WO2019140612A1 - 智能仓储拣货方法及*** - Google Patents

智能仓储拣货方法及*** Download PDF

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Publication number
WO2019140612A1
WO2019140612A1 PCT/CN2018/073306 CN2018073306W WO2019140612A1 WO 2019140612 A1 WO2019140612 A1 WO 2019140612A1 CN 2018073306 W CN2018073306 W CN 2018073306W WO 2019140612 A1 WO2019140612 A1 WO 2019140612A1
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Prior art keywords
picking
goods
storage unit
cargo
information
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PCT/CN2018/073306
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English (en)
French (fr)
Inventor
董胜伟
卓晖
吕江
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水岩智能科技（宁波）有限公司
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Priority to PCT/CN2018/073306 priority Critical patent/WO2019140612A1/zh
Publication of WO2019140612A1 publication Critical patent/WO2019140612A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management

Definitions

  • the present disclosure relates to a picking method and system in the field of intelligent warehousing, in particular for configuring a warehousing system with an intelligent transport robot.
  • AGV Automated Guided Vehicle
  • AGV realizes the positioning of the shelves where the goods are located and the handling of the shelves.
  • the process of taking the target goods out of the shelves at the picking station to complete the order is still done by manpower. How to further automate the picking process and improve the picking efficiency It is a problem to be solved by the present disclosure.
  • the purpose of the present disclosure is to propose a new smart storage picking method and system.
  • a smart warehouse picking system comprising: a control system, a picking resource, a cargo storage unit, a picking indication device, a picking storage unit, and a picking indicating device ,among them:
  • the control system is capable of communicating with the picking resource, the cargo storage unit, the picking instruction device, the picking storage unit, and the picking indicating device for issuing control commands to control the picking process;
  • the picking resource is configured to perform picking of goods according to a control instruction of the control system, and store the picked goods in a picking storage unit;
  • the cargo storage unit is configured to store goods in a storage area
  • the picking instruction device is configured to indicate, by using visual information, a position of the current to-be-sold item in the cargo storage unit according to a control instruction of the control system;
  • the picking storage unit is configured to store the goods picked up by the picking resource from the goods storage unit in a manner corresponding to an order
  • the picking indicating device is configured to instruct the picking resource to store the picked up goods to a location in the picking storage unit according to a control instruction of the control system.
  • a smart warehouse picking system comprising: a control system, a cargo storage unit, and one or more smart warehouse picking subsystems, wherein:
  • the smart warehouse picking subsystem is configured to perform a smart warehouse picking operation in parallel according to control of the control system
  • the intelligent warehouse picking subsystem includes a control terminal, a picking resource, a picking instruction device, a picking storage unit, and a picking indicating device, wherein:
  • the control terminal is capable of communicating with the control system, the cargo storage unit, the picking storage unit, the picking resource, the picking instruction device, and the picking indicating device, for issuing a control command according to the instruction of the control system, and controlling the picking Goods process
  • the picking resource is configured to perform picking of goods according to a control instruction of the control terminal, and store the picked goods in a picking storage unit;
  • the cargo storage unit is configured to store goods in a storage area
  • the picking instruction device is configured to indicate, by using visual information, a position of the current to-be-sold item in the cargo storage unit according to the control instruction of the control terminal;
  • the picking storage unit is configured to store the goods picked up by the picking resource from the goods storage unit in a manner corresponding to the order;
  • the picking indicating device is configured to instruct the picking resource to store the picked up goods to a position in the picking storage unit according to the control instruction of the control terminal.
  • a carrier device is further included, the carrier for carrying the cargo storage unit in accordance with a control command of the control system.
  • a smart warehouse picking system comprising: a control system, a cargo storage unit, a picking storage unit, and one or more smart warehouse picking subsystems, wherein:
  • the smart warehouse picking subsystem is configured to perform a smart warehouse picking operation in parallel according to control of the control system
  • the intelligent warehouse picking subsystem includes a control terminal, a picking resource, a picking instruction device and a picking indicating device, wherein:
  • the control terminal is capable of communicating with the control system, the cargo storage unit, the picking storage unit, the picking resource, the picking instruction device, and the picking indicating device, for issuing a control command according to the instruction of the control system, and controlling the picking Goods process
  • the picking resource is configured to perform picking of goods according to a control instruction of the control terminal, and store the picked goods in a picking storage unit;
  • the cargo storage unit is configured to store goods in a storage area
  • the picking instruction device is configured to indicate, by using visual information, a position of the current to-be-sold item in the cargo storage unit according to the control instruction of the control terminal;
  • the picking storage unit is configured to store the goods picked up by the picking resource from the goods storage unit in a manner corresponding to the order;
  • the picking indicating device is configured to instruct the picking resource to store the picked up goods to a position in the picking storage unit according to the control instruction of the control terminal.
  • a smart warehouse picking method comprising:
  • the disclosure can further realize the automation of the picking process and improve the picking efficiency by the cooperation of the control system, the picking resource, the cargo storage unit, the picking instruction device, the picking storage unit, the picking indicating device and the like, and the components.
  • FIG. 1 is a block diagram showing the structure of a smart warehouse picking system according to an embodiment of the present disclosure
  • FIG. 2 is a schematic view showing the mounting of a light emitting device according to an embodiment of the present disclosure
  • FIG. 3 is a schematic view showing the mounting of a projection apparatus according to an embodiment of the present disclosure
  • FIG. 3 is a block diagram of a smart storage picking subsystem according to an embodiment of the present disclosure.
  • FIG. 4 is a schematic diagram showing a manner in which a projected image display area of a projection apparatus is displayed on a cargo storage unit according to an embodiment of the present disclosure
  • FIG. 5A is a schematic diagram of a configuration scheme of a picking storage partition according to an embodiment of the present disclosure
  • 5B is a schematic diagram of a configuration scheme of a picking storage partition according to another embodiment of the present disclosure.
  • 5C is a schematic diagram of a configuration scheme of a picking storage partition according to still another embodiment of the present disclosure.
  • FIG. 6 is a structural block diagram of a smart warehouse picking system according to another embodiment of the present disclosure.
  • FIG. 7 is a flow chart of a smart warehousing picking method in accordance with an embodiment of the present disclosure.
  • FIG. 8 is a flow chart of a smart warehousing picking method in accordance with another embodiment of the present disclosure.
  • FIG. 9 is a flow chart of a smart warehouse picking method in accordance with yet another embodiment of the present disclosure.
  • the present disclosure relates to a picking method and system in the field of warehousing, especially for arranging a storage system with a smart warehousing robot, where the intelligent warehousing robot is generally applicable to warehousing, logistics, transportation, handling of goods, shelves, containers.
  • the moving handling unit of the object is also often referred to as a logistics robot, an AGV, a smart truck, etc.
  • the application of the intelligent warehouse goods picking method and system proposed by the present disclosure is not limited to the storage system equipped with the intelligent storage robot.
  • the method and system can be applied to a picking station having the same or similar configuration as the present disclosure; the storage system includes both large-scale logistics warehouses, such as customs, logistics distribution centers, and small and medium-sized logistics transit.
  • the warehouse also includes a retail storage area and the like.
  • the above storage system is merely an exemplary description, and the present disclosure is not limited thereto, and all systems requiring storage of the goods are included in the protection scope of the present disclosure.
  • a smart warehousing picking system involving the following components, and may include the following components according to different specific scene sizes of the warehousing system application and different automation requirements Several or all of them.
  • 1 is a block diagram showing the structure of a smart warehouse picking system according to an embodiment of the present disclosure, as shown in FIG.
  • the smart warehouse picking system includes: a control system, a picking resource, a cargo storage unit, a picking instruction device, a motion recognition device, a picking storage unit, a picking indicating device, and a cargo identifying device.
  • carrying equipment and warning equipment of course, in order to ensure the effective operation of the intelligent warehouse picking system, it should also be equipped with a storage area and a picking area that exists in the storage area to achieve picking, wherein:
  • the control system is capable of communicating with the picking resource, the cargo storage unit, the picking indication device, the motion recognition device, the picking storage unit, the picking indicating device, the cargo identifying device, the carrying device, and the alerting device, for Issue control commands to control the picking process;
  • the picking resource is configured to perform picking of goods according to a control instruction of the control system, and store the picked goods in a picking storage unit;
  • the cargo storage unit is configured to store goods in a storage area
  • the pick-up indicating device is configured to indicate, by the visual information, a position of the current to-be-sold item in the cargo storage unit according to a control instruction of the control system;
  • the motion recognition device is configured to detect whether the picking resource picks the goods in the cargo storage unit is correct, and sends the detection result to the control system;
  • the picking storage unit is configured to store the goods picked up by the picking resource from the goods storage unit in a manner corresponding to an order
  • the picking indicating device is configured to instruct the picking resource to store the picked up goods to a position in the picking storage unit according to a control instruction of the control system;
  • the cargo identification device is configured to identify cargo information of goods picked up by the picking resource from the cargo storage unit;
  • the carrier is configured to carry the cargo storage unit in accordance with a control command of the control system
  • the alerting device is configured to issue alert information according to a control command of the control system.
  • the control system includes a central processing unit (CPU), a read only memory (ROM), a random access memory (RAM), a bus, an input/output (I/O) interface, an input device, an output device, a storage device, and a communication device. It can also include components such as drives and removable media.
  • the control system may be implemented as a total fractional computer control system or as a distributed computer control system, and the total fractional computer control system includes a total control server and a plurality of receiving total control servers. Controlling the terminal; the distributed computer control system includes a plurality of independent control terminals, and the plurality of independent control terminals can implement cooperative work with each other through a collision algorithm.
  • the control system may further receive the information sent by the picking resource, the goods storage unit, the picking instruction device, the motion recognition device, the picking storage unit, the picking indicating device, the cargo identifying device, and the carrying device, according to the received information.
  • the working state of each device, device, and unit is judged, and when it is determined that each device, device, or unit is in an abnormal state, a control command is sent to the alerting device to instruct the alarm.
  • the picking resource may be a person, a machine, or a combination of a person and a machine, such as a person wearing an auxiliary machine, and optionally, a person with a mechanical exoskeleton.
  • the picking resource may include a plurality of picking components, such as components for performing picking, components for providing support, components for controlling the actions of the components, and the like, multiple picking The cargo components coordinate work to achieve picking of the goods.
  • the picking resource may further be provided with a state detecting device, wherein the state detecting device is configured to monitor the working state of the picking resource itself in real time, and feed back the state information to the control system in real time or every preset time interval to When the picking resource fails, the picking resource can be rescued in the first time, and the picking work is scheduled.
  • the status information includes: working status information of each picking component, picking resource location information, and the like.
  • the cargo storage unit may be a storage unit such as a shelf, a container, a basket, a basket, and a refrigerator, a warm cabinet, and the like.
  • the cargo storage area formed by the cargo storage unit may be divided into a plurality of cargo storage partitions, and the cargo storage partitions may be formed by being physically separated, for example, partitioning components by partitions, drawers, packing boxes, and the like. Separated, it can also be a virtual partitioned storage partition, for example, different goods are placed at intervals.
  • the cargo storage partition may be set to have a regular shape, such as a grid shape, or may be arranged to have an irregular shape to accommodate irregular goods or to reserve space for goods to be stored in the future.
  • the storage partitions may be evenly distributed or non-uniformly distributed. For example, according to actual application requirements, some storage partitions may be dense and other storage partitions may be relatively loose.
  • the division of the goods storage partition may be fixed or dynamic adjustment, and the division manner of the goods storage partition is stored in the control system, and is updated in real time according to the change of the division manner.
  • the cargo storage partition may also be configured with a unique location identification identifier, for example, a unique location identification identifier of the cargo storage partition may be set according to specific location information such as a region, a row, a column, a sequence number, etc., or may be stored according to the goods.
  • the spatial position coordinates of the partition are set to a unique location identification.
  • the position of the cargo storage unit may be fixed or movable.
  • the movement manner may be active or passive, wherein active movement can be realized.
  • passive movement can be achieved by being pushed and pulled, or carried by the carrier.
  • the cargo storage unit may further be provided with a state detecting device for detecting state information of the cargo storage unit, and in real time, every fixed time interval or at The state detection information is sent to the control system when the failure of the cargo storage unit is detected.
  • the pick-up indication device may use visual information to indicate location information of the current goods to be picked in the cargo storage unit, that is, a cargo storage partition where the current goods to be sorted are located, so that the picking The resource can correctly retrieve the current item to be picked according to the position indication of the pick-up indication device.
  • the pick-up indication device is a visual information output device, and can be implemented in various manners, such as a light-emitting device, a light-emitting device, a projection device, a display device, an electronic tag, a lighter, etc. And of course, it can also be implemented as other visual information output devices, which are not specifically limited in the present disclosure.
  • the pickup instruction device will be described by taking only the light-emitting device, the light-emitting device, the projection device, and the display device as an example, and the implementation of other visual information output devices can be similarly analogized.
  • the picking indication device is a lighting device
  • the pickup indicating device is a group of lighting devices located on the cargo storage unit, such as LED lights.
  • the cargo storage unit is a shelf 1
  • the pickup is The indicating device is a set of LED lights 2 mounted on the shelf 1
  • the shelf 1 is divided into a plurality of virtual cargo storage partitions, and the LED lights 2 further comprise horizontal and vertical rows, columns of LED lights, row LED lights and column LEDs.
  • the light combination application can uniquely determine the storage partition in which a certain item is located.
  • the indication manner of the illuminating device may adopt a lighting, blinking, discoloring or other indication manner, and the illuminating color may be selected to adopt a bright and conspicuous color, such as red.
  • the light-emitting device can also be implemented by using an electronic tag or other light-emitting component, which is not specifically limited in the disclosure, wherein the electronic tag can display the unique location identification mark of the corresponding cargo storage partition or other capable in a conspicuous manner. Unique identification information identifying the goods to be picked.
  • the picking instruction device is a light emitting device
  • the pick-up indicating device is a set of light-emitting light emitting devices located near the cargo storage unit, which can adopt the same arrangement as the light-emitting device, and utilize light rays corresponding to rows and columns. The intersection of the light emitted by the device to uniquely determine the storage partition in which the goods are located, and of course the light can be directly directed to the storage partition where the goods to be picked are currently located.
  • the light emitting device is at a certain distance from the cargo storage unit, and is capable of automatically adjusting an angle of light emission to emit light to a position corresponding to the cargo storage unit, such as a cargo storage partition line indicating position, a cargo storage partition
  • the column indicates the location or the storage partition where the current item to be picked is located.
  • the light emitting device may be a visible light emitter, such as a laser emitter, or other light emitting device.
  • the picking instruction device is a projection device
  • the projection device indicates by displaying an image to the cargo storage unit and/or the picking storage unit, displaying special visual image information in a cargo storage section of the goods to be taken out and/or a picking storage partition of the goods to be stored.
  • the pick-up indicating device is a projection device at a certain distance from the cargo storage unit, and the projected image display area corresponds to the storage partition where the current goods to be picked is located, and may just cover the current goods to be picked.
  • the storage partition may also be larger or smaller than the storage partition where the current goods to be picked up, as long as it is a storage partition that can uniquely indicate the current goods to be picked.
  • the cargo storage unit is a shelf 505, and the pickup indicating device is a projection device 504 at a certain distance from the shelf 505, and the adjusted projection area and the area of the projection region are just enough to cover the current waiting in the shelf 505.
  • the storage partition where the goods are picked, or slightly larger than the boundary of the storage partition where the goods to be picked are currently located, for example, the distance beyond the boundary is less than 3 cm.
  • the projection device indicates that the current position of the goods to be picked can pass through the storage area in which the current goods to be picked are located.
  • Displaying special visual information such as special patterns, special colors, designated characters, etc., wherein the specified characters may be picking information of the current goods to be picked, such as pictures, names, specifications, and classifications of the goods to be picked.
  • the number of items to be sorted, etc. may also identify the unique location of the current item to be picked.
  • the storage partition may be distinguished by a pattern that is just enough to cover the storage partition where the current goods to be picked is located or slightly larger than the shape of the storage partition, and the projected color may adopt a color that is vivid and distinguishable from other storage partitions.
  • the size of the projection indication pattern should be appropriate, and will not be projected to other storage partitions, resulting in an error indicating the storage partition, and incorrectly guiding the picking resources to other goods storage partitions to take the wrong goods.
  • the picking instruction device is a display screen
  • the pick-up indicating device is a display screen observed when the picking resource is picked up, and the display screen displays the storage of the goods storage unit in the direction of the picking resource. Divide the partition and display the storage partition where the goods to be picked are currently located by special pattern, color or specified characters.
  • the display screen may also display the picking information of the current item to be sorted, such as the picture, name, specification, classification, quantity to be sorted, etc. of the item to be sorted, and may also display the unique position identification mark of the current item to be sorted.
  • Embodiment 5 the picking instruction device is the combination described in the foregoing implementation
  • the above embodiments for indicating the storage location of the goods by the pick-up indicating device may be used alone or in combination with each other to reduce the picking error rate.
  • the pick-up indication device may further be provided with a state detecting device for detecting state information of the pick-up indicating device, and in real time, every fixed time interval Or sending status detection information to the control system when detecting that the pickup indication device is faulty.
  • the motion recognition apparatus is configured to detect whether the picking resource picks the goods in the goods storage unit and/or stores the goods in the picking storage unit, and the detection result is Send to the control system.
  • the action recognition device may detect whether the one or more picking components exceed the goods storage where the goods to be picked up when the picking resource picks the goods when detecting the picking resource picking action.
  • a boundary range of the cargo storage partition of the unit the boundary range may be a sum of a boundary of the storage partition and an allowable error value, and/or the motion recognition device is configured to detect the picking resource when the goods are stored, the picking Whether one or more picking components of the resource exceeds the boundary range of the picking storage partition of the picking storage unit in which the goods to be sorted are to be stored, and transmits the detection result to the control system.
  • the allowable error value may be a fixed value, for example, 5 cm, or may be a relative value, for example, may be taken as 30% of the length of the side of the goods storage area, and may of course be 0.
  • the motion recognition device may be a raster detection device, a motion capture device, or other device that can identify an action range, which is not specifically limited in the present disclosure.
  • the picking storage unit may be a storage unit such as a shelf, a container, a basket, a basket, and a refrigerator, a warm cabinet, and the like.
  • the storage area formed by the picking storage unit may be divided into a plurality of picking storage partitions, and the picking storage partitions may be formed by being physically separated, such as a partition, a drawer, a dispensing box, etc.
  • the partition components are separated, and may also be virtual partitioned storage partitions, for example, different goods are placed at intervals.
  • the picking storage partition may be set to have a regular shape, such as a grid shape, or may be arranged to have an irregular shape to accommodate irregular goods or to reserve space for goods to be stored in the future.
  • the picking storage partitions may be evenly distributed or non-uniformly distributed. For example, according to actual application requirements, some storage partitions may be dense and other storage partitions may be relatively loose.
  • the manner of dividing the picking storage partition may be fixed or dynamically adjusted.
  • the partitioning manner of the picking storage partition is stored in the control system. And update in real time according to the change of the division mode.
  • the picking storage partition may also be configured with a unique location identification identifier, for example, a unique location identification identifier of the picking storage partition may be set according to specific location information such as a region, a row, a column, a sequence number, etc., or according to the The spatial location coordinates of the picking storage partition are set to a unique location identification.
  • the above is only an exemplary description of the picking storage partition. Those skilled in the art can reasonably allocate and adjust the picking storage partition according to the needs of the actual application, which is not specifically limited in the disclosure.
  • FIG. 5A is a schematic diagram of a configuration scheme of a picking storage partition according to an embodiment of the present disclosure.
  • a storage area 401 formed by a picking storage unit may be evenly divided into a plurality of open picking storage partitions 403.
  • Each unique location identification identifier 402 is also provided at a location corresponding to each of the pick storage partitions 403.
  • FIG. 5B is a schematic diagram of a configuration scheme of a picking storage partition according to another embodiment of the present disclosure. As shown in FIG. 5B, a plurality of picking storage partitions 404 are provided as sealable areas, such as a detachable cabinet door.
  • 5C is a schematic diagram of a configuration scheme of a pick storage partition according to still another embodiment of the present disclosure. As shown in FIG. 5C, a plurality of pick storage partitions 405 are formed based on virtual partitions.
  • the position of the picking storage unit may be fixed or movable.
  • the moving manner may be active or passive, wherein active moving It can be realized as automatic autonomous movement, and the passive movement can be realized as being pushed and pulled, or carried by the carrier.
  • the picking storage unit may further be provided with a state detecting device for detecting state information of the picking storage unit, and in real time, every fixed time interval Or sending status detection information to the control system upon detecting a failure of the picking storage unit.
  • the picking indicating device instructs the goods to store the picked goods to a specific location in the picking storage unit
  • the specific location may be a specific pick storage partition where the picking goods will be placed into the picking storage unit.
  • the picking indicating device can be implemented in a similar manner to the picking indicating device described above, in addition to which the picking indicating device can also be implemented using an electronic tag or a lighter.
  • the electronic tag When the picking indicating device is implemented as an electronic tag, the electronic tag may be disposed at a position corresponding to the picking storage partition in the picking storage unit, as shown by reference numeral 402 in FIGS. 5A, 5B, and 5C. In the illustrated position, the electronic tag can display the unique location identification of the corresponding pick storage partition or other identification information that uniquely identifies the pick storage partition in an eye-catching manner.
  • the electronic label corresponding to a picking storage partition flashes or becomes bright, indicating that the goods should be placed in the picking storage partition of the corresponding location, if If the picking storage partitions are separated by means of a basket, the goods are placed in the corresponding basket.
  • the electronic label may further display the picking information such as the quantity of the remaining goods to be picked in the order corresponding to the current picking storage partition.
  • the picking indicating device may further be provided with a state detecting device for detecting state information of the picking indicating device, and in real time, every fixed time interval Or sending status detection information to the control system upon detecting a failure of the picking indication device.
  • the cargo identification device may be a barcode scanning device, and the identified cargo information is cargo identification information, such as a barcode or a two-dimensional code, and the cargo identification device may also be an image recognition device, and then identify The cargo information is part of the cargo image information or the cargo image information.
  • cargo identification information such as a barcode or a two-dimensional code
  • the cargo identification device may also be an image recognition device, and then identify The cargo information is part of the cargo image information or the cargo image information.
  • the cargo identification device may further be provided with a state detecting device for detecting state information of the cargo identification device, and in real time, at regular intervals or at When it is detected that the cargo identification device is faulty, the state detection information is transmitted to the control system.
  • the carrier can generally adopt an AGV (automatic guided transport vehicle), a forklift, a hanging robot, etc., and the above is only an exemplary description of the carrier, which is not specifically limited in the present disclosure, and all of which can Devices for carrying cargo storage units in accordance with control commands of the control system fall within the scope of the present disclosure.
  • the carrier device may further be provided with a state detecting device for detecting state information of the carrier device, and detecting it in real time, at regular intervals or at intervals. When the carrier fails, it sends status detection information to the control system.
  • the alert device may be an audible and visual alert device, such as a buzzer, a warning light, etc., and may be a visual information alert device, such as a prompt type display, or a multimedia alert device, such as Audio alarms, image alarms, animated alarms, video alarms, etc., of course, may also be a combination of the above warning devices.
  • the warning device receives the control command sent by the control system to perform an alarm operation. For example, when the picking resource fails, the alerting device performs an alarm according to the control command of the control system and notifies the current location of the picking resource, so that the rescue source can be the first Time for salvaging the picking resource; for example, when the motion recognizing device detects that the picking component of the picking resource exceeds the boundary range of the storage partition where the goods to be picked is located, the alerting device can perform an alarm according to the control command of the control system,
  • the error operation is suspended for a time; for example, when the cargo storage unit, the pick-up indicating device, the picking storage unit, the picking indicating device, the cargo identifying device, and the carrying device detect that the state is faulty, the alerting device can be controlled according to the control system.
  • the command is to perform an alarm to repair the cargo storage unit, the pick-up indicating device, the picking storage unit, the picking indicating device, the cargo identification device, and the carrying device at the first time.
  • the smart warehouse picking system may further include a workbench for placing various components in the control system, such as a control terminal, a mouse, a keyboard, a printer, etc., or other needs. Items placed.
  • a workbench for placing various components in the control system, such as a control terminal, a mouse, a keyboard, a printer, etc., or other needs. Items placed.
  • the smart warehouse picking system includes a control system, a cargo storage unit, a picking storage unit, a carrying device, and one or more smart warehouse picking subsystems, wherein:
  • the smart warehouse picking subsystem is configured to perform a smart warehouse picking operation in parallel according to control of the control system
  • the intelligent warehouse picking subsystem includes a control terminal, a picking resource, a picking indication device, a picking indicating device, a cargo identification device, and a warning device, wherein:
  • the control terminal is capable of communicating with the control system, the cargo storage unit, the picking storage unit, the picking resource, the picking instruction device, and the picking indicating device, for issuing a control command according to the instruction of the control system, and controlling the picking The goods process.
  • the smart storage picking subsystem may further comprise a motion recognition device, a workbench, and the like.
  • the functions and operations of the various components in the intelligent warehouse picking subsystem are similar to the functions and operations of the corresponding components in the smart warehouse picking system, and the disclosure will not be repeated here, but the smart warehouse picking The cargo subsystem needs to communicate with the control system of the intelligent warehouse picking system through the control terminal.
  • one or more smart warehouse picking subsystems may share a cargo storage unit, a picking storage unit, and a carrier, or may be configured separately.
  • the smart warehousing picking subsystem may also include a picking storage unit, such as a picking storage unit integrated with the picking indicating device.
  • the intelligent warehouse picking subsystem is not a separate device, nor is it a system component that can only perform part of the operation.
  • the smart warehouse picking subsystem is defined as one that can be divided into the intelligent warehouse picking system. The smallest functional unit that completes a complete picking operation.
  • FIG. 3 is a structural block diagram of a smart storage picking subsystem, in which the smart storage picking subsystem includes a picking resource 501, a picking storage unit 502, a control terminal 503, a projection device 504 as a pickup indicating device and a display 505 located above the storage position of the cargo storage unit, an electronic tag (not shown) on the picking storage unit as the picking indicating device, and a scanning device as the cargo identifying device (not shown), motion recognition device 506, and workbench 507.
  • the smart storage picking subsystem includes a picking resource 501, a picking storage unit 502, a control terminal 503, a projection device 504 as a pickup indicating device and a display 505 located above the storage position of the cargo storage unit, an electronic tag (not shown) on the picking storage unit as the picking indicating device, and a scanning device as the cargo identifying device (not shown), motion recognition device 506, and workbench 507.
  • the smart warehouse picking system includes a total control server 801, a control terminal 803, a display device 804, and a picking instruction.
  • the total control server 801 includes an order processing unit for receiving and allocating orders according to a certain algorithm
  • Control terminal 803, display device 804, pick-up indication device 805, motion recognition device 806, picking instruction device 807, cargo identification device 808 and printing device 809 constitute a picking station 802;
  • the general control server 801 and the control terminal 803 communicate via a wireless and/or wired connection;
  • the total control server sends the assigned order and related information to the control terminal 803;
  • the control terminal 803 uses a wired or wireless communication connection between the display device 804, the pickup instruction device 805, the motion recognition device 806, the picking instruction device 807, the cargo identification device 808, and the printing device 809.
  • a smart warehousing picking method comprising:
  • the visual information includes a combination of one or more of illuminating information, ray emitting information, projection information, and display information.
  • the visual information is projection information, in particular by displaying an image to the cargo storage unit and/or the picking storage unit, displaying a special in the cargo storage partition of the goods to be taken out and/or the picking storage partition of the goods to be stored.
  • Visual image information is used for indication.
  • the special visual image information includes one or more of a special pattern, a special color, and a designated character, wherein the specified character is a picture, a name, a specification, a classification, a quantity to be sorted, and a quantity to be sorted,
  • the unique location of the current item to be picked identifies one or more pieces of cargo information in the identification;
  • the special pattern is a pattern that forms a visual difference from a visual image of other storage partitions that causes visual attention;
  • the special color is just enough to cover the current
  • the shape of the storage partition where the goods to be picked is located or a color tile slightly larger than the shape of the storage partition.
  • determining whether the goods match or not specifically includes:
  • the method further includes detecting whether the action of picking the goods in the goods storage unit and/or storing the goods in the pick storage unit is correct, and performing an error prompt when detecting an error .
  • whether the detecting action has an error includes:
  • detecting the picking resource when storing the goods whether one or more picking components of the picking resource exceed the boundary range of the picking storage partition of the picking storage unit in which the goods to be sorted are to be stored, and detecting an error An error message is given.
  • the boundary range is a sum of a boundary of the storage partition and an allowable error value.
  • the method further comprises the step of correcting the indication of the wrong action.
  • the step of selecting an order for which the picking operation is to be performed is further included.
  • the order to be executed for the picking operation is selected according to a preset rule
  • the preset rule is any one of the following rules:
  • the step of selecting an order to perform a picking operation further includes:
  • the cargo storage unit storing the goods in the order is carried to the location of the smart storage picking subsystem to which the order is assigned.
  • the method further includes:
  • Determining whether the current order is completed indicating that the picking operation of the current order has been completed, and continuing the next order operation; otherwise, continuing to perform picking according to the indication of the visual information until the picking operation of the current order is completed;
  • the step of selecting the goods to be subjected to the picking operation is further included.
  • the order to be executed for the picking operation is selected according to a preset rule
  • the preset rule is any one of the following rules:
  • the method further includes:
  • the cargo storage unit storing the goods in the order is carried to the location of the smart storage picking subsystem to which the order is assigned.
  • the method further includes:
  • the method before the location is indicated by the visual information, the method further includes:
  • the method further includes:
  • the method further includes the step of printing the list of goods and/or the courier list of the current order and placing them in the picking storage partition of the corresponding picking storage unit.
  • the method further includes indicating, by means of visual information or sound information, that the current picking operation of the goods to be picked has been completed.
  • the smart warehouse picking method is implemented based on an order, as shown in FIG. 7.
  • the method includes the following steps:
  • Step 101 Select an order to be executed for the picking operation
  • Step 102 Indicate, by using visual information, a location of the current to-be-sold item in the cargo storage unit in the current order;
  • Step 103 Extract the goods from the location according to the indication of the visual information
  • Step 104 identifying the goods information of the taken out goods
  • Step 105 judging whether the retrieved goods match the current goods to be picked in the current order according to the identified goods information, if yes, proceed to step 106, otherwise return to step 103 until the current goods to be picked in the current order are taken out. Goods
  • Step 106 indicating that the goods will be placed in the location in the picking storage unit, and placing the goods to the indicated position;
  • Step 107 determining whether the current order is completed, if yes, proceeding to step 108, otherwise returning to step 102 until the current order is completed;
  • Step 108 indicating that the picking operation of the current order has been completed, and returning to step 101 to continue the picking operation of the next order.
  • the above method steps are for the goods picking process of a separate order.
  • the above method steps can be implemented to execute two or more orders in sequence, or to execute two or more orders in parallel at the same time, but for each of two or more orders, It is performed in accordance with the picking step above.
  • the steps can be specifically implemented as:
  • Step 101 selecting an order to perform a picking operation, can be implemented as:
  • the order for which the picking operation is to be performed is selected according to a certain preset rule, wherein the preset rule may be, for example, the order generation time for the order assigned to the current smart warehouse picking system or the current smart warehouse picking subsystem Sorting, and then selecting the order in which the picking operation will be performed according to the order in which the order is generated; or: randomly selecting in the order assigned to the current smart warehouse picking system or the current smart warehouse picking subsystem; For: the order assigned to the current smart warehouse picking system or the current smart warehouse picking subsystem is sorted in ascending order by the number of merchandise categories, and then the order in which the picking operation is to be performed is selected in order of the number of merchandise categories; It can be: sort the orders assigned to the current smart warehouse picking system or the current smart warehouse picking subsystem in ascending order by the quantity of the goods, and then select the order in which the picking operation will be performed according to the order of the quantity of the goods.
  • the preset rule may be, for example, the order generation time for the order assigned to the current smart warehouse picking system or the current
  • the step 101 further includes a step 1011 of assigning an order waiting for the picking operation to the current smart warehouse picking system or the current smart warehouse picking subsystem.
  • Assigning an order for the current smart warehouse picking system or the current smart warehouse picking subsystem means that the assigned order information is sent to the control system of the current smart warehouse picking system via wireless or wired communication.
  • assigning an order you can assign one or a group of orders to the smart warehouse picking system at a time, or you can assign orders periodically according to preset time intervals, or wait for the current smart warehouse picking system or the current smart warehouse picking subsystem.
  • the order may include a single piece of goods or a plurality of pieces of goods corresponding to a single category, and may also include a single piece of goods or a plurality of pieces of goods corresponding to each of the plurality of categories.
  • the smart storage picking system includes one or more smart storage picking subsystems, and may include a step 1012 before or after the step 101, where the goods in the order are to be stored.
  • the cargo storage unit is carried to the location of the intelligent warehouse picking subsystem to which the order is assigned.
  • the cargo storage unit can be carried by a purely artificial, human-driven transport vehicle (such as a forklift) or by a robot (for example, a carrier-type AGV), which is not specifically limited in the present disclosure.
  • a robot for example, a carrier-type AGV
  • step 1011 is performed prior to step 1012.
  • Step 102 indicating, by visual information, the location of the goods to be picked in the current order in the goods storage unit;
  • an indication of visual information can be implemented using a pick-up indication device in the smart warehouse picking system.
  • the location refers to a specific storage partition of the current goods to be picked in the cargo storage unit.
  • an indication can be made using a group of lighting devices located on the cargo storage unit, such as an LED lamp.
  • the shelf 1 is divided into a plurality of virtual cargo storage partitions corresponding to a plurality of virtual cargo storage partitions, and row and column LED lights 2 are respectively disposed in the horizontal and vertical directions, and the corresponding row and column LED lights are respectively
  • the lighting, flickering, discoloring or other lighting mode of 2 can uniquely determine the storage area of the goods in which the goods to be picked are located, wherein the color of the LED 2 can be bright and striking, such as red.
  • the LED lamp 2 can also be implemented by using an electronic tag or other lighting component.
  • a second embodiment corresponding to the pickup indicating means may be indicated by a set of light emitting means located on the cargo storage unit or by a light emitting means disposed at a distance from the cargo storage unit.
  • a set of light emitting devices located on the cargo storage unit can adopt the same arrangement as the light emitting device of the first embodiment, and the intersection of the light emitted by the light emitting devices corresponding to the rows and columns can uniquely determine the goods to be picked.
  • the cargo storage partition can adopt the same arrangement as the light emitting device of the first embodiment, and the intersection of the light emitted by the light emitting devices corresponding to the rows and columns can uniquely determine the goods to be picked.
  • the light emitting device disposed at a distance from the cargo storage unit can automatically adjust the angle of the light emission to emit the light to the storage partition location corresponding to the cargo storage unit.
  • the light emitting device may be a visible light emitter, such as a laser emitter, or other light emitting device.
  • the projection image display area is indicated by the projection device at a certain distance from the cargo storage unit, and the projected image display area corresponds to the storage partition where the current goods to be picked is located, which can just cover the current goods to be picked.
  • the storage partition in which it is located may also be larger or smaller than the storage partition in which the current goods to be picked are located, as long as it is a storage partition that can uniquely indicate the current goods to be picked.
  • the cargo storage unit is a shelf 505, and the pickup indicating device is a projection device 504 at a certain distance from the shelf 505, and the adjusted projection area and the area of the projection region are just enough to cover the current waiting in the shelf 505.
  • the storage partition where the goods are picked, or slightly larger than the boundary of the storage partition where the goods to be picked are currently located, for example, the distance beyond the boundary is less than 3 cm.
  • the projection device indicates that the current position of the goods to be picked can pass through the storage area in which the current goods to be picked are located.
  • Displaying special visual information such as special patterns, special colors, designated characters, etc., wherein the specified characters may be picking information of the current goods to be picked, such as pictures, names, specifications, and classifications of the goods to be picked.
  • the number of items to be sorted, etc. may also identify the unique location of the current item to be picked.
  • the storage partition may be distinguished by a pattern that is just enough to cover the storage partition where the current goods to be picked is located or slightly larger than the shape of the storage partition, and the projected color may adopt a color that is vivid and distinguishable from other storage partitions.
  • the size of the projection indication pattern should be appropriate, and will not be projected to other storage partitions, resulting in an error indicating the storage partition, and incorrectly guiding the picking resources to other goods storage partitions to take the wrong goods.
  • the display screen is observed by the easy-to-pick resource at the time of picking, and the display screen indicates that the goods storage unit is facing the picking resource direction.
  • the upper storage partition is divided, and the storage partition where the current goods to be picked is located is displayed by a special pattern, a color, or a designated character.
  • the display screen may also display the picking information of the current item to be sorted, such as the picture, name, specification, classification, quantity to be sorted, etc. of the item to be sorted, and may also display the unique position identification mark of the current item to be sorted.
  • the combination instruction is performed by the 1-4th embodiment, for example, the combination instruction is performed by using the projection device and the display screen, which not only increases the type of the indication information but also reduces the number of indication information.
  • the error rate of picking is performed by the 1-4th embodiment, for example, the combination instruction is performed by using the projection device and the display screen, which not only increases the type of the indication information but also reduces the number of indication information. The error rate of picking.
  • step 103 the goods are taken out from the location according to the indication of the visual information
  • the step may be implemented as the picking resource, according to the indication of the visual information, extending the arm or assisting the grabbing device to enter the cargo storage area in the cargo storage unit to take out the currently to be sorted goods.
  • the manual picker receives the visual information through the visual organ, completes the process of taking out the goods with the arm, or the machine picker identifies the visual information through machine vision and converts it into an operation instruction executable by the robot. Use the robotic arm to complete the process of removing the goods.
  • the step 103 further includes the step of detecting whether there is an error in the picking action, and performing an error prompt when detecting the error, specifically when detecting that the picker arm or other picking component protrudes into the cargo
  • An error is indicated in the storage unit when the boundary of the storage partition where the goods to be picked is located is exceeded.
  • the boundary range may be a sum of a boundary of the storage partition and an allowable error value, and the allowable error value may be a fixed value, for example, 5 cm, or may be a relative value, for example, may be taken as a side length of the cargo storage area. 30%, of course, can also be 0.
  • the detection may be performed by the motion recognition device described above, such as a raster detection device, a motion capture device, or other device that can recognize the range of motion, which is not specifically limited in the present disclosure.
  • the error prompting manner includes an audible and visual alarm, a visual information alarm, a multimedia information alarm, and the like, and the alarm is performed by, for example, a color change, a blinking change, a light and dark change, or a word “error” or “ERROR”.
  • the step of detecting whether there is an error in the picking action may further include the step of correcting the indication of the wrong action, for example, by presenting the correct storage location on the display screen, or by highlighting the correct picking location. The way, or a combination of the two is used.
  • Step 104 identifying the goods information of the taken out goods
  • this step is performed by the cargo identification device to perform the identification operation.
  • the scanner information is used to identify the cargo information, and the obtained cargo information is the cargo identification information, such as barcode or QR code information; or the image recognition device identifies the cargo information, and the identified cargo information is the cargo image information or the cargo. Part of the image information.
  • Step 105 judging whether the retrieved goods match the current goods to be picked in the current order according to the identified goods information, if yes, proceed to step 106, otherwise return to step 103 to re-sort until the current waiting in the current order is taken out. Pick the goods that match the goods.
  • the goods information included in the order information and the identified goods information may be compared to determine whether the goods match, wherein the order information includes an order number, a goods name, a quantity of goods, and a cargo information. And indication information indicating which goods are currently selected, the cargo information may be part of the cargo identification information, the cargo image information, or the cargo image information.
  • Step 106 indicating that the goods will be placed in the location in the picking storage unit and placing the goods in the indicated position
  • the picking indicating device may indicate the position at which the selected correct goods are to be placed on the picking storage unit, the position specifically referring to which picking on the picking storage unit Cargo storage partition.
  • the picking indicating device may be implemented in a manner similar to the picking instruction device, or may be implemented by using a picking storage unit electronic tag or a lighter.
  • the picking indicating device indicates the picking storage partition into which the goods will be placed, for example, by lighting or blinking, etc., and the picking indicating device may also display the corresponding goods.
  • the remaining number to be picked for example, when the electronic label is used as the picking indicating device, the number of goods to be picked is 3, and the number of goods that have been placed in the picking storage unit is 2, the picking indicating device displays the remaining quantity to be picked. For one, then the picking resource is placed in the corresponding picking storage partition according to the instructions of the picking instruction device.
  • Step 107 determining whether the current order is completed, if yes, proceeding to step 108, otherwise returning to step 102 to continue performing the picking operation until all the picking operations of the current order are completed;
  • determining whether the current order is completed means determining whether the goods included in the current order are all sorted.
  • the step may further comprise printing the goods list and/or the express order of the current order and putting the corresponding picks.
  • the picking storage partition of the storage unit may be printed.
  • the prompt about the completion of the order may also be displayed or issued, for example, the notification information of the completion of the current order may be displayed or issued by means of visual information or sound information.
  • Step 108 indicating that the picking operation of the current order has been completed, and returns to step 101 to continue the picking operation of the next order.
  • indicating that the picking operation of the current order has been completed is an indication of the indication to the control system.
  • the indication can be triggered by triggering the empty built-in terminal to input information, such as clicking the enter key, clicking the mouse confirm key, touch screen confirmation, etc., or by triggering the lighter on the picking storage device.
  • some of the orders may contain the same goods, so that one-time picking for the goods can be used to satisfy the partial order for the goods. Sum to avoid picking the goods over and over again, thereby improving the efficiency of the picking work.
  • the smart warehouse picking method is implemented based on goods, as shown in FIG. 8.
  • the method includes the following steps:
  • Step 201 selecting a cargo to be subjected to a picking operation
  • Step 202 indicate, by using visual information, a location of the current to-be-sold item in the cargo storage unit;
  • Step 203 Extract the goods from the location according to the indication of the visual information
  • Step 204 Identify goods information of the taken out goods
  • Step 205 judging whether the retrieved goods match the current goods to be picked according to the identified goods information, if yes, go to step 206, otherwise return to step 203 until the goods that match the current goods to be picked in the current order are taken out;
  • Step 206 indicating that the goods will be placed in the location in the picking storage unit, and placing the goods to the indicated position;
  • Step 207 Determine whether the picking of the current to-be-sold goods is completed. If yes, proceed to step 208. Otherwise, return to step 203 until all the goods to be picked are sorted.
  • Step 208 indicating that the picking operation of the goods is completed, and returning to step 201 to perform the picking operation of the next item to be sorted.
  • the steps can be specifically implemented as:
  • step 201 selecting the goods to be subjected to the picking operation
  • the step further includes a step 2011, preprocessing the order allocated to the current smart warehouse picking system or the current smart warehouse picking subsystem, and generating the to-be-sold goods included in the allocated order.
  • Goods information such as a list of goods, wherein the list of goods includes at least information such as the name of the goods, the identification information, and the quantity.
  • Table 1 below shows a list of goods including the name, quantity, ID information, pictures and corresponding order information for different goods.
  • the goods to be subjected to the picking operation may be selected according to a certain algorithm, for example, may be selected in order of the quantity of the goods, or in descending order of the number of orders involved.
  • the selection can also be made according to the sort order in the goods list, and can also be randomly selected.
  • the above is only an exemplary description of the manner in which the goods to be picked are selected. Those skilled in the art may adopt other options according to the needs of the actual application, which is not specifically limited in the present disclosure.
  • a step 2012 may be further included, and the goods storage unit storing the goods in the order is carried to the smart storage picking subsystem to which the order is allocated. Location.
  • the cargo storage unit can be carried by a purely manual method such as manual pushing and pulling, by means of a carrying device such as an AGV, or by a semi-manual manner such as driving a transport vehicle (for example, a forklift).
  • step 2011 is performed before step 2012.
  • Step 202 indicating, by visual information, the location of the current goods to be picked in the cargo storage unit;
  • the pick-up indication device can be utilized to implement the indication of the visual information.
  • the location refers to a specific storage partition of the current goods to be picked in the cargo storage unit.
  • an indication can be made using a group of lighting devices located on the cargo storage unit, such as an LED lamp.
  • the shelf 1 is divided into a plurality of virtual cargo storage partitions corresponding to a plurality of virtual cargo storage partitions, and row and column LED lights 2 are respectively disposed in the horizontal and vertical directions, and the corresponding row and column LED lights are respectively
  • the lighting, flickering, discoloring or other lighting mode of 2 can uniquely determine the storage area of the goods in which the goods to be picked are located, wherein the color of the LED 2 can be bright and striking, such as red.
  • the LED lamp 2 can also be implemented by using an electronic tag or other lighting component.
  • a second embodiment corresponding to the pickup indicating means may be indicated by a set of light emitting means located on the cargo storage unit or by a light emitting means disposed at a distance from the cargo storage unit.
  • a set of light emitting devices located on the cargo storage unit can adopt the same arrangement as the light emitting device of the first embodiment, and the intersection of the light emitted by the light emitting devices corresponding to the rows and columns can uniquely determine the goods to be picked.
  • the cargo storage partition can adopt the same arrangement as the light emitting device of the first embodiment, and the intersection of the light emitted by the light emitting devices corresponding to the rows and columns can uniquely determine the goods to be picked.
  • the light emitting device disposed at a distance from the cargo storage unit can automatically adjust the angle of the light emission to emit the light to the storage partition location corresponding to the cargo storage unit.
  • the light emitting device may be a visible light emitter, such as a laser emitter, or other light emitting device.
  • the projection image display area is indicated by the projection device at a certain distance from the cargo storage unit, and the projected image display area corresponds to the storage partition where the current goods to be picked is located, which can just cover the current goods to be picked.
  • the storage partition in which it is located may also be larger or smaller than the storage partition in which the current goods to be picked are located, as long as it is a storage partition that can uniquely indicate the current goods to be picked.
  • the cargo storage unit is a shelf 505, and the pickup indicating device is a projection device 504 at a certain distance from the shelf 505, and the adjusted projection area and the area of the projection region are just enough to cover the current waiting in the shelf 505.
  • the storage partition where the goods are picked, or slightly larger than the boundary of the storage partition where the goods to be picked are currently located, for example, the distance beyond the boundary is less than 3 cm.
  • the projection device indicates that the current position of the goods to be picked can pass through the storage area in which the current goods to be picked are located.
  • Displaying special visual information such as special patterns, special colors, designated characters, etc., wherein the specified characters may be picking information of the current goods to be picked, such as pictures, names, specifications, and classifications of the goods to be picked.
  • the number of items to be sorted, etc. may also identify the unique location of the current item to be picked.
  • the storage partition may be distinguished by a pattern that is just enough to cover the storage partition where the current goods to be picked is located or slightly larger than the shape of the storage partition, and the projected color may adopt a color that is vivid and distinguishable from other storage partitions.
  • the size of the projection indication pattern should be appropriate, and will not be projected to other storage partitions, resulting in an error indicating the storage partition, and incorrectly guiding the picking resources to other goods storage partitions to take the wrong goods.
  • the display screen is observed by the easy-to-pick resource at the time of picking, and the display screen indicates that the goods storage unit is facing the picking resource direction.
  • the upper storage partition is divided, and the storage partition where the current goods to be picked is located is displayed by a special pattern, a color, or a designated character.
  • the display screen may also display the picking information of the current item to be sorted, such as the picture, name, specification, classification, quantity to be sorted, etc. of the item to be sorted, and may also display the unique position identification mark of the current item to be sorted.
  • the combination instruction is performed by the 1-4th embodiment, for example, the combination instruction is performed by using the projection device and the display screen, which not only increases the type of the indication information but also reduces the number of indication information.
  • the error rate of picking is performed by the 1-4th embodiment, for example, the combination instruction is performed by using the projection device and the display screen, which not only increases the type of the indication information but also reduces the number of indication information. The error rate of picking.
  • step 203 the goods are taken out from the location according to the indication of the visual information
  • the step may be implemented as the picking resource, according to the indication of the visual information, extending the arm or assisting the grabbing device to enter the cargo storage area in the cargo storage unit to take out the currently to be sorted goods.
  • the manual picker receives the visual information through the visual organ, completes the process of taking out the goods with the arm, or the machine picker identifies the visual information through machine vision and converts it into an operation instruction executable by the robot. Use the robotic arm to complete the process of removing the goods.
  • the step 203 further includes the step of detecting whether there is an error in the picking action, and performing an error prompt when detecting an error, which may be specifically implemented when the picker arm is detected to extend into the cargo storage unit.
  • An error is indicated when picking the boundary of the storage partition where the goods are located.
  • the boundary range may be a sum of a boundary of the storage partition and an allowable error value, and the allowable error value may be a fixed value, for example, 5 cm, or may be a relative value, for example, may be taken as a side length of the cargo storage area. 30%, of course, can also be 0.
  • the detection may be performed by the motion recognition device described above, such as a raster detection device, a motion capture device, or other device that can recognize the range of motion, which is not specifically limited in the present disclosure.
  • the error prompting manner includes an audible and visual alarm, a visual information alarm, a multimedia information alarm, and the like, and the alarm is performed by, for example, a color change, a blinking change, a light and dark change, or a word “error” or “ERROR”.
  • the step of detecting whether there is an error in the picking action may further include the step of correcting the indication of the wrong action, for example, by presenting the correct storage location on the display screen, or by highlighting the correct picking location. The way, or a combination of the two is used.
  • Step 204 Identify the cargo information of the taken out cargo
  • this step is performed by the cargo identification device to perform the identification operation.
  • the scanner information is used to identify the cargo information, and the obtained cargo information is the cargo identification information, such as barcode or QR code information; or the image recognition device identifies the cargo information, and the identified cargo information is the cargo image information or the cargo. Part of the image information.
  • Step 205 judging whether the retrieved goods match the current goods to be picked according to the identified goods information, if yes, proceed to step 206, otherwise return to step 203 to re-sort until the goods matching the current goods to be picked are taken out;
  • the goods information included in the order information and the identified goods information may be compared to determine whether the goods match, wherein the order information includes an order number, a goods name, a quantity of goods, and a cargo information. And indication information indicating which goods are currently selected, the cargo information may be part of the cargo identification information, the cargo image information, or the cargo image information.
  • Step 206 indicating that the goods will be placed in the location in the picking storage unit and placing the goods in the indicated position.
  • the picking indicating device may indicate the position at which the selected correct goods are to be placed on the picking storage unit, the position specifically referring to which picking on the picking storage unit Cargo storage partition.
  • the picking indication device may be implemented in a manner similar to the picking instruction device, or may be implemented by using a picking storage unit electronic tag or a lighter.
  • the picking indicating device indicates the picking storage partition into which the goods will be placed, for example, by lighting or blinking, and the picking indicating device may also display the corresponding goods.
  • the remaining number to be picked for example, when the electronic label is used as the picking indicating device, the number of goods to be picked is 3, and the number of goods that have been placed in the picking storage unit is 2, the picking indicating device displays the remaining quantity to be picked. For one, then the picking resource is placed in the corresponding picking storage partition according to the instructions of the picking instruction device.
  • each time the goods are placed in the corresponding picking storage partition in the picking storage unit it is further determined whether the order corresponding to the picking storage partition is completed, and the determining method is similar to step 107, and if yes, step 108 is performed. Indicates that the picking operation for the current order has been completed, and if so continues to wait until the picking operation for the current order is completed.
  • step 207 it is determined whether the picking of the currently selected goods is completed. If yes, proceed to step 208, otherwise return to step 203 until all the current picking of the goods to be picked is completed;
  • determining whether the current picking of the goods to be picked is completed is to determine whether all the currently selected goods included in all the orders allocated to the smart warehouse picking subsystem are all selected.
  • a prompt for completing the order is displayed or issued, for example, the notification information that the current order has been completed may be displayed or issued by means of visual information or sound information.
  • Step 208 indicating that the current picking operation of the goods to be picked has been completed, returning to step 201, picking the next item to be picked.
  • the step indicates that the current picking operation of the goods to be picked has been completed, and the information is notified to the control system.
  • the selection of the currently selected goods may be completed by means of visual information or sound information.
  • the ultimate goal of the picking of the goods is to complete the picking of all the goods listed in each order. But sometimes, an order may include goods stored on multiple cargo storage units rather than on one cargo storage unit. It is therefore also possible to carry out the picking process of the goods for different cargo storage units.
  • the smart storage picking method is implemented based on a cargo storage unit, as shown in FIG. 9. In this embodiment, the method includes the following steps:
  • Step 301 selecting a cargo storage unit that is to perform a picking operation
  • Step 302 selecting a cargo to be subjected to the picking operation
  • Step 303 indicating, by using visual information, a location of the current to-be-sold item in the cargo storage unit
  • Step 304 Extract the goods from the location according to the indication of the visual information
  • Step 305 identifying the goods information of the taken out goods
  • Step 306 judging whether the retrieved goods match the current goods to be picked according to the identified goods information, if yes, proceed to step 306, otherwise return to step 304 until the goods that match the current goods to be picked in the current order are taken out;
  • Step 307 indicating that the goods will be placed in the location in the picking storage unit, and placing the goods to the indicated position;
  • Step 308 determining whether the picking of the current to-be-sold goods is completed, if yes, proceeding to step 309, otherwise returning to step 304 until all the goods to be sorted are selected;
  • Step 309 indicating that the picking operation of the goods has been completed
  • Step 310 Determine whether there is no item to be sorted on the current goods storage unit. If yes, proceed to step 311. Otherwise, return to step 302 until there is no item to be picked up belonging to the current smart storage picking subsystem on the current goods storage unit.
  • Step 311 instructing the current cargo storage unit to leave the location of the current smart storage picking subsystem, and then returning to step 301 to continue performing the picking operation of the next cargo storage unit.
  • the steps can be specifically implemented as:
  • Step 301 selecting a cargo storage unit to be subjected to a picking operation
  • the cargo storage unit to be subjected to the picking operation may be selected based on the order assigned to the current smart warehouse picking subsystem.
  • step 301 includes step 3011 beforehand, a group of goods storage units are selected in advance, and step 301 is selected to select a cargo storage unit from a preselected group of goods storage units;
  • step 3011 part or all of the pre-selected group of cargo storage units may remain in place, or some or all of the group of cargo storage units may be transported to a location near the location of the smart storage picking subsystem, so as to facilitate After the picking of the previous cargo storage unit is completed, it can be quickly replenished.
  • step 301 further includes the step of carrying the cargo storage unit to a location in the current smart warehouse picking subsystem.
  • step 302 selecting the goods to be subjected to the picking operation
  • the step further includes a step 3021 of pre-processing the order allocated to the current smart warehouse picking system or the current smart warehouse picking subsystem to generate the to-be-sold goods included in the allocated order.
  • Goods information such as a list of goods, wherein the list of goods includes at least information such as the name of the goods, the identification information, and the quantity.
  • Table 2 below shows a list of goods including the name, quantity, ID information, pictures and corresponding order information for different goods.
  • the goods to be subjected to the picking operation may be selected according to a certain algorithm, for example, may be selected in order of the quantity of the goods, or in descending order of the number of orders involved.
  • the selection can also be made according to the sort order in the goods list, and can also be randomly selected.
  • the above is only an exemplary description of the manner in which the goods to be picked are selected. Those skilled in the art may adopt other options according to the needs of the actual application, which is not specifically limited in the present disclosure.
  • a step 3022 may be further included, and the cargo storage unit storing the goods in the order is carried to the smart storage picking subsystem position to which the order is allocated. At the office.
  • the cargo storage unit can be carried by a purely manual method such as manual pushing and pulling, by means of a carrying device such as an AGV, or by a semi-manual manner such as driving a transport vehicle (for example, a forklift).
  • step 3021 is before step 3022.
  • Step 302 indicating, by visual information, the location of the current goods to be picked in the cargo storage unit;
  • the pick-up indication device can be utilized to implement the indication of the visual information.
  • the location refers to a specific storage partition of the current goods to be picked in the cargo storage unit.
  • an indication can be made using a group of lighting devices located on the cargo storage unit, such as an LED lamp.
  • the shelf 1 is divided into a plurality of virtual cargo storage partitions corresponding to a plurality of virtual cargo storage partitions, and row and column LED lights 2 respectively disposed in the horizontal and vertical directions, through corresponding row and column LEDs.
  • the illumination, flashing, discoloration or other illumination mode of the lamp 2 can uniquely determine the storage area of the goods in which the goods to be picked are located, wherein the color of the LED lamp 2 can be bright and striking, such as red.
  • the LED lamp 2 can also be implemented by using an electronic tag or other lighting component.
  • the second embodiment corresponding to the pick-up indicating device, can be indicated by a set of light emitting devices located on the cargo storage unit or by light emitting devices disposed at a distance from the cargo storage unit.
  • a group of light emitting devices located on the cargo storage unit can adopt the same arrangement as the light emitting device of the first embodiment, and the intersection of the light rays emitted by the light emitting devices corresponding to the rows and columns can be uniquely determined.
  • Cargo storage partition
  • the light emitting device disposed at a distance from the cargo storage unit can automatically adjust the angle of the light emission to emit the light to the storage partition location corresponding to the cargo storage unit.
  • the light emitting device may be a visible light emitter, such as a laser emitter, or other light emitting device.
  • the projection image display area is indicated by the projection device at a certain distance from the cargo storage unit, and the projected image display area corresponds to the storage partition where the current goods to be picked is located, which can just cover the current goods to be picked.
  • the storage partition in which it is located may also be larger or smaller than the storage partition in which the current goods to be picked are located, as long as it is a storage partition that can uniquely indicate the current goods to be picked.
  • the cargo storage unit is a shelf 505, and the pickup indicating device is a projection device 504 at a certain distance from the shelf 505, and the adjusted projection area and the area of the projection region are just enough to cover the current waiting in the shelf 505.
  • the storage partition where the goods are picked, or slightly larger than the boundary of the storage partition where the goods to be picked are currently located, for example, the distance beyond the boundary is less than 3 cm.
  • the projection device indicates that the current position of the goods to be picked can pass through the storage area in which the current goods to be picked are located.
  • Displaying special visual information such as special patterns, special colors, designated characters, etc., wherein the specified characters may be picking information of the current goods to be picked, such as pictures, names, specifications, and classifications of the goods to be picked.
  • the number of items to be sorted, etc. may also identify the unique location of the current item to be picked.
  • the storage partition may be distinguished by a pattern that is just enough to cover the storage partition where the current goods to be picked is located or slightly larger than the shape of the storage partition, and the projected color may adopt a color that is vivid and distinguishable from other storage partitions.
  • the size of the projection indication pattern should be appropriate, and will not be projected to other storage partitions, resulting in an error indicating the storage partition, and incorrectly guiding the picking resources to other goods storage partitions to take the wrong goods.
  • the display screen is observed by the easy-to-pick resource at the time of picking, and the display screen indicates that the goods storage unit is facing the picking resource direction.
  • the upper storage partition is divided, and the storage partition where the current goods to be picked is located is displayed by a special pattern, a color, or a designated character.
  • the display screen may also display the picking information of the current item to be sorted, such as the picture, name, specification, classification, quantity to be sorted, etc. of the item to be sorted, and may also display the unique position identification mark of the current item to be sorted.
  • the combination instruction is performed by the 1-4th embodiment, for example, the combination instruction is performed by using the projection device and the display screen, and the type of the indication information is increased, and the type is also reduced.
  • the error rate of picking is performed by the 1-4th embodiment, for example, the combination instruction is performed by using the projection device and the display screen, and the type of the indication information is increased, and the type is also reduced.
  • Step 304 extracting the goods from the location according to the indication of the visual information
  • the step may be implemented as the picking resource, according to the indication of the visual information, extending the arm or assisting the grabbing device to enter the cargo storage area in the cargo storage unit to take out the currently to be sorted goods.
  • the manual picker receives the visual information through the visual organ, completes the process of taking out the goods with the arm, or the machine picker identifies the visual information through machine vision and converts it into an operation instruction executable by the robot, utilizing The robotic arm completes the process of removing the goods.
  • the step 304 further includes the step of detecting whether there is an error in the picking action, and performing an error prompt when detecting the error, which may be specifically implemented when the picker arm is detected to extend into the cargo storage unit.
  • An error is indicated when picking the boundary of the storage partition where the goods are located.
  • the boundary range may be a sum of a boundary of the storage partition and an allowable error value, and the allowable error value may be a fixed value, for example, 5 cm, or may be a relative value, for example, may be taken as a side length of the cargo storage area. 30% of course, can also be 0.
  • the detection may be performed by the motion recognition device described above, such as a raster detection device, a motion capture device, or other device that can recognize the range of motion, which is not specifically limited in the present disclosure.
  • the error prompting manner includes an audible and visual alarm, a visual information alarm, a multimedia information alarm, and the like, and the alarm is performed by, for example, a color change, a blinking change, a light and dark change, or a word “error” or “ERROR”.
  • the step of detecting whether there is an error in the picking action may further include the step of correcting the indication of the wrong action, for example, by presenting the correct storage location on the display screen, or by highlighting the correct picking location. The way, or a combination of the two is used.
  • Step 305 identifying the goods information of the taken out goods
  • this step is performed by the cargo identification device to perform the identification operation.
  • the scanner information is used to identify the cargo information, and the obtained cargo information is the cargo identification information, such as barcode or QR code information; or the image recognition device identifies the cargo information, and the identified cargo information is the cargo image information or the cargo. Part of the image information.
  • Step 306 judging whether the retrieved goods match the current goods to be picked according to the identified cargo information, if yes, proceed to step 307, otherwise return to step 304 to re-sort until the goods matching the current goods to be picked are taken out;
  • the goods information included in the order information and the identified goods information may be compared to determine whether the goods match, wherein the order information includes an order number, a goods name, a quantity of goods, and a cargo information. And indication information indicating which goods are currently selected, the cargo information may be part of the cargo identification information, the cargo image information, or the cargo image information.
  • Step 307 indicating that the goods will be placed in the location in the picking storage unit and placing the goods in the indicated position.
  • the picking indicating device may indicate the position at which the selected correct goods are to be placed on the picking storage unit, the position specifically referring to which picking on the picking storage unit Cargo storage partition.
  • the picking indication device may be implemented in a manner similar to the picking instruction device, or may be implemented by using a picking storage unit electronic tag or a lighter.
  • the picking indicating device indicates the picking storage partition into which the goods will be placed, for example, by lighting or blinking, and the picking indicating device may also display the corresponding goods.
  • the remaining number to be picked for example, when the electronic label is used as the picking indicating device, the number of goods to be picked is 3, and the number of goods that have been placed in the picking storage unit is 2, the picking indicating device displays the remaining quantity to be picked. It is one; then the picking resource puts the goods into the corresponding picking storage partition according to the instructions of the picking instruction device.
  • each time the goods are placed in the corresponding picking storage partition in the picking storage unit it is further determined whether the order corresponding to the picking storage partition is completed, and the determining method is similar to step 107, and if yes, step 108 is performed. Indicates that the picking operation for the current order has been completed, and if so continues to wait until the picking operation for the current order is completed.
  • step 308 it is determined whether the picking of the currently selected goods is completed. If yes, proceed to step 309, otherwise return to step 304 until all the current picking of the goods to be picked is completed;
  • determining whether the current picking of the goods to be picked is completed is to determine whether all the currently selected goods included in all the orders allocated to the smart warehouse picking subsystem are all selected.
  • a prompt for completing the order is displayed or issued, for example, the notification information that the current order has been completed may be displayed or issued by means of visual information or sound information.
  • Step 309 indicating that the picking operation of the currently selected goods has been completed
  • the step indicates that the current picking operation of the goods to be picked has been completed, and the information is notified to the control system.
  • the selection of the currently selected goods may be completed by means of visual information or sound information.
  • step 310 it is determined whether there is no item to be picked up on the current cargo storage unit. If yes, the process proceeds to step 311. Otherwise, the process returns to step 302 to continue selecting the next item to be picked.
  • the current cargo storage unit which refers to the unselected goods included in the order on the current cargo storage unit that is not allocated to the current intelligent warehouse picking subsystem.
  • the notification information that the picking of the current goods storage unit has been completed is issued, and the picking resource may be prompted by the visual information or the sound information that the picking for the current goods storage unit has been completed.
  • Step 311 indicating that the current cargo storage unit leaves the current smart storage picking subsystem location, and returns to step 301 to select the next cargo storage unit to perform the picking operation and carry the cargo storage unit to the smart storage picking subsystem. Where it is.
  • the above process is a cargo picking process for a cargo storage unit.
  • the picking for two or more cargo storage units can be performed sequentially, or the goods picking for two or more adjacent cargo storage units can be performed in parallel at the same time.
  • the process, but for each of the two or more cargo storage units, is also performed in accordance with the picking process above.

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Abstract

公开了一种智能仓储拣货方法及***。该***包括：控制***、拣货资源、货物存储单元、取货指示装置、拣货存储单元、拣货指示装置，控制***用于发出控制指令，控制拣货进程；拣货资源用于根据控制指令拣选货物，并将拣取的货物存储在拣货存储单元；取货指示装置用于根据控制指令通过视觉信息指示当前待拣货物在货物存储单元中的位置；拣货指示装置用于根据控制指令指示拣货资源将拣取的货物存放至拣货存储单元中的位置。该***和方法能够实现拣货过程的自动化，提高拣货效率。

Description

智能仓储拣货方法及*** 技术领域
本公开涉及一种智能仓储领域的拣货方法及***，尤其应用于配置具有智能运输机器人的仓储***中。
背景技术
互联网和电子商务的快速发展，给物流行业的发展带来了生机，然而爆发式增长的电商业务也给传统物流仓储带来了新的挑战，不断迫使传统物流仓储行业从劳动密集型转向技术密集型，催生了智能物流仓储的发展。在传统物流仓储行业中，主要应用于传送带及相关设备为主的机器人，近年来，越来越多的物流仓储服务中，引入了自动导引车AGV(Automated Guided Vehicle)来减少人力成本；新一代的物流仓储机器人将与物流管理***对接，结合人工智能、机器视觉、机械臂等技术形成高度智能化、自动化的物流***，降低人工成本，提高物流效率和物流质量。
然而仅仅依靠AGV在物流仓储***中的应用所带来的成本降低和效率提高，还不能满足物流仓储日益增长的需求，更加***化、全局化、智能化和自动化的物流仓储***成为目前的各大企业的研发热点。
AGV的引入实现了货物所在货架的定位和货架的搬运，而将目标货物在拣货站从货架上取出完成订单的过程依然要靠人力完成，如何进一步实现拣货过程的自动化，提高拣货效率是本公开所要解决的问题。
发明内容
本公开的目的在于提出一种新的智能仓储拣货方法及***。
具体而言，根据本公开的一方面，提供一种智能仓储拣货***，所述***包括：控制***、拣货资源、货物存储单元、取货指示装置、拣货存储单元、拣货指示装置，其中：
所述控制***与所述拣货资源、货物存储单元、取货指示装置、拣货存储单元、拣货指示装置之间能够通信，用于发出控制指令，控制拣货进程；
所述拣货资源用于根据所述控制***的控制指令进行货物的拣选，并将拣取的货物存储在拣货存储单元；
所述货物存储单元用于在仓储区域中存放货物；
所述取货指示装置用于根据所述控制***的控制指令通过视觉信息指示当前待拣货物在所述货物存储单元中的位置；
所述拣货存储单元用于按照对应于订单的方式来存储所述拣货资源从所述货物存储单元中取出的货物；
所述拣货指示装置用于根据所述控制***的控制指令指示所述拣货资源将拣取的货物存放至拣货存储单元中的位置。
根据本公开的一方面，提供一种智能仓储拣货***，所述***包括：控制***、货物存储单元和一个或一个以上的智能仓储拣货子***，其中：
所述智能仓储拣货子***用于根据控制***的控制并行执行智能仓储拣货操作；
所述智能仓储拣货子***包括控制终端、拣货资源、取货指示装置、拣货存储单元和拣货指示装置，其中：
所述控制终端与所述控制***、货物存储单元、拣货存储单元、拣货资源、取货指示装置和拣货指示装置之间能够通信，用于根据控制***的指示发出控制指令，控制拣货进程；
所述拣货资源用于根据所述控制终端的控制指令进行货物的拣选，并将拣取的货物存储在拣货存储单元；
所述货物存储单元用于在仓储区域中存放货物；
所述取货指示装置用于根据所述控制终端的控制指令通过视觉信息指示当前待拣货物在所述货物存储单元中的位置；
所述拣货存储单元用于按照对应于订单的方式存储拣货资源从货物存储单元中取出的货物；
所述拣货指示装置用于根据所述控制终端的控制指令指示拣货资源将拣取的货物存放至拣货存储单元中的位置。
可选地，还包括运载设备，所述运载装置用于根据所述控制***的控制指令对于所述货物存储单元进行运载。
根据本公开的一方面，提供一种智能仓储拣货***，所述***包括：控制***、货物存储单元、拣货存储单元和一个或一个以上的智能仓储拣货子***，其中：
所述智能仓储拣货子***用于根据控制***的控制并行执行智能仓储拣货操作；
所述智能仓储拣货子***包括控制终端、拣货资源、取货指示装置和拣货指示装置，其中：
所述控制终端与所述控制***、货物存储单元、拣货存储单元、拣货资源、取货指示装置 和拣货指示装置之间能够通信，用于根据控制***的指示发出控制指令，控制拣货进程；
所述拣货资源用于根据所述控制终端的控制指令进行货物的拣选，并将拣取的货物存储在拣货存储单元；
所述货物存储单元用于在仓储区域中存放货物；
所述取货指示装置用于根据所述控制终端的控制指令通过视觉信息指示当前待拣货物在所述货物存储单元中的位置；
所述拣货存储单元用于按照对应于订单的方式存储拣货资源从货物存储单元中取出的货物；
所述拣货指示装置用于根据所述控制终端的控制指令指示拣货资源将拣取的货物存放至拣货存储单元中的位置。
根据本公开的一方面，提供一种智能仓储拣货方法，所述方法包括：
通过视觉信息指示当前订单中当前待拣货物在货物存储单元中的位置，根据所述视觉信息的指示从所述位置处取出货物；
判断货物是否匹配；如果匹配，则指示货物将被放入拣货存储单元中的位置，并将货物放至指示位置。
本公开通过控制***、拣货资源、货物存储单元、取货指示装置、拣货存储单元、拣货指示装置等装置、组件的相互配合，能够进一步实现拣货过程的自动化，提高拣货效率。
附图说明
通过参照附图详细描述各示例性实施例，以上及其他特征和优点对于本领域普通技术人员而言将变得更为明显，在附图中：
图1是根据本公开一实施例的智能仓储拣货***的结构框图；
图2是根据本公开一实施例的发光装置的安装示意图；
图3是根据本公开一实施例的投影装置的安装示意图；
图3是根据本公开一实施例的智能仓储拣货子***的结构框图
图4是根据本公开一实施例的投影装置的投影图像显示区域在货物存储单元上的呈现方式示意图；
图5A是根据本公开一实施例的拣货存储分区的配置方案示意图；
图5B是根据本公开另一实施例的拣货存储分区的配置方案示意图；
图5C是根据本公开再一实施例的拣货存储分区的配置方案示意图；
图6是根据本公开另一实施例的智能仓储拣货***的结构框图；
图7是根据本公开一实施例的智能仓储拣货方法的流程图；
图8是根据本公开另一实施例的智能仓储拣货方法的流程图；
图9是根据本公开再一实施例的智能仓储拣货方法的流程图。
具体实施方式
为了使本公开的技术方案和优点更加清楚，下面结合附图和具体实施例对本公开进行详细描述。
本公开涉及一种仓储领域的拣货方法及***，尤其应用于配置具有智能仓储机器人的仓储***中，此处智能仓储机器人是泛指可应用于仓储、物流、运输中搬运货物、货架、货柜等物体的移动搬运单元，也常被称为物流机器人、AGV、智能搬运车等，然而，本公开所提出的智能仓储货物拣选方法及***的应用，并不限于配置有智能仓储机器人的仓储***中，只要具有与本公开相同或相似的配置的拣货站均可应用所述方法和***；所述仓储***既包括大型的物流仓库，例如海关、物流集散区，也包括中小型的物流中转仓库，还包括零售仓储区域等等，上述仓储***仅为示例性说明，本公开并不限于此，所有需要进行仓储货物拣选的***均落入本公开的保护范围内。
根据本公开的一方面，提出一种智能仓储拣货***，所述智能仓储拣货***涉及以下组成部分，并根据仓储***应用的具体场景规模的不同、自动化需求的不同而可能包括以下组成部分中的数个或全部。图1是根据本公开一实施例的智能仓储拣货***的结构框图，如图1所示。在本公开一实施例中，所述智能仓储拣货***包括：控制***、拣货资源、货物存储单元、取货指示装置、动作识别装置、拣货存储单元、拣货指示装置、货物识别装置、运载设备和警示设备，当然，为了保证所述智能仓储拣货***的有效工作，还应当配备有仓储区域以及存在于仓储区域中、为实现拣货而划分出的拣货区域，其中：
所述控制***与所述拣货资源、货物存储单元、取货指示装置、动作识别装置、拣货存储单元、拣货指示装置、货物识别装置、运载设备和警示设备之间能够通信，用于发出控制指令，控制拣货进程；
所述拣货资源用于根据所述控制***的控制指令进行货物的拣选，并将拣取的货物存储在拣货存储单元；
所述货物存储单元用于在仓储区域中存放货物；
所述取货指示装置用于根据所述控制***的控制指令通过视觉信息指示当前待拣货物在 所述货物存储单元中的位置；
所述动作识别装置用于检测拣货资源在所述货物存储单元中拣选货物的动作是否正确，并将检测结果发送给所述控制***；
所述拣货存储单元用于按照对应于订单的方式来存储所述拣货资源从所述货物存储单元中取出的货物；
所述拣货指示装置用于根据所述控制***的控制指令指示所述拣货资源将拣取的货物存放至拣货存储单元中的位置；
所述货物识别装置用于识别拣货资源从货物存储单元中取出的货物的货物信息；
所述运载装置用于根据所述控制***的控制指令对于所述货物存储单元进行运载；
所述警示设备用于根据所述控制***的控制指令发出警示信息。
下面对于所述智能仓储拣货***的各个组成部分进行详细介绍。
控制***
所述控制***包括中央处理单元(CPU)、只读存储器(ROM)、随机访问存储器(RAM)、总线、输入/输出(I/O)接口、输入设备、输出设备、存储设备、通信设备，还可包括驱动器、可拆卸介质等组件。在实际应用中，所述控制***可以实现为总分式计算机控制***，也可以实现为分布式计算机控制***，所述总分式计算机控制***包括总控制服务器和多个接收总控制服务器控制的控制终端；所述分布式计算机控制***包括多个独立的控制终端，所述多个独立的控制终端可通过冲突算法来实现彼此间的协同工作。
所述控制***还可接收所述拣货资源、货物存储单元、取货指示装置、动作识别装置、拣货存储单元、拣货指示装置、货物识别装置、运载设备发送来的信息，根据接收信息对于各设备、装置、单元的工作状态进行判断，并在判断各设备、装置、单元出现状态异常时，向警示设备发送控制指令，指示其报警。
拣货资源
所述拣货资源可以是人、机器或者人与机器的组合，例如佩戴有辅助机器设备的人，可选地，可以为装有机械外骨骼的人。从另外一个角度上说，所述拣货资源可包括多个拣货组件，比如用于执行拣货的组件、用于提供支撑的组件、用于控制各组件动作的组件等等，多个拣货组件协调工作以实现货物的拣取。
所述拣货资源还可装设有状态检测设备，所述状态检测设备用于实时监测拣货资源自身的工作状态，并将状态信息实时或者每隔预设时间间隔反馈给控制***，以在拣货资源发生故障时能够第一时间对于拣货资源进行救助，对于拣货工作进行调度。其中，所述状态信息包括： 各拣货组件工作状态信息、拣货资源位置信息等等。
货物存储单元
在本公开一实施例中，所述货物存储单元可以是货架、货柜、货篮、货筐以及冷柜、暖柜等存储单元。
所述货物存储单元形成的货物存储区域可以被划分为多个货物存储分区，所述货物存储分区既可以是被实际分隔开而形成，例如用隔板、抽屉、分装盒等分隔组件分隔开，也可以是虚拟分隔的存储分区，例如不同货物彼此间隔摆放而形成。所述货物存储分区既可以设置为具有规则形状，例如网格状，也可以设置为具有不规则形状，以容纳不规则货物或者为以后将要存放的货物预留空间。所述货物存储分区既可以呈均匀分布，也可以呈非均匀分布，例如可以根据实际应用的需要设置为某些存储分区密集而其他存储分区相对疏松。所述货物存储分区的划分既可以是固定不变的，也可以是支持动态调整的，所述货物存储分区的划分方式存储在所述控制***中，并且根据划分方式的改变而实时更新。另外，所述货物存储分区还可配置有唯一位置识别标识，比如可以根据其所在区域、行、列、顺序号码等具***置信息设置货物存储分区的唯一位置识别标识，也可以根据所述货物存储分区的空间位置坐标为其设置唯一位置识别标识。上述仅为对于货物存储分区的示例性说明，本领域技术人员可根据实际应用的需要对于货物存储分区进行合理分配和调整，本公开对其不作具体限定。
所述货物存储单元的位置既可以是固定的，也可以是可移动的，在所述货物存储单元为可移动时，其移动方式可以为主动移动也可以为被动移动，其中，主动移动可实现为自动自主移动，被动移动可实现为被推拉移动，或者由运载装置进行运载移动。
在本公开另一实施例中，所述货物存储单元还可装设有状态检测设备，所述状态检测设备用于检测所述货物存储单元的状态信息，并实时、每隔固定时间间隔或者在检测到所述货物存储单元出现故障时向控制***发送状态检测信息。
取货指示装置
在本公开一实施例中，所述取货指示装置可以利用视觉信息，来指示当前待拣货物在所述货物存储单元中的位置信息，即当前待拣货物所在的货物存储分区，使得拣货资源能够根据取货指示装置的位置指示正确取出当前待拣货物。
在该实施例中，所述取货指示装置为视觉信息输出装置，且其实现方式有很多种，比如可以实现为发光装置、光线发射装置、投影装置、显示装置、电子标签、拍灯器等等，当然也可以实现为其他视觉信息输出装置，本公开对其不作具体限定。下面仅以发光装置、光线发射装置、投影装置和显示装置为例对于所述取货指示装置进行说明，对于其他视觉信息输出装置的 实现方式可以同理类推。
实施方式一，所述取货指示装置为发光装置
在该实施方式中，所述取货指示装置是位于所述货物存储单元上的一组发光装置，例如LED灯，比如如图2所示，所述货物存储单元为货架1，所述取货指示装置为安装在货架1上的一组LED灯2，货架1被划分为多个虚拟的货物存储分区，LED灯2进一步包括横向和纵向设置的行、列LED灯，行LED灯和列LED灯组合应用就可以唯一地确定某一货物所在的存储分区。另外，所述发光装置的指示方式可以采用亮起、闪烁、变色或其他指示方式，其发光颜色可选为采用鲜艳醒目的颜色，例如红色。
当然，所述发光装置也可以采用电子标签或其他发光组件来实现，本公开对其不作具体限定，其中，所述电子标签可以以醒目的方式显示相应货物存储分区的唯一位置识别标识或其他能够唯一标识待拣货物的标识信息。
实施方式二，所述取货指示装置为光线发射装置
在该实施方式中，所述取货指示装置是位于货物存储单元附近的一组可发射光线的光线发射装置，其可采用与所述发光装置相同的设置方式，利用行和列对应的光线发射装置所射出光线的交叉点来唯一确定某一货物所在的存储分区，当然也可以直接将光线射至当前待拣货物所在的存储分区处。
所述光线发射装置与所述货物存储单元相距一定的距离，其能够自动调整光线发射的角度而将光线发射至所述货物存储单元对应的位置上，比如货物存储分区行指示位置、货物存储分区列指示位置或者当前待拣货物所在的存储分区。
所述光线发射装置可以是可见光发射器，例如激光发射器，或者其他光线发射装置。
实施方式三，所述取货指示装置为投影装置
所述投影装置通过向货物存储单元和/或拣货存储单元投射图像，在待取出货物的货物存储分区和/或待存放货物的拣货存储分区中显示特殊的视觉图像信息来进行指示。
在该实施方式中，所述取货指示装置是与所述货物存储单元相距一定距离的投影装置，其投影图像显示区域与当前待拣货物所在存储分区相对应，可以刚好覆盖当前待拣货物所在的存储分区，也可以大于或者小于当前待拣货物所在的存储分区，只要是能够唯一地指示当前待拣货物所在的存储分区即可。
比如如图3所示，所述货物存储单元为货架505，取货指示装置是距离货架505一定距离的投影装置504，其调整为投影位置和投影区域的面积大小刚好能够覆盖货架505中当前待拣货物所在的存储分区，或者稍稍大于当前待拣货物所在存储分区的边界，例如超出边界的距离 小于3cm。
图4示出了投影装置的投影图像显示区域在货物存储单元上的呈现方式，如图4所示，所述投影装置指示当前待拣货物所在的位置可通过在当前待拣货物所在存储分区中显示特殊的视觉信息，例如特殊图案、特殊颜色、指定字符等信息来实现的，其中，所述指定字符可以为当前待拣货物的拣货信息，例如待拣货物的图片、名称、规格、分类、待拣数量等，也可以为当前待拣货物的唯一位置识别标识。可选地，可以采用刚好能够覆盖当前待拣货物所在存储分区的形状或略大于存储分区形状的图案来区分指示所述存储分区，投影颜色可采取鲜艳醒目且区别于其他货物存储分区的颜色，另外投影指示图案的大小应适宜，不会投影至其他存储分区，导致存储分区指示错误，错误引导拣货资源到其他货物存储分区取错货物。
实施方式四，所述取货指示装置为显示屏幕
在该实施方式中，所述取货指示装置是一个易被拣货资源在拣货时观察到的显示屏幕，该显示屏幕中显示出所述货物存储单元在面对拣货资源方向上的存储分区划分情况，并通过特殊图案、颜色或指定字符等方式来显示当前待拣货物所在的存储分区。所述显示屏幕还可显示出当前待拣货物的拣货信息，例如待拣货物的图片、名称、规格、分类、待拣数量等等，也可以显示出当前待拣货物的唯一位置识别标识。
实施方式五，所述取货指示装置为上述实施所述的组合
以上通过取货指示装置来指示货物存放位置的实施方式可以单独使用，也可以相互组合使用以减少拣货错误率。
在本公开另一实施例中，所述取货指示装置还可装设有状态检测设备，所述状态检测设备用于检测所述取货指示装置的状态信息，并实时、每隔固定时间间隔或者在检测到所述取货指示装置出现故障时向控制***发送状态检测信息。
动作识别装置
在本公开一实施例中，所述动作识别装置用于检测拣货资源在所述货物存储单元中拣选货物和/或在所述拣货存储单元中存放货物的动作是否正确，并将检测结果发送给所述控制***。
在本公开另一实施例中，所述动作识别装置在检测拣货资源拣选货物的动作时，可检测拣货资源拣选货物时一个或多个拣货组件是否超出了待拣货物所在的货物存储单元的货物存储分区的边界范围，所述边界范围可以是存储分区的边界与可允许误差值的和，和/或，所述动作识别装置用于检测拣货资源存放货物时，所述拣货资源的一个或多个拣货组件是否超出了待拣货物将被存放的拣货存储单元的拣货存储分区的边界范围，并将检测结果发送给所述控制***。比如，当所述动作识别装置检测到拣货资源的拣货组件超出了待拣货物所在存储分区的边 界范围时，向控制***反馈检测信息，使所述控制***通过所述警示设备提示操作错误。其中，所述可允许误差值可以是一个固定值，例如5cm，也可以是一个相对值，例如可以取为货物存储区域边长的30％，当然，也可以为0。
所述动作识别装置可以是光栅检测装置、动作捕捉设备、或者其他可以识别动作范围的装置，本公开对其不作具体限定。
拣货存储单元
在本公开一实施例中，所述拣货存储单元可以是货架、货柜、货篮、货筐以及冷柜、暖柜等存储单元。
所述拣货存储单元形成的存储区域可以被划分为多个拣货存储分区，所述拣货存储分区既可以是被实际物理分隔开而形成，例如用隔板、抽屉、分装盒等分隔组件分隔开，也可以是虚拟分隔的存储分区，例如不同货物彼此间隔摆放而形成。所述拣货存储分区既可以设置为具有规则形状，例如网格状，也可以设置为具有不规则形状，以容纳不规则货物或者为以后将要存放的货物预留空间。所述拣货存储分区既可以呈均匀分布，也可以呈非均匀分布，例如可以根据实际应用的需要设置为某些存储分区密集而其他存储分区相对疏松。所述拣货存储分区的划分方式既可以是固定不变的，也可以是支持动态调整的，如上文描述的货物存储单元一样，所述拣货存储分区的划分方式存储在所述控制***中，并且根据划分方式的改变而实时更新。另外，所述拣货存储分区还可配置有唯一位置识别标识，比如可以根据其所在区域、行、列、顺序号码等具***置信息设置拣货存储分区的唯一位置识别标识，也可以根据所述拣货存储分区的空间位置坐标为其设置唯一位置识别标识。上述仅为对于拣货存储分区的示例性说明，本领域技术人员可根据实际应用的需要对于拣货存储分区进行合理分配和调整，本公开对其不作具体限定。
图5A是根据本公开一实施例的拣货存储分区的配置方案示意图，如图5A所示，拣货存储单元形成的存储区域401可被均匀地划分为多个开放式的拣货存储分区403，每个拣货存储分区403对应的位置处还设置有其唯一位置识别标识402。
图5B是根据本公开另一实施例的拣货存储分区的配置方案示意图，如图5B所示，多个拣货存储分区404设置为可密封区域，比如可装设有可拆卸式柜门。
图5C是根据本公开再一实施例的拣货存储分区的配置方案示意图，如图5C所示，多个拣货存储分区405基于虚拟分隔而形成。
所述拣货存储单元的位置既可以是固定的，也可以是可移动的，在所述拣货存储单元为可移动时，其移动方式可以为主动移动也可以为被动移动，其中，主动移动可实现为自动自主移 动，被动移动可实现为被推拉移动，或者由运载装置进行运载移动。
在本公开另一实施例中，所述拣货存储单元还可装设有状态检测设备，所述状态检测设备用于检测所述拣货存储单元的状态信息，并实时、每隔固定时间间隔或者在检测到所述拣货存储单元出现故障时向控制***发送状态检测信息。
拣货指示装置
在本公开一实施例中，所述拣货指示装置在拣货资源将待拣选货物从货物存储单元中取出之后，指示其将拣取的货物存放至拣货存储单元中的具***置，所述具***置可以是拣取货物将被放置到拣货存储单元中的具体拣货存储分区。
所述拣货指示装置可以与上文描述的取货指示装置相似的方式来实现，除此之外，所述拣货指示装置还可以采用电子标签或拍灯器来实现。
当所述拣货指示装置实现为电子标签时，所述电子标签可以设置在与拣货存储单元中的拣货存储分区一一对应的位置，如图5A、5B、5C中附图标记402所示的位置，所述电子标签可以以醒目的方式显示相应拣货存储分区的唯一位置识别标识或其他能够唯一标识拣货存储分区的标识信息。在该实施方式中，拣货资源将待拣选货物从货物存储单元中取出以后，某一拣货存储分区对应的电子标签闪烁或者变亮，指示货物应放入对应位置的拣货存储分区，若拣货存储分区是采用货筐的方式分隔开的话，则指示将货物放入对应的货筐中。
另外，除了显示所述能够唯一标识拣货存储分区的标识信息，所述电子标签还可以显示当前拣货存储分区对应的订单中该待拣选货物剩余需要拣选的数量等拣选信息。
在本公开另一实施例中，所述拣货指示装置还可装设有状态检测设备，所述状态检测设备用于检测所述拣货指示装置的状态信息，并实时、每隔固定时间间隔或者在检测到所述拣货指示装置出现故障时向控制***发送状态检测信息。
货物识别装置
在本公开一实施例中，所述货物识别装置可以是扫码装置，则识别的货物信息为货物标识信息，例如条形码或者二维码，所述货物识别装置也可以是图像识别装置，则识别的货物信息为货物图像信息或货物图像信息的一部分。
在本公开另一实施例中，所述货物识别装置还可装设有状态检测设备，所述状态检测设备用于检测所述货物识别装置的状态信息，并实时、每隔固定时间间隔或者在检测到所述货物识别装置出现故障时向控制***发送状态检测信息。
运载装置
在自动化仓储中，所述运载装置通常可以采用AGV(自动导引运输车)、叉车、悬挂式 机器人等运载装置，上述仅为运载装置的示例性说明，本公开对其不作具体限定，所有能够根据控制***的控制指令对于货物存储单元进行运载的装置均落入本公开的保护范围内。在本公开另一实施例中，所述运载装置还可装设有状态检测设备，所述状态检测设备用于检测所述运载装置的状态信息，并实时、每隔固定时间间隔或者在检测到所述运载装置出现故障时向控制***发送状态检测信息。
警示设备
在本公开一实施例中，所述警示设备可以为声光警示设备，比如蜂鸣器、警示灯等设备，可以为视觉信息警示设备，比如提示字样显示等，还可以为多媒体警示设备，比如音频报警器、图像报警器、动画报警器、视频报警器等，当然也可以是上述警示设备的组合。
所述警示设备接收控制***发送的控制指令实施报警操作，比如，当拣货资源出现故障时，警示设备根据控制***的控制指令进行报警并通报拣货资源的当前位置，使救助源能够第一时间对于拣货资源进行救助；比如，当动作识别装置检测到拣货资源的拣货组件超出了待拣货物所在存储分区的边界范围时，警示设备可根据控制***的控制指令进行报警，以第一时间暂停错误操作；再比如，当货物存储单元、取货指示装置、拣货存储单元、拣货指示装置、货物识别装置和运载设备检测自身状态出现故障时，警示设备可根据控制***的控制指令进行报警，以第一时间对于货物存储单元、取货指示装置、拣货存储单元、拣货指示装置、货物识别装置和运载设备进行修复。
工作台
在本公开一实施例中，所述智能仓储拣货***还可包括工作台，所述工作台用于安放控制***中的各个组件，比如控制终端、鼠标、键盘、打印机等等，或其他需要安放的物品。
在本公开另一实施例中，所述智能仓储拣货***包括控制***、货物存储单元、拣货存储单元、运载设备和一个或一个以上的智能仓储拣货子***，其中：
所述智能仓储拣货子***用于根据控制***的控制并行执行智能仓储拣货操作；
所述智能仓储拣货子***包括控制终端、拣货资源、取货指示装置、拣货指示装置、货物识别装置和警示设备，其中：
所述控制终端与所述控制***、货物存储单元、拣货存储单元、拣货资源、取货指示装置和拣货指示装置之间能够通信，用于根据控制***的指示发出控制指令，控制拣货进程。
当然，所述智能仓储拣货子***还可以进一步包括动作识别装置、工作台等组成。
其中，所述智能仓储拣货子***中的各个组成部分的功能和操作与智能仓储拣货***中相应组成部分的功能和操作类似，本公开在此不再赘述，只是，所述智能仓储拣货子***需要通 过控制终端与智能仓储拣货***的控制***进行通信。
另外，一个或一个以上的智能仓储拣货子***可以共用货物存储单元、拣货存储单元和运载设备，也可单独配置。
在一个可选的实施例中，智能仓储拣货子***也还可以包括拣货存储单元，例如拣货存储单元与拣货指示装置集成在一起。
所述智能仓储拣货子***不是一个单独的装置，也不是一个只能执行部分操作的***组成部分，智能仓储拣货子***的定义在于对所述智能仓储拣货***进行划分得到的一个能够完成一个完整的拣货操作的最小功能单元。
图3是根据本公开一实施例的智能仓储拣货子***的结构框图，在该实施例中，所述智能仓储拣货子***包括拣货资源501、拣货存储单元502、控制终端503、作为取货指示装置的投影装置504和位于货物存储单元停留位置上方的显示器505、作为拣货指示装置的位于拣货存储单元上的电子标签(未示出)、作为货物识别装置的扫码装置(未示出)、动作识别装置506和工作台507。
图6是根据本公开另一实施例的智能仓储拣货***的结构框图，如图6所示，所述智能仓储拣货***包括总控制服务器801、控制终端803、显示装置804、取货指示装置805、动作识别装置806、拣货指示装置807、货物识别装置808和打印设备809，其中：
所述总控制服务器801包括订单处理单元，用于接收并按照一定算法分配订单；
控制终端803、显示装置804、取货指示装置805、动作识别装置806、拣货指示装置807、货物识别装置808以及打印设备809构成拣货工作站802；
总控制服务器801和控制终端803之间通过无线和/或有线的连接进行通信；
总控制服务器将分配的订单以及相关信息发送给控制终端803；
控制终端803与显示装置804、取货指示装置805、动作识别装置806、拣货指示装置807、货物识别装置808以及打印装置809之间采用有线或无线的通信连接方式。
根据本公开的另一方面，还提出一种智能仓储拣货方法，所述方法包括：
通过视觉信息指示当前订单中当前待拣货物在货物存储单元中的位置，根据所述视觉信息的指示从所述位置处取出货物；
判断货物是否匹配；如果匹配，则指示货物将被放入拣货存储单元中的位置，并将货物放至指示位置。
在本公开一实施例中，所述视觉信息包括：发光信息、光线发射信息、投影信息、显示信息中的一种或多种的组合。
其中，所述视觉信息为投影信息，具体为通过向货物存储单元和/或拣货存储单元投射图像，在待取出货物的货物存储分区和/或待存放货物的拣货存储分区中显示特殊的视觉图像信息来进行指示。
其中，所述特殊的视觉图像信息，包括特殊图案、特殊颜色、指定字符中的一个或多个，其中，所述指定字符为当前待拣货物的图片、名称、规格、分类、待拣数量、当前待拣货物的唯一位置识别标识中的一个或多个货物信息；所述特殊图案为形成与其他存储分区的视觉图像存在视觉差别、引起视觉注意的图案；所述特殊颜色为刚好能够覆盖当前待拣货物所在存储分区的形状或略大于存储分区形状的颜色图块。
在本公开一实施例中，所述判断货物是否匹配具体包括：
识别取出的货物的货物信息；
根据识别的货物信息判断与当前订单中的当前待拣选的货物是否匹配。
在本公开一实施例中，所述方法还包括检测在所述货物存储单元中拣选货物和/或在所述拣货存储单元中存放货物的动作是否正确，并在检测存在错误时进行错误提示。
其中，所述检测动作是否存在错误包括：
检测拣货资源拣选货物时，拣货资源的一个或多个拣货组件是否超出了待拣货物所在的货物存储单元的货物存储分区的边界范围，并检测存在错误时进行错误提示；
和/或，检测拣货资源存放货物时，拣货资源的一个或多个拣货组件是否超出了待拣货物将被存放的拣货存储单元的拣货存储分区的边界范围，并检测存在错误时进行错误提示。
其中，所述边界范围为存储分区的边界与可允许误差值的和。
其中，所述方法还包括对于错误动作进行纠正指示的步骤。
在本公开一实施例中，在通过视觉信息指示位置之前，还包括选择将要执行拣货操作的订单的步骤。
其中，按照预设规则选择将要执行拣货操作的订单，所述预设规则为以下规则中的任意一个：
按照订单生成时间的先后顺序；
随机抽取；
按照商品种类数量由小至大的顺序；
按照商品数量由小至大的顺序。
其中，所述选择将要执行拣货操作的订单的步骤之前还包括：
为当前智能仓储拣货***或者当前智能仓储拣货子***分配等待执行拣货操作的订单；
将存放有所述订单中货物的货物存储单元运载至被分配该订单的智能仓储拣货子***的位置处。
在本公开一实施例中，所述将货物放至指示位置之后，还包括：
判断所述当前订单是否完成，是则指示当前订单的拣货操作已经完成，继续进行下一订单操作；否则继续根据视觉信息的指示执行拣货，直至完成当前订单的拣货操作；
在本公开一实施例中，在通过视觉信息指示位置之前，还包括选择将要执行拣货操作的货物的步骤。
其中，按照预设规则选择将要执行拣货操作的订单，所述预设规则为以下规则中的任意一个：
随机抽取；
按照该货物在订单中的数量由多至少的顺序。
在本公开一实施例中，在选择将要执行拣货操作的货物的步骤之后、通过视觉信息指示位置之前还包括：
为当前智能仓储拣货***或者当前智能仓储拣货子***分配等待执行拣货操作的订单；
将存放有所述订单中货物的货物存储单元运载至被分配该订单的智能仓储拣货子***的位置处。
在本公开一实施例中，将所述货物放至指示的位置之后，所述方法还包括：
判断所述当前待拣货物的拣选是否全部完成，是则指示该货物的拣货操作完成，执行下一待拣货物的拣选操作，否则继续根据视觉信息的指示进行拣货，直至针对当前待拣选货物的拣选全部完成；
在本公开一实施例中，在通过视觉信息指示位置之前，所述方法还包括：
选择将要执行拣货操作的货物存储单元；
选择将要执行拣货操作的货物；
以及在所述将所述货物放至指示的位置之后，还包括：
判断所述当前待拣货物的拣选是否全部完成，是则指示该货物的拣货操作已经完成，否则继续根据视觉信息的指示进行拣货，直至全部待拣货物拣选完毕；
判断当前货物存储单元上是否没有待拣货物，是则指示当前货物存储单元离开当前智能仓储拣货子***所在位置，然后继续执行下一个货物存储单元的拣选操作，否则继续选择将要执行拣货操作的货物，直至当前货物存储单元上没有属于当前智能仓储拣货子***的待拣货物。
在本公开一实施例中，所述方法还包括将当前订单的货物清单和/或快递面单打印完毕并 放入相应拣货存储单元的拣货存储分区中的步骤。
在本公开一实施例中，所述方法还包括通过视觉信息或声音信息的方式指示当前待拣货物的拣货操作已经完成。
在本公开一实施例中，所述智能仓储拣货方法是基于订单实施的，如图7所示，在该实施例中，所述方法包括以下步骤：
步骤101，选择将要执行拣货操作的订单；
步骤102，通过视觉信息指示当前订单中当前待拣货物在货物存储单元中的位置；
步骤103，根据所述视觉信息的指示从所述位置处取出货物；
步骤104，识别取出货物的货物信息；
步骤105，根据识别得到的货物信息判断取出的货物与当前订单中的当前待拣货物是否匹配，是则继续执行步骤106，否则返回步骤103，直至取出与当前订单中的当前待拣货物相匹配的货物；
步骤106，指示货物将被放入拣货存储单元中的位置，并将货物放至指示位置；
步骤107，判断所述当前订单是否完成，是则进入步骤108，否则返回步骤102，直至完成当前订单；
步骤108，指示当前订单的拣货操作已经完成，并返回步骤101，继续执行下一订单的拣货操作。
上述方法步骤是针对一个独立订单的货物拣选过程。当然，上述方法步骤可被实施为顺序执行两个及两个以上的订单，或者同时并行执行两个及两个以上的订单，但是针对两个及两个以上的订单中的每一个订单，都是按照上面的拣货步骤来执行的。
对于上述基于订单的智能仓储拣货方法，其各步骤具体可以实现为：
●步骤101，选择将要执行拣货操作的订单，可被实现为：
按照一定的预设规则来选择将要执行拣货操作的订单，其中，所述预设规则比如可以为：对于分配给当前智能仓储拣货***或者当前智能仓储拣货子***的订单按照订单生成时间进行排序，然后按照订单生成时间的先后顺序选择将要执行拣货操作的订单；也可以为：在分配给当前智能仓储拣货***或者当前智能仓储拣货子***的订单中进行随机抽取；也可以为：对于分配给当前智能仓储拣货***或者当前智能仓储拣货子***的订单按照商品种类数量进行升序排序，然后按照商品种类数量由小至大的顺序选择将要执行拣货操作的订单；也可以为：对于分配给当前智能仓储拣货***或者当前智能仓储拣货子***的订单按照商品数量进行升序排序，然后按照商品数量由小至大的顺序选择将要执行拣货操作 的订单。
在本公开一实施例中，所述步骤101之前还包括步骤1011，为当前智能仓储拣货***或者当前智能仓储拣货子***分配等待执行拣货操作的订单。
为当前智能仓储拣货***或者当前智能仓储拣货子***分配订单是指将分配的订单信息通过无线或有线的通信方式发送给当前智能仓储拣货***的控制***。在分配订单时，可以每次分配一个或一组订单到智能仓储拣货***，也可以按照预设时间间隔周期性地分配订单，或者等待当前智能仓储拣货***或者当前智能仓储拣货子***处理完所分配的所有订单后再分配新的订单，还可以基于负载均衡算法对于不同智能仓储拣货子***分配订单以实现智能仓储拣货子***处理拣货操作的负载平衡。
其中，所述订单可以包括对应于单个品类的单件货物或多件货物，也可以包括对应于多个品类中每一个品类的单件货物或多件货物。
在本公开一实施例中，所述智能仓储拣货***包括一个或一个以上的智能仓储拣货子***，在所述步骤101之前或之后还可以包括步骤1012，将存放有所述订单中货物的货物存储单元运载至被分配了该订单的智能仓储拣货子***的位置处。
其中，所述货物存储单元的运载方式可以是人工推拉之类的纯人工、人驾驶运输机械运载(例如叉车)、或者利用机器人运载(例如运载型AGV)，本公开对其不作具体限定。
通常情况下，步骤1011在步骤1012之前执行。
●步骤102，通过视觉信息指示当前订单中待拣选货物在货物存储单元中的位置；
在该步骤中，可以利用智能仓储拣货***中的取货指示装置来实现视觉信息的指示。所述位置指的是当前待拣货物在货物存储单元中的具体存储分区。
对应于取货指示装置的第1种实施方式，可利用位于货物存储单元上的一组发光装置来进行指示，例如LED灯。比如如图2所示，货架1被划分为多个虚拟的货物存储分区，对应于多个虚拟货物存储分区，分别在横向和纵向上设置行、列LED灯2，通过相应行和列LED灯2的亮起、闪烁、变色或其他发光方式可以唯一确定待拣货物所在的货物存储分区，其中LED灯2的发光颜色，可以采用鲜艳醒目的颜色，例如红色。
当然，LED灯2也可以采用电子标签或其他发光组件来实现。
对应于取货指示装置的第2种实施方式，可利用位于货物存储单元上的一组光线发射装置或设置于相距货物存储单元一定距离处的光线发射装置来指示。
位于货物存储单元上的一组光线发射装置，可采用与第1种实施方式中发光装置相同的设 置方式，利用行和列对应的光线发射装置射出的光线的交叉点可以唯一确定待拣货物所在的货物存储分区。
设置于相距货物存储单元一定距离处的光线发射装置，能够自动调整光线发射的角度而将光线发射至货物存储单元对应的存储分区位置上。
所述光线发射装置可以是可见光发射器，例如激光发射器，或者其他光线发射装置。
对应于取货指示装置的第3种实施方式，利用与货物存储单元相距一定距离的投影装置来指示，其投影图像显示区域与当前待拣货物所在存储分区相对应，可以刚好覆盖当前待拣货物所在的存储分区，也可以大于或者小于当前待拣货物所在的存储分区，只要是能够唯一地指示当前待拣货物所在的存储分区即可。
比如如图3所示，所述货物存储单元为货架505，取货指示装置是距离货架505一定距离的投影装置504，其调整为投影位置和投影区域的面积大小刚好能够覆盖货架505中当前待拣货物所在的存储分区，或者稍稍大于当前待拣货物所在存储分区的边界，例如超出边界的距离小于3cm。
图4示出了投影装置的投影图像显示区域在货物存储单元上的呈现方式，如图4所示，所述投影装置指示当前待拣货物所在的位置可通过在当前待拣货物所在存储分区中显示特殊的视觉信息，例如特殊图案、特殊颜色、指定字符等信息来实现的，其中，所述指定字符可以为当前待拣货物的拣货信息，例如待拣货物的图片、名称、规格、分类、待拣数量等，也可以为当前待拣货物的唯一位置识别标识。可选地，可以采用刚好能够覆盖当前待拣货物所在存储分区的形状或略大于存储分区形状的图案来区分指示所述存储分区，投影颜色可采取鲜艳醒目且区别于其他货物存储分区的颜色，另外投影指示图案的大小应适宜，不会投影至其他存储分区，导致存储分区指示错误，错误引导拣货资源到其他货物存储分区取错货物。
对应于取货指示装置的第4种实施方式，利用易被拣货资源在拣货时观察到的显示屏幕来进行指示，该显示屏幕中显示出所述货物存储单元在面对拣货资源方向上的存储分区划分情况，并通过特殊图案、颜色或指定字符等方式来显示当前待拣货物所在的存储分区。所述显示屏幕还可显示出当前待拣货物的拣货信息，例如待拣货物的图片、名称、规格、分类、待拣数量等等，也可以显示出当前待拣货物的唯一位置识别标识。
对应于取货指示装置的第5种实施方式，利用第1-4种实施方式进行组合指示，例如，采用投影装置和显示屏幕进行组合指示的方式，不仅增加了指示信息的种类，还降低了拣货的差错率。
●步骤103，根据所述视觉信息的指示从所述位置处取出货物；
在本公开一实施例中，该步骤可实现为拣货资源根据视觉信息的指示，伸出手臂或辅助抓取设备进入货物存储单元中的货物存储区域取出当前待拣货物。
可选地，人工拣货员通过视觉器官接受视觉信息的指示，用手臂完成取出货物的过程，或者机器拣货员通过机器视觉来识别所述视觉信息，并转换为机器人可执行的操作指令，利用机械手臂来完成取出货物的过程。
可选地，所述步骤103还包括检测拣货动作是否存在错误，并在检测存在错误时进行错误提示的步骤，具体可实现为当检测到拣货员手臂或其他拣货组件伸入到货物存储单元中超出待拣货物所在存储分区的边界范围时，提示出现错误。所述边界范围可以是存储分区的边界与可允许误差值的和，所述可允许误差值可以是一个固定值，例如5cm，也可以是一个相对值，例如可以取为货物存储区域边长的30％，当然，也可以为0。进一步地，可由上文描述的动作识别装置来执行所述检测，例如光栅检测装置、动作捕捉设备、或者其他可以识别动作范围的装置，本公开对其不作具体限定。
其中，所述错误提示方式，包括声光报警、视觉信息报警、多媒体信息报警等，例如通过颜色变化、闪烁变化、明暗变化或呈现“错误”“ERROR”字样等方式进行报警。
其中，所述检测拣货动作是否存在错误的步骤，还可以进一步包括对于错误动作进行纠正指示的步骤，例如通过在显示屏幕上呈现出正确的存储位置，或者通过突出提示正确的取货位置的方式，或者利用二者的组合来实现。
●步骤104，识别取出货物的货物信息；
进一步，该步骤由货物识别装置来实施该识别操作。
比如，由扫码装置来识别货物信息，识别得到的货物信息为货物标识信息，例如条形码或者二维码信息；或者，由图像识别装置识别货物信息，识别得到的货物信息为货物图像信息或货物图像信息中的一部分。
●步骤105，根据识别得到的货物信息判断取出的货物与当前订单中的当前待拣货物是否匹配，是则继续执行步骤106，否则返回步骤103重新拣货，直至取出与当前订单中的当前待拣货物相匹配的货物。
在本公开一实施例中，可以对于订单信息中所包含的货物信息和识别得到的货物信息进行比较来判断货物是否匹配，其中，所述订单信息包括订单编号、货物名称、货物数量、货物信息以及指示当前拣选哪一货物的指示信息，所述货物信息可以是货物标识信息、货物图像信息或者货物图像信息的一部分。
●步骤106，指示货物将被放入拣货存储单元中的位置，并将货物放至指示位置；
在本公开一实施例中，可通过拣货指示装置来指示已拣选出的正确的货物在拣货存储单元上将要被放置的位置，所述位置具体是指拣货存储单元上的哪一个拣货存储分区。
其中，如上文所述，所述拣货指示装置可以采用与取货指示装置相似的方式来实现，也可以采用拣货存储单元电子标签或拍灯器来实现。
比如当步骤105确认取出正确的货物之后，拣货指示装置指示出货物将被放入的拣货存储分区，例如通过亮起或闪烁等方式来指示，拣货指示装置还可以显示该货物对应的剩余待拣选数量，例如当采用电子标签作为拣货指示装置时，当前待拣选货物数量为3个，已放入拣货存储单元的货物为2个，则拣货指示装置显示剩余需要拣选的数量为1个，然后拣货资源再根据拣货指示装置的指示将该货物放入相应的拣货存储分区。
●步骤107，判断所述当前订单是否完成，是则进入步骤108，否则返回步骤102继续执行拣选操作，直至完成当前订单的所有拣货操作；
其中，判断当前订单是否完成是指，判断当前订单中所包括的货物是否全部拣选完毕，当然，该步骤还可以包括将当前订单的货物清单和/或快递面单打印完毕并放入相应拣货存储单元的拣货存储分区中。
当判断当前订单已完成时，还可以显示或发出关于订单完成的提示，比如，可通过视觉信息或声音信息等方式，显示或发出当前订单已完成的通知信息。
●步骤108，指示当前订单的拣货操作已经完成，并返回步骤101，继续执行下一订单的拣货操作。
该步骤中，指示当前订单的拣货操作已经完成是指向控制***发出指示通知。
可以通过触发空内置终端输入信息的方式，例如点击回车键、点击鼠标确认键、触摸屏确认等方式，也可以通过触发拣货存储装置上的拍灯器的方式来触发该指示。
当智能仓储拣货***或智能仓储拣货子***被分配了多个订单时，其中部分订单中可能含有相同的货物，这样就可以通过针对该货物进行一次性拣选满足部分订单中针对该货物的总和，以避免反复多次对该货物进行拣选，从而提高拣选工作效率。
在本公开一实施例中，所述智能仓储拣货方法是基于货物实施的，如图8所示，在该实施例中，所述方法包括以下步骤：
步骤201，选择将要执行拣选操作的货物；
步骤202，通过视觉信息指示当前待拣货物在货物存储单元中的位置；
步骤203，根据所述视觉信息的指示从所述位置处取出货物；
步骤204，识别取出货物的货物信息；
步骤205，根据识别得到的货物信息判断取出的货物与当前待拣货物是否匹配，是则执行步骤206，否则返回步骤203，直至取出与当前订单中的当前待拣货物相匹配的货物；
步骤206，指示货物将被放入拣货存储单元中的位置，并将货物放至指示位置；
步骤207，判断所述当前待拣货物的拣选是否全部完成，是则继续执行步骤208，否则返回步骤203直至全部待拣货物拣选完毕；
步骤208，指示该货物的拣货操作完成，返回步骤201执行下一待拣货物的拣选操作。
对于上述基于货物的智能仓储拣货方法，其各步骤具体可以实现为：
●步骤201，选择将要执行拣货操作的货物；
在本公开一实施方式中，该步骤之前还包括步骤2011，对分配给当前智能仓储拣货***或者当前智能仓储拣货子***的订单进行预处理，生成所分配的订单中包含的待拣货物的货物信息，比如货物列表，其中，所述货物列表至少包括货物名称、标识信息和数量等信息。下表1示出了一个货物列表，其中包括了不同货物的名称、数量、ID信息、图片和相应的订单信息。
表1
编号 货物名称 数量 ID 图片 订单信息
1 XX牙刷 4 XXXX (未示出) 订单1，2，5
2 XX耳机 6 XXXX (未示出) 订单
…… …… …… …… …… ……
在本公开一实施方式中，可以按照一定的算法来选择将要执行拣货操作的货物，比如可以按照货物数量从多到少的顺序进行选择，也可以按照所涉及订单数量从多到少的顺序进行选择，也可以按照货物列表中的排序顺序选择，还可以随机选择。以上仅为对于待拣货物选择方式的示例性说明，本领域技术人员可根据实际应用的需要采用其他选择方式，本公开对其不作具体限定。
在本公开一实施方式中，在所述步骤201之前或之后，还可以包括步骤2012，将存放有所述订单中货物的货物存储单元运载至被分配了该订单的智能仓储拣货子***的位置处。
其中，所述货物存储单元的运载方式可以是人工推拉之类的纯人工方式、利用运载设备例如AGV运载的方式，或者例如驾驶运输机械运载(例如叉车)的半人工方式。
通常情况下，步骤2011在步骤2012之前执行。
●步骤202，通过视觉信息指示当前待拣货物在货物存储单元中的位置；
该步骤中，可以利用取货指示装置来实现视觉信息的指示。所述位置指的是当前待拣货物在货物存储单元中的具体存储分区。
对应于取货指示装置的第1种实施方式，可利用位于货物存储单元上的一组发光装置来进行指示，例如LED灯。比如如图2所示，货架1被划分为多个虚拟的货物存储分区，对应于多个虚拟货物存储分区，分别在横向和纵向上设置行、列LED灯2，通过相应行和列LED灯2的亮起、闪烁、变色或其他发光方式可以唯一确定待拣货物所在的货物存储分区，其中LED灯2的发光颜色，可以采用鲜艳醒目的颜色，例如红色。
当然，LED灯2也可以采用电子标签或其他发光组件来实现。
对应于取货指示装置的第2种实施方式，可利用位于货物存储单元上的一组光线发射装置或设置于相距货物存储单元一定距离处的光线发射装置来指示。
位于货物存储单元上的一组光线发射装置，可采用与第1种实施方式中发光装置相同的设置方式，利用行和列对应的光线发射装置射出的光线的交叉点可以唯一确定待拣货物所在的货物存储分区。
设置于相距货物存储单元一定距离处的光线发射装置，能够自动调整光线发射的角度而将光线发射至货物存储单元对应的存储分区位置上。
所述光线发射装置可以是可见光发射器，例如激光发射器，或者其他光线发射装置。
对应于取货指示装置的第3种实施方式，利用与货物存储单元相距一定距离的投影装置来指示，其投影图像显示区域与当前待拣货物所在存储分区相对应，可以刚好覆盖当前待拣货物所在的存储分区，也可以大于或者小于当前待拣货物所在的存储分区，只要是能够唯一地指示当前待拣货物所在的存储分区即可。
比如如图3所示，所述货物存储单元为货架505，取货指示装置是距离货架505一定距离的投影装置504，其调整为投影位置和投影区域的面积大小刚好能够覆盖货架505中当前待拣货物所在的存储分区，或者稍稍大于当前待拣货物所在存储分区的边界，例如超出边界的距离小于3cm。
图4示出了投影装置的投影图像显示区域在货物存储单元上的呈现方式，如图4所示，所述投影装置指示当前待拣货物所在的位置可通过在当前待拣货物所在存储分区中显示特殊的视觉信息，例如特殊图案、特殊颜色、指定字符等信息来实现的，其中，所述指定字符可以为当前待拣货物的拣货信息，例如待拣货物的图片、名称、规格、分类、待拣数量等，也可以为当前待拣货物的唯一位置识别标识。可选地，可以采用刚好能够覆盖当前待拣货物所在存储分区的形状或略大于存储分区形状的图案来区分指示所述存储分区，投影颜色可采取鲜艳醒目且区别于其他货物存储分区的颜色，另外投影指示图案的大小应适宜，不会投影至其他存储分区，导致存储分区指示错误，错误引导拣货资源到其他货物存储分区取错货物。
对应于取货指示装置的第4种实施方式，利用易被拣货资源在拣货时观察到的显示屏幕来进行指示，该显示屏幕中显示出所述货物存储单元在面对拣货资源方向上的存储分区划分情况，并通过特殊图案、颜色或指定字符等方式来显示当前待拣货物所在的存储分区。所述显示屏幕还可显示出当前待拣货物的拣货信息，例如待拣货物的图片、名称、规格、分类、待拣数量等等，也可以显示出当前待拣货物的唯一位置识别标识。
对应于取货指示装置的第5种实施方式，利用第1-4种实施方式进行组合指示，例如，采用投影装置和显示屏幕进行组合指示的方式，不仅增加了指示信息的种类，还降低了拣货的差错率。
●步骤203，根据所述视觉信息的指示从所述位置处取出货物；
在本公开一实施例中，该步骤可实现为拣货资源根据视觉信息的指示，伸出手臂或辅助抓取设备进入货物存储单元中的货物存储区域取出当前待拣货物。
可选地，人工拣货员通过视觉器官接受视觉信息的指示，用手臂完成取出货物的过程，或者机器拣货员通过机器视觉来识别所述视觉信息，并转换为机器人可执行的操作指令，利用机械手臂来完成取出货物的过程。
可选地，所述步骤203还包括检测拣货动作是否存在错误，并在检测存在错误时进行错误提示的步骤，具体可实现为当检测到拣货员手臂伸入到货物存储单元中超出待拣货物所在存储分区的边界范围时，提示出现错误。所述边界范围可以是存储分区的边界与可允许误差值的和，所述可允许误差值可以是一个固定值，例如5cm，也可以是一个相对值，例如可以取为货物存储区域边长的30％，当然，也可以为0。进一步地，可由上文描述的动作识别装置来执行所述检测，例如光栅检测装置、动作捕捉设备、或者其他可以识别动作范围的装置，本公开对其不作具体限定。
其中，所述错误提示方式，包括声光报警、视觉信息报警、多媒体信息报警等，例如通过颜色变化、闪烁变化、明暗变化或呈现“错误”“ERROR”字样等方式进行报警。
其中，所述检测拣货动作是否存在错误的步骤，还可以进一步包括对于错误动作进行纠正指示的步骤，例如通过在显示屏幕上呈现出正确的存储位置，或者通过突出提示正确的取货位置的方式，或者利用二者的组合来实现。
●步骤204，识别取出货物的货物信息；
进一步，该步骤由货物识别装置来实施该识别操作。
比如，由扫码装置来识别货物信息，识别得到的货物信息为货物标识信息，例如条形码或者二维码信息；或者，由图像识别装置识别货物信息，识别得到的货物信息为货物图像信息或 货物图像信息中的一部分。
●步骤205，根据识别得到的货物信息判断取出的货物与当前待拣货物是否匹配，是则继续执行步骤206，否则返回步骤203重新拣货，直至取出与当前待拣货物相匹配的货物；
在本公开一实施例中，可以对于订单信息中所包含的货物信息和识别得到的货物信息进行比较来判断货物是否匹配，其中，所述订单信息包括订单编号、货物名称、货物数量、货物信息以及指示当前拣选哪一货物的指示信息，所述货物信息可以是货物标识信息、货物图像信息或者货物图像信息的一部分。
●步骤206，指示货物将被放入拣货存储单元中的位置，并将货物放至指示位置。
在本公开一实施例中，可通过拣货指示装置来指示已拣选出的正确的货物在拣货存储单元上将要被放置的位置，所述位置具体是指拣货存储单元上的哪一个拣货存储分区。
其中，如上文所述，所述拣货指示装置，可以采用与取货指示装置相似的方式来实现，也可以采用拣货存储单元电子标签或拍灯器来实现。
比如当步骤205确认取出正确的货物之后，拣货指示装置指示出货物将被放入的拣货存储分区，例如通过亮起或闪烁等方式来指示，拣货指示装置还可以显示该货物对应的剩余待拣选数量，例如当采用电子标签作为拣货指示装置时，当前待拣选货物数量为3个，已放入拣货存储单元的货物为2个，则拣货指示装置显示剩余需要拣选的数量为1个，然后拣货资源再根据拣货指示装置的指示将该货物放入相应的拣货存储分区。
可选地，每次将货物放入拣货存储单元中相应的拣货存储分区时，还判断对应于该拣货存储分区的订单是否完成，判断方法与步骤107类似，如果是则如同步骤108指示当前订单的拣货操作已经完成，如果否则继续等待直到当前订单的拣货操作全部完成。
●步骤207，判断当前待拣货物的拣选是否全部完成，是则继续执行步骤208，否则返回步骤203，直至全部完成当前待拣货物的拣选；
其中，判断当前待拣货物的拣选是否全部完成是指，判断分配给智能仓储拣货子***的所有订单中所包括的当前待拣货物是否全部拣选完毕。
当判断订单完成时，显示或发出关于订单完成的提示，比如，可通过视觉信息或声音信息等方式，显示或发出当前订单已完成的通知信息。
●步骤208，指示当前待拣货物的拣货操作已经完成，返回步骤201，拣选下一个待拣货物。
其中，该步骤指示当前待拣货物的拣货操作已经完成，是指向控制***通知该信息。
可选地，还可以通过视觉信息或声音信息的方式，提示当前待拣货物的拣选已完成。货物拣选的最终目的，是完成分配的每一个订单的中所列出所有货物的拣选。但是有时候， 一个订单中可能会包括存放在多个货物存储单元上的货物，而非在一个货物存储单元上。因此也可以针对不同的货物存储单元来实现货物的拣选过程。在本公开一实施例中，所述智能仓储拣货方法是基于货物存储单元实施的，如图9所示，在该实施例中，所述方法包括以下步骤：
步骤301，选择将要执行拣货操作的货物存储单元；
步骤302，选择将要执行拣选操作的货物；
步骤303，通过视觉信息指示当前待拣货物在货物存储单元中的位置；
步骤304，根据所述视觉信息的指示从所述位置处取出货物；
步骤305，识别取出货物的货物信息；
步骤306，根据识别得到的货物信息判断取出的货物与当前待拣货物是否匹配，是则执行步骤306，否则返回步骤304，直至取出与当前订单中的当前待拣货物相匹配的货物；
步骤307，指示货物将被放入拣货存储单元中的位置，并将货物放至指示位置；
步骤308，判断所述当前待拣货物的拣选是否全部完成，是则继续执行步骤309，否则返回步骤304直至全部待拣货物拣选完毕；
步骤309，指示该货物的拣货操作已经完成；
步骤310，判断当前货物存储单元上是否没有待拣货物，是则继续执行步骤311，否则返回步骤302直至当前货物存储单元上没有属于当前智能仓储拣货子***的待拣货物。
步骤311，指示当前货物存储单元离开当前智能仓储拣货子***所在位置，然后返回步骤301继续执行下一个货物存储单元的拣选操作。
对于上述基于货物存储单元的智能仓储拣货方法，其各步骤具体可以实现为：
●步骤301，选择将要执行拣货操作的货物存储单元；
在本公开一实施方式中，可根据分配给当前智能仓储拣货子***的订单选择将要执行拣货操作的货物存储单元。
在本公开一实施方式中，步骤301之前包括步骤3011，预先选择一组货物存储单元，而步骤301的选择是从预选选择的一组货物存储单元中选择一个货物存储单元；
步骤3011中，预选的这一组货物存储单元中的部分或全部可以保持在原地，或者该组货物存储单元中的部分或全部被运送到在智能仓储拣货子***所在的位置附近，以便于前一个货物存储单元的拣选完成以后，能够迅速补位。
可选地，步骤301还包括将货物存储单元运载到当前智能仓储拣货子***中所在位置的步骤。
●步骤302，选择将要执行拣货操作的货物；
在本公开一实施方式中，该步骤之前还包括步骤3021，对分配给当前智能仓储拣货***或者当前智能仓储拣货子***的订单进行预处理，生成所分配的订单中包含的待拣货物的货物信息，比如货物列表，其中，所述货物列表至少包括货物名称、标识信息和数量等信息。下表2示出了一个货物列表，其中包括了不同货物的名称、数量、ID信息、图片和相应的订单信息。
表2
编号 货物名称 数量 ID 图片 订单信息
1 XX牙刷 4 XXXX (未示出) 订单1，2，5
2 XX耳机 6 XXXX (未示出) 订单
…… …… …… …… …… ……
在本公开一实施方式中，可以按照一定的算法来选择将要执行拣货操作的货物，比如可以按照货物数量从多到少的顺序进行选择，也可以按照所涉及订单数量从多到少的顺序进行选择，也可以按照货物列表中的排序顺序选择，还可以随机选择。以上仅为对于待拣货物选择方式的示例性说明，本领域技术人员可根据实际应用的需要采用其他选择方式，本公开对其不作具体限定。
在本公开一实施方式中，在所述步骤302之前或之后，还可以包括步骤3022，将存放有所述订单中货物的货物存储单元运载至被分配了该订单的智能仓储拣货子***位置处。
其中，所述货物存储单元的运载方式可以是人工推拉之类的纯人工方式、利用运载设备例如AGV运载的方式，或者例如驾驶运输机械运载(例如叉车)的半人工方式。
通常情况下，步骤3021在步骤3022之前。
●步骤302，通过视觉信息指示当前待拣货物在货物存储单元中的位置；
该步骤中，可以利用取货指示装置来实现视觉信息的指示。所述位置指的是当前待拣货物在货物存储单元中的具体存储分区。
对应于取货指示装置的第1种实施方式，可利用位于货物存储单元上的一组发光装置来进行指示，例如LED灯。比如如图2所示，货架1被划分为多个虚拟的货物存储分区，对应于多个虚拟货物存储分区，分别在横向和纵向上设置的行、列LED灯2，通过相应行和列LED灯2的亮起、闪烁、变色或其他发光方式可以唯一确定待拣货物所在的货物存储分区，其中LED灯2的发光颜色，可以采用鲜艳醒目的颜色，例如红色。
当然，LED灯2也可以采用电子标签或其他发光组件来实现。
对应于取货指示装置的第2种实施例方式，可利用位于货物存储单元上的一组光线发射装置或设置于相距货物存储单元一定距离处的光线发射装置来指示。
位于货物存储单元上的一组光线发射装置，可采用与第1种实施方式中发光装置相同的设置方式，利用行和列对应的光线发射装置射出的光线的交叉点可以唯一确定的货物所在的货物存储分区。
设置于相距货物存储单元一定距离处的光线发射装置，能够自动调整光线发射的角度而将光线发射至货物存储单元对应的存储分区位置上。
所述光线发射装置可以是可见光发射器，例如激光发射器，或者其他光线发射装置。
对应于取货指示装置的第3种实施方式，利用与货物存储单元相距一定距离的投影装置来指示，其投影图像显示区域与当前待拣货物所在存储分区相对应，可以刚好覆盖当前待拣货物所在的存储分区，也可以大于或者小于当前待拣货物所在的存储分区，只要是能够唯一地指示当前待拣货物所在的存储分区即可。
比如如图3所示，所述货物存储单元为货架505，取货指示装置是距离货架505一定距离的投影装置504，其调整为投影位置和投影区域的面积大小刚好能够覆盖货架505中当前待拣货物所在的存储分区，或者稍稍大于当前待拣货物所在存储分区的边界，例如超出边界的距离小于3cm。
图4示出了投影装置的投影图像显示区域在货物存储单元上的呈现方式，如图4所示，所述投影装置指示当前待拣货物所在的位置可通过在当前待拣货物所在存储分区中显示特殊的视觉信息，例如特殊图案、特殊颜色、指定字符等信息来实现的，其中，所述指定字符可以为当前待拣货物的拣货信息，例如待拣货物的图片、名称、规格、分类、待拣数量等，也可以为当前待拣货物的唯一位置识别标识。可选地，可以采用刚好能够覆盖当前待拣货物所在存储分区的形状或略大于存储分区形状的图案来区分指示所述存储分区，投影颜色可采取鲜艳醒目且区别于其他货物存储分区的颜色，另外投影指示图案的大小应适宜，不会投影至其他存储分区，导致存储分区指示错误，错误引导拣货资源到其他货物存储分区取错货物。
对应于取货指示装置的第4种实施方式，利用易被拣货资源在拣货时观察到的显示屏幕来进行指示，该显示屏幕中显示出所述货物存储单元在面对拣货资源方向上的存储分区划分情况，并通过特殊图案、颜色或指定字符等方式来显示当前待拣货物所在的存储分区。所述显示屏幕还可显示出当前待拣货物的拣货信息，例如待拣货物的图片、名称、规格、分类、待拣数量等等，也可以显示出当前待拣货物的唯一位置识别标识。
对应于取货指示装置的第5种实施方式，利用第1-4种实施方式进行组合指示，例如，采用投影装置和显示屏幕进行组合指示的方式，采用增加了指示信息的种类，还降低了拣货的差错率。
●步骤304，根据所述视觉信息的指示从所述位置处取出货物；
在本公开一实施例中，该步骤可实现为拣货资源根据视觉信息的指示，伸出手臂或辅助抓取设备进入货物存储单元中的货物存储区域取出当前待拣货物。
可选地，人工拣货员通过视觉器官接受视觉信息的指示，用手臂完成取出货物过程，或者机器拣货员通过机器视觉来识别所述视觉信息，并转换为机器人可执行的操作指令，利用机械手臂来完成取出货物的过程。
可选地，所述步骤304还包括检测拣货动作是否存在错误，并在检测存在错误时进行错误提示的步骤，具体可实现为当检测到拣货员手臂伸入到货物存储单元中超出待拣货物所在存储分区的边界范围时，提示出现错误。所述边界范围可以是存储分区的边界与可允许误差值的和，所述可允许误差值可以是一个固定值，例如5cm，也可以是一个相对值，例如可以取为货物存储区域边长的30％当然，也可以为0。进一步地，可由上文描述的动作识别装置来执行所述检测，例如光栅检测装置、动作捕捉设备、或者其他可以识别动作范围的装置，本公开对其不作具体限定。
其中，所述错误提示方式，包括声光报警、视觉信息报警、多媒体信息报警等，例如通过颜色变化、闪烁变化、明暗变化或呈现“错误”“ERROR”字样等方式进行报警。
其中，所述检测拣货动作是否存在错误的步骤，还可以进一步包括对于错误动作进行纠正指示的步骤，例如通过在显示屏幕上呈现出正确的存储位置，或者通过突出提示正确的取货位置的方式，或者利用二者的组合来实现。
●步骤305，识别取出货物的货物信息；
进一步，该步骤由货物识别装置来实施该识别操作。
比如，由扫码装置来识别货物信息，识别得到的货物信息为货物标识信息，例如条形码或者二维码信息；或者，由图像识别装置识别货物信息，识别得到的货物信息为货物图像信息或货物图像信息中的一部分。
●步骤306，根据识别得到的货物信息判断取出的货物与当前待拣货物是否匹配，是则继续执行步骤307，否则返回步骤304重新拣货，直至取出与当前待拣货物相匹配的货物；
在本公开一实施例中，可以对于订单信息中所包含的货物信息和识别得到的货物信息进行比较来判断货物是否匹配，其中，所述订单信息包括订单编号、货物名称、货物数量、货物信息以及指示当前拣选哪一货物的指示信息，所述货物信息可以是货物标识信息、货物图像信息或者货物图像信息的一部分。
●步骤307，指示货物将被放入拣货存储单元中的位置，并将货物放至指示位置。
在本公开一实施例中，可通过拣货指示装置来指示已拣选出的正确的货物在拣货存储单元上将要被放置的位置，所述位置具体是指拣货存储单元上的哪一个拣货存储分区。
其中，如上文所述，所述拣货指示装置，可以采用与取货指示装置相似的方式来实现，也可以采用拣货存储单元电子标签或拍灯器来实现。
比如当步骤306确认取出正确的货物之后，拣货指示装置指示出货物将被放入的拣货存储分区，例如通过亮起或闪烁等方式来指示，拣货指示装置还可以显示该货物对应的剩余待拣选数量，例如当采用电子标签作为拣货指示装置时，当前待拣选货物数量为3个，已放入拣货存储单元的货物为2个，则拣货指示装置显示剩余需要拣选的数量为1个；，然后拣货资源根据拣货指示装置的指示将该货物放入相应的拣货存储分区。
可选地，每次将货物放入拣货存储单元中相应的拣货存储分区时，还判断对应于该拣货存储分区的订单是否完成，判断方法与步骤107类似，如果是则如同步骤108指示当前订单的拣货操作已经完成，如果否则继续等待直到当前订单的拣货操作全部完成。
●步骤308，判断当前待拣货物的拣选是否全部完成，是则继续执行步骤309，否则返回步骤304，直至全部完成当前待拣货物的拣选；
其中，判断当前待拣货物的拣选是否全部完成是指，判断分配给智能仓储拣货子***的所有订单中所包括的当前待拣货物是否全部拣选完毕。
当判断订单完成时，显示或发出关于订单完成的提示，比如，可通过视觉信息或声音信息等方式，显示或发出当前订单已完成的通知信息。
●步骤309，指示当前待拣货物的拣货操作已经完成；
其中，该步骤指示当前待拣货物的拣货操作已经完成，是指向控制***通知该信息。
可选地，还可以通过视觉信息或声音信息的方式，提示当前待拣货物的拣选已完成。
●步骤310，判断当前货物存储单元上是否没有待拣货物，是则进入步骤311，否则返回步骤302，继续选择下一个待拣货物。
其中，当前货物存储单元上没有待拣货物，是指当前货物存储单元上没有分配给当前智能仓储拣货子***的订单中所包含的尚未拣选的货物。
可选地，当判断为是时，发出针对当前货物存储单元的拣选已完成的通知信息，并且可以通过视觉信息或声音信息的方式，向拣货资源提示针对当前货物存储单元的拣选已完成。
●步骤311，指示当前货物存储单元离开当前智能仓储拣货子***所在位置，并返回步骤301，选择下一个要执行拣货操作的货物存储单元并将货物存储单元运载到智能仓储拣货子***所在的位置处。
上述过程是针对一个货物存储单元的货物拣选过程，在实际应用时，既可以顺序执行针对两个以上货物存储单元的拣选，也可以同时并行执行针对两个以上相邻的货物存储单元的货物拣选过程，但是针对两个以上货物存储单元中的每一个货物存储单元，都是同样按照上面的拣选过程来执行。
以上所述的具体实施例，对本公开的目的、技术方案和有益效果进行了进一步详细说明，所应理解的是，以上所述仅为本公开的具体实施例而已，并不用于限制本公开，凡在本公开的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本公开的保护范围之内。

Claims (56)

  1. 一种智能仓储拣货***，其特征在于，所述***包括：控制***、拣货资源、货物存储单元、取货指示装置、拣货存储单元、拣货指示装置，其中：
    所述控制***与所述拣货资源、货物存储单元、取货指示装置、拣货存储单元、拣货指示装置之间能够通信，用于发出控制指令，控制拣货进程；
    所述拣货资源用于根据所述控制***的控制指令进行货物的拣选，并将拣取的货物存储在拣货存储单元；
    所述货物存储单元用于在仓储区域中存放货物；
    所述取货指示装置用于根据所述控制***的控制指令通过视觉信息指示当前待拣货物在所述货物存储单元中的位置；
    所述拣货存储单元用于按照对应于订单的方式来存储所述拣货资源从所述货物存储单元中取出的货物；
    所述拣货指示装置用于根据所述控制***的控制指令指示所述拣货资源将拣取的货物存放至拣货存储单元中的位置。
  2. 根据权利要求1所述的***，其特征在于，所述控制***为总分式计算机控制***或者分布式计算机控制***，其中，所述总分式计算机控制***包括总控制服务器和多个接收总控制服务器控制的控制终端；所述分布式计算机控制***包括多个独立的控制终端。
  3. 根据权利要求1所述的***，其特征在于，所述拣货资源为人、机器或者人与机器的组合。
  4. 根据权利要求1所述的***，其特征在于，所述拣货资源包括多个拣货组件，所述多个拣货组件协调工作以实现货物的拣取。
  5. 根据权利要求1所述的***，其特征在于，所述货物存储单元形成的货物存储区域包括多个货物存储分区。
  6. 根据权利要求5所述的***，其特征在于，所述货物存储分区物理隔离或者虚拟隔离。
  7. 根据权利要求1所述的***，其特征在于，所述拣货存储单元形成的货物存储区域包括多个拣货存储分区。
  8. 根据权利要求7所述的***，其特征在于，所述拣货存储分区物理隔离或者虚拟隔离。
  9. 根据权利要求5或7所述的***，其特征在于，所述存储分区是动态调整的。
  10. 根据权利要求1所述的***，其特征在于，所述取货指示装置和/或拣货指示装置为 视觉信息输出装置。
  11. 根据权利要求10所述的***，其特征在于，视觉信息输出装置为发光装置、光线发射装置、投影装置、显示装置、电子标签、拍灯器中的一种或几种的组合。
  12. 根据权利要求11的***，其中视觉信息输出装置具体为投影装置，所述投影装置通过向货物存储单元和/或拣货存储单元投射图像，在待取出货物的货物存储分区和/或待存放货物的拣货存储分区中显示特殊的视觉图像信息来进行指示。
  13. 根据权利要求12的***，其中所述特殊的视觉图像信息，包括特殊图案、特殊颜色、指定字符中的一个或多个，
    其中，所述指定字符为当前待拣货物的图片、名称、规格、分类、待拣数量、当前待拣货物的唯一位置识别标识中的一个或多个货物信息；
    所述特殊图案为形成与其他存储分区的视觉图像存在视觉差别、引起视觉注意的图案；
    所述特殊颜色为刚好能够覆盖当前待拣货物所在存储分区的形状或略大于存储分区形状的颜色图块。
  14. 根据权利要求1-10任一项所述的***，其特征在于，还包括动作识别装置，所述动作识别装置用于检测拣货资源在所述货物存储单元中拣选货物和/或在所述拣货存储单元中存放货物的动作是否正确，并将检测结果发送给所述控制***。
  15. 根据权利要求1-10任一项所述的***，其特征在于，还包括动作识别装置，
    所述动作识别装置用于检测拣货资源拣选货物时，所述拣货资源的一个或多个拣货组件是否超出了待拣货物所在的货物存储单元的货物存储分区的边界范围，并将检测结果发送给所述控制***；
    和/或，所述动作识别装置用于检测拣货资源存放货物时，所述拣货资源的一个或多个拣货组件是否超出了待拣货物将被存放的拣货存储单元的拣货存储分区的边界范围，并将检测结果发送给所述控制***。
  16. 根据权利要求15所述的***，其特征在于，所述边界范围为存储分区的边界，与可允许误差值的和。
  17. 根据权利要求1-10任一项所述的***，其特征在于，还包括货物识别装置，所述货物识别装置用于识别拣货资源从货物存储单元中取出的货物的货物信息。
  18. 根据权利要求1-10任一项所述的***，其特征在于，还包括运载设备，所述运载装置用于根据所述控制***的控制指令对于所述货物存储单元进行运载。
  19. 根据权利要求1-10任一项所述的***，其特征在于，还包括警示设备，所述警示设 备用于根据所述控制***的控制指令发出警示信息。
  20. 根据权利要求1-16所述的***，其特征在于，所述拣货资源、货物存储单元、取货指示装置、动作识别装置、拣货存储单元、拣货指示装置、货物识别装置、运载设备和/或警示设备装设有状态检测设备，所述状态检测设备用于实时监测所述拣货资源、货物存储单元、取货指示装置、动作识别装置、拣货存储单元、拣货指示装置、货物识别装置、运载设备和/或警示设备的状态信息，并向所述控制***反馈。
  21. 一种智能仓储拣货***，其特征在于，所述***包括：控制***、货物存储单元和一个或一个以上的智能仓储拣货子***，其中：
    所述智能仓储拣货子***用于根据控制***的控制并行执行智能仓储拣货操作；
    所述智能仓储拣货子***包括控制终端、拣货资源、取货指示装置、拣货存储单元和拣货指示装置，其中：
    所述控制终端与所述控制***、货物存储单元、拣货存储单元、拣货资源、取货指示装置和拣货指示装置之间能够通信，用于根据控制***的指示发出控制指令，控制拣货进程；
    所述拣货资源用于根据所述控制终端的控制指令进行货物的拣选，并将拣取的货物存储在拣货存储单元；
    所述货物存储单元用于在仓储区域中存放货物；
    所述取货指示装置用于根据所述控制终端的控制指令通过视觉信息指示当前待拣货物在所述货物存储单元中的位置；
    所述拣货存储单元用于按照对应于订单的方式存储拣货资源从货物存储单元中取出的货物；
    所述拣货指示装置用于根据所述控制终端的控制指令指示拣货资源将拣取的货物存放至拣货存储单元中的位置。
  22. 根据权利要求21所述的***，其特征在于，还包括运载设备，所述运载装置用于根据所述控制***的控制指令对于所述货物存储单元进行运载。
  23. 根据权利要求21所述的***，其特征在于，所述智能仓储拣货子***还包括货物识别装置，所述货物识别装置用于识别拣货资源从所述货物存储单元中取出的货物的货物信息。
  24. 根据权利要求21所述的***，其特征在于，所述智能仓储拣货子***还包括警示设备，所述警示设备用于根据所述控制终端的控制指令发出警示信息。
  25. 根据权利要求21所述的***，其特征在于，所述智能仓储拣货子***还包括动作识别装置，所述动作识别装置用于检测拣货资源在所述货物存储单元中拣选货物和/或在所述拣 货存储单元中存放货物的动作是否正确，并将检测结果发送给所述控制终端。
  26. 根据权利要求21所述的***，其特征在于，还包括动作识别装置，所述动作识别装置用于检测拣货资源拣选货物时，所述拣货资源的一个或多个拣货组件是否超出了待拣货物所在的货物存储单元的货物存储分区的边界范围，并将检测结果发送给所述控制***；
    和/或，所述动作识别装置用于检测拣货资源存放货物时，所述拣货资源的一个或多个拣货组件是否超出了待拣货物将被存放的拣货存储单元的拣货存储分区的边界范围，并将检测结果发送给所述控制***。
  27. 根据权利要求25所述的***，其特征在于，所述边界范围为存储分区的边界，与可允许误差值的和。
  28. 一种智能仓储拣货***，其特征在于，所述***包括：控制***、货物存储单元、拣货存储单元和一个或一个以上的智能仓储拣货子***，其中：
    所述智能仓储拣货子***用于根据控制***的控制并行执行智能仓储拣货操作；
    所述智能仓储拣货子***包括控制终端、拣货资源、取货指示装置和拣货指示装置，其中：
    所述控制终端与所述控制***、货物存储单元、拣货存储单元、拣货资源、取货指示装置和拣货指示装置之间能够通信，用于根据控制***的指示发出控制指令，控制拣货进程；
    所述拣货资源用于根据所述控制终端的控制指令进行货物的拣选，并将拣取的货物存储在拣货存储单元；
    所述货物存储单元用于在仓储区域中存放货物；
    所述取货指示装置用于根据所述控制终端的控制指令通过视觉信息指示当前待拣货物在所述货物存储单元中的位置；
    所述拣货存储单元用于按照对应于订单的方式存储拣货资源从货物存储单元中取出的货物；
    所述拣货指示装置用于根据所述控制终端的控制指令指示拣货资源将拣取的货物存放至拣货存储单元中的位置。
  29. 根据权利要求28所述的***，其特征在于，还包括运载设备，所述运载装置用于根据所述控制***的控制指令对于所述货物存储单元进行运载。
  30. 根据权利要求28所述的***，其特征在于，所述智能仓储拣货子***还包括货物识别装置，所述货物识别装置用于识别拣货资源从所述货物存储单元中取出的货物的货物信息。
  31. 根据权利要求28所述的***，其特征在于，所述智能仓储拣货子***还包括警示设备，所述警示设备用于根据所述控制终端的控制指令发出警示信息。
  32. 根据权利要求28所述的***，其特征在于，所述智能仓储拣货子***还包括动作识别装置，所述动作识别装置用于检测拣货资源在所述货物存储单元中拣选货物和/或在所述拣货存储单元中存放货物的动作是否正确，并将检测结果发送给所述控制终端。
  33. 根据权利要求28所述的***，其特征在于，还包括动作识别装置，所述动作识别装置用于检测拣货资源拣选货物时，所述拣货资源的一个或多个拣货组件是否超出了待拣货物所在的货物存储单元的货物存储分区的边界范围，并将检测结果发送给所述控制***；
    和/或，所述动作识别装置用于检测拣货资源存放货物时，所述拣货资源的一个或多个拣货组件是否超出了待拣货物将被存放的拣货存储单元的拣货存储分区的边界范围，并将检测结果发送给所述控制***。
  34. 根据权利要求33所述的***，其特征在于，所述边界范围为存储分区的边界，与可允许误差值的和。
  35. 一种智能仓储拣货方法，其特征在于，所述方法包括：
    通过视觉信息指示当前订单中当前待拣货物在货物存储单元中的位置，根据所述视觉信息的指示从所述位置处取出货物；
    判断货物是否匹配；如果匹配，则指示货物将被放入拣货存储单元中的位置，并将货物放至指示位置。
  36. 根据权利要求35所述的方法，其特征在于，所述视觉信息包括：发光信息、光线发射信息、投影信息、显示信息中的一种或多种的组合。
  37. 根据权利要求36所述的方法，其特征在于，所述视觉信息为投影信息，具体为通过向货物存储单元和/或拣货存储单元投射图像，在待取出货物的货物存储分区和/或待存放货物的拣货存储分区中显示特殊的视觉图像信息来进行指示。
  38. 根据权利要求37所述的方法，其特征在于，所述特殊的视觉图像信息，包括特殊图案、特殊颜色、指定字符中的一个或多个，
    其中，所述指定字符为当前待拣货物的图片、名称、规格、分类、待拣数量、当前待拣货物的唯一位置识别标识中的一个或多个货物信息；
    所述特殊图案为形成与其他存储分区的视觉图像存在视觉差别、引起视觉注意的图案；
    所述特殊颜色为刚好能够覆盖当前待拣货物所在存储分区的形状或略大于存储分区形状的颜色图块。
  39. 根据权利要求35所述的方法，所述判断货物是否匹配具体包括：
    识别取出的货物的货物信息；
    根据识别的货物信息判断与当前订单中的当前待拣选的货物是否匹配。
  40. 根据权利要求35所述的方法，其特征在于，还包括检测在所述货物存储单元中拣选货物和/或在所述拣货存储单元中存放货物的动作是否正确，并在检测存在错误时进行错误提示。
  41. 根据权利要求40所述的方法，其特征在于，所述检测动作是否存在错误包括：
    检测拣货资源拣选货物时，拣货资源的一个或多个拣货组件是否超出了待拣货物所在的货物存储单元的货物存储分区的边界范围，并检测存在错误时进行错误提示；
    和/或，检测拣货资源存放货物时，拣货资源的一个或多个拣货组件是否超出了待拣货物将被存放的拣货存储单元的拣货存储分区的边界范围，并检测存在错误时进行错误提示。
  42. 根据权利要求41所述的方法，其特征在于，所述边界范围为存储分区的边界与可允许误差值的和。
  43. 根据权利要求40或41所述的方法，其特征在于，还包括对于错误动作进行纠正指示的步骤。
  44. 根据权利要求35所述的方法，其特征在于，在通过视觉信息指示位置之前，还包括选择将要执行拣货操作的订单的步骤。
  45. 根据权利要求44所述的方法，其特征在于，按照预设规则选择将要执行拣货操作的订单。
  46. 根据权利要求45所述的方法，其特征在于，所述预设规则为以下规则中的任意一个：
    按照订单生成时间的先后顺序；
    随机抽取；
    按照商品种类数量由小至大的顺序；
    按照商品数量由小至大的顺序。
  47. 根据权利要求44所述的方法，其特征在于，所述选择将要执行拣货操作的订单的步骤之前还包括：
    为当前智能仓储拣货***或者当前智能仓储拣货子***分配等待执行拣货操作的订单；
    将存放有所述订单中货物的货物存储单元运载至被分配该订单的智能仓储拣货子***的位置处。
  48. 根据权利要求35-47任一项所述的方法，其特征在于，所述将货物放至指示位置之后，还包括：
    判断所述当前订单是否完成，是则指示当前订单的拣货操作已经完成，继续进行下一订单 操作；否则继续根据视觉信息的指示执行拣货，直至完成当前订单的拣货操作。
  49. 根据权利要求35所述的方法，其特征在于，在通过视觉信息指示位置之前，还包括选择将要执行拣货操作的货物的步骤。
  50. 根据权利要求49所述的方法，其特征在于，按照预设规则选择将要执行拣货操作的订单。
  51. 根据权利要求50所述的方法，其特征在于，所述预设规则为以下规则中的任意一个：
    随机抽取；
    按照该货物在订单中的数量由多至少的顺序。
  52. 根据权利要求49所述的方法，其特征在于，在选择将要执行拣货操作的货物的步骤之后、通过视觉信息指示位置之前还包括：
    为当前智能仓储拣货***或者当前智能仓储拣货子***分配等待执行拣货操作的订单；
    将存放有所述订单中货物的货物存储单元运载至被分配该订单的智能仓储拣货子***的位置处。
  53. 根据权利要求35-43、49-52任一项所述的方法，其特征在于，将所述货物放至指示的位置之后，还包括：
    判断所述当前待拣货物的拣选是否全部完成，是则指示该货物的拣货操作完成，执行下一待拣货物的拣选操作，否则继续根据视觉信息的指示进行拣货，直至针对当前待拣选货物的拣选全部完成。
  54. 根据权利要求35-43任一项所述的方法，其特征在于，在通过视觉信息指示位置之前，还包括：
    选择将要执行拣货操作的货物存储单元；
    选择将要执行拣货操作的货物；
    以及在所述将所述货物放至指示的位置之后，还包括：
    判断所述当前待拣货物的拣选是否全部完成，是则指示该货物的拣货操作已经完成，否则继续根据视觉信息的指示进行拣货，直至全部待拣货物拣选完毕；
    判断当前货物存储单元上是否没有待拣货物，是则指示当前货物存储单元离开当前智能仓储拣货子***所在位置，然后继续执行下一个货物存储单元的拣选操作，否则继续选择将要执行拣货操作的货物，直至当前货物存储单元上没有属于当前智能仓储拣货子***的待拣货物。
  55. 根据权利要求35所述的方法，其特征在于，还包括将当前订单的货物清单和/或快递面单打印完毕并放入相应拣货存储单元的拣货存储分区中的步骤。
  56. 根据权利要求35所述的方法，其特征在于，还包括通过视觉信息或声音信息的方式指示当前待拣货物的拣货操作已经完成。
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