Summary of the invention
But goods has the following problems to people's mode: first must use customization shelf, that is, be adapted to robot size andThe shelf of lifting capacity etc. and design, to guarantee that robot can travel to shelf lower section and hold up entire shelf；And then byThe problems such as this leads to commodity higher for frequency of use, and there are frequent restockings.
In view of the above circumstances, it is made that the present invention.
According to an aspect of the invention, there is provided a kind of automatic radio frequency of cargo, comprising: transfer robot；ControlSystem；Multiple order cargos accommodate containers, and each order cargo accommodates container and is configured as accommodating one or more orders correspondencesCargo；Wherein control system is carried out wireless communication with transfer robot, and it includes: control system that wherein cargo sorts process automaticallyOrder taking responsibility is distributed to transfer robot；Transfer robot obtains vacant order cargo and accommodates container, carries order cargoContainer to order is accommodated correspond to each cargo rest area picking where cargo and the order cargo appearance of cargo sorting will be completedContainer handling is received to designated place.
In one example, before transfer robot is moved to specific cargo rest area, control system sorts cargoInstruction information be sent to the employee for being responsible for being sorted in the specific cargo rest area perhaps robot so as to employee or machinePeople carries out cargo sorting before transfer robot reaches specific cargo rest area in advance.
In one example, the automatic radio frequency of cargo can also include: mobile sowing wall, and each mobile sowing wall hasMark, and one or more order cargos can be placed and accommodate container.
In one example, the robot has the function of to lift automatically, lifted by automatic lift placed it is described vacantOrder cargo accommodate the mobile sowing wall of container to obtain vacant order cargo and accommodate container, and moved in transfer robotBefore moving specific cargo rest area, cargo corresponding with order is sorted instruction information and be sent to by control system to be responsible in the toolThe employee that body cargo rest area is sorted is pre- advanced so that employee is before transfer robot reaches specific cargo rest areaCrudely-made articles object sorts；And when transfer robot is moved to specific cargo rest area, employee will preparatory sorting corresponding with orderCargo be put into the corresponding order cargo of the order and accommodate in container.
In one example, by one of following manner, control system establishes mobile sowing wall, wall is contained orders for mobile sowingSingle cargo accommodates the corresponding relationship between container and order: mobile sowing wall and thereon each goods yard label pass through barcode scanningRifle scanning sowing wall label and the goods yard label for being placed with container establish sowing wall and have the corresponding informance in container goods yard, and controlOrder and the label binding for having container goods yard are established corresponding relationship by system side processed, thereby establish mobile sowing wall, have containerThe corresponding relationship between container, order on goods yard；Or mobile sowing wall and the order cargo being placed on it accommodate container and pasteThere is label, the order cargo for scanning mobile sowing wall label by barcode scanning gun and being placed on it accommodates containers labels, establishes movementOrder and movement are sowed the order cargo on wall by the corresponding informance and control system of sowing wall and order cargo receiving containerThe label binding for accommodating container, establishes corresponding relationship, thereby establish mobile sowing wall, order cargo accommodate container, order itBetween corresponding relationship.
In an exemplary automatic radio frequency of cargo, mobile sowing wall is that wheel type mobile sows wall.
In one example, the automatic radio frequency of cargo can also include: sowing wall, be fixed on transfer robot；InstituteStating transfer robot and obtaining vacant order cargo to accommodate container includes: to be put by the way that vacant order cargo is manually accommodated containerIt sets on sowing wall.
In one example, cargo sort automatically process may include: in response to receiving one or more order taking responsibilities,According to order information, scheduling strategy and inventory information, specified one or more transfer robots are responsible for executing this to be ordered control systemSingle task, the corresponding cargo of each order taking responsibility are placed on one or more separated cargo rest areas；Transfer robot movesIt moves at case area in preparation, accommodates container from one or more order cargos are obtained at case area in preparation；Order cargo is loaded with to accommodateThe transfer robot of device is sequentially moved to each cargo rest area, wherein in each cargo rest area, by manual type orRobot sorts mode automatically and sorts cargo on shelf that are corresponding with respective orders, being placed in the cargo rest area, andIt places goods onto corresponding order cargo to accommodate in container, until each order cargo of transfer robot has accommodated containerIt has piled entire cargo corresponding with respective orders or transfer robot has received the order for stopping picking；And conveying robotOrder cargo is accommodated container movement and is placed in designated position by people.
In one example, the automatic radio frequency of cargo can also include hand-held or fixed display device, for showingShow the location information and corresponding order cargo receiving information of container where commodity needed for order.
In one example, display device can be hand-held display device, and by picking, personnel are held, and picking personnel pass throughWith the scan code on the carried object of the hand-held display scanning machine people or robot come where obtaining commodity needed for orderLocation information and corresponding order cargo accommodate information of container.
According to another aspect of the present invention, a kind of cargo automatic sorting method is provided, may include: in response to receivingOne or more order taking responsibilities, the specified one or more transfer robots of control system are responsible for executing the order taking responsibility, each be orderedThe corresponding cargo of single task is placed on one or more separated cargo rest areas；Transfer robot is moved into case and preparesArea accommodates container from one or more order cargos are obtained at case area in preparation, and each order cargo accommodates container and corresponds to oneOr multiple orders；The transfer robot for being loaded with order cargo receiving container is sequentially moved to each cargo rest area, wherein eachA cargo rest area, by manual type or robot sort automatically mode sort it is corresponding with respective orders, be placed in instituteThe cargo on the shelf of cargo rest area is stated, and places goods onto corresponding order cargo and accommodates in container, until carrying implementEach order cargo of device people accommodates container and has piled entire cargo corresponding with respective orders or transfer robot receiptsThe order for stopping picking being arrived；And order cargo is accommodated container movement and is placed in designated position by transfer robot.
In one example, designated position can be packed locations, accommodate the goods in container to order cargo in the positionObject is packaged.
In one example, transfer robot is moved into case area in preparation, orders from one or more is obtained at case area in preparationIt may include: the object that transfer robot is directly carried for mobile sowing wall that single cargo, which accommodates container, place on mobile sowing wallOne or more of order cargos accommodate containers.
In one example, mobile sowing wall can sow wall for wheel type mobile, suitable for being pushed by employee；And eachCargo rest area, transfer robot are put down wheel type mobile sowing wall by lift mechanism, push wheel type mobile to sow by employeeWall is put to corresponding order cargo on wheel type mobile sowing wall and is accommodated in container, so until specific cargo, which places shelf, sorts cargoWheel type mobile sowing wall is pushed back into transfer robot position afterwards, transfer robot is broadcast wheel type mobile by lift mechanismKind wall, which lifts, to be placed on itself.
According to an illustrative cargo automatic sorting method, in the case where artificial picking, by display device to pickingGoods employee conveys cargo to sort instruction information.
According to an illustrative cargo automatic sorting method, the display device takes one of following form: fixedDisplay device is fixed on transfer robot and parks near the position of wheel type mobile sowing wall；The display device that robot carries, matchesIt sets on other objects in robot or mobile sowing wall or robot；And hand-held display device, it is held by employeeIt is mobile.
According to an illustrative cargo automatic sorting method, wherein being moved to specific cargo rest area in transfer robotBefore, control system by cargo sort instruction information be sent to be responsible for sorting employee perhaps robot so as to employee or machineDevice people carries out cargo sorting before transfer robot reaches specific cargo rest area in advance.
According to an illustrative cargo automatic sorting method, wherein being loaded with the transfer robot that order cargo accommodates containerIt is sequentially moved to each cargo rest area, wherein sorting automatically in each cargo rest area by manual type or robotMode sorts the cargo on shelf that are corresponding with respective orders, being placed in the cargo rest area, and places goods onto pairIt includes: transfer robot after being moved to determining cargo rest area that the order cargo answered, which accommodates in container, is sequentially moved to thisDetermine the location of each cargo corresponding with order in cargo rest area；And by transfer robot or other machinesPeople automatically sorts corresponding cargo and puts to corresponding order cargo and accommodates in container, or is sorted by employee to correspondingCargo and put to corresponding order cargo accommodate container in.
According to an illustrative cargo automatic sorting method, wherein being loaded with the transfer robot that order cargo accommodates containerIt is sequentially moved to each cargo rest area, wherein sorting automatically in each cargo rest area by manual type or robotMode sorts the cargo on shelf that are corresponding with respective orders, being placed in the cargo rest area, and places goods onto pairIt includes: to be loaded with order cargo and accommodate the transfer robot of container to be moved to cargo rest area simultaneously in container that the order cargo answered, which accommodates,It stops；Employee moves in the tunnel of shelf, and sorting is corresponding with respective orders, is placed in the cargo of cargo rest area, and walksIt is put at transfer robot to corresponding order cargo and is accommodated in container.
According to another aspect of the present invention, a kind of automatic radio frequency of cargo is provided, comprising: transfer robot hasHoisting mechanism, and have the function of independent navigation, transfer robot can be travelled to mobile sowing wall, and utilize elevatorStructure lifts entire mobile sowing wall；Control system can lead to the staff of transfer robot and responsible pickingLetter；Shelf are configured to arrangement of goods, for being responsible for staff's picking of picking；Mobile sowing wall, each mobile sowing wall haveMark, and one or more order cargos can be placed and accommodate container, each order cargo accommodates container and is configured as receiving oneThe corresponding cargo of a or multiple orders；Wherein the automatic radio frequency of cargo executes cargo and sorts process automatically, comprising: obtains orderTask step, in response to receiving one or more orders, the specified one or more transfer robots of control system are responsible for executionThe order taking responsibility, wherein the corresponding cargo of each order taking responsibility is placed on the shelf of one or more separated cargo rest areasOn；It obtains order cargo and accommodates container step, transfer robot is moved into case area in preparation by independent navigation function, at caseAt area in preparation, specified mobile sowing wall is lifted by hoisting mechanism and is placed on itself by transfer robot, specifiedOne or more order cargos have been placed on mobile sowing wall and have accommodated container, and each container is ordered corresponding to one or moreIt is single, and background control system establishes movement sowing wall, the mobile corresponding pass sowed between the contained container of wall, handled orderSystem；Each area of cargo sorts step, and the transfer robot for being loaded with order cargo receiving container is sequentially moved to each cargo rest area,In each cargo rest area, mode is sorted by manual type or robot automatically and sorts, placement corresponding with respective ordersCargo on the shelf of the cargo rest area, and place goods onto corresponding order cargo and accommodate in container；And it removesStep is transported, the order cargo for completing cargo sorting is accommodated container movement and is placed in package by transfer robot launches area.
According to an automatic radio frequency of illustrative cargo, each area of the cargo sort step work in it is pre- pick mode,In the case where picking mode in advance, before mobile sowing wall to cargo destined rest area is carried by robot, control system sows the movementThe corresponding cargo of wall sorts instruction information and sends corresponding picking personnel to, so that picking personnel can be before robot arrivalCargo is picked in advance.
According to an automatic radio frequency of illustrative cargo, each area of the cargo, which sorts step and works in, non-pre- picks mouldFormula, it is non-it is pre- pick mode under, workflow include: i) control system by Order splitting to determining mobile sowing wall；Ii) control systemThe designated position that wall to cargo destined rest area is sowed in the movement is carried by one robot of system scheduling, and mobile sowing wall is unloadedUnder；Iii cargo) is obtained by the mark that handheld device scans mobile sowing wall by sorting personnel and sorts instruction information, is then draggedMobile sowing wall enter shelf tunnel and execute sorting task, sorting personnel send mobile wall of sowing after having executed sorting taskTo designated position, and information is sent completely to background control system by handheld terminal；And iv) control system designated robotMovement sowing wall is removed to next designated position.
The automatic radio frequency of cargo according to an embodiment of the present invention and the automatic picking method of cargo, with existing by robotCarry technology (referred to as goods to people scheme) of the loading shelf at packing on the contrary, the technical solution of the embodiment of the present invention (hereinReferred to as order is to people's scheme) it empty charging box is carry by the robot for being assigned order taking responsibility is picked to each cargo rest areaGoods completes order taking responsibility, then travels to packing area, have the advantage that
1. order is smaller to the change of original warehouse to people's scheme, original shelf can be used, effectively reduce investment；
2. commodity higher for frequency of use, goods to people's mode, which can be used, to carry out FCL, puts one's child in a boarding nursery and take inventory on original shelfGoods improves the efficiency entirely stored in a warehouse to solve the problems, such as frequent restocking；And
3. the system and goods sorting method substantially reduce picking people in such a way that Intelligent transfer robot replaces manual handlingThe labor intensity of member.
In addition, pre- picking can be used in the automatic radio frequency of cargo of order to the people's scheme of the embodiment of the present inventionMode, i.e., by the way that order information is pre-transmitted to picking personnel, picking personnel can reach cargo rest area in robot and refer toBefore positioning is set, cargo has just been picked, thus, it is possible to reduce the robot waiting time to the full extent, has greatly improved point of the systemPick efficiency.
In addition, wheeled shifting can be used in the automatic radio frequency of cargo of order to the people's scheme of the embodiment of the present inventionMoving sowing wall and robot can have and lift function automatically, can lift automatically and put down mobile sowing wall automatically, by dividingThe personnel of picking push mobile sowing wall and carry out picking and mobile sowing wall is reset to designated place after picking, then machinePeople lifts mobile sowing wall and continues to execute task, and thus, it is possible to reduce the labor intensity of sorting personnel.
Specific embodiment
In order to make those skilled in the art more fully understand the present invention, with reference to the accompanying drawings and detailed description to this hairIt is bright to be described in further detail.
The illustratively meaning of some terms involved in the embodiment of the present invention first below.
Order cargo accommodates container, for accommodating the container of order cargo, is hereinafter also simply referred to as hopper.
Wall is sowed, the shelf of container are accommodated for placing order cargo.
Mobile sowing wall, refers to moving goods rack, accommodates container for placing order cargo.
Wheel type mobile sowing wall, which refers to, has the castor of restraint device in the installation of sowing wall supporting leg bottom.Restraint device isCertain type of brake can prevent mobile sowing wall from generating unnecessary movement after starting restraint device.
Cargo sorting instruction information is that the sorting institute of the entire cargo or partial cargo in order to complete some order is requiredInformation, for example, for some order, need to sort which commodity, every kind of commodity need to pick several, commodity which is placed onWhich goods yard of a shelf, these cargos should be placed on which hopper etc..
The description of the specific embodiment of the invention is provided with reference to the accompanying drawing.
Fig. 1 shows the composition schematic diagram of the automatic radio frequency 100 of cargo according to an embodiment of the invention.Cargo is certainlyDynamic radio frequency 100 includes: transfer robot 10；Control system 20；Multiple order cargos accommodate container 30, each order cargoContainer 30 is accommodated to be configured as accommodating the corresponding cargo of one or more orders；Wherein control system 20 and transfer robot 10 intoRow wireless communication, wherein transfer robot is assigned order taking responsibility, obtains vacant order cargo receiving container, carries orderCargo accommodates container to order and correspond to each cargo rest area picking where cargo and will complete the order goods that cargo sortsObject accommodates container handling to designated place.
Control system 20 is software systems run on the server, with data storage, information processing capability, can be led toIt crosses and is wirelessly or non-wirelessly connect with robot, hardware input system, other software systems.20 execution of order task of control system is to machineThe distribution of device people transmits information to worker (for example, robot number information, order information, mobile sowing wall information, hopper letterBreath etc.), control of issuing an order etc. to robot.
Transfer robot 10 can have intelligent guidance system can when being told departure place and destination with itselfContexture by self path is to arrive at the destination.Transfer robot can be communicated with control system, receive the order of control systemDistribution order, navigation command etc..
Fig. 2 shows the composition schematic diagrams of the automatic radio frequency 200 of cargo according to the preferred embodiment of the invention.
As shown in Fig. 2, the difference of the automatic radio frequency 200 of cargo and the automatic radio frequency 100 of cargo is to further include movingDynamic sowing wall 40, each mobile sowing wall has mark, and can place one or more order cargos and accommodate container 30；AndTransfer robot 10 includes hoisting mechanism 11, has the function of to lift automatically, is lifted by automatic lift and placed described vacant orderSingle cargo accommodates the mobile sowing wall 40 of container 30 and accommodates container to carry vacant order cargo.
In another example, transfer robot does not have hoisting mechanism, at this time using mobile sowing wall,Mobile sowing wall is placed on transfer robot using manual type.
In another example, the automatic radio frequency of cargo includes the sowing wall being fixed on transfer robot；It is described to removeIt includes: to be placed on by the way that vacant order cargo is manually accommodated container that fortune robot, which obtains vacant order cargo and accommodates container,It sows on wall.
In another example, the automatic radio frequency of cargo uses manual type by order at this time not using sowing wallCargo accommodates container and is directly placed on transfer robot.
Illustrate that cargo according to an embodiment of the present invention sorts automatically below with reference to flow chart Fig. 3 and operation schematic diagram Fig. 4The course of work of system.
Fig. 3 shows the total of the automatic picking method 300 of cargo of the automatic radio frequency of cargo according to an embodiment of the present inventionBody running flow chart.
Fig. 4 shows the operative scenario of the automatic radio frequency of cargo according to an embodiment of the present invention and workflow 400 is shownIt is intended to.
As shown in figure 3, in step s310, transfer robot is accepted an order task.
Specifically, it for example, after control system receives order, according to order information, scheduling strategy and inventory information, specifiesA certain Intelligent transfer robot is responsible for executing the order taking responsibility.
According to order situation, a transfer robot can be responsible for executing an order taking responsibility or multiple order taking responsibilities.For example, if there are many cargo in an order, then a transfer robot may be merely responsible for executing an order taking responsibility；Conversely, such asEach of multiple order taking responsibilities of fruit need cargo few, then a transfer robot can be responsible for multiple order taking responsibilities.
In step s 320, transfer robot is moved into case area in preparation, obtains hopper.
In a preferable example, transfer robot does not carry hopper directly, but carries sowing wall, is especially needingIn the case where wanting multiple hoppers.In real work, such as hopper is placed on to each goods yard for sowing wall by worker, will finally broadcastKind wall is placed on transfer robot.
It is highly preferred that transfer robot has hoisting mechanism, have the function of to lift automatically, can travel will to sowing wall lower sectionEntire mobile sowing wall lifts certain height, and then is carried to designated position.
It is highly preferred that the sowing wall is mobile sowing wall, such as wheeled sowing wall.Wheeled sowing wall refers in sowing wallThe installation of supporting leg bottom has the castor of restraint device, to be highly susceptible to being pushed.Non- wheeled sowing wall refers to sowing wall supportLeg bottom directly touches the ground no castor.Fig. 5 (a) shows the schematic diagram of wheeled sowing wall, and Fig. 5 (b) shows non-wheeled broadcastThe schematic diagram of kind wall.
Hereinafter, it will be illustrated so that the direct moving object of transfer robot is mobile sowing wall as an example.
As shown in figure 4, at placed multiple rows of mobile sowing wall 410 in the D1 of case area in preparation.
Preferably, in order to complete automatic picking task, it should between control system, robot and the employee for being engaged in pickingShare following information: which robot is responsible for which order, which or which material on each order and which movement sowing wallCase is associated.
As an example, specifically information association mode can be such that firstly, at case area in preparation, it is responsible for robot standardThe employee of material-supplying box is firstly received the message from control system, and material will be received to this by being apprised of specific robotic Robot1Case, and specific order Order 1, Order 2 ... Order n is assigned；Employee selects the movement for having label W1Wall is sowed, hopper B1, B2 ... Bn have been put into the goods yard S1 of sowing wall, on S2 ..., Sn.
As a kind of example for establishing information association relationship, employee scans sowing wall label by barcode scanning gun and is placed with containerGoods yard label, from there through barcode scanning gun by sow wall label information and be placed with container goods yard label information be sent to control systemSystem, control system will have in server end binds between container goods yard and order, thereby establish mobile sowing wall label,Corresponding relationship between goods yard label and order number.For example, establishing mobile sowing wall W1, goods yard S1, between order Order 1Incidence relation；Mobile sowing wall W2, goods yard S2, incidence relation ... between order Order2, etc..
As another example, in the case where hopper also has label, employee scans sowing wall mark by barcode scanning gun at this timeLabel, goods yard label and hopper label are realized the one-to-one correspondence between goods yard label and hopper label, will be broadcast from there through barcode scanning gunKind of wall label information, hopper label and goods yard label information are sent to control system, and control system is by order number and hopper labelIt binds, thereby establishes between mobile sowing wall label, hopper label, goods yard label and order number simultaneously with goods yard label informationCorresponding relationship.For example, establishing mobile sowing wall W1, hopper B1, goods yard S1, the incidence relation between order Order 1；It movesDynamic sowing wall W2, hopper B2, goods yard S2, incidence relation ... between order Order 2, etc..
It optionally, can also be only by order number and hopper label binding, but regardless of certain in the case where hopper has labelA hopper is placed on which goods yard of sowing wall, thus between only sowing wall label, hopper label and the order number be concerned aboutCorresponding relationship.For example, establishing mobile sowing wall W1, hopper B1, the incidence relation between order Order 1；Mobile sowing wallW2, hopper B2, incidence relation ... between order Order 2, etc..
As another example, corresponding relationship is established between hopper and order based on the mode of printing papery order.?In this case, the order of printing has mark, order and container can be successively scanned by barcode scanning gun, container and order are established with thisCorresponding relationship.With papery order, in picking area, picking personnel can hold papery order and go picking, andAnd papery order is continued to stay in hopper after completing picking.In packing area, packing personnel can be based on papery order come coreIt examines goods and object and is packaged.
In addition, related label can be traditionally on paper label, such as bar code, or electronic tag, such as RF tagRFID.The label of mobile sowing wall usually uses paper labels, the RFID tags of container, and personnel can know automatically when being packaged in packaging platform, not very convenient.
In following example, it is illustrated in case where each hopper corresponds to an order.However, it is desirable to sayBright, the present invention is not limited thereto, can each order correspond to multiple hoppers；It can also be corresponded to a hopper multipleOrder, the scheme that a hopper corresponds to multiple orders are particularly suitable for the case where multiple orders are corresponding to same commodity.
Fig. 3 is returned to, in step s 320, transfer robot proceeds to order after obtaining hopper at case area in preparationPicking area (D2 in Fig. 4), in order-picking area, according to each order, the path based on planning, transfer robot is in each goodsIt is stopped at object rest area (480 in Fig. 4), to complete picking task, this is completed by the step S330-S350 in Fig. 3.
Here, the path about robot traveling can be defendant in the case where robot has independent navigation abilityAfter knowing starting point, terminal and each transit point, by robot oneself planning；It is also possible to the path that robot receives control systemTraveling order and travel.
Specifically, in step S330-S350, transfer robot is sequentially moved to each cargo rest area, start it is artificial orAutomatically picking.
According to an example, picking mode can be divided into two kinds: picking mode in advance and non-pre- pick mode.
In the case where picking mode in advance, before robot reaches some cargo rest area, it is responsible for the member of the cargo rest area pickingWork has just obtained associated order information, and starts picking in advance, so as to get out the cargo of order in advance, arrives in robotUp to when directly by cargo launch into the corresponding hopper of order.By picking in advance, transfer robot can be reduced in order-picking areaWaiting time, improve the automatic radio frequency of cargo efficiency.
It is non-it is pre- pick mode under, employee after robot reaches cargo rest area, obtain associated order information, then open againBeginning picking.
It provides separately below and pre- picks mode and the non-pre- specific example for picking mode.
A) mode is picked in advance:
In one example, background control system is when by Order splitting to a certain mobile sowing wall, while order being believedBreath sends corresponding picking personnel to；Before mobile sowing wall to designated position is carried by robot, sorting personnel can be corresponding to orderCommodity execution picks work in advance, reduces robot with this and time that sorting personnel mutually wait, raising sorting efficiency.
In one example, picking personnel can understand robot location information at present, such as robot in real timeCurrent location status and intended path is displayed in real time on the hand-held display of picking personnel, thus picking personnel's energyEnough arrange the picking progress of oneself.
B) non-pre- to pick mode:
In one example, this it is non-it is pre- pick under mode situation, mobile sowing wall is the mobile sowing wall of belt wheel.It pre- is picked non-Under mode, in order-picking area
I) the server scheduling robot of control system carries the movement and sows wall to designated place, and will mobile sowing wallIt unloads；
Ii) sorting personnel by the label (ID) of the mobile sowing wall of hand-held display device (such as barcode scanning gun) scanning (such asBar code) associated order information is obtained, then mobile sowing wall enters shelf tunnel execution sorting task in tow, and sorting personnel existIt has executed and mobile sowing wall is returned into designated place after sorting task, and information is sent completely to service by handheld terminalDevice, wherein can be as follows about the detailed process for obtaining associated order information, such as handheld device scans and obtains mobile sowingAfter wall ID, the id information and corresponding order request are sent to server, server, which receives after information, to be ordered the ID is correspondingSingle information sends the handheld device to；
Iii) server designated robot removes movement sowing wall to next designated position.
In another example, it is non-it is pre- pick mode under, transfer robot can be sequentially moved at the goods yard of shelf, soThe goods yard for picking goods yard by picking personnel afterwards is put into corresponding hopper.This can be further reduced picking personnel and remove cargoThe stroke of walking reduces labor intensity.
In another example, especially in the case where cargo to be sorted is less, sorting personnel can directly move down machineThen hopper on device people removes hopper and goes picking at the goods yard of corresponding shelf.
In order to which image is easy to understand, exemplary picking process is further illustrated below with reference to Fig. 4.
As shown in figure 4, transfer robot has driven to order after obtaining empty charging box at case area in preparation D1, along path R1Picking area D2.In order-picking area D2, there are multiple shelf areas 480, two rows of shelf are shown as in figure and are placed back to back, it is intermediateTunnel be channel, it is current for picking personnel.
As shown in figure 4, the transfer robot for being loaded with mobile sowing wall 420 is travelled in order-picking area D2 along path R2,It stops at A, picking personnel 450 have picked cargo in advance and waited and stayed at A using consolidating the load trolley 440 at this time, at this moment pickThe cargo picked can be put into corresponding hopper by goods personnel 450.As previously mentioned, why picking personnel can pick in advanceGoods is because before this, picking personnel have obtained pair between mobile sowing wall, hopper and order number from control systemAnswer information, such as control system that the corresponding informance is sent to the hand-held electricity of picking personnel by modes such as short message, wechatsWords, or be sent on the dedicated hand-held display device of picking personnel.When the cargo that will have been picked puts into hopper, picking personnel canTo be scanned by the label of the label and/or hopper of the number of observer robot and/or mobile sowing wall, or with handheld deviceCorresponding label ensures that cargo is put to obtain corresponding order information, or by checking the papery order carried inside hopperIt sets in the correct hopper that correct robot is carried.
About the specific position that transfer robot is stopped, it can be what control system was specified, such as preferably four cargosRegion, feeder connection neighbouring position etc. among rest area 480, or it is also possible to picking personnel instruction.
Picking personnel 430 are also shown in Fig. 4 push consolidating the load trolley 440 walk on the tunnel of cargo rest area and pickingScene.
After the completion of a cargo rest area picking, picking personnel can provide corresponding completion instruction, and correspondence completion refers toTransfer robot can be supplied to by showing, or be supplied to control system.In the case where being supplied to transfer robot, such as pickingPersonnel can press the completion instruction button configured in robot and complete the instruction of picking in the cargo rest area to provide,Or tangible display screen is configured in robot, the button for indicating to complete in this cargo rest area picking is being clicked above,Or in the case where robot has speech identifying function, phonetic order can be provided.
If at this point, the picking task of all be responsible for orders has not been completed, with similar, the machine of mentioned-above operationDevice people proceeds to next cargo rest area, is parked in designated position, then according to contexture by self or based on the order of control systemContinue to start picking.
If proceeding to step S340 business at this point, having been completed the picking task of all be responsible for orders.
In step S360, the mobile sowing wall that transfer robot finishes picking is transported to designated position, such as wrapsIt wraps up in and launches area D3, complete picking task at this time.
In one example, as schematically shown in Figure 4, after launching area D3 into package, transfer robot is arranged along path R3Team is to queue is packaged, and then worker 460 removes hopper, is put on transmission line 450, and transmission line send the hopper of full goods to packingPosition is packaged.
After completing to assign order sorting task, transfer robot may carry empty mobile sowing wall 470 along path R4It is back into case area in preparation D1 and completes next subtask；If without task, robot may return to waiting area wait new task orCharging zone is back to charge.
The automatic radio frequency of cargo according to an embodiment of the present invention and the automatic picking method of cargo, with existing by robotIt carries technology (referred to as goods to people scheme) of the loading shelf at packing to compare, the technical solution of the embodiment of the present invention is (hereinReferred to as order is to people's scheme) it empty charging box is carry by the robot for being assigned order taking responsibility is picked to each cargo rest areaGoods completes order taking responsibility, then travels to packing area, thus have the advantage that
1. order is smaller to the change of original warehouse to people's scheme, original shelf can be used, effectively reduce investment；
2. commodity higher for frequency of use, goods to people's mode, which can be used, to carry out FCL, puts one's child in a boarding nursery and take inventory on original shelfGoods improves the efficiency entirely stored in a warehouse to solve the problems, such as frequent restocking；
3. the system and goods sorting method substantially reduce picking people in such a way that Intelligent transfer robot replaces manual handlingThe labor intensity of member.
In addition, according to an example, in the automatic radio frequency of cargo of order to the people's scheme of the embodiment of the present invention, energyPre- picking mode is enough used, i.e., by the way that order information is pre-transmitted to picking personnel, picking personnel can reach in robotBefore the designated position of cargo rest area, cargo has just been picked, thus, it is possible to reduce the robot waiting time to the full extent, has substantially been mentionedThe sorting efficiency of the high system.
In addition, can be can have using wheel type mobile sowing wall and robot according to another example and lift function automaticallyCan, mobile sowing wall can be lifted and put down automatically automatically, push mobile sowing wall by sorting personnel and carried out picking and in pickingAfter mobile sowing wall is reset to designated place, then robot lifts mobile sowing wall and continues to execute task, thus, it is possible toThe enough labor intensity for reducing sorting personnel.
The description of front only gives some specific examples, cannot function as limitation of the invention.Those skilled in the art canTo carry out some changes, replacement, combination, sub-portfolio, addition etc. as needed.
For example, picking personnel's hand-held display, display device prompt is with quotient needed for goods order in example in frontProduct position information and corresponding hopper (and/or goods yard) information etc., where commodity position information may include hereThe number information of shelf and the more specific location information on shelf.It is but only for preferable example, alternatively, robot or shiftingOther objects on dynamic sowing wall or robot can be furnished with display device, goods yard letter where commodity needed for order shown aboveCease hopper (and/or goods yard) information of sum.It alternatively, can also be suitable for the display device for locating placement fixation in shelf area, such asRobot is placed on to park near the position of wheel type mobile sowing wall.
In example in front, transfer robot, which is mainly executed, acts the carrying of mobile sowing wall between each area,And it is not carried out the operation specifically picked up cargo from shelf and be put into hopper, these operations are by being accomplished manually.But,It as needed, can also be with if there is transfer robot more accurately visual capacity and fine picking up to put down Motor abilityThese specific picking operations are carried out by transfer robot itself；Alternatively, it is alternatively possible to being carried out by another picking robotThese operations for picking up cargo from shelf, being moved to transfer robot, being put into corresponding hopper.
In example in front, mobile sowing wall (shelf easy to remove) is used, hopper is placed in mobile sowing wallOn, mobile sowing wall is then placed in the form on transfer robot.It is but only for example, it as needed can also be straightIt connects and hopper is placed on transfer robot, such as in the case where hopper itself is huger, it can also be with a conveying robotPeople only carries a hopper.
Various embodiments of the present invention are described above, above description is exemplary, and non-exclusive, andIt is not limited to disclosed each embodiment.Without departing from the scope and spirit of illustrated each embodiment, for this skillMany modifications and changes are obvious for the those of ordinary skill in art field.Therefore, protection scope of the present invention is answeredThis is subject to the protection scope in claims.