TWI829021B - Storage location guidance system and method - Google Patents
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Abstract
本發明實施例公開了一種存儲位指引系統及方法。該系統包括：控制伺服器、機器人、指引裝置以及庫存容器；控制伺服器和指引裝置，控制伺服器配置為，所述控制伺服器配置為，確定一目標庫存容器和一目標指引裝置，控制所述機器人分別將目標庫存容器和目標指引裝置搬運到一指定位置，以及向目標指引裝置發送第一指引控制命令；所述目標指引裝置配置為，響應所述第一指引控制命令發出提示信息，用於指引至少一個目標存儲位和需要從所述目標存儲位取出的物品信息和數量。採用本申請方案，通過指引裝置靈活地指引揀選人員對庫存容器上的物品進行揀選，使人工揀選更加簡單和專注，降低人工揀選難度，提高揀選效率及準確率。The embodiment of the present invention discloses a storage location guidance system and method. The system includes: a control server, a robot, a guidance device and an inventory container; a control server and a guidance device, the control server is configured to determine a target inventory container and a target guidance device, and control all The robot carries the target inventory container and the target guidance device to a designated position respectively, and sends a first guidance control command to the target guidance device; the target guidance device is configured to send a prompt message in response to the first guidance control command, using To guide at least one target storage location and the item information and quantity that need to be taken out from the target storage location. Using this application plan, the guidance device can flexibly guide the pickers to pick items on the inventory container, making manual picking simpler and more focused, reducing the difficulty of manual picking, and improving picking efficiency and accuracy.
Description
本發明實施例涉及倉儲技術領域，尤其涉及一種存儲位指引系統及方法。 Embodiments of the present invention relate to the field of warehousing technology, and in particular, to a storage location guidance system and method.
在“貨到人”的場景下，可以將訂單所需的庫存容器搬運到揀選工位，再由揀選工位處的操作人員或者機械臂等完成揀選出庫操作。 In the "goods-to-person" scenario, the inventory containers required for the order can be transported to the picking station, and then the operator or robotic arm at the picking station completes the picking out operation.
目前，在相關技術的揀選過程中，主要是通過揀選工位的電腦屏幕指示操作人員從庫存容器中揀出訂單所需的物品。然而，在揀選過程中很容易出現漏揀、錯揀等問題，不得不進行細緻覆核，從而導致揀選效率和準確率相對低下，而且電腦屏幕與實際揀選位置有一定距離，且屏幕相對小，同樣也會導致揀選效率和準確率相對低下。 At present, in the picking process of related technologies, the operator is mainly instructed through the computer screen of the picking station to pick out the items required for the order from the inventory container. However, problems such as omissions and wrong pickings are easy to occur during the picking process, and detailed reviews have to be carried out, resulting in relatively low picking efficiency and accuracy. Moreover, the computer screen is a certain distance from the actual picking position, and the screen is relatively small. It will also lead to relatively low picking efficiency and accuracy.
本發明實施例提供了一種存儲位指引系統及方法，以至少部分地解決無法對訂單所需的物品進行快速準確指引取出的問題。 Embodiments of the present invention provide a storage location guidance system and method to at least partially solve the problem of being unable to quickly and accurately guide and take out items required for an order.
第一方面，本發明實施例中提供了一種存儲位指引系統，包括：一個控制伺服器、至少一個機器人、至少一個指引裝置以及至少一個庫存容器，所述庫存容器包括多個存儲隔層，所述每一個存儲隔層包括多個存儲位；其中， 所述控制伺服器配置為，確定一目標庫存容器和一目標指引裝置，控制所述機器人分別將目標庫存容器和目標指引裝置移動到一指定位置；以及向目標指引裝置發送第一指引控制命令；所述目標指引裝置配置為，響應於所述第一指引控制命令，發出提示信息，用於指引至少一個目標存儲位和需要從所述目標存儲位取出的物品信息和數量。 In a first aspect, an embodiment of the present invention provides a storage location guidance system, including: a control server, at least one robot, at least one guidance device, and at least one inventory container, where the inventory container includes a plurality of storage compartments, so Each of the storage compartments includes multiple storage locations; where, The control server is configured to determine a target inventory container and a target guidance device, control the robot to move the target inventory container and the target guidance device to a designated position respectively; and send a first guidance control command to the target guidance device; The target guidance device is configured to, in response to the first guidance control command, issue prompt information for guiding at least one target storage location and the information and quantity of items that need to be taken out from the target storage location.
第二方面，本發明實施例中還提供了一種存儲位指引方法，所述方法包括：控制伺服器從至少一個庫存容器中確定一目標庫存容器和從至少一個機器人中確定一目標指引裝置；控制伺服器控制機器人分別將目標庫存容器和目標指引裝置搬運到一指定位置，以及向目標指引裝置發送第一指引控制命令；目標指引裝置響應於所述第一指引控制命令，發出提示信息，用於指引目標庫存容器上至少一個目標存儲位和需要從所述目標存儲位取出的物品信息和數量；所述庫存容器包括多個存儲隔層，所述每一存儲隔層包括多個存儲位。 In a second aspect, embodiments of the present invention also provide a storage position guidance method, which method includes: controlling the server to determine a target inventory container from at least one inventory container and a target guidance device from at least one robot; controlling The server controls the robot to respectively transport the target inventory container and the target guidance device to a designated location, and sends a first guidance control command to the target guidance device; in response to the first guidance control command, the target guidance device sends a prompt message for Direct at least one target storage location on the target inventory container and the information and quantity of items that need to be taken out from the target storage location; the inventory container includes a plurality of storage compartments, and each storage compartment includes a plurality of storage locations.
本發明實施例中提供了一種存儲位指引系統，控制伺服器會確定一目標庫存容器和一目標指引裝置，並控制機器人分別將目標庫存容器和目標指引裝置搬運到一指定位置；並且，控制伺服器會通過第一指引控制命令，控制目標指引裝置發出提示信息，用於指引至少一個目標存儲位和需要從所述目標存儲位取出的物品信息和數量。採用本申請方案，通過指引裝置靈活地指引工作人員對庫存容器上的物品進行取出，減少工作人員與電腦屏幕的交互次數，在揀選場景下可以使物品揀選更加簡單和專注，降低物品揀選難度，盡可能減少物品被漏揀和錯揀的次數，進而提高揀選效率及準確率。 An embodiment of the present invention provides a storage location guidance system. The control server determines a target inventory container and a target guidance device, and controls the robot to carry the target inventory container and the target guidance device to a designated location respectively; and, controls the servo The device will control the target guidance device to send prompt information through the first guidance control command to guide at least one target storage location and the information and quantity of items that need to be taken out from the target storage location. Using this application plan, the guidance device can flexibly guide the staff to take out the items from the inventory container, reducing the number of interactions between the staff and the computer screen. In the picking scenario, it can make item picking simpler and more focused, and reduce the difficulty of item picking. Minimize the number of missed and wrongly picked items, thereby improving picking efficiency and accuracy.
上述發明內容僅是本發明技術方案的概述，為了能夠更清楚瞭解本發明的技術手段，而可依照說明書的內容予以實施，並且為了讓本發明的上述和其它目的、特徵和優點能夠更明顯易懂，以下將詳細描述本發明的具體實施方式。 The above content of the invention is only an overview of the technical solutions of the present invention. In order to have a clearer understanding of the technical means of the present invention, they can be implemented according to the content of the description, and in order to make the above and other objects, features and advantages of the present invention more obvious and easy to understand. Understand, specific embodiments of the present invention will be described in detail below.
110:控制伺服器 110:Control server
120:指引裝置 120: Guidance device
130:機器人 130:Robot
140:庫存容器 140: Inventory container
S510~S530:步驟 S510~S530: steps
通過閱讀參照以下附圖所作的對非限制性實施例所作的詳細描述，本發明的其它特徵、目的和優點將會變得更明顯。附圖僅用於示出優選實施方式的目的，而並不認為是對本發明的限制。而且在整個附圖中，用相同的參考符號表示相同的部件。在附圖中：圖1是本發明實施例提供的一種存儲位指引系統的結構方塊圖；圖2是本發明實施例提供的一種對指引裝置進行調整的正視示意圖；圖3是本發明實施例提供一種指引裝置上報警組件的示意圖；圖4是本發明實施例提供一種組件支架上設置的存儲調整組件的局部示意圖；圖5是本發明實施例提供的一種存儲位指引方法的流程示意圖。 Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments taken with reference to the following drawings. The drawings are for the purpose of illustrating preferred embodiments only and are not to be construed as limiting the invention. Also throughout the drawings, the same reference characters are used to designate the same components. In the drawings: Figure 1 is a structural block diagram of a storage bit guidance system provided by an embodiment of the present invention; Figure 2 is a schematic front view of an adjustment device provided by an embodiment of the present invention; Figure 3 is an embodiment of the present invention A schematic diagram of an alarm component on a guidance device is provided; Figure 4 is a partial schematic diagram of a storage adjustment component provided on a component bracket according to an embodiment of the present invention; Figure 5 is a schematic flow chart of a storage position guidance method provided by an embodiment of the present invention.
下面將參照附圖更詳細地描述本發明的示例性實施例，雖然附圖中顯示了本發明的示例性實施例，然而可以理解是，此處所描述的示例性實施例僅用於解釋本發明，而非對本發明的限定。相反，本發明提供這些實施例是為了能夠更透徹地理解本發明，並且能夠將本發明的範圍完整的傳達給本領 域的技術人員。另外，還需要說明的是，為了便於描述，附圖中僅示出了與本發明相關的部分而非全部結構。 Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it will be understood that the exemplary embodiments described herein are only used to explain the present invention. , rather than limiting the present invention. Rather, the present invention provides these embodiments so that the present invention can be more thoroughly understood, and the scope of the present invention can be fully conveyed to those skilled in the art. domain technicians. In addition, it should be noted that, for convenience of description, only some but not all structures related to the present invention are shown in the drawings.
在更加詳細地討論示例性實施例之前，應當提到的是，一些示例性實施例被描述成作為流程圖描繪的處理或方法。雖然流程圖將各項操作(或步驟)描述成順序的處理，但是其中的許多操作(或步驟)可以被並行地、併發地或者同時實施。此外，各項操作的順序可以被重新安排。當其操作完成時所述處理可以被終止，但是還可以具有未包括在附圖中的附加步驟。所述處理可以對應於方法、函數、規程、子例程、子程序等等。 Before discussing example embodiments in more detail, it should be mentioned that some example embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe various operations (or steps) as a sequential process, many of the operations (or steps) therein may be performed in parallel, concurrently, or simultaneously. Additionally, the order of operations can be rearranged. The process may be terminated when its operation is completed, but may also have additional steps not included in the figures. The processing may correspond to a method, function, procedure, subroutine, subroutine, or the like.
下面針對本發明實施例中提供的存儲位指引系統及方法，通過以下各實施例及其可選方案進行詳細闡述。 The storage bit guidance system and method provided in the embodiments of the present invention will be described in detail through the following embodiments and their optional solutions.
圖1是本發明實施例提供的一種存儲位指引系統的結構方塊圖，本實施例的方案可適用於對訂單命中的物品進行取出的情況，尤其是在揀選場景下對被訂單命中的物品進行揀選的情況。如圖1所示，本發明實施例中提供的存儲位指引系統100可包括：一個控制伺服器110、至少一個指引裝置120、至少一個機器人130以及至少一個庫存容器140；庫存容器140包括多個存儲隔層，每一存儲各層包括多個存儲位。其中：控制伺服器110可配置為，確定一目標庫存容器140和一目標指引裝置120，控制機器人130分別將目標庫存容器140和目標指引裝置120搬運到一指定位置，以及向目標指引裝置120發送第一指引控制命令；目標指引裝置120可配置為，響應第一指引控制命令發出提示信息，用於指引至少一個目標存儲位和需要從目標存儲位取出的物品信息和數量。 Figure 1 is a structural block diagram of a storage position guidance system provided by an embodiment of the present invention. The solution of this embodiment can be applied to the situation of taking out items hit by an order, especially in picking scenarios. Situation of election. As shown in Figure 1, the storage position guidance system 100 provided in the embodiment of the present invention may include: a control server 110, at least one guidance device 120, at least one robot 130 and at least one inventory container 140; the inventory container 140 includes a plurality of Storage compartments, each storage layer includes multiple storage locations. Wherein: the control server 110 can be configured to determine a target inventory container 140 and a target guidance device 120, control the robot 130 to respectively transport the target inventory container 140 and the target guidance device 120 to a designated location, and send a message to the target guidance device 120. First guidance control command; the target guidance device 120 may be configured to send prompt information in response to the first guidance control command, used to guide at least one target storage location and the information and quantity of items that need to be taken out from the target storage location.
在本實施例中，控制伺服器110可與存儲位指引系統中各個指引裝置120建立通信連接，用於實現對各個指引裝置120的高度控制和揀選提示。 其中存儲位指引系統可應用於物品揀選場景。控制伺服器110是指具有數據信息存儲和數據信息處理能力的軟體和/或硬體系統，可通過無線的方式與各個指引裝置120以及存儲位指引系統100中其他硬體設備或軟體系統進行通信連接。控制伺服器110中可包括一個或多個控制伺服器。控制伺服器110可以向存儲位指引系統100中指引裝置120以及其他硬體設備或軟體系統發送控制任務，以及統計存儲區域中各個庫存容器上物品的存儲情況。 In this embodiment, the control server 110 can establish a communication connection with each guidance device 120 in the storage location guidance system to implement height control and picking prompts for each guidance device 120 . The storage location guidance system can be applied to item picking scenarios. The control server 110 refers to a software and/or hardware system with data information storage and data information processing capabilities, which can communicate wirelessly with each guidance device 120 and other hardware devices or software systems in the storage location guidance system 100 connection. The control server 110 may include one or more control servers. The control server 110 can send control tasks to the guidance device 120 and other hardware devices or software systems in the storage location guidance system 100, and collect statistics on the storage status of items on each inventory container in the storage area.
在本實施例中，在存儲位指引系統的存儲區域中部署有多個庫存容器，庫存容器具有多個不同高度的隔層，每一隔層包含多個存儲位，一個存儲位上可放置一個置物容器。其中，存儲區域中部署的庫存容器可為隔板貨架，而置物容器可為用於容納物品的箱式存儲容器或者物料箱等。這樣，置物容器就可被放置在對應庫存容器的存儲位上用來容納存儲在對應存儲位的物品。 In this embodiment, multiple inventory containers are deployed in the storage area of the storage location guidance system. The inventory containers have multiple compartments of different heights. Each compartment contains multiple storage locations. One storage location can be placed with one Storage container. Among them, the inventory containers deployed in the storage area can be partition shelves, and the storage containers can be box-type storage containers or material boxes for accommodating items. In this way, the storage container can be placed on the storage position of the corresponding inventory container to accommodate the items stored in the corresponding storage position.
在本實施例中，控制伺服器110可根據存儲區域中各個庫存容器的物品存儲情況以及訂單命中的物品，從存儲區域中各個庫存容器中確定包含有至少部分被訂單命中的物品的庫存容器，並將命中的庫存容器作為目標庫存容器。訂單命中的物品中的至少部分存放於目標庫存容器的目標存儲位上。這樣，目標庫存容器就可為訂單任務所命中的庫存容器，而目標存儲位可為訂單任務所命中的目標庫存上存儲有被訂單命中的物品的存儲位。其中，上述訂單可為揀選場景、存儲場景、配貨場景、集貨場景等下的訂單。 In this embodiment, the control server 110 can determine the inventory container containing at least part of the items hit by the order from each inventory container in the storage area based on the item storage status of each inventory container in the storage area and the items hit by the order, And use the hit inventory container as the target inventory container. At least some of the items hit by the order are stored in the target storage locations of the target inventory container. In this way, the target inventory container can be the inventory container hit by the order task, and the target storage location can be the storage location on the target inventory hit by the order task that stores the items hit by the order. Among them, the above orders can be orders placed in picking scenarios, storage scenarios, distribution scenarios, cargo collection scenarios, etc.
在本實施例中，圖2是本發明實施例中提供的一種對指引裝置進行調整的正視示意圖。參見圖2，在確定目標庫存容器的同時、之前或者之後，控制伺服器110還可從眾多指引裝置120中確定一用於針對目標庫存容器上被訂單命中的物品進行存儲位指引的目標指引裝置。例如，可根據目標庫存容器與各個指引裝置的距離來篩選得到目標指引裝置。 In this embodiment, FIG. 2 is a schematic front view of an adjustment device provided in an embodiment of the present invention. Referring to FIG. 2 , while, before or after determining the target inventory container, the control server 110 may also determine a target guidance device from a plurality of guidance devices 120 for performing storage location guidance on the items hit by the order on the target inventory container. . For example, the target guidance devices can be filtered according to the distance between the target inventory container and each guidance device.
在一種可選方案中，工作區域中設置有供工作人員或設備進行物品取出的一個或者多個工位，記為工作位。指定位置的設置可包括以下情況：從工作區域的工作位處選擇確定用於放置目標庫存容器和目標指引裝置的指定位置。例如，可在工作區域的工作位處或者工作位附近區域設置一定數量的指引裝置，這樣在從工作位處選定一指定位置後就可以快速地從位於工作區域附近的目標指引裝置搬運到該指定位置處，減少目標指引裝置的搬運距離。又例如，在工作位處可設置有一個或多個用於指引工作人員或者設備進行定向取出物品的指引裝置。控制伺服器可根據目標庫存容器距離各個工作位的距離，或者訂單命中的工作位，從工作區域的眾多工作位中確定目標工作位。進而，控制伺服器可從目標工作位處指引裝置中確定目標指引裝置。 In an optional solution, the work area is provided with one or more work stations for workers or equipment to take out items, which are recorded as work stations. The setting of the designated location may include the following: selecting a designated location for placing the target inventory container and the target guidance device from a work station in the work area. For example, a certain number of guidance devices can be set up at the work station in the work area or in the area near the work station. In this way, after selecting a designated position from the work station, the target guidance device located near the work area can be quickly moved to the designated position. position to reduce the carrying distance of the target guidance device. For another example, one or more guiding devices for guiding workers or equipment to take out objects in a directional manner may be provided at the work station. The control server can determine the target work station from many work stations in the work area based on the distance between the target inventory container and each work station, or the work station hit by the order. Furthermore, the control server may determine the target guidance device from the target work station guidance devices.
在另一種可選方案中，指定位置的設置包括以下情況：從目標庫存容器所在庫存位處選擇確定用於放置目標庫存容器和目標指引裝置的指定位置。由於目標庫存容器的容器體積較大，在搬運庫存容器時會存在一定困難，為此可在目標庫存容器所在庫存位處選擇一個位置作為指定位置，盡可能讓目標庫存容器不移動，而讓目標指引裝置進行移動，避免庫存容器移動過慢影響效率。 In another optional solution, the setting of the designated location includes the following situation: selecting a designated location for placing the target inventory container and the target guidance device from the inventory location where the target inventory container is located. Due to the large size of the target inventory container, there will be certain difficulties when transporting the inventory container. To this end, a location can be selected as the designated location at the inventory location of the target inventory container, so that the target inventory container does not move as much as possible, and the target inventory container is moved. Guide the device to move to avoid slow movement of inventory containers affecting efficiency.
在又一種可選方案中，指定位置的設置可包括以下情況：從工作區域的工作位與目標庫存容器所在庫存位之間選擇確定用於放置目標庫存容器和目標指引裝置的指定位置。庫存容器和指引裝置的搬運都會耗費較長時間，因此可從庫存位與工作位之間選擇一個指定位置，讓目標庫存容器與目標指引裝置同時向中間位置處搬運匯合，這樣在一定程度上可減少搬運耗時。 In yet another alternative, the setting of the designated location may include the following situation: selecting a designated location for placing the target inventory container and the target guidance device from between a work station in the work area and an inventory location where the target inventory container is located. The transportation of the inventory container and the guidance device will take a long time. Therefore, a designated position can be selected between the inventory position and the work station, so that the target inventory container and the target guidance device can be moved to the middle position at the same time. This can be done to a certain extent. Reduce transportation time.
在本實施例中，參見圖1和圖2，在機器人將目標庫存容器搬運到一目標指定位置後，控制伺服器100可向目標指引裝置發送指引控制命令。這樣控制伺服器100可以通過指引控制命令控制目標指引裝置發出提示信息， 用於指引目標庫存容器上的至少一個目標存儲位和需要從各個目標存儲位上取出的物品信息和數量。這樣就能通過指引裝置靈活地指引工作人員對庫存容器上的物品進行取出，減少工作人員與電腦屏幕的交互次數。 In this embodiment, referring to FIGS. 1 and 2 , after the robot carries the target inventory container to a target designated position, the control server 100 may send a guidance control command to the target guidance device. In this way, the control server 100 can control the target guidance device to send prompt information through the guidance control command, Used to guide at least one target storage location on the target inventory container and the item information and quantity that need to be taken out from each target storage location. In this way, the guidance device can flexibly guide the staff to take out the items from the inventory container, reducing the number of interactions between the staff and the computer screen.
本發明實施例中提供了一種存儲位指引系統，通過指引裝置靈活地指引工作人員對庫存容器上的物品進行揀選，盡可能減少工作人員與電腦屏幕的交互次數，尤其是在揀選場景下可以使物品揀選更加簡單和專注，降低物品揀選難度，盡可能減少物品被漏揀和錯揀的次數，進而提高揀選效率及準確率。 The embodiment of the present invention provides a storage position guidance system that flexibly guides staff to select items on the inventory container through a guidance device, minimizing the number of interactions between staff and computer screens, especially in picking scenarios. Item picking is simpler and more focused, reducing the difficulty of item picking and minimizing the number of missed or wrong items, thereby improving picking efficiency and accuracy.
在本實施例的一種可選方案中，本實施方案可以與上述一個或者多個實施例中的各個可選方案結合。參見圖1和圖2，在本申請實施例提供的存儲位指引系統中，目標指引裝置120具體可包括至少一個存儲位指引組件和一組件支架，存儲位指引組件的兩端分別與組件支架的兩側滑動對接，且存儲位指引組件能夠沿組件支架上下升降。這樣，目標指引裝置能夠響應第一指引控制命令在與目標存儲位對應的高度發出提示信息，用於指引至少一個目標存儲位和需要從目標存儲位取出的物品信息和數量。 In an optional solution of this embodiment, this embodiment can be combined with each optional solution in one or more of the above embodiments. Referring to Figures 1 and 2, in the storage location guidance system provided by the embodiment of the present application, the target guidance device 120 may specifically include at least one storage location guidance component and a component bracket. Both ends of the storage location guidance component are respectively connected with the component bracket. The two sides are slidingly connected, and the storage position guide assembly can be lifted up and down along the assembly bracket. In this way, the target guidance device can respond to the first guidance control command and send prompt information at a height corresponding to the target storage location, for guiding at least one target storage location and the information and quantity of items that need to be taken out from the target storage location.
在本實施例的一種可選方案中，本實施方案可以與上述一個或者多個實施例中的各個可選方案結合。參見圖1和圖2，在本申請實施例提供的存儲位指引系統中，控制伺服器110還配置為，在目標庫存容器到達指定位置之前或者同時，控制目標指引裝置的一存儲位指引組件，升降到與目標存儲位的高度對應的指定高度。 In an optional solution of this embodiment, this embodiment can be combined with each optional solution in one or more of the above embodiments. Referring to Figures 1 and 2, in the storage position guidance system provided by the embodiment of the present application, the control server 110 is also configured to control a storage position guidance component of the target guidance device before or at the same time that the target inventory container reaches the designated position, Raise and lower to the specified height corresponding to the height of the target storage location.
在本實施例中，參見圖2，在將目標庫存容器搬運到上述指定位置進行放置的同時或之前，控制伺服器110可提前控制目標指引裝置進行高度調整，使得目標指引裝置的一個存儲位指引組件，升降移動到與目標庫存容器中目標存儲位相對應的指定高度。這樣，通過提前調整存儲位指引組件的高 度，可節約將目標庫存容器搬運到指定位置然後再調整高度所浪費的時間，便於快速啟動目標指引裝置在對應高度的揀選提示功能，提高揀選效率。 In this embodiment, referring to FIG. 2 , while or before transporting the target inventory container to the above designated location for placement, the control server 110 can control the target guidance device to adjust the height in advance, so that a storage position of the target guidance device is guided. Component, lift and move to the specified height corresponding to the target storage location in the target inventory container. In this way, by adjusting the storage bit in advance to guide the high It can save the time wasted in transporting the target inventory container to the designated position and then adjusting the height. It is convenient to quickly start the picking prompt function of the target guidance device at the corresponding height and improve the picking efficiency.
在本實施例中，工作區域中還設置有多個機器人，控制伺服器110可從眾多機器人中選擇距離目標庫存容器最近的機器人，通過控制選擇的機器人來向一指定位置處搬運目標庫存容器。參見圖2，在機器人將目標庫存容器搬運到指定位置後，控制伺服器100可向目標指引裝置發送第一指引控制命令。控制伺服器100可以通過第一指引控制命令控制目標指引裝置的存儲位指引組件在自身與目標存儲位對應的裝置部位處發出提示信息。這樣，就能實現在需要揀選物品對應的存儲位處點亮以提示工作人員在此處取出物品，還可在點亮的同時提示需要在點亮位置需要取出的物品信息和物品數量，通過定向提示需要揀選的物品來盡可能避免在揀選物品時出現錯揀或者漏揀等問題。 In this embodiment, there are multiple robots in the work area, and the control server 110 can select the robot closest to the target inventory container from the many robots, and control the selected robot to transport the target inventory container to a designated location. Referring to FIG. 2 , after the robot carries the target inventory container to a designated location, the control server 100 may send a first guidance control command to the target guidance device. The control server 100 can control the storage location guidance component of the target guidance device to send out prompt information at the device location corresponding to the target storage location through the first guidance control command. In this way, it is possible to light up the storage location corresponding to the items that need to be picked to prompt the staff to take out the items here. It can also prompt the information and quantity of items that need to be taken out at the lighting location at the same time. Through orientation, Prompt items that need to be picked to avoid problems such as mispicking or missing items when picking items.
在本實施例的一種可選方案中，本實施方案可以與上述一個或者多個實施例中的各個可選方案結合。參見圖1和圖2，在本申請實施例中的存儲位指引系統中，在完成對目標庫存容器一個隔層的目標存儲位的指引後，控制伺服器110還配置為，向位於指定位置處目標指引裝置發送第二指引控制命令。 In an optional solution of this embodiment, this embodiment can be combined with each optional solution in one or more of the above embodiments. Referring to Figures 1 and 2, in the storage location guidance system in the embodiment of the present application, after completing the guidance of the target storage location in one compartment of the target inventory container, the control server 110 is also configured to direct the target storage location to the specified location. The target guidance device sends a second guidance control command.
相應地，目標指引裝置120配置為，響應第二指引控制命令發出提示信息，用於指引目標庫存容器下一個隔層的至少一個目標存儲位和需要從目標存儲位取出的物品信息和數量。 Correspondingly, the target guidance device 120 is configured to send prompt information in response to the second guidance control command to guide at least one target storage position in the next compartment of the target inventory container and the information and quantity of items that need to be taken out from the target storage position.
在本實施例中，上位訂單系統可收集各個訂單需求信息，並將各個訂單需求信息下發到對應的倉儲管理系統，倉儲管理系統可根據訂單需求進行生產波次組建及分配。進而，可根據生產波次組建及分配結果，向控制伺服器110下發訂單任務信息，而控制伺服器可根據下發的訂單任務來確定目標庫存容器以及目標庫存容器上的目標存儲位。可選地，訂單任務命中的目標庫 存容器可包括一個或多個，在同一個目標庫存容器上可包括多個目標存儲位，且不同目標存儲位可以分佈設置在相同隔層，也可分佈設置在不同隔層。 In this embodiment, the upper-level order system can collect each order demand information and send each order demand information to the corresponding warehouse management system. The warehouse management system can establish and allocate production waves according to the order requirements. Furthermore, order task information can be issued to the control server 110 based on the production wave formation and allocation results, and the control server can determine the target inventory container and the target storage location on the target inventory container based on the issued order task. Optionally, the target library hit by the order task The storage containers may include one or more, and the same target storage container may include multiple target storage locations, and different target storage locations may be distributed in the same compartment or in different compartments.
在本實施例中，可選地，參見圖1和圖2，在工作人員對一個隔層的目標存儲位上的物品進行取出時，控制伺服器110還配置為，控制指定位置處的目標指引裝置的一存儲位指引組件，升降到與目標庫存容器中下一個隔層目標存儲位的高度對應的高度。 In this embodiment, optionally, referring to Figures 1 and 2, when the staff takes out the items from the target storage position of a compartment, the control server 110 is also configured to control the target guidance at the designated position. A storage position guide assembly of the device is raised and lowered to a height corresponding to the height of the target storage position of the next compartment in the target inventory container.
在本實施例中，參見圖2，在物品揀選場景中，在確定出目標庫存容器一個隔層的目標存儲位，且對揀選到的物品進行播種時，控制伺服器110可提前控制目標指引裝置120進行高度調整，使得目標指引裝置的一個存儲位指引組件移動到與目標庫存容器下一個隔層的目標存儲位相對應的高度。這樣，通過在播種時對指引裝置進行提前調整，可以實現快速啟動目標指引裝置在對應高度的揀選提示功能，可節約需要將指引裝置調整到下一個隔層的目標存儲位高速所浪費的時間，提高揀選效率。 In this embodiment, referring to Figure 2, in the item picking scenario, when determining the target storage location of a compartment of the target inventory container and seeding the picked items, the control server 110 can control the target guidance device in advance 120 performs a height adjustment such that a storage location guidance assembly of the target guidance device moves to a height corresponding to the target storage location of a compartment below the target inventory container. In this way, by adjusting the guidance device in advance during sowing, the picking prompt function of the target guidance device at the corresponding height can be quickly started, which can save the time wasted in adjusting the guidance device to the target storage position of the next compartment at high speed. Improve picking efficiency.
在本實施例的一種可選方案中，本實施方案可以與上述一個或者多個實施例中的各個可選方案結合。參見圖1和圖2，在本申請實施例中的存儲位指引系統中，上述指定位置可包括用於停放目標庫存容器的第一指定位置和用於停放目標指引裝置的第二指定位置；第一指定位置和所述第二指定位置之間滿足預設相對位置關係。 In an optional solution of this embodiment, this embodiment can be combined with each optional solution in one or more of the above embodiments. Referring to Figures 1 and 2, in the storage position guidance system in the embodiment of the present application, the above designated positions may include a first designated position for parking the target inventory container and a second designated position for parking the target guidance device; A preset relative position relationship is satisfied between a designated position and the second designated position.
在本實施例中，參見圖1和圖2，在目標庫存容器到達第一指定位置進行停放時，到達第二指定位置停放的目標指引裝置位於靠近目標庫存容器的取放物品一側的第一距離內。當將目標庫存容器被放置到第一指定位置時，放置到第二指定位置的目標指引裝置會位於靠近目標庫存容器的取放物品一側的第一距離內。這樣，當目標指引裝置的存儲位指引組件移動到對應高度後可面向揀選一側提供揀選提示信息，方便工作人員能夠在看到目標指引裝置 發出的提示信息同時，還能同時從目標庫存容器的目標存儲位上取出合適數量的物品。 In this embodiment, referring to Figures 1 and 2, when the target inventory container arrives at the first designated position for parking, the target guidance device that arrives at the second designated position for parking is located on the first side of the target inventory container near the pick-and-place item side. within distance. When the target inventory container is placed at the first designated position, the target guidance device placed at the second designated position will be located within a first distance close to the item picking side of the target inventory container. In this way, when the storage position guidance component of the target guidance device moves to the corresponding height, it can provide picking prompt information facing the picking side, so that the staff can see the target guidance device. At the same time as the prompt message is sent, the appropriate number of items can be taken out from the target storage location of the target inventory container at the same time.
在本實施例中，可選地，參見圖2，指引裝置120中的存儲位指引組件包括一條可移動發光指示燈帶，該一條可移動發光指示燈帶可沿指引裝置120的組件支架兩側支柱上下方向進行高度移動，且同一條燈帶中包括多個發光位置點，使不同發光位置點能夠對應庫存容器上的同隔層的不同存儲位，便於通過不同發光位置點的點亮狀態來提示工作人員是否對該位置點對應的存儲位的物品進行揀選。可選地，庫存容器的每一隔層可能有不同數目的存儲位，發光位置點的點亮點數目與目標存儲位的數目對應，在不同發光位置點的揀選提示信息的顯示位置與目標存儲位的位置相對應，保證倉庫內各種類型的貨位位置均可被對應點亮。 In this embodiment, optionally, referring to FIG. 2 , the storage location guidance component in the guidance device 120 includes a movable luminous indicator light strip, and the movable luminous indicator light strip can be along both sides of the component bracket of the guidance device 120 The pillar moves highly in the up and down direction, and the same light strip includes multiple light-emitting position points, so that different light-emitting position points can correspond to different storage locations on the same compartment on the inventory container, making it easy to identify the lighting status of different light-emitting position points. Prompt the staff whether to pick the items in the storage location corresponding to the location point. Optionally, each compartment of the inventory container may have a different number of storage slots. The number of bright spots at the luminous position points corresponds to the number of target storage slots. The display positions of the picking prompt information at different luminous position points correspond to the target storage slots. corresponding to the position, ensuring that various types of cargo positions in the warehouse can be correspondingly lit.
在本實施例中，可選地，指引裝置120中的存儲位指引組件包括多條可移動發光指示燈帶，各條可移動發光指示燈帶僅能在各自對應的高度範圍內沿指引裝置120的組件支架兩側支柱上下方向移動，且同一條燈帶中包括多個發光位置點，使不同發光位置點能夠對應庫存容器上的同隔層的不同存儲位。因為庫存容器比較高，而存儲位指引組件的移動速度可能並不高，通過在指引裝置120中設置了多條可移動發光指示燈帶，保證發光指示燈帶僅在預設高度範圍進行移動，能夠使得各個發光燈帶在各自的工作區域範圍內各司其職進行移動，避免移動高度過大，造成移動時間過長而無法快速啟動後續的揀選提示功能。 In this embodiment, optionally, the storage location guidance component in the guidance device 120 includes a plurality of movable luminous indicator strips, and each movable luminous indicator strip can only move along the guidance device 120 within its corresponding height range. The pillars on both sides of the component bracket move up and down, and the same light strip includes multiple light-emitting position points, so that different light-emitting position points can correspond to different storage locations in the same compartment on the inventory container. Because the inventory container is relatively high and the moving speed of the storage location guidance component may not be high, multiple movable luminous indicator light strips are provided in the guidance device 120 to ensure that the luminous indicator light strips only move within the preset height range. It allows each luminous light strip to move within its respective working area to avoid excessive movement height, which may cause the movement time to be too long and prevent the subsequent picking prompt function from being quickly started.
在本實施例中，可選地，參見圖2，在可移動發光指示燈帶對應的發光位置點進行點亮時，不僅可以在發光位置點的燈帶部位至少顯示一需取出物品的數量，而且也可以顯示一需要取出的物品的屬性，用於在目標存儲位 上包含多種物品時，對目標存儲位上的多種物品進行區分，例如，物品的屬性可採用以下內容描述：物品名稱、物品代碼以及物品顏色等。 In this embodiment, optionally, referring to Figure 2, when the light-emitting position point corresponding to the movable light-emitting indicator light strip is lit, not only can at least a number of items to be taken out be displayed on the light strip part of the light-emitting position point, Moreover, it can also display the attributes of an item that needs to be taken out for use in the target storage location. When there are multiple items on the target storage location, distinguish the multiple items on the target storage location. For example, the attributes of the items can be described by the following content: item name, item code, item color, etc.
在本實施例的一種可選方案中，本實施方案可以與上述一個或者多個實施例中的各個可選方案結合。圖3是本發明實施例中提供一種指引裝置上的輸入組件的示意圖。參見圖1和圖3，在本申請方案的存儲位指引系統中，目標指引裝置的預設位置處設置有一輸入組件，所述輸入組件至少包括一報警部件、一顯示部件、一輸入部件和一確認部件，在本實例中，所述報警部件配置為，工作人員揀選貨物時，在通過掃碼組件檢測到工作人員從所述目標存儲位取出的物品與指示信息不符時，發出取出錯誤報警提示。 In an optional solution of this embodiment, this embodiment can be combined with each optional solution in one or more of the above embodiments. FIG. 3 is a schematic diagram of an input component on a guidance device according to an embodiment of the present invention. Referring to Figures 1 and 3, in the storage position guidance system of the present application, an input component is provided at a preset position of the target guidance device. The input component at least includes an alarm component, a display component, an input component and an input component. Confirmation component. In this example, the alarm component is configured to issue a take-out error alarm when the staff picks goods and detects through the code scanning component that the items taken out by the staff from the target storage location do not match the instruction information. .
在本實施例中，目標指引裝置的預設位置處設置報警部件，當工作人員按照目標指引裝置的提示取出物品後，可通過掃碼組件掃描取出的物品上的二維碼或者條碼信息。若通過掃描二維碼或者條碼發現取出的物品錯誤時，所述報警部件會提示錯誤，這樣揀選人員可直接根據報警部件的提示更換取出的商品，簡化操作人員與系統交互的方式。 In this embodiment, an alarm component is provided at a preset position of the target guidance device. When the staff takes out the items according to the prompts of the target guidance device, the staff can scan the QR code or barcode information on the items taken out through the code scanning component. If the wrong item is found by scanning the QR code or barcode, the alarm component will prompt an error. In this way, the picker can directly replace the item taken out according to the prompts of the alarm component, simplifying the way the operator interacts with the system.
在本實施例的一種可選方案中，本實施方案可以與上述一個或者多個實施例中的各個可選方案結合。圖4是本發明實施例中提供的一種組件支架上設置的輸入組件的局部示意圖。在本實施例中，所述報警部件可為報警燈，所述顯示部件可為小型顯示屏，所述輸入部件可為輸入按鍵，所述確認部件可為確認按鍵。參見圖4，所述輸入組件設置在目標指引裝置的組件支架上，當揀選遇到缺貨時，即目標存儲位實際存儲的物品數量小於所述目標存儲位對應發光位置點顯示的需揀選貨物數量時，工作人員可直接通過輸入組件減少需揀選物品數量並實際取出對應數量的物品，此時系統內會更新工作人員在該目標存儲位實際取出的物品數量，並基於更新後的數量繼續分配揀選任務，簡化工作人員與系統交互的方式。當目標存儲位實際存儲的物品數量大於所述 目標存儲位對應發光位置點顯示的需揀選貨物數量時，若工作人員由於其他原因需要取出的貨物數量多於需揀選貨物數量，工作人員也可直接通過輸入組件增加需揀選物品數量並實際取出對應數量的物品，此時系統內也會更新工作人員在該目標存儲位實際取出的物品數量，並基於更新後的數量繼續分配揀選任務。揀貨結束時，即工作人員依所述發光位置點顯示的需揀選物品數量快速取出對應數量的貨物後，工作人員可快速操作確認部件，確認對於該目標存儲容器的揀貨已結束，使機器人可以先行搬運已揀貨完畢的該目標存儲容器離開。 In an optional solution of this embodiment, this embodiment can be combined with each optional solution in one or more of the above embodiments. Figure 4 is a partial schematic diagram of an input component provided on a component bracket provided in an embodiment of the present invention. In this embodiment, the alarm component may be an alarm light, the display component may be a small display screen, the input component may be an input button, and the confirmation component may be a confirmation button. Referring to Figure 4, the input component is set on the component bracket of the target guidance device. When picking encounters a shortage, that is, the number of items actually stored in the target storage location is less than the goods to be picked displayed by the corresponding luminous position point of the target storage location. When the quantity is specified, the staff can directly reduce the number of items to be picked through the input component and actually take out the corresponding number of items. At this time, the system will update the number of items actually taken out by the staff at the target storage location, and continue to distribute based on the updated quantity. Picking tasks and simplifying the way workers interact with the system. When the actual number of items stored in the target storage location is greater than the stated When the target storage position corresponds to the quantity of goods to be picked displayed on the illuminated position point, if the staff needs to take out more goods than the number of goods to be picked due to other reasons, the staff can also directly increase the number of items to be picked through the input component and actually take out the corresponding At this time, the system will also update the number of items actually taken out by the staff at the target storage location, and continue to assign picking tasks based on the updated quantity. When the picking is completed, that is, after the staff quickly takes out the corresponding number of goods according to the number of items to be picked displayed by the light-emitting position point, the staff can quickly operate the confirmation component to confirm that picking of the target storage container has ended, allowing the robot to The target storage container that has been picked can be moved away first.
此外，所述各發光位置點還可以顯示各對應存儲位的實際存儲物品數量與實際存儲物品的屬性。工作人員還可在目標指引裝置處通過輸入組件進行報錯操作，控制伺服器自動調整各發光位置點顯示的對應存儲位實際存儲物品的數量。上架貨物時，工作人員可以通過操作輸入組件快速輸入本次上架貨物的數量。盤點貨物時，如發現存儲位內實際存儲的貨物數量和對應發光位置點顯示的實際存儲的物品數量不一致，也可通過輸入組件更改所述發光位置點顯示的實際存儲的物品數量。 In addition, each of the light-emitting position points can also display the actual number of stored items and the attributes of the actual stored items in each corresponding storage location. The staff can also perform error reporting operations through the input component at the target guidance device, and control the server to automatically adjust the actual number of stored items in the corresponding storage slot displayed by each light-emitting position point. When putting goods on the shelves, staff can quickly input the quantity of goods on the shelves by operating the input component. When taking inventory of goods, if it is found that the actual number of goods stored in the storage location is inconsistent with the actual number of stored items displayed by the corresponding luminous position point, the input component can also be used to change the actual number of stored items displayed by the luminous position point.
圖5是本發明實施例中提供的一種存儲位指引方法的流程示意圖，本實施例的方案可適用於在揀選場景下對被訂單命中的物品進行揀選的情況。如圖5所示，本發明實施例中的揀選方法，可包括以下步驟。 Figure 5 is a schematic flowchart of a storage space guidance method provided in an embodiment of the present invention. The solution of this embodiment can be applied to the case of picking items hit by an order in a picking scenario. As shown in Figure 5, the picking method in the embodiment of the present invention may include the following steps.
S510、控制伺服器從至少一個庫存容器中確定一目標庫存容器和從至少一個機器人中確定一目標指引裝置。 S510. The control server determines a target inventory container from at least one inventory container and a target guidance device from at least one robot.
S520、控制伺服器控制機器人分別將目標庫存容器和目標指引裝置搬運到一指定位置，以及向目標指引裝置發送第一指引控制命令。 S520: Control the server to control the robot to respectively transport the target inventory container and the target guidance device to a designated position, and send the first guidance control command to the target guidance device.
S530、目標指引裝置響應所述第一指引控制命令發出提示信息，用於指引目標庫存容器上至少一個目標存儲位和需要從所述目標存儲位取 出的物品信息和數量；所述庫存容器包括多個存儲隔層，所述每一存儲隔層包括多個存儲位。 S530. The target guidance device sends prompt information in response to the first guidance control command, which is used to guide at least one target storage location on the target inventory container and the information that needs to be retrieved from the target storage location. The item information and quantity are output; the inventory container includes a plurality of storage compartments, and each storage compartment includes a plurality of storage positions.
在上述實施例的技術方案的基礎上，可選地，所述指定位置的設置包括以下情況：從工作區域的工作位處選擇確定、從目標庫存容器所在庫存位處選擇確定以及從工作區域的工作位與目標庫存容器所在庫存位之間選擇確定。 Based on the technical solutions of the above embodiments, optionally, the setting of the designated position includes the following situations: selecting and determining from the working position in the work area, selecting and determining from the inventory position where the target inventory container is located, and selecting and determining from the working area. Select between the work location and the inventory location where the target inventory container is located.
在上述實施例的技術方案的基礎上，可選地，所述目標指引裝置包括至少一個存儲位指引組件和一組件支架，且存儲位指引組件的兩端分別與所述組件支架的兩側滑動對接，且所述存儲位指引組件能夠沿所述組件支架上下升降。 Based on the technical solutions of the above embodiments, optionally, the target guidance device includes at least one storage location guidance component and a component bracket, and both ends of the storage location guidance component slide with both sides of the component bracket respectively. docking, and the storage position guide assembly can move up and down along the assembly bracket.
在上述實施例的技術方案的基礎上，可選地，所述方法還包括：在所述目標庫存容器到達所述指定位置之前或者同時，所述控制伺服器還控制所述目標指引裝置的一存儲位指引組件，升降到與所述目標存儲位的高度對應的指定高度。 Based on the technical solutions of the above embodiments, optionally, the method further includes: before the target inventory container reaches the designated location or at the same time, the control server also controls a component of the target guidance device. The storage location guide component is raised and lowered to a designated height corresponding to the height of the target storage location.
在上述實施例的技術方案的基礎上，可選地，所述方法還包括：在完成對目標庫存容器一個隔層的目標存儲位的指引後，所述控制伺服器還向位於所述指定位置處目標指引裝置發送第二指引控制命令；所述目標指引裝置響應所述第二指引控制命令發出提示信息，用於指引所述目標庫存容器下一個隔層的至少一個目標存儲位和需要從所述目標存儲位取出的物品信息和數量。 Based on the technical solutions of the above embodiments, optionally, the method further includes: after completing the guidance to the target storage location of one compartment of the target inventory container, the control server also directs the control server to the specified position. The target guidance device sends a second guidance control command; the target guidance device sends prompt information in response to the second guidance control command, which is used to guide at least one target storage position of the next compartment of the target inventory container and the required data from all the locations. Describe the item information and quantity retrieved from the target storage location.
在上述實施例的技術方案的基礎上，可選地，所述方法還包括： 在工作人員對一個隔層的目標存儲位上的物品進行取出時，所述控制伺服器還控制指定位置處的目標指引裝置的一存儲位指引組件，升降到與所述目標庫存容器中下一個隔層目標存儲位的高度對應的高度。 Based on the technical solutions of the above embodiments, optionally, the method further includes: When the staff takes out the items from the target storage location of a compartment, the control server also controls a storage location guidance component of the target guidance device at the designated position to lift to the next location in the target inventory container. The height corresponding to the height of the compartment target storage location.
在上述實施例的技術方案的基礎上，可選地，所述指定位置包括用於停放目標庫存容器的第一指定位置和用於停放目標指引裝置的第二指定位置；所述第一指定位置和所述第二指定位置之間滿足預設相對位置關係。 Based on the technical solutions of the above embodiments, optionally, the designated position includes a first designated position for parking the target inventory container and a second designated position for parking the target guidance device; the first designated position The preset relative position relationship is satisfied between the second specified position and the second specified position.
在上述實施例的技術方案的基礎上，可選地，在目標庫存容器到達第一指定位置進行停放時，到達第二指定位置停放的目標指引裝置位於靠近所述目標庫存容器的取放物品一側的第一距離內。 Based on the technical solutions of the above embodiments, optionally, when the target inventory container arrives at the first designated position for parking, the target guidance device that arrives at the second designated position for parking is located near the pick-and-place object of the target inventory container. within the first distance from the side.
在上述實施例的技術方案的基礎上，可選地，所述存儲位指引組件包括一條可移動發光指示燈帶；所述燈帶中包括多個發光位置點，使不同發光位置點能夠對應庫存容器上同隔層的不同存儲位。 Based on the technical solutions of the above embodiments, optionally, the storage location guidance component includes a movable light-emitting indicator light strip; the light strip includes multiple light-emitting position points, so that different light-emitting position points can correspond to inventory Different storage locations in the same compartment on the container.
在上述實施例的技術方案的基礎上，可選地，所述存儲位指引組件包括多條可移動發光指示燈帶，每一條可移動發光指示燈帶僅能在各自預設的高度範圍內沿所述組件支架上下方向移動。 Based on the technical solutions of the above embodiments, optionally, the storage position guidance assembly includes a plurality of movable luminous indicator strips, each movable luminous indicator strip can only move along its respective preset height range. The component bracket moves up and down.
在上述實施例的技術方案的基礎上，可選地，所述方法還包括：在通過掃描設備檢測到工作人員從所述目標存儲位取出的物品與指示信息不符時，通過在指引裝置的預設位置處設置的報警組件發出取出錯誤報警提示。 Based on the technical solutions of the above embodiments, optionally, the method further includes: when it is detected through the scanning device that the items taken out by the staff from the target storage location do not match the instruction information, by pre-setting the guidance device The alarm component set at the set location issues an alarm prompt for removal errors.
本發明實施例中所提供的存儲位指引方法可應用于上述本發明任意實施例中所提供的存儲位指引系統，具備該存儲位指引系統相應的功能和有益效果，未在上述實施例中詳盡描述的技術細節，具體可參見本申請任意實施例中所提供的存儲位指引系統。 The memory bit guidance method provided in the embodiment of the present invention can be applied to the memory bit guidance system provided in any embodiment of the present invention, and has the corresponding functions and beneficial effects of the memory bit guidance system, which are not detailed in the above embodiments. For the technical details described, please refer to the storage bit guidance system provided in any embodiment of this application.
在本說明書的描述中，參考術語“一個實施例”、“一些實施例”、“示例”、“具體示例”、或“一些示例”等的描述意指結合該實施例或示例描述的具體特徵、結構、材料或者特點包含于本發明的至少一個實施例或示例中。在本說明書中，對上述術語的示意性表述不一定指的是相同的實施例或示例。而且，描述的具體特徵、結構、材料或者特點可以在任何的一個或多個實施例或示例中以合適的方式結合。 In the description of this specification, reference to the terms "one embodiment," "some embodiments," "an example," "specific examples," or "some examples" or the like means that specific features are described in connection with the embodiment or example. , structures, materials or features are included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
注意，上述僅為本發明的較佳實施例及所運用技術原理。本領域技術人員會理解，本發明不限於這裡所述的特定實施例，對本領域技術人員來說能夠進行各種明顯的變化、重新調整和替代而不會脫離本發明的保護範圍。因此，雖然通過以上實施例對本發明進行了較為詳細的說明，但是本發明不僅僅限於以上實施例，在不脫離本發明構思的情況下，還可以包括更多其他等效實施例，而本發明的範圍由所附的發明申請專利範圍決定。 Note that the above are only the preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, it can also include more other equivalent embodiments, and the present invention The scope is determined by the patent scope of the attached invention application.
110:控制伺服器 110:Control server
120:指引裝置 120: Guidance device
130:機器人 130:Robot
140:庫存容器 140: Inventory container
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| CN (1) | CN112365211B (en) |
| TW (1) | TWI829021B (en) |
| WO (1) | WO2022078468A1 (en) |
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| CN112365211B (en) * | 2020-10-14 | 2024-04-30 | 北京极智嘉科技股份有限公司 | Storage bit guiding system and method |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2022078468A1 (en) | 2022-04-21 |
| TW202215360A (en) | 2022-04-16 |
| CN112365211B (en) | 2024-04-30 |
| CN112365211A (en) | 2021-02-12 |
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