EP3759036A1 - Kommissioniervorrichtung mit einem sich virtuell in einem arbeitsbereich befindlichen bild - Google Patents
Kommissioniervorrichtung mit einem sich virtuell in einem arbeitsbereich befindlichen bildInfo
- Publication number
- EP3759036A1 EP3759036A1 EP19703036.4A EP19703036A EP3759036A1 EP 3759036 A1 EP3759036 A1 EP 3759036A1 EP 19703036 A EP19703036 A EP 19703036A EP 3759036 A1 EP3759036 A1 EP 3759036A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- picking
- picking device
- image
- projection
- work area
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
- B65G1/1378—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on fixed commissioning areas remote from the storage areas
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B30/00—Optical systems or apparatus for producing three-dimensional [3D] effects, e.g. stereoscopic images
- G02B30/20—Optical systems or apparatus for producing three-dimensional [3D] effects, e.g. stereoscopic images by providing first and second parallax images to an observer's left and right eyes
- G02B30/26—Optical systems or apparatus for producing three-dimensional [3D] effects, e.g. stereoscopic images by providing first and second parallax images to an observer's left and right eyes of the autostereoscopic type
- G02B30/33—Optical systems or apparatus for producing three-dimensional [3D] effects, e.g. stereoscopic images by providing first and second parallax images to an observer's left and right eyes of the autostereoscopic type involving directional light or back-light sources
-
- 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
- B65G2209/00—Indexing codes relating to order picking devices in General
- B65G2209/04—Indication location means
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B21/00—Projectors or projection-type viewers; Accessories therefor
- G03B21/14—Details
- G03B21/20—Lamp housings
- G03B21/2006—Lamp housings characterised by the light source
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B35/00—Stereoscopic photography
- G03B35/18—Stereoscopic photography by simultaneous viewing
Definitions
- the invention relates to a picking device for picking articles, in particular for an automatic storage system such as a storage lift, having at least one operating area for an operator, having at least one work area for order picking, and at least one projection device for at least temporary storage. cation of a place at least in the work area.
- the invention also relates to a method for picking articles, in particular for a storage lift.
- Picking devices and methods for picking articles are known.
- the work area can be, for example, an opening in a storage lift or an accessible location of a transport path.
- the operator can remove articles from the device, in particular from trays or other containers, and / or feed them for the purpose of storing the device.
- a picking device can be, in particular, an automatic storage system, a storage lift, a paternoster storage, a picking trolley, a system of transport rails, a discontinuous conveyor, or another suitable system.
- the object of the invention to provide a picking device and a method of the type mentioned above, by which the ergonomics for the operator further improved and thereby picking is simplified.
- picking efficiency can be increased and the number of faulty picking or removing operations reduced.
- the object according to the invention is achieved in that, during operation, the picking device has at least one image which can be viewed from the operating area and which is located virtually in the working area.
- the object according to the invention is achieved by removing and / or depositing articles from at least one working area according to the method, at least one location in the working area having at least one viewable from at least one operating area virtually in the workspace.
- the virtual image in the work area colloquially referred to as 3D projection or "hologram", can make picking more intuitive than a mere lighting a place. As a result, picking can be simplified.
- the image is generated by the at least one projection device. It can be a so-called hovering image, which in the impression, that is virtual, floats in space.
- the image can be a spatial representation, whereby the spatial impression - depending on the projection device used - can only arise in the viewer himself. In particular, in such a case, the image can only be seen from the operating area.
- the image can indicate where the next article to be picked is to be expected.
- the motif of the image can also give an indication of the type of article to be picked. This simplifies operation and improves ergonomics for the operator.
- the displayed image and its location may be dependent on the order data of the picking device.
- the solution according to the invention can be further improved by various configurations which are advantageous in each case and which can be combined with one another as desired. These forms of organization and their associated benefits are described below.
- the method according to the invention can be carried out with the described embodiments of the commissioning device according to the invention.
- the advantages described in relation to the picking device according to the invention also apply to the operation of a picking device by means of the method according to the invention.
- the advantages described with reference to the method can be transferred to the picking device according to the invention.
- the at least one projection device can be connected to at least one memory element containing an image database his.
- the image database may in particular be an article image database.
- the image database may contain images, in particular three-dimensional images, of articles.
- the database preferably has pictures for all articles to be picked. These can be either schematic example images or photorealistic representations of the articles. It is also possible, at least for the articles for which there are no detailed images, to provide sample images or schematic representations.
- the at least one projection device can be connected to at least one memory element containing an order database, in particular a picking database.
- the order database for example, the number of articles to be picked can be stored.
- the image can also display the number of articles to be taken or stored.
- the storage element containing the order database may be identical to the storage element containing the image database.
- the storage elements, separately or together, may be parts of a control system of the picking device.
- the order database can be part of a memory element, which is, for example, part of a computer which is connected to the picking device and / or the projection device via corresponding interfaces. This also applies to the storage element containing the image database.
- the at least one projection device can be connected to at least one control unit, which is designed to calculate the arrival time of an article. In this way it may be possible to display in the image a remaining time until the arrival of the article. This ad can be dynamic. In other words, a countdown may be displayed in the image until the article arrives. The remaining time and / or the arrival time may be displayed alternatively or in addition to an image of the article.
- the at least one projection device is captively connected to a fixed part of the picking device. The projection device can therefore be used without additional equipment that must be worn by the operator, get along.
- spectacles for displaying so-called “augmented reality” or those for displaying “virtual reality” can be dispensed with.
- Such spectacles are often bulky and / or restrict the field of vision of the operator. They also have a low wearing comfort.
- the at least one projection device can be arranged above the at least one working area.
- the at least one working area can in particular be a work surface, a container carrier, a table, a shelf, or a section of a transport track. It is also possible that the at least one working area is accessible through at least one operating opening, for example an operating opening of a bearing lift.
- the at least one projection device comprises at least one generator for a light-generating plasma.
- this generator can act on air molecules to form a light-generating plasma. In this way, luminous images can be generated.
- the generator can emit, for example, laser beams that can put air molecules in a plasma state.
- the at least one projection device may comprise at least one autostereoscopic projector.
- the autostereoscopic projection makes it possible to create a spatial impression in the case of an operator in the operating area when the operator's gaze is directed in the direction of the work area. As a result, can be dispensed with additional Hilfmit tel as stereoscopic glasses.
- the picking device may be necessary for the picking device to have a transparent or semitransparent disc which is arranged between the operating area, in particular a section of the operating area in which the operator's eyes are to be expected, and the working area.
- a transparent or semitransparent disc which is arranged between the operating area, in particular a section of the operating area in which the operator's eyes are to be expected, and the working area.
- Such a disk can be positioned so that access to the work area by the hands of the operator is still possible.
- the discs mentioned can in particular with beam splitters or other optically effective structures which may be necessary for autostereoscopic projection.
- the picking device is an automatic storage system, a storage lift, a paternoster storage, a system of transport paths or a discontinuous conveyor.
- the picking device can be provided with at least two projection devices spaced apart horizontally, wherein at least one transport path connected to the picking device runs between the at least two projection devices.
- the at least one transport path can lead to the order picking device or away from it.
- the transport path can be part of the picking device. However, it can also be part of a picking device comprehensive storage system.
- a system of two projection devices can be useful, for example, if each projection device generates one image each for one eye of the operator.
- this kind of technology can also be used in order picking devices which have no transport paths.
- two projection devices can be arranged at horizontally spaced-apart positions above a working region of a bearing lift.
- the at least one projection device can preferably generate an image whose location depends on the respective picking order. In other words, an image can be created at different locations in the workspace.
- the at least one projection device is therefore preferably provided with means with which the position of the generated image can be adjusted.
- Such means may be, for example, electric motors or other active elements which can specifically align the projection device.
- deflection devices may also be present which deflect the light emitted by the at least one projection device. In this case, the deflection devices may be movable.
- At least one projection device configured to generate images at different locations may also be used to generate an image that moves with a portion of the picking device. If, for example, a location in a storage goods carrier or a tray is to be marked, the image can already be generated in or above the goods carrier while it is still in motion. For example, while a load-carrier is being driven into a service opening in a storage lift, an image may already be generated at the location at which stored goods are to be removed or loaded.
- the picking device is preferably provided with a detection device which is designed to detect at least a part of an operator. It may, for example, be advantageous to detect the position and orientation of the eyes of the operator in order to correspondingly adapt the generated image or the projection device for producing the image. As a result, the display quality can be increased.
- the operator may be possible to detect the position of at least one hand of the operator with at least one detection device. In this way it may be possible to detect gestures of the operator in order to control, for example, the order-picking device. It is particularly advantageous if the operator can interact with the at least one image.
- a virtual touch of the image wherein the operator moves at least one hand to the position where the image is virtually displayed, can be recognized as confirmation of a successful operator action, such as the removal or storage of stored goods ,
- the order-picking device can also have at least one generator by which a tactile stimulus can be generated.
- a tactile stimulus can be generated.
- ultrasonic generators are known that can generate a tactile stimulus anywhere in the room. This point is preferably in the range of the image produced. In other words, the operator can touch the image and feels a stimulus on his hands. This can make the interaction with the image as described above more intuitive.
- virtual control keys can be displayed, the touch of which gives the impression that a real existing control key has been pressed.
- a stop of the picking device can be triggered by a corresponding movement detected by the detection device.
- the acknowledgment of a successful operator action may also be detected in a conventional manner, for example by operation of a button or by input on an input device such as a keyboard or a touch screen.
- the displayed image may be changed in response to the confirmed operator action. For example, a response from the picking device to the confirmation done by the operator.
- an intuitively understandable object for example a green hook, an upward-pointing thumb or a crossed-out image of the article, can be represented in the image.
- the projection device can display the work steps to be performed. If, for example, two articles are to be assembled, this can be represented by the projection device in order to guide the operator accordingly.
- the picking device according to the invention can also be movable.
- a preferred movable picking device is a picking trolley, which is movable on rollers. Instead of a picking trolley, the picking device can also be another transport system, for example a pallet truck.
- the movable picking device can, for example, have shelving planes in which at least one working area lies.
- the at least one projection device is arranged above the shelf levels, so that at least one image can be generated which is arranged virtually in the at least one work area.
- FIG. 1 shows a storage lift as picking device according to the invention in a perspective view
- Fig. 2 the storage lift way out. 1 in a sectional view
- FIG. 3 shows a picking device according to the invention with a transport path in a perspective view
- FIG. 4 shows the order-picking device from FIG. 3 in a plan view
- FIG. 3 shows a picking device according to the invention with a transport path in a perspective view
- FIG. 4 shows the order-picking device from FIG. 3 in a plan view
- FIG. 3 shows a picking device according to the invention with a transport path in a perspective view
- FIG. 4 shows the order-picking device from FIG. 3 in a plan view
- FIG. 4 shows the order-picking device from FIG. 3 in a plan view
- FIG. 5 shows a picking trolley as a further embodiment of the picking device according to the invention in a perspective view
- FIG. 6 the order picking of FIG. 5 in a sectional view.
- a first advantageous embodiment of a picking device 1 according to the invention is described below with reference to FIGS. 1 and 2.
- FIGS. 3 to 6 for the sake of brevity, only the differences from the first embodiment will be mentioned.
- the picking device 1 is used for picking items (not shown).
- the first embodiment of the picking device 1 according to the invention is a storage lift 3.
- the picking device has an operating area 5 for an operator 7.
- the operating area 5 is indicated only by dashed lines in the figures.
- the picking device 1 also has a working area 9.
- the operator 7 has access to the work area 9 from the operating area 5.
- the operator 7 preferably has an unobstructed view of the work area 9 from the operating area 5.
- the work area 9 can serve for order picking of articles.
- articles can be delivered for removal by the order-picking device 1, or they can be supplied to the picking device 1 for storage.
- the working area 9 of the operating opening 11 or through the operating opening 11 is accessible.
- the work area 9 can be delimited by a work surface, a table or a container carrier.
- storage goods container 13 can be used to receive items.
- the storage goods container 13 can be moved by the picking device 1.
- the storage goods container 13 can be moved directly from the picking device 1 together with storage goods carriers or similar devices.
- the use of storage containers 13 is shown here only as an example and is not absolutely necessary.
- the picking device 1 is provided with a projection device 15.
- the projection device 15 can serve to mark a location 17 at least in the working area 9.
- Location 17 may be the location where an article to be retrieved is located, or where an article is to be placed.
- the location 17 preferably coincides with one of the storage goods containers 13.
- the location 17 may also be a location or a portion of the work area 9.
- the location 17 may also be just a portion of a storage goods container 13.
- the picking device 1 has at least one image 19, which can be viewed from the operating area 5 and is located virtually in the working area 9.
- the at least one image 19 is located virtually at the location 17.
- an arrow is shown in FIG. 1, which hovers virtually above the location 17 or the storage goods container 13.
- the image 19 also shows a number, which represents, for example, the number of articles to be removed.
- any other meaningful representation can also be selected.
- the at least one projection device 15 can be connected to at least one memory element 21 which contains an image database.
- a memory element 21 is indicated in Fig. 2.
- the at least one storage element 21 may be part of the picking device 1, part of the projection device 15 or an external control device.
- the control device (not shown) may be a personal computer.
- the at least one projection device 15 can be connected to at least one memory element 23 which contains at least one order database.
- the memory element 23 is indicated in FIG. 2.
- the memory element 23 may be part of the picking device or part of the projection device 15. Alternatively, it may also be part of an external control device.
- the at least one projection device 15 can also be connected to at least one control unit 25, which is designed to calculate an arrival time of an article in the work area 9. In this way, the at least one projection device 15, the remaining time until the arrival of an article, so a countdown, display.
- the at least one projection device 15 is preferably captively connected to at least one fixed part 27 of the picking device 1.
- a fixed one Part 27 may be, for example, a frame (not shown) of the picking device 1.
- the fixed part 27 may also be a housing of the order-picking device 1. It is likewise possible that the at least one projection device 15 is held independent of the order-picking device 1.
- the at least one projection device 15 can be carried by a frame or held by a suspension device. It is advantageous if the at least one projection device 15 is held immovable relative to the picking device 1.
- the at least one projection device 15 may comprise, for example, an autostereoscopic projector 29.
- the autostereoscopic projector 29 can produce an image 19 with a spatial impression without, for example, stereoscopic glasses being required.
- an additional disc 31 may be arranged between the projector 29 and the work area 5.
- the disk 31 can, for example, have beam splitters which divide images generated by the projector 29 onto the two eyes of the operator 7.
- the autostereoscopic projection light 33 is directed directly to the field of view of the operator 7 or on their eyes.
- the separate provision of image information for each eye gives the impression that the image 19 is in the work area 9.
- the image 19 is preferably located above the location 17 from the point of view of the operator 7.
- a generator 35 may be present instead of the projector 29.
- the generator 35 is shown in Fig. 2 only by dashed lines.
- the generator 35 may generate a photogenerating plasma.
- the generator 35 may direct laser beams to where an image 19 is to be formed. Due to the laser radiation, air molecules can be brought into a plasma state, so that they emit light in the visible range. In this way, a luminous image 19 can be generated in the work area 9.
- the picking device 1 has transport paths 37, which are only T-shaped as an example.
- the picking device 1 of the second embodiment is formed essentially by the working area 9, which may be a sorting station.
- the transport tracks 37 may be part of the picking device 1. In this case, or even in the event that the transport paths 37 are not part of the picking device 1, they are at least connected to the order picking device 1, to transport storage goods container 13 via the transport paths 37 to the work area 9 out or away.
- the transport tracks 37 can also be used to transport other objects. By way of example only, stored goods without containers, storage material spoilers or storage carriers of any suitable form may be mentioned here.
- One of the transport paths 37 extends away from the working area 9, while two further transport paths 37 extend transversely to the first-mentioned transport path 37.
- One of the transport paths 37 extends between two horizontally spaced projecting devices 15.
- the projection devices 15 can cooperate such that each of the projection devices 15 emits light to one of the two eyes of the operator 7. By this arrangement, for example, can be dispensed with an additionally attached disc 31 with beam parts.
- the working area 9 is at a height that lies substantially between the two projection devices 15.
- the two projection devices 15 together form an autostereoscopic projector 29.
- the image 19 produced by the latter and perceived by the operator 7 lies in the working area 9 and marks a location 17.
- the image 19 can, for example, mark one of the storage goods containers 13. Alternatively or additionally, it may also mark a location 17 within the storage goods container 13. Likewise, it is possible that the image 19 at least partially moves with a storage goods container when it is moved along one of the transport paths 37.
- the system of two projection devices 15 can also be used for the picking device 1 of the first embodiment designed as a storage lift 3.
- the third embodiment of the picking device 1 according to the invention is a picking trolley 39, which is movable on rollers 41.
- the order-picking device 1 can also be another movable tan sports system, for example a pallet truck.
- the picking trolley 39 has a plurality of shelving levels 43 in which storage goods containers 13 can be received.
- the picking 39 is provided with a frame 45 for this purpose.
- the frame may hold the storage containers 13 and be connected to the rollers 41.
- the frame 45 forms the fixed part 27 of the picking trolley 39th
- a projection device 15 is arranged above the shelf levels 43.
- the projection device 15 is preferably fixedly connected to the frame 45.
- the projection device 15 is preferably an autostereoscopic projector 29.
- a disc 31 with beam parts extends between the remaining projector 29 and the work area 9 so that the light generated by the projector 29 can reach the eyes of the operator 7.
- a plurality of projection devices 15 may be arranged so that each device 15 emits light 33 to one eye of the operator 7.
- the order picking trolley 39 is shown with two horizontally opposed rows 47 of shelf levels 43.
- the picking trolley 39 has at least one projection device 15 for each of the rows 47.
- the at least one projection device 15 is designed so that it is designed to generate an image 19 at the level of each of the shelf levels 43.
- each plane 43 can also be provided with at least one projection device 15, which is designed to generate images 19 in the respectively underlying plane 43 or in several of the planes 43.
- the projection device 15 of the third embodiment is battery operated, so that the carriage 39 can be moved and used without being connected to a power supply.
- reference numeral 15 of the third embodiment is battery operated, so that the carriage 39 can be moved and used without being connected to a power supply.
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102018203175.4A DE102018203175A1 (de) | 2018-03-02 | 2018-03-02 | Kommissioniervorrichtung mit einem sich virtuell in einem Arbeitsbereich befindlichen Bild |
PCT/EP2019/052176 WO2019166169A1 (de) | 2018-03-02 | 2019-01-30 | Kommissioniervorrichtung mit einem sich virtuell in einem arbeitsbereich befindlichen bild |
Publications (1)
Publication Number | Publication Date |
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EP3759036A1 true EP3759036A1 (de) | 2021-01-06 |
Family
ID=65278339
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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EP19703036.4A Withdrawn EP3759036A1 (de) | 2018-03-02 | 2019-01-30 | Kommissioniervorrichtung mit einem sich virtuell in einem arbeitsbereich befindlichen bild |
Country Status (5)
Country | Link |
---|---|
US (1) | US20200407166A1 (de) |
EP (1) | EP3759036A1 (de) |
CN (1) | CN111836767A (de) |
DE (1) | DE102018203175A1 (de) |
WO (1) | WO2019166169A1 (de) |
Families Citing this family (5)
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DE102017223437A1 (de) | 2017-12-20 | 2019-06-27 | Kardex Produktion Deutschland Gmbh | Kommissioniervorrichtung mit Restzeitanzeige |
DE102019119356A1 (de) | 2019-07-17 | 2021-01-21 | Ssi Schäfer Automation Gmbh | Fensterfördertechnik, Kommissioniersystem und manuelles Kommissionierverfahren |
JP2021189592A (ja) * | 2020-05-27 | 2021-12-13 | 株式会社Jvcケンウッド | 管理情報表示システム及び管理情報表示方法 |
DE102022120389A1 (de) | 2022-08-12 | 2024-02-15 | Ssi Schäfer Automation Gmbh (At) | Intralogistiksystem zum Überwachen von ortsspezifischen intralogistischen Aktionen |
DE202022002943U1 (de) | 2022-12-16 | 2024-02-01 | Hänel GmbH & Co. KG | Automatisches Lagerregal mit einer Projektionseinrichtung |
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TWI566577B (zh) * | 2014-11-10 | 2017-01-11 | 台達電子工業股份有限公司 | 立體投影裝置 |
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US10209675B2 (en) * | 2016-03-29 | 2019-02-19 | The Boeing Company | Methods, systems and apparatuses for optically addressed holographic imaging system |
US10228653B2 (en) * | 2016-04-07 | 2019-03-12 | Pixie Dust Technologies, Inc. | System and method for rendering interactive aerial volumetric graphics and generating spatial audio using femtosecond lasers |
JP6517726B2 (ja) * | 2016-04-28 | 2019-05-22 | 住友ゴム工業株式会社 | ピックアップ装置 |
DE102016005691A1 (de) * | 2016-05-07 | 2017-11-09 | Thomas Gaugler | Projektionseinheit für eine Lagerstellenanordnung oder Lagersystem |
CN106516530B (zh) * | 2016-12-21 | 2020-07-03 | 锥能机器人(上海)有限公司 | 一种自动化仓储分拣站及其分拣方法 |
-
2018
- 2018-03-02 DE DE102018203175.4A patent/DE102018203175A1/de not_active Ceased
-
2019
- 2019-01-30 EP EP19703036.4A patent/EP3759036A1/de not_active Withdrawn
- 2019-01-30 WO PCT/EP2019/052176 patent/WO2019166169A1/de active Application Filing
- 2019-01-30 US US16/977,120 patent/US20200407166A1/en not_active Abandoned
- 2019-01-30 CN CN201980016448.3A patent/CN111836767A/zh active Pending
Also Published As
Publication number | Publication date |
---|---|
CN111836767A (zh) | 2020-10-27 |
WO2019166169A1 (de) | 2019-09-06 |
DE102018203175A1 (de) | 2019-09-05 |
US20200407166A1 (en) | 2020-12-31 |
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