Picking system

Abstract

The embodiment of the invention provides a sorting system, the sorting system comprises a control end, a climbing robot and a climbing goods shelf, the climbing goods shelf comprises a material box storage area and a work station area, the work station area comprises at least one offline work station and at least one online work station, and the control end is in communication connection with the climbing robot; the control end is used for receiving the sorting task order and sending a material box carrying instruction to the climbing robot according to the sorting task order; the climbing robot is used for grabbing a target material box in the material box storage area according to the material box carrying instruction and bearing the target material box to move to the work station area; determining a target work station in the at least one offline work station and the at least one online work station, and moving to a picking climbing point corresponding to the target work station; and the target material box is moved to a target sorting point in the target work station at the sorting climbing point and used for executing a sorting task corresponding to the target material box.

Description

Technical Field

[0001] The embodiments in this specification relate to the field of warehouse picking technology, and particularly to picking systems. Background Technology

[0002] With the development of computer and internet technologies, artificial intelligence, automation, and information technology are deeply integrated and rapidly iterating, driving the warehousing and logistics industry towards a comprehensive transformation towards intelligence. As a core hub of the modern logistics system, intelligent warehousing integrates technologies such as IoT sensing, big data analysis, and robot control to achieve real-time collection of goods information, dynamic inventory optimization, and automated operational processes. Its application not only improves the efficiency of data entry in all aspects of warehouse management several times over, but also controls the error rate to an extremely low level through intelligent algorithms, significantly enhancing the response speed and operational stability of the logistics system. However, current intelligent warehousing technology still has significant shortcomings: on the one hand, traditional manual picking workstations have limited functions, only supporting standardized operations in fixed scenarios, resulting in low picking pass rates when faced with multi-category, small-batch orders; on the other hand, existing bin-handling robots only undertake bin transfer tasks between shelves and workstations, their functions limited to handling tool attributes, unable to perceive operational context information, and unable to proactively cooperate with operators to complete picking operations. This disconnect in inter-device collaboration leads to a bottleneck in overall operational efficiency improvement, thus necessitating an effective solution to address these issues. Summary of the Invention

[0003] In view of this, embodiments of this specification provide a picking system to address the technical deficiencies existing in the prior art.

[0004] According to a first aspect of the embodiments of this specification, a picking system is provided, including a control terminal, a climbing robot, and a climbing shelf, wherein the climbing shelf includes a bin storage area and a workstation area, the workstation area includes at least one offline workstation and at least one online workstation, and the control terminal is communicatively connected to the climbing robot; The control terminal is used to receive picking task orders and send bin handling instructions to the climbing robot according to the picking task orders; The climbing robot is used to grab a target box in the box storage area according to the box handling instruction, and carry the target box to the workstation area; determine the target workstation among the at least one offline workstation and the at least one online workstation, and move to the picking climbing point corresponding to the target workstation; move the target box to the target picking point in the target workstation at the picking climbing point, and perform the picking task corresponding to the target box.

[0005] According to a second aspect of the embodiments of this specification, another picking system is provided, comprising: A climbing robot and a climbing rack, wherein the climbing rack includes a bin storage area and a workstation area, the workstation area including at least one offline workstation and at least one online workstation; The climbing robot is used to grab a target bin in the bin storage area and carry the target bin to the workstation area; determine a target workstation among at least one offline workstation and at least one online workstation, and move to the picking climbing point corresponding to the target workstation; move the target bin to the target picking point in the target workstation at the picking climbing point to perform the picking task corresponding to the target bin.

[0006] The picking system provided in this embodiment includes a control terminal, a climbing robot, and a climbing rack. The climbing rack includes a bin storage area and a workstation area. The workstation area includes at least one offline workstation and at least one online workstation. The control terminal is communicatively connected to the climbing robot. The control terminal receives picking task orders and sends bin handling instructions to the climbing robot according to the picking task orders. The climbing robot grabs the target bin in the bin storage area according to the bin handling instructions and moves the target bin to the workstation area. It determines the target workstation among at least one offline workstation and at least one online workstation and moves to the picking climbing point corresponding to the target workstation. At the picking climbing point, it moves the target bin to the target picking point in the target workstation to execute the picking task corresponding to the target bin. This system combines online and offline picking, constructing a workstation form that takes into account vehicle efficiency, station efficiency, and human efficiency. Furthermore, by integrating the rack and workstation design, it can effectively reduce additional space occupation, thereby making picking operations faster and more convenient, and effectively improving the efficiency of goods picking in warehousing scenarios. Attached Figure Description

[0007] Figure 1 This is a schematic diagram of the structure of a picking system provided in one embodiment of this specification; Figure 2 This is a schematic diagram of a climbing robot in a picking system provided in one embodiment of this specification; Figure 3 This is a schematic diagram of a climbing shelf in a picking system provided in one embodiment of this specification; Figure 4 This is a schematic diagram of a bin storage area in a picking system provided in one embodiment of this specification; Figure 5 This is a schematic diagram of a workstation in a picking system provided in one embodiment of this specification; Figure 6 This is a schematic diagram of a workstation area in a picking system provided in one embodiment of this specification; Figure 7 This is a schematic diagram of another picking system provided in one embodiment of this specification. Detailed Implementation

[0008] Many specific details are set forth in the following description to provide a full understanding of this specification. However, this specification can be implemented in many other ways than those described herein, and those skilled in the art can make similar extensions without departing from the spirit of this specification. Therefore, this specification is not limited to the specific implementations disclosed below.

[0009] The terminology used in one or more embodiments of this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the one or more embodiments of this specification. The singular forms “a,” “described,” and “the” as used in one or more embodiments of this specification and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in one or more embodiments of this specification refers to and includes any or all possible combinations of one or more associated listed items.

[0010] It should be understood that although the terms first, second, etc., may be used to describe various information in one or more embodiments of this specification, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, first may also be referred to as second without departing from the scope of one or more embodiments of this specification, and similarly, second may also be referred to as first. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to a determination."

[0011] Furthermore, it should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in one or more embodiments of this specification are all information and data authorized by the user or fully authorized by all parties. Moreover, the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0012] First, the terms and concepts used in one or more embodiments of this specification will be explained.

[0013] Climbing robot: A new type of automated logistics product that can independently transport boxes on the ground and climb shelves to pick up and put away boxes in a box storage scenario, realizing the transfer of boxes to people.

[0014] Online workstation: A device that allows personnel to pick up / put items from a bin while the climbing robot carries the bin to the vicinity of the picking operator, without detaching the bin from the robot.

[0015] Offline workstation: A climbing robot carries a bin to the vicinity of the picking operator. The robot places the bin in the designated location, allowing the operator to retrieve / place items from the bin. Station efficiency: The efficiency with which a workstation can provide available bins for picking per unit of time.

[0016] Robot efficiency: The efficiency of a robot in moving a hopper per unit of time.

[0017] Human efficiency: The efficiency of manual picking per unit of time.

[0018] This specification provides a picking system. Each of the following embodiments is described in detail.

[0019] The following describes a picking system provided in this embodiment. Figure 1 A schematic diagram of a picking system according to an embodiment of the present disclosure is shown. The picking system 100 includes a control terminal 110, a climbing robot 120, and a climbing shelf 130. The climbing shelf 130 includes a bin storage area and a workstation area. The workstation area includes at least one offline workstation and at least one online workstation. The control terminal 110 is communicatively connected to the climbing robot 120. The control terminal 110 is used to receive picking task orders and send bin handling instructions to the climbing robot according to the picking task orders; The climbing robot 120 is used to grab a target box in the box storage area according to the box handling instruction, and carry the target box to the workstation area; determine the target workstation among the at least one offline workstation and the at least one online workstation, and move to the picking climbing point corresponding to the target workstation; move the target box to the target picking point in the target workstation at the picking climbing point, and perform the picking task corresponding to the target box.

[0020] The picking system provided in this embodiment can be applied to picking scenarios in any warehousing scenario, such as picking scenarios for auto parts, picking scenarios for logistics parcels, and picking scenarios for goods. It is used to efficiently complete the transfer of material bins to the workstation area, and by configuring various types of workstations in the workstation area, it can quickly complete the picking operation of goods in the material bins and improve picking efficiency.

[0021] Specifically, the control terminal refers to the terminal used to manage the scheduling of all robots and the allocation of order tasks within the warehouse area; correspondingly, the climbing robot refers to the equipment that can independently complete the transportation of boxes on the ground and the picking and placing of boxes on the shelves in the bin storage scenario. It integrates multiple capabilities such as handling and climbing, and realizes low-cost support for the execution of picking tasks.

[0022] In practical applications, the climbing robot integrates a climbing arm that connects to the guide rails of the climbing shelf. The robot can freely move under the shelf, achieving dual-mode operation of vertical climbing and ground movement. The end of the climbing arm integrates a gear that meshes tightly with the rack of the shelf guide rail. A motor drives the gear to rotate, enabling vertical climbing. The climbing arm can also be retractable to reduce space occupation during ground movement and extend to connect with the guide rail during climbing, supporting rapid mode switching. The climbing robot also integrates a bin-picking and placing mechanism, which allows it to pick up and place target bins on the shelf after climbing to a designated position. This bin-picking and placing mechanism can be implemented using a robotic arm structure or a conveyor belt. The robotic arm can grasp the bins, while the conveyor belt can move them back and forth to complete the picking and placing operation. In one optional embodiment, the climbing robot can be configured as follows: Figure 2 The structure shown is applicable to specific implementations. The structure of the climbing robot can be selected based on actual needs; this embodiment does not impose any limitations.

[0023] Accordingly, climbing racks specifically refer to racks that support climbing robots in climbing and store bins of different or the same size. Climbing racks also include bin storage areas and workstation areas. By integrating the workstation area and bin storage area into the climbing rack, the travel distance of climbing robots on the ground can be reduced, while making full use of the space in the storage area, thereby reducing costs and improving picking efficiency.

[0024] In practical applications, to support climbing robots in performing material box retrieval and placement operations on the climbing rack, as well as transporting material boxes to the workstation integrated with the climbing rack, the climbing rack can be equipped with rack rails on its main body. This allows the climbing robot to move up and down along the Z-axis after connecting to the rack rails, enabling it to retrieve and place material boxes stored at different heights on the rack. In one optional embodiment, the climbing rack can be configured as follows: Figure 3 The structure shown integrates a bin storage area and a workstation area; wherein, the bin storage area is as follows: Figure 4The structure shown is used to store different bins at different shelf heights, and the bottom supports climbing robots to move freely, thereby making full use of the storage space in the warehouse area and reducing storage costs. In specific implementations, the shelf height and number of layers in the bin storage area can be set according to actual needs, and this embodiment does not impose any limitations.

[0025] Accordingly, the workstation area specifically refers to the area where workstations are integrated into designated locations on the climbing rack. It can have at least one offline workstation and at least one online workstation. An offline workstation supports picking tasks when the climbing robot is detached from the toy box. This means that after the climbing robot moves the target toy box to the offline workstation, it can place the toy box there and then continue performing other tasks. The operator in the offline workstation can then complete the picking operation based on the toy box placed there. Conversely, an online workstation supports picking tasks when the climbing robot is still attached to the toy box. This means that after the climbing robot moves the target toy box to the online workstation, it needs to lift the toy box to a suitable height for the operator to pick it. After the operator completes the picking operation, the target toy box is then moved out of the workstation.

[0026] In practice, different picking orders can be assigned to online or offline workstations according to actual needs. For example, for a picking order that requires picking multiple items from the same bin, the associated bin can be moved to an offline workstation for picking. For a picking order that requires picking a few items from the same bin, the associated bin can be moved to an online workstation for picking. In practice, the settings can be configured according to actual needs, and this embodiment does not impose any limitations.

[0027] Accordingly, a picking task order specifically refers to a task order triggered by the control terminal at a given moment that requires goods picking operations. At this time, the control terminal can detect the working status of each candidate climbing robot to determine which climbing robot needs to execute the picking task order. Then, it can send a bin-handling instruction to the selected climbing robot based on the picking task order. This bin-handling instruction can record the location where the climbing robot needs to pick or place bins, such as the shelf number, layer, bin identifier, etc., and can also include the bin weight. Furthermore, the instruction can also carry the climbing robot's travel trajectory, which can be planned by the control terminal to improve the speed at which the climbing robot moves to the target bin location.

[0028] Accordingly, the target bin is the bin that the climbing robot needs to move to the target workstation for picking operations at any given moment. It can hold any type of goods, such as food, electronic products, and mechanical parts. The target workstation is specifically selected from at least one offline workstation and at least one online workstation for picking goods from the target bin. This selection can be made by the control terminal. The climbing robot can then move the bin to the designated workstation according to instructions issued by the control terminal. This instruction is triggered when the picking task order is assigned to the corresponding workstation. The picking climbing point is the climbing point corresponding to the target workstation. Since the workstation is integrated on the climbing rack, it is usually set at a specific height for ease of operation. After moving the target bin to the target workstation, the climbing robot can climb to the corresponding picking climbing point to facilitate subsequent picking operations. This allows the target bin to be moved from the picking climbing point to the target picking point of the target workstation, enabling the operator to perform the picking task associated with the target bin. The target picking point is the location where the operator performs the picking operation on the target bin.

[0029] Based on this, the picking system provided in this embodiment includes a control terminal, a climbing robot, and a climbing shelf. The climbing shelf includes a bin storage area and a workstation area. The workstation area includes at least one offline workstation and at least one online workstation. The control terminal is communicatively connected to the climbing robot. The control terminal is used to receive picking task orders and send bin handling instructions to the climbing robot according to the picking task orders. The climbing robot is used to grab target bins in the bin storage area according to the bin handling instructions and move the target bins to the workstation area. The robot determines the target workstation from at least one offline workstation and at least one online workstation and moves to the picking climbing point corresponding to the target workstation. At the picking climbing point, the robot moves the target bin to the target picking point in the target workstation to execute the picking task corresponding to the target bin.

[0030] For example, the control unit receives a picking order for associated goods A. After monitoring the status of candidate climbing robots, it determines that climbing robot 1 can be used to execute the picking order. Therefore, it can send a tote box handling instruction for goods A to climbing robot 1. After receiving the instruction, climbing robot 1 determines that the tote box corresponding to goods A is located on the third layer of the first column of climbing rack 2. It then moves to the corresponding position in the first column of the climbing rack, docks with the guide rail of the climbing rack, and begins to climb upwards. After climbing to the third layer, it grabs the target tote box stored on the third layer and then begins to descend from the rack. During the descent, climbing robot 1 simultaneously grabs the target tote box and places it on the ground to ensure that the tote box is fixed on the climbing robot and prevents it from falling off during movement.

[0031] Furthermore, after the climbing robot 1 lands on the ground, it begins to move towards the workstation corresponding to the picking task order. The matched workstation is selected from at least one offline workstation and at least one online workstation in the workstation area of ​​the climbing shelf. After the climbing robot 1 travels to the target workstation, it will dock with the track corresponding to the target workstation position again and climb to the picking climbing point according to the height of the workstation. Then it will move the target bin to the picking point corresponding to the target workstation, supporting the operator to pick the goods A in the target bin.

[0032] In summary, the picking system provided in this embodiment combines online and offline picking, constructing a workstation form that balances vehicle efficiency, station efficiency, and human efficiency. Furthermore, by integrating the shelving with the workstation, it can effectively reduce additional space occupation, thereby making picking operations faster and more convenient, and effectively improving the efficiency of goods picking in warehousing scenarios.

[0033] Furthermore, when the target workstation is an offline workstation, the climbing robot can move the target bin to the workstation and then disengage to continue working without waiting, thereby improving picking efficiency and the utilization rate of the climbing robot. In this embodiment, the climbing robot is also used to move the target bin to the offline picking climbing point corresponding to the target offline workstation when the target workstation is a target offline workstation among the at least one offline workstations, and then move the target bin to the target offline picking point within the target offline workstation at the offline picking climbing point; wherein, the target offline workstation is used to perform the picking task when the target bin is disengaged from the climbing robot.

[0034] Specifically, a target offline workstation refers to at least one offline workstation used for picking target bins. It is determined by the control unit based on the picking task order, and its travel route can be encapsulated in the bin handling instruction. Correspondingly, an offline picking climbing point refers to the picking climbing point corresponding to the target offline workstation; the target offline picking point is the picking point within the target offline workstation. Conversely, the state of the target bin detaching from the climbing robot means that after moving the target bin to the target offline picking point, the climbing robot can leave the target offline workstation without waiting for the picking task to complete. At this point, the climbing robot can perform other tasks, thereby improving the utilization rate of the climbing robot.

[0035] Based on this, when the target workstation is at least one of the target offline workstations, the climbing robot can move out of the offline workstation after dropping the target bin, and simultaneously send idle status information back to the control terminal so that the climbing robot can continue to perform other tasks. When dropping the target bin, the climbing robot can carry the target bin to the offline picking climbing point corresponding to the target offline workstation, and then move the target bin to the target offline picking point in the target offline workstation at the offline picking climbing point. Furthermore, the target offline workstation can be used to perform picking tasks when the target bin is detached from the climbing robot.

[0036] In summary, by setting up an offline workstation to pick target bins, it is possible to control the climbing robot to move away when the picking operation time exceeds a threshold, without waiting for the picking to be completed, thereby effectively improving the utilization rate of the climbing robot.

[0037] Based on this, in order to make picking operations more convenient for offline workstations, the target offline workstation can also be configured with an offline temporary storage location and an offline picking power structure. The offline temporary storage location is used to temporarily store at least one bin. At this time, the climbing robot is also used to place the target bin at the offline temporary storage location at the offline picking climbing point and move out of the workstation area according to a preset offline path. The offline picking power structure is used to move the target bin to the target offline picking point in the target offline workstation when the presence of the target bin at the offline temporary storage location is detected.

[0038] Specifically, the offline temporary storage location refers to the equipment structure in the offline workstation used to temporarily store boxes. Its function is to allow the climbing robot to place the target box in the offline temporary storage location after moving it to the target offline workstation, without entering the offline picking point. This allows the climbing robot to complete the box placement operation and leave the workstation without waiting for picking to be completed. The offline temporary storage location can temporarily store one or more boxes, freeing up more climbing robots to perform other tasks. Correspondingly, the offline picking power mechanism refers to the mechanism within the offline workstation used to transport the boxes placed at the offline temporary storage location, moving the target boxes between the offline temporary storage location and the target offline picking point.

[0039] In practical implementation, when the offline temporary storage location and the offline picking point are two adjacent positions, the offline picking power mechanism can be a conveyor belt installed between the offline temporary storage location and the offline picking point; when the offline temporary storage location and the offline picking point are adjacent positions vertically, the offline picking power mechanism can be a lifting mechanism, used to move the material box from the offline temporary storage location to the offline picking point by lifting. Figure 5The diagram shows that the offline temporary storage location can be a bin storage platform located above the offline picking point. The offline picking power mechanism is connected below the bin storage platform. After the climbing robot places the bin at the offline picking point, the offline picking power mechanism can move the bin to the offline picking point by descending, supporting operators to perform picking operations on related goods.

[0040] Based on this, to facilitate picking operations at the offline workstation, the target offline workstation can also be configured with an offline temporary storage location and an offline picking power structure. The offline temporary storage location can be used to temporarily store at least one bin. In this case, after the climbing robot moves to the offline climbing point, it can place the target bin at the offline temporary storage location and move out of the workstation area according to the preset offline path. The offline picking power structure set up at the offline workstation can move the target bin to the target offline picking point in the target offline workstation when it detects that there is a target bin at the offline temporary storage location.

[0041] In practical applications, when the offline picking power structure detects whether there is a material box in the offline temporary storage position, it can be achieved by using image acquisition equipment or pressure sensors. After the sensor generates an electrical signal, it controls the offline picking power structure to work, so as to complete the operation of moving the target material box to the target offline picking point in the target offline workstation.

[0042] Continuing with the previous example, if the target bin for item A is assigned to offline workstation 1, the climbing robot 1 can transport the target bin to offline workstation 1, dock with the guide rail at workstation 1, and climb to the corresponding offline picking climbing point 1. At this point, the climbing robot 1 can use the bin handling mechanism to place the target bin on the offline temporary storage location of workstation 1. The climbing robot can then detach from the bin and descend along the guide rail, leaving workstation 1 once it reaches the ground. The target bin on the offline temporary storage location can then be transported to offline picking point 1 via the offline picking power mechanism at workstation 1. At this point, the target bin is at a suitable location for the operator to pick, and the picking operation for item A within the target bin can proceed.

[0043] In summary, by configuring an offline storage location in the offline workstation, the climbing robot can drive away directly after dropping the target bin, thus avoiding waiting time. Furthermore, the target bin placed in the offline storage location can be transported to the offline picking point by the offline picking power mechanism, enabling subsequent picking operations to be performed without the need for operators to transport the bins, thereby effectively improving picking efficiency.

[0044] Furthermore, when the target workstation is an online workstation, the climbing robot can complete the picking operation without detaching from the tote box, thereby improving the tote box handling efficiency. In this embodiment, the climbing robot is also used to move the target tote box to the online picking climbing point corresponding to the target online workstation when the target workstation is a target online workstation among the at least one online workstations, and to lift the target tote box to the target online picking point within the target online workstation at the online picking climbing point; wherein, the target online workstation is used to perform the picking task while the target tote box is still attached to the climbing robot.

[0045] Specifically, a target online workstation refers to at least one online workstation used for picking target bins. It is determined by the control unit based on the picking task order, and its travel route can be encapsulated in the bin handling instruction. Correspondingly, an online picking climbing point refers to the picking climbing point corresponding to the target online workstation; the target online picking point is the picking point within the target online workstation. Furthermore, the state where the target bin is not detached from the climbing robot means that after the climbing robot moves the target bin to the target online picking point, it can hold the bin and wait for picking to complete, thereby improving bin handling speed and preventing the bin from remaining in the workstation for an extended period without returning to the shelf or downstream picking workstation.

[0046] Based on this, when the target workstation is at least one of the target online workstations, it is possible to support a climbing robot to lift the tote box and wait for the picking process to be completed before carrying the target tote box away from the workstation. During this process, the climbing robot can carry the target tote box to the online picking climbing point corresponding to the target online workstation, and at the online picking climbing point, lift the target tote box to the target online picking point within the target online workstation; and the target online workstation is used to perform the picking task while the target tote box is still attached to the climbing robot.

[0047] For specific implementation, please refer to Figure 5 The diagram shows that the online picking point allows a climbing robot to directly lift the bin to that position, eliminating the need for the robot to place it and enabling rapid picking, thus improving picking efficiency. Furthermore, to avoid picking difficulties caused by bin movement during picking, fixing devices, such as clamping structures, can be installed at the target online picking point, making it easier for operators to handle the bins.

[0048] In summary, by setting up online workstations to pick target bins, bins can be quickly moved in and out of the workstation without the need to schedule climbing robots for handling, thus saving time lost due to scheduling and improving picking efficiency.

[0049] Based on this, to improve the efficiency of bin transportation, the bins can be raised and lowered during the movement of the climbing robot. In this embodiment, the climbing robot is also used to move the target bin to the ground mobile bin placement position when it receives the picking task completion instruction corresponding to the target bin, and when it is lowered to the ground, to place the target bin into the target storage location in the bin storage area according to a preset online path.

[0050] Specifically, the ground-based mobile bin placement position refers to the location where the climbing robot stores the bins while moving on the ground. This position lowers the bin's center of gravity, preventing it from wobbling or detaching from the robot. Correspondingly, the target storage location refers to the storage position of the target bin within the bin storage area. This can be the location where the target bin was retrieved, a newly assigned storage location by the control unit, or a specific location for storing empty bins. This embodiment does not impose any limitations on this.

[0051] Based on this, when the climbing robot receives the order to complete the picking task corresponding to the target bin, it can move the target bin to the ground mobile bin placement position. After descending to the ground, it will place the target bin into the target storage location in the bin storage area according to the preset online path, thereby ensuring that the bins are strictly managed and that picking is more orderly.

[0052] Continuing with the previous example, when the target bin for goods A is assigned to online workstation 2, the climbing robot 1 can transport the target bin to online workstation 2. It can then dock with the guide rails at online workstation 2 and climb to the online picking point 2 corresponding to online workstation 2. During this process, the climbing robot 1 can lift the target bin to the online picking point 2 while climbing, using its own body movements. At this point, the target bin is at a suitable position for the operator to pick, and goods A can be picked from the target bin. Furthermore, after picking, the operator can release the climbing robot via a PAD. The climbing robot can then descend while changing the target bin, allowing it to land at the ground-level bin placement position. After securing the target bin, the climbing robot can leave online workstation 2 and reposition the target bin to the third layer of the first column of the climbing rack 2.

[0053] In practical applications, in order to effectively utilize the space within the storage area, climbing rack integrated racking areas and workstation areas can be set up. At the same time, at least one offline workstation and at least one online workstation in the workstation area are adjacent to each other within the workstation area; wherein, the height of the offline picking climbing point corresponding to the at least one offline workstation is greater than the height of the online picking climbing point corresponding to the at least one online workstation.

[0054] This can be understood as at least one offline workstation and at least one online workstation being multiple adjacent workstations within the workstation area. This facilitates one or more operators connecting multiple workstations, avoiding the problem of slower picking speeds caused by increased operator travel distances. Furthermore, considering that online workstations require climbing robots to lift cartons, complete the picking process, and quickly move away, to avoid affecting the movement of the corresponding climbing robots at online workstations, the height of the offline picking climbing point for the offline workstation can be set higher than the height of the online picking climbing point. This allows the climbing robot at the lower position (corresponding to the climbing robot at the online workstation) to continue moving and working when the climbing robot drops cartons to the offline workstation, thus avoiding the problem of decreased picking speed due to congestion.

[0055] In specific implementation, two offline workstations and two online workstations can be optionally configured. That is, the at least one offline workstation includes a first offline workstation and a second offline workstation, and the at least one online workstation includes a first online workstation and a second online workstation. The first online workstation and the second online workstation are located between the first offline workstation and the second offline workstation, and the first online workstation is adjacent to the second online workstation. The first offline workstation, the second offline workstation, the first online workstation, and the second online workstation execute different picking tasks in parallel.

[0056] See Figure 6 The diagram shows four workstations within the workstation area. The workstations on the left and right can be set as offline workstations, while the two workstations in the middle can be set as online workstations. This layout can more effectively improve picking speed.

[0057] In addition, to facilitate picking operations for operators within the workstation and to improve personal safety, at least one offline workstation and the at least one online workstation can be equipped with a work instruction device, a control device, an operating terminal, and / or a scanning device, respectively. The work instruction device is used to guide operators in performing picking tasks; the control device is used to change the operating status of the device in abnormal conditions; the operating terminal is used to interact with the control terminal; and the scanning device is used by the operators to perform sorting operations.

[0058] In practice, the work instruction device can be an indicator light, display screen, speaker, or buzzer, etc., to instruct the operator to perform picking tasks. For example, if the work instruction device is an indicator light, a red light can indicate that there is a bin at the current workstation location and picking operation is required; a green light can indicate that there is no bin at the current workstation location; and a yellow light can indicate that the bin at the current workstation location has a higher priority for processing.

[0059] Accordingly, the control device can be implemented using buttons or touch switches, allowing for quick shutdown of the equipment in case of abnormal problems. For example, if a hopper breaks at the workstation, the operator can use the touch switch to cut off the power to the workstation, thus preventing excessive losses.

[0060] Correspondingly, the operating terminal can be implemented through smart devices such as tablets and mobile phones to interact with the control terminal. For example, it can view the picking tasks issued by the control terminal, the quantity of goods to be picked, etc. In addition, the operating terminal can also view information such as the operator's working hours.

[0061] Correspondingly, the scanning device can be implemented through equipment such as barcode scanners, allowing operators to use barcode scanners to scan the identification codes or barcodes of goods to determine the bins to be placed, thus facilitating the picking operation.

[0062] In practice, to avoid the climbing robot moving around randomly, robot waiting areas can be configured at at least one offline workstation and at least one online workstation; the climbing robot is also used to carry the target bin to the target robot waiting area corresponding to the target workstation when it receives a picking waiting instruction.

[0063] Specifically, the robot waiting area refers to a separate area within the workstation designated for climbing robots to wait for or depart from the workstation. The purpose is to ensure the orderly movement of climbing robots and avoid congestion. In practical applications, the robot waiting area can hold one or more climbing robots, and boundary lines are set within the waiting area to restrict the robots' movement once they enter it.

[0064] Based on this, if the workstation docked with the climbing robot is currently in operation, the control terminal can send a picking waiting instruction to the climbing robot. Upon receiving the instruction, the climbing robot can carry the target bin to the target robot waiting area corresponding to the target workstation and wait there, and then drive away from the robot waiting area in sequence, thereby ensuring the orderly movement of the robot.

[0065] The picking system provided in this embodiment includes a control terminal, a climbing robot, and a climbing rack. The climbing rack includes a bin storage area and a workstation area. The workstation area includes at least one offline workstation and at least one online workstation. The control terminal is communicatively connected to the climbing robot. The control terminal receives picking task orders and sends bin handling instructions to the climbing robot according to the picking task orders. The climbing robot grabs the target bin in the bin storage area according to the bin handling instructions and moves the target bin to the workstation area. It determines the target workstation among at least one offline workstation and at least one online workstation and moves to the picking climbing point corresponding to the target workstation. At the picking climbing point, it moves the target bin to the target picking point in the target workstation to execute the picking task corresponding to the target bin. This system combines online and offline picking, constructing a workstation form that takes into account vehicle efficiency, station efficiency, and human efficiency. Furthermore, by integrating the rack and workstation design, it can effectively reduce additional space occupation, thereby making picking operations faster and more convenient, and effectively improving the efficiency of goods picking in warehousing scenarios.

[0066] Corresponding to the above system embodiments, this disclosure also provides another picking system embodiment. Figure 7 This specification shows a schematic diagram of another picking system provided in one embodiment. The picking system 700 includes: Climbing robot 710 and climbing rack 720, wherein the climbing rack includes a bin storage area and a workstation area, the workstation area including at least one offline workstation and at least one online workstation; The climbing robot is used to grab a target bin in the bin storage area and carry the target bin to the workstation area; determine a target workstation among at least one offline workstation and at least one online workstation, and move to the picking climbing point corresponding to the target workstation; move the target bin to the target picking point in the target workstation at the picking climbing point to perform the picking task corresponding to the target bin.

[0067] In an optional embodiment, the climbing robot is further configured to, when the target workstation is a target offline workstation among the at least one offline workstations, carry the target bin to the offline picking climbing point corresponding to the target offline workstation, and move the target bin to the target offline picking point within the target offline workstation at the offline picking climbing point; wherein, the target offline workstation is configured to perform the picking task when the target bin is detached from the climbing robot.

[0068] In an optional embodiment, the target offline workstation is further configured with an offline temporary storage location and an offline picking power structure, wherein the offline temporary storage location is used to temporarily store at least one hopper; The climbing robot is also used to place the target bin at the offline picking climbing point to the offline temporary storage location, and move out of the workstation area according to the preset offline path; The offline picking power structure is used to move the target bin to the target offline picking point in the target offline workstation when the target bin is detected to be present in the offline temporary storage location.

[0069] In an optional embodiment, the climbing robot is further configured to, when the target workstation is a target online workstation among the at least one online workstations, carry the target bin to the online picking climbing point corresponding to the target online workstation, and lift the target bin to the target online picking point of the target online workstation at the online picking climbing point; wherein, the target online workstation is configured to perform the picking task while the target bin is still attached to the climbing robot.

[0070] In an optional embodiment, the climbing robot is further configured to, upon receiving a picking task completion instruction corresponding to the target bin, move the target bin to a ground mobile bin placement position, and, upon descending to the ground, place the target bin into the target storage location in the bin storage area according to a preset online path.

[0071] In one optional embodiment, the at least one offline workstation and the at least one online workstation are adjacent to each other within the workstation area; wherein the height of the offline picking climbing point corresponding to the at least one offline workstation is greater than the height of the online picking climbing point corresponding to the at least one online workstation.

[0072] In an optional embodiment, the at least one offline workstation and the at least one online workstation are respectively configured with a job instruction device, a control device, an operation terminal and / or a scanning device; The operation instruction device is used to guide operators in performing picking tasks; the control device is used to change the device's operating status in abnormal conditions; the operation terminal is used to interact with the control terminal; and the scanning device is used by the operators to perform sorting operations.

[0073] In one optional embodiment, the at least one offline workstation includes a first offline workstation and a second offline workstation, and the at least one online workstation includes a first online workstation and a second online workstation, wherein the first online workstation and the second online workstation are located between the first offline workstation and the second offline workstation, and the first online workstation is adjacent to the second online workstation; the first offline workstation, the second offline workstation, the first online workstation, and the second online workstation perform different picking tasks in parallel.

[0074] In an optional embodiment, the at least one offline workstation and the at least one online workstation are further configured with a robot waiting area; The climbing robot is also used to carry the target bin to the target robot waiting area corresponding to the target workstation when it receives a picking waiting instruction.

[0075] The picking system provided in this embodiment includes a control terminal, a climbing robot, and a climbing rack. The climbing rack includes a bin storage area and a workstation area. The workstation area includes at least one offline workstation and at least one online workstation. The climbing robot is used to grab a target bin in the bin storage area and move the target bin to the workstation area. A target workstation is determined among the at least one offline workstation and at least one online workstation, and the robot moves to the picking climbing point corresponding to the target workstation. At the picking climbing point, the target bin is moved to the target picking point in the target workstation to perform the picking task corresponding to the target bin. This system combines online and offline picking, constructing a workstation form that takes into account vehicle efficiency, station efficiency, and human efficiency. Furthermore, by integrating the rack and workstation into a single design, the system effectively reduces additional space occupation, making picking operations faster and more convenient, and effectively improving the efficiency of goods picking in warehousing scenarios.

[0076] The above is an illustrative scheme of another picking system according to this embodiment. It should be noted that the technical solution of this picking system belongs to the same concept as the technical solution of the picking system described above. For details not described in detail in the technical solution of the picking system, please refer to the description of the technical solution of the picking system described above.

[0077] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0078] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments in this specification are not limited to the described order of actions, because according to the embodiments in this specification, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in this specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the embodiments in this specification.

[0079] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0080] The preferred embodiments disclosed above are merely illustrative of this specification. The optional embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the embodiments described herein. These embodiments are selected and specifically described in this specification to better explain the principles and practical applications of the embodiments, thereby enabling those skilled in the art to better understand and utilize this specification. This specification is limited only by the claims and their full scope and equivalents.

Claims

1. A picking system comprising a control end, a climbing robot and a climbing rack, wherein, The climbing rack includes a material bin storage area and a workstation area. The workstation area includes at least one offline workstation and at least one online workstation. The control terminal is communicatively connected to the climbing robot. The control terminal is used to receive picking task orders and send bin handling instructions to the climbing robot according to the picking task orders; The climbing robot is used to grab a target box in the storage area of ​​the box according to the box handling instruction, and carry the target box to the workstation area. A target workstation is determined among the at least one offline workstation and the at least one online workstation, and the target workstation is moved to the picking climbing point corresponding to the target workstation; at the picking climbing point, the target bin is moved to the target picking point in the target workstation to perform the picking task corresponding to the target bin.

2. The picking system according to claim 1, wherein the climbing robot is further configured to, when the target workstation is a target offline workstation among the at least one offline workstations, carry the target bin to the offline picking climbing point corresponding to the target offline workstation, and move the target bin to the target offline picking point within the target offline workstation at the offline picking climbing point; wherein, The target offline workstation is used to perform picking tasks when the target bin is detached from the climbing robot.

3. The order-picking system of claim 2, the target off-line station further being configured with an off-line staging location and an off-line picking power structure, wherein, The offline temporary storage location is used to temporarily store at least one material bin; The climbing robot is also used to place the target bin at the offline picking climbing point to the offline temporary storage location, and move out of the workstation area according to the preset offline path; The offline picking power structure is used to move the target bin to the target offline picking point in the target offline workstation when the target bin is detected to be present in the offline temporary storage location.

4. The picking system according to claim 1, wherein the climbing robot is further configured to, when the target workstation is a target online workstation among the at least one online workstations, carry the target bin to the online picking climbing point corresponding to the target online workstation, and at the online picking climbing point, lift the target bin to the target online picking point within the target online workstation; wherein, The target online workstation is used to perform picking tasks while the target bin is still attached to the climbing robot.

5. The picking system according to claim 4, wherein the climbing robot is further configured to, upon receiving a picking task completion instruction corresponding to the target bin, move the target bin to a ground mobile bin placement position, and, upon descending to the ground, place the target bin into the target storage location in the bin storage area according to a preset online path.

6. The picking system according to any one of claims 1 to 5, wherein the at least one offline workstation and the at least one online workstation are adjacent to each other within the workstation area; wherein, The height of the offline picking climbing point corresponding to the at least one offline workstation is greater than the height of the online picking climbing point corresponding to the at least one online workstation.

7. The picking system according to any one of claims 1 to 5, wherein the at least one offline workstation and the at least one online workstation are respectively configured with a work instruction device, a control device, an operation terminal and / or a scanning device; The operation instruction device is used to guide operators in performing picking tasks; the control device is used to change the device's operating status in abnormal conditions; the operation terminal is used to interact with the control terminal; and the scanning device is used by the operators to perform sorting operations.

8. The picking system according to claim 6, wherein the at least one offline workstation includes a first offline workstation and a second offline workstation, and the at least one online workstation includes a first online workstation and a second online workstation, wherein, The first online workstation and the second online workstation are located between the first offline workstation and the second offline workstation, and the first online workstation is adjacent to the second online workstation; The first offline workstation, the second offline workstation, the first online workstation, and the second online workstation execute different picking tasks in parallel.

9. The picking system according to any one of claims 1 to 5, wherein the at least one offline workstation and the at least one online workstation are further configured with a robot waiting area; The climbing robot is also used to carry the target bin to the target robot waiting area corresponding to the target workstation when it receives a picking waiting instruction.

10. A picking system, comprising: A climbing robot and a climbing rack, wherein the climbing rack includes a bin storage area and a workstation area, the workstation area including at least one offline workstation and at least one online workstation; The climbing robot is used to grab a target bin in the bin storage area and carry the target bin to the workstation area; determine a target workstation among at least one offline workstation and at least one online workstation, and move to the picking climbing point corresponding to the target workstation; move the target bin to the target picking point in the target workstation at the picking climbing point to perform the picking task corresponding to the target bin.

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