Cold storage cross-temperature-zone to-person picking system, control method and storage medium

Abstract

The application discloses a cold storage cross-temperature-zone goods-to-person picking system, a control method and a storage medium, and belongs to the technical field of automatic warehousing and logistics. The system comprises a high-density storage and carrying module arranged in a cold storage, a cross-temperature-zone picking workstation arranged on a boundary wall of the cold storage and a cool area, an operation opening is formed in the boundary wall, and a control system connected with the module and the workstation. The method comprises the following steps: receiving a picking order, scheduling the module to take a target bin from a shelf and transport the target bin to the workstation, issuing a picking instruction to an operator located in the cool area, and controlling the module to return the bin to the cold storage after the picking is completed. According to the application, the operator can complete the picking without entering the cold storage, the working environment is improved, the energy consumption of the cold storage is reduced, and the automation level is improved.

Description

Technical Field

[0001] This invention belongs to the field of automated warehousing and logistics technology. Specifically, it relates to an automated goods-to-person picking system applied in a cold storage environment, its control method, and a computer-readable storage medium carrying the relevant programs. Background Technology

[0002] In traditional cold storage operations, the "people enter the warehouse to find goods" model is typically used. This means that picking personnel and handling equipment such as forklifts need to directly enter the extremely low-temperature cold storage to pick and move goods. This operating model has several inherent technical challenges.

[0003] The low-temperature environment inside cold storage poses a severe challenge to the human body. Workers must wear heavy cold-weather clothing. Working in this environment for a long time is not only extremely uncomfortable, but also easily leads to related occupational health problems, resulting in very high labor intensity.

[0004] Because personnel and vehicles need to frequently enter and exit the cold storage, the cold storage doors must be opened and closed frequently. Each time the door is opened, a large amount of cold air escapes from the storage and hot, humid air from outside enters. In order to maintain the set low temperature inside the storage, the refrigeration system needs to consume a huge amount of electrical energy, resulting in serious energy waste, which is inconsistent with the current green and environmentally friendly development concept.

[0005] Traditional manual operation mode relies heavily on human experience and physical strength. Not only is the picking efficiency limited by harsh environment and human physiological limits, but it is also prone to problems such as picking errors and omissions due to fatigue or negligence, making it difficult to meet the requirements of modern logistics for high efficiency and high accuracy.

[0006] Therefore, how to provide a cold storage picking solution that can improve the working environment, reduce energy consumption, and enhance automation and operational efficiency is a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0007] This invention provides a cold storage cross-temperature zone goods-to-person picking system, control method, and storage medium, which solves the technical problems mentioned in the background art, such as poor operating environment, high energy consumption, and low efficiency in cold storage.

[0008] To achieve the above objectives, the first aspect of the present invention provides a cold storage cross-temperature zone goods-to-person picking system, deployed between a cold storage facility and a cool area, the cold storage facility and the cool area being separated by a boundary wall. The system includes: a high-density storage and handling module deployed inside the cold storage facility, the high-density storage and handling module including high-density shelving and a multi-level shuttle system for storing and retrieving boxes on the high-density shelving; and a cross-temperature zone picking workstation located on the boundary wall, the boundary wall having an operating opening for the operator's arm to reach into. The station is used to receive the bins delivered by the multi-level shuttle system; the control system is communicatively connected to the multi-level shuttle system and the cross-temperature zone picking station, respectively, to receive picking orders, and according to the picking orders, control the multi-level shuttle system to automatically retrieve the target bins from the high-density racks and transport them to the cross-temperature zone picking station, while driving the cross-temperature zone picking station to issue picking instructions to the operator located in the shaded area, and after the operator completes the picking, control the multi-level shuttle system to automatically return the bins to the warehouse.

[0009] Furthermore, the cross-temperature zone picking workstation includes a connecting platform for carrying the material bin and has an adjustable pitch angle and horizontal extension distance; the system also includes: a physiological parameter acquisition unit, configured in the shaded area, for acquiring the current operator's shoulder height and arm length data; and a cargo coordinate positioning unit for determining the three-dimensional coordinates of the cargo to be picked within the material bin; wherein, the control system is configured to, based on the shoulder height and arm length data acquired by the physiological parameter acquisition unit and the three-dimensional coordinates determined by the cargo coordinate positioning unit, calculate in real time the optimal ergonomic posture that allows the operator to pick in a comfortable posture, and drive the connecting platform to adjust its pitch angle and horizontal extension distance to the optimal ergonomic posture.

[0010] Furthermore, the control system calculates the optimal ergonomic posture by executing the following logic: establishing a human coordinate system with the operator's shoulder joint position as the origin, and constructing a maximum range of motion model of the arm in the human coordinate system based on the shoulder height and arm length data, wherein the maximum range of motion model is divided into a comfort zone and an edge zone; transforming the three-dimensional coordinates of the goods to be picked from the bin coordinate system to the human coordinate system; determining whether the transformed goods coordinates are within the comfort zone; if so, setting the current posture of the connecting platform as the optimal ergonomic posture; if not, adjusting the pitch angle and horizontal extension distance parameters of the connecting platform through a preset iterative optimization algorithm, and re-performing coordinate transformation and judgment in each iteration until the transformed goods coordinates fall within the comfort zone, and setting the posture at the end of the iteration as the optimal ergonomic posture.

[0011] Furthermore, the system also includes a vector air curtain system, which is disposed around the periphery of the operating port and includes: a Time of Flight (TOF) sensor matrix deployed on the cold storage side of the operating port, used to scan and track the contour and depth of the operator's arm extending into the operating port in real time at a preset frequency to generate dynamic arm coordinate data; and multiple adjustable guide vanes arranged around the periphery of the operating port; wherein, the control system is further configured to control the deflection angle of the multiple adjustable guide vanes in real time based on the dynamic arm coordinate data generated by the TOF sensor matrix, and to form a convergent air curtain at the operating port that dynamically conforms to and moves with the outer contour of the operator's arm.

[0012] Furthermore, the system also includes a check-picking vision module for verifying picking results, with the lens of the check-picking vision module facing the operating port; the vector air curtain system also includes a return air duct, one end of which is connected to a return air inlet below the operating port, and the other end is connected to the front of the lens of the check-picking vision module through a diversion pipe; the outlet of the diversion pipe is designed as a Venturi tube structure to accelerate the relatively dry return airflow generated by the convergent air curtain as it passes through, and to form a high-speed laminar flow on the lens surface.

[0013] Furthermore, the cross-temperature zone picking workstation also integrates an auxiliary picking device, which includes a light indicator and a display screen mounted above the material bin. The control system drives the cross-temperature zone picking workstation to issue picking instructions to the operator, specifically including: controlling the light indicator to emit a beam of light to physically illuminate and mark the specific location of the goods to be picked in the material bin; and controlling the display screen to simultaneously display the name, picture, and quantity information of the goods to be picked.

[0014] To achieve the above objectives, a second aspect of the present invention provides a control method for cross-temperature zone goods-to-person picking in cold storage, applied to the aforementioned system, comprising the following steps: receiving a picking order; according to the picking order, scheduling the multi-level shuttle system to automatically retrieve a target bin containing the goods to be picked from the high-density rack; controlling the multi-level shuttle system to transport the target bin to the cross-temperature zone picking workstation; issuing a picking instruction to the operator located in the shaded area to guide them to retrieve a specified number of goods to be picked from the target bin; and responding to a completion signal after the operator completes the picking operation, scheduling the multi-level shuttle system to transport the target bin back to the designated storage location on the high-density rack.

[0015] Furthermore, after the step of controlling the multi-layer shuttle system to transport the target bin to the cross-temperature zone picking station, the method further includes: acquiring the current operator's physiological parameters and the three-dimensional coordinates of the goods to be picked within the target bin; calculating an optimal ergonomic posture based on the physiological parameters and the three-dimensional coordinates; and driving a connecting platform of the cross-temperature zone picking station to adjust its posture to the optimal ergonomic posture.

[0016] Furthermore, during the operator's picking operation, the following steps are performed in parallel: the contour and depth of the operator's arm within the operating port are tracked in real time using a TOF sensor matrix; based on the tracking results, multiple adjustable guide vanes around the operating port are dynamically adjusted to form a converging air curtain that tightly covers the operator's arm; and the return air generated by the converging air curtain is guided to the lens surface of the core picking vision module through a drainage pipe to continuously blow away and defog the lens.

[0017] To achieve the above objectives, a third aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, it implements the method described in any of the preceding claims.

[0018] The beneficial effects of this application are as follows:

[0019] This system changes the traditional "people entering cold storage to find goods" model, ensuring operators are always in a comfortable, shaded environment, improving the working conditions and reducing labor intensity. Since frequent personnel and forklift entry and exit from the cold storage are no longer required, the number of times the cold storage entrances and exits are opened and closed is reduced, decreasing cold air loss and refrigeration energy consumption. Combining high-speed automated handling with a multi-level shuttle system and photoelectric-assisted guidance at workstations enables efficient and accurate picking. Dynamic adaptive docking stations eliminate fatigue caused by differences in operator size and product location; arm-tracking vector air curtains and a defogging structure based on a return air duct-based picking vision module reduce cold air loss and ensure continuous and stable system operation under high-frequency conditions. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a structural block diagram of a cold storage cross-temperature zone goods-to-person picking system provided in an embodiment of the present invention.

[0022] Figure 2 This is a flowchart of a control method for cross-temperature zone goods-to-person picking in cold storage provided by an embodiment of the present invention.

[0023] In the diagram: 101-Cold storage, 102-Cooled area, 103-Boundary wall, 104a-High-density shelving, 104b-Multi-level shuttle system, 105-Cross-temperature zone picking workstation, 105a-Connecting platform, 105b-Auxiliary picking device, 106-Operating port, 107-Vector air curtain system, 107a-TOF sensor matrix, 107b-Adjustable guide vanes, 107c-Return air duct, 108-Control system, 109-Vision module for checking and picking, 110-Physiological parameter acquisition unit, 111-Cargo coordinate positioning unit, S201-Receive picking order, S202-Dispatch multi-level shuttle system for automatic picking, S203-Transport bins to workstation, S204-Perform ergonomic posture adaptive adjustment, S205-Issue picking instructions, S206-Execute environmental control and operation checking and picking in parallel, S207-Respond to completion signal and return to storage. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0025] Example 1

[0026] Please see Figure 1 This embodiment provides a cold storage cross-temperature zone goods-to-person picking system. The system is deployed at the boundary between cold storage 101 and a cool area 102. Cold storage 101 refers to a storage space where the internal temperature is maintained at a preset low temperature, while cool area 102 refers to an adjacent working area maintained at or near room temperature. Cold storage 101 and cool area 102 are physically separated by a boundary wall 103 with thermal insulation function.

[0027] The system mainly consists of three physical modules: a high-density storage and handling module, a cross-temperature zone picking workstation 105, and a control system 108.

[0028] The high-density storage and handling module is deployed inside the cold storage 101, specifically including high-density racks 104a and a multi-level shuttle system 104b. High-density racks 104a are used for dense storage of standard bins loaded with various goods. The multi-level shuttle system 104b is an automated handling device capable of high-speed movement along the aisles and levels of the high-density racks 104a, precisely retrieving bins from any storage location according to control commands.

[0029] The cross-temperature zone picking station 105 is one of the core hardware components of this system, and it is installed on the boundary wall 103. To enable cross-temperature zone operations, one or more appropriately sized operating ports 106 are provided on the boundary wall 103. These ports 106 only allow operators located in the shaded area 102 to extend their arms, while the rest of their bodies do not need to enter the cold storage 101. The main function of the cross-temperature zone picking station 105 is to receive target boxes transported from the depths of the cold storage 101 by the multi-level shuttle system 104b and to provide a human-machine interface for the operator.

[0030] The control system 108 is the "brain" of the entire system, logically integrating the functions of the warehouse management system and the robot scheduling system. In this embodiment, the control system 108 can consist of one or more industrial server hardware units and corresponding network equipment. Its lower-level main control unit can be an industrial controller, maintaining real-time full-duplex communication with each hardware module via industrial Ethernet. The control system 108 communicates with the multi-level shuttle system 104b and the cross-temperature zone picking workstation 105, respectively.

[0031] In a typical workflow, when the control system 108 receives a picking order from an external system, it parses it into a specific picking task. Subsequently, the robot scheduling module of the control system 108 dispatches the multi-level shuttle system 104b within the cold storage 101 to locate the bin containing the target goods and automatically retrieve it from the high-density shelving 104a, transporting it along a pre-set conveyor line to the cross-temperature zone picking station 105. Once the bin is in place, the control system 108 drives the cross-temperature zone picking station 105 to issue picking instructions to the operator. The operator, in the comfortable environment of the shaded area 102, simply extends their arm through the operating port 106 to retrieve the specified quantity of goods from the bin. After picking, the operator sends a completion signal to the system via an interactive device. The control system 108 then dispatches the multi-level shuttle system 104b to automatically transport the bin back to its original location on the high-density shelving 104a or to a designated new location, completing one automated closed-loop operation.

[0032] To further improve human-machine efficiency and the intelligence level of the system, the cross-temperature zone picking workstation 105 in this embodiment has undergone in-depth optimization design. Specifically, the cross-temperature zone picking workstation 105 includes a dynamically adaptive docking station 105a. This docking station 105a is used to directly carry the hoppers received from the end of the conveyor line of the multi-layer shuttle system 104b, and its structural design allows it to have an adjustable pitch angle and horizontal extension distance. For example, the bottom of the docking station 105a can be supported by a servo electric push rod, and its pitch angle can be adjusted around a hinge axis near the operating port 106. At the same time, the entire platform can slide outward along the horizontal guide rail towards the operating port 106.

[0033] Working in conjunction with the connecting platform 105a are the physiological parameter acquisition unit 110 and the cargo coordinate positioning unit 111. The physiological parameter acquisition unit 110, located in the shaded area 102, serves as a database query interface associated with the operator authentication module, used to retrieve pre-entered shoulder height and arm length data of the current operator when the operator logs into the workstation. The cargo coordinate positioning unit 111 is used to determine the precise three-dimensional coordinates of the goods to be picked within the bin during this task. This coordinate information is typically recorded and maintained by the warehouse management system when goods are received into the warehouse.

[0034] The control system 108 is further configured to perform real-time calculations of ergonomic posture. When the hopper arrives at the receiving platform 105a, the control system 108 receives a structured message containing the operator ID and cargo coordinates from the warehouse management system. The controller reads the operator's physiological parameters bound to the operator ID from the local database and extracts the shoulder reference height parameter. With effective arm length parameters Subsequently, based on this physiological data and the three-dimensional coordinates of the goods, the controller calculates the optimal ergonomic posture in real time and drives the servo electric push rod and slide rail motor of the connecting platform 105a to adjust its pitch angle and horizontal extension distance to this optimal posture. The purpose of this is to ensure that regardless of the operator's height and arm length, and regardless of the location of the goods to be picked in the bin, the operator can pick in a comfortable and effortless posture, avoiding unnecessary bending, leaning, and other tiring movements.

[0035] In a preferred embodiment, the logic of the control system 108 in calculating the optimal ergonomic posture is as follows: the system establishes a human coordinate system with the operator's shoulder joint position as the origin, and calculates the optimal posture based on the acquired shoulder height. and arm length data A 3D model of the arm's maximum range of motion is constructed in this coordinate system. This model is further divided into a "comfort zone" and an "edge zone." Next, the system transforms the 3D coordinates of the goods to be picked within the bin to the aforementioned human coordinate system using a coordinate transformation algorithm. The system then determines whether the transformed goods coordinates are within the "comfort zone." If so, the current posture of the docking station is optimal and requires no adjustment. If not, the system initiates a preset iterative optimization algorithm, aiming to ensure the goods' coordinates fall into the "comfort zone," continuously fine-tuning the docking station's pitch angle and horizontal extension distance. Coordinate transformation and judgment are repeated in each iteration until a parameter combination that allows the goods' coordinates to fall into the comfort zone is found. At the end of the iteration, the docking station's posture is set to the optimal ergonomic posture.

[0036] Specifically, the above calculation logic can be implemented using the following formula:

[0037] ;

[0038] in, It is the pitch angle command value output by the control system 108 to the docking station 105a, and its range of motion can be limited to between 5° and 35°; This is the operator's shoulder reference height parameter; This is the operator's effective arm length parameter; It is the absolute height of the bottom edge of the operating port 106 from the ground, which is a fixed value; It is the physical depth of the target cargo compartment relative to the front edge of the bin; It is the depth difference between the bottom surface of the target cargo compartment and the top opening of the bin; This refers to the inherent tilt angle of the shelf inside the material bin; It is a follow-up compensation coefficient, with a preferred value range of 0.15-0.25. Using this model, a suitable pitch angle can be quickly calculated, and in conjunction with adjustments to the horizontal distance, the goods can be delivered to the position most easily accessible to the operator.

[0039] Among them, is the pitch angle command value output by the control system 108 to the docking station 105a, whose movement range can be limited to between 5° and 35°; is the operator's shoulder reference height parameter; is the operator's effective arm length parameter; is the absolute height of the bottom edge of the operating port 106 from the ground, which is a fixed value; is the physical depth of the target cargo compartment relative to the front edge of the bin; is the depth difference between the bottom surface of the target cargo compartment and the top opening of the bin; is the inherent tilt angle of the shelf inside the bin; and is a follow-up compensation coefficient, the preferred value range of which is 0.15-0.25. Through this model, a suitable pitch angle can be quickly calculated, and in conjunction with the adjustment of the horizontal distance, the goods can be delivered to the position most easily accessible to the operator.

[0040] To address the cold air leakage issue caused by the operating port 106, this system also integrates a vector air curtain system 107. This vector air curtain system 107 is arranged in a U-shape around the perimeter of the cold storage 101 near the operating port 106. It includes a TOF sensor matrix 107a and multiple adjustable guide vanes 107b. The TOF sensor matrix 107a is configured to scan the plane containing the operating port 106 in real-time at high frequency, generating a depth point cloud map. This allows for precise tracking of the real-time contour, position, and intrusion depth of an operator's arm extending into the operating port 106, generating dynamic arm coordinate data. The adjustable guide vanes 107b are driven by a stepper motor array and are arranged in a louvered pattern around the air outlet side of the inner wall of the operating port 106.

[0041] The control system 108 is also configured to control the deflection angle of the adjustable guide vanes 107b in real time based on the dynamic arm coordinate data generated by the TOF sensor matrix 107a. Specifically, the adjustable guide vanes on both sides and the top converge towards the center line of the arm's profile, and the deflection angle... The angle dynamically increases from an initial 0° to a maximum of 25° as the arm intrusion depth increases. Thus, the air curtain generated by the vector air curtain system 107 is no longer a traditional, fixed curtain, but an inverted cone-shaped converging air curtain that dynamically conforms to and moves with the outer contour of the arm. This adaptive air curtain shape effectively seals the operating port 106 with minimal airflow, minimizing cold air leakage.

[0042] In this design, the system also physically couples the vector air curtain system 107 with the picking and verification function. A picking and verification vision module 109 is installed within the insulation wall layer at the top of the operating port 106. Its lens faces the center of the connecting platform 105a and is used to capture images during the picking process. Image recognition algorithms are then used to verify whether the goods retrieved by the operator are correct, preventing incorrect picking. At the interface between hot and cold air, the lens of the picking and verification vision module 109 is highly susceptible to condensation and fogging due to the intrusion of humid and hot air from the shaded area 102, resulting in blurred images and algorithm failure.

[0043] To address this issue, the vector air curtain system 107 also includes a return air duct 107c. One end of the return air duct 107c connects to a return air inlet below the operating port 106, which is equipped with a vapor-water separator filter for preliminary drying of the recovered air. The other end of the return air duct 107c does not discharge directly but connects to the front of the lens shroud of the nuclear sorting vision module 109 via a diversion duct. The outlet of this diversion duct is designed as a Venturi tube structure. When the relatively dry return airflow generated by the convergent air curtain, after dehydration and carrying a certain amount of kinetic energy, passes through this Venturi tube structure, it is accelerated. This creates a high-speed, stable laminar flow with a velocity between 3 m / s and 5 m / s on the lens surface, forming a small angle with the lens surface. This high-speed airflow can continuously and actively sweep the lens surface, disrupting the nucleation conditions for condensation droplets, thereby achieving efficient active defogging. This design utilizes the return air generated by the air curtain system itself, avoiding the thermal radiation interference and thermal inertia lag problems caused by using high-power resistance wire heating for defogging, thus ensuring the continuous reliability of the nuclear picking vision module 109 in high-frequency picking operations.

[0044] In addition, to provide clear operational guidance for operators, the cross-temperature zone picking workstation 105 integrates an auxiliary picking device 105b. This device includes a light indicator and a display screen positioned above or to the side of the bin. When the control system 108 issues a picking command, it specifically controls the light indicator to emit a bright spot of light, accurately marking the exact location of the item to be picked within the bin through physical illumination; simultaneously, the display screen displays the name, image, and quantity information of the item to be picked. This photoelectric guidance method makes the picking process intuitive and easy to understand, enabling convenient operation and further improving picking efficiency and accuracy.

[0045] The system may also include necessary support modules, such as a power supply module to provide stable power to all electronic components, and safety systems such as emergency stop buttons and safety light curtains to ensure operator safety. It should be noted that the specific implementation of the above modules is not limited to these; those skilled in the art can use other components with the same or similar functions to achieve the technical solution of this application.

[0046] Example 2

[0047] Please see Figure 2 This embodiment provides a control method for cross-temperature zone goods-to-person picking in cold storage based on the system described in Embodiment 1. The method is executed by a software program deployed within the control system 108, and specifically includes the following steps:

[0048] Step S201: Receive picking order. The warehouse management module of the control system 108 receives picking task from the upper order management system. This task usually includes multiple goods to be picked and their quantities.

[0049] Step S202: The multi-level shuttle system is dispatched to automatically retrieve goods. The warehouse management system parses the order into a series of picking instructions for individual bins. For each instruction, the robot dispatching module dispatches the multi-level shuttle system 104b in the cold storage 101 to automatically retrieve the target bin containing the goods to be picked from the high-density rack 104a, based on the goods storage location information provided by the warehouse management system.

[0050] Step S203: Transport the material box to the workstation. The control system 108 controls the multi-layer shuttle system 104b and its cooperating conveyor line to transport the target material box smoothly and quickly to the designated cross-temperature zone picking workstation 105.

[0051] Step S204: Perform adaptive ergonomic posture adjustment. In this step, the method may further include acquiring the physiological parameters of the currently logged-in operator, arm length, and the three-dimensional coordinates of the goods to be picked within the bin after the bin arrives at the receiving platform 105a. Then, based on these parameters, the optimal ergonomic posture is calculated using a preset algorithm, and the receiving platform 105a is driven to adjust its pitch angle and horizontal extension distance to this optimal posture. This step aims to improve the operator's work comfort.

[0052] Step S205: Issue picking instructions. After the bin arrives and is adjusted, the control system 108 drives the auxiliary picking device 105b of the cross-temperature zone picking workstation 105 to illuminate the target goods position through the light indicator and display the goods information and quantity on the display screen to guide the operator to pick.

[0053] Step S206: Parallel execution of environmental control and job verification. Throughout the entire period when the operator extends their arm into the operation port 106 to perform the picking operation, the control system 108 executes a series of background tasks in parallel. Specifically, this includes: tracking the contour and depth of the operator's arm in real time using a TOF sensor matrix 107a; dynamically adjusting multiple adjustable guide vanes 107b around the operation port 106 based on the tracking results to form a converging air curtain that tightly covers the arm to prevent cold air leakage; simultaneously, directing the dry return air generated by this air curtain to the lens surface of the verification vision module 109 through a drainage pipe and venturi tube structure for continuous purging and defogging; during this period, the verification vision module 109 continuously acquires and analyzes images to verify the correctness of the picking in real time.

[0054] Step S207: Respond to the completion signal and return to the warehouse. After the operator completes the picking operation for the current bin, they send a completion signal to the system via a button or barcode scan. Upon receiving the signal, the control system 108 dispatches the multi-level shuttle system 104b to transport the bin back to the designated storage location on the high-density rack 104a.

[0055] If there are other items in the order that need to be picked, the system will cycle through steps S202 to S207 until the entire order is completed.

[0056] Example 3

[0057] The present invention also provides a computer-readable storage medium, such as a non-volatile memory or an optical disc. The storage medium stores computer program instructions. When these computer program instructions are loaded and executed by the processor in the control system 108, all or part of the steps of the cold storage cross-temperature zone goods-to-person picking control method described in Embodiment 2 can be implemented.

[0058] In summary, this invention combines an automated handling system, a specially designed cross-temperature zone workstation, and intelligent control algorithms to construct a complete cold storage goods-to-person picking solution. It not only fundamentally improves the workers' working environment but also achieves energy savings by reducing the opening and closing of cold storage doors. Furthermore, it enhances operational efficiency, accuracy, and comfort through automation and ergonomic optimization, making it valuable for industrial applications.

[0059] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A cold storage cross-temperature zone goods-to-person picking system, deployed between a cold storage facility and a cool area, wherein the cold storage facility and the cool area... Separated by boundary walls, characterized in that... The system includes: A high-density storage and handling module is deployed inside the cold storage. The high-density storage and handling module includes high-density shelves and a multi-level shuttle system for storing and retrieving material boxes on the high-density shelves. A cross-temperature zone picking workstation is set on the boundary wall, and the boundary wall has an operating port for the operator's arm to reach in. The cross-temperature zone picking workstation is used to receive the material box delivered by the multi-layer shuttle system. The control system is communicatively connected to the multi-level shuttle system and the cross-temperature zone picking station. It receives picking orders and controls the multi-level shuttle system to automatically retrieve target boxes from the high-density racks and transport them to the cross-temperature zone picking station according to the picking orders. At the same time, it drives the cross-temperature zone picking station to issue picking instructions to the operator located in the shaded area, and controls the multi-level shuttle system to automatically return the boxes to the warehouse after the operator completes the picking. The system further includes a vector air curtain system, which is disposed around the periphery of the operating port and includes: A TOF sensor matrix is ​​deployed on one side of the cold storage at the operation port to scan and track the contour and depth of the operator's arm that extends into the operation port in real time at a preset frequency, so as to generate dynamic arm coordinate data. Multiple adjustable guide vanes are arranged around the periphery of the operating port; The control system is further configured to control the deflection angle of the plurality of adjustable guide vanes in real time based on the dynamic arm coordinate data generated by the TOF sensor matrix, and to form a convergent air curtain at the operation port that dynamically fits the outer contour of the operator's arm and moves with it. The system also includes a check-picking vision module for verifying picking results, with the lens of the check-picking vision module facing the operating port; the vector air curtain system also includes a return air duct, one end of which is connected to a return air inlet below the operating port, and the other end is connected to the front of the lens of the check-picking vision module through a diversion pipe; the outlet of the diversion pipe is designed as a Venturi tube structure to accelerate the relatively dry return airflow generated by the convergent air curtain as it passes through, and to form a high-speed laminar flow on the lens surface.

2. The system according to claim 1, characterized in that, The cross-temperature zone picking station includes a connecting platform for carrying the material bins and has adjustable pitch angle and horizontal extension distance; the system also includes: A physiological parameter acquisition unit, configured in the shaded area, is used to acquire the current operator's shoulder height and arm length data; The cargo coordinate positioning unit is used to determine the three-dimensional coordinates of the cargo to be picked within the bin; The control system is configured to calculate in real time the optimal ergonomic posture that allows the operator to pick items comfortably, based on the shoulder height and arm length data obtained by the physiological parameter acquisition unit and the three-dimensional coordinates determined by the cargo coordinate positioning unit, and drive the docking station to adjust its pitch angle and horizontal extension distance to the optimal ergonomic posture.

3. The system according to claim 2, characterized in that, The control system calculates the optimal ergonomic posture configuration by executing the following logic: A human coordinate system is established with the operator's shoulder joint position as the origin. Based on the shoulder height and arm length data, a maximum range of motion model of the arm is constructed in the human coordinate system. The maximum range of motion model is divided into a comfort zone and an edge zone. The three-dimensional coordinates of the goods to be picked are transformed from the bin coordinate system to the human body coordinate system; Determine whether the converted cargo coordinates are within the comfort zone. If so, set the current posture of the docking station to the optimal ergonomic posture. If not, the pitch angle and horizontal extension distance parameters of the docking platform are adjusted by a preset iterative optimization algorithm, and the coordinate transformation and judgment are performed again in each iteration until the transformed cargo coordinates fall into the comfort zone, and the posture at the end of the iteration is set as the optimal ergonomic posture.

4. The system according to claim 1, characterized in that, The cross-temperature zone picking workstation also integrates an auxiliary picking device, which includes a light indicator and a display screen mounted above the material bin. The control system drives the cross-temperature zone picking workstation to issue picking instructions to the operator, specifically including: controlling the light indicator to emit a beam of light to physically illuminate and mark the specific location of the goods to be picked in the material bin; and controlling the display screen to simultaneously display the name, picture, and quantity information of the goods to be picked.

5. A control method for cross-temperature zone goods-to-person picking in cold storage, applied to the system described in claim 1, characterized in that, Includes the following steps: Receive picking orders; According to the picking order, the multi-level shuttle system is dispatched to automatically retrieve the target bin containing the goods to be picked from the high-density shelf; The multi-layer shuttle system is controlled to transport the target bin to the cross-temperature zone picking station; A picking instruction is issued to the operator located in the shaded area to guide them in retrieving a specified number of goods to be picked from the target bin; After the operator completes the picking operation, in response to the completion signal, the multi-level shuttle system is dispatched to transport the target bin back to the designated storage location on the high-density rack. During the picking operation performed by the operator, the following steps are also performed in parallel: The contour and depth of the operator's arm within the operating port are tracked in real time using a TOF sensor matrix. Based on the tracking results, multiple adjustable guide vanes around the operating port are dynamically adjusted to form a converging air curtain that tightly covers the operator's arm. The return air generated by the convergent air curtain is then directed through a drainage pipe to the lens surface of the nuclear sorting vision module to continuously blow away and defog the lens.

6. The method according to claim 5, characterized in that, After the step of controlling the multi-layer shuttle system to transport the target bin to the cross-temperature zone picking station, the method further includes: Obtain the current operator's physiological parameters and the three-dimensional coordinates of the goods to be picked within the target bin; Based on the physiological parameters and the three-dimensional coordinates, an optimal human-machine ergonomic posture is calculated. Drive a docking station of the cross-temperature zone picking workstation to adjust its posture to the optimal ergonomic posture.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 5 to 6.

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