Sorting structure with intermediate reservoirs between pick-up robots

Abstract

The invention relates to a sorting arrangement (100) comprising at least one first picking robot (102) for transferring articles (104) to be sorted from at least one source container (106) to an intermediate store (108) for temporarily placing the articles (104) to be sorted, and at least one second picking robot (110) for transferring the articles (104) to be sorted from the intermediate store (108) to at least one target container (112), the target container (112) may receive at least one item (104) to be sorted.

Description

Technical Field

[0001] The invention relates to a sorting structure and a sorting method. Background Art

[0002] In traditional item sorting, such as in a logistics center for an online retailer, a picker removes items from a source container and transfers the items to a destination container.

[0003] Online retailers pack goods from warehouses in cartons and ship them to customers. For this purpose, the goods stored in boxes are supplied from storage locations in the warehouse to workers or robots, who take the desired quantity of goods from the boxes and place them in shipping boxes, which are sent to the customers. The robots used for this purpose usually use manipulators to grab the goods from the boxes, which grab the goods directly from the source container and place them in the target container, i.e. the shipping box.

[0004] Traditionally, sorting items is a time-consuming task. Summary of the invention

[0005] An object of the present invention is to provide an efficient sorting system.

[0006] This object is achieved by the subject matter having the features according to the independent claim. Further embodiments are presented in the dependent claims.

[0007] According to an embodiment of the present invention, a sorting structure is proposed, which includes at least one first picking robot for transferring items to be sorted from at least one source container to an intermediate storage device, which is used to temporarily store the items to be sorted; at least one second picking robot for transferring items to be sorted from the intermediate storage device to at least one target container, which can accommodate at least one item to be sorted.

[0008] According to another embodiment of the present invention, a sorting method is proposed, which includes: transferring the items to be sorted from at least one source container to an intermediate storage device for temporarily storing the items to be sorted by means of at least one first picking robot; and then transferring the items to be sorted from the intermediate storage device to at least one target container by means of at least one second picking robot, which target container receives at least one item to be sorted.

[0009] In the context of the present application, the term “sorting arrangement” is understood to mean, in particular, a system for loading target containers with objects from source containers.

[0010] In the context of the present application, the term "article" is understood in particular to mean a physical body that can be grasped or otherwise manipulated, such as a cargo element. Examples of such cargo elements are in particular technical articles or parts, such as tool parts (e.g. hammers, screwdrivers, etc.) or consumable parts (e.g. screws, nails, pins, etc.). Other examples of articles or cargo elements to be sorted are suitcase contents, machine parts, handheld machines (e.g. cordless drills), tool inserts, cans, bottles, cartridges, tubes and / or drawer contents.

[0011] In the context of this application, the term "container" is understood in particular to mean a receiving device on which and / or in which conventional objects, such as goods elements, are received in a receiving space. Examples of such containers are plastic containers or cartons.

[0012] In the context of the present application, the term "source container" is understood in particular to mean a container which contains one or more objects, at least one of which is to be transferred to a corresponding target container. For example, the multiple objects in the source container can be identical objects, for example identical cargo elements. For example, the source container can be a cargo box consisting of cargo storage containers. A large number of objects, for example at least ten or at least one hundred, can be contained in the source container.

[0013] In the context of the present application, the term "target container" is understood in particular to mean a container to be filled with one or more articles. In particular, the articles transferred into the target container may be different articles, for example different goods elements. The target container may be, for example, a carton which is shipped to a customer after being filled with the ordered articles or goods elements. A plurality of articles may be contained in the target container, for example at least ten or at least one hundred.

[0014] Within the scope of the present application, the term "picking robot" is understood in particular to be a technical device that can grab, manipulate or otherwise manipulate items to be sorted. A picking robot can be, for example, a robot, a cobot or a robotic arm, and the picking robot can be configured with a manipulator for manipulating or manipulating items. For example, such a manipulator of the picking robot can be used to pick up items to be sorted. In other words, the items to be sorted can be grabbed, for example, by the manipulator of the picking robot. The picking robot can be configured for robotic picking sorting. Robotic picking can refer to a sorting technology for providing items in a warehouse using automation technology. Instead of a worker, the picking robot takes on some or all of the work when picking up items.

[0015] Within the scope of the present application, the term "intermediate storage device" is understood in particular to be a holding device for temporarily storing items to be sorted before the corresponding items are taken out of the source container by a first picking robot on the source container side and before the items are transferred by a second picking robot on the target container side. Therefore, the intermediate storage device can be designed as a buffer device for temporarily storing sorted items. Therefore, the intermediate storage device can be located between at least one first picking robot and at least one second picking robot and within the range of action of the first picking robot and the second picking robot. The intermediate storage device can be constructed purely passively (that is, it only provides a static temporary storage function). However, it is also possible to provide an actively controllable intermediate storage device, which can, for example, be dynamically moved or can be structurally matched to the items currently to be sorted.

[0016] According to one embodiment of the present invention, when sorting items from a source container into a target container, a first picking robot may be used to transfer the corresponding items from the source container to an intermediate storage device so as to temporarily place the items. Then, a second picking robot may transfer the items from the intermediate storage device to the target container, and thereby load the items into the target container. By providing an intermediate storage device used as a buffer between the picking robot on the source container side and the picking robot on the target container side for temporarily storing the items to be sorted, it is not necessary to transfer the items to be sorted from the source container to the target container according to the principle of "first in, first out". The principle of "first in, first out" may refer to a logic according to which items from the source container are processed in a specific manner. Here, the items of the source container that are supplied first are also taken out first and sorted further. Although the exemplary embodiment of the present invention may at least temporarily apply the principle of "first in, first out", the provision of an intermediate storage device may advantageously achieve that the order of transferring items to the target container is changed relative to taking out items from the source container, by buffering one or more items in the intermediate storage device before continuing the sorting. This makes it possible to avoid the dead time that usually occurs in sorting, during which further sorting must be waited because one of the components involved is not yet ready for sorting. By providing the intermediate storage between the picking robots on the source container side and the target container side and within the action range of the picking robots on the source container side and the target container side, the sorting time can be used more effectively and a larger number of items can be sorted from the source container into the target container. Thus, an efficient sorting system is successfully provided by providing at least one intermediate storage. Advantageously, due to the provision of the intermediate storage, the work of the second picking robot (in particular its manipulator) for packaging into the target container can be carried out independently of the arrival order of the source containers in the sorting station.

[0017] Next, additional exemplary embodiments of the sorting structure and the sorting method will be described.

[0018] According to an exemplary embodiment, the sorting structure may include a source container supply device for supplying at least one source container containing at least one item to be sorted from a storage position to at least one first picking robot. In a corresponding manner, the sorting method may include supplying at least one source container from a storage position to at least one first picking robot. For example, the source container supply device may be configured to supply source containers from a storage rack so that at least one first picking robot can spatially reach the supplied source container and sort the items contained therein. For example, the source container supply device can fully automatically complete the supply of the source container to the at least one first picking robot. The source container supply device may be driven by a motor and may include, for example, a conveyor belt, a forklift and / or a transport robot.

[0019] According to an exemplary embodiment, the sorting structure may include a target container supply device for supplying at least one target container to be filled with at least one item to be sorted to at least one second picking robot. For example, the target container supply device may be designed to supply an empty or only partially filled target container (e.g., a shipping carton) with items so that at least one second picking robot can spatially reach the supplied target container and place the item therein. For example, the target container supply device may fully automatically complete the supply of the target container to the at least one second picking robot. The target container supply device may be driven by a motor and may include, for example, a conveyor belt, a forklift and / or a transport robot.

[0020] According to an exemplary embodiment, the sorting structure may include a source container unloading device for unloading at least one source container from at least one first picking robot, in particular into a storage position or a refilling station, from which the items to be sorted have been taken. If at least one first picking robot has taken all items from the source container and has therefore been completely emptied, the source container unloading device may return the empty source container to the storage position or supply the empty source container to the refilling station. The emptied source container can then be removed from the storage position and replaced by a filled source container. At the refilling station, new items can be filled into the emptied source container. The refilled source container can then be placed back in the storage position or immediately adjacent to at least one first picking robot. For example, the source container unloading device is capable of fully automatically completing the unloading of the source container from at least one first picking robot. The source container unloading device can be driven by a motor and can include, for example, a conveyor belt, a forklift and / or a transport robot.

[0021] According to an exemplary embodiment, the sorting structure may include a target container unloading device for unloading at least one target container containing at least one item to be sorted from at least one second picking robot to a shipping station. In a corresponding manner, the sorting method may include unloading at least one target container filled with at least one item from at least one second picking robot to a shipping station. If at least one second picking robot introduces all items into the target container and thus completely fills it, the target container unloading device can transfer the sorted target container to the shipping station for delivery to the customer. For example, the target container unloading device is capable of fully automatically completing the unloading of the target container from at least one second picking robot. The target container unloading device can be driven by a motor and can include, for example, a conveyor belt, a forklift and / or a transport robot.

[0022] The filling of the target container can be controlled by means of the control device in such a way that the target container is filled with objects according to the target container filling list. In particular, the picking robot can be provided with the relevant target container filling list for each target container to be filled, so that the picking robot can sort the objects between the source container and the target container in a corresponding manner and can buffer the objects on the intermediate storage device if necessary.

[0023] According to an exemplary embodiment, the sorting structure may include at least one source container, in particular a plurality of source containers, wherein each of the at least one source container comprises at least one object to be sorted, in particular a plurality of objects to be sorted. Different source containers may have different objects (in particular different types of goods), wherein individual source containers may have a plurality of identical objects (in particular only a single type of goods).

[0024] According to an exemplary embodiment, the sorting structure may include at least one target container, in particular a plurality of target containers, wherein each of the at least one target container may receive at least one object to be sorted, in particular a plurality of objects to be sorted. Different target containers may have different or identical groups of objects (in particular different types of goods), wherein a respective target container may have a plurality of different objects (in particular different types of goods).

[0025] According to an exemplary embodiment, the sorting structure may include a plurality of first picking robots, each of which is suitable for transferring the items to be sorted from at least one source container to an intermediate storage. Alternatively or additionally, the sorting structure may include a plurality of second picking robots, each of which is configured to transfer the items to be sorted from the intermediate storage to at least one target container. In addition, the sorting structure may have a plurality of intermediate storages, each of which is configured to temporarily store the items to be sorted. Advantageously, a plurality of first or second picking robots may be provided on the source container side and / or the target container side, and these robots may work in parallel and / or in coordination so as to transfer the items from the source container to the target container according to a separate or unified target container filling list for different target containers. A modular logistics system may be realized by combining a plurality of picking robots on the source container side and a plurality of target container sides with a plurality of intermediate storages, which can handle highly flexible and efficient and very error-prone complex sorting tasks. This sorting structure allows the simultaneous operation of a plurality of source containers and a plurality of target containers and reduces or completely eliminates the dead time or waiting time during sorting.

[0026] According to an exemplary embodiment, the intermediate storage, in particular a plurality of intermediate storages, can have a workbench-like storage surface, a shelf, a trough-like storage section and / or a plurality of trough-like storage sections, in particular arranged one above the other. Such intermediate storages can be provided at low cost and significantly improve the efficiency of the sorting arrangement.

[0027] According to an exemplary embodiment, an intermediate storage, in particular a plurality of intermediate storages, can have such a shape that when an object to be sorted is stored, the object occupies a clearly defined position and / or orientation, in particular an inclined orientation, on the intermediate storage under the influence of gravity, so that the stored object can be grasped in a predefined manner by means of at least one second picking robot. For example, the intermediate storage can be constructed such that its cross section is a right triangle, the right angle of which is arranged at the bottom and is defined by two obliquely extending sides. This geometry allows that a cuboid object can be simply slid into such an intermediate storage, whereby the cuboid object easily moves into the right angle of the bottom side. This brings the cuboid object to the following position and orientation, without the need for additional alignment work, which position and orientation allows the second picking robot to accurately pick up or clamp the temporarily stored object. Since many objects to be sorted have at least approximately rectangular geometries (e.g. cardboard packages), the described shape of the intermediate storage is very advantageous for many applications.

[0028] According to an exemplary embodiment, at least one first picking robot and / or at least one second picking robot can be equipped, in particular selectively or automatically, with a corresponding one of a plurality of replaceable manipulators having different object handling characteristics. For example, replaceable grippers of different sizes and / or different clamping geometries, suction devices for vacuum holding objects, etc. can be provided as manipulators. The corresponding picking robot (which recognizes (for example, by means of a sensor) or is informed by a control device that its current sorting task can be better completed with another manipulator) can automatically replace the manipulator to adapt to the corresponding sorting task. Alternatively, the replacement of the manipulator of the picking robot can also be performed manually by a worker.

[0029] According to an exemplary embodiment, the intermediate storage, in particular a plurality of intermediate storages, is designed to be movable and / or replaceable. For example, if the first picker and the second picker are not suitable for the current sorting task or a different intermediate storage is more suitable for this, the intermediate storage can be moved out between the first picker and the second picker. This further increases the flexibility of the sorting structure.

[0030] According to an exemplary embodiment, the sorting structure may include at least one detection device for determining detection information to monitor and / or control the sorting of items performed by the sorting structure. For example, such a detection device may be constructed to detect weight information, position information, orientation information, optical information and / or transponder information. Based on the information detected or recognized by the sensor, the sorting structure, in particular the picking robot, may be controlled. For example, detection information for identifying and / or characterizing at least one item, which has been transferred to at least one intermediate storage by at least one first picking robot, may be obtained by at least one detection device. Advantageously, such detection information may be supplied to a second picking robot, which may grab the items temporarily stored on the intermediate storage based on the detection information and transfer them to a target container. In this way, the transfer of items from a source container via an intermediate storage to a target container may be performed in a particularly error-free manner using a first and a second picking robot.

[0031] According to an exemplary embodiment, the sorting method may include: supplying a plurality of source containers, each of which includes at least one object to be sorted, so that at least one first picking robot (in particular, a plurality of first picking robots operating in parallel) can intervene simultaneously. In addition, the method may include selecting the object to be sorted from a corresponding one of the supplied source containers by at least one first picking robot, in particular by a plurality of first picking robots, so as to transfer the object from the selected source container to an intermediate storage, in particular to a corresponding selected one of the plurality of intermediate storages. Thus, the corresponding first picking robot or the control device controlling the first picking robot can freely select from the plurality of source containers within its range of action which source container to take the object from. The corresponding first picking robot can then transfer the object to the intermediate storage, or alternatively immediately place itself in the target container. This degree of freedom can ensure that the corresponding first picking robot can always or at least handle the sorting task for a large part of its working time without waiting time (for example until the transfer of a suitable source container or a suitable target container).

[0032] Particularly advantageously, the sorting method can include the selection of an order in which the objects to be sorted are transferred from the at least one first picking robot (or from a plurality of supplied source containers) to the at least one intermediate storage, in particular to a plurality of intermediate storages, which is different from the order in which the plurality of source containers are transferred to the at least one first picking robot, in particular to a plurality of first picking robots operating in parallel. Thus, the respective first picking robot does not necessarily have to follow the "first in, first out" sorting principle (but can at least temporarily use it). However, advantageously, the respective first picking robot can deviate from the "first in, first out" sorting principle at any time and can sort the source containers and the objects contained therein in a freely selectable order, in particular supplying them to the intermediate storage or simultaneously to the target container.

[0033] According to an exemplary embodiment, the sorting method may include transferring a plurality of target containers, each of which is configured for picking up at least one object to be sorted, so that at least one second picking robot, in particular a plurality of second picking robots operating in parallel, can intervene simultaneously. In addition, the method may include selecting, by at least one second picking robot, in particular a plurality of second picking robots, from a corresponding one of the supplied target containers to transfer the object to be sorted from an intermediate storage, in particular a corresponding selected one of the plurality of intermediate storages, to a corresponding selected target container. Thus, the respective second picking robot or the control device controlling the second picking robot can freely select into which of the plurality of target containers within its range of action the object is to be introduced. The respective second picking robot can transfer the object from the intermediate storage to the respective target container, or alternatively immediately remove itself from the source container and place it in the target container. This degree of freedom can ensure that the respective second picking robot can always or at least handle the sorting task for a large part of its working time without waiting time (e.g. until a suitable source container or a suitable target container is supplied).

[0034] Particularly advantageously, the sorting method can include selecting a transfer sequence of the objects to be sorted from at least one intermediate storage, in particular from a plurality of intermediate storages, which transfer sequence differs from the sequence in which the objects to be sorted are transferred from the supplied plurality of source containers to the at least one intermediate storage, in particular to the plurality of intermediate storages. Thus, the respective second picking robot does not necessarily have to follow the "first in, first out" sorting principle (but can at least temporarily use it). However, advantageously, the respective second picking robot can deviate from the "first in, first out" sorting principle at any time and can load the target container with the relevant objects in a freely selectable sequence, in particular from the intermediate storage or directly from the source container. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0036] Figure 1 A sorting structure according to an exemplary embodiment of the present invention is shown.

[0037] Figure 2 A sorting structure according to another exemplary embodiment of the present invention is shown.

[0038] Figure 3 A sorting structure according to yet another exemplary embodiment of the present invention is shown.

[0039] Identical or similar components in different figures are provided with the same reference symbols. DETAILED DESCRIPTION

[0040] Before describing exemplary embodiments of the present invention with reference to the accompanying drawings, some general aspects of the present invention should also be explained:

[0041] Traditionally, items have to be stored in the target container in the order they arrived at the source container. This usually results in low sorting speeds.

[0042] According to one embodiment of the present invention, an intermediate storage device with a buffering effect is arranged between the picking robot on the source container side and the picking robot on the target container side. The picking robot on the source container side can temporarily store the items to be sorted on these intermediate storage devices when necessary, and the items cannot be transferred to the target container by the picking robot on the target container side for various reasons. At the same time, by placing the items that have not been or should be continuously sorted in the intermediate storage device, the picking robot can temporarily sense different sorting tasks (for example, sorting different items). In this way, the resources of the picking robot can be more effectively used to pick up items by providing the intermediate storage device. Therefore, the sorting structure according to the exemplary embodiment of the present invention can realize sorting a larger number of items into the target container in a shorter time. An advantageous aspect is that an intermediate storage device configured as a buffer is provided for the items to be sorted between the transfer point of the source container (for example, a box loaded with warehouse goods) and the sorting point of the items to the corresponding target container, for example, configured as a shipping carton. The objects to be sorted can thus be deposited independently of the order in which the source containers arrive in the target container, since the objects can be temporarily stored in the buffer. The target container-side picking robot for sorting the objects into the target container can place the objects continuously into the target container, which is designed as a shipping carton, by providing a buffer, so that the available working time can be better utilized.

[0043] In one embodiment, at least one first picking robot can be provided, which takes the items from a source container, which has been fully automatically supplied to the first picking robot from a warehouse. At least one second picking robot can be provided to place the items in a target container. According to a preferred embodiment of the invention, an intermediate storage or buffer for one or more items located between the two picking robots is additionally provided: the first picking robot takes the goods from the source container and places it in the buffer. The second picking robot takes the items from the buffer and places them in the target container. Since the intermediate storage designed as a buffer can always be arranged with items set for further sorting, the second picking robot is always busy sorting the items into the target container.

[0044] For example, one or more source containers can be emptied simultaneously. In addition, one or more target containers can be loaded simultaneously. The intermediate storage device can preferably be composed of two or more storage locations for articles.

[0045] The intermediate storage can be designed, for example, as a workbench-like storage surface or as a stand or as a trough-shaped storage, in particular as a plurality of storages stacked one above the other. The trough can preferably have a square or semicircular cross section. Advantageously, the objects to be sorted can thus be brought into a physically well-defined position and orientation when placed in the intermediate storage due to their gravity, so that the objects to be sorted can be easily grasped by the second picking robot.

[0046] The articles from the source container can be sorted into one target container or into multiple target containers. That is, the composition of the articles in each target container can be selected from any source container as any combination of articles (especially of different types).

[0047] Advantageously, a plurality of function-specific manipulators can be used on the respective first or second picking robot for different objects. When using a plurality of manipulators, these manipulators can, for example, be equipped with different grippers. Advantageously, the respective first or second picking robot can independently exchange different manipulators (for example grippers of different sizes or mechanical grippers and vacuum extractors).

[0048] The intermediate storage can have different shapes adapted to different articles. The intermediate storage can be designed to be movable, so that the intermediate storage can be moved and changed or replaced.

[0049] In addition, a control device can be provided to control the sorting method or the sorting structure and its components. Within the scope of the present application, the term "control device" is understood in particular as a device with processor resources, which is configured to control the sorting structure based on a predetermined algorithm (especially in terms of program technology). Processor resources can be provided for performing corresponding data processing. The control device can be constructed, for example, as a computer or processor or a plurality of cooperating computers or processors (which can be spatially adjacent to each other or spatially separated from each other). The control device can control and coordinate all components of the sorting structure, in particular the picking robot and the device for supplying and unloading source containers and target containers, and optionally also the device for supplying and unloading source containers and target containers from intermediate storage devices.

[0050] Process monitoring by means of a control device (wherein the monitoring can be whether the conforming products are sorted in the correct quantity) can be carried out in particular by determining the weight, by means of a scale and / or force and torque sensors. Such process monitoring can also include, for example, determining the center of gravity position by means of a scale, or implementing a force and torque sensor. In addition, visual features can be detected by means of a camera and used for process monitoring or process control. This includes in particular the detection of QR codes, serial numbers, texts, patterns, barcodes, KI (artificial intelligence)-based object classification, RFID and / or NFC tags, three-dimensional contours, etc.

[0051] According to one embodiment of the invention, the items can be checked for item errors before, during and / or after sorting. For this purpose, data about the state of the items, such as image data and / or weight data, can be stored during the sorting process. If a complaint is made by a customer, these data can be marked as "faulty product" for example and used as a basis for training a KI unit (artificial intelligence unit) for identifying faulty products.

[0052] According to one embodiment, the target container can be monitored. If an item changes its original position or orientation, such as tipping over or sliding, the packing sequence in the target container can be recalculated and / or the tipped item can be returned to the intermediate storage and repacked into the target container.

[0053] In addition, it can be checked, in particular by sensors, whether the correct number of correct articles has been taken out from the source container. Alternatively or additionally, it can be checked, in particular by sensors, whether the correct articles are stored in the target container in the correct number.

[0054] Preferably, the objects to be sorted can be gripped exactly at a predetermined position and thus placed exactly at a predetermined position.

[0055] According to a preferred embodiment, the intermediate storage can be designed as an inverted square cone, so that all objects (especially cuboid objects) slide in automatically and preferably in a physically well-defined position and orientation due to their weight when they are stored. As a result, the second picking robot (also called packaging robot) can approach the gripping point of the object with extremely high precision and can thus store the object in the target container with extremely high precision.

[0056] A first picking robot (in particular its manipulator) for picking items from a source container can seamlessly place items for the next order pick-up into the intermediate storage after finishing picking up all items of a sorting task (e.g. an order), while a second picking robot (in particular its manipulator) for packing into a target container is still busy packing the previous package (i.e. loading the previous target container). If the packing of the first group or the first target container is completed, there are already enough items for the second group or the second target container (preferably all items) in the intermediate storage, so that the picking robot can immediately start packing the second group or the second target container in the correct order of items.

[0057] The manipulator of the second picking robot for packing the articles into the target container can use a gripper configured for placement. The manipulator of the first picking robot for grabbing from the source container can use a gripper configured for the picking process from the source container.

[0058] Figure 1 A sorting structure 100 according to an exemplary embodiment of the present invention is shown. For example, the sorting structure 100 can be used in a logistics warehouse of an online retailer, in which ordered products (hereinafter referred to as items 104) from source containers 106 (for example, plastic containers) are to be loaded into target containers 112 (for example, shipping cartons) according to a corresponding order list. In the sorting structure 100, the corresponding sorting method is controlled by means of a control device 132, which can control all the components of the sorting structure 100 described below. For example, the control device 132 can access a database 134, in which information about the sorting tasks to be performed (for example, a list of orders to be performed) can be stored. It is also possible that the current inventory of the logistics warehouse or the goods warehouse of the sorting structure 100 is stored in the database 134, for example information about the items 104 currently contained in all source containers 106.

[0059] like Figure 1 As shown, the sorting structure 100 includes a plurality of first picking robots 102. Each first picking robot 102 is used to transfer the items 104 to be sorted from the respective source container 106 to the intermediate storage 108 described in more detail below, or directly to the respective target container 112. To this end, a corresponding manipulator 126, such as a gripping device for gripping the items 104, can be assembled on each first picking robot 102. Then, each first picking robot 102 can be controlled (in particular, by the control device 132) to grip the items 104 into the source container 106, and optionally store the items 104 on the intermediate storage 108, or place the items directly into the appropriate target container 112.

[0060] Each of the source containers 106 may include a plurality of items 104. For example, a plurality of items 104 may be located in each of the source containers 104, each of which may correspond to the same type of cargo (e.g., a plastic nail pack or an M8 wood screw pack). Thus, preferably, each source container 106 may be assigned a specific cargo type. Different source containers 106 may preferably be assigned to different cargo types. In another exemplary embodiment, a single source container 106 may also contain items 104 of different cargo types.

[0061] The intermediate storage 108 also forms part of the sorting structure 100 and is used to temporarily store objects 104 to be sorted, which have been removed from corresponding source containers of the plurality of supplied source containers 106 by corresponding picking robots of the first picking robots 102 .

[0062] In addition, the sorting structure 100 includes a plurality of second picking robots 110, which can be operated to transfer the objects 104 to be sorted from the intermediate storage 108 or directly from the respective source containers 106 to corresponding ones of the plurality of target containers 112. To this end, a relevant manipulator 126 can be mounted on each second picking robot 110, such as a gripping device for gripping the objects 104. Then, each second picking robot 110 can be controlled (in particular, by the control device 132) to grip the objects 104 from the intermediate storage 108 or from the source container 106, and place the objects in the appropriate target container 112.

[0063] Each of the target containers 112 can receive a plurality of articles 104 to be sorted. The set of articles 104 of different goods types or the same goods type to be introduced into the designated target container 112 for shipment to the orderer is defined in an order list stored in the database 134, which corresponds to the corresponding target container 112. According to such an order list, the articles 104 to be transferred to the respective target containers 112 can preferably be different goods types or the same goods type from different source containers 106.

[0064] like Figure 1 As shown, the sorting structure 100 includes a source container supply device 114, which is configured to supply source containers 106 (each source container 106 contains a plurality of objects 104 to be sorted) from a storage location 116 to the action range of the first picking robot 102. The storage location 116 may include, for example, one or more shelves, trays or the like, on which a plurality of source containers 106 with objects 104 are stored. The source container supply device 114 can bring the source containers 106 required for processing the order list from the storage location 116 to the action range of the first picking robot 102, for example, by means of a conveyor belt or a vehicle. The action range of the first picking robot 102 should be understood to mean a spatial area surrounding the corresponding first picking robot 102, in which the first picking robot 102 can take out the objects 104 from the source container 106 arranged there.

[0065] Furthermore, the sorting structure 100 comprises a target container supply device 118 for supplying target containers 112 into the range of action of the second picking robot 110. When supplied to the second picking robot 110, the target container 102 to be loaded with the items 104 according to the relevant order list can be completely empty or only partially filled. For example, the target container 112 can be an empty shipping carton when supplied. The target container supply device 118 can bring the empty target containers 112 required for processing the order list into the range of action of the second picking robot 110, for example, by means of a conveyor belt or a vehicle. The range of action of the second picking robot 110 should be understood to mean a spatial area surrounding the respective second picking robot 110, in which the second picking robot 110 can insert the items 104 into the target container 112 located in this spatial area.

[0066] In addition, the sorting structure 100 can have a source container unloading device 120 for returning the source container 106 completely or partially emptied by the first picking robot 102 to the storage location 116 or unloading it to a refilling station (not shown). The returned source container 104 can thus be returned, for example, to a shelf or a pallet of the storage location 116. There, the source container 106 can be refilled with the corresponding article 104 or removed for disposal or refilling. The source container unloading device 120 can again include a conveyor belt, a vehicle, etc., to move the source container 104 back.

[0067] In addition, the sorting structure 100 may include a target container unloading device 122, which is used to take the target container 112 loaded with the items 104 to be sorted out from the second picking robot 110 to the shipping station 124 according to the assigned order list. If the sorting task corresponding to the order list is satisfied for the corresponding target container 102, the target container 112 can be shipped to the orderer at the shipping station 124. The target container unloading device 122 may include a conveyor belt, a vehicle, etc., so as to move the filled target container 112.

[0068] like Figure 1 As shown, a plurality of intermediate storages 108 can be inserted between the first picking robot 102 and the second picking robot 110, each intermediate storage 108 being suitable for storing the items 104 to be sorted at the same time. In the illustrated embodiment, each of the intermediate storages 108 has a V-shaped receiving groove, into which, for example, a rectangular object 104 automatically slides under the influence of gravity into a stable final position with a predetermined orientation. This simplifies the subsequent grabbing of the items 104 temporarily stored in each intermediate storage 108 by one of the second picking robots 110. Therefore, according to Figure 1The intermediate storage 108 is shaped, oriented and dimensioned in such a way that when an object 104 to be sorted is placed, the object takes up a well-defined position and inclined orientation at the intermediate storage 108 under the influence of gravity, so that the stored object 104 can be gripped in a predefined manner by means of the corresponding second picking robot 110. The intermediate storage 108 can be configured to be movable and can be moved away between the picking robots 102, 110 and can be replaced by other intermediate storages 108. In this way, the intermediate storage 108 can be adapted to the current object 104 to be sorted as required.

[0069] like Figure 1 Schematically, each first picking robot 102 and each second picking robot 110 are equipped with a plurality of replaceable manipulators 126, each replaceable manipulator 126 realizing different object gripping characteristics. For example, the preferably automatically replaceable manipulators 126 of the respective picking robots 102, 110 can have grippers, vacuum extractors, etc. of different sizes and / or shapes. Thus, each picking robot 102, 110 can also be specifically adjusted to the characteristics of the objects 104 to be sorted and / or to the characteristics of the source container 106 and / or the target container 112.

[0070] Furthermore, the sorting structure 100 may include one or more detection devices 130 for determining detection information to monitor the sorting of the objects 104 from the source container 104 to the target container 112. In the illustrated embodiment, the detection device 130 is an optical camera that monitors the area of ​​the source container 106, the first picking robot 102 and the second picking robot 110, the intermediate storage 108 and the target container 112, and transmits corresponding optical detection data to the control device 132 to control the sorting structure 100. Alternatively or in addition, the detection device 130 may also be provided for detecting weight information of the objects 104 and / or the containers 106, 112, position information and / or orientation information of the objects 104 on the intermediate storage 108 and / or transponder information of an RFID tag or the like on the containers 106, 112. It is also possible that the containers 106, 112 and / or the objects 104 are tracked during their processing in the sorting structure 100, for example by means of transponders mounted on the respective containers 106, 112.

[0071] Advantageously, a plurality of first picking robots 102 can process a plurality of source containers 106 and the objects 104 removed therefrom and a plurality of intermediate storages 108 in parallel. Likewise, a plurality of second picking robots 110 can process a plurality of target containers 112 and the objects 104 inserted therein and a plurality of intermediate storages 108 in parallel. In this case, the order in which the objects are sorted from the source container 106, in the intermediate storage 108, from the intermediate storage 108 and in the target container 112 by means of the picking robots 102, 110 can be freely selected. Compared to conventional methods, this advantageously avoids the picking robots 102, 110 being idle for longer periods of time, for example because such picking robots 102, 110 still have to wait for the source container 104 or the target container 112. By providing an intermediate storage 108 to which the picking robots 102 on the source container side and the picking robots 110 on the target container side can freely approach in order to temporarily store the objects 104 as required, the idle time can be significantly reduced or even completely avoided. This results in a particularly efficient sorting operation.

[0072] Figure 2 A sorting structure 100 according to another exemplary embodiment of the present invention is shown. Figure 2 According to Figure 1 Only some practical embodiments of the components are shown schematically.

[0073] At a transfer point 150 in a goods warehouse, a source container 106 constructed as a plastic box is filled with a plurality of identical articles 104, such as a package of screws or a package of dowels. Each article 104 can be taken out of the source container 106 by a robot arm or other manipulator 126 of a first picking robot 102. The sorting task of the first picking robot 102 can be performed by Figure 2 The control devices 132 not shown in the figure coordinate or synchronize with each other. Each first picking robot 102 can intervene in a plurality of intermediate storages 108 arranged in series in a cone shape, in which the objects 104 to be sorted can be temporarily stored. Each of the plurality of second gripping robots 110 can be configured as a robot arm or other manipulator 126, which can take the objects 104 from the corresponding intermediate storage 108 and place them in a target container 112 at the sorting point 152, which is configured as a carton here. The picking task of the second picking robot 110 can be assisted by Figure 2 The control device 132 not shown in the figure coordinates or synchronizes with each other. The picking tasks of the first picking robot 102 and the second picking robot 110 can also be performed by means of Figure 2 The control devices 132 not shown in the figure coordinate or synchronize with each other. The supply and / or unloading of the source container 106 and / or the target container 112 can be included in this coordination or synchronization.

[0074] Figure 3 A sorting structure 100 according to another exemplary embodiment of the present invention is shown. Figure 3 The sorting structure 100 can perform a sorting method, which is explained in further detail below:

[0075] As indicated at reference numeral 160 , a respective first picking robot 102 may grab one or more items 104 from a respective source container of the plurality of source containers 106 .

[0076] As indicated at reference numeral 162, detection information about the sorting method can be determined by the detection device 130. In the illustrated embodiment, the removed object 104 can be characterized by a sensor, for example optically or by reading a transponder placed on the object 104.

[0077] As shown at reference numeral 164, the detection information may be stored in a database 134, such as in the cloud.

[0078] As indicated by reference numeral 166 , the article 104 retrieved from the source container 106 by the first picking robot 102 may be temporarily stored at one of a plurality of storage locations or intermediate storages 108 .

[0079] As shown by reference numeral 168, the detection information related to the article 104 taken out from the source container 106 stored in the database 134 can be provided to the second picking robot 110. Intuitively, the second picking robot 110 thus grasps what characteristics the article 104 temporarily stored in the intermediate storage 108 has. Therefore, the second picking robot 110 can correctly and accurately perform the grabbing of the article 104 in the intermediate storage 108.

[0080] The first picking robot 102 can move on the intermediate storage 108 (e.g. formed as a workbench) when placing the object 104 (e.g. a package), and / or the second picking robot 110 can move the object 104 against the edge when receiving the object 104 from the intermediate storage 108. Thus, the object 104 can be oriented in a clear or defined manner. This makes the handling process simple and precise.

[0081] As indicated by reference numeral 170, the second picking robot 110 may receive the object 104 temporarily stored in the intermediate storage 108. Here, the second picking robot 110 may use the detection information transmitted thereto, which characterizes the temporarily placed object 104.

[0082] As shown by reference numeral 172, the second picking robot 110 is capable of loading a plurality of target containers 112 with suitable items 104. The items shown are a screw bag, a hammer, and work safety glasses.

[0083] In addition, it should be pointed out that "having" does not exclude other elements or steps, and "one" or "an" does not exclude a plurality. In addition, it should be pointed out that the features or steps described with reference to one of the above embodiments can also be used in combination with other features or steps of other embodiments described above. The reference signs in the claims should not be regarded as limiting.

Claims

1. A sorting structure (100), comprising: at least one first picking robot (102) for transferring objects (104) to be sorted from at least one source container (106) to an intermediate storage device (108); An intermediate storage device (108) for temporarily storing the items to be sorted (104); and At least one second picking robot (110) is used to transfer the objects (104) to be sorted from the intermediate storage device (108) to at least one target container (112), wherein the at least one target container can receive at least one object (104) to be sorted.

2. The sorting structure (100) according to claim 1 comprises a source container supply device (114) for supplying at least one source container (106) containing at least one item (104) to be sorted from a storage position (116) to at least one first picking robot (102).

3. The sorting structure (100) according to claim 1 or 2 comprises a target container supply device (118) for supplying at least one target container (112) to be filled with at least one item to be sorted (104) to at least one second picking robot (110).

4. The sorting structure (100) according to any one of claims 1 to 3 comprises a source container unloading device (120) for unloading at least one source container (106) from which at least one item (104) to be sorted has been taken out by at least one first picking robot (102), in particular to a storage position (116) or a refilling station.

5. The sorting structure (100) according to any one of claims 1 to 4 comprises a target container unloading device (122) for unloading at least one target container (112) containing at least one item to be sorted (104) from at least one second picking robot (110) to a shipping station (124).

6. The sorting structure (100) according to any one of claims 1 to 5, comprising at least one source container (106), in particular a plurality of source containers (106), wherein: Each of the at least one source container (106) contains at least one object (104) to be sorted, in particular a plurality of objects (104) to be sorted.

7. The sorting structure (100) according to any one of claims 1 to 6, comprising at least one target container (112), in particular a plurality of target containers (112), wherein: Each of the at least one target container (112) is capable of receiving at least one object (104) to be sorted, in particular a plurality of objects (104) to be sorted.

8. The sorting structure (100) according to any one of claims 1 to 7 comprises a plurality of first picking robots (102), each of the plurality of first picking robots being configured to transfer items (104) to be sorted from at least one source container (106) to an intermediate storage device (108).

9. The sorting structure (100) according to any one of claims 1 to 8 comprises a plurality of second picking robots (110), each of the plurality of second picking robots being configured to transfer items (104) to be sorted from an intermediate storage device (108) to at least one target container (112).

10. The sorting structure (100) according to any one of claims 1 to 9, comprising a plurality of intermediate storages (108), each of the plurality of intermediate storages being configured to temporarily store objects (104) to be sorted.

11. The sorting structure (100) according to any one of claims 1 to 10, wherein: The intermediate storage device (108), in particular a plurality of intermediate storage devices (108), has a table-like storage surface, a shelf, a trough-like storage section and / or a plurality of trough-like storage sections, in particular arranged one above the other.

12. The sorting structure (100) according to any one of claims 1 to 11, wherein: The intermediate storage (108), in particular a plurality of intermediate storages (108), has such a shape that when an object (104) to be sorted is placed thereon, the object to be sorted takes up a clearly defined position and / or orientation, in particular an inclined orientation, on the intermediate storage (108) under the influence of gravity, so that the stored object (104) can be gripped in a predetermined manner by means of at least one second picking robot (110).

13. The sorting structure (100) according to any one of claims 1 to 12, wherein: The at least one first picking robot (102) and / or the at least one second picking robot (110) is in particular selectively or automatically equipped with a corresponding one of a plurality of replaceable manipulators (126) having different object handling characteristics.

14. The sorting structure (100) according to any one of claims 1 to 13, wherein: The intermediate storage (108), in particular a plurality of intermediate storages (108), is designed to be movable and / or exchangeable.

15. The sorting structure (100) according to any one of claims 1 to 14, comprising at least one detection device (130) for determining detection information in order to monitor and / or control the sorting of objects (104) by means of the sorting structure (100).

16. The sorting structure (100) according to claim 15, wherein: The at least one detection device (130) is configured to detect weight information, position information, orientation information, optical information and transponder information.

17. A sorting method, comprising: Transferring the objects (104) to be sorted from at least one source container (106) to an intermediate storage device (108) for temporarily storing the objects (104) to be sorted by means of at least one first picking robot (102); and Subsequently, the objects (104) to be sorted are transferred from the intermediate storage device (108) to at least one target container (112) by means of at least one second picking robot (110), the at least one target container receiving at least one object (104) to be sorted.

18. The sorting method according to claim 17, wherein: The sorting method comprises supplying at least one source container (106) from a storage location (116) to at least one first picking robot (102).

19. The sorting method according to claim 17 or 18, wherein: The sorting method includes unloading at least one target container (112) filled with at least one article (104) from at least one second picking robot (110) to a shipping station (124).

20. The sorting method according to any one of claims 17 to 19, wherein: The sorting method comprises: supplying a plurality of source containers (106), each of the plurality of source containers containing at least one object to be sorted (104) so ​​as to be picked up simultaneously by at least one first picking robot (102), in particular by a plurality of first picking robots (102) operating in parallel; and With the aid of at least one first picking robot (102), in particular with the aid of multiple first picking robots (102), a corresponding source container among the supplied source containers (106) is selected so as to transfer the items (104) to be sorted from the selected source container (106) to an intermediate storage device (108), in particular to a correspondingly selected intermediate storage device among multiple intermediate storage devices (108).

21. The sorting method according to claim 20, wherein: The sorting method comprises selecting an order in which the items (104) to be sorted are transferred from a plurality of supplied source containers (106) to at least one intermediate storage device (108), in particular to a plurality of intermediate storage devices (108), and the order is different from the order in which the plurality of source containers (106) are supplied to the at least one first picking robot (102), in particular to a plurality of first picking robots (102) operating in parallel.

22. The sorting method according to any one of claims 17 to 21, wherein: The sorting method comprises: supplying a plurality of target containers (112), each of which is configured to receive at least one object (104) to be sorted, so as to be intervened by at least one second picking robot (110), in particular by a plurality of second picking robots (110) operating in parallel, at the same time; and With the aid of at least one second picking robot (110), in particular with the aid of a plurality of second picking robots (110), a corresponding target container among the supplied target containers (112) is selected for transferring the items (104) to be sorted from an intermediate storage device (108), in particular from a correspondingly selected intermediate storage device among a plurality of intermediate storage devices (108) to a correspondingly selected target container (112).

23. The sorting method according to claim 22, wherein: The sorting method comprises selecting an order in which the items (104) to be sorted are transferred from at least one intermediate storage device (108), in particular from the plurality of intermediate storage devices (108), which order is different from an order in which the items (104) to be sorted are transferred from the plurality of supplied source containers (106) to at least one intermediate storage device (108), in particular to the plurality of intermediate storage devices (108).

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