CN105858045B - The automatic radio frequency of cargo and the automatic picking method of cargo - Google Patents
The automatic radio frequency of cargo and the automatic picking method of cargo Download PDFInfo
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- CN105858045B CN105858045B CN201610391346.8A CN201610391346A CN105858045B CN 105858045 B CN105858045 B CN 105858045B CN 201610391346 A CN201610391346 A CN 201610391346A CN 105858045 B CN105858045 B CN 105858045B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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Abstract
Provide the automatic radio frequency of cargo and its method.The automatic radio frequency of cargo includes: transfer robot；Control system；Multiple order cargos accommodate container, and each order cargo accommodates container and is configured as accommodating the corresponding cargo of one or more orders；Wherein control system is carried out wireless communication with transfer robot, and it includes: that control system gives transfer robot distribution order taking responsibility that wherein cargo sorts process automatically；Transfer robot obtains vacant order cargo and accommodates container, carries order cargo and accommodate container to order and correspond to each cargo rest area picking where cargo and will complete the order cargo receiving container handling of cargo sorting to designated place.It is order to people's scheme that cargo of the invention sorts technology automatically, and original shelf can be used；Goods can be used to people's mode and carry out FCL on original shelf, puts one's child in a boarding nursery and take inventory goods, to solve the problems, such as frequent restocking；And manual handling is replaced using Intelligent transfer robot, reduce the labor intensity of picking personnel.
Description
Technical field
The present invention relates generally to logistic storage technology, relate more specifically to electric business field the automatic radio frequency of cargo and
The automatic picking method of cargo.
Background technique
The fast development of e-commerce and shopping at network both brings the opportunity to emerge rapidly to logistic storage industry,
Unprecedented challenge is brought to warehousing and logistics industry.In traditional warehousing and logistics industry, trolley is push by people and is ordered each
Single required commodity, which pick, to be come, and needs people to take a long walk journey, labor intensity is higher, and efficiency is lower.
How improving sorting efficiency, reducing time from order to delivery, reduce labour's burden is always logistic storage
Industry major issue urgently to be resolved.
In the previous automatic radio frequency of robot, goods to people is a kind of relatively conventional mode.The goods is to people side
Formula is based on Intelligent transfer robot, and robot is needed according to order and inventory information, immediately below automatic running to target shelf simultaneously
Target shelf are lifted and are sent to sorting station, goods order institute is matched equipped with the display devices such as display screen, display device prompt in sorting station
Needing goods yard information where commodity, sorting personnel remove required commodity according to prompt and are put into specified containers to complete sorting task,
Robot sends shelf back to designated position after sorting task.Above-mentioned goods is walked about to people's scheme whole process without personnel, substantially
It improves sorting efficiency, reduce personnel labor intensity.
Summary of the invention
But goods has the following problems to people's mode: first must use customization shelf, that is, be adapted to robot size and
The shelf of lifting capacity etc. and design, to guarantee that robot can travel to shelf lower section and hold up entire shelf；And then by
The problems such as this leads to commodity higher for frequency of use, and there are frequent restockings.
In view of the above circumstances, it is made that the present invention.
According to an aspect of the invention, there is provided a kind of automatic radio frequency of cargo, comprising: transfer robot；Control
System；Multiple order cargos accommodate containers, and each order cargo accommodates container and is configured as accommodating one or more orders correspondences
Cargo；Wherein control system is carried out wireless communication with transfer robot, and it includes: control system that wherein cargo sorts process automatically
Order taking responsibility is distributed to transfer robot；Transfer robot obtains vacant order cargo and accommodates container, carries order cargo
Container to order is accommodated correspond to each cargo rest area picking where cargo and the order cargo appearance of cargo sorting will be completed
Container handling is received to designated place.
In one example, before transfer robot is moved to specific cargo rest area, control system sorts cargo
Instruction information be sent to the employee for being responsible for being sorted in the specific cargo rest area perhaps robot so as to employee or machine
People carries out cargo sorting before transfer robot reaches specific cargo rest area in advance.
In one example, the automatic radio frequency of cargo can also include: mobile sowing wall, and each mobile sowing wall has
Mark, and one or more order cargos can be placed and accommodate container.
In one example, the robot has the function of to lift automatically, lifted by automatic lift placed it is described vacant
Order cargo accommodate the mobile sowing wall of container to obtain vacant order cargo and accommodate container, and moved in transfer robot
Before moving specific cargo rest area, cargo corresponding with order is sorted instruction information and be sent to by control system to be responsible in the tool
The employee that body cargo rest area is sorted is pre- advanced so that employee is before transfer robot reaches specific cargo rest area
Crudely-made articles object sorts；And when transfer robot is moved to specific cargo rest area, employee will preparatory sorting corresponding with order
Cargo be put into the corresponding order cargo of the order and accommodate in container.
In one example, by one of following manner, control system establishes mobile sowing wall, wall is contained orders for mobile sowing
Single cargo accommodates the corresponding relationship between container and order: mobile sowing wall and thereon each goods yard label pass through barcode scanning
Rifle scanning sowing wall label and the goods yard label for being placed with container establish sowing wall and have the corresponding informance in container goods yard, and control
Order and the label binding for having container goods yard are established corresponding relationship by system side processed, thereby establish mobile sowing wall, have container
The corresponding relationship between container, order on goods yard；Or mobile sowing wall and the order cargo being placed on it accommodate container and paste
There is label, the order cargo for scanning mobile sowing wall label by barcode scanning gun and being placed on it accommodates containers labels, establishes movement
Order and movement are sowed the order cargo on wall by the corresponding informance and control system of sowing wall and order cargo receiving container
The label binding for accommodating container, establishes corresponding relationship, thereby establish mobile sowing wall, order cargo accommodate container, order it
Between corresponding relationship.
In an exemplary automatic radio frequency of cargo, mobile sowing wall is that wheel type mobile sows wall.
In one example, the automatic radio frequency of cargo can also include: sowing wall, be fixed on transfer robot；Institute
Stating transfer robot and obtaining vacant order cargo to accommodate container includes: to be put by the way that vacant order cargo is manually accommodated container
It sets on sowing wall.
In one example, cargo sort automatically process may include: in response to receiving one or more order taking responsibilities,
According to order information, scheduling strategy and inventory information, specified one or more transfer robots are responsible for executing this to be ordered control system
Single task, the corresponding cargo of each order taking responsibility are placed on one or more separated cargo rest areas；Transfer robot moves
It moves at case area in preparation, accommodates container from one or more order cargos are obtained at case area in preparation；Order cargo is loaded with to accommodate
The transfer robot of device is sequentially moved to each cargo rest area, wherein in each cargo rest area, by manual type or
Robot sorts mode automatically and sorts cargo on shelf that are corresponding with respective orders, being placed in the cargo rest area, and
It places goods onto corresponding order cargo to accommodate in container, until each order cargo of transfer robot has accommodated container
It has piled entire cargo corresponding with respective orders or transfer robot has received the order for stopping picking；And conveying robot
Order cargo is accommodated container movement and is placed in designated position by people.
In one example, the automatic radio frequency of cargo can also include hand-held or fixed display device, for showing
Show the location information and corresponding order cargo receiving information of container where commodity needed for order.
In one example, display device can be hand-held display device, and by picking, personnel are held, and picking personnel pass through
With the scan code on the carried object of the hand-held display scanning machine people or robot come where obtaining commodity needed for order
Location information and corresponding order cargo accommodate information of container.
According to another aspect of the present invention, a kind of cargo automatic sorting method is provided, may include: in response to receiving
One or more order taking responsibilities, the specified one or more transfer robots of control system are responsible for executing the order taking responsibility, each be ordered
The corresponding cargo of single task is placed on one or more separated cargo rest areas；Transfer robot is moved into case and prepares
Area accommodates container from one or more order cargos are obtained at case area in preparation, and each order cargo accommodates container and corresponds to one
Or multiple orders；The transfer robot for being loaded with order cargo receiving container is sequentially moved to each cargo rest area, wherein each
A cargo rest area, by manual type or robot sort automatically mode sort it is corresponding with respective orders, be placed in institute
The cargo on the shelf of cargo rest area is stated, and places goods onto corresponding order cargo and accommodates in container, until carrying implement
Each order cargo of device people accommodates container and has piled entire cargo corresponding with respective orders or transfer robot receipts
The order for stopping picking being arrived；And order cargo is accommodated container movement and is placed in designated position by transfer robot.
In one example, designated position can be packed locations, accommodate the goods in container to order cargo in the position
Object is packaged.
In one example, transfer robot is moved into case area in preparation, orders from one or more is obtained at case area in preparation
It may include: the object that transfer robot is directly carried for mobile sowing wall that single cargo, which accommodates container, place on mobile sowing wall
One or more of order cargos accommodate containers.
In one example, mobile sowing wall can sow wall for wheel type mobile, suitable for being pushed by employee；And each
Cargo rest area, transfer robot are put down wheel type mobile sowing wall by lift mechanism, push wheel type mobile to sow by employee
Wall is put to corresponding order cargo on wheel type mobile sowing wall and is accommodated in container, so until specific cargo, which places shelf, sorts cargo
Wheel type mobile sowing wall is pushed back into transfer robot position afterwards, transfer robot is broadcast wheel type mobile by lift mechanism
Kind wall, which lifts, to be placed on itself.
According to an illustrative cargo automatic sorting method, in the case where artificial picking, by display device to picking
Goods employee conveys cargo to sort instruction information.
According to an illustrative cargo automatic sorting method, the display device takes one of following form: fixed
Display device is fixed on transfer robot and parks near the position of wheel type mobile sowing wall；The display device that robot carries, matches
It sets on other objects in robot or mobile sowing wall or robot；And hand-held display device, it is held by employee
It is mobile.
According to an illustrative cargo automatic sorting method, wherein being moved to specific cargo rest area in transfer robot
Before, control system by cargo sort instruction information be sent to be responsible for sorting employee perhaps robot so as to employee or machine
Device people carries out cargo sorting before transfer robot reaches specific cargo rest area in advance.
According to an illustrative cargo automatic sorting method, wherein being loaded with the transfer robot that order cargo accommodates container
It is sequentially moved to each cargo rest area, wherein sorting automatically in each cargo rest area by manual type or robot
Mode sorts the cargo on shelf that are corresponding with respective orders, being placed in the cargo rest area, and places goods onto pair
It includes: transfer robot after being moved to determining cargo rest area that the order cargo answered, which accommodates in container, is sequentially moved to this
Determine the location of each cargo corresponding with order in cargo rest area；And by transfer robot or other machines
People automatically sorts corresponding cargo and puts to corresponding order cargo and accommodates in container, or is sorted by employee to corresponding
Cargo and put to corresponding order cargo accommodate container in.
According to an illustrative cargo automatic sorting method, wherein being loaded with the transfer robot that order cargo accommodates container
It is sequentially moved to each cargo rest area, wherein sorting automatically in each cargo rest area by manual type or robot
Mode sorts the cargo on shelf that are corresponding with respective orders, being placed in the cargo rest area, and places goods onto pair
It includes: to be loaded with order cargo and accommodate the transfer robot of container to be moved to cargo rest area simultaneously in container that the order cargo answered, which accommodates,
It stops；Employee moves in the tunnel of shelf, and sorting is corresponding with respective orders, is placed in the cargo of cargo rest area, and walks
It is put at transfer robot to corresponding order cargo and is accommodated in container.
According to another aspect of the present invention, a kind of automatic radio frequency of cargo is provided, comprising: transfer robot has
Hoisting mechanism, and have the function of independent navigation, transfer robot can be travelled to mobile sowing wall, and utilize elevator
Structure lifts entire mobile sowing wall；Control system can lead to the staff of transfer robot and responsible picking
Letter；Shelf are configured to arrangement of goods, for being responsible for staff's picking of picking；Mobile sowing wall, each mobile sowing wall have
Mark, and one or more order cargos can be placed and accommodate container, each order cargo accommodates container and is configured as receiving one
The corresponding cargo of a or multiple orders；Wherein the automatic radio frequency of cargo executes cargo and sorts process automatically, comprising: obtains order
Task step, in response to receiving one or more orders, the specified one or more transfer robots of control system are responsible for execution
The order taking responsibility, wherein the corresponding cargo of each order taking responsibility is placed on the shelf of one or more separated cargo rest areas
On；It obtains order cargo and accommodates container step, transfer robot is moved into case area in preparation by independent navigation function, at case
At area in preparation, specified mobile sowing wall is lifted by hoisting mechanism and is placed on itself by transfer robot, specified
One or more order cargos have been placed on mobile sowing wall and have accommodated container, and each container is ordered corresponding to one or more
It is single, and background control system establishes movement sowing wall, the mobile corresponding pass sowed between the contained container of wall, handled order
System；Each area of cargo sorts step, and the transfer robot for being loaded with order cargo receiving container is sequentially moved to each cargo rest area,
In each cargo rest area, mode is sorted by manual type or robot automatically and sorts, placement corresponding with respective orders
Cargo on the shelf of the cargo rest area, and place goods onto corresponding order cargo and accommodate in container；And it removes
Step is transported, the order cargo for completing cargo sorting is accommodated container movement and is placed in package by transfer robot launches area.
According to an automatic radio frequency of illustrative cargo, each area of the cargo sort step work in it is pre- pick mode,
In the case where picking mode in advance, before mobile sowing wall to cargo destined rest area is carried by robot, control system sows the movement
The corresponding cargo of wall sorts instruction information and sends corresponding picking personnel to, so that picking personnel can be before robot arrival
Cargo is picked in advance.
According to an automatic radio frequency of illustrative cargo, each area of the cargo, which sorts step and works in, non-pre- picks mould
Formula, it is non-it is pre- pick mode under, workflow include: i) control system by Order splitting to determining mobile sowing wall；Ii) control system
The designated position that wall to cargo destined rest area is sowed in the movement is carried by one robot of system scheduling, and mobile sowing wall is unloaded
Under；Iii cargo) is obtained by the mark that handheld device scans mobile sowing wall by sorting personnel and sorts instruction information, is then dragged
Mobile sowing wall enter shelf tunnel and execute sorting task, sorting personnel send mobile wall of sowing after having executed sorting task
To designated position, and information is sent completely to background control system by handheld terminal；And iv) control system designated robot
Movement sowing wall is removed to next designated position.
The automatic radio frequency of cargo according to an embodiment of the present invention and the automatic picking method of cargo, with existing by robot
Carry technology (referred to as goods to people scheme) of the loading shelf at packing on the contrary, the technical solution of the embodiment of the present invention (herein
Referred to as order is to people's scheme) it empty charging box is carry by the robot for being assigned order taking responsibility is picked to each cargo rest area
Goods completes order taking responsibility, then travels to packing area, have the advantage that
1. order is smaller to the change of original warehouse to people's scheme, original shelf can be used, effectively reduce investment；
2. commodity higher for frequency of use, goods to people's mode, which can be used, to carry out FCL, puts one's child in a boarding nursery and take inventory on original shelf
Goods improves the efficiency entirely stored in a warehouse to solve the problems, such as frequent restocking；And
3. the system and goods sorting method substantially reduce picking people in such a way that Intelligent transfer robot replaces manual handling
The labor intensity of member.
In addition, pre- picking can be used in the automatic radio frequency of cargo of order to the people's scheme of the embodiment of the present invention
Mode, i.e., by the way that order information is pre-transmitted to picking personnel, picking personnel can reach cargo rest area in robot and refer to
Before positioning is set, cargo has just been picked, thus, it is possible to reduce the robot waiting time to the full extent, has greatly improved point of the system
Pick efficiency.
In addition, wheeled shifting can be used in the automatic radio frequency of cargo of order to the people's scheme of the embodiment of the present invention
Moving sowing wall and robot can have and lift function automatically, can lift automatically and put down mobile sowing wall automatically, by dividing
The personnel of picking push mobile sowing wall and carry out picking and mobile sowing wall is reset to designated place after picking, then machine
People lifts mobile sowing wall and continues to execute task, and thus, it is possible to reduce the labor intensity of sorting personnel.
Detailed description of the invention
From the detailed description with reference to the accompanying drawing to the embodiment of the present invention, these and/or other aspects of the invention and
Advantage will become clearer and be easier to understand, in which:
Fig. 1 shows the composition schematic diagram of the automatic radio frequency 100 of cargo according to an embodiment of the invention.
Fig. 2 shows the composition schematic diagrams of the automatic radio frequency 200 of cargo according to the preferred embodiment of the invention.
Fig. 3 shows the total of the automatic picking method 300 of cargo of the automatic radio frequency of cargo according to an embodiment of the present invention
Body running flow chart.
Fig. 4 shows the operative scenario of the automatic radio frequency of cargo according to an embodiment of the present invention and workflow 400 is shown
It is intended to.
Fig. 5 (a) shows the schematic diagram of wheeled sowing wall, and Fig. 5 (b) shows the schematic diagram of non-wheeled sowing wall.
Specific embodiment
In order to make those skilled in the art more fully understand the present invention, with reference to the accompanying drawings and detailed description to this hair
It is bright to be described in further detail.
The illustratively meaning of some terms involved in the embodiment of the present invention first below.
Order cargo accommodates container, for accommodating the container of order cargo, is hereinafter also simply referred to as hopper.
Wall is sowed, the shelf of container are accommodated for placing order cargo.
Mobile sowing wall, refers to moving goods rack, accommodates container for placing order cargo.
Wheel type mobile sowing wall, which refers to, has the castor of restraint device in the installation of sowing wall supporting leg bottom.Restraint device is
Certain type of brake can prevent mobile sowing wall from generating unnecessary movement after starting restraint device.
Cargo sorting instruction information is that the sorting institute of the entire cargo or partial cargo in order to complete some order is required
Information, for example, for some order, need to sort which commodity, every kind of commodity need to pick several, commodity which is placed on
Which goods yard of a shelf, these cargos should be placed on which hopper etc..
The description of the specific embodiment of the invention is provided with reference to the accompanying drawing.
Fig. 1 shows the composition schematic diagram of the automatic radio frequency 100 of cargo according to an embodiment of the invention.Cargo is certainly
Dynamic radio frequency 100 includes: transfer robot 10；Control system 20；Multiple order cargos accommodate container 30, each order cargo
Container 30 is accommodated to be configured as accommodating the corresponding cargo of one or more orders；Wherein control system 20 and transfer robot 10 into
Row wireless communication, wherein transfer robot is assigned order taking responsibility, obtains vacant order cargo receiving container, carries order
Cargo accommodates container to order and correspond to each cargo rest area picking where cargo and will complete the order goods that cargo sorts
Object accommodates container handling to designated place.
Control system 20 is software systems run on the server, with data storage, information processing capability, can be led to
It crosses and is wirelessly or non-wirelessly connect with robot, hardware input system, other software systems.20 execution of order task of control system is to machine
The distribution of device people transmits information to worker (for example, robot number information, order information, mobile sowing wall information, hopper letter
Breath etc.), control of issuing an order etc. to robot.
Transfer robot 10 can have intelligent guidance system can when being told departure place and destination with itself
Contexture by self path is to arrive at the destination.Transfer robot can be communicated with control system, receive the order of control system
Distribution order, navigation command etc..
Fig. 2 shows the composition schematic diagrams of the automatic radio frequency 200 of cargo according to the preferred embodiment of the invention.
As shown in Fig. 2, the difference of the automatic radio frequency 200 of cargo and the automatic radio frequency 100 of cargo is to further include moving
Dynamic sowing wall 40, each mobile sowing wall has mark, and can place one or more order cargos and accommodate container 30；And
Transfer robot 10 includes hoisting mechanism 11, has the function of to lift automatically, is lifted by automatic lift and placed described vacant order
Single cargo accommodates the mobile sowing wall 40 of container 30 and accommodates container to carry vacant order cargo.
In another example, transfer robot does not have hoisting mechanism, at this time using mobile sowing wall,
Mobile sowing wall is placed on transfer robot using manual type.
In another example, the automatic radio frequency of cargo includes the sowing wall being fixed on transfer robot；It is described to remove
It includes: to be placed on by the way that vacant order cargo is manually accommodated container that fortune robot, which obtains vacant order cargo and accommodates container,
It sows on wall.
In another example, the automatic radio frequency of cargo uses manual type by order at this time not using sowing wall
Cargo accommodates container and is directly placed on transfer robot.
Illustrate that cargo according to an embodiment of the present invention sorts automatically below with reference to flow chart Fig. 3 and operation schematic diagram Fig. 4
The course of work of system.
Fig. 3 shows the total of the automatic picking method 300 of cargo of the automatic radio frequency of cargo according to an embodiment of the present invention
Body running flow chart.
Fig. 4 shows the operative scenario of the automatic radio frequency of cargo according to an embodiment of the present invention and workflow 400 is shown
It is intended to.
As shown in figure 3, in step s310, transfer robot is accepted an order task.
Specifically, it for example, after control system receives order, according to order information, scheduling strategy and inventory information, specifies
A certain Intelligent transfer robot is responsible for executing the order taking responsibility.
According to order situation, a transfer robot can be responsible for executing an order taking responsibility or multiple order taking responsibilities.
For example, if there are many cargo in an order, then a transfer robot may be merely responsible for executing an order taking responsibility；Conversely, such as
Each of multiple order taking responsibilities of fruit need cargo few, then a transfer robot can be responsible for multiple order taking responsibilities.
In step s 320, transfer robot is moved into case area in preparation, obtains hopper.
In a preferable example, transfer robot does not carry hopper directly, but carries sowing wall, is especially needing
In the case where wanting multiple hoppers.In real work, such as hopper is placed on to each goods yard for sowing wall by worker, will finally broadcast
Kind wall is placed on transfer robot.
It is highly preferred that transfer robot has hoisting mechanism, have the function of to lift automatically, can travel will to sowing wall lower section
Entire mobile sowing wall lifts certain height, and then is carried to designated position.
It is highly preferred that the sowing wall is mobile sowing wall, such as wheeled sowing wall.Wheeled sowing wall refers in sowing wall
The installation of supporting leg bottom has the castor of restraint device, to be highly susceptible to being pushed.Non- wheeled sowing wall refers to sowing wall support
Leg bottom directly touches the ground no castor.Fig. 5 (a) shows the schematic diagram of wheeled sowing wall, and Fig. 5 (b) shows non-wheeled broadcast
The schematic diagram of kind wall.
Hereinafter, it will be illustrated so that the direct moving object of transfer robot is mobile sowing wall as an example.
As shown in figure 4, at placed multiple rows of mobile sowing wall 410 in the D1 of case area in preparation.
Preferably, in order to complete automatic picking task, it should between control system, robot and the employee for being engaged in picking
Share following information: which robot is responsible for which order, which or which material on each order and which movement sowing wall
Case is associated.
As an example, specifically information association mode can be such that firstly, at case area in preparation, it is responsible for robot standard
The employee of material-supplying box is firstly received the message from control system, and material will be received to this by being apprised of specific robotic Robot1
Case, and specific order Order 1, Order 2 ... Order n is assigned；Employee selects the movement for having label W1
Wall is sowed, hopper B1, B2 ... Bn have been put into the goods yard S1 of sowing wall, on S2 ..., Sn.
As a kind of example for establishing information association relationship, employee scans sowing wall label by barcode scanning gun and is placed with container
Goods yard label, from there through barcode scanning gun by sow wall label information and be placed with container goods yard label information be sent to control system
System, control system will have in server end binds between container goods yard and order, thereby establish mobile sowing wall label,
Corresponding relationship between goods yard label and order number.For example, establishing mobile sowing wall W1, goods yard S1, between order Order 1
Incidence relation；Mobile sowing wall W2, goods yard S2, incidence relation ... between order Order2, etc..
As another example, in the case where hopper also has label, employee scans sowing wall mark by barcode scanning gun at this time
Label, goods yard label and hopper label are realized the one-to-one correspondence between goods yard label and hopper label, will be broadcast from there through barcode scanning gun
Kind of wall label information, hopper label and goods yard label information are sent to control system, and control system is by order number and hopper label
It binds, thereby establishes between mobile sowing wall label, hopper label, goods yard label and order number simultaneously with goods yard label information
Corresponding relationship.For example, establishing mobile sowing wall W1, hopper B1, goods yard S1, the incidence relation between order Order 1；It moves
Dynamic sowing wall W2, hopper B2, goods yard S2, incidence relation ... between order Order 2, etc..
It optionally, can also be only by order number and hopper label binding, but regardless of certain in the case where hopper has label
A hopper is placed on which goods yard of sowing wall, thus between only sowing wall label, hopper label and the order number be concerned about
Corresponding relationship.For example, establishing mobile sowing wall W1, hopper B1, the incidence relation between order Order 1；Mobile sowing wall
W2, hopper B2, incidence relation ... between order Order 2, etc..
As another example, corresponding relationship is established between hopper and order based on the mode of printing papery order.?
In this case, the order of printing has mark, order and container can be successively scanned by barcode scanning gun, container and order are established with this
Corresponding relationship.With papery order, in picking area, picking personnel can hold papery order and go picking, and
And papery order is continued to stay in hopper after completing picking.In packing area, packing personnel can be based on papery order come core
It examines goods and object and is packaged.
In addition, related label can be traditionally on paper label, such as bar code, or electronic tag, such as RF tag
RFID.The label of mobile sowing wall usually uses paper labels, the RFID tags of container, and personnel can know automatically when being packaged in packaging platform
, not very convenient.
In following example, it is illustrated in case where each hopper corresponds to an order.However, it is desirable to say
Bright, the present invention is not limited thereto, can each order correspond to multiple hoppers；It can also be corresponded to a hopper multiple
Order, the scheme that a hopper corresponds to multiple orders are particularly suitable for the case where multiple orders are corresponding to same commodity.
Fig. 3 is returned to, in step s 320, transfer robot proceeds to order after obtaining hopper at case area in preparation
Picking area (D2 in Fig. 4), in order-picking area, according to each order, the path based on planning, transfer robot is in each goods
It is stopped at object rest area (480 in Fig. 4), to complete picking task, this is completed by the step S330-S350 in Fig. 3.
Here, the path about robot traveling can be defendant in the case where robot has independent navigation ability
After knowing starting point, terminal and each transit point, by robot oneself planning；It is also possible to the path that robot receives control system
Traveling order and travel.
Specifically, in step S330-S350, transfer robot is sequentially moved to each cargo rest area, start it is artificial or
Automatically picking.
According to an example, picking mode can be divided into two kinds: picking mode in advance and non-pre- pick mode.
In the case where picking mode in advance, before robot reaches some cargo rest area, it is responsible for the member of the cargo rest area picking
Work has just obtained associated order information, and starts picking in advance, so as to get out the cargo of order in advance, arrives in robot
Up to when directly by cargo launch into the corresponding hopper of order.By picking in advance, transfer robot can be reduced in order-picking area
Waiting time, improve the automatic radio frequency of cargo efficiency.
It is non-it is pre- pick mode under, employee after robot reaches cargo rest area, obtain associated order information, then open again
Beginning picking.
It provides separately below and pre- picks mode and the non-pre- specific example for picking mode.
A) mode is picked in advance:
In one example, background control system is when by Order splitting to a certain mobile sowing wall, while order being believed
Breath sends corresponding picking personnel to；Before mobile sowing wall to designated position is carried by robot, sorting personnel can be corresponding to order
Commodity execution picks work in advance, reduces robot with this and time that sorting personnel mutually wait, raising sorting efficiency.
In one example, picking personnel can understand robot location information at present, such as robot in real time
Current location status and intended path is displayed in real time on the hand-held display of picking personnel, thus picking personnel's energy
Enough arrange the picking progress of oneself.
B) non-pre- to pick mode:
In one example, this it is non-it is pre- pick under mode situation, mobile sowing wall is the mobile sowing wall of belt wheel.It pre- is picked non-
Under mode, in order-picking area
I) the server scheduling robot of control system carries the movement and sows wall to designated place, and will mobile sowing wall
It unloads；
Ii) sorting personnel by the label (ID) of the mobile sowing wall of hand-held display device (such as barcode scanning gun) scanning (such as
Bar code) associated order information is obtained, then mobile sowing wall enters shelf tunnel execution sorting task in tow, and sorting personnel exist
It has executed and mobile sowing wall is returned into designated place after sorting task, and information is sent completely to service by handheld terminal
Device, wherein can be as follows about the detailed process for obtaining associated order information, such as handheld device scans and obtains mobile sowing
After wall ID, the id information and corresponding order request are sent to server, server, which receives after information, to be ordered the ID is corresponding
Single information sends the handheld device to；
Iii) server designated robot removes movement sowing wall to next designated position.
In another example, it is non-it is pre- pick mode under, transfer robot can be sequentially moved at the goods yard of shelf, so
The goods yard for picking goods yard by picking personnel afterwards is put into corresponding hopper.This can be further reduced picking personnel and remove cargo
The stroke of walking reduces labor intensity.
In another example, especially in the case where cargo to be sorted is less, sorting personnel can directly move down machine
Then hopper on device people removes hopper and goes picking at the goods yard of corresponding shelf.
In order to which image is easy to understand, exemplary picking process is further illustrated below with reference to Fig. 4.
As shown in figure 4, transfer robot has driven to order after obtaining empty charging box at case area in preparation D1, along path R1
Picking area D2.In order-picking area D2, there are multiple shelf areas 480, two rows of shelf are shown as in figure and are placed back to back, it is intermediate
Tunnel be channel, it is current for picking personnel.
As shown in figure 4, the transfer robot for being loaded with mobile sowing wall 420 is travelled in order-picking area D2 along path R2,
It stops at A, picking personnel 450 have picked cargo in advance and waited and stayed at A using consolidating the load trolley 440 at this time, at this moment pick
The cargo picked can be put into corresponding hopper by goods personnel 450.As previously mentioned, why picking personnel can pick in advance
Goods is because before this, picking personnel have obtained pair between mobile sowing wall, hopper and order number from control system
Answer information, such as control system that the corresponding informance is sent to the hand-held electricity of picking personnel by modes such as short message, wechats
Words, or be sent on the dedicated hand-held display device of picking personnel.When the cargo that will have been picked puts into hopper, picking personnel can
To be scanned by the label of the label and/or hopper of the number of observer robot and/or mobile sowing wall, or with handheld device
Corresponding label ensures that cargo is put to obtain corresponding order information, or by checking the papery order carried inside hopper
It sets in the correct hopper that correct robot is carried.
About the specific position that transfer robot is stopped, it can be what control system was specified, such as preferably four cargos
Region, feeder connection neighbouring position etc. among rest area 480, or it is also possible to picking personnel instruction.
Picking personnel 430 are also shown in Fig. 4 push consolidating the load trolley 440 walk on the tunnel of cargo rest area and picking
Scene.
After the completion of a cargo rest area picking, picking personnel can provide corresponding completion instruction, and correspondence completion refers to
Transfer robot can be supplied to by showing, or be supplied to control system.In the case where being supplied to transfer robot, such as picking
Personnel can press the completion instruction button configured in robot and complete the instruction of picking in the cargo rest area to provide,
Or tangible display screen is configured in robot, the button for indicating to complete in this cargo rest area picking is being clicked above,
Or in the case where robot has speech identifying function, phonetic order can be provided.
If at this point, the picking task of all be responsible for orders has not been completed, with similar, the machine of mentioned-above operation
Device people proceeds to next cargo rest area, is parked in designated position, then according to contexture by self or based on the order of control system
Continue to start picking.
If proceeding to step S340 business at this point, having been completed the picking task of all be responsible for orders.
In step S360, the mobile sowing wall that transfer robot finishes picking is transported to designated position, such as wraps
It wraps up in and launches area D3, complete picking task at this time.
In one example, as schematically shown in Figure 4, after launching area D3 into package, transfer robot is arranged along path R3
Team is to queue is packaged, and then worker 460 removes hopper, is put on transmission line 450, and transmission line send the hopper of full goods to packing
Position is packaged.
After completing to assign order sorting task, transfer robot may carry empty mobile sowing wall 470 along path R4
It is back into case area in preparation D1 and completes next subtask；If without task, robot may return to waiting area wait new task or
Charging zone is back to charge.
The automatic radio frequency of cargo according to an embodiment of the present invention and the automatic picking method of cargo, with existing by robot
It carries technology (referred to as goods to people scheme) of the loading shelf at packing to compare, the technical solution of the embodiment of the present invention is (herein
Referred to as order is to people's scheme) it empty charging box is carry by the robot for being assigned order taking responsibility is picked to each cargo rest area
Goods completes order taking responsibility, then travels to packing area, thus have the advantage that
1. order is smaller to the change of original warehouse to people's scheme, original shelf can be used, effectively reduce investment；
2. commodity higher for frequency of use, goods to people's mode, which can be used, to carry out FCL, puts one's child in a boarding nursery and take inventory on original shelf
Goods improves the efficiency entirely stored in a warehouse to solve the problems, such as frequent restocking；
3. the system and goods sorting method substantially reduce picking people in such a way that Intelligent transfer robot replaces manual handling
The labor intensity of member.
In addition, according to an example, in the automatic radio frequency of cargo of order to the people's scheme of the embodiment of the present invention, energy
Pre- picking mode is enough used, i.e., by the way that order information is pre-transmitted to picking personnel, picking personnel can reach in robot
Before the designated position of cargo rest area, cargo has just been picked, thus, it is possible to reduce the robot waiting time to the full extent, has substantially been mentioned
The sorting efficiency of the high system.
In addition, can be can have using wheel type mobile sowing wall and robot according to another example and lift function automatically
Can, mobile sowing wall can be lifted and put down automatically automatically, push mobile sowing wall by sorting personnel and carried out picking and in picking
After mobile sowing wall is reset to designated place, then robot lifts mobile sowing wall and continues to execute task, thus, it is possible to
The enough labor intensity for reducing sorting personnel.
The description of front only gives some specific examples, cannot function as limitation of the invention.Those skilled in the art can
To carry out some changes, replacement, combination, sub-portfolio, addition etc. as needed.
For example, picking personnel's hand-held display, display device prompt is with quotient needed for goods order in example in front
Product position information and corresponding hopper (and/or goods yard) information etc., where commodity position information may include here
The number information of shelf and the more specific location information on shelf.It is but only for preferable example, alternatively, robot or shifting
Other objects on dynamic sowing wall or robot can be furnished with display device, goods yard letter where commodity needed for order shown above
Cease hopper (and/or goods yard) information of sum.It alternatively, can also be suitable for the display device for locating placement fixation in shelf area, such as
Robot is placed on to park near the position of wheel type mobile sowing wall.
In example in front, transfer robot, which is mainly executed, acts the carrying of mobile sowing wall between each area,
And it is not carried out the operation specifically picked up cargo from shelf and be put into hopper, these operations are by being accomplished manually.But,
It as needed, can also be with if there is transfer robot more accurately visual capacity and fine picking up to put down Motor ability
These specific picking operations are carried out by transfer robot itself；Alternatively, it is alternatively possible to being carried out by another picking robot
These operations for picking up cargo from shelf, being moved to transfer robot, being put into corresponding hopper.
In example in front, mobile sowing wall (shelf easy to remove) is used, hopper is placed in mobile sowing wall
On, mobile sowing wall is then placed in the form on transfer robot.It is but only for example, it as needed can also be straight
It connects and hopper is placed on transfer robot, such as in the case where hopper itself is huger, it can also be with a conveying robot
People only carries a hopper.
Various embodiments of the present invention are described above, above description is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.Without departing from the scope and spirit of illustrated each embodiment, for this skill
Many modifications and changes are obvious for the those of ordinary skill in art field.Therefore, protection scope of the present invention is answered
This is subject to the protection scope in claims.
Claims (15)
1. a kind of automatic radio frequency of cargo, comprising:
Transfer robot；
Control system；
Multiple order cargos accommodate containers, each order cargo accommodate container be configured as accommodating one or more orders it is corresponding
Cargo；
Wherein control system is carried out wireless communication with transfer robot, wherein
It includes: that control system gives transfer robot distribution order taking responsibility that cargo sorts process automatically；Transfer robot obtains vacant
Order cargo accommodate container, carry order cargo accommodate container to order correspond to cargo where each cargo rest area take
Goods and the order cargo that will complete cargo sorting accommodate container handling to designated place,
The automatic radio frequency of cargo further include: mobile sowing wall, each mobile sowing wall have mark, and can place one or
Multiple order cargos accommodate container,
Wherein the robot have hoisting mechanism, have the function of to lift automatically, lifted by automatic lift placed it is described vacant
Order cargo accommodate the mobile sowing wall of container to carry vacant order cargo and accommodate container, and
Before transfer robot is moved to specific cargo rest area, cargo corresponding with order is sorted instruction letter by control system
Breath is sent to the second robot for being responsible for being sorted in the specific cargo rest area, so that the second robot is in transfer robot
Before reaching specific cargo rest area, cargo sorting is carried out in advance；And
When transfer robot is moved to specific cargo rest area, the second robot is by the cargo sorted in advance corresponding with order
Be put into the corresponding order cargo of the order accommodate in container or transfer robot be sequentially moved in the cargo rest area with
The location of corresponding each cargo of order is automatically sorted to corresponding cargo and is put to corresponding order cargo receiving container
In,
Wherein by one of following manner, control system establishes mobile sowing wall, the contained order cargo of mobile sowing wall accommodates and holds
Corresponding relationship between device and order:
Mobile sowing wall and thereon each goods yard label scan sowing wall label by barcode scanning gun and are placed with the goods yard of container
Label establishes sowing wall and the corresponding informance for having container goods yard and control system side for order and the label for having container goods yard
Binding, establishes corresponding relationship, thereby establishes mobile sowing wall, has container on container goods yard, the corresponding relationship between order；
Or
Mobile sowing wall and the order cargo being placed on it accommodate the equal label of container, scan mobile sowing wall by barcode scanning gun
Label and the order cargo being placed on it accommodate containers labels, establish mobile sowing wall and order cargo accommodates the corresponding letter of container
Order cargo on order and mobile sowing wall is accommodated the label binding of container by breath and control system, establishes corresponding relationship,
Thereby establish mobile sowing wall, order cargo accommodates corresponding relationship between container, order.
2. the automatic radio frequency of cargo according to claim 1, the mobile sowing wall is that wheel type mobile sows wall.
3. the automatic radio frequency of cargo according to claim 1, further includes:
Wall is sowed, is fixed on transfer robot；
It includes: by manually accommodating vacant order cargo that the transfer robot, which obtains vacant order cargo and accommodates container,
Container is placed on sowing wall.
4. the automatic radio frequency of cargo according to claim 1, wherein cargo sorts process automatically and includes:
In response to receiving one or more order taking responsibilities, control system refers to according to order information, scheduling strategy and inventory information
Fixed one or more transfer robots are responsible for executing the order taking responsibility, the corresponding cargo of each order taking responsibility be placed on one or
Multiple separate cargo rest area；
Transfer robot is moved into case area in preparation, accommodates container from one or more order cargos are obtained at case area in preparation；
The transfer robot for being loaded with order cargo receiving container is sequentially moved to each cargo rest area, wherein putting in each cargo
Set area, by manual type or robot sort automatically mode sort it is corresponding with respective orders, be placed in the cargo and put
The cargo on the shelf in area is set, and places goods onto corresponding order cargo and accommodates in container, until transfer robot is every
A order cargo receiving container has piled entire cargo corresponding with respective orders or transfer robot has received stopping
The order of picking；And
Order cargo is accommodated container movement and is placed in designated position by transfer robot.
5. the automatic radio frequency of cargo according to claim 1 further includes hand-held or fixed display device, orders for showing
Location information and corresponding order cargo where commodity needed for list accommodate information of container.
6. the automatic radio frequency of cargo according to claim 5, the display device is hand-held display device, by picking personnel
Hand-held, picking personnel with the scan code on the carried object of hand-held display device scanning machine people or robot by being obtained
Location information and corresponding order cargo where commodity needed for obtaining order accommodate information of container.
7. a kind of cargo automatic sorting method, comprising:
In response to receiving one or more order taking responsibilities, the specified one or more transfer robots of control system, which are responsible for executing, to be somebody's turn to do
Order taking responsibility, the corresponding cargo of each order taking responsibility are placed on one or more separated cargo rest areas；
Transfer robot is moved into case area in preparation, accommodates container from one or more order cargos are obtained at case area in preparation, often
A order cargo accommodates container and corresponds to one or more orders；
The transfer robot for being loaded with order cargo receiving container is sequentially moved to each cargo rest area, wherein putting in each cargo
Set area, by manual type or robot sort automatically mode sort it is corresponding with respective orders, be placed in the cargo and put
The cargo on the shelf in area is set, and places goods onto corresponding order cargo and accommodates in container, until transfer robot is every
A order cargo receiving container has piled entire cargo corresponding with respective orders or transfer robot has received stopping
The order of picking；And
Order cargo is accommodated container movement and is placed in designated position by transfer robot,
Wherein before transfer robot is moved to specific cargo rest area, cargo is sorted instruction information and is sent to by control system
Being responsible for the employee sorted, perhaps the second robot is put so that employee or the second robot reach specific cargo in transfer robot
Before setting area, cargo sorting is carried out in advance,
The transfer robot for being wherein loaded with order cargo receiving container is sequentially moved to each cargo rest area, wherein in each goods
Object rest area, by manual type or robot sort automatically mode sort it is corresponding with respective orders, be placed in the goods
Cargo on the shelf of object rest area, and place goods onto corresponding order cargo and accommodate in container and include:
Transfer robot is sequentially moved in the determination cargo rest area and order after being moved to determining cargo rest area
The location of corresponding each cargo；And
It is automatically sorted to corresponding cargo by transfer robot or other robots and is put to the receiving of corresponding order cargo
In container, or is sorted to corresponding cargo by employee and put into corresponding order cargo receiving container.
8. automatic sorting method according to claim 7, the designated position is packed locations, is held in the position to order cargo
The cargo received in container is packaged.
9. automatic sorting method according to claim 7, the transfer robot is moved into case area in preparation, from case area in preparation
Obtaining one or more order cargos receiving containers includes:
The object that transfer robot is directly carried is mobile sowing wall, placed one or more of orders on mobile sowing wall
Cargo accommodates container.
10. automatic sorting method according to claim 9, the mobile sowing wall is that wheel type mobile sows wall, it is suitable for by employee
It pushes；And
In each cargo rest area, transfer robot is put down wheel type mobile sowing wall by lift mechanism, is pushed and is taken turns by employee
The mobile sowing wall of formula is put to corresponding order cargo on wheel type mobile sowing wall and is held until specific cargo, which places shelf, sorts cargo
It receives in container, wheel type mobile sowing wall is then pushed back into transfer robot position, transfer robot passes through lift mechanism
Wheel type mobile sowing wall is lifted and is placed on itself.
11. according to the described in any item cargo automatic sorting methods of claim 7-10, in the case where artificial picking, by aobvious
Showing device conveys cargo to sort instruction information to picking employee.
12. cargo automatic sorting method according to claim 11, the display device take one of following form:
Fixed display device is fixed on transfer robot and parks near the position of wheel type mobile sowing wall；
The display device that robot carries configures on other objects in robot or mobile sowing wall or robot；With
And
Hand-held display device, by the hand-held movement of employee.
13. according to the cargo automatic sorting method of any one of claim 7-10, wherein being loaded with order cargo accommodates removing for container
Fortune robot is sequentially moved to each cargo rest area, wherein passing through manual type or robot in each cargo rest area
Automatic sorting mode sorts the cargo on shelf that are corresponding with respective orders, being placed in the cargo rest area, and by cargo
It is placed into corresponding order cargo and accommodates in container and include:
The transfer robot for being loaded with order cargo receiving container is moved to cargo rest area and stops；
Employee moves in the tunnel of shelf, and sorting is corresponding with respective orders, is placed in the cargo of cargo rest area, and goes to
It is put at transfer robot to corresponding order cargo and is accommodated in container.
14. a kind of automatic radio frequency of cargo, comprising:
Transfer robot has hoisting mechanism, and has the function of independent navigation, and transfer robot can be travelled to mobile and be sowed
Below wall, and entire mobile sowing wall is lifted using hoisting mechanism；
Control system can be communicated with the picking side of transfer robot and responsible picking；
Shelf are configured to arrangement of goods, for being responsible for picking side's picking of picking；
Mobile sowing wall, each mobile sowing wall has mark, and can place one or more order cargos and accommodate container, often
A order cargo accommodates container and is configured as accommodating the corresponding cargo of one or more orders；
Wherein the automatic radio frequency of cargo executes cargo and sorts process automatically, comprising:
Order taking responsibility step is obtained, in response to receiving one or more orders, the specified one or more carrying implements of control system
Device people is responsible for executing the order taking responsibility, wherein the corresponding cargo of each order taking responsibility is placed on one or more separated cargos
On the shelf of rest area；
Obtain order cargo and accommodate container step, transfer robot is moved into case area in preparation by independent navigation function, at
At case area in preparation, specified mobile sowing wall is lifted by hoisting mechanism and is placed on itself by transfer robot, is specified
Mobile sowing wall on be placed one or more order cargos and accommodate containers, each container corresponds to one or more
Order, and background control system establishes movement sowing wall, the mobile corresponding pass sowed between the contained container of wall, handled order
System；
Each area of cargo sorts step, and the transfer robot for being loaded with order cargo receiving container is sequentially moved to each cargo and places
Area, in each cargo rest area, by manual type or robot sort automatically mode sort it is corresponding with respective orders, put
The cargo being placed on the shelf of the cargo rest area, and place goods onto corresponding order cargo and accommodate in container；And
Step is carried, the order cargo for completing cargo sorting is accommodated container movement and be placed in package and launched by transfer robot
Area,
Each area of the cargo sort step work in it is pre- pick mode or it is non-it is pre- pick mode,
In the case where picking mode in advance, before mobile sowing wall to cargo destined rest area is carried by robot, control system is by the movement
The corresponding cargo of sowing wall sorts instruction information and sends corresponding picking side to, so that picking side can be before robot arrival
Cargo is picked in advance.
15. the automatic radio frequency of cargo according to claim 14,
It is non-it is pre- pick mode under, workflow includes:
I) Order splitting to determining movement is sowed wall by control system；
Ii) control system dispatches a robot and carries the designated position that wall to cargo destined rest area is sowed in the movement, and will
Mobile sowing wall unloads；
Iii cargo) is obtained by the mark that handheld device scans mobile sowing wall by picking side and sorts instruction information, then in tow
Mobile sowing wall enters shelf tunnel and executes sorting task, and picking side send mobile sowing wall to finger after having executed sorting task
Positioning is set, and is sent completely information to background control system by handheld terminal；And
Iv) control system designated robot removes movement sowing wall to next designated position.
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| CN201610391346.8A CN105858045B (en) | 2016-06-03 | 2016-06-03 | The automatic radio frequency of cargo and the automatic picking method of cargo |
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| CN201610391346.8A CN105858045B (en) | 2016-06-03 | 2016-06-03 | The automatic radio frequency of cargo and the automatic picking method of cargo |
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