TWM576581U - Fully unmanned logistics warehousing system - Google Patents

Abstract

本新型提供一種全無人化物流倉儲系統，主要包含第一機器人、第二機器人、第三機器人、第四機器人、以及輸送系統，透過多個機器人的設置，使之各有專職，提升物流效率並降低人力成本，本新型將具體實現全無人化物流倉儲系統。The novel provides a fully unmanned logistics storage system, which mainly comprises a first robot, a second robot, a third robot, a fourth robot, and a conveying system, and through various robots, each has its own full-time to improve logistics efficiency and To reduce labor costs, this new model will realize a fully unmanned logistics warehouse system.

Description

全無人化物流倉儲系統Fully unmanned logistics warehouse system

本新型為有關一種物流倉儲系統，尤指一種可實現全無人化物流倉儲系統。The present invention relates to a logistics storage system, and more particularly to a fully unmanned logistics storage system.

自18世紀工業革命以降，人類生產方式邁向了嶄新的紀元，不再以傳統的人力或獸力從事生產工作，取而代之的是，大規模工廠的設置，以及大量機器的使用。機器的發明和運用，成為了這個時代的標誌，史學家稱此世代為機器時代。Since the industrial revolution of the 18th century, human production has moved to a new era, no longer using traditional manpower or animal power to carry out production work, but instead, the setting of large-scale factories and the use of a large number of machines. The invention and use of the machine has become a symbol of this era, and historians call this generation the machine age.

時間往後推移，到了近代的後工業社會，甚至是現代的工業4.0，人類對於機器的要求越來越高，期待賦予機器更多的功能，讓人類文明更為便利。而在現今全球風靡的工業無人化潮流下，各領域業者無不乘此風潮，企望使各自的領域能有大幅躍升的機會。Time has passed, and in the post-industrial society of modern times, even the modern industry 4.0, human beings are increasingly demanding machines, expecting to give more functions to the machine and make human civilization more convenient. In today's globally unmanned industrial unmanned trend, all sectors of the industry are taking advantage of this trend, and hope to make their fields have a chance to jump.

物流相關領域亦為其中的一份子。如中國專利公開第CN107350174A號，即揭示了一種自動分揀系統及其工作方法，包括運輸單元、自動供件台、移動分揀單元、控制器和補數單元。其中，卸貨和裝車環節需要人員，中間環節無人操作，自動化程度高，且有效降低異常包裹的數量，亦減少工作人員的數量。The logistics related field is also part of it. For example, Chinese Patent Publication No. CN107350174A discloses an automatic sorting system and a working method thereof, including a transport unit, an automatic infeed station, a mobile sorting unit, a controller, and a complement unit. Among them, the unloading and loading links require personnel, the intermediate links are unmanned, the degree of automation is high, and the number of abnormal packages is effectively reduced, and the number of staff is also reduced.

顯見地，雖上述習用技藝可減少工作人員的數量，卻無法達到完全的無人化，因此，關於全無人化物流系統的發展，仍具有極大進步空間。Obviously, although the above-mentioned conventional skills can reduce the number of staff, but can not achieve complete unmanned, therefore, there is still room for improvement in the development of the fully unmanned logistics system.

本新型的主要目的，在於解決習知自動分揀系統無法達到完全無人化的缺點。The main purpose of the novel is to solve the shortcomings of the conventional automatic sorting system that cannot be completely unmanned.

為了達到上述目的，本新型提供一種全無人化物流倉儲系統，其包含：一第一機器人、一第二機器人、一第三機器人、一第四機器人、以及一輸送系統。In order to achieve the above object, the present invention provides a fully unmanned logistics storage system comprising: a first robot, a second robot, a third robot, a fourth robot, and a conveying system.

該第一機器人具有一用來將一放置有一第一商品的第一子貨架移動至一第一分揀站的第一抓取元件；該第二機器人具有一用來將一放置有一第二商品的第二子貨架移動至該第一分揀站的第二抓取元件，其中，該第二商品與該第一商品不同；該第三機器人設置於該第一分揀站並具有一用來將該第一子貨架以及該第二子貨架抓取至該第一分揀站的第三抓取元件；該第四機器人設置於一第二分揀站並具有一第四抓取元件，其中該第二分揀站與該第一分揀站不同；該輸送系統設置於該第一分揀站與該第二分揀站之間以將該第一分揀站的該第一子貨架以及該第二子貨架移動至該第二分揀站。其中，該第四抓取元件係用以根據一訂單任務分別從該第一子貨架及該第二子貨架中拿取部分的該第一商品及部分的該第二商品後放置於一出貨容器中。The first robot has a first gripping element for moving a first sub-shelf with a first item to a first sorting station; the second robot has a second item for placing a second item Moving the second sub-shelf to the second picking element of the first sorting station, wherein the second item is different from the first item; the third robot is disposed at the first sorting station and has a Grasping the first sub-shelf and the second sub-shelf to a third picking element of the first sorting station; the fourth robot is disposed at a second sorting station and has a fourth gripping element, wherein The second sorting station is different from the first sorting station; the conveying system is disposed between the first sorting station and the second sorting station to the first sub-shelf of the first sorting station and The second sub-shelf moves to the second sorting station. The fourth grabbing component is configured to take a portion of the first merchandise and a portion of the second merchandise from the first sub-shelf and the second sub-shelf according to an order task, and then place the same in a shipment. In the container.

在一實施例中，更包括一用於放置該第一子貨架及該第二子貨架的移動式貨架。In an embodiment, a mobile shelf for placing the first sub-shelf and the second sub-shelf is further included.

在一實施例中，該第一機器人與該第二機器人相同。In an embodiment, the first robot is the same as the second robot.

在一實施例中，該第三機器人或該第四機器人中至少一者包括一用來辨識一辨識標記的辨識元件。In an embodiment, at least one of the third robot or the fourth robot includes an identification component for identifying an identification mark.

在一實施例中，該辨識標記係為一維條碼、二維條碼、圖案標記、無線射頻識別系統（RFID）電子標籤或其組合。In one embodiment, the identification mark is a one-dimensional bar code, a two-dimensional bar code, a pattern mark, a radio frequency identification system (RFID) electronic tag, or a combination thereof.

在一實施例中，更包括一用來確認該訂單任務的終端機，且該終端機包括一用來控制該第一機器人及該第二機器人的第一控制系統、以及一用來控制該第三機器人與該第四機器人的第二控制系統。In an embodiment, the method further includes a terminal for confirming the order task, and the terminal includes a first control system for controlling the first robot and the second robot, and a control unit A third robot and a second control system of the fourth robot.

在一實施例中，該第一控制系統為一機器人調度系統。In an embodiment, the first control system is a robotic dispatch system.

在一實施例中，該第二控制系統為一定位與視覺辨識系統。In an embodiment, the second control system is a positioning and visual recognition system.

綜上，本新型透過設置有多數各具不同功能的機器人於不同的工作位置，亦即，使各個機器人專司其位、彼此搭配。據此，除了能有效提升單位時間內的貨物流通效率，也可大幅減少人力的需求，相較於習知技藝，甚至更可達到完全無人化，以企及工業4.0的理想榮景。In summary, the present invention is provided with a plurality of robots having different functions in different working positions, that is, each robot is specially designed to match its position. According to this, in addition to effectively improving the efficiency of goods circulation per unit time, it can also greatly reduce the demand for manpower. Compared with the conventional skills, it can even achieve complete unmannedness, in order to achieve the ideal prosperity of Industry 4.0.

有關本新型的詳細說明及技術內容，現就配合圖式說明如下：The detailed description and technical content of this new model are described below with the following diagram:

請參閱『圖1』。本新型提供一種全無人化物流倉儲系統，其包含：一第一機器人10、一第二機器人20、一第三機器人30、一第四機器人40、以及一輸送系統50。Please refer to Figure 1. The present invention provides a fully unmanned logistics storage system comprising: a first robot 10, a second robot 20, a third robot 30, a fourth robot 40, and a delivery system 50.

該第一機器人10具有一用來將一放置有一第一商品的第一子貨架A1移動至一第一分揀站S1的第一抓取元件（圖未示）。該第二機器人20具有一用來將一放置有一第二商品的第二子貨架A2移動至該第一分揀站S1的第二抓取元件（圖未示），其中，該第二商品與該第一商品不同。The first robot 10 has a first gripping element (not shown) for moving a first sub-shelf A1 in which a first item is placed to a first sorting station S1. The second robot 20 has a second gripping element (not shown) for moving a second sub-shelf A2 on which a second item is placed to the first sorting station S1, wherein the second item is The first item is different.

於一實施例中，該第一子貨架A1及該第二子貨架A2可放置在一移動式貨架A上。當如本實施例欲拿取複數種不同商品的情況下，該第一機器人10可移動至該移動式貨架A並透過該第一抓取元件抓取該第一子貨架A1，隨後移動至該第一分揀站S1；此時，該第二機器人20可移動至該移動式貨架A並透過該第二抓取元件抓取該第二子貨架A2，也移動至該第一分揀站S1。In an embodiment, the first sub-shelf A1 and the second sub-shelf A2 can be placed on a mobile shelf A. When the plurality of different commodities are to be taken as in this embodiment, the first robot 10 can move to the mobile shelf A and capture the first sub-shelf A1 through the first grasping component, and then move to the a first sorting station S1; at this time, the second robot 20 can move to the mobile rack A and capture the second sub-shelf A2 through the second gripping element, and also move to the first sorting station S1 .

或者，在其他實施例中，該第一機器人10可移動至該移動式貨架A並透過該第一抓取元件抓取該第一子貨架A1後，再回到該移動式貨架A抓取該第二子貨架A2，對於本領域技術人士可以理解的是，此情況下該第一機器人10可對應為上述的該第二機器人20。Alternatively, in other embodiments, the first robot 10 can move to the mobile shelf A and grab the first child shelf A1 through the first grabbing component, and then return to the mobile shelf A to capture the The second sub-shelf A2, as can be understood by those skilled in the art, in this case, the first robot 10 can correspond to the second robot 20 described above.

接續著，該第三機器人30設置於該第一分揀站S1並具有一用來將該第一子貨架A1以及該第二子貨架A2抓取至該第一分揀站S1的第三抓取元件301。Next, the third robot 30 is disposed at the first sorting station S1 and has a third grip for grasping the first sub-shelf A1 and the second sub-shelf A2 to the first sorting station S1. Take element 301.

該第四機器人40設置於一第二分揀站S2並具有一第四抓取元件401，其中該第二分揀站S2與該第一分揀站S1不同，並於該第一分揀站S1與該第二分揀站S2之間設置有該輸送系統50，以將放置於該第一分揀站S1的該第一子貨架A1以及該第二子貨架A2移動至該第二分揀站S2。其中，該輸送系統50可為箱式輸送機，或是棧板式輸送機，於其他實施例中，亦可由該第一機器人10、該第二機器人20替代，並無限制。The fourth robot 40 is disposed at a second sorting station S2 and has a fourth picking element 401, wherein the second sorting station S2 is different from the first sorting station S1, and at the first sorting station The conveying system 50 is disposed between S1 and the second sorting station S2 to move the first sub-shelf A1 and the second sub-shelf A2 placed at the first sorting station S1 to the second sorting Station S2. The transport system 50 can be a box conveyor or a pallet conveyor. In other embodiments, the first robot 10 and the second robot 20 can be replaced by the first robot 10 without limitation.

根據一訂單任務，該第四抓取元件401可分別從該第一子貨架A1及該第二子貨架A2中拿取部分的該第一商品及部分的該第二商品後放置於一出貨容器B中，該出貨容器B的型態可以為料箱、出貨紙箱、貨架等，並未有所限制。此處的「部分」，指的是一個或一個以上，即至少一的意思，舉例來說，該第四抓取元件401可依據該訂單任務內容，抓取一個該第一商品以及全部的該第二商品；或者五個該第一商品以及三個該第二商品；或者全部的該第一商品以及一個該第二商品。According to an order task, the fourth crawling component 401 can take a portion of the first commodity and a portion of the second commodity from the first child shelf A1 and the second child shelf A2, respectively, and place the same in a shipment. In the container B, the type of the shipping container B may be a bin, a shipping carton, a shelf, etc., and is not limited. The "part" herein refers to one or more, that is, at least one meaning. For example, the fourth crawling component 401 can capture one of the first commodity and all of the same according to the content of the order task. a second item; or five of the first item and three of the second item; or all of the first item and one of the second item.

本實施例中，該第三機器人30或該第四機器人40中至少一者可包括一用來辨識一辨識標記E的辨識元件（圖未示）以協助揀貨工作順暢進行，「至少一者」，即該第三機器人30與該第四機器人40可同時具有該辨識元件，也可僅該第三機器人30或該第四機器人40設置有該辨識元件，並無限制。In this embodiment, at least one of the third robot 30 or the fourth robot 40 may include an identification component (not shown) for identifying an identification mark E to facilitate the smoothing of the picking operation, "at least one of the That is, the third robot 30 and the fourth robot 40 may have the identification component at the same time, or only the third robot 30 or the fourth robot 40 may be provided with the identification component, and there is no limitation.

該辨識標記E可透過印製或是其他方法而貼附或標記在該第一子貨架A1及該第二子貨架A2，或者也可以貼附或標記在每一個該第一商品及該第二商品上，於一具體實例中，該辨識標記E可為一維條碼、二維條碼、圖案標記、無線射頻識別系統（RFID）電子標籤或其任意組合，本新型並無特別限制，而可以視情況來選用不同的標記系統，此為本領域技術人士可以理解的。於本實施例中，可更包括一用來確認該訂單任務的終端機C，且該終端機C至少包括一用來控制該第一機器人10及該第二機器人20的第一控制系統、以及一用來控制該第三機器人30與該第四機器人40的第二控制系統。應敘明的為，該第一控制系統可為一機器人調度系統，並根據該機器人調度系統依照需求以控制該第一機器人10及該第二機器人20移出及移入該移動式貨架A。該第二控制系統則可為一定位與視覺辨識系統，並透過該辨識元件來辨識裝有特定商品的外包裝箱或容器，幫助放置或拿取特定商品，惟本領域技術人士可依自身需求，進行適當的系統配置，並無限制。The identification mark E may be attached or marked on the first sub-shelf A1 and the second sub-shelf A2 by printing or other methods, or may be attached or marked on each of the first item and the second In a specific example, the identification mark E may be a one-dimensional barcode, a two-dimensional barcode, a pattern mark, a radio frequency identification (RFID) electronic tag, or any combination thereof, and the present invention is not particularly limited, and may be regarded as Different marking systems are used in the case, as will be understood by those skilled in the art. In this embodiment, the terminal C can be further included to confirm the order task, and the terminal C includes at least a first control system for controlling the first robot 10 and the second robot 20, and A second control system for controlling the third robot 30 and the fourth robot 40. It should be noted that the first control system may be a robot scheduling system, and according to the robot scheduling system, the first robot 10 and the second robot 20 are controlled to move out and move into the mobile shelf A according to requirements. The second control system can be a positioning and visual recognition system, and the identification component can be used to identify an outer packaging box or container containing a specific commodity to help place or take a specific product, but the technical person skilled in the art can according to his own needs. There is no limit to the appropriate system configuration.

為使本領域具通常知識者更了解本新型，以下將詳細地說明本新型的實際運作方式：In order to make the present knowledge more familiar to those skilled in the art, the actual operation of the present invention will be described in detail below:

請續參閱『圖1』、『圖2』。首先，該終端機C在收到一訂單任務後，需進行一運送的步驟以將商品移動至一分揀工作區（步驟S100）。詳細來說，可依據該訂單任務使該第一控制系統控制該第一機器人10從該移動式貨架A上，將該放置有該第一商品的第一子貨架A1移動至該第一分揀站S1（步驟S101）；再使該第二機器人20從該移動式貨架A上將該放置有該第二商品的第二子貨架A2移動至該第一分揀站S1（步驟S102）。而當該筆訂單任務需要拿取更多不同商品時，可再進一步指派該第一機器人10、該第二機器人20、及/或同類或相似的其他可移動式機器人至該移動式貨架A上搬取更多的子貨架至該第一分揀站S1。Please continue to refer to Figure 1 and Figure 2. First, after receiving an order task, the terminal C needs to perform a shipping step to move the merchandise to a sorting work area (step S100). In detail, the first control system may be controlled by the first control system to move the first sub-frame A1 on which the first item is placed to the first sorting A according to the order task. Station S1 (step S101); the second robot 20 is further moved from the mobile shelf A to the second sorting shelf A2 on which the second item is placed to the first sorting station S1 (step S102). And when the order task needs to take more different commodities, the first robot 10, the second robot 20, and/or other similar or similar mobile robots may be further assigned to the mobile shelf A. Move more sub-shelves to the first sorting station S1.

設置在該第一分揀站S1的第三機器人30隨後將抵達該第一分揀站S1的該第一機器人10及該第二機器人20上抓取該第一子貨架A1以及該第二子貨架A2至該第一分揀站S1（步驟S200）。上述步驟舉例可依以下的順序進行，但不以此為限：複數個該第三機器人30同時取下該第一機器人10及該第二機器人20帶來的該第一子貨架A1以及該第二子貨架A2，並將其放置在該第一分揀站S1；或者，該第三機器人30先取下該第一機器人10帶來的該第一子貨架A1並將其放置在該第一分揀站S1後，再取下該第二機器人20帶來的該第二子貨架A2並將其放置在該第一分揀站S1，此情況下可僅由單一的該第三機器人30進行取貨程序；或者，該第三機器人30先取下該第一機器人10帶來的該第一子貨架A1後，該第一機器人10再回到該移動式貨架A抓取該第二子貨架A2至該第一分揀站S1，讓該第三機器人30將該第二子貨架A2放置於該第一分揀站S1，在此情況下，該第一機器人10可對應作為上述的該第二機器人20。The third robot 30 disposed at the first sorting station S1 then grabs the first sub-shelf A1 and the second sub-frame on the first robot 10 and the second robot 20 that arrive at the first sorting station S1. The shelf A2 to the first sorting station S1 (step S200). The foregoing steps may be performed in the following order, but not limited thereto: a plurality of the third robots 30 simultaneously remove the first sub-rack A1 and the first robot 10 and the second robot 20 Two sub-shelves A2 are placed at the first sorting station S1; or the third robot 30 first removes the first sub-shelf A1 brought by the first robot 10 and places it in the first sub-segment After the picking station S1, the second sub-shelf A2 brought by the second robot 20 is removed and placed in the first sorting station S1, in which case only the single third robot 30 can take it. After the third robot 30 first removes the first sub-shelf A1 brought by the first robot 10, the first robot 10 returns to the mobile shelf A to grab the second sub-shelf A2 to The first sorting station S1 allows the third robot 30 to place the second sub-shelf A2 at the first sorting station S1. In this case, the first robot 10 can correspond to the second robot as described above. 20.

接下來，該輸送系統50將該第一分揀站S1的該第一子貨架A1以及該第二子貨架A2移動至該第二分揀站S2（步驟S300）。Next, the transport system 50 moves the first sub-shelf A1 and the second sub-shelf A2 of the first sorting station S1 to the second sorting station S2 (step S300).

此時，設置在該第二分揀站S2的第四機器人40即可根據該訂單任務，分別從該第一子貨架A1及該第二子貨架A2中拿取部分的該第一商品及部分的該第二商品並放置於該出貨容器B中（步驟S400），該出貨容器B隨後即可進入包裝線，進一步地進行後續裝箱、封箱、貼出貨標籤等等的出貨包裝程序。At this time, the fourth robot 40 disposed at the second sorting station S2 can take a portion of the first commodity and the portion from the first sub-shelf A1 and the second sub-shelf A2 according to the order task. The second product is placed in the shipping container B (step S400), and the shipping container B can then enter the packaging line to further carry out subsequent packaging, sealing, labeling, etc. Packaging process.

承上，本新型透過設置有多數各具不同功能的機器人於不同的工作位置，亦即，使機器人各司其職，專司其位。據此，除了能有效提升單位時間內的貨物流通效率，也可大幅減少人力的需求，相較於習知技藝，甚至更達到完全無人化，將具體實現全無人化物流倉儲系統，以企及工業4.0的理想榮景。According to the above, the new model is equipped with a plurality of robots with different functions in different working positions, that is, the robots perform their duties and specialize in their positions. According to this, in addition to effectively improving the efficiency of goods circulation per unit time, it can also greatly reduce the demand for manpower. Compared with the conventional skills, even more completely unmanned, it will realize the realization of the fully unmanned logistics storage system to the industry. The ideal glory of 4.0.

以上已將本新型做一詳細說明，惟以上所述者，僅爲本新型的一較佳實施例而已，當不能限定本新型實施的範圍。即凡依本新型申請範圍所作的均等變化與修飾等，皆應仍屬本新型的專利涵蓋範圍內。The present invention has been described in detail above, but the above is only a preferred embodiment of the present invention, and the scope of the present invention is not limited. That is, the equal changes and modifications made in accordance with the scope of this new application shall remain within the scope of the patent of this new type.

10‧‧‧第一機器人10‧‧‧First robot

20‧‧‧第二機器人 20‧‧‧Second robot

30‧‧‧第三機器人 30‧‧‧ Third robot

301‧‧‧第三抓取元件 301‧‧‧ Third grabbing component

40‧‧‧第四機器人 40‧‧‧fourth robot

401‧‧‧第四抓取元件 401‧‧‧fourth grabbing component

50‧‧‧輸送系統 50‧‧‧Transportation system

A‧‧‧移動式貨架 A‧‧‧Mobile shelves

A1‧‧‧第一子貨架 A1‧‧‧ first child shelf

A2‧‧‧第二子貨架 A2‧‧‧Second child shelf

B‧‧‧出貨容器 B‧‧‧ shipping container

S1‧‧‧第一分揀站 S1‧‧‧First Sorting Station

S2‧‧‧第二分揀站 S2‧‧‧Second sorting station

C‧‧‧終端機 C‧‧‧Terminal

E‧‧‧辨識標記 E‧‧‧ identification mark

S100、S101、S102、S200、S300、S400‧‧‧步驟 S100, S101, S102, S200, S300, S400‧‧‧ steps

『圖1』，為本新型一實施例的實際應用示意圖。 『圖2』，為本新型一實施例的流程示意圖。FIG. 1 is a schematic diagram of practical application of an embodiment of the present invention. FIG. 2 is a schematic flow chart of an embodiment of the present invention.

Claims (8)

一種全無人化物流倉儲系統，包括： 一第一機器人，具有一用來將一放置有一第一商品的第一子貨架移動至一第一分揀站的第一抓取元件； 一第二機器人，具有一用來將一放置有一第二商品的第二子貨架移動至該第一分揀站的第二抓取元件，其中，該第二商品與該第一商品不同； 一第三機器人，設置於該第一分揀站並具有一用來將該第一子貨架以及該第二子貨架抓取至該第一分揀站的第三抓取元件； 一第四機器人，設置於一第二分揀站並具有一第四抓取元件，其中該第二分揀站與該第一分揀站不同；以及 一輸送系統，設置於該第一分揀站與該第二分揀站之間以將該第一分揀站的該第一子貨架以及該第二子貨架移動至該第二分揀站； 其中，該第四抓取元件係用以根據一訂單任務分別從該第一子貨架及該第二子貨架中拿取部分的該第一商品及部分的該第二商品後放置於一出貨容器中。A fully unmanned logistics storage system comprising: a first robot having a first gripping element for moving a first sub-shelf with a first item to a first sorting station; a second robot Having a second picking element for moving a second sub-shelf with a second item to the first sorting station, wherein the second item is different from the first item; a third robot, Provided at the first sorting station and having a third gripping element for gripping the first sub-shelf and the second sub-shelf to the first sorting station; a fourth robot, disposed in a first a second sorting station having a fourth picking element, wherein the second sorting station is different from the first sorting station; and a conveying system disposed at the first sorting station and the second sorting station Moving the first sub-shelf of the first sorting station and the second sub-shelf to the second sorting station; wherein the fourth gripping component is configured to respectively Sub-shelf and the first item and part of the second sub-shelf After the second product placed in a shipping container. 如申請專利範圍第1項所述的全無人化物流倉儲系統，更包括一用於放置該第一子貨架及該第二子貨架的移動式貨架。The all-unmanned logistics storage system of claim 1, further comprising a mobile shelf for placing the first sub-shelf and the second sub-shelf. 如申請專利範圍第1項所述的全無人化物流倉儲系統，其中，該第一機器人與該第二機器人相同。The all-unmanned logistics storage system of claim 1, wherein the first robot is the same as the second robot. 如申請專利範圍第1項所述的全無人化物流倉儲系統，其中，該第三機器人或該第四機器人中至少一者包括一用來辨識一辨識標記的辨識元件。The all-unmanned logistics storage system of claim 1, wherein at least one of the third robot or the fourth robot includes an identification component for identifying an identification mark. 如申請專利範圍第4項所述的全無人化物流倉儲系統，其中，該辨識標記係為一維條碼、二維條碼、圖案標記、無線射頻識別系統（RFID）電子標籤或其組合。The all-unmanned logistics warehousing system of claim 4, wherein the identification mark is a one-dimensional bar code, a two-dimensional bar code, a pattern mark, a radio frequency identification system (RFID) electronic tag, or a combination thereof. 如申請專利範圍第1項所述的全無人化物流倉儲系統，更包括一用來確認該訂單任務的終端機，且該終端機包括一用來控制該第一機器人及該第二機器人的第一控制系統、以及一用來控制該第三機器人與該第四機器人的第二控制系統。The all-unmanned logistics warehousing system of claim 1, further comprising a terminal for confirming the order task, and the terminal includes a first unit for controlling the first robot and the second robot A control system, and a second control system for controlling the third robot and the fourth robot. 如申請專利範圍第6項所述的全無人化物流倉儲系統，其中，該第一控制系統為一機器人調度系統。The all-unmanned logistics storage system according to claim 6, wherein the first control system is a robot scheduling system. 如申請專利範圍第6項所述的全無人化物流倉儲系統，其中，該第二控制系統為一定位與視覺辨識系統。The all-unmanned logistics storage system of claim 6, wherein the second control system is a positioning and visual recognition system.