A picking system, method and apparatus

Abstract

This application discloses a picking system, method, and equipment. The picking system provided in this specification has a robotic arm installed on the workbench. The robotic arm can automatically pick goods from the inventory containers transported by the first handling equipment according to the instructions of the control center. The entire picking process does not require human intervention, reducing labor costs. In addition, the workbench where the robotic arm is located in this specification includes at least two loading positions, which also provides the conditions for the robotic arm to pick between the two loading positions, reducing the idle time of the robotic arm and effectively improving picking efficiency.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a picking system, method and apparatus. Background Technology

[0002] In warehouse goods-to-person picking automation solutions, self-driven mobile devices such as Automated Guided Vehicles (AGVs) are often used.

[0003] Specifically, in existing technology, AGVs first transport the inventory containers from the warehouse to the workbench, then the staff at the workbench pick out the target goods from the inventory containers, and finally sort the picked target goods to the seeding wall.

[0004] It is evident that the picking process in existing technologies still requires human intervention, resulting in low picking efficiency. Summary of the Invention

[0005] This specification provides a picking system, method, and apparatus to at least partially solve the problems in the prior art.

[0006] The embodiments in this specification adopt the following technical solutions:

[0007] This specification provides a picking system, the system comprising: a control center, a robotic arm located at a workbench, and at least two first handling devices;

[0008] The workbench includes at least two loading positions;

[0009] The control center is used to send handling instructions to the first handling equipment and picking instructions to the robotic arm based on the inventory container where the goods to be picked are located and the target loading position.

[0010] The first handling device is used to move the inventory container containing the goods to be picked to the target loading position according to the received handling instruction;

[0011] If the first handling equipment travels to the target loading position, the robotic arm is used to pick the goods to be picked from the inventory container according to the received picking instruction.

[0012] Optionally, the control center is specifically used to determine whether there is a target loading position on the workbench. If there is, it sends a handling instruction to the first handling equipment and a picking instruction to the robotic arm based on the inventory container where the goods to be picked are located and the target loading position.

[0013] Optionally, the system further includes at least two second handling devices;

[0014] The workbench also includes at least two unloading positions;

[0015] The control center is also used to send a sorting instruction to the second handling device based on the goods to be picked and the target unloading position before sending a handling instruction to the first handling device and a picking instruction to the robotic arm.

[0016] The second handling device is used to travel to the target unloading position according to the received sorting instruction, and wait for the robotic arm to pick the goods to be picked into the carrier of the second handling device; if the robotic arm picks the goods to be picked into the carrier of the second handling device, then the goods to be picked are sorted.

[0017] The robotic arm is specifically used to grab the goods to be picked from the inventory container according to the received picking instructions, and place the goods to be picked into the carrier of the second handling equipment.

[0018] Optionally, the control center is specifically used to determine whether there is a target unloading position on the workbench. If there is, it sends a sorting instruction to the second handling equipment based on the goods to be picked and the target unloading position.

[0019] Optionally, the control center is specifically used to establish a correspondence between the order identifier and the second handling equipment based on the order identifier of the order corresponding to the goods to be picked, and send a sorting instruction to the second handling equipment containing the correspondence and the unloading position identifier of the target unloading position;

[0020] The second handling device is specifically used to travel to the unloading position corresponding to the unloading position identifier according to the unloading position identifier contained in the sorting instruction. If the robotic arm picks the goods to be picked into the carrier of the second handling device, the delivery address of the order corresponding to the goods to be picked is determined according to the correspondence contained in the sorting instruction, and the goods to be picked are sorted according to the delivery address.

[0021] Optionally, the control center is specifically used to select goods of the specified goods type from the goods to be picked according to a preset specified goods type, and send a handling instruction to the first handling equipment and a picking instruction to the robotic arm according to the inventory container where the selected goods to be picked are located and the target loading position; wherein, the specified goods type is a preset goods type suitable for picking by the robotic arm.

[0022] This specification provides a picking method in which a robotic arm is positioned on a worktable, the worktable including at least two loading positions; the method includes:

[0023] The control center sends a handling instruction to the first handling equipment and a picking instruction to the robotic arm based on the inventory container where the goods to be picked are located and the target loading position.

[0024] The first handling equipment moves the inventory container containing the goods to be picked to the target loading position according to the received handling instruction;

[0025] If the first handling equipment travels to the target loading position, the robotic arm picks the goods to be picked from the inventory container according to the received picking instruction.

[0026] Optionally, the control center sends a handling instruction to the first handling equipment and a picking instruction to the robotic arm based on the inventory container where the goods to be picked are located and the target loading position, specifically including:

[0027] The control center determines whether the workbench has a target loading position;

[0028] If present, a handling instruction is sent to the first handling equipment and a picking instruction is sent to the robotic arm based on the inventory container where the goods to be picked are located and the target loading position.

[0029] Optionally, the worktable further includes at least two unloading positions;

[0030] Before the control center sends a handling instruction to the first handling device and a picking instruction to the robotic arm, the method further includes:

[0031] The control center sends sorting instructions to the second handling equipment based on the goods to be picked and the target unloading position;

[0032] The second handling equipment travels to the target unloading position according to the received sorting instruction, and waits for the robotic arm to pick the goods to be picked into the carrier of the second handling equipment;

[0033] The robotic arm picks the goods to be picked from the inventory container according to the received picking instructions, specifically including:

[0034] The robotic arm grabs the goods to be picked from the inventory container according to the received picking instructions and places the goods to be picked into the carrier of the second handling equipment;

[0035] The method further includes:

[0036] If the robotic arm picks the goods to be picked into the carrier of the second handling equipment, the second handling equipment sorts the goods to be picked.

[0037] Optionally, the control center sends sorting instructions to the second handling equipment based on the goods to be picked and the target unloading position, specifically including:

[0038] The control center is specifically used to determine whether the workbench has a target unloading position;

[0039] If present, a sorting instruction is sent to the second handling equipment based on the goods to be picked and the target unloading location.

[0040] Optionally, the control center sends sorting instructions to the second handling equipment based on the goods to be picked and the target unloading position, specifically including:

[0041] The control center establishes a correspondence between the order identifier and the second handling equipment based on the order identifier of the order corresponding to the goods to be picked;

[0042] Send a sorting instruction to the second conveying device, which includes the correspondence and the unloading position identifier of the target unloading position;

[0043] The second handling equipment travels to the target unloading position according to the received sorting instruction, specifically including:

[0044] The second handling equipment travels to the unloading position corresponding to the unloading position identifier according to the unloading position identifier contained in the sorting instruction;

[0045] The second handling equipment sorts the goods to be picked, specifically including:

[0046] The second handling equipment determines the delivery address of the order corresponding to the goods to be picked based on the correspondence contained in the sorting instruction;

[0047] The goods to be picked are sorted according to the delivery address.

[0048] Optionally, the control center sends a handling instruction to the first handling equipment and a picking instruction to the robotic arm based on the inventory container where the goods to be picked are located and the target loading position, specifically including:

[0049] The control center selects goods of a specified type from the goods to be picked according to a preset specified goods type; wherein, the specified goods type is a preset goods type suitable for the robotic arm to pick.

[0050] Based on the selected inventory container containing the goods to be picked and the target loading position, a handling instruction is sent to the first handling equipment, and a picking instruction is sent to the robotic arm.

[0051] This specification provides a robotic arm located on a workbench for picking goods to be picked; the workbench includes at least two loading positions;

[0052] The robotic arm includes: a controller, a robotic arm body, and a gripping mechanism located on the robotic arm body;

[0053] The controller is used to receive picking instructions sent by the control center. The picking instructions are sent by the control center to the robotic arm based on the inventory container where the goods to be picked are located and the target loading position. When the first handling device moves the inventory container where the goods to be picked are located to the target loading position, it sends a control signal to the robotic arm body according to the picking instructions.

[0054] The robotic arm body is used to move according to the received control signal. When it moves toward the first handling device, it triggers the gripping mechanism to pick the goods to be picked from the inventory container.

[0055] Optionally, the worktable further includes at least two unloading positions;

[0056] The gripping mechanism is specifically used to, when the robotic arm moves toward the first handling device under the drive of the robotic arm body, grab the goods to be picked from the inventory container based on the trigger of the robotic arm body, and when the robotic arm moves toward the second handling device located at the target unloading position under the drive of the robotic arm body, place the goods to be picked in the carrier of the second handling device based on the trigger of the robotic arm body.

[0057] The above-described at least one technical solution adopted in the embodiments of this specification can achieve the following beneficial effects:

[0058] The picking system provided in this manual features a robotic arm on the workbench. The robotic arm can automatically pick goods from the inventory containers transported by the first handling equipment according to the instructions of the control center. The entire picking process does not require human intervention, reducing labor costs. Furthermore, the workbench where the robotic arm is located in this manual includes at least two loading positions, which provides the conditions for the robotic arm to alternate between the two loading positions for picking, reducing the idle time of the robotic arm and effectively improving picking efficiency. Attached Figure Description

[0059] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0060] Figure 1 A schematic diagram of the picking system provided in the embodiments of this specification;

[0061] Figure 2 This is a schematic diagram of the robotic arm structure provided for an embodiment of this specification. Detailed Implementation

[0062] To make the objectives, technical solutions, and advantages of this specification clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments in this specification without creative effort are within the scope of protection of this application.

[0063] The technical solutions provided by the various embodiments of this application are described in detail below with reference to the accompanying drawings.

[0064] In the embodiments described in this specification, a robotic arm replaces the picking personnel at the original workbench, and to minimize the idle time of the robotic arm, at least two loading positions are provided at the workbench, such as... Figure 1 As shown.

[0065] Figure 1 This is a schematic diagram of the picking system provided in the embodiments of this specification. Figure 1 The system shown includes a control center 101, a robotic arm 103 located on a workbench 102, and at least two first handling devices 104. The control center 101 can communicate with the robotic arm 103 and the first handling devices 104 via wired or wireless means. Figure 1 (Taking wireless communication as an example only) it is used to send corresponding instructions to the robotic arm 103 and the first handling device 104.

[0066] The workbench 102 includes at least two loading positions 1021.

[0067] The control center 101 is used to send a handling instruction to the first handling equipment 104 and a picking instruction to the robotic arm 103 based on the inventory container where the goods to be picked are located and the target loading position 1021. Specifically, the target loading position 1021 mentioned in the embodiments of this specification may include the currently idle loading position.

[0068] The first handling device 104 is used to move the inventory container containing the goods to be picked to the target loading position 1021 according to the received handling instructions;

[0069] If the first handling equipment 104 travels to the target loading position 1021, the robotic arm 103 is used to pick the goods to be picked from the inventory container according to the received picking instructions.

[0070] Specifically, the inventory containers described in the embodiments of this specification include, but are not limited to, shelves. The control center 101 can store the correspondence between the item identifiers of each item and the inventory containers where each item is located. When picking items to be picked, the control center 101 first determines the inventory container corresponding to the item identifier of the item to be picked based on the above correspondence, and then determines whether the workbench 102 currently has a target loading position 1021. If it does, it sends a handling instruction to the first handling equipment 104 and a picking instruction to the robotic arm 103 based on the inventory container where the item to be picked is located and the target loading position 1021. The handling instruction sent by the control center 101 to the first handling equipment 104 may include the bracket identifier of the inventory container where the item to be picked is located and the loading position identifier of the target loading position 1021, so that the first handling equipment 104 can navigate to the inventory container based on the bracket identifier and move the inventory container to the loading position 1021 corresponding to the loading position identifier.

[0071] Furthermore, a QR code can be pre-set at each loading position 1021. The information corresponding to the QR code includes at least the loading position identifier corresponding to the loading position 1021. The bottom of the first conveying device 104 includes an image acquisition device for collecting QR codes. If the QR code information collected by the first conveying device 104 contains the loading position identifier corresponding to the loading position 1021, the device identifier of the first conveying device 104 and the collected loading position identifier can be sent to the control center 101, so that the control center can determine that the first conveying device 104 corresponding to the device identifier is located at the loading position 1021 corresponding to the loading position identifier, and thus determine that the loading position 1021 corresponding to the loading position identifier is in a non-idle state. Conversely, if the control center 101 does not receive the loading position identifier corresponding to the loading position 1021 sent by the first conveying device 104 for a certain loading position 1021, then the loading position 1021 can be determined as the target loading position.

[0072] Of course, in addition to the above method for determining whether the loading position 1021 is idle, an image acquisition device can be installed on the robotic arm 103 to collect images of the loading position 1021. The robotic arm 103 can then determine whether the first handling device 104 exists at the current loading position 1021 by collecting the images. If it exists, the loading position 1021 is determined to be in a non-idle state; if it does not exist, the loading position 1021 is determined to be in an idle state. The robotic arm 103 can report the current status of each loading position 1021 to the control center 101 in real time. Of course, if there is no idle loading position, any loading position can be designated as the target loading position. When the target loading position becomes idle, a handling instruction is sent to the first handling device, and a picking instruction is sent to the robotic arm.

[0073] In this embodiment of the specification, the picking instruction sent by the control center 101 to the robotic arm 103 may carry the identifier of the goods to be picked and the loading position identifier corresponding to the target loading position 1021, so that the robotic arm knows to pick the goods to be picked at the loading position 1021 corresponding to the loading position identifier.

[0074] The robotic arm 103 can store a picking instruction queue. The robotic arm 103 can add each picking instruction to the picking instruction queue in the order they are received, and then perform picking according to the order of the picking instructions in the queue. Because... Figure 1 The workbench shown includes at least two loading positions 1021. Whenever a target loading position 1021 exists, the control center 101 sends a handling instruction to the first handling equipment 104 and a picking instruction to the robotic arm 103. Therefore, the robotic arm 103 will alternate between the at least two loading positions 1021 for picking, effectively reducing idle time and improving picking efficiency. However, if there is only one loading position 1021, the robotic arm 103 must wait for the first handling equipment 104 to move the inventory container to the loading position 1021 again before it can pick again. This waiting period is the idle time of the robotic arm 103, and the picking efficiency is obviously lower than in this case.

[0075] Furthermore, the number of loading positions 1021 at the workbench 102 can be set based on the time required for the robotic arm 103 to complete a picking task and the time required for the first handling device 104 to complete a handling task. Specifically, the quotient of the time required for the first handling device 104 to complete a handling task and the time required for the robotic arm 103 to complete a picking task is determined, and the rounded-up value of the quotient is determined as the number of loading positions 1021 to be set at the workbench.

[0076] In addition, after picking the goods using the methods described above, the goods can be further sorted. Specifically, such as... Figure 1 The system shown may also include at least two second handling devices 105, and the workbench 102 may also include at least two unloading positions 1022.

[0077] The control center 101 is also used to send a sorting instruction to the second handling device 105 based on the goods to be picked and the target unloading position 1022 before sending a handling instruction to the first handling device 104 and a picking instruction to the robotic arm 103; specifically, the target unloading position 1022 mentioned in the embodiments of this specification may include the currently idle target unloading position;

[0078] The second handling device 105 is used to travel to the target unloading position 1022 according to the received sorting instruction, and wait for the robotic arm 103 to pick the goods to be picked into the carrier of the second handling device 105; if the robotic arm 103 picks the goods to be picked into the carrier of the second handling device 105, then the goods to be picked are sorted.

[0079] The robotic arm 103 is specifically used to grab the goods to be picked from the inventory container according to the received picking instructions, and place the goods to be picked into the carrier of the second handling equipment 105.

[0080] The carrier of the second handling equipment 105 includes, but is not limited to, sorting containers. The carrier and the second handling equipment 105 may be separable or inseparable.

[0081] As can be seen from the above process, the entire processing procedure for the goods to be picked in this specification is as follows: First, the first handling device 104 transports the inventory container containing the goods to be picked to the loading position 1021 of the workbench 102. Then, the robotic arm 103 picks the goods to be picked from the inventory container to complete the picking process. Next, the robotic arm 103 places the picked goods to be picked into the carrier of the second handling device 105 waiting at the unloading position 1022. Finally, the second handling device 105 sorts the goods to be picked to complete the sorting process.

[0082] Similar to the picking process, when the control center 101 sends a sorting instruction to the second handling equipment, it can first determine whether the workbench 102 has a target unloading position 1022. If it does, it sends a sorting instruction to the second handling equipment 105 based on the goods to be picked and the target unloading position 1022. This sorting instruction can carry the goods identification of the goods to be picked and the unloading position identification corresponding to the target unloading position 1022, so that the second handling equipment 105 knows which unloading position is waiting to sort which goods.

[0083] In the sorting process described above, the method by which the control center 101 determines which unloading position 1022 of the workbench 102 is idle is the same as the method by which the control center 101 determines which loading position 1021 is idle during the picking process, and will not be elaborated here. Of course, if there is no idle unloading position, any unloading position can be designated as the target loading position, and a sorting instruction can be sent to the second conveying equipment when the target unloading position becomes idle.

[0084] Furthermore, since the second handling equipment 105 typically needs to pick goods according to the corresponding orders when sorting them, in this embodiment of the specification, when the control center 101 sends a sorting instruction to the second handling equipment 105, it can specifically establish a correspondence between the order identifier and the second handling equipment 105 based on the order identifier of the order corresponding to the goods to be picked, and send a sorting instruction to the second handling equipment 105 containing the correspondence between the order identifier and the second handling equipment 105 and the unloading position identifier of the target unloading position 1022, so that the second handling equipment 105 knows which unloading position 1022 it is waiting for the robotic arm 103 to pick the goods, and which order the goods to be sorted belong to.

[0085] Correspondingly, the second handling equipment 105 can travel to the unloading position 1022 corresponding to the unloading position identifier in the sorting instruction. If the robotic arm 103 picks the goods to be picked into the carrier of the second handling equipment 105, the delivery address of the order corresponding to the goods to be picked is determined according to the correspondence contained in the sorting instruction, and the goods to be picked are sorted according to the delivery address.

[0086] In this embodiment, a robotic arm 103 is used to replace manual picking. However, in actual applications, not all goods are suitable for picking by the robotic arm 103. Therefore, the control center 101 can preset the types of goods suitable for picking by the robotic arm 103 as designated goods types. When the control center 101 sends a handling instruction to the first handling device 104, it can select the designated goods type from the goods to be picked according to the preset instruction goods type, and send a handling instruction to the first handling device 104 and a picking instruction to the robotic arm 103 according to the inventory container where the selected goods to be picked are located and the target loading position 1021.

[0087] Based on the above system, this specification also provides a robotic arm located on a workbench for picking goods to be picked. The workbench includes at least two loading positions. The robotic arm, as described above... Figure 2 As shown. Figure 2 The robotic arm shown includes a controller ( Figure 2 (Not shown in the image), robotic arm body 1031 and gripping mechanism 1032 located on robotic arm body 1031. For example... Figure 2 The entire robotic arm shown can be mounted on a fixed platform 200.

[0088] The controller is used to receive picking instructions sent by the control center. The picking instructions are sent by the control center to the robotic arm based on the inventory container where the goods to be picked are located and the target loading position. When the first handling equipment moves the inventory container where the goods to be picked are located to the target loading position, it sends a control signal to the robotic arm body 1031 according to the picking instructions.

[0089] The robotic arm body 1031 is used to move according to the received control signal. When it moves toward the first handling device, it triggers the gripping mechanism 1032 to pick up the goods to be picked from the inventory container.

[0090] When the workbench also includes at least two unloading positions, the gripping mechanism 1032 is specifically used to, when moving toward the first handling device driven by the robotic arm body 1031, grab the goods to be picked from the inventory container based on the trigger of the robotic arm body 1031, and when moving toward the second handling device located at the target unloading position driven by the robotic arm body 1031, place the goods to be picked into the carrier of the second handling device based on the trigger of the robotic arm body 1031.

[0091] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0092] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A picking system, characterized in that, The system includes: a control center, a robotic arm located on the workbench, at least two first handling devices, and at least two second handling devices; The workbench includes at least two loading positions and at least two unloading positions; The control center, when a target loading position exists on the workbench, sends a handling instruction to the first handling device and a picking instruction to the robotic arm based on the inventory container containing the goods to be picked and the target loading position. The goods to be picked are determined according to a preset designated goods type in the control center, which is a type of goods suitable for picking by the robotic arm. The target loading position is determined based on the status of at least two loading positions on the workbench. Each loading position has a QR code, and the information corresponding to the QR code includes at least the loading position identifier. The bottom of the first handling device includes an image collector for collecting QR codes. If the QR code information collected by the first handling device contains a loading position identifier corresponding to the loading position, the device identifier of the first handling device and the collected loading position identifier are sent to the control center. The control center determines that the first handling device corresponding to the device identifier is located at the loading position corresponding to the loading position identifier, and determines that the loading position corresponding to the loading position identifier is in a non-idle state. If the control center does not receive the loading position identifier corresponding to the loading position sent by the first handling device, it determines that the loading position is the target loading position. The first handling device is used to navigate to the corresponding position of the storage container based on the bracket identifier of the storage container where the goods to be picked are located, and to obtain the storage container where the goods to be picked are located, based on the support identifier of the storage container where the goods to be picked are located, and to transport the storage container where the goods to be picked are located to the target loading position based on the loading position identifier, according to the received handling instruction, the handling instruction carrying the bracket identifier of the storage container where the goods to be picked are located, and the loading position identifier of the storage container where the goods to be picked are located. When the first handling equipment travels to the target loading position, the robotic arm is used to pick the goods to be picked from the inventory container according to the received picking instruction; The number of loading positions is set based on the time required for the first handling equipment to complete a handling task and the time required for the robotic arm to complete a picking task. Specifically, the quotient of the time required for the first handling equipment to complete a handling task and the time required for the robotic arm to complete a picking task is determined, and the rounded-up value of the quotient is determined as the number of loading positions. The control center is used to send a sorting instruction to the second handling device based on the goods to be picked and the target unloading position before sending a handling instruction to the first handling device and a picking instruction to the robotic arm. When sending the sorting instruction to the second handling device, it first determines whether the workbench has a target unloading position. The target unloading position is determined based on the status of at least two unloading positions on the workbench. The method for determining whether the unloading position on the workbench is idle is the same as the method for the control center to determine whether the loading position is idle.

2. The system as described in claim 1, characterized in that, The control center is specifically used to determine whether there is a target loading position on the workbench. If there is, it sends a handling instruction to the first handling equipment and a picking instruction to the robotic arm based on the inventory container where the goods to be picked are located and the target loading position.

3. The system as described in claim 1, characterized in that, The second handling device is used to travel to the target unloading position according to the received sorting instruction, and wait for the robotic arm to pick the goods to be picked into the carrier of the second handling device; if the robotic arm picks the goods to be picked into the carrier of the second handling device, then the goods to be picked are sorted. The robotic arm is specifically used to grab the goods to be picked from the inventory container according to the received picking instructions, and place the goods to be picked into the carrier of the second handling equipment.

4. The system as described in claim 3, characterized in that, The control center is specifically used to determine whether there is a target unloading position on the workbench. If there is, it sends a sorting instruction to the second handling equipment based on the goods to be picked and the target unloading position.

5. The system as described in claim 3, characterized in that, The control center is specifically used to establish a correspondence between the order identifier and the second handling equipment based on the order identifier of the order corresponding to the goods to be picked, and to send a sorting instruction to the second handling equipment that includes the correspondence and the unloading position identifier of the target unloading position; The second handling device is specifically used to travel to the unloading position corresponding to the unloading position identifier according to the unloading position identifier contained in the sorting instruction. If the robotic arm picks the goods to be picked into the carrier of the second handling device, the delivery address of the order corresponding to the goods to be picked is determined according to the correspondence contained in the sorting instruction, and the goods to be picked are sorted according to the delivery address.

6. The system as described in claim 1, characterized in that, The control center is specifically used to select goods of the specified goods type from the goods to be picked according to a preset specified goods type, and send a handling instruction to the first handling equipment and a picking instruction to the robotic arm according to the inventory container where the selected goods to be picked are located and the target loading position; wherein, the specified goods type is a preset goods type suitable for picking by the robotic arm.

7. A picking method, characterized in that, The robotic arm is located on a worktable, the worktable including at least two loading positions and at least two unloading positions; the method includes: When a target loading position exists on the workbench, the control center sends a handling instruction to the first handling device and a picking instruction to the robotic arm based on the inventory container containing the goods to be picked and the target loading position. The goods to be picked are determined according to a preset designated goods type in the control center, which is a type of goods suitable for picking by the robotic arm. The target loading position is determined based on the status of at least two loading positions on the workbench. Each loading position has a QR code, and the information corresponding to the QR code includes at least the loading position identifier. The bottom of the handling equipment includes an image collector for collecting QR codes. If the QR code information collected by the first handling equipment contains a loading position identifier corresponding to the loading position, the equipment identifier of the first handling equipment and the collected loading position identifier are sent to the control center. The control center determines that the first handling equipment corresponding to the equipment identifier is located at the loading position corresponding to the loading position identifier, and determines that the loading position corresponding to the loading position identifier is in a non-idle state. If the control center does not receive the loading position identifier corresponding to the loading position sent by the first handling equipment, it determines that the loading position is the target loading position. The first handling device, according to the received handling instruction, which carries the bracket identifier of the storage container where the goods to be picked are located and the loading position identifier of the target loading position, navigates to the corresponding position of the storage container based on the bracket identifier of the storage container where the goods to be picked are located to obtain the storage container where the goods to be picked are located, and moves the storage container where the goods to be picked are located to the target loading position based on the loading position identifier. When the first handling equipment travels to the target loading position, the robotic arm picks the goods to be picked from the inventory container according to the received picking instruction; The number of loading positions is set based on the time required for the first handling equipment to complete a handling task and the time required for the robotic arm to complete a picking task. Specifically, the quotient of the time required for the first handling equipment to complete a handling task and the time required for the robotic arm to complete a picking task is determined, and the rounded-up value of the quotient is determined as the number of loading positions. Before sending a handling instruction to the first handling device and a picking instruction to the robotic arm, the control center sends a sorting instruction to the second handling device based on the goods to be picked and the target unloading position. When sending the sorting instruction to the second handling device, it first determines whether the workbench has a target unloading position. The target unloading position is determined based on the status of at least two unloading positions on the workbench. The method for determining whether the unloading position on the workbench is idle is the same as the method for the control center to determine whether the loading position is idle.

8. The method as described in claim 7, characterized in that, The control center sends handling instructions to the first handling equipment and picking instructions to the robotic arm based on the inventory container where the goods to be picked are located and the target loading position. Specifically, this includes: The control center determines whether the workbench has a target loading position; If present, a handling instruction is sent to the first handling equipment and a picking instruction is sent to the robotic arm based on the inventory container where the goods to be picked are located and the target loading position.

9. The method as described in claim 7, characterized in that, The method further includes: The second handling equipment travels to the target unloading position according to the received sorting instruction, and waits for the robotic arm to pick the goods to be picked into the carrier of the second handling equipment; The robotic arm picks the goods to be picked from the inventory container according to the received picking instructions, specifically including: The robotic arm grabs the goods to be picked from the inventory container according to the received picking instructions and places the goods to be picked into the carrier of the second handling equipment; The method further includes: If the robotic arm picks the goods to be picked into the carrier of the second handling equipment, the second handling equipment sorts the goods to be picked.

10. The method as described in claim 9, characterized in that, The control center sends sorting instructions to the second handling equipment based on the goods to be picked and the target unloading position, specifically including: The control center is specifically used to determine whether the workbench has a target unloading position; If present, a sorting instruction is sent to the second handling equipment based on the goods to be picked and the target unloading location.

11. The method as described in claim 9, characterized in that, The control center sends sorting instructions to the second handling equipment based on the goods to be picked and the target unloading position, specifically including: The control center establishes a correspondence between the order identifier and the second handling equipment based on the order identifier of the order corresponding to the goods to be picked; Send a sorting instruction to the second conveying device, which includes the correspondence and the unloading position identifier of the target unloading position; The second handling equipment travels to the target unloading position according to the received sorting instruction, specifically including: The second handling equipment travels to the unloading position corresponding to the unloading position identifier according to the unloading position identifier contained in the sorting instruction; The second handling equipment sorts the goods to be picked, specifically including: The second handling equipment determines the delivery address of the order corresponding to the goods to be picked based on the correspondence contained in the sorting instruction; The goods to be picked are sorted according to the delivery address.

12. The method as described in claim 7, characterized in that, The control center sends handling instructions to the first handling equipment and picking instructions to the robotic arm based on the inventory container where the goods to be picked are located and the target loading position. Specifically, this includes: The control center selects goods of a specified type from the goods to be picked according to a preset specified goods type; wherein, the specified goods type is a preset goods type suitable for the robotic arm to pick. Based on the selected inventory container containing the goods to be picked and the target loading position, a handling instruction is sent to the first handling equipment, and a picking instruction is sent to the robotic arm.

13. A robotic arm, characterized in that, The robotic arm is located on the workbench and is used to pick goods to be picked; the workbench includes at least two loading positions and at least two unloading positions. The robotic arm includes: a controller, a robotic arm body, and a gripping mechanism located on the robotic arm body; The controller receives picking instructions from the control center. These instructions are sent by the control center to the robotic arm based on the inventory container containing the goods to be picked and the target loading position, provided a target loading position exists on the workbench. When the first handling device receives the handling instructions, which include a bracket identifier corresponding to the inventory container containing the goods to be picked and a loading position identifier for the target loading position, and navigates to the corresponding location of the inventory container based on the bracket identifier to retrieve the inventory container containing the goods to be picked, and then moves the inventory container to the target loading position based on the loading position identifier, a control signal is sent to the robotic arm body according to the picking instructions. The goods to be picked are determined according to a preset designated goods type in the control center. The type of goods is the type of goods suitable for the robotic arm to pick. The target loading position is determined based on the status of at least two loading positions on the workbench. Each loading position is equipped with a QR code. The information corresponding to the QR code includes at least the loading position identifier corresponding to the loading position. The bottom of the first handling device includes an image collector for collecting QR codes. If the QR code information collected by the first handling device includes the loading position identifier corresponding to the loading position, the device identifier of the first handling device and the collected loading position identifier are sent to the control center. The control center determines that the first handling device corresponding to the device identifier is located at the loading position corresponding to the loading position identifier and determines that the loading position corresponding to the loading position identifier is in a non-idle state. If the control center does not receive the loading position identifier corresponding to the loading position sent by the first handling device, the loading position is determined to be the target loading position. The robotic arm body is used to move according to the received control signal. When it moves toward the first handling device, it triggers the gripping mechanism to pick the goods to be picked from the inventory container. The number of loading positions is set based on the time required for the first handling equipment to complete a handling task and the time required for the robotic arm to complete a picking task. Specifically, the quotient of the time required for the first handling equipment to complete a handling task and the time required for the robotic arm to complete a picking task is determined, and the rounded-up value of the quotient is determined as the number of loading positions. The control center is used to send a sorting instruction to the second handling device based on the goods to be picked and the target unloading position before sending a handling instruction to the first handling device and a picking instruction to the robotic arm. When sending the sorting instruction to the second handling device, it first determines whether the workbench has a target unloading position. The target unloading position is determined based on the status of at least two unloading positions on the workbench. The method for determining whether the unloading position on the workbench is idle is the same as the method for the control center to determine whether the loading position is idle.

14. The robotic arm as described in claim 13, characterized in that, The gripping mechanism is specifically used to, when the robotic arm moves toward the first handling device under the drive of the robotic arm body, grab the goods to be picked from the inventory container based on the trigger of the robotic arm body, and when the robotic arm moves toward the second handling device located at the target unloading position under the drive of the robotic arm body, place the goods to be picked in the carrier of the second handling device based on the trigger of the robotic arm body.

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