在换面时也需要保证不与其它物体发生碰撞。
3、AGV托运货架时，经常因为货架重心偏离导致AGV偏载而脱离引导线，在行驶过程中也容易与其它物体发生碰撞，而且货架的高度和重量较大，从安全角度考虑，需要限制AGV的行驶速度。
4、在当前货架拣选完成后，需要进一步判断该货架应该返回仓库还是前往另一个拣选工作位置，货架的管理复杂。
上述拣选方式存在的缺点都会降低仓库中货物的拣选效率。
有鉴于此，本公开的实施例提供了一种物品拣选系统及拣选方法，能够提高拣选效率。
本公开实施例的物品拣选系统，存储装置能够使放置于其中的物品移出，调度系统能够根据各待拣物品在存储装置中的存放位置，使运输装置运动至待拣物品所在存储装置，以使待拣物品被驱动脱离所在存储装置后落于运输装置，以实现物品拣选。该系统通过具备自动移出物品功能的存储装置与运输装置配合，可实现物品的自动化拣选，省去了人工拣选的环节，也无需运输装置搬运存储装置，能够简化拣选流程，提高物品拣选效率，并提高拣选过程的安全性。
如图1至图5，以及图8所示，在一些实施例中，本公开提供了一种物品拣选系统，包括：存储装置1、运输装置2和调度系统6。
其中，存储装置1用于存放物品，可设在物流系统的仓库中，例如无人仓库，仓库中可设置多个存储装置1。存储装置1可以是货架装置，具有使放置于其中的待拣物品移动的功能，能够在接收到物品移出指令后驱动存储装置1中的待拣物品移动。
运输装置2用于运送物品。运输装置2可以是AGV，AGV上设有电磁或光学等 自动导引装置，能够按照调度系统6规划的路径沿规定的导引路径行驶，在不同存储装置1之间移动时路径更加灵活；或者运输装置2也可以是有轨制导车辆(全称：“Rail Guided Vehicle”，简称RGV)，能够沿预设轨道行驶；或者运输装置2也可以是机器人等。
调度系统6用于根据各待拣物品的存放位置，使运输装置2运动至到达待拣物品所在存储装置1，以使待拣物品被驱动脱离所在存储装置1后落于运输装置2，以实现物品拣选。例如，在物流系统中，待拣物品可以是订单中的待拣物品，也可以是按照预设任务目标确定的待拣物品。
在运输装置2运动至到达待拣物品所在存储装置1后，可由调度系统6向存储装置1发送物品移出指令，以使存储装置1驱动待拣物品脱离所在存储装置1。此种方式可实现自动化拣选，使整个拣选过程更加顺畅，提高拣选效率。或者，在运输装置2运动至到达待拣物品所在存储装置1后，也可触发存储装置1上的按钮，以使存储装置1接收到物品移出指令。
例如，在需要对订单中的待拣物品进行拣选时，在运输装置2到达存储装置1之前，调度系统6需要确定订单中各个待拣物品的存放位置，以便确定出待拣物品所在存储装置1的位置，以规划运输装置2的运动路径。而且，调度系统还6用于根据订单中待拣物品的类型和数量分配运输装置2单次需要运送的物品，运输装置2单次需要运送的物品可以只包括一个订单中的物品，也可以包括多个订单中的物品，需要根据订单中物品的大小和数量来确定。
本公开的实施例通过具备自动移出物品功能的存储装置1与运输装置2配合，能够实现物品的自动化拣选，无需运输装置2将货架等存储装置1搬运至人工拣选地点，并省去了人工拣选的环节，也无需运输装置2搬运货架等存储装置1，能够简化拣选流程，提高仓库中的拣选效率。而且，由于运输装置2在拣选过程中无需搬运货架等运输装置，直接运送物品，可降低运输装置2在行驶过程中的重心，也不容易由于偏载而发生车辆倾斜或偏离引导件，引导件可以是设于地面的引导线或者轨道等，可提高运送物品的安全性。
如图1所示，本公开的物品拣选系统还可包括容器3，设在运输装置2上，用于容纳从存储装置1落下的待拣物品。通过在运输装置2上设置容器3，可以更好地收纳待拣物品，防止待拣物品掉落在地面上发生损坏或在拣选物品过程中发生遗漏。
具体地，容器3可以通过人工放置于运输装置2上，也可通过例如皮带输送部件 等移载装置将容器3自动搭载于运输装置2上，可进一步提高拣选过程的自动化程度。为了避免物品在落入容器3时集中在特定位置，容器3的底部可设有从上至下渐缩的导向结构，以使物品在容器3内均匀放置。
进一步地，如图1所示，本公开的物品拣选系统还可包括：物品检测部件B，设在容器3内壁上靠近开口的位置，用于检测待拣物品是否落入容器3内。例如，物品检测部件B可以包括设在容器3其中一个侧壁上的反射板4和设在相对侧壁上的对射传感器5，反射板4可发出能够被对射传感器5接收的光线，当有物品落入容器3内时，会将光线切断，从而发出物品落入容器3内的检测信号。可替代地，物品检测部件B也可以包括设在容器3内相对侧壁上的光电对射管。
在某个存储装置1拣选物品的过程中，调度系统6用于根据物品检测部件B的检测结果，判断从存储装置1落入容器3内的物品数量与预先分配的物品数量是否一致，并在一致的情况下判定当前存储装置1完成物品拣选，可以离开当前存储装置1；在不一致的情况下判定当前存储装置1未完成物品拣选。
该实施例能够较为准确地判断出当前存储装置1是否完成物品拣选，并最终判断出当前拣选任务是否完成，可提高拣选的正确率，防止出现遗漏或移出物品数量过多的情况。与此同时，存储装置1也可判断自身是否完成物品移出任务，存储装置1的判断结果与物品检测部件B的判断结果可相互校验，能够更加准确地判断出是否完成物品拣选。
在一些实施例中，如图9所示，本公开的物品拣选系统还可包括：打包复核台7，用于对物品进行打包复核。其中，存储装置1设有多个，调度系统6用于在一个存储装置1的物品拣选完成后，在当前拣选任务未完成的情况下使运输装置2运动至下一个存储装置1，并在当前拣选任务完成的情况下使运输装置2将物品运送至打包复核台7。
该实施例能够通过运输装置2的移动接收当前拣选任务中各个存储装置1拣选的物品，可自动完成当前拣选任务中所有物品的拣选，在不搬运存储装置1的情况下灵活地完成拣选任务，可提高物品拣选的效率和可靠性。
如图1和图2所示，存储装置1包括：货架主体C和驱动部件。其中，货架主体C中设有多个用于存放物品的存储位，每个存储位中可以放置相同或不同的物品，例如，货架主体C中的各个存储位可沿高度方向设有多层，每一层沿货架主体的宽度方向(图1中的W向)并排设有多个存储位，货架主体C的厚度方向设有两排存储位， 形成双面货架，或者也可沿厚度方向设有多排存储位。货架主体在最底部的存储位的下方设有停放空间A，用于使运输装置2停靠接收物品。驱动部件用于在接收到物品移出指令后驱动存储位中的物品移动。
调度系统6用于根据订单中待拣物品所在的存储位，使运输装置2运动至待拣物品所在存储装置1下方的停放空间A，并使驱动部件驱动待拣物品脱离所在存储位以落于运输装置2，以实现物品拣选。
存储装置1在拣选物品的过程中，运输装置2位于存储装置1底部，可防止与场地中行驶的其它运输装置发生碰撞，在存储装置1为双面货架时，还能避免运输装置2频繁在存储装置1的两面之间进行位置切换，可提高拣选过程的安全性。
在该实施例中，驱动部件可包括多个独立的驱动单元D，分别对应设在各存储位中，用于驱动所在存储位中的物品移动。调度系统6用于控制各驱动单元D的工作时间或工作参数，以使所需数量的待拣物品脱离所在存储位，例如，在驱动部件包括电机时，可通过控制电机的转动时间和转动圈数使所需数量的待拣物品脱离所在存储位。
该实施例可对各个存储位的物品移出进行独立控制，能够灵活地移出特定存储位中的物品。同一存储位可放置相同的物品，利于控制移出物品的种类和数量。可选地，也可使多个存储位共用一个驱动部件，驱动部件具有多个输出端或输出端可实现位置切换，以使不同存储位中的物品移出。
如图1所示，货架主体包括：框架11、多个隔板12和多个存储格13。其中，各隔板12沿框架11的高度方向间隔设置，以将框架11在高度方向上分为多层，可根据物品的高度设置相邻隔板12之间的距离；各存储格13可拆卸地设在各隔板12上，每个隔板12上的至少部分存储格13沿着货架主体的宽度方向并排设置，存储格13的内部空间形成存储位，存储格13的端面可呈U形或矩形结构。对于单面货架，每个隔板12上的各存储格13沿着货架主体的宽度方向并排设置；对于双面货架，每个隔板12上沿厚度方向设有两排存储格13。
该实施例通过设置可拆卸的存储格13，可以在存储格13拆下的状态下先将物品放入存储格13内，再将存储格13连同物品一起安装到隔板12上，这样有足够的操作空间，而且对于高层的存储格13也便于装货，可提高上货效率。
如图2所示，隔板12上设有沿货架主体C的厚度方向延伸的导向槽121，存储格13能够从导向槽121的一端插入导向槽121内，例如，导向槽121可呈U形，包覆存 储格13的底部区域。通过设置导向槽121，可方便地通过插拔的形式对存储格13进行拆装，且能够对存储格13进行定位。
进一步地，驱动部件包括多个驱动单元D，分别与各存储格13对应设置，驱动单元D具有第一电气接口，框架11上与各存储格13对应的位置设有第二电气接口，第一电气接口和第二电气接口形成快插接口，用于实现为驱动单元D供电和提供控制信号中的至少一种。在存储格13安装到位的状态下，快插接口连接到位。例如，第一电气接口可以是插头，第二电气接口为插孔；或者第一电气接口可以是插孔，第二电气接口为插头；或者第一电气接口和第二电气接口均为插头，通过卡扣实现连接。
该实施例能够将存储格13的安装与驱动单元D的电气连接通过同一个操作完成，省去了接线拆线环节，在存储装置1中空间设计较为紧凑的情况下，能够提高存储格13拆装的效率。
如图2和图3所示，货架主体C包括多个导向件15，分别沿货架主体C的厚度方向固定在各存储位中，例如可平行于存储格13的底面固定在存储格13中，导向件15可以为长条板状结构，导向件15的端部可以向下弯折以便与存储格13固定。驱动单元D包括：动力部件17、固定轮14和螺旋件16。
其中，动力部件17具有输出轴，用于输出旋转运动，例如，动力部件17可以是电机或马达等；固定轮14可设在存储格13的一端，与动力部件17的输出轴同轴连接，如图4所示，固定轮14包括套筒部141和连接在套筒部141一端的安装部142，动力部件17的输出轴插入套筒部141，并通过顶丝锁紧。螺旋件16，例如弹簧，沿导向件15的长度方向套设在导向件15外，导向件15可对螺旋件16起到导向作用。螺旋件16的一端与固定轮14连接，用于在动力部件17带动固定轮14转动时，使螺旋件16旋转，以便驱动放置在导向件15上且位于螺旋件16相邻螺旋线之间的物品移动。如图4所示，安装部142沿厚度方向的中间位置设有环槽1421，环槽1421的两端具有限位部1422，螺旋件16的一端套设在环槽1421内。如图5所示，固定轮14上设有孔1423，用于对螺旋件16进行固定。
其中，每个存储位中存放的物品种类相同，调度系统6用于根据订单中待拣物品的数量，控制动力部件17带动螺旋件16转动预设圈数，以使所需数量的待拣物品脱离存储位。通过此种方式可以准确地控制脱离存储位的待拣物品的数量。可替代地，调度系统6也可通过控制动力部件17的转动圈数使所需数量的待拣物品脱离存储位。
为了使脱离存储位的待拣物品顺利地落入容器3内，防止待拣物品发生损坏存储 装置1中设有通道，用于为落下的物品提供导向，各个存储位均与通道的进口端连通，容器3需要与通道的出口端对准。
若存储装置1包括双面货架，存储装置1中设有通道，用于为落下的物品提供导向，通道设在双面货架沿厚度方向的中间位置，这样在双面存储区内的待拣物品落下时，均能直接落入容器3内，无需调整运输装置2的位置。
本公开实施例的物品拣选系统提供了一种运输装置2自动拣选的模式，无需运输装置2搬运存储装置1，而是采用具有自动移出物品功能的存储装置1，调度系统6通知运输装置2带着容器3去存储装置1下面拣选，并根据订单中的物品，使待检物品所在存储格13中的动力部件将相应数量的待检物品推送到容器3中，物品检测部件B可检测落入容器3的待拣物品的数量，并通过与调度系统6通讯核对物品数量。每个存储装置1拣选完成后，会请求调度系统6查询拣选任务明细，如果需要继续拣选，则由调度系统6计算出下一个需要拣选的存储装置1，如果当前拣选任务完成，运输装置将物品直接运送到打包复核台7复核打包，完成出库。
此种物品拣选系统可完全释放人力，实现拣选的全自动化操作，并且每个存储装置1完成后都实时规划最优存储装置1，保证整个流程都处于最优的拣选方案，可避免生产中因搬运存储装置1导致的各种异常，可提高运输装置2的行驶速度，从而提升运输装置2的工作效率，进而提高库房的出库效率，也避免了人工需要借助梯子去拣选高层的物品。
其次，本公开提供了一种基于上述实施例物品拣选系统的拣选方法，在一些实施例中，如图6所示的流程示意图，该拣选方法包括：
步骤101、根据各待拣物品在存储装置1中的存放位置，使运输装置2运动至各待拣物品所在的存储装置1；待拣物品在存储装置1中的存放位置可预先存储在调度系统6中。例如，在物流系统中，待拣物品可以是订单中的待拣物品，也可以是按照预设任务目标确定的待拣物品。
步骤102、存储装置1响应于物品移出指令，以驱动待拣物品脱离所在存储装置1从而落于运输装置2。
其中，步骤101和102顺序执行，步骤101可由调度系统6执行。此种拣选方法能够实现物品的自动化拣选，无需运输装置2将货架等存储装置1搬运至人工拣选地点，并省去了人工拣选的环节，也无需运输装置2搬运货架等存储装置1，能够简化拣选流程，提高仓库中物品的拣选效率。而且，由于运输装置2在拣选过程中无需搬 运货架等存储装置1，直接运送物品，可减低运输装置2在行驶过程中的重心，也不容易由于偏载而发生车辆倾斜或偏离引导件，引导件可以是设于地面的引导线或者轨道等，可提高运送物品的安全性。
在一些实施例中，如图7所示的流程示意图，本公开的拣选方法还可包括：
步骤103、判断当前存储装置1的物品拣选是否完成。
步骤103可在每一个待拣物品脱离存储位之后执行，也可以在调度系统6使各个与待拣物品对应的驱动单元D的动作完成后执行，能够判断出运输装置2离开当前存储装置1的时机。
进一步地，步骤103判断当前存储装置1的物品拣选是否完成的具体包括：
步骤103A、通过物品检测部件B检测待拣物品是否落入运输装置2上的容器3内；
步骤103B、根据物品检测部件B的检测结果，判断从存储装置1落入容器3内的物品数量是否与预先分配的物品数量一致，如果一致则判定当前存储装置1的物品拣选完成，否则判定当前存储装置1的物品拣选未完成。步骤103A和103B在图中未示意出。
该实施例能够较为准确地判断出当前存储装置1是否完成物品拣选，并最终判断出当前拣选任务是否完成，可提高拣选的正确率，防止出现遗漏或移出物品数量过多的情况。与此同时，存储装置1也可判断自身是否完成物品移出任务，存储装置1的判断结果与物品检测部件B的判断结果可相互校验，能够更加准确地判断出是否完成物品拣选。
在一些实施例中，存储装置1设有多个，如图7所示的流程示意图，在一个存储装置1的物品拣选完成后，本公开的拣选方法还可包括：
步骤104、判断当前拣选任务是否完成，如果完成，则执行步骤105，否则执行步骤106；
步骤105、使运输装置2运动至下一个存储装置1；
步骤106、使运输装置2将物品运送至打包复核台7。
该实施例能够通过运输装置2的移动接收当前拣选任务中各个存储装置1拣选的物品，可自动完成当前拣选任务中所有物品的拣选，在不搬运存储装置1的情况下灵活地完成拣选任务，可提高物品拣选的效率和可靠性。
在一些实施例中，存储装置1包括货架主体C和驱动部件，货架主体C中设有多 个用于存放物品的存储位，驱动部件包括多个驱动单元D，分别对应设在各存储位中，步骤102中驱动待拣物品脱离所在存储装置1具体包括：
使待拣物品所在存储位对应的驱动单元D开启；
通过独立控制各驱动单元D使所需数量的待拣物品脱离所在的存储位。
例如，调度系统6可根据订单中待拣物品的数量，控制动力部件17带动螺旋件16转动预设圈数，或者控制动力部件17的转动圈数，以使所需数量的待拣物品脱离存储位，从而可灵活精确地控制拣选过程。
在一些实施例中，如图7所示的流程示意图，在使运输装置2运动至各待拣物品所在的存储装置1之前，本公开的拣选方法还可包括：
步骤100、根据订单中待拣物品的类型和数量分配运输装置2单次需要运送的物品。
运输装置2单次需要运送的物品可以是一个订单或者多个订单中的物品，在运送至打包复核台7后，还需要对物品进行复核、将单次运送的物品按照订单进行拆分或者对物品进行打包等。通过提前分配运输装置2单次需要运送的物品，可充分地利用容器3的容纳能力，不仅能够提高物品的运送效率，还能够方便拣选后的复核打包操作。
在一些实施例中，在根据各待拣物品在存储装置1中的存放位置，使运输装置2运动至各待拣物品所在的存储装置1之前，拣选方法还包括：
步骤100A、确定各待拣物品的存放位置，例如，可确定订单中各待拣选物品所在的存储装置1以及具体的存储位。
步骤100B、根据各待拣物品对应的存储装置1的位置，规划运输装置2的运动路径。
其中，步骤100B在步骤100A之后执行，在步骤100B中，可在运输装置2到达存储装置1之前，将运输装置2到达各个存储装置1的运动路径全部规划完毕，或者也可在完成一个存储装置1的拣选之后，动态地规划下一个存储装置1的运动路径。步骤100与100A和100B的执行顺序不受限制。
上述各步骤中，除步骤102和103A以外的步骤均可由调度系统6执行。
本公开所提供的一种物品拣选系统及拣选方法进行了详细介绍。本文中应用了具体的实施例对本公开的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本公开的方法及其核心思想。应当指出，对于本技术领域的普通技术人员来说， 在不脱离本公开原理的前提下，还可以对本公开进行若干改进和修饰，这些改进和修饰也落入本公开权利要求的保护范围内。

Claims (17)

  1. 一种物品拣选系统，包括：
    存储装置(1)，被配置为在接收到物品移出指令后驱动所述存储装置(1)中的待拣物品移动；
    运输装置(2)，被配置为运送物品；和
    调度系统(6)，被配置为根据待拣物品在所述存储装置(1)中的存放位置，使所述运输装置(2)运动至所述待拣物品所在的存储装置(1)，以使所述待拣物品被驱动脱离所在存储装置(1)后落于所述运输装置(2)。
  2. 根据权利要求1所述的物品拣选系统，还包括：
    容器(3)，设在所述运输装置(2)上，被配置为容纳从所述存储装置(1)落下的待拣物品。
  3. 根据权利要求2所述的物品拣选系统，还包括：
    物品检测部件(B)，设在所述容器(3)内壁上靠近开口的位置，被配置为检测所述待拣物品是否落入所述容器(3)内；
    其中，所述调度系统(6)被配置为根据所述物品检测部件(B)的检测结果，判断从所述存储装置(1)落入所述容器(3)内的物品数量与预先分配的物品数量是否一致，并在一致的情况下判定当前所述存储装置(1)完成物品拣选。
  4. 根据权利要求1所述的物品拣选系统，还包括：
    打包复核台(7)，被配置为对物品进行打包复核；
    其中，所述存储装置(1)设有多个，所述调度系统(6)被配置为在一个所述存储装置(1)的物品拣选完成后，在当前拣选任务未完成的情况下使所述运输装置(2)运动至下一个所述存储装置(1)，并在当前所述拣选任务完成的情况下使所述运输装置(2)将物品运送至所述打包复核台(7)。
  5. 根据权利要求1所述的物品拣选系统，其中所述存储装置(1)包括：
    货架主体(C)，设有多个用于存放物品的存储位，且所述货架主体(C)在最底部的所述存储位的下方设有停放空间(A)，被配置为供所述运输装置(2)在接货时停放；和
    驱动部件，被配置为在接收到所述物品移出指令后驱动所述存储位中的物品移动。
  6. 根据权利要求5所述的物品拣选系统，其中所述驱动部件包括多个独立的驱动单元(D)，分别对应设在各所述存储位中，被配置为驱动所在存储位中的物品移动；
    其中，所述调度系统(6)被配置为控制各所述驱动单元(D)以使所需数量的待拣物品脱离所在存储位。
  7. 根据权利要求5所述的物品拣选系统，其中所述货架主体(C)包括：
    框架(11)；
    多个隔板(12)，沿所述框架(11)的高度方向间隔设置，以将所述框架(11)在所述高度方向上分为多层；和
    多个存储格(13)，可拆卸地设在各所述隔板(12)上，每个所述隔板(12)上的至少部分存储格(13)沿着所述货架主体(C)的宽度方向并排设置，所述存储格(13)的内部空间形成所述存储位。
  8. 根据权利要求7所述的物品拣选系统，其中所述隔板(12)上设有沿所述货架主体(C)的厚度方向延伸的导向槽(121)，所述存储格(13)能够从所述导向槽(121)的一端插入所述导向槽(121)内。
  9. 根据权利要求6所述的物品拣选系统，其中所述货架主体(C)包括多个导向件(15)，分别固定在各所述存储位中，所述驱动单元(D)包括：
    动力部件(17)，具有输出轴，被配置为输出旋转运动；
    固定轮(14)，与所述动力部件(17)的输出轴同轴连接；和
    螺旋件(16)，套设在所述导向件(15)外，所述螺旋件(16)的一端与所述固定轮(14)连接，被配置为在所述动力部件(17)带动所述固定轮(14)转动时，驱动放置在所述导向件(15)上且位于螺旋件(16)相邻螺旋线之间的物品移动。
  10. 根据权利要求1所述的物品拣选系统，其中所述存储装置(1)包括双面货架，所述存储装置(1)中设有通道，被配置为对落下的物品提供导向，所述通道设在所述双面货架沿厚度方向的中间位置。
  11. 一种物品拣选方法，包括：
    根据各待拣物品在存储装置(1)中的存放位置，使运输装置(2)运动至各待拣物品所在的存储装置(1)；
    所述存储装置(1)响应于物品移出指令，驱动所述存储装置(1)中的待拣物品移动，以使所述待拣物品脱离所在存储装置(1)后落于所述运输装置(2)。
  12. 根据权利要求11所述的物品拣选方法，还包括：判断当前所述存储装置(1) 的物品拣选是否完成。
  13. 根据权利要求12所述的物品拣选方法，其中判断当前所述存储装置(1)的物品拣选是否完成的步骤包括：
    通过物品检测部件(B)检测所述待拣物品是否落入所述运输装置(2)上的容器(3)内；
    根据所述物品检测部件(B)的检测结果，判断从所述存储装置(1)落入所述容器(3)内的物品数量是否与预先分配的物品数量一致，如果一致则判定当前所述存储装置(1)的物品拣选完成。
  14. 根据权利要求11所述的物品拣选方法，其中所述存储装置(1)设有多个，所述物品拣选方法还包括：
    在一个所述存储装置(1)的物品拣选完成后，判断当前拣选任务是否完成，如果完成，则使所述运输装置(2)运动至下一个所述存储装置(1)；如果未完成，则使所述运输装置(2)将物品运送至打包复核台(7)。
  15. 根据权利要求11所述的物品拣选方法，其中所述存储装置(1)包括：货架主体(C)和驱动部件，所述货架主体(C)中设有多个用于存放物品的存储位，所述驱动部件包括多个独立的驱动单元(D)，分别对应设在各存储位中；驱动待拣物品脱离所在存储位的步骤包括：
    使待拣物品所在存储位对应的驱动单元(D)开启；
    通过控制各所述驱动单元(D)使所需数量的待拣物品脱离所在的存储位。
  16. 根据权利要求11所述的物品拣选方法，其中在使所述运输装置(2)运动至各待拣物品所在的存储装置(1)之前，所述物品拣选方法还包括：
    根据订单中待拣物品的类型和数量分配所述运输装置(2)单次需要运送的物品。
  17. 根据权利要求11所述的物品拣选方法，其中在根据各待拣物品在所述存储装置(1)中的存放位置，使所述运输装置(2)运动至各待拣物品所在的存储装置(1)之前，所述物品拣选方法还包括：
    确定各待拣物品的存放位置；
    根据各待拣物品对应的所述存储装置(1)的位置，规划所述运输装置(2)的运动路径。
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