A workstation and warehousing system

Abstract

The application relates to the technical field of warehouse logistics, and particularly relates to a workstation and a warehouse system. The workstation comprises a safety fence, the safety fence is combined to form a working space, the safety fence is provided with a safety door, the safety door is configured for a worker to enter and exit the workstation; a sorting station is arranged in the working space and is configured to carry a first container; a transport device is configured to carry a second container to move relative to the sorting platform so that the second container reaches or leaves a parking position, the second container carries to-be-sorted articles; a sorting device is arranged in the working space and is arranged adjacent to the sorting station, the parking position is arranged adjacent to the sorting device, and the sorting device is configured to sort the to-be-sorted articles in the second container into the first container. In this way, the working area of the sorting device can be separated to remind the worker of the working area of the sorting device, and the problem that the worker is injured by the sorting device is reduced.

Description

[0001] This application claims priority to Chinese patent application No. 202510473682.6, filed with the State Intellectual Property Office of China on April 15, 2025; the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of warehousing and logistics technology, and in particular to a workstation and warehousing system. Background Technology

[0003] In a warehousing system, items stored in the system are manually picked into order boxes according to orders to achieve order picking. However, this method is time-consuming and inefficient.

[0004] To improve the efficiency of picking items and reduce time consumption, a robotic arm picking method is adopted to pick the items in the order. Specifically, the transport equipment moves the bins to the robotic arm picking workstation, and the robotic arm picks the items from the inventory bins brought by the transport equipment into the order bins. After picking is completed, the order bins are transferred to an empty space on the seeding wall.

[0005] During the above process, if a worker is near the robotic arm, the robotic arm's operation may cause injury to the worker. Utility Model Content

[0006] To address the aforementioned issues, this application provides a workstation and warehousing system that can separate the working area of ​​picking equipment to remind workers of the picking equipment's working area and reduce the risk of injury to workers caused by picking equipment.

[0007] To achieve the above objectives, in a first aspect, embodiments of this application provide a workstation, comprising: a safety fence enclosing a workspace, the safety fence having a safety door configured for workers to enter and exit the workstation; a sorting station disposed within the workspace and configured to carry a first container; a transport device configured to carry a second container moving relative to a sorting platform, so that the second container arrives at or leaves a docking position, the second container carrying items to be sorted; and a picking device disposed within the workspace, adjacent to the sorting station, the docking position being adjacent to the picking device, the picking device being configured to sort the items to be sorted from the second container into the first container.

[0008] In one alternative implementation, the dock is located outside the workspace; or, the dock is located inside the workspace.

[0009] In one alternative implementation, when the docking station is located outside the workspace, the safety fence includes a clearance section and a connecting section; a movement space is formed between the clearance section and the ground, the movement space is configured for the movement of the second container, and the docking station is located within the movement space; the connecting section separates the workspace and the movement space; when the docking station is located within the workspace, the safety fence also has an entrance and an exit; the docking station is located between the entrance and the exit; the entrance is configured for the second container to enter the workspace; and the exit is configured for the second container to leave the workspace.

[0010] In one alternative implementation, the entrance and exit are set relative to a security fence.

[0011] In one alternative implementation, the workstation further includes a detection component; the detection component is configured to detect whether the second container has arrived at or left the dock; and / or, the detection component is configured to detect whether a worker has entered the workspace.

[0012] In one optional implementation, the detection component includes a first detection device and a second detection device; both the first detection device and the second detection device are disposed within the safety fence.

[0013] In one alternative implementation, the picking equipment and / or transport equipment are configured to receive an emergency stop command upon detecting that a worker has entered the workspace.

[0014] In one alternative implementation, the detection component is further configured to detect the current distance between the worker and the picking equipment; the picking equipment and / or transport equipment is configured to receive a deceleration command corresponding to the current distance; wherein, if the current distance is less than or equal to a safe distance threshold, the deceleration command includes an emergency stop command.

[0015] In one alternative implementation, the workspace includes a first detection area, a second detection area, and a third detection area; the distances between the first detection area, the second detection area, and the third detection area and the picking equipment decrease sequentially; the picking equipment and / or the transport equipment are configured to receive a first deceleration command when a worker is detected entering the first detection area; the picking equipment and / or the transport equipment are configured to receive a second deceleration command when a worker is detected entering the second detection area; and the picking equipment and / or the transport equipment are configured to receive a third deceleration command when a worker is detected entering the third detection area.

[0016] In one alternative implementation, the workstation further includes a third detection device; the third detection device is located at a safety fence or picking equipment, and is configured to detect whether any abnormal conditions occur within the workspace; the picking equipment and / or transport equipment is configured to receive an emergency stop command in the event of an abnormal condition occurring within the workspace.

[0017] In one alternative implementation, the workstation further includes a control panel located outside the workspace; the picking equipment and / or transport equipment are configured to receive an emergency stop command from the control panel in the event of an abnormal condition in the workspace; or, the picking equipment and / or transport equipment are configured to receive a motion command from the control panel when the workspace is in a normal condition.

[0018] In one alternative implementation, the safety fence includes multiple posts spaced apart; the multiple posts enclose a workspace; and a safety door is located between two adjacent posts.

[0019] In one alternative implementation, the cross-sectional shape of the workspace is polygonal, perpendicular to the height of the column.

[0020] In one alternative implementation, the safety fence includes a barrier; the barrier is disposed between two adjacent posts and is configured to separate the workspace from the external space; the barrier includes a visible barrier or a non-visible barrier; the visible barrier is configured to display the interior of the workspace; the non-visible barrier is configured to obscure the interior of the workspace.

[0021] In one alternative implementation, the workstation also includes indicator lights located on a safety fence, which are configured to indicate the operating status of the picking equipment within the workstation.

[0022] To achieve the above objectives, in a second aspect, embodiments of this application provide a warehousing system, including: a plurality of workstations as provided in any of the optional implementations of the first aspect above; and a control system configured to control the sudden stop or movement of picking equipment and / or transport equipment in each workstation.

[0023] The workstation and warehousing system provided in this application embodiment uses a safety fence to enclose the working area of ​​the picking equipment within the workstation, thereby indicating the activity area of ​​the picking equipment within the fence. In addition, a safety door is opened on the safety fence to allow workers to enter and exit the working area of ​​the picking equipment, reducing the problem of workers directly entering the working area of ​​the unmarked picking equipment, which could cause injury to workers. Attached Figure Description

[0024] To more clearly illustrate the technical solution of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the structure of a warehousing system provided in an embodiment of this application;

[0026] Figure 2 This is a schematic diagram of the structure of a workstation provided in an embodiment of this application;

[0027] Figure 3 This is a schematic diagram of the workstation structure provided in the embodiments of this application;

[0028] Figure 4 This is a schematic diagram of the structure of the transportation equipment provided in the embodiments of this application;

[0029] Figure 5 This is a schematic diagram of the structure of the seeding wall and loading / unloading equipment provided in the embodiments of this application;

[0030] Figure 6 This is a schematic diagram of a safety fence provided in an embodiment of this application;

[0031] Figure 7 This is another structural schematic diagram of the safety fence provided in the embodiments of this application;

[0032] Figure 8 This is another structural schematic diagram of the safety fence provided in the embodiments of this application;

[0033] Figure 9 This is another structural schematic diagram of the safety fence provided in the embodiments of this application;

[0034] Figure 10 This is another structural schematic diagram of the safety fence provided in the embodiments of this application;

[0035] Figure 11 This is a schematic diagram of an entrance through a safety fence for a transport device carrying a second container, provided in an embodiment of this application.

[0036] Figure 12 This is another schematic diagram of the entrance through which the transport equipment carrying the second container passes through the safety fence, as provided in the embodiments of this application;

[0037] Figure 13 This is a schematic diagram of the first detection area, the second detection area, and the third detection area provided in the embodiments of this application.

[0038] Figure label:

[0039] 100-Warehouse system; 10-Storage area; 11-Carrier; 11a-Second container; 20-Picking area; 30-Workstation; 31-Sorting platform; 311-Sorting station; 31a-First container; 32-Transportation equipment; 321-Mobile chassis; 322-Bearing mechanism; 3221-Bearing component; 3222-Lifting component; 322a-Base plate; 322b-Support plate; 33-Loading and unloading equipment; 331-Supporting structure; 332-Pick-and-place device; 34-Picking equipment; 35-Seed wall; 36-Safety fence; 361-Post; 361a-First post; 361b-Second post; 362-Baffle; 363-Safety door; 364-Avoidance section; 365-Connecting section; 366-Entrance; 367-Exit; 40-Dock position; 50-Indicator light. Detailed Implementation

[0040] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are all within the protection scope of this application.

[0041] In the following description, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0042] Furthermore, in this application, directional terms such as "upper," "lower," "inner," and "outer" are defined relative to the indicated placement of the components in the accompanying drawings. It should be understood that these directional terms are relative concepts, used for relative description and clarification, and can change accordingly depending on the placement of the components in the accompanying drawings.

[0043] In the field of warehousing and logistics technology, goods can be stored in storage areas. After receiving an order, the warehousing system needs to respond to the order in a timely manner and pick out the required items from the storage area according to the order requirements, thereby completing the order's outbound delivery.

[0044] Figure 1 This is a schematic diagram of the structure of a warehousing system provided in an embodiment of this application.

[0045] Figure 2 This is a schematic diagram of the structure of a workstation provided in an embodiment of this application.

[0046] Combination Figure 1 and Figure 2 As shown, the warehousing system 100 may include a storage area 10 and a picking area 20.

[0047] In some examples, storage area 10 may include multiple vehicles 11 to store items.

[0048] In some examples, vehicle 11 may have multiple storage layers, each of which may include multiple storage slots, each capable of holding items. This allows for efficient use of the space in storage area 10 to accommodate more items.

[0049] It should be noted that the items placed in the storage location may include, but are not limited to, goods, containers containing goods (such as bins), pallets, packages containing goods, and original packaging boxes containing goods.

[0050] In some examples, vehicle 11 can be a stationary vehicle or a mobile vehicle. This increases the flexibility of item storage.

[0051] For example, the carrier 11 can be a shelf, a support frame, etc. Storage positions, cache positions, and temporary storage positions can be formed on the shelf or support frame.

[0052] In some examples, picking area 20 is used to complete picking or sorting operations.

[0053] In some examples, picking or sorting can be done by stocking, which means selecting items of the same type, classifying them, and then placing them on shelves so that multiple items of the same type can be quickly retrieved and stocked during the next outbound shipment.

[0054] In some examples, picking or sorting can be outbound picking, that is, the items in an order can be selected and sorted based on order requirements in order to facilitate order delivery.

[0055] It should be noted that the picking or sorting work can also include unpacking and replenishing items, which is not specifically limited in this embodiment.

[0056] In some examples, picking area 20 includes at least one workstation 30, each capable of independent picking operations. Having multiple workstations 30 in picking area 20 can effectively improve picking efficiency, respond promptly to order demands, and increase order delivery efficiency.

[0057] In some examples, the storage system 100 also includes a control system. The control system is configured to control the equipment within each workstation 30 to stop operating.

[0058] Figure 3 This is a schematic diagram of the workstation provided in the embodiments of this application.

[0059] like Figure 3 As shown in some examples, each workstation 30 may include a sorting platform 31, a transport device 32, a loading and unloading device 33, a picking device 34, a seeding wall 35, and a safety fence 36.

[0060] In some examples, the sorting platform 31 may have multiple sorting stations 311. Each sorting station 311 can be used to hold a first container 31a. The first container 31a is used to place items, which may be items sorted from the second container 11a in the storage area 10.

[0061] In some examples, the first container 31a may be an order box. Alternatively, in other examples, the first container 31a may be a pallet, carton, or other structure capable of carrying items, which is not limited in this embodiment.

[0062] For example, the sorting platform 31 may have two sorting stations 311, each of which can hold one first container 31a. In this way, the sorting platform 31 can hold two first containers 31a, enabling simultaneous sorting of different orders and improving sorting efficiency.

[0063] In some examples, an exception workstation can also be set up on the sorting platform 31. The exception workstation can be used to store abnormal items, such as items that cannot be contained in the first container 31a, items that have fallen from the first container 31a, and items that have fallen from other locations. This makes it easier for staff to check for abnormalities.

[0064] It should be noted that in other examples, the number of sorting stations 311 and abnormal stations on the sorting platform 31 can be determined according to the actual situation, and is not limited in this embodiment.

[0065] In some examples, transport device 32 can move between storage area 10 and picking area 20 to transport items to be picked in storage area 10 to picking area 20 so that items to be sorted can be picked in picking area 20.

[0066] In some examples, transport equipment 32 can transport items to be sorted in storage area 10 to docking position 40 in workstation 30. Docking position 40 is located adjacent to sorting platform 31 to facilitate sorting of items to be sorted into first container 31a on sorting platform 31.

[0067] In some examples, the transport device 32 can carry items to be sorted in a second container 11a, allowing the transport device 32 to transport multiple items in a single transport process, thereby improving transport efficiency. For example, the transport device 32 carries the second container 11a so that the second container 11a can arrive at or leave the docking position 40.

[0068] In some examples, the second container 11a may be a container transported to the storage area 10 by the transport device 32 to carry the items stored in the storage area 10, or the second container 11a may be a container stored in the storage area 10 and containing items. In this embodiment, the source of the second container 11a is not limited.

[0069] In some examples, the second container 11a may be a storage box. Alternatively, in other examples, the second container 11a may be a pallet, carton, or other structure capable of carrying items, which is not limited in this embodiment.

[0070] Figure 4 This is a schematic diagram of the structure of the transportation equipment provided in the embodiments of this application.

[0071] In some examples, transport equipment 32 may include a handling robot.

[0072] like Figure 4 As shown, for example, the transport robot may include a mobile chassis 321 and a support mechanism 322.

[0073] In some examples, the mobile chassis 321 can move the carrier mechanism 322 between the workstations 30 in the storage area 10 and the picking area 20.

[0074] For example, the mobile chassis 321 can be a chassis capable of four-way movement or a chassis capable of omnidirectional movement; this embodiment is not limited to any particular type.

[0075] In some examples, the carrying mechanism 322 includes a carrying component 3221 and a lifting component 3222. One end of the lifting component 3222 is connected to the mobile chassis 321, and the other end is connected to the carrying component 3221. The lifting component 3222 can move the carrying component 3221 up and down relative to the mobile chassis 321. The carrying component 3221 can carry a second container 11a containing items to be sorted. Thus, when the transport equipment 32 is transporting items, the lifting component 3222 can lower the second container 11a to reduce the center of gravity and improve stability. After the transport equipment 32 has transported the items to the workstation 30, the lifting component 3222 can raise the second container 11a relative to the mobile chassis 321, thereby elevating the second container 11a for sorting operations.

[0076] For example, the lifting assembly 3222 may include a lifting rod assembly, a scissor fork assembly, and a lifting gantry assembly, etc., which are not limited in this embodiment.

[0077] For example, the support component 3221 may include a base plate 322a and a plurality of support plates 322b, which may be spaced apart to support the second container 11a.

[0078] In some examples, the height of the first container 31a on the sorting platform 31 is approximately the same as the height of the second container 11a carried by the carrying mechanism 322 of the transport device 32. This reduces the vertical movement required by the actuators of the picking device 34, reduces the time required, and improves sorting efficiency.

[0079] The following describes the height of the sorting platform 31 and the height of the transport equipment 32.

[0080] In one example, the height of the sorting platform 31 is the same as the height of the carrier 32 when the carrier mechanism 322 is not raised, and the height of the first container 31a is the same as the height of the second container 11a. Thus, the bearing surface of the carrier mechanism 322 of the transport equipment 32 is at the same height as the platform of the sorting platform 31, and the first container 31a or the second container 11a of the same height are respectively set on it, allowing the actuator of the picking equipment 34 to rotate or move slightly up and down within the same plane.

[0081] In another example, the height of the sorting platform 31 is the same as the height of the carrier 32 when the carrier mechanism 322 of the transport equipment 32 is raised, and the height of the first container 31a is the same as the height of the second container 11a. In this way, the bearing surface of the carrier mechanism 322 of the transport equipment 32 is at the same height as the platform of the sorting platform 31, and the first container 31a and / or the second container 11a of the same height are respectively set on it, so that the gripper of the picking equipment 34 can rotate or move up and down slightly within the same plane.

[0082] In another example, the height of the sorting platform 31 is different from the height of the carrying device 32 when the carrying mechanism 322 of the transport equipment 32 is raised, and the height of the first container 31a is different from the height of the second container 11a. When the second container 11a is carried on the carrying surface of the carrying mechanism 322 of the transport equipment 32 and the first container 31a is carried on the platform of the sorting platform 31, the upper height of the first container 31a is the same as the upper height of the second container 11a. In this way, when the first container 31a and / or the second container 11a are respectively placed on the carrying surface of the carrying mechanism 322 of the transport equipment 32 and the platform of the sorting platform 31, the gripper of the picking device 34 can rotate or move up and down slightly within the same plane.

[0083] It should be noted that the height of the sorting plane and the height of the sorting platform 31 can be set according to requirements, and this application does not impose any restrictions on this.

[0084] In other examples, transport equipment 32 can be a conveyor line, such as a conveyor line formed by a conveyor belt, conveyor chain or other transport structure.

[0085] For example, the conveyor inlet of the conveyor line may be located in storage area 10.

[0086] In some examples, the delivery outlet may be located at docking station 40. In this case, the second container 11a transported to docking station 40 can be moved back to storage area 10 by a robot.

[0087] In other examples, the conveyor line can also transport the second container 11a. The conveyor line can transport the second container 11a to the picking area 20. At this point, the conveyor line can pause to allow the picking device 34 to pick the items from the second container 11a. After the picking device 34 has finished picking, the conveyor line can continue operating to transport the second container 11a away.

[0088] For example, after the picking device 34 completes picking the items from the second container 11a, the conveyor line can directly transport the second container 11a back to the storage area 10 or to another picking area 20. In this way, the subsequent handling of the picked second container 11a can be eliminated, thereby improving transportation and picking efficiency.

[0089] Furthermore, a conveyor line can pass through one or more picking areas 20. In this way, a single conveyor line can simultaneously transport the second container 11a to each picking area 20, thereby further improving transport and picking efficiency.

[0090] Figure 5 This is a schematic diagram of the structure of the seeding wall, loading and unloading equipment, and sorting platform provided in the embodiments of this application.

[0091] Reference Figure 3 and Figure 5 As shown, in some examples, the seeding wall 35 of workstation 30 can be used to place the first container 31a. The first container 31a can be an empty container without any items, or it can be a fully loaded container filled with items, or it can be a container between an empty state and a fully loaded state.

[0092] For example, the seeding wall 35 can be a carrier. The seeding wall 35 can have multiple storage layers, each storage layer having multiple storage slots to store more first containers 31a.

[0093] For example, the seeding wall 35 may also have a buffer space to hold the first container 31a that is ready for transfer.

[0094] In some examples, the loading and unloading equipment 33 is arranged adjacent to the sorting platform 31. The loading and unloading equipment 33 can transfer the first container 31a that is already full of items on the sorting platform 31 to the seeding wall 35, or the loading and unloading equipment 33 can also transfer the first container 31a on the seeding wall 35 to the sorting platform 31.

[0095] For example, a coordinate system is established with the height direction of the seeding wall 35 as the z-axis direction, the length direction of the seeding wall 35 as the x-axis direction, and the width direction of the seeding wall 35 as the y-axis direction for illustration.

[0096] For example, along the y-axis, the seeding wall 35, the loading and unloading equipment 33, and the sorting platform 31 are arranged sequentially. In this way, the loading and unloading equipment 33, located between the sorting platform 31 and the seeding wall 35, can facilitate the transfer of the first container 31a.

[0097] In one example, the loading and unloading equipment 33 can transfer a fully loaded first container 31a on the sorting platform 31 to a designated storage location on the seeding wall 35.

[0098] In another example, the loading and unloading equipment 33 can transfer the first container 31a, which is fully loaded on the sorting platform 31, to the buffer position of the seeding wall 35, and then transfer the first container 31a in the buffer position to the designated storage position of the seeding wall 35.

[0099] In another example, the loading and unloading equipment 33 can transfer the first container 31a, which is not fully loaded, on the seeding wall 35 to the sorting station 311 of the sorting platform 31.

[0100] In another example, the loading and unloading equipment 33 can transfer the first container 31a that is not fully loaded on the seeding wall 35 to the buffer position on the seeding wall 35, and then transfer the first container 31a in the buffer position to the sorting station 311 of the sorting platform 31.

[0101] It should be noted that the embodiments of this application only provide relevant examples of the transfer of the first container 31a by the loading and unloading equipment 33, and are not intended to limit the scope.

[0102] Continue to refer to Figure 3 and Figure 5 As shown, in some examples, the loading / unloading device 33 may include a support structure 331 and a pick-and-place device 332. The pick-and-place device 332 is disposed on the support structure 331, and the pick-and-place device 332 can move relative to the support structure 331 along a first direction and a second direction. The first direction and the second direction are different directions.

[0103] For example, the first direction can be the z-axis direction, and the second direction can be the x-axis direction of the seeding wall 35. In this way, the picking and placing device 332 can perform lifting and translating movements relative to the support structure 331, so as to move to the position corresponding to the designated storage position on the seeding wall 35, thereby enabling the first container 31a to be placed on the designated storage position or the first container 31a to be taken out from the designated storage position.

[0104] For example, the pick-and-place device 332 can pick up and place the first container 31a by at least one of the following structures: suction cup, gripping fork, hook, finger, and magnetic structure.

[0105] In one example, the hook can hook the edge, top edge, bottom edge, protrusions or handles on the side of the first container 31a, and can also hook the grooves, protrusions or handles on the bottom surface of the first container 31a.

[0106] In another example, the fork can grip the first container 31a from both sides, insert it from below, or hook it from above.

[0107] In another example, there can be one or more dials, and the multiple dials can be set at intervals. The multiple dials can move the first container 31a by turning the first container 31a.

[0108] In another example, the suction cup can maintain a vacuum state between itself and the first container 31a, thereby enabling the first container 31a to be removed from its storage location for retrieval. When placing the first container 31a, the suction cup can push it to a storage location in the seeding wall 35, a buffer location in the seeding wall 35, or a sorting station 311 on the sorting platform 31. In this case, the suction cup can directly contact the first container 31a while maintaining a vacuum between them. This allows the suction cup to leave the first container 31a directly after pushing it to its designated location. The vacuum state between the suction cup and the first container 31a prevents the suction cup from squeezing out the air between them during the pushing process, thus maintaining a certain vacuum pressure between them. This vacuum pressure may cause the first container 31a to be dragged when the suction cup leaves the first container 31a, thus causing the first container 31a to shift and affecting the accuracy of the placement of the first container 31a.

[0109] It should be noted that the specific structure of the pick-and-place device 332 is not limited in the embodiments of this application.

[0110] For example, when the pick-and-place device 332 is located at the lowest end of the support structure 331 along the first direction, the pick-and-place device 332 is able to pick up and grip the first container 31a on the sorting platform 31.

[0111] In one example, the height of the pick-and-place device 332 is the same as the height of the first container 31a on the sorting platform 31, so as to pick up and grip the first container 31a on the sorting platform 31.

[0112] In another example, the height of the pick-and-place device 332 is higher than the height of the first container 31a on the sorting platform 31, so as to pick up and grip the first container 31a on the sorting platform 31.

[0113] It should be noted that when the pick-and-place device 332 needs to move the first container 31a on the sorting platform 31, the height of the pick-and-place device 332 can be higher than the height of the first container 31a on the sorting platform 31, or the height of the pick-and-place device 332 can be the same as the height of the first container 31a on the sorting platform 31. As long as the pick-and-place device 332 can pick up and grip the first container 31a on the sorting platform 31, the specific working height of the pick-and-place device 332 is not limited in this embodiment.

[0114] Please refer to it again. Figure 2 and Figure 3 In some examples, the picking device 34 is arranged adjacent to the sorting platform 31, so that the working range of the picking device 34 can cover the sorting platform 31.

[0115] For example, along the y-axis, the loading / unloading device 33 and the picking device 34 are located on opposite sides of the sorting platform 31. In this way, one side of the sorting platform 31 can perform sorting operations through the picking device 34, while the other side can perform the transfer of the first container 31a through the loading / unloading device 33. The layout of each structure is reasonable, saves space, and improves sorting efficiency, allowing each step to be completed through a shorter path.

[0116] In some examples, the docking station 40 may also be set adjacent to the picking device 34, so that the picking device 34 can easily sort the items to be sorted in the second container 11a into the target container, wherein the target container is the first container 31a located on the target sorting station 311.

[0117] For example, the docking station 40 can be located on one side of the picking device 34 along the x-axis. In this way, when the picking device 34 moves between the first container 31a and the second container 11a, the rotation angle is smaller, which can improve the transfer speed of items.

[0118] In some examples, the picking device 34 can pick up and place items to be sorted in the second container 11a using at least one of the following structures: suction cups, gripping forks, hooks, finger picks, and magnetic structures.

[0119] It is understandable that the process of picking up items by the picking device 34 can be referred to as the process of picking up the first container 31a by the picking and placing device 332, and will not be described in detail here.

[0120] In some examples, the picking device 34 includes a base, a rotating mechanism, and an actuator. The base is fixed to the ground. One end of the rotating mechanism is connected to the base, and the other end is connected to the actuator. The rotating mechanism can rotate relative to the base to move the actuator.

[0121] For example, the rotating structure can be a joint structure, and the joint structure can be fixed by hydraulic fixation, snap-fit ​​fixation, etc. This application does not limit this.

[0122] For example, the picking device 34 is a robotic arm.

[0123] Compared to workstation 30 where sorting is done by operators, using picking equipment 34 for sorting enables 24-hour uninterrupted sorting, timely order response, and improved sorting efficiency.

[0124] In some examples, the operation of workstation 30 is as follows:

[0125] The transport equipment 32 carries the second container 11a from the storage area 10 and moves it to the docking position 40 of the workstation 30.

[0126] The loading and unloading equipment 33 transfers the first container 31a on the seeding wall 35 to the sorting platform 31.

[0127] The picking equipment 34 sorts the items to be sorted in the second container 11a into the first container 31a.

[0128] After the first container 31a is fully loaded or the items to be sorted are sorted, the loading and unloading equipment 33 transfers the first container 31a to the buffer position or storage position on the seeding wall 35.

[0129] However, during the operation of the picking equipment 34, the picking equipment 34 will move within its working area. If a worker enters the working area of ​​the picking equipment 34, the movement of the picking equipment 34 may cause injury to the worker.

[0130] Based on the above problems, in this embodiment of the application, a safety fence 36 is used to enclose the working area of ​​the picking equipment 34 within the workstation 30 to indicate the activity area of ​​the picking equipment 34 within the fence. In addition, a safety door 363 is opened on the safety fence 36 to allow workers to enter and exit the working area of ​​the picking equipment 34, thereby reducing the problem of workers directly entering the working area of ​​the unmarked picking equipment 34 and causing injury to workers.

[0131] In some embodiments, such as Figure 3 As shown, workstation 30 includes a safety fence 36.

[0132] In some examples, a safety fence 36 encloses the working area of ​​the picking device 34 to warn of the area where the picking device 34 will be active.

[0133] Figure 6 This is a schematic diagram of a safety fence provided in an embodiment of this application.

[0134] Figure 7 This is another structural schematic diagram of the safety fence provided in the embodiments of this application.

[0135] Figure 8 This is another structural schematic diagram of the safety fence provided in the embodiments of this application.

[0136] Figure 9 This is another structural schematic diagram of the safety fence provided in the embodiments of this application.

[0137] Figure 10 This is another structural schematic diagram of the safety fence provided in the embodiments of this application.

[0138] Reference Figures 6 to 10 As shown, in some examples, the safety fence 36 includes a plurality of posts 361 and a plurality of barriers 362. The plurality of posts 361 are spaced apart on the ground to enclose and form a workspace. The barriers 362 are disposed between two adjacent posts 361 to close off the workspace enclosed by the posts 361. In this way, the workspace and the external space can be separated.

[0139] Continue to refer to Figures 6 to 10 As shown, in some examples, a safety gate 363 is provided on the safety fence 36, which is configured to allow workers to enter and exit the workstation 30. This allows workers to enter and exit the working area of ​​the picking equipment 34 through the safety gate 363, reducing the risk of workers directly entering the unannounced working area of ​​the picking equipment 34 and causing injury to workers.

[0140] For example, when a worker needs to enter the working area of ​​the picking equipment 34, the picking equipment 34 inside the safety fence 36 is first stopped, and then the worker enters the working area of ​​the picking equipment 34 through the safety door 363. This can reduce the problem of the picking equipment 34 continuing to work and causing harm to the worker.

[0141] In one example, the picking device 34 within the safety fence 36 can be paused by setting up a control panel outside the workspace, thus enabling the picking device 34 to stop automatically.

[0142] For example, the control panel can be installed on the side of the safety door 363 facing outwards from the workspace.

[0143] For example, the control panel may include physical buttons or touch screen buttons so that operators can control the picking device 34 to pause operation via buttons.

[0144] In another example, a detection device is installed at safety door 363 to detect whether a worker has passed through safety door 363. When a worker passes through safety door 363, it indicates that the worker has entered the workspace of picking equipment 34. At this time, it is necessary to passively control the operation of picking equipment 34 to pause, so as to reduce the risk of injury to the worker caused by the operation of picking equipment 34, thereby realizing the safety protection mechanism of workstation 30.

[0145] For example, the pillar 361 may include a first pillar 361a and a second pillar 361b, which are spaced apart to form a door frame. A security door 363 is disposed between the first pillar 361a and the second pillar 361b.

[0146] In some examples, the safety door 363 is rotatably mounted on the door frame to enable the safety door 363 to be opened or closed.

[0147] In some examples, the security door 363 is slidably mounted on the door frame to enable the security door 363 to be opened or closed.

[0148] like Figure 10 As shown, in some examples, the cross-sectional shape of the workspace is polygonal along the height direction perpendicular to the column 361. This allows for flexible placement of the column 361 according to the arrangement of equipment within the workspace, minimizing the space occupied and reducing the impact of the safety fence 36 on the storage system 100 space.

[0149] like Figure 10 As shown, exemplarily, along the y-axis, the first column 361a is located to the left of the second column 361b. Along the x-axis, the first column 361a is located behind the second column 361b. In this case, a chamfer can be formed between the first column 361a and the second column 361b. Compared to a traditional quadrilateral, this chamfer arrangement reduces the space occupied by the picking area 20 in the workspace, thereby facilitating the setup of other structures outside the workstation 30 and the operation of equipment.

[0150] In some examples, the baffle 362 includes a visible baffle 362. The visible baffle 362 is configured to display the interior of the workspace. This improves the visibility of the interior of the workspace, making it easier to observe for any abnormalities or other issues.

[0151] For example, the visible baffle 362 includes, but is not limited to, a transparent PC (Polycarbonate) baffle 362, an iron mesh baffle 362, etc.

[0152] In some examples, the baffle 362 includes a non-visual baffle 362. The non-visual baffle 362 is configured to obscure the interior of the workspace. This improves the aesthetics of the workstation 30.

[0153] For example, the invisible baffle 362 includes, but is not limited to, a dark PC (Polycarbonate) baffle 362, a diamond abrasive baffle 362, etc. For example, the dark PC baffle 362 includes a black PC baffle 362 or a gray PC baffle 362.

[0154] It should be noted that the materials of the various baffles 362 included in the safety fence 36 may be the same or different. For example, some baffles 362 may be visible baffles, while others may be invisible baffles. The arrangement of the baffles 362 can be adjusted according to actual needs, and this application does not impose any restrictions on this.

[0155] Combination Figure 7 , Figure 9 and Figure 10 As shown, in some examples, the docking station 40 is located outside the workspace, which avoids the problem of the transport equipment 32 being located within the working area of ​​the picking equipment 34, causing the operation of the transport equipment 32 to affect the operation of the picking equipment 34.

[0156] For example, the dock 40 is located outside the safety fence 36 so that the dock 40 is located outside the workspace.

[0157] In some examples, the safety fence 36 includes a clearance section 364 and a connecting section 365. The clearance section 364 forms a movement space with the ground, configured for the movement of the transport equipment 32, and the connecting section 365 connects the workspace and the movement space. This allows the picking equipment 34, located within the workspace, to sort items to be sorted from the second container 11a being transported by the transport equipment 32 within the movement space via the connecting section 365.

[0158] Specifically, the transport equipment 32 carries the second container 11a from the carrier 11 in the storage area 10 and moves it into the moving space, thereby bringing the second container 11a to the docking position 40. When the second container 11a carried by the transport equipment 32 arrives at the docking position 40, the second container 11a is positioned relative to the connecting part 365. The picking equipment 34 sorts the items to be sorted in the second container 11a through the connecting part 365 into the first container 31a located on the sorting platform 31, thus realizing the sorting of items.

[0159] For example, if the transport device 32 is a robot, the robot carries the second container 11a and moves it to the docking position 40 so that the second container 11a reaches the docking position 40. Furthermore, the picking device 34 picks the items to be sorted in the second container 11a through the connecting part 365 to realize the picking of items.

[0160] For example, when the transport equipment 32 is a conveyor line, the conveyor line carries the second container 11a and moves it. When the second container 11a reaches the stopping position 40, the conveyor line stops working. Then, the picking equipment 34 picks the items to be sorted in the second container 11a through the connecting part 365 to realize the picking of items.

[0161] like Figure 8 As shown, in some examples, the dock 40 is located within the workspace. This reduces the distance between the dock 40 and the picking device 34, and if the picking device 34 picks up a sorted item and it falls, the sorted item will fall into the workspace without affecting the operation of the equipment outside the workspace.

[0162] For example, the dock 40 is located within the safety fence 36 so that the dock 40 is located within the workspace.

[0163] In some examples, the safety fence 36 also has an entrance 366 and an exit 367. The docking station 40 is located between the entrance 366 and the exit 367. In this way, the second container 11a carried by the transport equipment 32 can enter the safety fence 36 through the entrance 366, that is, enter the working range of the picking equipment 34, and can also leave the working range of the picking equipment 34 through the exit 367, so that the second container 11a can reach or leave the docking station 40.

[0164] For example, if the transport device 32 is a robot, the robot carries the second container 11a into the workspace through entrance 366. The robot moves to docking position 40, thereby bringing the second container 11a to docking position 40 so that the picking device 34 can sort the items in the second container 11a. After sorting, the robot carries the second container 11a away from docking position 40 through exit 367, and then leaves the workspace.

[0165] For example, when the transport equipment 32 is a conveyor line, the conveyor line passes through the safety fence 36, that is, the conveyor line passes through the entrance 366 and the exit 367 in sequence. The conveyor line carries the second container 11a, so that the second container 11a moves when the conveyor line moves, so that the second container enters the work space through the entrance 366. After the second container 11a reaches the docking position 40, the conveyor line stops working so that the picking equipment 34 can sort the items to be sorted in the second container 11a. After sorting is completed, the conveyor line continues to work to move the second container 11a away from the docking position 40 through the exit 367, and then away from the work space.

[0166] The following explanation uses the transport equipment 32 as an example, with the first state of the transport equipment 32 where the robot's carrying mechanism 322 is not raised relative to the moving chassis 321, and the second state of the transport equipment 32 where the robot's carrying mechanism 322 is raised relative to the moving chassis 321. The operation of the transport equipment 32 will be explained in conjunction with the setting of the safety fence 36.

[0167] Figure 11 This is a schematic diagram of an entrance through a safety fence for a transport device carrying a second container, as provided in an embodiment of this application.

[0168] Figure 12 This is another schematic diagram of the entrance through which the transport equipment carrying the second container passes through the safety fence, as provided in the embodiments of this application.

[0169] like Figure 11 and Figure 12 As shown, exemplarily, entrance 366 is located within safety fence 36 and close to the ground. The height of entrance 366 is higher than the overall height of the transport equipment 32 when transporting the second container 11a. This allows the second container 11a, carried by the transport equipment 32, to enter safety fence 36.

[0170] like Figure 11 As shown, in one example, the transport device 32 passes through the entrance 366 of the safety fence 36 in a first state. The height of the entrance 366 of the safety fence 36 is H1, the height of the transport device 32 in the first state is H2, and the height of the second container 11a is H3. H1>H2+H3.

[0171] For example, when the transport equipment 32 is in the first state, the height H2 = 30cm and the height of the second container 11a is H3 = 10cm, then the height H1 of the entrance 366 of the safety fence 36 should be greater than 40cm, so that the second container 11a carried by the transport equipment 32 can enter the entrance 366 of the safety fence 36.

[0172] In another example, the transport device 32 passes through the entrance 366 of the safety fence 36 in a first state. The height of the entrance 366 of the safety fence 36 is H1, the height of the transport device 32 in the first state is H2, the height of the second container 11a is H3, and the safety height is H4, where H1 > H2 + H3 + H4. The safety height is the distance by which the upper part of the item to be sorted exceeds the upper part of the second container 11a when the item to be sorted is placed in the second container 11a. By adding a safety height, even when the upper part of the item to be sorted is higher than the upper part of the second container 11a, the transport device 32, carrying the second container 11a loaded with the item to be sorted, can still enter the workspace through the entrance 366 of the safety fence 36.

[0173] For example, when the transport equipment 32 is in the first state, the height H2 = 30cm, the height of the second container 11a is H3 = 10cm, and the safety height H4 = 10cm, then the height H1 of the entrance 366 of the safety fence 36 should be greater than 50cm, so that the second container 11a carried by the transport equipment 32 can enter the entrance 366 of the safety fence 36.

[0174] like Figure 12 As shown, in another example, the transport device 32 passes through the entrance 366 of the safety fence 36 in the second state. The height of the entrance 366 of the safety fence 36 is H1, the height of the transport device 32 in the second state is H5, and the height of the second container 11a is H3. H1>H5+H3.

[0175] It should be understood that when the transport equipment 32 is in the second state, the height of the transport equipment 32 includes the thickness of the mobile chassis 321, the lifting height H6 of the lifting assembly 3222 relative to the mobile chassis 321, and the thickness of the bearing assembly 3221. For example, the lifting height of the lifting assembly 3222 relative to the mobile chassis 321 can be set according to the height of the sorting platform 31.

[0176] In one example, the height of the first container 31a is the same as the height of the second container 11a, and the height of the lifting assembly 3222, which is raised relative to the mobile chassis 321, is the same as the height of the platform of the sorting platform 31.

[0177] In another example, the height of the first container 31a is different from the height of the second container 11a. The lifting assembly 3222 is raised relative to the mobile chassis 321 until the height of the second container 11a carried by the bearing assembly 3221 is the same as the height of the first container 31a set on the platform of the sorting platform 31.

[0178] For example, when the transport equipment 32 is in the second state, the height H5 = 50cm and the height H3 = 10cm of the second container 11a, then the height H1 of the entrance 366 of the safety fence 36 should be greater than 60cm, so that the second container 11a carried by the transport equipment 32 can enter the entrance 366 of the safety fence 36.

[0179] In another example, the transport device 32 passes through the entrance 366 of the safety fence 36 in its second state. The height of the entrance 366 of the safety fence 36 is H1, the height of the transport device 32 in its second state is H5, the height of the second container 11a is H3, and the safety height is H4, where H1 > H5 + H3 + H4. The safety height is the height by which the upper part of the item to be sorted exceeds the upper part of the second container 11a when the item to be sorted is placed in the second container 11a. By adding a safety height, even when the upper part of the item to be sorted is higher than the upper part of the second container 11a, the transport device 32, carrying the second container 11a loaded with the item to be sorted, can still enter the workspace through the entrance 366 of the safety fence 36.

[0180] For example, when the transport equipment 32 is in the first state, the height H5 = 50cm, the height of the second container 11a is H3 = 10cm, and the safety height H4 = 10cm, then the height H1 of the entrance 366 of the safety fence 36 should be greater than 70cm, so that the second container 11a carried by the transport equipment 32 can enter the entrance 366 of the safety fence 36.

[0181] It should be understood that the process of transport equipment 32 carrying the second container 11a through the exit 367 of safety fence 36 is the same as the process of transport equipment 32 carrying the second container 11a through the entrance 366 of safety fence 36, and this application does not limit this.

[0182] The following describes the workflow of the transport equipment 32 when it passes through the entrance 366 of the safety fence 36 in a first state and through the exit 367 of the safety fence 36 in a second state.

[0183] In some examples, after the transport device 32 enters the entrance 366 of the safety fence 36 in a first state, the transport device 32 changes from the first state to a second state to raise the second container 11a to the same height as the first container 31a on the sorting platform 31. The picking device 34 sorts the items to be sorted from the second container 11a into the first container 31a. After the transport device 32 carries the second container 11a through the exit 367 of the safety fence 36, it changes from the second state back to the first state to lower the center of gravity of the second container 11a and improve transport stability.

[0184] The following describes the workflow of transport equipment 32 when it passes through the entrance 366 and exit 367 of safety fence 36 in a first state.

[0185] In some examples, after the transport device 32 enters the entrance 366 of the safety fence 36 in a first state, the transport device 32 changes from the first state to a second state to raise the second container 11a to the same height as the first container 31a on the sorting platform 31. The picking device 34 sorts the items to be sorted from the second container 11a into the first container 31a. After the transport device 32 changes from the second state to the first state, it passes through the exit 367 of the safety fence 36 to lower the center of gravity of the second container 11a and improve transport stability.

[0186] The following describes the workflow of the transport equipment 32 when it passes through the entrance 366 of the safety fence 36 in the second state and through the exit 367 of the safety fence 36 in the first state.

[0187] In some examples, before entering the safety fence 36, the transport device 32 transitions from a first state to a second state. The transport device 32 then enters the entrance 366 of the safety fence 36 in the second state, with the height of the second container 11a being the same as the height of the first container 31a on the sorting platform 31. The picking device 34 sorts the items to be sorted from the second container 11a into the first container 31a. After the transport device 32 transitions from the second state to the first state, it passes through the exit 367 of the safety fence 36 to lower the center of gravity of the second container 11a and improve transport stability.

[0188] The following describes the workflow of transport equipment 32 when it passes through the entrance 366 and exit 367 of safety fence 36 in the second state.

[0189] In some examples, before entering the safety fence 36, the transport device 32 transitions from a first state to a second state. The transport device 32 enters the entrance 366 of the safety fence 36 in the second state, with the height of the second container 11a being the same as the height of the first container 31a on the sorting platform 31. The picking device 34 sorts the items to be sorted from the second container 11a into the first container 31a. After the transport device 32 carries the second container 11a through the exit 367 of the safety fence 36, it transitions from the second state back to the first state to lower the center of gravity of the second container 11a and improve transport stability.

[0190] In some examples, entrance 366 and exit 367 are positioned opposite each other at safety fence 36, and the workspace between entrance 366 and exit 367 together forms the movement route of transport equipment 32. This reduces the distance of the movement route of transport equipment 32 between entrance 366 and exit 367, and reduces the impact of transport equipment 32's movement within the machine's workspace on the machine's operation.

[0191] In one example, entrance 366 and exit 367 are opened relative to each other at security fence 36 along a second direction (e.g., Figure 10 The sidewalls of the x-axis (as shown).

[0192] In another example, entrance 366 and exit 367 are located relative to each other at the safety fence 36 along a third direction (e.g., Figure 10 The sidewall of the y-axis (as shown).

[0193] In another example, entrance 366 and exit 367 are located at two opposite corners of safety fence 36.

[0194] It should be noted that the positions of entrance 366 and exit 367 can be set according to the moving direction of picking equipment 34, the position of sorting platform 31, and the position of docking station 40. As long as the transport equipment 32 does not affect the operation of picking equipment 34 when entering the workspace through entrance 366 of safety fence 36, moving within the workspace, and leaving the workspace through exit 367 of safety fence 36, this application does not restrict the specific positions of entrance 366 and exit 367.

[0195] It is worth noting that when the transport equipment 32 is a conveyor line, the height of the safety fence 36 needs to be set based on the height of the conveyor line, the height of the second container 11a, and the height of the item to be sorted protruding from the second container 11a. The setting method when the transport equipment 32 is a robot can be referred to above, and will not be repeated here.

[0196] In some examples, workstation 30 also includes a detection component.

[0197] In one example, the detection component is configured to detect whether the second container 11a carried by the transport equipment 32 has arrived at or left the dock 40.

[0198] In another example, the detection component is configured to detect whether the worker has entered the workspace.

[0199] In another example, the detection component is configured to detect whether the second container 11a carried by the transport equipment 32 arrives at or leaves the dock 40, and the detection component is also configured to detect whether the staff member enters the workspace.

[0200] For example, the detection component includes at least one of a security light curtain, a detection camera, a security lidar, a security ultrasonic radar, and a security RFID detector.

[0201] In some examples, the detection component includes a first detection device. The first detection device is located at safety fence 36.

[0202] For example, the first detection device is configured to detect whether the second container 11a has arrived at or left the docking position 40.

[0203] In some examples, there are two first detection devices, and the first detection devices are respectively set on the safety fence 36 that the second container 11a needs to pass through to arrive at or leave the docking position 40, so as to detect the arrival or departure of the second container 11a from the docking position 40.

[0204] For example, the first detection device includes a safety light curtain. When the second container 11a passes through the safety fence 36, the second container 11a affects the light emitted and reflected by the safety light curtain, thereby enabling the detection of the second container 11a. For example, the safety light curtain is an array of paired infrared beams.

[0205] In one example, the safety light barrier includes a transmitter and a receiver, with the transmitter and receiver disposed opposite to each other on the beam of the entrance 366 and / or the exit 367 of the safety fence 36. The transmitter is configured to output an infrared beam array, and the receiver is configured to receive the infrared beam array.

[0206] In this way, the infrared beam array forms a "light wall" between the transmitter and the receiver. When there is no obstruction between the transmitter and the receiver, the receiver can receive all the infrared beams emitted by the transmitter, thereby determining that no second container 11a has arrived at or left the docking position 40.

[0207] For example, if no second container 11a passes through the entrance 366 of the safety fence 36, the receiver installed on the beam of the entrance 366 of the safety fence 36 can receive all the infrared beams emitted by the transmitters, thereby determining that no second container 11a has arrived at the docking position 40. If no second container 11a passes through the exit 367 of the safety fence 36, the receiver installed on the beam of the exit 367 of the safety fence 36 can receive all the infrared beams emitted by the transmitters, thereby determining that no second container 11a has left the docking position 40.

[0208] In the event of an obstruction between the transmitter and receiver, the receiver cannot receive all the infrared beams emitted by the transmitter, thus determining that a second container 11a has arrived at the docking position 40.

[0209] For example, when the second container 11a passes through the entrance 366 of the safety fence 36, the receiver installed on the beam of the entrance 366 of the safety fence 36 cannot receive all the infrared beams emitted by the transmitter, thus determining that the second container 11a has arrived at the docking position 40. When the second container 11a passes through the exit 367 of the safety fence 36, the receiver installed on the beam of the exit 367 of the safety fence 36 cannot receive all the infrared beams emitted by the transmitter, thus determining that the second container 11a has left the docking position 40.

[0210] In another example, the safety light curtain includes a transmitter and a receiver, and the transmitter and receiver are located on the same side of the beam of the entrance 366 and / or the beam of the exit 367 of the safety fence 36.

[0211] For example, if no second container 11a passes through the entrance 366 of the safety fence 36, the receiver installed at the entrance 366 will not receive the reflected light of the infrared beam emitted by the transmitter, thus determining that no second container 11a has arrived at the docking position 40. If no second container 11a passes through the exit 367 of the safety fence 36, the receiver installed at the exit 367 will not receive the reflected light of the infrared beam emitted by the transmitter, thus determining that no second container 11a has left the docking position 40.

[0212] For example, when the second container 11a passes through the entrance 366 of the safety fence 36, the receiver installed at the entrance 366 can receive the reflected light of the infrared beam reflected back by the second container 11a, thereby determining that the second container 11a has arrived at the docking position 40. When the second container 11a passes through the exit 367 of the safety fence 36, the receiver installed at the exit 367 can receive the reflected light of the infrared beam emitted by the transmitter, thereby determining that the second container 11a has left the docking position 40.

[0213] For example, the first detection device includes a detection camera. The detection camera is configured to capture an image of the docking station 40 and analyze whether a second container 11a is docked at the docking station 40 in the image. For example, the detection camera could be a security image recognition device.

[0214] In one example, the detection camera is mounted on the safety fence 36, and the camera's shooting direction corresponds to the parking spot 40.

[0215] In another example, the detection camera is positioned within the workspace, and its shooting direction corresponds to the docking station 40. Thus, when the second container 11a is docked at the docking station 40, the image captured by the detection camera includes the transport equipment 32 and / or the second container 11a.

[0216] It is worth noting that the first detection setup includes one or more of the following: a security light curtain, a detection camera, a security lidar, a security ultrasonic radar, a security radio frequency identification (RFID) detector, or other security detection equipment. This application does not limit this.

[0217] In some examples, the detection component also includes a second detection device. The second detection device is located at security fence 36.

[0218] For example, the second detection device is configured to detect whether personnel have entered the workspace.

[0219] It is worth noting that the second detection device can be set at any of the columns 361, baffles 362, and safety doors 363, as long as it can detect whether the personnel have entered the work space. This application does not restrict the specific location of the second detection device.

[0220] In some examples, picking equipment 34 and / or transport equipment 32 are also configured to receive an emergency stop instruction if a worker enters the workspace.

[0221] In this way, if a worker enters the workspace through the safety door 363, the equipment in the workspace will stop abruptly, that is, the picking equipment 34 and / or the transport equipment 32 will stop working, which can reduce the problem of injury to workers when the picking equipment 34 and / or the transport equipment 32 are working.

[0222] It is worth noting that when the transport device 32 is a mobile robot, if the items to be sorted in the second container 11a carried by the robot have been sorted by the picking device 34, it can continue to move without stopping so that the second container 11a it carries can leave the docking position 40, or it can stop working. This application does not restrict this.

[0223] When the transport equipment 32 is a conveyor line, if the second container 11a currently located at the docking position 40 has been sorted and there are no other second containers 11a to be sorted on the same conveyor line as the sorted second container 11a, the conveyor line can directly transport the sorted second container 11a without stopping work, so as to improve work efficiency.

[0224] Specifically, the initiator of the emergency stop command can be the control system, the second detection device, or other systems or devices; this application does not impose any restrictions on this.

[0225] In one example, only the picking device 34 receives an emergency stop command, and in response to the emergency stop command, the picking device 34 stops working.

[0226] In another example, only the transport device 32 receives an emergency stop command, and the transport device 32 stops working in response to the emergency stop command.

[0227] In another example, both picking equipment 34 and transport equipment 32 receive an emergency stop command, and in response to the emergency stop command, picking equipment 34 and transport equipment 32 stop working.

[0228] In some examples, the detection component is also configured to detect the current distance between the worker and the picking equipment. The picking equipment 34 and / or the transport equipment 32 are configured to receive a deceleration command corresponding to the current distance. Wherein, if the current distance is less than or equal to a safe distance threshold, the deceleration command includes an emergency stop command.

[0229] In this way, the operating speed of the picking equipment 34 and / or the transport equipment 32 can be dynamically adjusted according to the distance between the staff and the picking equipment, so as to ensure that the picking equipment 34 and / or the transport equipment 32 will not cause harm to the staff, while reducing the impact of the staff entering the work space on the picking equipment 34 and / or the transport equipment 32, and improving the working efficiency of the picking equipment 34 and / or the transport equipment 32.

[0230] Specifically, the initiator of the deceleration command can be the control system, the second detection device, or other systems or devices; this application does not impose any restrictions on this.

[0231] For example, the picking equipment 34 and / or the transport equipment 32 reduce their operating speed after receiving a deceleration command.

[0232] For example, the smaller the distance between the worker and the picking equipment 34, the slower the picking equipment 34 operates.

[0233] For example, the second detection device includes 360° security radar monitoring to detect the distance between the worker and the picking equipment 34.

[0234] In some examples, when a worker enters the workspace through security door 363, the operating speed of the equipment in the workspace is reduced to a safe speed, and 360° safety radar monitoring can be activated to adjust the operating speed of the picking equipment 34 based on the distance between the worker and the picking equipment 34, thereby reducing the harm caused to the worker by the picking equipment 34.

[0235] It is worth noting that when both the picking device 34 and the transport device 32 receive a deceleration command, the running speeds corresponding to the deceleration commands received by the picking device 34 and the transport device 32 may be the same or different. This can be set according to actual needs, and this application does not impose any restrictions on this.

[0236] Figure 13This is a schematic diagram of the first detection area, the second detection area, and the third detection area provided in the embodiments of this application.

[0237] In some examples, combined Figure 13 As shown, the workspace includes a first inspection area, a second inspection area, and a third inspection area. The distances between the first inspection area, the second inspection area, and the third inspection area and the picking device 34 decrease sequentially.

[0238] The picking device 34 and / or the transport device 32 are configured to receive a first deceleration command upon detecting a worker entering a first detection area. The first deceleration command indicates that the operating speed of the picking device 34 and / or the transport device 32 is reduced to a first speed threshold.

[0239] The picking device 34 and / or the transport device 32 are configured to receive a second deceleration operation command upon detecting that a worker has entered the second detection area. The second deceleration operation command indicates that the operating speed of the picking device 34 and / or the transport device 32 is reduced to a second speed threshold.

[0240] The picking device 34 and / or the transport device 32 are configured to receive a third deceleration operation command upon detecting that a worker has entered the third detection area. The third deceleration operation command indicates that the operating speed of the picking device 34 and / or the transport device 32 is reduced to a third speed threshold.

[0241] Among them, the first speed threshold, the second speed threshold, and the third speed threshold decrease sequentially.

[0242] For example, the third speed threshold can be 0, meaning the third deceleration command is an emergency stop command.

[0243] This achieves multi-stage deceleration for the picking equipment 34 and / or the transport equipment 32.

[0244] It is worth noting that the first detection area, the second detection area, and the third detection area can be cylindrical, elliptical cylindrical, or cubic, etc., and this application does not impose any restrictions on this.

[0245] For example, when the transport equipment is a robot, the transport equipment 32 that receives the deceleration command or emergency stop command is the transport equipment that is in the moving space, or the transport equipment 32 that is near the parking position 40 (such as the transport equipment 32 that is about to enter the parking position 40, the transport equipment 32 that is parked at the parking position 40, or the transport equipment 32 that has just moved away from the parking position 40).

[0246] For example, a conveyor line may include multiple transport sections, such as a first transport section for transporting sorted second containers 11a, a second transport section for transporting second containers 11a being sorted, and a third transport section for transporting second containers 11a to be sorted. When the transport equipment is a conveyor line, the transport equipment 32 receiving a deceleration command or an emergency stop command may be the first transport section, the second transport section, and the third transport section, or it may be the second transport section and the third transport section. This can be configured according to actual needs, and this application does not impose any restrictions on this.

[0247] For example, security door 363 includes a door frame and a door body, the door body being rotatably disposed on the door frame for opening or closing.

[0248] For example, the second detection device includes a safety light curtain. When a worker passes through safety fence 36, the worker affects the light emitted and reflected by the safety light curtain, thereby enabling the detection of the worker. For example, the safety light curtain is an array of paired infrared beams.

[0249] In one example, the safety light curtain includes a transmitter and a receiver, with the transmitter and receiver disposed opposite each other on the door frame of the safety door 363. The transmitter is configured to output an infrared beam array, and the receiver is configured to receive the infrared beam array.

[0250] In this way, the infrared beam array forms a "light wall" between the transmitter and the receiver. When there is no obstruction between the transmitter and receiver (i.e., no worker has passed through safety door 363), the receiver can receive all the infrared beams emitted by the transmitter, thus determining that no worker has passed through safety door 363, i.e., no worker has entered or left the workspace. When there is an obstruction between the transmitter and receiver (i.e., a worker has passed through safety door 363), the receiver cannot receive all the infrared beams emitted by the transmitter, thus determining that a worker has passed through safety door 363, i.e., a worker has entered or left the workspace.

[0251] For example, a safety light curtain is placed on the opposite side of the door's opening direction to reduce the impact of the door opening or closing on the detection results.

[0252] For example, the second detection device includes a first detector and a second detector. The first detector is configured to detect whether a worker is passing by in the entrance direction of the workspace, and receives a first signal when the first detector detects that a worker has passed by. The second detector is configured to detect whether a worker is passing by in the exit direction of the workspace, and receives a second signal when the second detector detects that a worker has passed by. If the difference between the acquisition time of the first signal and the acquisition time of the second signal is less than a preset difference, and the acquisition time of the first signal is less than the acquisition time of the second signal, it is determined that a worker has entered the workspace.

[0253] In another example, the light detector includes a transmitter and a receiver, and a reflector. The transmitter and receiver are positioned on one side of the door frame of security door 363, and the reflector is positioned on the other side of the door frame. When no personnel pass through security door 363, the receiver can receive the reflected light from the infrared beam emitted by the transmitter, thus determining that no personnel have passed through security door 363. When personnel pass through security door 363, the infrared beam emitted by the transmitter is blocked by the personnel; that is, the reflector cannot output reflected light, and the receiver cannot receive the reflected light, thus determining that personnel have passed through security door 363.

[0254] For example, the second detection device includes a detection camera. The detection camera is configured to capture an image of the security door 363 and analyze whether a worker is passing through the security door 363 in the image. For example, the detection camera includes a security image recognition device.

[0255] In one example, the detection camera is positioned on the door frame of the security door 363, and the camera's shooting direction corresponds to the security door 363.

[0256] In another example, the detection camera is set up within the workspace, and the camera's shooting direction corresponds to security door 363.

[0257] It is worth noting that the second detection setup includes one or more of the following: a security light curtain, a detection camera, a security lidar, a security ultrasonic radar, a security RFID detector, or other security detection equipment. This application does not limit this.

[0258] In some examples, workstation 30 also includes a third detection device. This third detection device is located at safety fence 36 or picking equipment 34 and is configured to detect any abnormal conditions within the workspace. Picking equipment 34 and / or transport equipment 32 are configured to receive an emergency stop command in the event of an abnormal condition within the workspace.

[0259] Specifically, the initiator of the emergency stop command can be the control system, a third detection device, or other systems or devices; this application does not impose any restrictions on this.

[0260] For example, the third detection device includes a detection camera configured to capture images of the workspace to analyze whether the conditions within the workspace match pre-stored anomalies. If they match, an anomaly is determined to have occurred in the workspace, and an emergency stop command is issued. This allows personnel to enter the workspace and rectify the anomaly.

[0261] In some examples, workstation 30 also includes a control panel. The control panel is located outside the workspace and is configured to be operated by a worker to issue emergency stop commands to picking equipment 34 and / or transport equipment 32. Alternatively, when the workspace is in a non-abnormal condition, movement commands can be issued to picking equipment 34 and / or transport equipment 32 to resume normal operation of picking equipment 34 and / or transport equipment 32 after the abnormal condition is resolved.

[0262] Specifically, the emergency stop command can be issued by the operator's control panel, the control system, or other systems or devices; this application does not limit this.

[0263] In some examples, workstation 30 also includes indicator lights 50, which are used to indicate the working status of picking equipment 34 within workstation 30, in order to remind staff and reduce the number of staff entering the workspace when picking equipment 34 is in operation.

[0264] For example, the working states include emergency stop state, limited movement state, reset state, maintenance state, automatic operation state, etc. In different working states, the indicator light 50 displays different colors.

[0265] In one example, indicator light 50 displays green when the picking device 34 is in an emergency stop state. When the picking device 34 is in operation, indicator light 50 displays red. When the picking device 34 has received an emergency stop command and is completing its last sorting action, indicator light 50 displays yellow.

[0266] In some examples, the control system is also configured to control the picking equipment 34 and / or transport equipment 32 within each workstation 30 to stop or move.

[0267] The warehousing system 100 provided in this application embodiment treats each workstation 30 as an independent emergency stop unit, enabling separate control of the emergency stop of each unit. This allows for the emergency stop of the picking equipment 34 and / or transport equipment 32 within the corresponding workstation 30 in the event of an abnormality requiring manual intervention, thereby reducing the efficiency reduction caused by controlling the emergency stop of all equipment in the warehousing system 100.

[0268] In some examples, the specific steps for controlling an emergency stop include: the control system sending an emergency stop command to the loading / unloading equipment 33, the transport equipment 32, and the picking equipment 34. Upon receiving the emergency stop command, and after the workstation 30 completes an emergency stop (i.e., the end effector of the picking equipment 34 completes the previous task (i.e., there is no goods on the actuator of the picking equipment 34), the transport equipment 32 completes an emergency stop, the air circuit is closed, and / or the loading / unloading equipment 33 completes an emergency stop), the safety door 363 opens after a preset delay.

[0269] For example, the preset time can be 3-10 seconds. Setting a preset time is to ensure that all equipment completes an emergency stop, reducing the risk of injury to workers if they enter the workspace before the equipment has stopped.

[0270] It should be noted that those skilled in the art, upon considering the specification and practicing the application disclosed herein, will readily conceive of other embodiments of this application. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and embodiments are to be considered exemplary only, and the true scope of this application is indicated by the claims.

[0271] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A workstation, characterized in that, include: A safety fence (36) is provided to enclose and form a workspace. The safety fence (36) is provided with a safety door (363) which is configured to allow staff to enter and exit the workstation (30). A sorting station (311) is located within the workspace and is configured to carry a first container (31a); The transport equipment (32) is configured to carry a second container (11a) relative to the sorting station (311) to move the second container (11a) to or from the docking position (40), the second container (11a) containing items to be sorted; The picking device (34) is located in the workspace and is adjacent to the sorting station (311). The docking station is adjacent to the picking device (34). The picking device (34) is configured to sort the items to be sorted in the second container (11a) into the first container (31a).

2. The workstation according to claim 1, characterized in that, The docking station (40) is located outside the workspace; Alternatively, the docking station (40) may be located within the workspace.

3. The workstation according to claim 2, characterized in that, When the docking position (40) is located outside the workspace, the safety fence (36) includes a clearance portion (364) and a connecting portion (365); the clearance portion (364) forms a movement space with the ground, the movement space is configured for the second container (11a) to move, and the docking position (40) is located within the movement space; the connecting portion (365) separates the workspace and the movement space; With the docking station (40) located within the workspace, the safety fence (36) also has an entrance (366) and an exit (367); the docking station (40) is located between the entrance (366) and the exit (367); the entrance (366) is configured to allow the second container (11a) to enter the workspace; and the exit (367) is configured to allow the second container (11a) to leave the workspace.

4. The workstation according to claim 3, characterized in that, The entrance (366) and the exit (367) are respectively opened on the security fence (36).

5. The workstation according to any one of claims 1-4, characterized in that, It also includes detection components; The detection component is configured to detect whether the second container (11a) arrives at or leaves the docking position (40); And / or, the detection component is configured to detect whether the worker has entered the workspace.

6. The workstation according to claim 5, characterized in that, The detection component includes a first detection device and a second detection device; Both the first detection device and the second detection device are installed on the safety fence (36).

7. The workstation according to claim 5, characterized in that, The picking device (34) and / or the transport device (32) are configured to receive an emergency stop command upon detecting that the worker has entered the workspace.

8. The workstation according to claim 5, characterized in that, The detection component is also configured to detect the current distance between the worker and the picking equipment (34); The picking device (34) and / or the transport device (32) are configured to receive a deceleration command corresponding to the current distance; wherein, if the current distance is less than or equal to a safe distance threshold, the deceleration command includes an emergency stop command.

9. The workstation according to claim 8, characterized in that, The workspace includes a first detection area, a second detection area, and a third detection area; The distances between the first detection area, the second detection area, and the third detection area and the picking device (34) decrease sequentially. The picking device (34) and / or the transport device (32) are configured to receive a first deceleration command when the worker is detected entering the first detection area; The picking device (34) and / or the transport device (32) are configured to receive a second deceleration command upon detecting that the worker has entered the second detection area; The picking device (34) and / or the transport device (32) are configured to receive a third deceleration command upon detecting that the worker has entered the third detection area.

10. The workstation according to any one of claims 1-4, characterized in that, It also includes third-party testing equipment; The third detection device is installed on the safety fence (36) or the picking device (34), and the third detection device is configured to detect whether any abnormal conditions occur in the workspace; The picking device (34) and / or the transport device (32) are configured to receive an emergency stop command in the event of an abnormal situation occurring in the workspace.

11. The workstation according to any one of claims 1-4, characterized in that, It also includes a control panel; The control panel is located outside the workspace; the picking device (34) and / or the transport device (32) are configured to receive an emergency stop command from the control panel in the event of an abnormal condition in the workspace; or, the picking device (34) and / or the transport device (32) are configured to receive a movement command from the control panel in the event of a normal condition in the workspace.

12. The workstation according to any one of claims 1-4, characterized in that, The safety fence (36) includes a plurality of posts (361) spaced apart; the plurality of posts (361) enclose the work space; the safety door (363) is located between two adjacent posts (361).

13. The workstation according to claim 12, characterized in that, The cross-sectional shape of the workspace is polygonal, perpendicular to the height direction of the column (361).

14. The workstation according to claim 12, characterized in that, The safety fence (36) also includes a baffle (362); The baffle (362) is disposed between two adjacent columns (361), and the baffle (362) is configured to separate the workspace from the external space; The baffle (362) includes a visible baffle (362) or a non-visible baffle (362); The visible baffle (362) is configured to display the interior of the workspace; The invisible baffle (362) is configured to shield the interior of the workspace.

15. The workstation according to any one of claims 1-4, characterized in that, It also includes an indicator light (50) disposed on the safety fence (36) and configured to indicate the working status of the picking equipment (34) within the workstation (30).

16. A warehousing system, characterized in that, include: Multiple workstations (30) as described in any one of claims 1-15 above; The control system is configured to control the picking equipment (34) and / or transport equipment (32) in each of the workstations (30) to stop or move.

Images