WO2022206791A1

WO2022206791A1 - Picking system and method

Info

Publication number: WO2022206791A1
Application number: PCT/CN2022/083888
Authority: WO
Inventors: 汪旭
Original assignee: 北京极智嘉科技股份有限公司
Priority date: 2021-03-30
Filing date: 2022-03-30
Publication date: 2022-10-06
Also published as: CN113071838A; CN116648414A; CN115140467A

Abstract

A picking system and method, the picking system comprising: a work station (420), the work station (420) comprising at least one picking station, the picking station being used for processing a storage container (741); a movable vehicle parking area (430), the movable vehicle parking area (430) being used to park an automatic transport device (440) that carries a movable vehicle (460) and is deployed with a container handling device (450); the automatic transport device (440), the automatic transport device (440) being responsible for transporting the movable vehicle (460) to the movable vehicle parking area (430); and the container handling device (450), the container handling device (450) being configured to move at least along the vertical Y-axis direction to pick and drop the storage container (741) on the movable vehicle (460), or to move the storage container (741) between the picking station and the movable vehicle (460). The picking system can achieve the completion of movement of storage containers without the participation of an operator, reducing the input of operators while effectively improving picking efficiency.

Description

Picking System and Method

This application is required to be submitted to the China Patent Office on March 30, 2021, the application number is 202110338826.9, the name of the invention is "a cargo position adjustment system, a cargo position container adjustment device and a cargo position adjustment method" and submitted on October 26, 2021 The priority of the Chinese Patent Office, application number 202111250965.2, and the title of the Chinese patent application entitled "Pickling System and Method", the entire contents of which are incorporated herein by reference.

technical field

The present application relates to the field of communication technology, and in particular, to a picking system and method.

Background technique

Most of the picking in the prior art is carried out by the operator moving to the shelf to carry out the picking operation of the items, and then transporting the picked items to the workstation for packing; this process not only requires the cooperation of additional operators, but also consumes a lot of money It is difficult to support large-scale scenarios of efficient picking. At the same time, because the items are stored on the multi-layered shelves, it requires the operator to pick and place the items by climbing, which will not only affect the personal safety of the operator, but also seriously affect the picking efficiency. An effective solution to solve the above problems.

SUMMARY OF THE INVENTION

In view of this, the embodiments of the present application provide a sorting system to solve the technical defects existing in the prior art. The embodiments of the present application also provide another sorting system, a container loading and unloading device, and a sorting method.

According to a first aspect of the embodiments of the present application, a sorting system is provided, including:

a work station, the work station includes at least one picking station for processing the slot containers;

a movable carrier parking area, the movable carrier parking area is used for parking the automatic handling equipment carrying the movable carrier, and the container loading and unloading equipment is deployed;

automatic handling equipment, the automatic handling equipment is responsible for handling the movable carrier to the parking area of the movable carrier;

Container handling apparatus configured to move in at least the vertical Y-axis direction to pick up and place slot containers on a movable carrier, or to move cargo between a picking station and a movable carrier bit container.

Optionally, the workstation includes at least one container queuing area, and when the picking station is occupied, the container loading and unloading equipment is used to place the cargo space containers in the container queuing area and queue up in sequence; wherein, the picking Work stations correspond to the container queuing areas.

Optionally, the picking station includes a handheld device, and/or a display device, and/or an electronic display label device, and/or a light guidance device, and/or a voice guidance device; wherein, the handheld device, the The display device and the electronic display label device are used for displaying information guiding the operator, and the light guiding device and the voice guiding device are used for giving information assisting the operator to operate.

Optionally, the container handling equipment includes a position and attitude detection device for a container in a position, and the device for detecting a position for a container in a position is used to detect the position and attitude of the container in the container on the container handling equipment.

Optionally, the picking station includes an identification device, and the identification device is used to identify the information of the container on the container handling equipment.

Optionally, the container loading and unloading device includes a bearing assembly and a loading and unloading assembly; the loading and unloading assembly is used to extend along the Z-axis direction.

Optionally, the handling assembly is configured to move only in the Y-axis direction; the automatic handling equipment is used to drive the movable carrier to move in the X-axis direction to pick up and place the cargo space container.

Optionally, the handling assembly is configured to move in the Y-axis direction and the X-axis direction to pick up and place the cargo space container.

Optionally, the container loading and unloading device includes an identification system, and the identification system is used to identify the position of the container to be operated, or to identify the position of the empty space to be operated in the movable carrier; according to the identified The position guides the movement of the handling assembly.

Optionally, the container handling device includes a safety mechanism for restricting the handling assembly from entering the operator's work area.

Optionally, the safety mechanism includes a control unit and a detection sensor; the control unit sends a stop operation instruction to the container handling equipment based on an electrical signal detected by the detection sensor that enters the operator's work area by mistake.

Optionally, the loading and unloading assembly further includes a limiting mechanism, and the limiting mechanism is configured to limit the two sides of the container located on the carrier assembly.

Optionally, the limiting mechanism includes a first limiting portion and a second limiting portion that are arranged at intervals; the first limiting portion and the second limiting portion are configured to face each other along the X-axis direction relative to the bearing assembly Or move back to adjust the distance between the first limiting portion and the second limiting portion.

Optionally, the assembling and dismounting assembly includes a first base on which the first limiting portion and the second limiting portion are slidably fitted, and further includes driving the first limiting portion and the second limiting portion. A transmission mechanism that moves along the X-axis direction on the first base.

Optionally, the transmission mechanism includes a transmission belt controlled by a pulley and extending in the X-axis direction, and the first limiting portion and the second limiting portion are respectively connected to two sides of the interval between the transmission belts.

Optionally, the limiting mechanism is provided at a position above the carrier assembly, and is configured to limit the upper region of the container.

Optionally, the loading and unloading assembly further includes a rotating mechanism, and the rotating mechanism is configured to drive the pickup assembly and the carrying assembly to rotate around the Y axis.

Optionally, the rotating mechanism includes a second base, and a slewing support portion rotatably connected to the second base, and the bearing assembly and the pickup and delivery assembly are relatively connected to the slewing support portion.

According to a second aspect of the embodiments of the present application, another sorting system is provided, including:

a control terminal, at least one workstation, at least one movable carrier docking area, at least one automatic handling equipment, at least one container handling equipment, and at least one movable carrier for storing the storage space containers;

The control terminal is configured to, when receiving the container adjustment instruction, send a handling instruction to the automatic handling equipment according to the container adjustment instruction, and send a loading and unloading instruction to the container handling equipment;

the automatic handling equipment, configured to move to the movable carrier based on the handling instruction, and to transport the movable carrier to the movable carrier parking area;

The container handling device is configured to move at least in the vertical Y-axis direction based on the handling instruction to pick up and place at least one position container on the movable carrier, or to park at the movable carrier. The bay container is moved between the movable carrier of the zone and the work station.

Optionally, the container handling device is further configured to move at least one storage space container to a target position based on the loading and unloading instruction, wherein the target position is a movable carrier on which the storage space container is located, or other movable vehicles.

Optionally, the control terminal is further configured to acquire the position information of the cargo space container on the movable carrier, and determine, based on the position information of the cargo space container, the need for the position information of the cargo space container. When the position is adjusted, a transfer instruction is sent to the automatic transfer equipment, and a loading and unloading instruction is sent to the container loading and unloading equipment.

Optionally, the movable carrier includes at least two storage areas; wherein, the first delivery probabilities of different storage areas are different, and the first delivery probability of the storage area is the same as the storage area and the storage area. The distance from the initial pickup location of the container handling equipment is negatively correlated.

Optionally, the control terminal is further configured to determine the shipping demand information corresponding to the cargo space container, and determine the first out of the shipping demand information and the storage area where the cargo space container is currently located. In the case where the library probabilities do not match, a transfer instruction is sent to the automatic transfer equipment, and a loading and unloading instruction is sent to the container handling equipment.

Optionally, the control terminal is further configured to, in the case where it is determined that the shipping demand information does not match the first shipping probability of the storage area where the cargo space container is currently located, based on the shipping demand information, determine a target storage area and a target position of the cargo space container within the target storage area, and generate the loading and unloading instruction based on the target position.

Optionally, when there are multiple movable carriers, the target storage area is the target storage area of the movable carrier where the cargo space container is currently located, or the target storage area of other movable carriers. .

Optionally, the shipping demand information includes the second delivery probability and/or the delivery time.

Optionally, the control terminal is further configured to, when there are multiple movable carriers, determine the position of each movable carrier based on the position information of the cargo space container on each movable carrier. The vacancy rate is determined, and for the first target movable carrier whose vacancy rate is higher than a preset value, a handling instruction is sent to the automatic handling equipment, and a handling instruction is sent to the container handling equipment.

Optionally, the control terminal is further configured to determine a second target movable vehicle with an empty cargo space, and based on the second target movable vehicle and the first target movable The automatic handling equipment sends a handling instruction, and sends a handling instruction to the container handling equipment;

the automatic handling equipment, further configured to transport the second target movable carrier and the first target movable carrier to the workstation;

The container handling apparatus is further configured to move a space container on the first target movable carrier to the second target movable carrier.

Optionally, the control terminal is further configured to, based on the received loading and unloading instruction, determine that the position of the cargo space container needs to be adjusted;

The target position includes at least one of a cargo inventory operation position, a cargo off-shelf position, and a target cargo position on the shelf.

Optionally, the container loading and unloading device further comprises at least one grab mechanism and a transfer mechanism corresponding to the grab mechanism;

The grabbing mechanism is configured to take out the storage space container from the storage space of the movable carrier based on the position information of the storage space container; or, take out the storage space from the target position container;

The transfer mechanism is configured to move the slot container to the target position or to move the slot container onto the movable carrier.

Optionally, the container loading and unloading device further includes at least one temporary storage mechanism;

The temporary storage mechanism is configured to temporarily store the cargo space container;

The transfer mechanism is configured to move the slot container on at least one of the escrow mechanisms to the target position.

Optionally, the container loading and unloading device further comprises a rotating mechanism connected with the grabbing mechanism;

The rotating mechanism is configured to drive the grabbing mechanism to rotate the storage space container to a target direction, so that the storage space container is moved to the target position by the transfer mechanism in the target direction , or move the cargo space container onto the movable carrier.

Optionally, when the loading and unloading instruction is a container picking and placing instruction, the container loading and unloading device is further configured to move the loading and unloading components included in the container loading and unloading device to a target picking and placing position based on the container loading and unloading instruction. , and extends along the Z-axis direction to pick and place the storage container located on the workstation or the storage container located on the movable carrier.

Optionally, in the case where the loading and unloading instruction is a container placing instruction, the container loading and unloading device is further configured to move the loading and unloading components included in the container loading and unloading device to the target placement position based on the container placing instruction, and move along the The Z-axis direction is extended, and the storage space container picked up and placed by the loading and unloading assembly is placed on the work station or the storage space on the movable carrier.

Optionally, the container handling equipment is further configured to move the loading and unloading components included in the container handling equipment to a target pick-and-place position along the Y-axis direction based on the handling instruction, and wait for the automatic handling equipment to move the movable The carrier is transported to the movable carrier parking area.

Optionally, the container handling equipment is further configured to control the identification device included in the container handling equipment to identify the position of the storage space container based on the loading and unloading instruction, and to control the loading and unloading assembly to align the position of the storage space container.

Optionally, the container loading and unloading device is further configured to send an alignment adjustment instruction including position information of the loading and unloading assembly to the control terminal when the loading and unloading assembly is not aligned with the position of the cargo space container;

The control terminal is also configured to create equipment movement parameters according to the location information, and generate equipment movement instructions according to the equipment movement parameters and send them to the automatic handling equipment;

The automatic handling equipment is further configured to move the movable carrier to the target movable carrier parking area according to the equipment moving parameters carried in the equipment moving instruction as a response to the equipment moving instruction.

Optionally, the automatic handling equipment is further configured to carry the movable carrier in the movable carrier parking area to move along the X-axis according to the equipment movement parameters, and stop to the target according to the movement result. Movable vehicle docking area.

According to a third aspect of the embodiments of the present application, a container loading and unloading device is provided, including:

The container handling apparatus comprises a container handling apparatus according to any one of the preceding claims.

According to a fourth aspect of the embodiments of the present application, a sorting method is provided, including:

The control terminal receives the business instruction, and the automatic handling device drives the movable carrier to move to the movable carrier parking area according to the handling instruction in the business instruction;

The automatic handling device drives the movable carrier to move a predetermined distance along the X-axis direction in the movable carrier parking area according to the coordinate information of the target position included in the business instruction;

The container loading and unloading equipment moves a predetermined distance along the Y-axis according to the coordinate information of the target position contained in the business instruction;

The container handling equipment moves the storage space container between the movable carrier and the workstation according to the handling instruction in the business order.

Optionally, the container loading and unloading equipment moves the cargo space container between the movable carrier and the workstation according to the loading and unloading instruction in the business instruction, including:

The container loading and unloading equipment moves the storage container to the target position on the movable carrier according to the loading and unloading instruction in the business instruction.

Optionally, the automatic handling equipment moves a predetermined distance along the X-axis direction in the movable carrier parking area, which is determined in the following manner:

The control terminal collects the coordinate information of the current position of the automatic handling equipment in the parking area of the movable carrier;

According to the coordinate information of the current position of the automatic handling equipment and the coordinate information of the target position, it is calculated that the automatic handling equipment moves a predetermined distance along the X-axis direction within the movable carrier parking area.

Optionally, the container loading and unloading equipment moves a predetermined distance along the Y axis, which is determined in the following manner:

The control terminal collects the coordinate information of the current position of the container loading and unloading equipment;

According to the coordinate information of the current position of the container handling apparatus and the coordinate information of the target position, it is calculated that the container handling apparatus moves a predetermined distance along the Y axis.

Optionally, the container loading and unloading device picks up and places the storage space container on the movable carrier according to the business instruction, and moves the storage space container to the next position after the execution of the business instruction is completed. processing nodes; or

The container loading and unloading equipment picks up and places the cargo space container on the movable carrier according to the business instruction, and places it at the picking station in the work station; after the execution of the business instruction is completed, the The slot container is returned to its original slot on said movable carrier; or

The container loading and unloading device picks up and places the storage space container on the movable carrier according to the business instruction, and puts back at least one target storage space container in the workstation after the execution of the business instruction is completed. to the original position on the movable carrier; or

The container handling device picks up and places the slot container on the picking station according to the business instruction, and places the slot container in an empty slot on the movable carrier.

According to a fifth aspect of the embodiments of the present specification, a computer-readable storage medium is provided, which stores computer-executable instructions, and when the instructions are executed by a processor, implements the steps of the above-mentioned picking method.

According to a sixth aspect of the embodiments of the present application, a computer program is provided, wherein when the computer program is executed in a computer, the computer is caused to execute the steps of the above-mentioned sorting method.

The picking system provided by the present application is equipped with a workstation, a movable carrier parking area, automatic handling equipment and container loading and unloading equipment, so that at least one picking station is set at the workstation for processing the cargo space containers; the movable carrier is docked The area is used to park the automatic handling equipment that carries the movable carrier, and the container loading and unloading equipment is deployed in the movable carrier parking area, so that after the automatic handling equipment transports the movable carrier to the movable carrier parking area, it can pass The container handling equipment deployed in this area moves the position container between the picking station and the movable carrier; realizing that the handling of the position container to the picking station can be completed without the participation of the operator in this process, which not only improves the Picking efficiency can also greatly protect the personal safety of staff, so that picking operations can be completed quickly in picking scenarios of any scale, improving picking efficiency and reducing human resource consumption.

Description of drawings

FIG. 1 is a schematic diagram of a sorting system provided by an embodiment of the present application;

2 is a schematic structural diagram of a container loading and unloading device provided by an embodiment of the present application;

Figure 3(a) is a schematic structural diagram of a loading and unloading assembly provided by an embodiment of the present application;

Figure 3(b) is a schematic structural diagram of a second type of loading and unloading assembly provided by an embodiment of the present application;

Figure 3(c) is a schematic structural diagram of a third loading and unloading assembly provided by an embodiment of the present application;

4 is a schematic structural diagram of a sorting system provided by an embodiment of the present application;

5 is a schematic diagram of a parking area for a movable vehicle provided by an embodiment of the present application;

6 is a flowchart of a sorting method provided by an embodiment of the present application;

7 is a schematic diagram of a cargo position adjustment system provided by an embodiment of the present application;

8 is a schematic diagram of the locations of different storage areas on a shelf provided by an embodiment of the present application;

FIG. 9 is a schematic diagram of a device for adjusting a cargo space container according to an embodiment of the present application;

The one-to-one correspondence between the component names and reference numerals in Figures 2 to 5 is as follows:

400, picking system; 410, control terminal; 420, workstation; 430, movable carrier parking area; 440, automatic handling equipment; 450, container handling equipment; 460, movable carrier; 4501, base; 4502, loading and unloading Component; 4503, pick-up and delivery component; 4504, frame body; 45041, X-axis track; 45042, Y-axis track; 45022, carrying component; 45011, bracket; 45021, conveyor belt; 4511, the first limit part; 4512, the first Two limit parts; 4513, the first base; 45131, the transmission belt; 45132, the pulley; 45133, the motor; 4514, the second base; 4515, the slewing support; with wheels.

The one-to-one correspondence between the component names and reference numerals in Figures 7 to 9 is as follows:

71, control server; 72, cargo position container adjustment device; 73, robot; 74, shelf; 741, cargo position container; 842, storage area; 842-1, A storage area; 842-2, B storage area; 911, Grab mechanism; 912, transfer mechanism; 913, detection assembly; 914, temporary storage mechanism; 915, steering mechanism.

Detailed ways

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar promotions without violating the connotation of the present application. Therefore, the present application is not limited by the specific implementation disclosed below.

The terminology used in one or more embodiments of the present application is for the purpose of describing a particular embodiment only, and is not intended to limit the one or more embodiments of the present application. As used in one or more embodiments of this application and the appended claims, the singular forms "a," "the," and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It will also be understood that the term "and/or" as used in one or more embodiments of this application refers to and includes any and all possible combinations of one or more of the associated listed items.

It should be understood that although the terms first, second, etc. may be used in one or more embodiments of the present application to describe various information, such information should not be limited by these terms. These terms are only used to distinguish the same type of information from each other. For example, the first could be termed the second, and similarly the second could be termed the first, without departing from the scope of one or more embodiments of the present application. Depending on the context, the word "if" as used herein can be interpreted as "at the time of" or "when" or "in response to determining."

First, terminology related to one or more embodiments of the present invention is explained.

Movable carrier: refers to the object handled by automatic handling equipment, which consists of one or more cargo spaces.

Slot: The position on the shelf, where the slot container can be stored, or it can be empty, that is, the slot container is not stored.

Slot Container: A container that carries goods and is stored at a slot on a shelf.

In the present application, a sorting system is provided, and the present application also relates to another sorting system, which will be described in detail one by one in the following embodiments.

The present application provides a picking system, as shown in FIG. 1 to FIG. 3 , the picking system includes: a work station, the work station includes at least one picking station, and the picking station is used to process the cargo space container; The movable carrier parking area is used for parking the automatic handling equipment carrying the movable carrier, and the container loading and unloading equipment is deployed; the automatic handling equipment is responsible for placing the movable carrier Transfer to the movable carrier docking area; container handling equipment configured to move at least in the vertical Y-axis direction to pick up and place slot containers on the movable carrier, or in picking Move bay containers between work stations and movable carriers.

Specifically, a workstation specifically refers to an area where one or more picking stations are set up to provide operators with picking stations, so that operators can complete the picking operation at the picking stations; A container used for storing commodities or articles, and the location container is stored in a movable carrier, or placed in a picking station for commodity picking; correspondingly, a movable carrier refers to a shelf placed in the storage area, which contains one or Multiple shelf layers, each shelf layer contains one or more cargo positions, each cargo position is used to store a cargo position container, and the movable carrier supports the movement of automatic handling equipment; automatic handling equipment specifically refers to handling movable load equipment, including but not limited to backpack type, jacking type, traction type or fork type, etc.; the parking area of movable vehicles specifically refers to the area where the automatic handling equipment carrying movable vehicles is parked, and each movable vehicle Container loading and unloading equipment is deployed in the carrier docking area, which is used to pick and place the cargo space containers on the movable carriers carried by the automatic handling equipment; correspondingly, the container loading and unloading equipment refers to the mechanism for moving the cargo space containers. Through the configured loading and unloading components, the position container can be removed from the movable carrier and placed in the picking station, or the position container in the picking station can be picked and placed into an empty position on the movable carrier. The loading and unloading components include but are not limited to suction cup type, hook-pull type, grab type or manipulator type, and the container loading and unloading equipment can move at least in the vertical Y-axis direction during the picking and placing operation of the cargo space container, so as to It realizes picking and placing the slot container on the movable carrier, and completes the movement of the slot container between the picking station and the movable carrier.

Among them, the movable carrier parking area can be set to one or more to support the parking of one or more movable carriers, realize the parallel completion of the picking or replenishment operations of different orders, and deploy a container loading and unloading equipment in each parking area , to facilitate the operation of the cargo space container.

Based on this, when items need to be replenished into the storage space container, or the items in the storage space container need to be placed in the picking station for picking, the movable carrier to which the storage space container needs to be operated can be moved by controlling the automatic handling equipment. Transported to the mobile carrier parking area, and then the container handling equipment deployed in the area will pick up and place the slot container on the mobile carrier, and then place it in the picking station, and the operator in the picking station will make up Goods or picking, in this process, not only does the operator not need to manually pick and place the cargo space container, but also reduces the operator's participation, the picking operation can be realized, the picking efficiency is greatly improved, and the operator's safety is guaranteed. Personal safety.

For example, when the item a needs to be replenished, firstly, the location container A for placing the item a can be determined, and then the movable carrier S for storing the location container A can be determined; The handling equipment transports the movable carrier S that stores the container A to the movable carrier parking area, and then picks and places the container A on the movable carrier S through the container loading and unloading equipment, and then places it on the picking tool. At this time, the operator in the picking station can replenish the item a in the position container A, and after the replenishment is completed, the container loading and unloading equipment will place the position container A on the movable carrier S again, and place The position is the original cargo space, and then the movable carrier S can be transported back to the storage area by the automatic handling equipment P.

It should be noted that after the automatic handling equipment transports the movable carrier to the movable carrier parking area, the container loading and unloading equipment will start to operate the cargo space container. During this process, the automatic handling equipment will be in a stagnant state, and The picking station may consume more time for replenishment or picking; therefore, the automatic handling equipment can receive new handling instructions at this time to move other movable carriers according to the new handling instructions. When the container handling equipment is completed, the original automatic handling equipment or other automatic handling equipment can move the movable carrier back to the storage area. In an actual application, an appropriate manner may be selected for processing according to an actual application scenario, which is not limited in this embodiment.

Further, considering that the picking or replenishment operation is relatively fast in some scenarios, if the container loading and unloading equipment is used to pick and place the container in two or more times, it may consume a lot of time. Therefore, at least one processing area can be set at the workstation. , in order to facilitate the picking station to process the cargo container in the processing area. That is to say, after the container handling equipment picks up and places the space container from the movable carrier, the space container can be moved to the processing area, and the container handling equipment does not perform the space container placement operation at this time; The operator can directly replenish or pick up the goods from the container; after the operation is completed, the container loading and unloading equipment will send it back to the movable carrier, which effectively improves the picking efficiency.

In addition, in the case where multiple container handling equipment is deployed in the mobile carrier parking area, the same picking station can process multiple slot containers at the same time. Considering the problem of handling congestion, in this embodiment, the workstation includes at least one container queuing area, and when the picking station is occupied, the container loading and unloading device is used to place the container in the container queuing area. Queue in sequence; wherein, the picking station corresponds to the container queuing area.

Based on this, when there is an operating slot container in the picking station, it may take a lot of time to continue to wait for the slot container operation to complete. At this time, the container handling equipment can place the to-be-processed slot container on The container queuing area is used to wait for the last container to be processed. It should be noted that there is a corresponding relationship between the picking stations and the container queuing area, that is, each picking station will correspond to a queuing area.

In addition, a carrier queuing area can also be set for the automatic handling equipment, that is, when the parking area of the automatic handling equipment is occupied, the automatic handling equipment driving the movable carrier can park in the handling equipment queuing area to wait. After the movable carriers in the parking area are removed, the movable carriers in the queuing area of the handling equipment enter the parking area for processing in turn.

In a specific implementation, a container queuing area can be understood as being used for queuing for one container handling device, or it can be understood as being used for queuing for a plurality of container handling equipment, in this case, the container queuing area corresponds to the processing area. For example, when two picking stations are included, two queuing areas can be set accordingly, corresponding to their respective picking stations. In detail, for example, it includes a first processing area and its corresponding first queuing area, and a second processing area and its corresponding second queuing area, and the container handling equipment on the first queuing area will move to the first processing area accordingly. The container loading and unloading equipment on the second queuing area will correspondingly move to the second processing area for processing.

It can also be that, when two container queuing areas are included, which picking station is free first, the container loading and unloading equipment on the two container queuing areas will move to the processing area for processing in an alternating manner, or in chronological order or other Predetermined strategies are selected. The above approach can also be understood as different processing areas can share the queuing area. Or it includes two picking stations and a container queuing area. The two picking stations can process picking tasks at the same time, and the movable carriers in the same container queuing area can alternately enter the two picking stations through automatic handling equipment. In order to complete the processing of the picking task, in practical applications, the corresponding relationship between the picking station and the container queuing area can be set according to the actual application scenario, which is not limited in this embodiment.

In this embodiment, in order to facilitate the operator to operate the cargo space container, the picking station includes a handheld device, and/or a display device, and/or an electronic display label device, and/or a light guide device, and/or A voice guidance device; wherein the handheld device, the display device and the electronic display label device are used to display information to guide the operator, and the light guidance device and the voice guidance device are used to provide assistance for the operator to operate Information.

Specifically, the handheld device specifically refers to a device that can scan the cargo space container or the items in the cargo space container, and after scanning, the next operation to be performed will be displayed on the handheld device to remind the operator; the corresponding , the display device specifically refers to information that can display the operations that need to be performed next, including but not limited to displays, etc. Correspondingly, the electronic display label device specifically refers to a device that can display guidance information to operators, such as through the The device displays the direction of cutting head, simple operation instructions, etc.; correspondingly, the light guidance device specifically refers to a device that displays auxiliary information by means of light projection or mapping, and the voice guidance device specifically refers to a device issued by voice playback. A device that alerts you. In practical applications, the device for reminding the operator to operate or assist in the picking station can be installed according to actual needs, which is not limited in this embodiment.

For example, the display can display information such as the type, quantity, order, etc. of the picked items, or prompt the operator to make corresponding operations. For another example, when an operator is required to pick an item from a corresponding position to a corresponding cargo space container, the light guiding device can emit light on the corresponding container or on the corresponding item, prompting the operator to make a selection. corresponding actions. Alternatively, the light guiding device can project the type and quantity of the commodity to the corresponding position, and the operator can operate according to the information.

In this embodiment, in order to prevent the placement of the cargo space container from being incorrect and affecting the picking efficiency, the container loading and unloading equipment may also be provided with a position and attitude detection device for the cargo space container, and the position and posture detection device for the The pose of the position container on the container handling equipment. Wherein, the position and posture detection device of the cargo space container may be a sensor, or a detection device such as a camera, which is used to detect the position and posture of the cargo space container on the container loading and unloading equipment, which is not limited in this embodiment.

Based on this, when the position container on the container handling equipment deviates from the reference position, the position and posture detection device of the container can issue a warning to remind the operator of the deviation of the position of the container, and the operator can assist the operation at this time. Position alignment is completed, or alignment is performed by automated means.

Further, in order to accurately complete the pick-and-place operation of the cargo space container, the position and attitude of the cargo space container on the movable carrier can also be detected by the position and attitude detection device of the cargo position container installed on the container loading and unloading equipment, so that the position and posture of the cargo space container on the movable carrier can be detected according to the detection result. The angle of the loading and unloading assembly is adjusted, so that the loading and unloading assembly can accurately and smoothly pick and place the cargo space container on the movable carrier. Furthermore, the position and attitude detection device of the cargo space container can also be arranged in the workstation, so that the position and attitude of the cargo space container on the picking station can be detected by the position and attitude detection device of the cargo position container, so as to facilitate the positioning of the container. Adjustment to facilitate the operator to carry out the picking operation; or the position and posture of the cargo container on the queuing area can be detected by the position and posture detection device of the cargo container arranged in the workstation, so as to facilitate the movement of the cargo container in the queuing area to the picking worker. When placed on a position or movable carrier, it is convenient for operators or container handling equipment to carry out smooth and precise pick-and-place operations. In practical applications, the deployment positions of the position and attitude detection device for the cargo space container may be arranged according to actual requirements, and the number of deployments may also be set according to requirements, which is not limited in this embodiment.

In this embodiment, in order to avoid errors when the container handling equipment is handling the location containers, the picking station may further include an identification device for identifying information about the location containers on the container handling equipment. Among them, the identification device can be a scanning device such as a sensor or a camera; when the position container picked up by the container loading and unloading equipment is inconsistent with the position container to which the item to be picked at the picking station belongs, the identification device will issue an alarm to remind the operator. The container handling equipment can catch the wrong pick and place, and at the same time, it can also send a return instruction to the container handling equipment, so that the container handling equipment can put the container in the wrong position back to the original position.

In this embodiment, after the movable carrier is transported by the automatic handling equipment, since different parking areas of the movable carrier correspond to different picking stations, and different picking stations perform different picking tasks, in order to ensure the The picking task handled by the position corresponds to the items in the cargo space container existing on the movable carrier, and the automatic handling equipment includes a code scanning device; correspondingly, the parking area of the movable carrier corresponds to an identification object; The automatic handling equipment scans the identification object through the code scanning device to determine the current position information; wherein the identification object includes but is not limited to identification code, RFID, and shape identification.

Among them, the identification code specifically refers to a two-dimensional code, barcode, etc. that can be identified by a code scanning device; correspondingly, RFID specifically refers to an identifiable object that can be identified by a code scanning device and used to represent a position identification; shape identification specifically Refers to the logo that characterizes the set information through the set shape. The shape logo can be constructed by the set graphics. The involved images can be circles, triangles, squares, etc. Different shapes can be set with different information, such as adding a circle The shape is set as a stop point, the triangle is set as a waiting point, etc., which is not limited in this embodiment.

Based on this, when the automatic handling equipment carries the movable carrier to the movable carrier parking area, there may be multiple movable carrier parking areas due to the position of the corresponding picking station, and different movable carrier parking areas correspond to different In order to avoid task confusion, the automatic handling equipment can actively scan the identification objects of each movable carrier parking area through the code scanning device, so as to determine the position of the automatic handling equipment at the current moment, so as to facilitate the judgment according to the current position. Whether it is the parking area of the movable vehicle that needs to be parked, if not, continue to move until it reaches the parking area of the movable vehicle corresponding to the picking task, and transport the movable vehicle to the parking area of the movable vehicle. Yes, it is convenient for subsequent picking task processing.

In addition, when scanning the set identification object through the code scanning device, in fact, the scanning device scans the pre-configured identification code, RFID, and shape identification to determine the current location information of the automatic handling equipment. A device such as a sensor or a laser radar completes the positioning of the current position information, which is not limited in this embodiment.

In this embodiment, in order to facilitate the container loading and unloading equipment to move the cargo space container on the movable carrier, a limit mechanism may be provided in the parking area of the movable carrier, and the limit mechanism is used to fix the movable carrier. Wherein, the limiting mechanism can be a buckle structure. For example, after the movable carrier is parked in the parking area of the movable carrier, the buckle structure will fix the main frame of the movable carrier to prevent the movable carrier from moving freely. Or it can be a clamping structure. For example, after the movable carrier is parked in the movable carrier parking area, the clamping structure can fix the movable carrier through a telescopic splint to prevent the movable carrier from moving at will. Therefore, it is convenient for the container loading and unloading equipment to carry out the picking and placing operation of the cargo space container.

In this embodiment, considering that after the automatic handling equipment transports the movable carrier to the parking area of the movable carrier, due to the influence of the structure of the movable carrier, the container loading and unloading equipment may not be convenient to directly carry out the pick-and-place operation of the cargo space container. Then, the container loading and unloading device can be provided with a carrying assembly and a loading and unloading assembly; the loading and unloading assembly is used to extend along the Z-axis direction. In addition, the loading and unloading assembly is also configured to move only in the Y-axis direction; the automatic handling equipment is used for driving the movable carrier to move in the X-axis direction to pick up and place the cargo space container.

Based on this, since there may be multiple cargo positions on the movable carrier, and each cargo position is arranged on a different shelf layer, if the container handling equipment is fixed at a horizontal height, it may cause the cargo position containers that cannot be located on different shelf layers. Therefore, the carrier assembly 45022 and the loading and unloading assembly can be set on the container loading and unloading equipment, so that the loading and unloading assembly can be extended along the Z axis, so that the loading and unloading assembly can be aligned with the cargo position, and the cargo position container in the cargo position can be picked and placed. operate. Among them, the establishment of the coordinate system corresponds to the space. The contact point between the container handling equipment and the ground is the origin, the Y axis is perpendicular to the ground, the X axis is parallel to the ground and horizontal, and the vertical axis is perpendicular to the Y and X axes. is the Z axis.

Further, considering that the movement of the container loading and unloading equipment is limited and cannot be accurately aligned with the container to be picked and placed on the movable carrier, the loading and unloading components can be controlled to move along the Y-axis, and the automatic handling equipment is used to drive the movable carrier along the Y-axis. Move in the X-axis direction. That is to say, when the loading and unloading components cannot be aligned with the storage container, the height of the loading and unloading components can be adjusted along the Y-axis and the deviation distance of the automatic handling equipment can be adjusted along the X-axis to align the loading and unloading components with the loading and unloading containers to be picked and placed. The loading and unloading components perform the pick-and-place operation of the storage container.

Further, the loading and unloading assembly can also be configured to move in the Y-axis direction and the X-axis direction to pick up and place the cargo space container. That is to say, when the loading and unloading assembly needs to be used to pick and place the cargo space container on the movable carrier, the loading and unloading assembly can be controlled to move in the Y-axis direction and the X-axis direction according to the pick-and-place instruction to realize the alignment of the movable carrier. The location container on the top to complete the pick-and-place operation.

Referring to the schematic diagram shown in (a) of Figure 1, when the automatic handling equipment transports the movable carrier to the movable carrier parking area where the container handling equipment is deployed, the loading and unloading components on the container handling equipment can move along the Y-axis direction , that is, by moving up and down, the loading and unloading components are aligned with any cargo position, and extended along the Z-axis direction to realize the pick and place of the cargo position container in the cargo position.

Referring to the schematic diagram shown in (b) of Figure 1, when the cargo space container is located at other positions in the movable carrier, the loading and unloading assembly cannot be aligned with the cargo space container to be picked and placed, and the automatic handling equipment can be driven to carry the movable load. The tool moves left and right, that is, moves in the X-axis direction. Referring to the schematic diagram shown in (c) in Figure 1, the loading and unloading components can be aligned with the loading and unloading components of the storage container to be taken and placed. After that, the loading and unloading components can be extended along the Z-axis to realize the alignment of the goods. Containers are picked and placed on the position and moved to the workstation for processing.

In addition, in order to facilitate the docking between the automatic handling equipment and the container loading and unloading equipment, and to improve the convenience of the container loading and unloading equipment for picking and placing the container on the movable carrier, a rotation area can also be set at the workstation. In this embodiment, The workstation comprises at least one rotation area for the automatic handling equipment to rotate itself and/or for the automatic handling equipment to rotate the movable carrier.

The rotation area specifically refers to the area used to assist the automatic handling equipment to rotate. This area can be set up in the workstation alone, or on the expressway outside the workstation, or in the parking area of the movable carrier. The area is used as a rotating area to support that the movable carrier can be rotated in this area by the automatic handling equipment, so as to facilitate the container handling equipment to carry out the pick-and-place operation of the storage container. For example, at the current moment, the A side of the movable carrier corresponds to the picking station. After the container loading and unloading equipment completes the pick and place operation of the position container, it is also necessary to pick and place the position container corresponding to the B side of the movable carrier. Since the container loading and unloading equipment cannot move; therefore, the automatic handling equipment can drive the movable carrier to the rotation area and rotate in the rotation area, so that the B side of the movable carrier can be opposite to the picking station, Then drive to the movable vehicle parking area for subsequent pick-and-place operations.

In addition, when the automatic handling equipment drives the movable carrier to move to the movable carrier parking area, it can also enter the rotating area in advance to carry out the rotation processing of the movable carrier, so that it can be aligned with the picking station to facilitate subsequent shipments. Pick-and-place operations for bit containers.

In practical applications, in order to facilitate the pick-and-place operation of the container, referring to the schematic diagrams shown in FIG. 2 and FIG. 3( a ), the container loading and unloading device 450 can be set to the mechanism shown in FIG. 2 , wherein the container loading and unloading device 450 is placed in front of the The one is the movable vehicle 460. Based on this, the container handling apparatus 450 includes a rack body 4504, and the rack body 4504 includes an X-axis rail 45041 and a Y-axis rail 45042 that are perpendicular to each other, and the X-axis rail 45041 and the Y-axis rail 45042 are arranged on a vertical plane. Specifically, the Y-axis track is configured to orbit along the X-axis, and the handling assembly 4502 is configured to track along the Y-axis.

Further, referring to the container loading and unloading device 450 shown in FIG. 2 , it can be known that, if the container pick-and-place operation needs to be carried out on the movable carrier 460 , the loading and unloading assembly 4502 needs to be completed. That is to say, the loading and unloading assembly 4502 will move up and down along the Y-axis track 45042, and at the same time, the Y-axis track 45042 will also move left and right along the X-axis track 45041, so that the loading and unloading assembly 4502 can be aligned with the position of the container, and the container pick-and-place operation has been completed. .

Further, if it is necessary to complete the pick-and-place operation of the container, the loading and unloading assembly 4502 can be set as a mechanism as shown in FIG. 3(a), wherein the loading and unloading assembly 4502 is supported by the base 4501, and the base 4501 can be set as a flat plate. It can be arranged at the bottom or the periphery of the bearing assembly 45022, and the structure and position of the base can be selected by those skilled in the art. In an optional embodiment, the base 4501 is set as a frame-shaped structure, and can be set below the bearing component 45022 to support the bearing component 45022 . The bearing assembly 45022 is provided with a bearing surface for supporting the container, and above the bearing surface is an accommodating space for accommodating the container.

It should be noted here that, in addition to the above-mentioned structures, the mounting and dismounting components can also adopt the structures of suction cup type, hook-pull type, grab type, and manipulator type. The distance between the loading and unloading components is adjustable, and containers of different sizes can be picked and placed; in addition, the system can send the position information of the pre-fetched containers to the container loading and unloading equipment in advance, and the movable carrier storing the picked and placed containers arrives Before the docking area, the container loading and unloading equipment can adjust the height of the loading and unloading components in advance to the height of the container to be taken and placed, which can improve the operation efficiency.

In addition, considering factors such as uneven ground or installation error of the movable carrier, the container loading and unloading device 450 deviates from the cargo space on the movable carrier. To improve positional accuracy, the handling assembly 4502 also includes a positioning system configured to locate the relative position between the handling assembly 4502 and the movable carrier. When the positioning system detects that the positional deviation between the loading and unloading assembly 4502 and the cargo position of the movable carrier reaches a preset range, the position of the loading and unloading assembly 4502 needs to be adjusted. The positioning system can be a visual scanning module, a laser scanning module or an infrared scanning module, and the position information of the container or the cargo space can be obtained by identifying the corresponding position on the movable carrier. As shown in FIG. 3(a), the positioning system can be relatively arranged on the base 4501, and a bracket 45011 can be arranged on the base 4501. The bracket 45011 is located above the bearing assembly 45022 and avoids the accommodating space so as not to interfere with the movement of the container. The bracket 45011 can be set as a gate structure, the bottom end of the bracket 45011 is fixedly connected to both sides of the first open end of the bearing assembly 45022, and the positioning system is installed on the top of the bracket 45011, above the bearing assembly 45022.

In an optional embodiment, in order to be able to move the container on the movable carrier to the picking station or the docking port outside the workstation through the loading and unloading assembly 4502, the carrying assembly 45022 on the loading and unloading assembly 4502 further includes a conveyor belt 45021, The upper surface of the conveyor belt 45021 is the bearing surface for supporting the container. The conveyor belt 45021 can transport the container in the horizontal direction, and the transport direction of the conveyor belt 45021 can be determined according to the pick-and-place instruction. When the container needs to be placed on the movable carrier When the container is placed, it can be rotated in the direction of where the movable carrier is placed. On the contrary, when the container grabbed from the movable carrier needs to be placed in the picking station or the docking port outside the workstation, it can be rotated in the direction of the movable carrier. Rotate in the opposite direction of the placement position.

Further, in order to be able to pull the container onto the conveyor belt 45021 and place it to the target position through the conveyor belt 45021, the loading and unloading assembly 4502 further includes a pickup and delivery assembly 4503, and the pickup and delivery assembly 4503 will include a suction cup mechanism to pass the suction cup mechanism The container is sucked, and then the container is pulled into the loading and unloading assembly 4502 through the guide mechanism connected to the pickup and delivery assembly 4503, and the container picking and placing operation is completed through the conveyor belt 45021.

Further, in order to be able to improve the efficiency of the container handling equipment when picking up and placing space containers, in this embodiment, the container handling equipment may further include an identification system, and the identification system is used to identify the position of the space container to be operated. , or identify the position of the empty cargo space to be operated in the movable carrier; and guide the loading and unloading assembly to move according to the identified position.

Specifically, the storage space container to be operated refers to the storage space container that needs to be picked and placed by the container loading and unloading equipment, which can be on the storage space of the movable carrier or in the workstation; correspondingly, the empty storage space to be operated specifically refers to the available storage space. The slot in the mobile carrier where the slot container needs to be placed. Based on this, after the identification system of the container handling equipment recognizes the position of the operating cargo space container, it can guide the loading and unloading assembly to move and align the to-be-operated cargo space container according to the identification result. bit container for pick and place. When the vacant position to be operated in the movable carrier is identified, the loading and unloading assembly for picking and placing the storage space container can be guided to move to this position according to the identification result, and the loading and unloading assembly can be placed along the Z axis to realize the placement of the storage space container.

In this embodiment, in order to realize the picking and placing operation of the storage space containers on multiple storage positions at the same time, the loading and unloading assembly may further include a base and a temporary storage mechanism rotatably connected to the base. After the loading and unloading assembly picks up and places the storage space container, the storage space container can be temporarily placed on the temporary storage mechanism to wait for the loading and unloading assembly to complete the storage space container, and then move the storage space container on the temporary storage mechanism to the workstation at the same time.

In this embodiment, in order to ensure that the operator can safely perform the picking operation in the workstation, the container loading and unloading device may further be provided with a safety mechanism, and the safety mechanism is used to restrict the loading and unloading assembly from entering the working area of the operator. That is to say, when the loading and unloading components enter the operator's work area by mistake, the safety mechanism will issue a warning to remind the operators to pay attention to safety; in addition, the safety mechanism can also send an interruption command to the loading and unloading components to stop the loading and unloading components from continuing to move. . Further, the safety mechanism includes a control unit and a detection sensor; the control unit sends a stop operation instruction to the container loading and unloading equipment based on an electrical signal detected by the detection sensor that enters the operator's work area by mistake.

For example, when the container loading and unloading equipment is moving the storage space container, because there are other storage space containers in the picking station, at this time, when the container loading and unloading equipment adjusts the moving posture, part of the organizational structure enters the operator's work area, then at this time. The detection sensor will send an electrical signal to the control unit, and the control unit will send a stop operation instruction to the container handling equipment according to the electric signal. personal injury.

In an optional embodiment of this embodiment, the loading and unloading assembly 4502 further includes a limiting mechanism, and the limiting mechanism is configured to limit the positions on both sides of the container located on the carrying assembly 45022 .

Specifically, referring to the schematic diagrams shown in FIGS. 3( b ) and 3 ( c ), the limiting mechanism includes a first limiting portion 4511 and a second limiting portion 4512 arranged at intervals, the first limiting portion 4511 , the second limiting portion 4511 The limiting portions 4512 are respectively disposed on both sides of the bearing assembly 45022, and the container is placed between the two limiting portions. The first limiting portion 4511 and the second limiting portion 4512 are configured to move toward or away from the bearing assembly 45022 along the X-axis direction to adjust the distance between the first limiting portion 4511 and the second limiting portion 4512 , so as to be able to adapt to containers of different sizes. When different types of containers are placed on the carrier, the size of the container can be adapted by adjusting the distance between the first limiting portion and the second limiting portion. The first limiting portion and the second limiting portion can be configured as rod-shaped, plate-shaped, roller-shaped, etc. The present disclosure is not limited to this, as long as they can be blocked on both sides of the container.

In one embodiment, the loading and unloading assembly 4502 further includes a first base 4513, and the first base 4513 can provide an installation basis for the first limiting portion 4511 and the second limiting portion 4512. The first limiting portion 4511 and the second limiting portion 4512 The positions 4512 are all slidably fitted on the first base 4513 . The first base 4513 may be provided with at least one set of sliding guide structures extending along the X-axis direction, and the first limiting portion 4511 and the second limiting portion 4512 are matched with the first base 4513 through the sliding guide structures. The sliding guide structure may include structures such as a chute, a sliding block, etc., which are not specifically limited in the present disclosure. In a preferred embodiment, there are two sets of sliding guide structures, wherein the two sets of sliding guide structures are respectively close to both ends of the first limiting portion and the second limiting portion.

The first base 4513 can be provided with a transmission mechanism that moves along the X-axis direction, and the first limiting portion 4511 and the second limiting portion 4512 are driven by the transmission mechanism to move along the X-axis direction on the first base 4513 . The transmission mechanism may be, but is not limited to, a rack and pinion structure, a link mechanism, a pulley mechanism, etc., which is not limited in the present disclosure.

In a specific embodiment, the transmission mechanism includes a transmission belt 45131 and a pulley 45132. The transmission belt 45131 extends in the X-axis direction and can be controlled to rotate by the pulley 45132, and the pulley 45132 can be driven by a motor 45133. The first limiting portion 4511 and the second limiting portion 4512 may be connected to two sides of the transmission belt 45131 at intervals. The transmission belt 45131 has an annular structure. When the transmission belt 45131 is rotated, the two sides of the interval move in opposite directions, so the first limiting portion 4511 and the second limiting portion 4512 can be driven to approach or move away from each other, thereby adjusting the relative relationship between the two. Location.

In another embodiment, the restraining mechanism is provided at a position above the carrier assembly 45022 and is configured to restrain the upper region of the container. Specifically, the container can be placed between the carrier assembly 45022 and the limiting mechanism, and the first limiting portion 4511 and the second limiting portion 4512 of the limiting mechanism are close to the top edges of the opposite sides of the container to avoid interference with the carrier assembly .

In one embodiment, the loading and unloading assembly 4502 may further include a rotating mechanism, and the rotating mechanism is configured to drive the pickup assembly and the carrying assembly 45022 to rotate around the Y axis, so that the angle relative to the container can be flexibly adjusted. The container on the storage position may have a posture deviation between the pick-and-feed component 4503 and the carrier component 45022 on the horizontal plane due to the collision, the carrier is not stable, etc., and it cannot be successfully grasped by the pick-and-delivery component. At this time, the angle of the driving pick-up component 4503 and the carrying component 45022 relative to the container can be adjusted correspondingly through the rotating mechanism, so that the driving pick-up component 4503 can smoothly grab the container on the carrier to the carrying component 45022.

The rotating mechanism may include a second base 4514 and a swivel support portion 4515 , and the swivel support portion 4515 is rotatably connected to the second base 4514 . The second base 4514 can be connected to the support assembly and move along the extension direction of the support assembly. The carrying assembly 45022 and the delivery assembly 4503 are connected to the slewing support part 4515 oppositely, and the rotation axis of the slewing support part 4515 extends along the Y-axis direction. , can rotate relative to the second base 4514 around the Y axis, and adjust the relative angle between the carrying component 45022, the pickup component 4503 and the container.

The slewing support portion 4515 can be configured as a plate-type structure, a frame-type structure, etc., and can support the bearing assembly 45022 and the pickup and delivery assembly 4503 . Specifically, the slewing support portion 4515 may include a plurality of support rods connected to form a frame-shaped structure, and the bearing assembly 45022 and the delivery assembly 4503 may be fixedly connected to the slewing support portion 4515 by means of screw fixing, welding, bonding, etc. The present disclosure is not limited in this regard.

The slewing support portion 4515 can be connected to the second base 4514 through conventional rotational connection structures such as bearings, rotating shafts and bushings. In a preferred embodiment, the slewing support part is connected to the second base 4514 through the slewing support bearing 4516; Fixed connection, and the other fixed connection with the second base 4514.

The rotation mechanism may also include a slewing drive for driving the slewing support 4515 to rotate. The rotating mechanism can be directly connected to the slewing support part 4515 for rotational driving, or can drive the slewing support part 4515 to rotate by driving the slewing support bearing 4516 . The rotary drive mechanism includes, but is not limited to, a motor, a gear set, a pulley mechanism, etc., which are not limited in the present disclosure. In an embodiment of the present disclosure, the outer ring of the slewing bearing 4516 is fixedly connected to the second base 4514, the inner ring is fixedly connected to the bearing assembly 45022 and the pickup and delivery assembly 4503, and the slewing drive mechanism includes a timing belt 4517 and a drive pulley 4518. The timing belt 4517 is connected to the driving pulley 4518 and the inner ring of the slewing bearing. The driving pulley 4518 can drive the inner ring of the slewing bearing to rotate through the timing belt 4517, and the inner ring drives the bearing assembly 45022 and the pick-up and delivery assembly 4503 through the slewing support part. turn.

The picking system provided by the present application is equipped with a workstation, a movable carrier parking area, automatic handling equipment and container loading and unloading equipment, so that at least one picking station is set at the workstation for processing the cargo space containers; the movable carrier is docked The area is used to park the automatic handling equipment that carries the movable carrier, and the container loading and unloading equipment is deployed in the movable carrier parking area, so that after the automatic handling equipment transports the movable carrier to the movable carrier parking area, it can pass The container loading and unloading equipment deployed in this area moves the storage container between the workstation and the movable carrier; in this process, the handling of the storage container to the workstation can be completed without the participation of the operator, which can not only improve the picking efficiency, but also improve the picking efficiency. It can greatly protect the personal safety of the staff, so that the picking operation can be quickly completed in any scale picking scene, improving the picking efficiency and reducing the consumption of human resources.

Corresponding to the foregoing method embodiments, the present application further provides an embodiment of a sorting system, and FIG. 4 shows a schematic structural diagram of a sorting system provided by an embodiment of the present application. As shown in Figure 4,

The picking system 400 system includes a control terminal 410, at least one workstation 420, at least one movable carrier docking area 430, at least one automatic handling device 440, at least one container handling device 450, and at least one movable carrier 460 for storage space containers ;

The control terminal 410 is configured to send a handling instruction to the automatic handling equipment 440 according to the container adjustment instruction, and send a pick-and-place instruction to the container loading and unloading equipment 450 when receiving the container adjustment instruction;

The automatic handling device 440 is configured to move to the movable carrier 460 based on the handling instruction, and transport the movable carrier 460 to the movable carrier parking area 430;

The container handling device 450 is configured to move at least in the vertical Y-axis direction based on the pick-and-place instruction to pick and place at least one position container on the movable carrier, or to place at least one position container on the movable carrier. The space container is moved between the movable carrier 460 with the docking area 430 and the workstation 420 .

Specifically, the control terminal 410 specifically refers to a server terminal that processes picking tasks, and is used to send an adjustment instruction of the position container to the automatic handling device 440 and the container loading and unloading device 450 . Based on this, when the control terminal 410 receives the container adjustment instruction, it means that a replenishment task or a picking task needs to be performed at this time, and in order to improve the efficiency of picking or replenishment, the container adjustment instruction can be sent to the automatic handling device 440. instruction, and at the same time send a pick-and-place instruction to the container handling device 450 . Wherein, the container adjustment instruction includes the information of the movable carrier, the cargo position information, and the container information of the cargo position, so that the automatic handling device 440 can move the movable carrier to the parking area of the movable carrier corresponding to the task, so that the container The loading and unloading equipment 450 can accurately pick up and place the cargo space container; correspondingly, the handling instruction can guide the automatic handling equipment to determine and handle the movable carrier, that is to say, the handling instruction carries the movement track information of the automatic handling equipment; The placing instruction can guide the container handling equipment to complete the picking or placing of the cargo container, that is to say, the picking and placing instruction carries the position information of the container and the movement track information of the container handling equipment.

Further, after receiving the handling instruction, the automatic handling device 440 indicates that the movable carrier needs to be moved to the target position for replenishment or picking tasks, then the movable carrier to be handled can be determined according to the handling instruction at this time, and then the vehicle is driven. To the movable carrier 460, the movable carrier 460 is transported to the movable carrier parking area 430; at this time, the container handling device 450 receives the pick and place instruction, and picks and places the goods located at the workstation 420 according to the pick and place instruction. The location container or the location container on the movable carrier 460 is used to move the location container between the movable carrier 460 and the workstation 420 to accomplish the task of picking or replenishing.

For example, the control end receives the container adjustment instruction corresponding to the picking task, and determines that a set number of items a need to be picked in the cargo space container A on the movable carrier S. At this time, the control end will automatically carry the goods according to the container adjustment instruction. The device P sends a handling instruction, and at the same time sends a pick-and-place instruction to the container loading and unloading equipment. After the automatic handling equipment P receives the handling instruction, it determines the position of the movable carrier S in the storage area, moves to this position to transport the movable carrier S, and then transports the movable carrier S to the movable carrier parking area. , at this time, the container loading and unloading equipment will pick and place the cargo container A on the movable carrier S according to the pick and place instruction, and place the picked and placed cargo container A on the picking station in the workstation. The set number of items a can be picked from the storage container A to complete the picking task. Further, when the picking is completed, the container handling equipment can pick up and place the container A on the workstation and put it back to the original position of the movable carrier S, and then the automatic handling equipment S will move the movable carrier S. It is transported to the original position of the storage area to realize the homing of the movable carrier S.

To sum up, by using the combination of control terminal, automatic handling equipment and container loading and unloading equipment to realize the movement of the cargo space container, the picking efficiency can be effectively improved.

Specifically, since the container handling equipment supports the movement of the storage space container, when the storage space container needs to be removed from the storage space of the movable carrier, or the storage space container is placed on the storage space of the movable carrier from the workstation above, the container loading and unloading device 450 needs to perform different operations according to the picking and placing instructions. In this embodiment, the specific implementation is as follows:

In the case where the pick and place instruction is a container pick and place instruction, the container handling device 450 is further configured to move the loading and unloading components included in the container handling device to a target pick and place position based on the container pick and place instruction, and Extend along the Z-axis direction to pick and place the storage space container located on the workstation or the storage space container located on the movable carrier.

Specifically, the container pick-and-place instruction specifically refers to an instruction to control the container loading and unloading device 450 to pick and place the slot container; correspondingly, the target pick-and-place position specifically refers to the position where the to-be-pick-and-place container is placed, which may be in the workstation. The location where the bay container is placed, or where the bay container is stored on the bay of a mobile carrier.

Based on this, when the container handling device 450 receives a container picking and placing instruction, it means that the container handling device 450 needs to use the container handling device 450 to pick and place the container at the target pick and place position. After the container is positioned, it will extend along the Z-axis direction, so as to realize the picking and placing of the storage space container located on the work station or the storage space container located on the movable carrier.

In addition, in order to improve the picking efficiency, the operation of the storage space container or the items in the storage space container can also be performed directly on the movable carrier. In this embodiment, the workstation includes at least one processing area, and the processing area is used to assist The operator handles the storage space container stored by the movable carrier; correspondingly, the automatic handling device is further configured to drive the movable carrier to the processing area based on the handling instruction.

Specifically, the processing area specifically refers to an area that does not require container loading and unloading equipment to carry out the operation of picking and placing containers. In the area, the automatic handling equipment can directly drive the movable carrier to park, and no container loading and unloading equipment is required at this time. For the pick-and-place operation of the cargo space container, the operator can directly handle the cargo space container on the movable carrier, or operate the items in the cargo space container.

At the same time, the workstation may further include at least one docking port. Correspondingly, the container loading and unloading device is further configured to pick up and place at least one storage space container according to the loading and unloading instruction, and place the storage space container to the to the interface.

Specifically, the docking interface specifically refers to a docking interface used to connect with other process operation nodes, such as a replenishment docking interface. When the container handling equipment receives a replenishment instruction, the container can be directly placed on the replenishment docking interface to realize the replenishment operation of the container, thereby further improving the utilization rate of the container handling equipment.

On the other hand, in the case where the pick and place instruction is a container placement instruction, the container handling device 450 is further configured to move the loading and unloading components included in the container handling device to a target placement position based on the container placement instruction, And extending along the Z-axis direction, the storage space container picked and placed by the loading and unloading assembly is placed on the work station or the storage space on the movable carrier.

Specifically, the container placement instruction specifically refers to an instruction to control the container loading and unloading device 450 to place the cargo space container picked and placed on the loading and unloading assembly; correspondingly, the target placement position specifically refers to the position where the cargo space container picked and placed on the loading and unloading assembly is placed. , which can be a workstation, or a cargo bay on a mobile carrier.

Based on this, when the container loading and unloading device 450 receives the container placement instruction, it means that the container loading and unloading device 450 needs to use the container loading and unloading device 450 to place the already-placed container. , will be extended along the Z-axis direction, so as to realize the placement of the cargo space container picked and placed by the loading and unloading assembly to the cargo space on the workstation or the movable carrier.

Following the above example, when the automatic handling equipment P moves the movable carrier to the movable carrier parking area, the container handling equipment can control the loading and unloading components to move to the position aligned with the container A according to the container pick and place instruction, and then control the The loading and unloading assembly extends along the Z-axis to realize the picking and placing of the storage space container A on the movable carrier, and the picked and placed storage space container A is placed on the workstation. When the operator on the workstation completes the picking operation for item a, the container handling equipment will pick up and place the location container A on the workstation, and then the container handling device will place the location container A on the movable carrier based on the container placement instruction to complete the picking task.

To sum up, by controlling the movement of the loading and unloading components to realize the picking and placing of the cargo space container, not only the flexible control of the loading and unloading components can be realized, but also the fault tolerance rate can be effectively reduced, thereby ensuring the movement accuracy of the cargo space container.

In this embodiment, in order to support that the container handling device 450 can complete the picking and placing operation of the storage space container from different shelf layers of the movable carrier 460, the container handling device 450 is further configured to be based on the picking and placing instruction along the Move the loading and unloading components included in the container handling equipment to the target pick-and-place position in the Y-axis direction, and wait for the automatic handling equipment to transport the movable carrier to the movable carrier parking area.

That is to say, after receiving the pick-and-place instruction, the container loading and unloading device 450 can move the loading and unloading components it contains along the Y-axis, so as to deploy the loading and unloading components to the target pick-and-place position in advance to wait for the automatic handling device 440 to move the movable components. After the carrier moves to the movable carrier parking area 430, the cargo space container on the movable carrier 460 can be directly picked and placed, so as to improve the operation efficiency of the cargo space container and reduce the waiting time of the automatic handling equipment.

Following the above example, when the container loading and unloading equipment receives the picking and placing instruction, it can move the loading and unloading components in advance according to the picking and placing instructions, that is, move along the Y-axis of the bearing component of the container loading and unloading equipment to align the different shelf layers of the movable carrier. After waiting for the automatic handling device P to transport the movable carrier to the movable carrier parking area, the loading and unloading assembly can be directly extended along the Z-axis direction to complete the picking and placing of the cargo space container.

To sum up, by moving the loading and unloading components along the Y axis in advance, the time for the loading and unloading components to wait for the automatic handling equipment to move the movable carrier can be effectively reduced, and the picking task can be completed quickly.

In this embodiment, in order to enable the container handling equipment to accurately complete the picking and placing operation of the cargo space container, the container handling equipment 450 is further configured to control the identification device included in the container handling equipment to identify based on the picking and placing instruction. position container and control the loading and unloading assembly to align the position container.

That is to say, when the container loading and unloading equipment needs to pick and place the storage space container, the position of the storage space container can be identified through the identification device configured by the container loading and unloading equipment, and the position where the storage space container is stored will correspond to the identified information. The identification information can be an identification code or a barcode, etc., to determine the position of the cargo space container through the identification result, and then move the loading and unloading assembly to the position of the cargo space container. put it, or place the already picked and placed slot container to the slot container position.

Following the above example, when the container loading and unloading equipment needs to pick and place the cargo space container A on the movable carrier, it can first identify the different cargo positions on the movable carrier through the identification device, so as to determine the storage position according to the identification result. The cargo position of container A, and then control the loading and unloading components to move to the position of the cargo position container, and pick and place the cargo position container A.

To sum up, by using the identification device to complete the movement of the loading and unloading components, not only can the accuracy of the moving position of the loading and unloading components be improved, but also the picking and placing of the cargo space container can be completed quickly, thereby ensuring the picking efficiency.

In this embodiment, considering that the movement area of the loading and unloading components of the container loading and unloading equipment is restricted, and there are many cargo spaces of the movable carrier, it may not be possible to directly pick and place the cargo space container through one stop, or to wait for the pick and place after the stop. The position of the container can not be aligned with the loading and unloading components, and the problem of picking errors is easy to occur. Therefore, the automatic handling equipment 440 can be controlled to move in the case of misalignment. In this embodiment, the container loading and unloading equipment 450 is also is configured to send an alignment adjustment instruction including position information of the loading and unloading assembly to the control terminal 410 when the position of the loading and unloading assembly is not aligned with the position of the cargo space container;

The control terminal 410 is further configured to create a device movement parameter according to the position information, and generate a device movement instruction according to the device movement parameter and send it to the automatic handling device 440;

The automatic handling equipment 440 is further configured to move the movable carrier to the target movable carrier parking area according to the equipment movement parameters carried in the equipment movement instruction as a response to the equipment movement instruction.

Specifically, the position information of the loading and unloading components specifically refers to the current position information of the loading and unloading components of the container loading and unloading equipment 450. Correspondingly, the alignment adjustment instruction specifically refers to the instruction sent to the control terminal 410 to control the automatic handling equipment to align the loading and unloading components. The equipment movement parameter specifically refers to the distance parameter that the handling robot 440 needs to move back and forth or left and right, and the equipment movement instruction specifically refers to an instruction to carry the equipment movement parameter. Correspondingly, the parking area of the target movable carrier specifically refers to the position where the assembly of the alignment machine is loaded and unloaded after being moved.

Based on this, when the position of the loading and unloading components is not aligned with the position of the storage space container, it means that the container loading and unloading equipment cannot directly pick and place the storage space container, and then an alignment instruction can be sent to the control terminal 410 based on the position information of the loading and unloading assembly at this time. , so that the control terminal 410 controls the automatic handling equipment 440 to adjust the position. At this time, the control terminal 410 creates equipment movement parameters according to the position information, and generates equipment movement instructions according to the equipment movement parameters, and sends them to the automatic handling equipment at the same time. Aligning the movable carrier to the position for loading and unloading the assembly, that is, transporting the movable carrier to the target movable carrier parking area, as a response to the device movement instruction. In order to facilitate the container loading and unloading equipment to directly carry out the pick-and-place operation of the cargo space container.

Further, after the automatic handling equipment 440 receives the equipment movement instruction, in order to ensure the alignment of the loading and unloading components, the automatic handling equipment 440 is also configured to carry the movable carrier on the The movable vehicle parking area moves along the X axis, and stops to the target movable vehicle parking area according to the moving result. That is to say, after the automatic handling device 440 receives the alignment adjustment instruction sent by the control terminal 410, in order to be able to align with the position of the loading and unloading components, the automatic handling device 440 will move the mobile carrier in the parking area of the movable carrier according to the equipment movement parameters. The center moves along the X-axis, so that the movable carrier 460 is parked in the target movable carrier parking area, so as to complete the pick-and-place operation of the cargo space container.

Following the above example, when the loading and unloading components cannot pick and place the container A, the container loading and unloading equipment can send an alignment adjustment command to the control terminal according to the position of the loading and unloading components. The information creates equipment movement parameters, and determines the distance that the automatic handling equipment needs to move X1 along the X-axis direction according to the movement parameters. At this time, the control terminal will send the equipment moving instruction to the automatic handling equipment P. After the automatic handling equipment P receives the instruction, it will Move the distance X1 along the X-axis direction. After the movement is completed, the cargo position of the cargo position container A of the movable carrier can be aligned with the position of the loading and unloading components, so as to facilitate the subsequent picking and placing of the cargo position container.

In addition, in order to complete the picking operation quickly, the container handling equipment and the automatic handling equipment can move at the same time, that is to say, the two will move relative to each other to achieve the alignment of the container and the loading and unloading components, so as to improve the picking efficiency.

To sum up, by moving the automatic handling equipment, it can not only support the picking task of movable carriers with more cargo spaces, but also effectively improve the picking efficiency, thereby fully improving the space utilization rate.

In addition, in order to ensure that the automatic handling equipment 440 can accurately transport the movable carriers to the movable carrier parking area for picking operations, the automatic handling equipment 440 is further configured to scan the movable carriers through a scanning device. The identification code contained in the docking area is scanned until the target identification code corresponding to the handling instruction is scanned, and then the mobile vehicle docking area 430 corresponding to the target identification code is parked.

That is to say, after the automatic handling device 440 takes out the movable carrier 460, the identification code of the parking area of the movable carrier can be scanned by scanning while driving until the target identification code corresponding to the handling instruction is scanned. Next, it is explained that the automatic handling device 440 can place the movable carrier in the parking area, and then it is sufficient to stop at the movable carrier parking area 430 corresponding to the target identification code at this time.

Further, considering that the cargo space container is too large to be moved by the container loading and unloading equipment 450, at this time, the automatic handling equipment 440 can be moved to another parking area to complete the picking. In this embodiment, the automatic handling equipment 440 , is also configured to transport the movable carrier to the movable carrier parking area of the operation position according to the handling instruction when the volume or weight of the cargo space container is greater than the pick-and-place target of the container handling equipment, The operating station can move the vehicle docking area for interaction with the operator.

Specifically, the parking area of the movable carrier at the operating position specifically refers to a parking area that requires an operator or a hoisting mechanism to assist in handling the cargo space container. Based on this, referring to the schematic diagram shown in FIG. 5 , when the volume or weight of the cargo space container to be picked and placed is greater than the maximum target that the container handling equipment can pick and place, it means that the container handling equipment cannot complete the picking and placing operation, then at this time The movable carrier can be transported to the movable carrier parking area of the operation position according to the handling instructions, so as to realize the interaction with the operator in the movable carrier parking area of the operation position, and complete the movement of the cargo space container through manual assistance.

The picking system provided by the present application realizes that the transportation of the cargo space container to the workstation can be completed without the participation of the operator in the process, which can not only improve the picking efficiency, but also greatly protect the personal safety of the staff, so that it can be realized in any scale. It can quickly complete the picking operation in all picking scenarios, improve the picking efficiency and reduce the consumption of human resources.

This implementation also provides a picking method applied to the picking system, as follows:

6 is a flowchart of a sorting method provided by an embodiment of the present application. The sorting method is applied to the above-mentioned sorting system, and the method includes the following steps:

Step S602, the control terminal receives the service instruction, and the automatic handling device drives the movable carrier to move to the movable carrier parking area according to the handling instruction in the service instruction.

Step S604, the automatic handling device drives the movable carrier to move a predetermined distance along the X-axis direction within the movable carrier parking area according to the coordinate information of the target position included in the business instruction.

Step S606, the container loading and unloading device moves a predetermined distance along the Y axis according to the coordinate information of the target position included in the business instruction.

Step S608, the container loading and unloading equipment moves the storage container between the movable carrier and the workstation according to the pick-and-place instruction in the business instruction.

In specific implementation, the sorting method provided in this embodiment is applied to the above-mentioned sorting system. For the same or corresponding description content of the sorting method provided in this embodiment and the above-mentioned sorting system, please refer to the description in the above-mentioned embodiment. The example is not repeated here.

Specifically, the business instruction refers to the instruction received by the control terminal that needs to process the picking task. The business instruction is submitted by the operator of the operation control terminal. The control terminal, automatic handling equipment and container loading and unloading equipment will combine the business instructions. Pick-and-place operation; correspondingly, the business instruction carries a handling instruction and a pick-and-place instruction, which are used to control the automatic handling equipment to transport the movable carrier to the target movable carrier parking area, and to control the container loading and unloading equipment on the movable carrier and the movable carrier. Move bay containers between workstations. Correspondingly, the coordinate information of the target position specifically refers to the coordinate information of the cargo space container to be picked and placed, through which the position of the automatic handling equipment in the parking area of the movable carrier can be adjusted, and the position of the container loading and unloading equipment can be adjusted, The adjusted container loading and unloading equipment aligns the position container to be picked and placed, so as to realize the subsequent movement of the position container between the movable carrier and the workstation.

Based on this, when the control terminal receives the business instruction, it indicates that the picking task needs to be performed. At this time, it can control the automatic handling equipment to move to drive the movable carrier to move to the parking area of the movable carrier. That is to say, the automatic handling equipment will move according to the The handling instructions in the business are moved to the storage area of the movable carrier, and then the movable carrier is carried to the movable carrier parking area; and the container loading and unloading equipment is deployed in the movable carrier parking area. Further, in order to ensure that the container loading and unloading equipment can pick up and place the cargo space container corresponding to the picking task, and considering that the movable carrier contains many cargo spaces, the automatic handling equipment can use the coordinates of the target position contained in the business instruction. The information (that is, the coordinate information of the container to be picked and placed) drives the movable carrier to move a predetermined distance along the X-axis direction in the parking area of the movable carrier; in order to realize that the automatic handling equipment can align the container loading and unloading equipment in the X-axis direction At the same time, the container handling equipment will move a predetermined distance along the Y axis according to the coordinate information of the target position contained in the business instruction; so that the container handling equipment can align the container to be picked and placed on the movable carrier in the Y axis direction. Finally, the container loading and unloading equipment can carry out a pick-and-place operation on the location container according to the pick-and-place instruction in the business instruction, that is, move the location container between the movable carrier and the workstation.

Further, when the automatic handling equipment moves along the X-axis direction, in order to ensure that the moved position can be aligned with the container loading and unloading equipment in the X-axis direction, and it is convenient for the container loading and unloading equipment to carry out the subsequent pick-and-place operation of the cargo space container, it can be combined with the automatic handling equipment. In this embodiment, the automatic handling equipment moves a predetermined distance along the X-axis direction in the parking area of the movable carrier, which is determined in the following manner:

The control terminal collects the coordinate information of the current position of the automatic handling equipment in the stop area of the movable vehicle; calculates the coordinate information of the current position of the automatic handling equipment and the coordinate information of the target The automatic handling equipment moves a predetermined distance along the X-axis direction within the movable carrier parking area.

Correspondingly, the container loading and unloading equipment moves a predetermined distance along the Y axis, which is determined in the following manner:

The control terminal collects the coordinate information of the current position of the container handling equipment; according to the coordinate information of the current position of the container handling equipment and the coordinate information of the target position, calculates the predetermined movement of the container handling equipment along the Y axis. distance.

Specifically, considering that the automatic handling equipment will correspond to a different cargo space after each move in the movable carrier parking area, the control terminal will collect the coordinate information of the automatic handling equipment in real time, that is, the coordinate information of the current position of the automatic handling equipment. Specifically, it refers to the coordinate information of the automatic handling equipment in the parking area of the movable vehicle collected by the control terminal in real time; correspondingly, the coordinate information of the current position of the container handling equipment refers to the corresponding information of the container handling equipment collected in real time by the control terminal. coordinate information.

Based on this, in order to realize the alignment of the movable carrier and the container loading and unloading equipment, when the automatic handling equipment is parked in the parking area of the movable carrier, it can Coordinate information, as well as the coordinate information of the current position of the automatic handling equipment in the movable vehicle parking area at the current moment, calculate how far the automatic handling equipment can move to be aligned with the container loading and unloading equipment in the X-axis direction, that is, determine the automatic handling equipment according to the calculation results. The handling equipment moves a predetermined distance along the X-axis direction in the parking area of the movable carrier.

At the same time, the coordinate information of the target position of the container to be picked and placed in the movable carrier and the coordinate information of the current position of the container handling equipment at the current moment are used to calculate how far the container handling equipment can move in order to be able to communicate with the container handling equipment in the Y-axis direction. The height of the container to be picked and placed in the movable carrier is aligned, that is, according to the calculation result, it is determined that the container loading and unloading equipment moves a predetermined distance along the Y axis; finally, the container loading and unloading equipment can be combined with the picking and placing instructions in the business instructions to directly realize the goods. Movement of the bit container.

For example, the automatic handling equipment drives the movable carrier to the movable carrier parking area, and the container loading and unloading equipment is deployed in the movable carrier parking area; Based on this, it is determined that the location layout of the movable carrier is 3*3, the location container to be picked and placed is located at (3x, 3y, 0z), and the loading and unloading components of the container handling equipment are located at (3x, 3y, 0z). The coordinate information of the current position is (1x, 0y, 0z), and the coordinate information of the current position of the automatic transport equipment is (1x, 0y, 0z).

Further, based on the coordinate information (3x, 3y, 0z) of the container to be picked and placed and the coordinate information (1x, 0y, 0z) of the container handling equipment, the control terminal determines that the handling assembly of the container handling equipment needs to be moved 2y to be able to Align the storage container to be picked and placed, then the loading and unloading assembly moves along the Y axis by a distance of 2y, and the coordinate information of the moved loading and unloading assembly is (1x, 3y, 0z); at the same time, according to the coordinate information of the storage container to be picked and placed (3x, 3y, 0z) and the coordinate information of the automatic handling equipment (1x, 0y, 0z), it is determined that the automatic handling equipment needs to move 2x to the left to be able to align the container loading and unloading equipment, then the automatic handling equipment moves 2x along the X-axis direction at this time Distance, the movable carrier driven by the moved automatic handling equipment is aligned with the container loading and unloading equipment, and the container to be picked and placed at (3x, 3y, 0z) is aligned with the loading and unloading components, then the loading and unloading components can be based on the picking and unloading components at this time. Place the order to pick and place the location container to place it on the workstation to complete the picking task.

In addition, considering that different operations are performed by the container loading and unloading device in different scenarios, the container loading and unloading device will perform different operations based on business instructions. In this embodiment, the specific implementation is as follows:

(1) The container loading and unloading equipment picks up and places the storage space container on the movable carrier according to the business instruction, and moves the storage space container to the next process after the execution of the business instruction is completed. node.

Specifically, the next processing node specifically refers to a node that needs to perform other processing on the location container, such as the next picking station that needs to use the location container for picking. Based on this, when the container loading and unloading equipment takes out the location container on the movable carrier based on the business instruction, it will be placed in the designated picking station according to the business instruction. At this time, the container loading and unloading equipment can not put it back for processing, but place it on the docking interface, or move it to the next processing node, so that the next processing node can directly operate the cargo space container without the need for Then delegate a new command to carry out the handling operation.

(2) The container loading and unloading equipment picks up and places the cargo space container on the movable carrier according to the business instruction, and places it at the picking station in the work station; after the business instruction is executed, The slot container is returned to its original slot on the movable carrier.

Specifically, when the movable carrier is moved to the parking area of the movable carrier by the automatic handling equipment, the container handling equipment will take out the storage space container on the movable carrier based on the business instruction, and then place the storage space container on the movable carrier. It is processed at the picking station, and after the processing is completed, in order not to affect other picking tasks to use the location container, the location container can be put back to the original location by the container handling equipment, and the location container can be moved on the carrier. The original position of the slot container.

(3) The container loading and unloading device picks up and places the storage container on the movable carrier according to the business instruction, and after the execution of the business instruction is completed, at least one target storage location in the workstation is The container is returned to its original position on the movable carrier.

Specifically, the at least one target storage space container specifically refers to other storage space containers in the workstation except the storage space container. Based on this, in order to improve the utilization rate of the container handling equipment, when the container handling equipment takes out the cargo space container on the movable carrier according to the business instruction and places it in the picking station, the container handling equipment does not need to wait at this time. Instead, at least one target slot container is determined in the workstation, and then placed back on the movable carrier on the movable carrier docking area, and the placed slot may be the original slot of the slot container, and re-installed. Establish the corresponding relationship between the container and the cargo position, so as to avoid the problem that the movable carrier parking area is occupied by the movable carrier for a long time due to the long picking practice, and the container handling equipment is used for continuous removal and replacement. operation to improve the quick completion of picking efficiency.

It should be noted that when the storage container on the picking station is operated, it can be placed on the movable carrier on the current movable carrier parking area through the container loading and unloading equipment. The movable carrier may not be the original one. For a movable carrier, it is enough to re-establish the relationship between the cargo position and the cargo position container on the carrier, so as to realize the continuous uninterrupted pick-and-place operation of the container without affecting the picking process, and improve the picking efficiency.

(4) The container loading and unloading equipment picks up and places the cargo space container on the picking station according to the business instruction, and places the cargo space container in an empty cargo space on the movable carrier.

Specifically, when the container loading and unloading equipment needs to put the position container on the picking station back to the movable carrier, in order to improve the picking efficiency, it can directly determine the empty goods on the movable carrier after grabbing the position container. position, and put the grabbed container back on the movable carrier.

It should be noted that the currently usable empty cargo space needs to meet the storage size of the cargo space container, so as to avoid a collision effect on other cargo spaces.

To sum up, when the cargo space container is moved between the movable carrier and the workstation, the automatic handling equipment can combine the coordinate information of the target position in the business instruction to drive the movable carrier to move along the edge of the movable carrier parking area. Move a predetermined distance in the X-axis direction, and the container handling equipment will also move a predetermined distance along the Y-axis according to the coordinate information of the target position contained in the business instruction, so as to achieve accurate alignment of the container handling equipment. The cargo space in the carrier is convenient for the subsequent movement of the cargo space container, which not only saves the consumption of human resources, but also greatly improves the picking efficiency.

It should be noted that, for the convenience of description, the foregoing method embodiments are described as a series of action combinations, but those skilled in the art should know that the present application is not limited by the described action sequence. Because in accordance with the present application, certain steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily all necessary for the present application.

In the above-mentioned embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

The preferred embodiments of the present application disclosed above are only provided to help illustrate the present application. Alternative embodiments are not intended to exhaust all details, nor do they limit the invention to only the described embodiments. Obviously, many modifications and variations are possible in light of the content of this application. The present application selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present application, so that those skilled in the art can well understand and utilize the present application. This application is to be limited only by the claims, along with their full scope and equivalents.

In practical applications, the “control terminal 410” in FIG. 4 of the above-mentioned embodiment may be referred to as a “control server 71” in another embodiment; the “workstation 420” may be referred to as an “operation workstation” in another embodiment; Workstation 4202" may be referred to as an "operation station" in another embodiment; "automatic handling equipment 440" may be referred to as a "robot" in another embodiment; "container handling equipment 450" may be referred to in another embodiment as a "robot" Referred to as a "slot container adjustment device"; the "movable carrier 460" may be referred to as a "shelf" in another embodiment.

In addition, in the above-mentioned embodiment, the "container handling apparatus 450" further includes a plurality of components, wherein the "identification system" of the "container handling apparatus 450" may be referred to as a "detection component" in another embodiment, which is used to identify the cargo. The position of the container; the "receiving assembly" of the "container handling device 450" may be called a "grab mechanism" in another embodiment, which is used to pick and place the container; the "rotation mechanism" of the "container handling device 450" "In another embodiment, it can be referred to as a "steering mechanism" to realize the function of turning or turning; specifically, the following embodiments can be based on the above-mentioned components for a cargo position adjustment system, a cargo position container adjustment device and a cargo position adjustment method. described further.

In order to facilitate the understanding of another embodiment provided in this specification, the terms mentioned in the embodiments of the present disclosure are first defined as follows, including:

1. Outbound probability refers to the probability that the corresponding goods type will be out of the warehouse within a certain time range. Goods with a higher outbound probability are more likely to be out of the warehouse within this time range, and goods with a lower outbound probability are out of the warehouse. Libraries are relatively less likely.

2. Shelves refer to the objects carried by the robot, which may be composed of one or more cargo spaces.

3. A slot, a position on a shelf where a slot container can be stored, or it may be empty.

4. The cargo space container, the container that carries the goods, is stored in the cargo space on the shelf.

5. The golden cargo space, from an ergonomic point of view, is a cargo space that is easily accessible by the staff.

6. Non-gold cargo space, from an ergonomic point of view, is a cargo position that is not easy for staff to reach, and it usually takes a longer time to obtain a cargo position container at a non-gold cargo position.

The research found that the shelf-to-person robot picking system has changed the traditional mainstream "people looking for goods" logistics operation mode. The robot moves the target shelf to the staff for goods picking, reducing the ineffective movement of the staff. However, it is inevitable that there are high-rise shelves, and the staff needs to climb the ladder to obtain the goods on the high-level cargo space, which not only increases the ineffective actions of the staff when picking goods, but also reduces the efficiency of goods picking; The personal safety of the staff will also limit the height of the shelves, which will reduce the utilization of shelf storage space.

Nowadays, in order to solve the above problems, it is possible to use the guidance of the picking system to place the items with a high probability of being out of the warehouse as much as possible in the cargo space that is easily accessible by the staff, so as to reduce the ineffective climbing actions of the staff. However, once the outbound probability of the goods changes, the storage space containers and goods on different shelf layers need to be adjusted by the staff, which increases the input cost of additional tally personnel. In addition, the positions on the shelves are densely arranged on the shelves, and operations such as inventory and shelving need to be completed manually, and it is difficult to use detection components and other devices to complete the operation; in addition, as the goods on the shelves are gradually released, The vacancy rate of the shelves on the shelf will also increase, and the number of goods that can be hit during picking will decrease accordingly, resulting in a drop in picking efficiency.

Based on the above research, the present disclosure provides a cargo position adjustment system, a cargo position container adjustment device and a cargo position adjustment method, which can be flexibly configured by moving the cargo position container whose position needs to be adjusted to a target position through the cargo position container adjustment device. To the target position, move the container that needs to be adjusted to the most suitable position. Exemplarily, for the application scenario of the goods picking process on the high-level shelf, the storage space container corresponding to the goods with a high delivery probability on the high-level shelf can be moved to the goods space easily accessible by the staff, which can reduce the time when the staff picks the goods. Invalid action, improve the efficiency of goods picking; in addition, the use of the storage space container adjustment device to realize the adjustment of the storage space container can not only reduce the probability of the danger of the staff climbing the ladder, but also increase the height of the storage space of the rack, and further improve the storage space of the rack. utilization. Exemplarily, for a tally application scenario, by controlling the server to mobilize the cargo position container adjustment device to complete the tally of the goods on the shelf, the probability of hitting the goods on the shelf can be improved, and the efficiency of goods picking can be further improved. In addition, for processes that require manual operations, such as inventory, unloading, and putting on the shelf, the use of the cargo position container adjustment device to realize the automatic adjustment of the cargo position container can reduce the labor input cost.

The defects existing in the above solutions are all the results obtained by the inventor after practice and careful research. Therefore, the discovery process of the above problems and the solutions to the above problems proposed by the present disclosure hereinafter should be the inventors Contributions made to this disclosure during the course of this disclosure.

It should be noted that like numerals and letters refer to like items in the following figures, so once an item is defined in one figure, it does not require further definition and explanation in subsequent figures.

Referring to FIG. 7 , which is a schematic diagram of a storage space adjustment system provided by an embodiment of the present disclosure, the system includes a control server 71 , at least one storage space container adjustment device 72 , at least one robot 73 , at least one shelf 74 and at least one storage space The space container 741, wherein at least one storage space is provided on the shelf 74, and the storage space is used for storing the storage space container. It should be noted that the racks 74 may include racks with storage space containers or empty racks (ie, racks without storage space containers 741 ).

Specifically, the control server 71 may be configured to, when it is determined that the position of the storage space container needs to be adjusted, send a first movement instruction to the robot, and send a second movement finger to the storage space container adjustment device.

Here, the control server 71 records the position information of the storage space container (including the position information of the storage space container on any platform, such as the position information of the storage space container on the shelf space or the position of the storage space container on the inventory platform information, etc.), and information about the goods in the location container. The information of the cargo space container may include but not limited to the information of the shelf where the cargo space container is located and the position information of the cargo space on the shelf; Information on the quantity of goods, etc.

The first movement instruction may include the position information of the rack where the position container needs to be adjusted, or the position information of the rack to be received, the position information of the operation position, and the path information from the robot to the operation position. The second movement instruction may include the current position of the storage space container (which may include the position information of the storage space container on any platform) for which the storage position needs to be adjusted, the target position of adjusting the storage space container to the final destination, and the adjustment of the storage space container The device moves the storage container from the storage position to the target position, and the path information, etc.

The robot 73 may be configured to transport the rack to the operating position based on the first movement instruction.

Specifically, first, the robot 73 can move to the position of the shelf according to the position information of the shelf where the position container needs to be adjusted in the first movement instruction or the position information of the shelf where the position container is to be received, and then move to the position of the shelf according to the first movement instruction. The position information of the operation position in the instruction and the path information from the current position of the robot to the operation position are used to transport the rack to the operation position.

In one embodiment, the operating position may be a position provided in the operating workstation for parking the robot. The robot transports the shelf to the operation position, and stops at the operation position, waiting for the position container adjustment device to perform the subsequent position container adjustment operation. After the position of the position container is adjusted, the shelf can be moved out of the operation position for the next Dock of the robot. Here, after the robot moves out of the operating position, it can send a signal to the control server to indicate that the operating position has been moved out.

The level container adjustment device 72 may be configured to move the level container to the target position based on the second movement instruction.

Specifically, firstly, the storage space container adjusting device 72 can adjust the current position and the target position of the storage space container of the storage space according to the needs in the second movement instruction, and move the storage space container from the current position to the target position.

Based on the above-mentioned condition for the control server 71 to send the first movement instruction to the robot 73 , the following will describe in detail the situation where the control server determines that the position of the cargo space container needs to be adjusted.

In a possible implementation, in the case where the shelf 74 has storage space containers 741, the control server 71 may determine which positions of the space containers on the shelf need to be stored according to the position information of the space containers on the shelves. Adjustment.

Specifically, the control server 71 may be configured to obtain the position information of the cargo space container on the shelf, and send a first movement instruction to the robot when it is determined that the position of the cargo space container needs to be adjusted based on the position information of the cargo space container , and send a second movement instruction to the cargo space container adjusting device.

In one embodiment, the shelf may include at least two storage areas; wherein, the first delivery probabilities of different storage areas are different, and the first delivery probability of the storage areas is the same as the initial retrieval probability of the storage area and the storage area container adjustment device. The distance of the cargo location is negatively correlated. Here, the first outbound probability of different storage areas is customized to indicate the outbound probability of goods stored in the current storage area. It should be noted that, since the goods are continuously released from the warehouse, the probability of the goods leaving the warehouse in the storage area will change. Here, the initial pickup position of the storage space container adjustment device may include a position at which the gripping mechanism is stationary before the storage space container adjustment device responds to the second movement command.

Or, the first outbound probability of the storage area includes the outbound probability of the goods stored in the gold space and the outbound probability of the goods stored in the non-gold space.

Referring to FIG. 8 , which is a schematic diagram of the locations of different storage areas on a shelf according to an embodiment of the present disclosure. The shelf 74 may include two storage areas 842, namely A storage area 842-1 and B storage area 842-2, wherein each storage area 842 stores at least one storage space container 741. According to ergonomic theory, it can be determined that A The storage space set in the storage area 842-1 is a gold storage space, and it is determined that the storage space set in the B storage area 842-2 is a non-gold storage space. The first delivery probability of the A storage area 842-1 may be set higher than the first delivery probability of the B storage area 842-2.

Exemplarily, the first delivery probability of different storage areas can be customized according to the location of the storage area on the shelf. For example, as shown in Figure 8, the storage area of the first layer of the shelf is set to only store goods with the first out-of-stock probability of [0-50%], and the storage area of the second layer of the shelf is set to only store the goods with the first out-of-stock probability [0-50%]. For a product with a probability of leaving the warehouse (50-100%), set the storage area on the third layer of the shelf to only store goods with a probability of leaving the warehouse (50-100%), and set the storage area on the fourth layer of the shelf It is set to only store goods whose first delivery probability is [0~50%].

Exemplarily, according to the ergonomics theory, the height of the position where the gripping mechanism is stationary before the position container adjusting device responds to the second movement command can be set to a height at which the staff can easily reach the shelf layer where the position container is located on the shelf. .

When the control server 71 acquires the position information of the position container on the shelf and the shipping demand information corresponding to the position container, it can be determined whether there is a position container whose position needs to be adjusted on the shelf. Specifically, the control server 11 may be configured to determine the shipping demand information corresponding to the cargo space container, and when it is determined that the shipping demand information does not match the first shipping probability of the storage area where the cargo space container is currently located, send the The robot sends a first movement command, and sends a second movement command to the cargo space container adjusting device.

Here, the shipping demand information may include, but is not limited to, the second shipping probability and/or the shipping time.

Further, the control server 71 is configured to, in the case where it is determined that the shipping demand information does not match the first shipping probability of the storage area in which the storage space container is currently located, determine the target storage area and the storage space container based on the shipping demand information. a target position within the target storage area, and a second movement instruction is generated based on the target position.

Specifically, the second outbound probability may be the current outbound probability of the goods in the storage space container on the shelf. It should be noted that when the location container is full of goods and is ready to be put on the shelves, according to the second outbound probability of the goods in the location container, the location container can be stored in the second outbound probability that matches the first outbound probability. Afterwards, as the goods are continuously out of the warehouse, the second out-of-warehousing probability of the goods in the cargo container will change, and the control server 71 can determine the second outbound probability of the cargo in the cargo container in real time or after a preset period of time. With regard to the delivery probability, in the case that the second delivery probability does not match the first delivery probability of the storage area where the storage space container is currently located, it is determined that the position of the storage space container needs to be adjusted. Afterwards, based on the second outbound probability of the goods in the location container and the first outbound probability of the storage area on the shelf, the target storage area corresponding to the first outbound probability that matches the second outbound probability can be determined ; and then determine the target position of the cargo position container in the target storage area through the currently existing empty cargo space in the target storage area, and generate a second movement instruction based on the target position. Afterwards, the control server 71 may send the first movement instruction to the robot 73 and the second movement instruction to the cargo space container adjusting device 72 .

Continuing the above example, for the second out-of-warehousing probability of the goods in each location container, the second out-of-warehousing probability of the goods in the location container is higher than the first preset threshold, such as 50%, and the location container is located on the shelf. In the case of the storage area of the first layer, the target storage space container is determined, and the target storage space container is transferred to the empty storage area of the storage area of the second layer or the storage area of the third layer of the shelf. Or, in the case that the second out-of-warehousing probability of the goods in the storage space container is lower than the first preset threshold, such as 50%, and the storage space container is located in the storage area of the third layer of the shelf, it is determined that the storage space container is to be Adjust the storage space container, and transfer the storage space container to be adjusted to the empty storage space in the storage area of the first layer or the storage area of the fourth layer of the shelf.

In addition, the delivery time may be the time when the goods in the storage container on the shelf are about to be delivered from the warehouse. Specifically, with the real-time update of the goods in the location container (for example, the number of goods out of the warehouse decreases, or new goods of different categories are added, resulting in an increase in the quantity and a change in the type of goods), the outbound time of the goods in the location container will be If there is a change, the control server will re-update the goods delivery priority. The control server 71 can determine the delivery time of the goods in the cargo space container in real time or after a preset period of time. The outgoing time of the goods is shorter than the outgoing time of the goods stored in the B storage area. In the case where the second out-of-warehousing time does not match the first out-of-warehousing probability of the storage area where the location container is currently located, it is determined that the location of the location container needs to be adjusted. Afterwards, based on the delivery time of the goods in the container and the first delivery probability of the storage area on the shelf, the target storage area corresponding to the first delivery probability matching the delivery time can be determined; For the empty cargo space currently existing in the storage area, the target position of the cargo position container in the target storage area is determined, and based on the target position, a second movement instruction is generated. Afterwards, the control server 71 may send the first movement instruction to the robot 73 and the second movement instruction to the cargo space container adjusting device 72 .

Exemplarily, as shown in FIG. 8 , the out-of-warehousing time of the goods stored in the A storage area of the known shelf 842-1 is less than 24 hours, and the out-of-warehouse time of the goods stored in the B storage area 842-2 is greater than or equal to 24 hours. After the control server updates the goods delivery priority, if it is determined that there are goods whose delivery time is less than 24 hours in storage area B, the delivery time of the goods is the same as the first delivery time of the storage area where the cargo container is currently located. A library probability mismatch can include the following:

1. When the out-of-stock time of the goods in the storage container is less than the second preset threshold, such as 24 hours, and the storage container is currently located in the storage area B storage 842-2, it is determined that the storage container is the goods to be adjusted. position container, and transfer the container to be adjusted to the empty storage space in the A storage area storage 842-1 of the shelf.

2. When the out-of-warehousing time of the goods in the cargo container is greater than or equal to the second preset threshold, such as 24 hours, and the cargo container is currently located in the A storage area storage 842-1, it is determined that the cargo container is to be adjusted The storage space container is transferred, and the storage space container to be adjusted is transferred to the empty storage space in the B storage area storage 842-2 of the shelf.

It should be noted that, in the case of multiple shelves, the target storage area may include, but is not limited to, the target storage area of the shelf where the slot container is currently located, or the target storage area of other shelves. It can be set according to specific application scenarios or the configuration of the control server, which is not specifically limited here. Here, in the case of multiple shelves, the target storage area is the target storage area of other shelves, and the control server can refer to the above-mentioned adjustment process of the storage space container for the adjustment process of the storage space container, and the repetition will not be repeated.

In another embodiment, due to the continuous delivery of goods in the storage container, resulting in the phenomenon of vacant goods in the shelves, as the vacancy rate of the shelves continues to increase, the response of the number of goods that can be hit by the staff during picking decreases. , the following will provide a way to adjust the position of the container to reduce the vacancy rate of the shelf, so that the staff can hit more goods when picking.

The control server 71 is further configured to, when there are multiple shelves, determine the vacancy rate of each shelf based on the position information of the storage space containers on each shelf, and determine the vacancy rate of each shelf for the first target shelf whose vacancy rate is higher than the preset value. , send a first movement command to the robot, and send a second movement command to the cargo space container adjustment device.

Specifically, the control server 71 may, in real time or after a preset period of time, based on the position information of the storage space containers on each shelf, and in the case of knowing the number of storage space in the rack, it may determine that there are still storage space containers on the shelf. The vacancy rate of each shelf is determined separately, and for the first target shelf whose vacancy rate is higher than the preset value, a first movement instruction can be sent to the robot to use the robot to move the first target shelf. A target rack is moved to the operation position; a second movement instruction can be sent to the storage space container adjusting device, so as to use the storage space container adjusting device to move the storage space container on the first target rack to the target position.

Specifically, the control server 71 is further configured to determine a second target rack with an empty storage space, and based on the second target rack and the first target rack, send a first movement instruction to the robot, and send a first movement instruction to the storage space container adjustment device Two movement instructions; the robot 73 is configured to transport the second target rack and the first target rack to the operation position; the storage space container adjustment device 72 is configured to move the storage space container on the first target rack to the first target rack.

Here, the second target racks having empty slots may include second target racks having one vacant slot or more.

Exemplarily, since the vacancy rate of the first target shelf is already higher than the preset value, it is necessary to transfer all the space containers on the first target shelf. And at least one second target shelf that can store all the storage space containers in the first target rack, before the storage space containers are transferred, it is respectively judged that if all the storage space containers on the first target rack are transferred to the second target rack, the first target rack will be transferred. Whether the vacancy rate of the second target rack is lower than the preset value, and screen out the second target rack with the lowest vacancy rate from at least one second target rack whose vacancy rate is lower than the preset value. If there are multiple second target racks with the lowest vacancy rate, any one of the multiple second target racks with the lowest vacancy rate is selected as the rack that accepts the storage space container in the first target rack. In another case, in the result of the control server querying the second target rack with empty space, there is no second target rack that can store all the space containers in the first target rack, then the control server further inquires about the available space. At least one second target rack with an empty space, if the space container of the first target rack is transferred to the second target rack (at this time, the second target rack is in a saturated state, that is, there is no vacancy), it can make the first target rack If the vacancy rate is the lowest, the second target rack will be determined, and after the storage space containers in the first target rack are transferred to the second target rack, the remaining storage space containers in the first target rack will be transferred to other racks with vacancies. , for the specific process of screening other shelves, you can refer to the above situation, and the repeated parts will not be repeated.

In another possible implementation manner, the control server 71 may respond to the movement instruction of the storage space container, and determine that the position of the storage space request needs to be adjusted.

Here, the movement instruction of the cargo space container can be set according to different operation tasks. See the following examples for details. The target location may include at least one of an item inventory operation position, an item removal position, and a target position on the shelf.

In one embodiment, for a cargo inventory task, the cargo space container movement instruction may be an inventory cargo instruction, wherein the inventory cargo instruction may include current location information of the cargo space container to be counted, location information of the inventory platform, and movement of the cargo space container path information, etc. Here, the inventory platform can be set according to specific application scenarios, which is not limited here. Exemplarily, first, the control server determines that the position of the cargo space container needs to be adjusted in response to the received instruction for taking inventory of goods, and determines the position information of the shelf where the cargo space container is located, sends a first movement instruction to the robot, and sends a first movement instruction to the robot. The position container adjustment device sends a second movement instruction; the first robot transports the rack to the operation position based on the position information of the rack; the position container adjustment device is based on the current position information of the position container to be counted, the position information of the inventory platform, and the moving cargo. The path information of the position container is determined, and the position container to be counted is transported to the inventory operation position for inventory.

In one embodiment, for the task of removing the goods from the shelf, the movement instruction of the storage space container may be an instruction to put the goods off the shelf, wherein the instruction to remove the goods from the shelf includes the position information on the shelf where the space container to be removed from the shelf is located, the position of the goods to be removed from the shelf, And the path information of the moving cargo space container, etc. Here, the position where the goods are taken off the shelf may include the storage layer on the shelf, the conveying line, the vacancy of the fixed platform, etc., which may be set according to the specific application scenario, which is not limited here. Exemplarily, firstly, the control server determines that the position of the cargo space container needs to be adjusted in response to the received goods off-shelf instruction, and determines the position information of the shelf where the cargo space container is located, and sends a first movement instruction to the robot, and Send a second movement instruction to the position container adjustment device; the first robot transports the rack to the operation position based on the position information of the rack; the position container adjustment device is based on the position information on the shelf where the position container to be removed, and the position of the goods to be removed from the shelf. , and the path information of the moving cargo space container, determine that the cargo space container to be taken off the shelf is transported to the cargo off-shelf position to realize the cargo off-shelf.

In one embodiment, for the task of placing goods on the shelf, the movement instruction of the storage space container may be an instruction to put on the goods, wherein the instruction to put on the goods includes the position information of the racking platform on which the storage space container to be put on the shelf is located, the target space on the shelf, and the movement The path information of the cargo space container, etc. Here, the rack-up platform may include a storage layer on a shelf, a conveying line, a robot temporary storage mechanism, etc., which may be set according to specific application scenarios, which is not limited here. Exemplarily, first, the control server determines that the position of the cargo space container needs to be adjusted in response to the received goods shelving instruction, and determines the position information of the racking platform where the cargo space container is located, and sends a first movement instruction to the robot, and Send a second movement instruction to the position container adjustment device; the first robot transports the rack with an empty space or the empty rack to the operation position; the position container adjustment device is based on the position of the loading platform currently on the position container to be put on the shelf. Information, the target location on the shelf, and the path information of the moving location container, determine that the location container to be put on the shelf is moved to the target location to complete the shelf.

For the scenarios of inventory, taking off, and putting on the shelf in the above embodiment, the control server mobilizes the cargo space container adjustment device to complete the tally of the goods on the shelf, which can improve the probability of hitting the goods on the shelf and further improve the efficiency of goods picking. In addition, the adjustment of the cargo position container is realized by using the cargo position container adjustment device, and the process that requires manual operation in the above scenario is automated, which can reduce the labor input cost.

Based on the detailed description of the situation that the control server adjusts the position of the cargo space container, a detailed description is given below for the control server to control the cargo space container adjustment device to specifically realize the movement of the cargo space container to the target position.

Referring to FIG. 9 , it is a schematic diagram of a cargo level container adjusting device. Here, the storage space container adjusting device 72 may be a device 91 for adjusting the position of the storage space container, including at least one grab mechanism 911 and a transfer mechanism 912 corresponding to the grab mechanism 911 .

The grabbing mechanism 911 is configured to, based on the position information of the storage space container, take out the storage space container from the storage space of the shelf; or, take out the storage space container from the target position; the transfer mechanism 912 is configured to move the storage space container to the target location, or move the slot container to the shelf.

Here, the grabbing mechanism 911 includes a retractable container holding mechanism; or an adsorbable suction cup mechanism, etc. The specific structure of the grabbing mechanism may be a structure capable of grabbing a container in a cargo space, which is not limited in this embodiment. .

Here, the transfer mechanism 912 may drive the grab mechanism 911 to realize the transfer, which may specifically include transferring in three dimensions or transferring in two dimensions. The specific structure of the transfer mechanism 912 is not limited in this embodiment.

Exemplarily, with regard to the shipping demand information of the space container on the shelf, the control server can control the grabbing mechanism to obtain the space container on the shelf, and when it is determined that the grabbing mechanism has acquired the space container, control the transfer mechanism to drive the Grab the position container on the mechanism, move the position container to the target position, and use the grab mechanism to accurately place the position container into the target position.

In one embodiment, the storage space container adjusting device 72 further includes a detection component 913 corresponding to the grabbing mechanism 911; the detection component 913 is configured to identify the storage space container and determine the actual position information of the storage space container; the grabbing mechanism 911 is configured to In order to, based on the actual position information of the storage space container, take out the storage space container from the storage space of the shelf; or, take out the storage space container from the target position.

Here, the detection component 913 may include a visual sensor and the like, and the specific detection component including the sensor type may be set according to a specific application scenario, which is not limited herein.

Exemplarily, with regard to the shipping demand information of the space container on the shelf, the control server can control the detection component to identify the space container on the shelf, and determine the actual position information of the space container on the shelf, which has been verified and provided by the control server. The purpose of the location information of the location container. After that, the control server controls the grabbing mechanism, and takes out the space container from the space on the shelf according to the actual position information of the space container that has been verified; after that, it is determined that the grabbing mechanism has acquired the space container. Then, the transfer mechanism is controlled to drive the cargo space container on the grabbing mechanism, move the cargo space container to the target position, and use the grabbing mechanism to accurately place the cargo space container into the target position.

In one embodiment, the storage space container adjustment device further includes at least one temporary storage mechanism 914; the temporary storage mechanism 914 is configured to temporarily store the storage space container; the transfer mechanism 912 is configured to move the storage space container on the at least one temporary storage mechanism to the target location.

Exemplarily, with respect to the shipping demand information of the space container on the shelf, the control server may control the grabbing mechanism to obtain the space container on the shelf, and when it is determined that the grabbing mechanism has acquired the space container, control the grabbing mechanism. Put the cargo container into the temporary storage mechanism; then, control the transfer mechanism to drive the cargo container on the temporary storage mechanism, move the cargo container to the target position, and use the grab mechanism to accurately place the cargo container into the target position.

In one embodiment, the cargo level container adjusting device 72 further includes a steering mechanism 915 connected to the grabbing mechanism 911; the steering mechanism 915 is configured to drive the grabbing mechanism to rotate the cargo level container to the target direction, so that the position container is in the target direction. Use the transfer mechanism to move the position container to the target position, or move the position container to the shelf.

Exemplarily, with regard to the shipping demand information of the space container on the shelf, the control server can control the grab mechanism to obtain the space container on the shelf, and when it is determined that the grab mechanism has acquired the space container, control the steering mechanism to drive the The grabbing mechanism rotates the cargo container to the target direction; after that, the control transfer mechanism drives the cargo container and the steering mechanism on the grabbing mechanism, moves the cargo container to the target position, and uses the grabbing mechanism to accurately align the cargo container into the target location.

In one embodiment, when the cargo level container adjusting device 72 includes at least one grab mechanism 911 , a transfer mechanism 912 corresponding to the grab mechanism 911 , a detection assembly 913 , at least one temporary storage mechanism 914 and a turning mechanism 915 , Exemplarily, with regard to the shipping demand information of the space container on the shelf, the control server can control the detection component to identify the space container on the shelf, and determine the actual position information of the space container on the shelf, which has been verified and provided by the control server. The purpose of the location information of the location container. After that, the control server controls the grabbing mechanism, and takes out the space container from the space on the shelf according to the actual position information of the space container that has been verified; after that, it is determined that the grabbing mechanism has acquired the space container. Next, you can control the grabbing mechanism to temporarily store the position container in the temporary storage mechanism, control the detection component again to identify the space container on the shelf, and control the grabbing mechanism to take out the position container from the shelf and temporarily store it in the temporary storage mechanism. , in order to transfer multiple containers at one time. Afterwards, the control transfer mechanism drives a plurality of temporary storage mechanisms to mount the cargo container and the steering mechanism, move the cargo container to the target position, and use the grab mechanism to accurately place the cargo container into the target position.

In a possible implementation, the cargo level container adjusting device 72 may also be a picking robot 92 , including a grabbing mechanism 911 and a transfer mechanism 912 corresponding to the grabbing mechanism 911 .

In addition, the picking robot 92 may further include one or more of a detection component 913 corresponding to the grabbing mechanism 911 , at least one temporary storage mechanism 914 , and a steering mechanism 915 connected to the grabbing mechanism 911 .

Here, for the functions of the picking robot 92, reference may be made to the functions of the structures in the above-mentioned cargo space container adjusting device 72, and repeated descriptions will not be repeated here.

To sum up, by moving the cargo position container whose position needs to be adjusted to the target position through the cargo position container adjustment device, the target position can be flexibly configured, and the cargo position container to be adjusted can be moved to the preset suitable position, which can be convenient. Subsequent other operations on the container can improve the efficiency of task completion. Exemplarily, one of the tasks is the application scenario of the goods picking process for high-level shelves, which can move the storage space container corresponding to the goods with high delivery probability on the high-level rack to the storage space that is easily accessible by the staff, which can reduce The ineffective actions of the staff when picking goods improve the efficiency of goods picking; in addition, the use of the cargo space container adjustment device to realize the adjustment of the cargo space container can not only reduce the probability of danger for the staff to climb the ladder, but also increase the height of the shelf space, further Improve the utilization of shelf storage space.

Based on the concept of the above-mentioned storage space adjustment system, an embodiment of the present disclosure further provides a storage space container adjustment device, which can be considered to include the storage space container adjustment device 72 in the above embodiment. The structure of the cargo space container adjusting device can be referred to as shown in FIG. 9 , and repeated parts will not be repeated here.

Based on the concept of the above-mentioned storage space adjustment system, an embodiment of the present disclosure further provides a storage space adjustment method, which is applied to a control server, and at least one storage space container is stored on the shelf; the storage space adjustment method includes:

When it is determined that the position of the cargo space container needs to be adjusted, a first movement instruction is sent to the robot, so that the robot can transport the rack to the operation position based on the first movement instruction; The container adjustment device sends a second movement instruction, so that the storage space container adjustment device moves the storage space container to a target position based on the second movement instruction.

In an optional implementation manner, when it is determined that the position of the storage space container needs to be adjusted, a first movement instruction is sent to the robot, and a second movement instruction is sent to the storage space container adjustment device. ,include:

Obtain the location information of the storage container on the shelf;

When it is determined that the position of the storage space container needs to be adjusted based on the position information of the storage space container, a first movement instruction is sent to the robot, and a second movement instruction is sent to the storage space container adjustment device.

In an optional embodiment, the shelf includes at least two storage areas; wherein, the first delivery probabilities of different storage areas are different, and the first delivery probability of the storage area is the same as that of the storage area. The distance of the initial pickup position of the cargo space container adjustment device is negatively correlated;

When it is determined based on the position information of the storage space container that the position of the storage space container needs to be adjusted, a first movement instruction is sent to the robot, and a second movement instruction is sent to the storage space container adjustment device Instructions, including:

Determine the shipping demand information corresponding to the cargo space container;

In the case where it is determined that the shipping demand information does not match the first shipping probability of the storage area where the storage space container is currently located, a first movement instruction is sent to the robot, and a first movement instruction is sent to the storage space container adjustment device Send a second move instruction.

In an optional implementation manner, before sending the second movement instruction to the cargo space container adjusting device, the method further includes:

In the case where it is determined that the shipping demand information does not match the first shipping probability of the storage area where the storage space container is currently located, determine the target storage area and the storage space where the storage space container is located based on the shipping demand information. the target location in the target storage area;

The second movement instruction is generated based on the target position.

In an optional implementation manner, when there are multiple shelves, the target storage area is the target storage area of the shelf where the storage space container is currently located, or the target storage area of other shelves.

In an optional implementation manner, the shipping demand information includes the second delivery probability and/or the delivery time.

In an optional embodiment, the cargo position adjustment method further includes:

When there are multiple shelves, the vacancy rate of each shelf is separately determined based on the position information of the storage container on each shelf;

For the first target rack whose vacancy rate is higher than a preset value, a first movement command is sent to the robot, and a second movement command is sent to the cargo space container adjusting device.

Determine the second target shelf with empty space;

Based on the second target rack and the first target rack, a first movement command is sent to the robot, and a second movement command is sent to the slot container adjustment device.

In an optional embodiment, the target position includes at least one of a cargo inventory operation position, a cargo off-shelf position, and a target cargo position on the shelf; the cargo position adjustment method further includes:

Based on the received movement instruction of the storage space container, it is determined that the position of the storage space container needs to be adjusted.

An embodiment of the present specification further provides a computer-readable storage medium, which stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, implements the steps of the above-mentioned picking method or cargo space adjustment method.

The above is a schematic solution of a computer-readable storage medium of this embodiment. It should be noted that the technical solution of the storage medium belongs to the same concept as the technical solution of the above-mentioned picking method or the storage space adjustment method. For details that are not described in detail in the technical solution of the storage medium, please refer to the above-mentioned picking method or storage space adjustment method. description of the technical solution.

An embodiment of the present specification further provides a computer program, wherein, when the computer program is executed in a computer, the computer is made to execute the steps of the above-mentioned picking method or cargo space adjustment method.

The above is a schematic solution of a computer program of this embodiment. It should be noted that the technical solution of the computer program belongs to the same concept as the technical solution of the above-mentioned picking method or the storage space adjustment method. For details that are not described in detail in the technical solution of the computer program, please refer to the above-mentioned picking method or storage space adjustment method. description of the technical solution.

This embodiment provides a cargo position adjustment system, the system includes a control server, at least one cargo position container adjustment device, at least one robot, at least one shelf and at least one cargo position container; the shelf is provided with at least one cargo position a slot for storing a slot container;

The control server is configured to, when it is determined that the position of the storage space container needs to be adjusted, send a first movement instruction to the robot, and send a second movement instruction to the storage space container adjustment device;

The robot is configured to, based on the first movement instruction, transport the rack to an operating position;

The storage space container adjustment device is configured to move the storage space container to a target position based on the second movement instruction.

In an optional implementation manner, the control server is configured to acquire the position information of the storage space container on the shelf, and determine, based on the position information of the storage space container, the need for the position information of the storage space container. When the position is adjusted, a first movement command is sent to the robot, and a second movement command is sent to the cargo space container adjustment device.

The control server is configured to determine the shipping demand information corresponding to the cargo space container, and when it is determined that the shipping demand information does not match the first shipping probability of the storage area where the cargo space container is currently located Next, a first movement command is sent to the robot, and a second movement command is sent to the cargo space container adjusting device.

In an optional implementation manner, the control server is configured to, in the case that it is determined that the shipping demand information does not match the first shipping probability of the storage area where the cargo space container is currently located, based on the According to the shipping demand information, a target storage area and a target position of the cargo space container in the target storage area are determined, and the second movement instruction is generated based on the target position.

In an optional implementation manner, the control server is further configured to, when there are multiple shelves, determine the vacancy rate of each shelf separately based on the position information of the cargo space containers on each shelf, and determine the vacancy rate for each shelf. For the first target rack whose vacancy rate is higher than the preset value, a first movement command is sent to the robot, and a second movement command is sent to the cargo space container adjusting device.

In an optional implementation manner, the control server is further configured to determine a second target rack with empty space, and send the first target rack to the robot based on the second target rack and the first target rack. a movement command, and sending a second movement command to the cargo space container adjusting device;

The robot is configured to transport the second target rack and the first target rack to the operation position;

The storage space container adjustment device is configured to move the storage space container on the first target rack to the first target rack.

In an optional implementation manner, the control server is further configured to, based on the received movement instruction of the storage space container, determine that the position of the storage space container needs to be adjusted;

In an optional embodiment, the cargo level container adjustment device includes at least one grab mechanism and a transfer mechanism corresponding to the grab mechanism;

The grabbing mechanism is configured to, based on the position information of the storage space container, take out the storage space container from the storage space of the shelf; or, take out the storage space container from the target position;

The transfer mechanism is configured to move the slot container to the target position or to move the slot container to the shelf.

In an optional embodiment, the cargo level container adjustment device further includes a detection component corresponding to the grabbing mechanism;

The detection component is configured to identify the cargo space container and determine the actual position information of the cargo space container;

The grabbing mechanism is configured to, based on the actual position information of the storage space container, take out the storage space container from the storage space of the shelf; or, take out the storage space container from the target position.

In an optional embodiment, the cargo level container adjustment device further includes at least one temporary storage mechanism;

In an optional embodiment, the cargo level container adjustment device further includes a steering mechanism connected to the grabbing mechanism;

The steering mechanism is configured to drive the grabbing mechanism to rotate the storage space container to a target direction, so that the storage space container is moved to the target position by the transfer mechanism in the target direction , or move the storage space container to the shelf.

In an optional embodiment, the cargo space container adjusting device includes the above-mentioned cargo space container adjusting device.

In an optional embodiment, at least one cargo space is provided on the shelf, and the cargo space is used to store the cargo space container; the cargo position adjustment method includes:

Obtain the location information of the storage container on the shelf;

The second movement instruction is generated based on the target position.

Determine the second target shelf with empty space;

This embodiment also provides a sorting system, including:

In an optional embodiment, the work station includes at least one container queuing area, and when the picking station is occupied, the container loading and unloading equipment is used to place the cargo space containers in the container queuing area and queue up in sequence; Wherein, the picking station corresponds to the container queuing area.

In an optional embodiment, the picking station includes a handheld device, and/or a display device, and/or an electronic display label device, and/or a light guidance device, and/or a voice guidance device; wherein, the The handheld device, the display device and the electronic display label device are used for displaying information guiding the operator, and the light guiding device and the voice guiding device are used for giving information assisting the operator to operate.

In an optional embodiment, the container handling equipment includes a position and attitude detection device for a position container, and the position detection device for a position container is used to detect the position and attitude of the position container on the container handling equipment.

In an optional embodiment, the picking station includes an identification device, and the identification device is used to identify the information of the container on the container handling equipment.

In an optional embodiment, the automatic handling equipment includes a code scanning device; correspondingly, the movable carrier parking area corresponds to an identification object; the automatic handling equipment is determined by scanning the identification object with the code scanning device. Current location information.

In an optional implementation manner, the identification object includes at least one of the following: identification code, RFID, and shape identification.

In an optional implementation manner, a limit mechanism is provided in the parking area of the movable carrier, and the limit mechanism is used to fix the movable carrier.

In an optional embodiment, the container loading and unloading device includes a bearing assembly and a loading and unloading assembly; the loading and unloading assembly is used to extend along the Z-axis direction.

In an optional embodiment, the loading and unloading assembly is configured to move only in the Y-axis direction; the automatic handling equipment is used to drive the movable carrier to move along the X-axis direction to pick up and place the goods. bit container.

In an optional embodiment, the loading and unloading assembly is configured to move in the Y-axis direction and the X-axis direction to pick up and place the cargo space container.

In an optional embodiment, the workstation includes at least one rotation area for the automatic handling equipment to rotate itself and/or for the automatic handling equipment to rotate the movable carrier .

In an optional embodiment, the container loading and unloading device includes an identification system, and the identification system is used to identify the position of the container in the storage space to be operated, or the position of the empty storage space to be operated in the movable carrier. ; guide the loading and unloading assembly to move according to the identified position.

In an optional embodiment, the container handling device includes a safety mechanism for restricting the handling assembly from entering the operator's work area.

In an optional embodiment, the safety mechanism includes a control unit and a detection sensor; the control unit sends a stop signal to the container handling equipment based on an electrical signal detected by the detection sensor that enters the operator's work area by mistake. operating instructions.

In an optional embodiment, the movable carrier parking area includes at least one movable carrier parking sub-area, and at least one movable carrier parking sub-area is deployed with a container handling device.

In an optional embodiment, the loading and unloading assembly further includes a limiting mechanism, and the limiting mechanism is configured to limit the two sides of the container located on the carrying assembly.

In an optional embodiment, the limiting mechanism includes a first limiting portion and a second limiting portion that are arranged at intervals; the first limiting portion and the second limiting portion are configured to be opposite to the bearing assembly. Move toward or away from the X-axis direction to adjust the distance between the first limiting portion and the second limiting portion.

In an optional embodiment, the assembling and dismounting assembly includes a first base, the first limiting portion and the second limiting portion are slidingly fitted on the first base, and further comprises a driving first limiting portion, A transmission mechanism in which the second limiting portion moves along the X-axis direction on the first base.

In an optional embodiment, the transmission mechanism includes a transmission belt controlled by a pulley and extending in the direction of the X-axis, and the first limit portion and the second limit portion are respectively connected to two spaced parts of the transmission belt. side.

In an optional embodiment, the limiting mechanism is provided at a position above the bearing assembly, and is configured to limit the upper region of the container.

In an optional embodiment, the loading and unloading assembly further includes a rotating mechanism, and the rotating mechanism is configured to drive the pickup assembly and the carrying assembly to rotate around the Y axis.

In an optional implementation manner, the rotating mechanism includes a second base, and a slewing support portion rotatably connected to the second base, and the bearing assembly and the pickup and delivery assembly are relatively connected to the slewing support portion.

In an optional embodiment, the system includes a control terminal, at least one workstation, at least one movable carrier docking area, at least one automatic handling device, at least one container handling device, and at least one movable storage space container. vehicle;

In an optional embodiment, when the loading and unloading instruction is a container picking and placing instruction, the container loading and unloading device is further configured to move the loading and unloading components included in the container loading and unloading device based on the container picking and placing instruction. to the target pick-and-place position, and extend along the Z-axis direction to pick and place the storage space container located on the workstation or the storage space container located on the movable carrier.

In an optional embodiment, the workstation includes at least one processing area, and the processing area is used to assist the operator in processing the cargo space containers stored by the movable carriers; correspondingly, the automatic handling equipment is also configured To bring the movable carrier to the processing area based on the handling instruction.

In an optional implementation manner, the workstation includes at least one docking port, and correspondingly, the container loading and unloading equipment is further configured to pick and place at least one cargo space container according to the loading and unloading instruction, and place the cargo space on the container. A container is placed to the docking port.

In an optional embodiment, when the loading and unloading instruction is a container placing instruction, the container loading and unloading device is further configured to move the loading and unloading components included in the container loading and unloading device to the target based on the container placing instruction. The placement position is extended along the Z-axis direction, and the storage space container picked and placed by the loading and unloading assembly is placed on the workstation or the storage space on the movable carrier.

In an optional implementation manner, the container handling equipment is further configured to move the loading and unloading components included in the container handling equipment along the Y-axis direction to a target pick-and-place position based on the handling instruction, and wait for the automatic handling equipment. The mobile carrier is transported to the mobile carrier docking area.

In an optional implementation manner, the container handling equipment is further configured to control the identification device included in the container handling equipment to identify the position of the container based on the handling instruction, and to control the handling assembly to align the container. Bit container location.

In an optional implementation manner, the container loading and unloading device is further configured to send information including the position of the loading and unloading assembly to the control end when the loading and unloading assembly is not aligned with the position of the cargo space container. the alignment adjustment instruction;

In an optional implementation manner, the automatic handling equipment is further configured to carry the movable carrier in the movable carrier parking area to move along the X-axis according to the equipment movement parameters, and according to the movement result Dock to the target mobile vehicle docking area.

In an optional embodiment, the automatic handling equipment is further configured to scan the identification code contained in the parking area of the movable carrier through a scanning device, until the target identification corresponding to the handling instruction is scanned. In the case of the target identification code, stop to the movable vehicle parking area corresponding to the target identification code.

In an optional embodiment, the automatic handling equipment is further configured to, in the case that the volume or weight of the cargo space container is greater than the pick-and-place target of the container handling equipment, according to the handling instruction The mobile carrier is transported to the operating position movable carrier parking area, which is used for interaction with the operator.

This embodiment also provides a sorting method, which is applied to the above-mentioned sorting system, including:

In an optional implementation manner, the automatic handling equipment moves a predetermined distance along the X-axis direction in the parking area of the movable carrier, which is determined in the following manner:

In an optional implementation manner, the container loading and unloading equipment moves a predetermined distance along the Y axis, which is determined in the following manner:

In an optional implementation manner, the container loading and unloading device picks up and places the cargo space container on the movable carrier according to the business instruction, and after the execution of the business instruction is completed, the cargo space the container moves to the next processing node; or

Claims

A picking system, characterized in that it includes:

a work station, the work station includes at least one picking station for processing the slot containers;

a movable carrier parking area, the movable carrier parking area is used for parking the automatic handling equipment carrying the movable carrier, and the container loading and unloading equipment is deployed;

automatic handling equipment, the automatic handling equipment is responsible for handling the movable carrier to the parking area of the movable carrier;

Container handling apparatus configured to move in at least the vertical Y-axis direction to pick up and place slot containers on a movable carrier, or to move cargo between a picking station and a movable carrier bit container.
The system of claim 1, wherein the workstation includes at least one container queuing area, and the container handling equipment is configured to place a slot container in the container queue when the picking station is occupied queuing area; wherein, the picking station corresponds to the container queuing area.
The system according to claim 1, wherein the picking station comprises a handheld device, and/or a display device, and/or an electronic display label device, and/or a light guidance device, and/or a voice guidance device; Wherein, the handheld device, the display device and the electronic display label device are used to display information to guide the operator, and the light guidance device and the voice guidance device are used to give information to assist the operator to operate.
The system according to claim 1, wherein the container handling equipment includes a position and attitude detection device for a position container, and the position detection device for a position container is used to detect the position of the position container on the container handling equipment. posture.
The system according to claim 1, wherein the picking station includes an identification device for identifying information of the container on the container handling equipment.
The system according to claim 1, characterized in that, the container loading and unloading device comprises a carrying assembly and a loading and unloading assembly; the loading and unloading assembly is used to extend along the Z-axis direction.
The system of claim 6, wherein the handling assembly is configured to move in the direction of the Y-axis; the automatic handling equipment is configured to drive the movable carrier to move in the direction of the X-axis for picking and placing the cargo space container.
6. The system of claim 6, wherein the handling assembly is configured to move in a Y-axis direction and an X-axis direction to pick up and place the cargo space container.
The system according to any one of claims 1-8, wherein the container handling equipment comprises an identification system, and the identification system is used to identify the position of the container to be operated, or to identify the movable carrier the position of the empty cargo space to be operated in; and guide the loading and unloading assembly to move according to the identified position.
6. The system of claim 6, wherein the container handling apparatus includes a safety mechanism for restricting the handling assembly from entering an operator work area.
The system according to claim 10, wherein the safety mechanism comprises a control unit and a detection sensor; the control unit sends the container to the container based on an electrical signal detected by the detection sensor that erroneously enters the work area of the operator The loading and unloading equipment issues a stop operation instruction.
The system according to claim 6, wherein the loading and unloading assembly further comprises a limiting mechanism, and the limiting mechanism is configured to limit the two sides of the container located on the carrier assembly.
The system according to claim 12, wherein the limiting mechanism comprises a first limiting portion and a second limiting portion arranged at intervals; the first limiting portion and the second limiting portion are configured as Move toward or away from the bearing assembly along the X-axis direction to adjust the distance between the first limiting portion and the second limiting portion.
The system according to claim 13, wherein the assembling and dismounting assembly comprises a first base, the first limiting portion and the second limiting portion are slidably fitted on the first base, and further comprises driving the first base. The limit part and the second limit part move along the X-axis direction on the first base.
The system according to claim 14, wherein the transmission mechanism comprises a transmission belt controlled by a pulley and extending in the X-axis direction, and the first limit portion and the second limit portion are respectively connected to the Both sides of the belt spacer.
The system according to any one of claims 12-15, wherein the limiting mechanism is provided at a position above the carrier assembly, and is configured to limit the upper region of the container.
The system according to claim 6, wherein the loading and unloading assembly further comprises a rotating mechanism, and the rotating mechanism is configured to drive the pickup assembly and the carrying assembly to rotate around the Y axis.
The system according to claim 17, wherein the rotating mechanism comprises a second base, and a slewing support part rotatably connected to the second base, the carrying assembly and the taking-and-feeding assembly are opposite to the slewing support part connect.
A picking system, characterized in that the system includes a control terminal, at least one workstation, at least one movable carrier parking area, at least one automatic handling device, at least one container handling device, and at least one movable storage space container vehicle;

The control terminal is configured to, when receiving the container adjustment instruction, send a handling instruction to the automatic handling equipment according to the container adjustment instruction, and send a loading and unloading instruction to the container handling equipment;

the automatic handling equipment, configured to move to the movable carrier based on the handling instruction, and to transport the movable carrier to the movable carrier parking area;

The container handling device is configured to move at least in the vertical Y-axis direction based on the handling instruction to pick up and place at least one position container on the movable carrier, or to park at the movable carrier. The bay container is moved between the movable carrier of the zone and the work station.
20. The system of claim 19, wherein the container handling device is further configured to move at least one bay container to a target location based on the handling instruction, wherein the target location is a movable carrier A location for storing the storage space container, or another location for a movable carrier to store the storage space container.
The system according to claim 20, wherein the control terminal is further configured to obtain the position information of the cargo space container on the movable carrier, and based on the position information of the cargo space container, When it is determined that the position of the cargo space container needs to be adjusted, a handling instruction is sent to the automatic handling equipment, and a loading and unloading instruction is sent to the container handling equipment.
The system according to claim 21, wherein the movable carrier includes at least two storage areas; wherein the first delivery probabilities of different storage areas are different, and the first delivery probability of the storage area is different The probability is negatively related to the distance of the storage area from the initial pickup location of the container handling equipment;

The control terminal is further configured to determine the shipping demand information corresponding to the cargo space container, and when it is determined that the shipping demand information does not match the first delivery probability of the storage area where the cargo space container is currently located In the case of , a conveying instruction is sent to the automatic conveying equipment, and a loading and unloading instruction is sent to the container handling equipment.
The system according to claim 22, wherein the control terminal is further configured to, when it is determined that the shipping demand information does not match the first shipping probability of the storage area where the cargo space container is currently located In this case, a target storage area and a target position of the cargo space container in the target storage area are determined based on the shipping demand information, and the loading and unloading instruction is generated based on the target position.
The system according to claim 23, wherein when there are multiple movable carriers, the target storage area is the target storage area of the movable carrier where the cargo space container is currently located, or the target storage area is Target storage area for other movable vehicles.
The system according to claim 22, wherein the shipping demand information includes the second shipping probability and/or the shipping time.
The system according to claim 21, wherein the control terminal is further configured to, when there are multiple movable carriers, based on the position information of the cargo space container on each movable carrier, Determine the vacancy rate of each movable carrier respectively, and send a handling instruction to the automatic handling equipment and send a handling instruction to the container handling equipment for the first target movable carrier whose vacancy rate is higher than a preset value .
27. The system of claim 26, wherein the control terminal is further configured to determine a second target movable vehicle with an empty cargo space, and based on the second target movable vehicle and the The first target movable carrier sends a handling instruction to the automatic handling equipment, and sends a loading and unloading instruction to the container handling equipment;

the automatic handling equipment, further configured to transport the second target movable carrier and the first target movable carrier to the workstation;

The container handling apparatus is further configured to move a space container on the first target movable carrier to the second target movable carrier.
The system according to claim 20, wherein the control terminal is further configured to, based on the received loading and unloading instructions, determine that the position of the cargo space container needs to be adjusted;

The target position includes at least one of a cargo inventory operation position, a cargo off-shelf position, and a target cargo position on the shelf.
The system according to claim 20, wherein the container loading and unloading device further comprises at least one grasping mechanism and a transfer mechanism corresponding to the grasping mechanism;

The grabbing mechanism is configured to take out the storage space container from the storage space of the movable carrier based on the position information of the storage space container; or, take out the storage space from the target position container;

The transfer mechanism is configured to move the slot container to the target position or to move the slot container onto the movable carrier.
The system of claim 29, wherein the container handling device further comprises at least one temporary storage mechanism;

The temporary storage mechanism is configured to temporarily store the cargo space container;

The transfer mechanism is configured to move the slot container on at least one of the escrow mechanisms to the target position.
The system of claim 29, wherein the container handling device further comprises a rotating mechanism connected to the grasping mechanism;

The rotating mechanism is configured to drive the grabbing mechanism to rotate the storage space container to a target direction, so that the storage space container is moved to the target position by the transfer mechanism in the target direction , or move the cargo space container onto the movable carrier.
19. The system of claim 19, wherein in the case that the handling instruction is a container handling instruction, the container handling apparatus is further configured to move the container handling apparatus based on the container handling instruction The included loading and unloading assembly reaches the target pick-and-place position and extends along the Z-axis direction to pick and place the storage space container located on the workstation or the storage space container located on the movable carrier.
The system according to claim 19, wherein, in the case that the handling instruction is a container placing instruction, the container handling apparatus is further configured to move the container handling apparatus included in the container handling apparatus based on the container placing instruction The loading and unloading assembly reaches the target placement position and extends along the Z-axis direction, and the storage space container picked and placed by the loading and unloading assembly is placed on the work station or the storage space on the movable carrier.
The system according to claim 19, wherein the container handling device is further configured to move the loading and unloading components included in the container handling device along the Y-axis direction to a target pick-and-place position based on the loading and unloading instruction, and wait for the The automatic handling equipment transports the movable carrier to the movable carrier parking area.
The system according to claim 34, wherein the container handling equipment is further configured to control the identification device included in the container handling equipment to identify the position of the cargo space container based on the handling instruction, and to control the handling assembly Align the bay container positions.
The system of claim 34, wherein the container handling device is further configured to send a message to the control terminal containing the Alignment adjustment instructions for position information of loading and unloading components;

The control terminal is also configured to create equipment movement parameters according to the location information, and generate equipment movement instructions according to the equipment movement parameters and send them to the automatic handling equipment;

The automatic handling equipment is further configured to move the movable carrier to the target movable carrier parking area according to the equipment moving parameters carried in the equipment moving instruction as a response to the equipment moving instruction.
The system of claim 36, wherein the automatic handling equipment is further configured to carry the movable carrier to move along the X-axis in the movable carrier parking area according to the equipment movement parameters , and dock to the target movable vehicle parking area according to the moving result.
A container loading and unloading device, characterized in that the container loading and unloading device comprises the container loading and unloading device according to any one of claims 1-18 and 19-37.
A sorting method, characterized in that, applied to the sorting system according to any one of claims 1-18, comprising:

The control terminal receives the business instruction, and the automatic handling device drives the movable carrier to move to the movable carrier parking area according to the handling instruction in the business instruction;

The automatic handling device drives the movable carrier to move a predetermined distance along the X-axis direction in the movable carrier parking area according to the coordinate information of the target position included in the business instruction;

The container loading and unloading equipment moves a predetermined distance along the Y-axis according to the coordinate information of the target position contained in the business instruction;

The container handling equipment moves the storage space container between the movable carrier and the workstation according to the handling instruction in the business order.
The method according to claim 39, wherein the container handling equipment moves the cargo space container between the movable carrier and the workstation according to the handling instruction in the business instruction, comprising:

The container loading and unloading equipment moves the storage container to the target position on the movable carrier according to the loading and unloading instruction in the business instruction.
The method according to claim 39, wherein the automatic handling equipment moves a predetermined distance along the X-axis direction in the parking area of the movable carrier, which is determined in the following manner:

The control terminal collects the coordinate information of the current position of the automatic handling equipment in the parking area of the movable carrier;

According to the coordinate information of the current position of the automatic handling equipment and the coordinate information of the target position, it is calculated that the automatic handling equipment moves a predetermined distance along the X-axis direction within the movable carrier parking area.
The method according to claim 39, wherein the container loading and unloading equipment moves a predetermined distance along the Y axis, which is determined in the following manner:

The control terminal collects the coordinate information of the current position of the container loading and unloading equipment;

According to the coordinate information of the current position of the container handling apparatus and the coordinate information of the target position, it is calculated that the container handling apparatus moves a predetermined distance along the Y axis.
The method according to claim 39, wherein the container loading and unloading device picks up and places the cargo space container on the movable carrier according to the business instruction, and after the execution of the business instruction is completed, the slot container moves to the next processing node; or

The container loading and unloading equipment picks up and places the cargo space container on the movable carrier according to the business instruction, and places it at the picking station in the work station; after the execution of the business instruction is completed, the The slot container is returned to its original slot on said movable carrier; or

The container loading and unloading device picks up and places the storage space container on the movable carrier according to the business instruction, and puts back at least one target storage space container in the workstation after the execution of the business instruction is completed. to the original position on the movable carrier; or

The container handling device picks up and places the slot container on the picking station according to the business instruction, and places the slot container in an empty slot on the movable carrier.
A computer-readable storage medium storing computer-executable instructions that, when executed by a processor, implement the steps of the sorting method described in any one of claims 39 to 43.