Method for order picking using an industrial truck with a rotatable goods receiving device

Abstract

The present invention relates to a method for picking goods (5) assigned to different orders using a picking system (1) with an industrial truck (2) and a goods receiving device (3) rotatably mounted thereon for receiving goods (5) in order-specific goods sectors (7). The method comprises the following steps: - Providing the first goods to be picked, assigned to a first order, at a first transfer position, - Picking up the first goods at the first transfer position by a picker (10), - Positioning the picking system (1) near the order picker (10), - Rotating the goods receiving device (3) relative to the industrial truck (2.1) in such a way that a first goods sector (7.1) of the goods receiving device (3) assigned to the first order faces the order picker (10).

Description

[0001] The present invention relates to a method and a system for picking goods by means of a driverless industrial truck.

[0002] An automated guided vehicle is a ground-level, floor-mounted conveyor with its own drive system, which is automatically controlled and guided without contact to transport goods or products horizontally. Automated guided vehicles (AGVs) are also known as "driverless transport vehicles" (DVs) or "automated guided vehicles" (AGVs).

[0003] Picking is the assembly of order-specific partial quantities of goods from a total quantity of goods provided.

[0004] The use of driverless industrial trucks for picking goods is known from the prior art. Among the pool of previously known publications, one example is document WO 2018 / 064639 A1, which describes a system for picking goods in which a human picker (a person who picks goods) is assisted by a driverless industrial truck. The picker is located in a picking area bounded by several shelves containing the goods to be picked.

[0005] Document AT 017 770 U1 describes a storage and picking system and picking method for improved goods transfer between two storage areas. Document WO 2017 / 214 652 A1 discloses a picking system with a transport robot for driving under individual shelves and transport trolleys. Document DE 10 2006 057 758 A1 describes a self-contained transport vehicle used in a method for picking goods.

[0006] An automated guided vehicle (AGV) transports an AGV cart with shelf-like storage options for boxes and positions it near the picker. The picker takes the goods to be picked from the shelves in the picking area and places them, sorted by order, into the boxes on the AGV cart. After the AGV cart has been fully picked or loaded by the picker, it is transported by the automated guided vehicle (AGV) to another area for further processing.

[0007] The object of the present invention is to provide a method and an associated system for picking goods by means of a driverless industrial truck, which is characterized by improved practical suitability, in particular with regard to the error rate and the time required for the picking process as well as the distances to be covered by the picker.

[0008] This object is achieved by the method according to the invention for picking goods assigned to different orders using a first picking system according to claim 1, the picking system according to the invention according to claim 4 and the computer program product according to the invention according to claim 12.

[0009] The inventive method according to claim 1 for picking goods assigned to different orders using a first picking system, comprising a first driverless industrial truck and a first goods receiving device rotatably mounted on the first industrial truck for receiving goods in the order-specific goods sectors assigned to different orders, wherein a first item is assigned to a first order and a second item is assigned to a second order, comprises the following steps: A1) Provision of the first goods to be picked and assigned to the first order at a first transfer position, B1) Picking up the first goods to be picked at the first transfer position by a picker, C1) Positioning the first driverless industrial truck together with the first order picking system near the order picker, D1) Rotating the first goods receiving device relative to the first industrial truck in such a way that a first goods sector of the first goods receiving device assigned to the first order faces the order picker, E1) The order picker places the first goods to be picked in the first goods sector of the first goods receiving device, A2) Providing the second goods to be picked and assigned to the second order at a second transfer position, B2) Picking up the second goods to be picked at the second transfer position by the picker, C2) Positioning the first driverless industrial truck together with the first order picking system near the order picker, D2) Rotating the first goods receiving device relative to the first industrial truck in such a way that a second goods sector of the first goods receiving device assigned to the second order faces the order picker, and E2) The order picker places the second goods to be picked in the second goods sector of the first goods receiving device.

[0010] The method according to the invention is based on the use of an order picking system which has a driverless industrial truck and a goods receiving device rotatably mounted on the industrial truck with order-specific goods sectors for receiving goods.

[0011] The invention is based on the finding that by rotating the goods receiving device so that the goods sector relevant for the current order faces the order picker, the order picker's walking distances and thus the time required for order picking can be significantly reduced.

[0012] In addition, the error rate during picking (i.e. the proportion of goods that are not assigned to the correct order) can be reduced, since the order-specific rotation of the goods receiving device can reduce the risk of the picker “picking up the wrong item”.

[0013] The first and second items can also be provided at the same transfer position. In this case, the first and second transfer positions coincide.

[0014] Furthermore, the first and second orders can be the same order or different orders. In the first case (first and second orders are identical), the first and second items are placed in a common goods sector in the first picking system, assigned to this order. If, however, the orders are different, the first and second items are placed in different goods sectors of the first picking system.

[0015] The order picker can be a human or a robot.

[0016] According to a preferred embodiment of the invention, the goods to be picked are provided at a transfer position according to step A1 and optionally step A2 using a second picking system with the following steps, wherein the second picking system has a second driverless industrial truck and a second goods receiving device rotatably mounted on the second industrial truck for providing goods in a plurality of goods sectors: A11) Providing the first goods to be picked in a first goods sector of the second goods receiving device and defining this first goods sector as the first transfer position, A12) Positioning the second industrial truck near the order picker, A13) Rotating the second goods receiving device relative to the second industrial truck in such a way that the first goods sector of the second goods receiving device faces the order picker, and optionally then A21) Providing the second goods to be picked in a second goods sector of the second goods receiving device and defining this second goods sector as the second transfer position, A22) Positioning the second industrial truck near the order picker, A23) Rotating the second goods receiving device relative to the second industrial truck such that the second goods sector of the second goods receiving device faces the order picker.

[0017] This preferred embodiment is based on the realization that the efficiency of the picking process can be further improved if a further, second picking system (with a second driverless industrial truck and a second goods receiving device rotatably mounted on the second industrial truck with goods sectors for providing goods) is used to provide the goods to be picked by the picker at the transfer positions.

[0018] The second goods receiving device of the second picking system is rotated so that the goods sector containing the next goods to be picked by the picker is facing the picker. This further shortens the picker's walking distances and thus the time required for picking.

[0019] It is also conceivable that the first and second goods are not both provided together in the second picking system, but in different picking systems.

[0020] Furthermore, it is advantageous - according to step C1 and / or C2, the positioning of the first driverless industrial truck in the vicinity of the order picker takes place by the first industrial truck following the order picker at a predeterminable first distance or by the first industrial truck being positioned in a first order picking area, and / or - according to step A12 and / or A22, the second industrial truck is positioned near the order picker by the second industrial truck following the order picker at a predeterminable second distance or by the second industrial truck being positioned in a second order picking area.

[0021] The invention is further manifested in the order picking system according to claim 4. The order picking system comprises a driverless industrial truck and a goods receiving device rotatably mounted on the industrial truck for receiving and / or providing goods in a plurality of goods sectors, configured for use in the method according to the invention.

[0022] Advantageously, the industrial truck has a turntable (relative to the industrial truck) on which the goods receiving device is arranged.

[0023] In particular, if the goods to be picked are clothing, it is further advantageous if the goods receiving device has a circumferential hanging device, which in particular serves as a clothes rail.

[0024] It is particularly advantageous if the circumferential suspension device is circular, elliptical or polygonal.

[0025] This makes it easy to achieve multi-sided accessibility of the goods receiving device.

[0026] Adjacent product sectors can be separated from each other, in particular by a flange or a pin protruding upward from the hanging device or clothes rail, to prevent goods from slipping from one product sector into the adjacent product sector. The flange or pin can be releasably attached, in particular to specially provided notches on the hanging device. In this way, the number and size of the product sectors can be variably adjusted.

[0027] Alternatively, it may be advantageous for other types of goods if the goods receiving device has a storage shelf that is accessible from multiple sides.

[0028] The efficiency of picking can be increased even further if the goods sectors of the goods receiving device can each be marked with a light signal (marking) using a put-by-light device and / or a pick-by-light device.

[0029] An unintentional shifting of goods from one goods sector to an adjacent goods sector can be prevented or at least made more difficult if the goods sectors of the goods receiving device are separated from each other by goods dividers.

[0030] A product separator can be implemented in particular by a structural measure, such as a partition wall.

[0031] According to a further preferred embodiment of the invention, the industrial truck is designed as an autonomous industrial truck.

[0032] The invention further manifests itself in a computer program product comprising instructions which cause the driverless industrial truck of an order picking system according to one of claims 4 to 11 - the process steps C1 and D1 and C2 and D2 according to claim 1, and / or - carries out method steps A12 and A13 and optionally method steps A22 and A23 according to claim 2.

[0033] For this purpose, the industrial truck comprises a computer with a processor unit and a memory unit. The computer can be designed in particular as a single-board computer, embedded system, digital terminal, desktop computer, edge device or server. The processor unit is suitable for executing computing operations and can be designed as a CPU, GPU or the like with one or more processor cores. Furthermore, the processor unit can position the industrial truck and rotate the goods receiving device relative to the industrial truck by controlling suitable actuators of the industrial truck. The memory unit is suitable for storing data and outputting it (to the processor unit) and can be designed as a volatile or non-volatile memory.

[0034] In the following, embodiments of the invention are explained in more detail with reference to the drawing. Fig. 1A & 1B each show a schematic representation of an order picking system according to the invention in a side view ( Fig. 1A) and in a top view ( Fig. 1B), Fig. 2 a schematic representation of two picking systems according to the invention, Fig. 3A - 3D the two picking systems according to Fig. 2 at different times during the implementation of the method according to the invention, Fig. 4A - 4D several picking systems at different times during the implementation of the method according to the invention, Fig. 5A - 5B several picking systems at different times during the implementation of the method according to the invention, and Fig. 6 & 7 Process flow diagrams for order picking methods according to the invention.

[0035] The Fig. 1A and Fig. 1B each show a schematic representation of an order picking system 1 according to the invention in a side view ( Fig. 1A) or in a top view ( Fig. 1B).

[0036] The order picking system 1 comprises a driverless industrial truck 2 and a goods receiving device 3 rotatably mounted on the industrial truck 2. The goods receiving device 3 has a circular clothes rail 4 on which items of clothing (goods 5) suspended on coat hangers can be hung.

[0037] The clothes rail 4 (and thus also the merchandise receiving device 3) is divided into several merchandise sectors 7 by partition walls 6, which function as merchandise dividers. The garments (goods 5) hung on hangers can be picked up and stored in the merchandise sectors 7. The merchandise receiving device 3 is accessible from all sides and is therefore accessible from multiple sides.

[0038] The goods receiving device 3 is arranged on a turntable 8 of the industrial truck 2, which can be rotated relative to the rest of the industrial truck 2 by an actuator (not shown). The industrial truck 2 also has wheels 9 driven by actuators, by means of which it can be moved and positioned.

[0039] Next to the picking system 1 there is a human picker 10 who can place the garments (goods 5) hung on hangers in the goods sectors 7 and remove goods 5 provided there.

[0040] Fig. 2 schematically shows two further order picking systems 1 according to the invention. Similar components are designated by the same reference numerals as in Fig. 1. To avoid repetition, only the essential differences to Fig. 1 received.

[0041] In the first picking system 1.1, the goods 5 assigned to the different orders are stored by the picker 10 in the order-specific goods sectors 7.

[0042] In the second picking system 1.2, the goods 5 to be picked are provided in the goods sectors 7 at transfer positions 11.

[0043] The human order picker 10 stands on a raised platform 12 to facilitate access to the goods 5 located in the goods receiving devices 3.

[0044] An embodiment of the method for picking 100 according to the invention will be described below with particular reference to the Fig. 3A to 3D and the Fig. 6 and Fig. 7 will be explained in more detail.

[0045] The Fig. 3A to 3D show the two picking systems 1 according to Fig. 2 at different times during the implementation of the method according to the invention, the Fig. 6 and Fig. 7 show process flow diagrams of the picking method 100 according to the invention.

[0046] First, according to step A1 (110), a first item of goods 5.1, which is assigned to a first order, is provided at a first transfer position 11.1 by the second picking system 1.2. According to method step A1 (111), the first item of goods is located in a first goods sector 7.1 of the second picking system 1.2. This first goods sector 7.1 is defined as the first transfer position 11.1.

[0047] The second order picking system 1.2 is already positioned in the vicinity of the order picker 10 according to step A12 (112). Furthermore, according to step A13 (113), the second goods receiving device 3.2 is rotated (twisted) relative to the second industrial truck 2.2 such that the first goods sector 7.1 (in which the first goods 5.1 is located) faces the order picker 10. This situation is shown in Fig. 3A.

[0048] The order picker 10 then removes the first goods 5.1 from the second order picking system 1.2 at the first transfer position 11 in accordance with step B1 (120).

[0049] At this point in time, the first picking system 1.1 is already positioned near the order picker 10 according to step C1 (130).

[0050] Subsequently, according to step D1 (140), the first goods receiving device 3.1 of the first industrial truck 2.1 is rotated relative to the first industrial truck 2.1 such that a first goods sector 7.1 of the first goods receiving device 3.1 assigned to the first order faces the order picker 10.

[0051] The order picker 10 then places the first goods 5.1 in the first goods sector 7.1 of the first goods receiving device 3.1 according to step E1 (150). Fig. 3B shows the first product 5.1 stored in the first product sector 7.1 of the first product receiving device 3.1.

[0052] In the next step A2 (160), a second item of goods 5.2 assigned to a second order is now provided at a second transfer position 11.2 by the second picking system 1.2. The first and second orders are two different orders.

[0053] The second product 5.2 is located in a second product sector 7.2 of the second product receiving device 3.2. This second product sector 7.2 is defined as the second transfer position 11.2 according to step A21 (161).

[0054] The second industrial truck 2.2 does not change its position and is already positioned near the order picker 10 according to step A22 (162).

[0055] The second goods receiving device 3.2 is rotated relative to the second industrial truck 2.2 according to step A23 (163) such that the second goods sector 7.2 of the second goods receiving device 3.2 (in which the second goods 5.2 is located) faces the order picker 10. This situation is in Fig. 3C.

[0056] Now, according to step B2 (170), the order picker removes the second item 5.2 from the second transfer sector 7.2 (second transfer position 11.2) from the second goods receiving device 3.2.

[0057] In the meantime, the first goods receiving device 3.1 of the first industrial truck 2.1 was positioned in the vicinity of the order picker 10 according to step C2 (180) and rotated according to step D2 (190) such that a second goods sector 7.2 of the first goods receiving device 3.1 assigned to the second order faces the order picker 10 (cf. Fig. 3C).

[0058] Subsequently, according to step E2 (200), the order picker 10 places the second item 5.2, which is assigned to the second order, in the second item sector 7.2 of the first item receiving device 3.2.

[0059] In the Fig. 4A to 4D and 5A to 5B each show, by way of example, a plurality of order picking systems 1 at different times during the execution of an order picking method 100 according to the invention, schematically in a plan view.

[0060] To avoid repetition, only selected aspects of the respective embodiment will be discussed below.

[0061] The Fig. 4A to 4D show a first picking arrangement 13.1 with a total of seven picking systems 1 according to the invention. Three picking systems 1.2 to 1.4 serve to provide goods 5 to be picked. The picker 10 moves in a walking area 14 and, during the picking process, removes the goods 5 to be picked from these three picking systems 1.2 to 1.4. In the four other picking systems 1, the picker 10 deposits the previously picked goods 5 to be picked.

[0062] According to Fig. 4A, the second picking system 1.2 was positioned and rotated such that a first goods sector 7.1 with a first item 5.1 assigned to a first order faces the order picker 10 and the first item 5.1 is thus provided in (at) the first transfer position 11.1.

[0063] The order picker 10 removes the first item 5.1, turns around and places the first item 5.1 in the first item sector 7.1 of the first order picking system 1.1.

[0064] This first goods sector 7.1 of the first picking system 1.1 is assigned to the first order. The first goods receiving device 3.1 of the first picking system 1.1 was previously positioned and rotated so that the first goods sector 7.1 faces the picker 10. Using a put-by-light device, the first goods sector is provided with a marking 15.

[0065] Then, as in Fig. 4B, the second item of goods 5.2 is provided at the second transfer position 11.2. For this purpose, the second goods receiving device 3.2 is rotated such that a second goods sector 7.2 of the second goods receiving device 3.2 faces the order picker 10. The order picker 10 then removes the second item of goods 5.2 from the second order picking system 1.2.

[0066] The second item 5.2 is assigned to a second order that is identical to the first order. The second item 5.2 is therefore placed by the picker 10 in the same goods sector of the first picking system 1.1 as the first item 5.1.

[0067] The order picker 10 then moves according to Fig. 4C from the second picking system 1.2 to the third picking system 1.3. Here, it picks up a third item of goods 5.3, which is assigned to a third order and has been provided to it at a third transfer position 11.3. For this purpose, the goods receiving device 3 of the third picking system 1.3 has been rotated such that the goods sector 7, in which the third item of goods 5.3 is located, faces the picker 10.

[0068] The third order differs from the first and second orders.

[0069] The first picking system 1.1 follows the order picker 10 and is positioned close to it. Furthermore, the first goods receiving device 3.1 of the first picking system 1.1 is rotated so that a third goods sector 7.3, assigned to the third order, faces the order picker 10. The order picker 10 then places the third item 5.3 in the third goods sector 7.3 of the first picking device 1.1.

[0070] When the first goods receiving device 3.1 of the first picking system 1.1 is completely loaded with goods 5 and thus completely picked, the first picking system 1.1 is, as in Fig. 4D, into a packaging area 16 in which the picked goods 5 are further processed for shipping and loaded onto pallets 17.

[0071] The order picker 10 moves to the fourth picking system 1.4 to continue picking there. A fifth picking system 1.5 is positioned nearby to assume the role of the first picking system 1.1 and pick up the goods 5 to be picked.

[0072] The Fig. 5A and Fig. 5B each show a second picking arrangement 13.2 with a total of four picking systems 1 according to the invention.

[0073] A significant difference to the first picking arrangement according to the Fig. 4A to 4D is that the goods 5 to be picked are not provided in picking systems according to the invention, but rather in goods provision devices 18 that cannot be moved and rotated by means of a driverless industrial truck. The first picking system 1.1 according to the invention follows the order picker 10, who moves to the individual goods provision devices 18 during the picking process and removes the goods to be picked there.

[0074] A further difference is that the goods receiving devices 3 of the order picking systems 1, which can be rotated relative to the industrial truck, are arranged in accordance with the Fig. 5A and Fig. 5B each have two parallel, straight clothes rails 19 - and not one surrounding, circular clothes rail. Reference symbol 1, 1.1, 1.2 Order picking system 2, 2.1, 2.2 Industrial truck 3, 3.1, 3.2 Goods receiving device 4 clothes rail 5, 5.1, 5.2, 5.3 Goods 6 partition walls 7, 7.1, 7.2 Commodity sectors 8 turntables 9 wheels 10 order pickers 11, 11.1, 11.2 Transfer positions 12 podium 13.1 Picking arrangement 14 Running area 15 Marking 16 Packaging area 17 pallets 18 goods provision devices 19 straight clothes rail

Claims

[1] Method (100) for picking goods (5, 5.1, 5.2, 5.3) assigned to different orders using a first picking system (1.1) comprising a first driverless industrial truck (2.1) and a first goods receiving device (3.1) rotatably mounted on the first industrial truck (2.1) for receiving goods (5, 5.1, 5.2, 5.3) in the order-specific goods sectors (7, 7.1, 7.2) assigned to different orders, wherein - a first product (5.1) is assigned to a first order and - a second product (5.2) is assigned to a second order, with the following steps: A1) Providing (110) the first goods (5.1) to be picked and assigned to the first order at a first transfer position (11.1), B1) Picking up (120) the first goods (5.1) to be picked at the first transfer position (11.1) by a picker (10), C1) Positioning (130) the first driverless industrial truck (2.1) together with the first order picking system (1.1) near the order picker (10), D1) rotating (140) the first goods receiving device (3.1) relative to the first industrial truck (2.1) in such a way that a first goods sector (7.1) of the first goods receiving device (3.1) assigned to the first order faces the order picker (10), E1) depositing (150) the first goods (5.1) to be picked in the first goods sector (7.1) of the first goods receiving device (3.1) by the order picker (10), A2) Providing (160) the second goods (5.2) to be picked and assigned to the second order at a second transfer position (11.2), B2) Picking up (170) the second goods (5.2) to be picked at the second transfer position (11.2) by the picker (10), C2) Positioning (180) the first driverless industrial truck (2.1) together with the first order picking system (1.1) near the order picker (10), D2) rotating (190) the first goods receiving device (3.1) relative to the first industrial truck (2.1) in such a way that a second goods sector (7.2) of the first goods receiving device (3.1) assigned to the second order faces the order picker (10), and E2) Depositing (200) the second goods (5.2) to be picked in the second goods sector (7.2) of the first goods receiving device (3.1) by the order picker (10). [2] Method (100) for picking goods (5, 5.1, 5.2, 5.3) assigned to different orders according to claim 1, wherein the provision of the goods (5, 5.1, 5.2, 5.3) to be picked takes place at a transfer position (11.1, 11.2) according to step A1 and optionally step A2 using a second picking system (1.2) with the following steps, wherein the second picking system (1.2) has a second driverless industrial truck (2.2) and a second goods receiving device (3.2) rotatably mounted on the second industrial truck (2.2) for providing goods (5, 5.1, 5.2, 5.3) in a plurality of goods sectors (7, 7.1, 7.2): A11) Providing (111) the first goods (5.1) to be picked in a first goods sector (7.1) of the second goods receiving device (1.2) and defining this first goods sector (7.1) as the first transfer position (11.1), A12) Positioning (112) the second industrial truck (1.2) near the order picker (10), A13) Rotating (113) the second goods receiving device (3.2) relative to the second industrial truck (2.2) in such a way that the first goods sector (7.1) of the second goods receiving device (1.2) faces the order picker (10), and optionally then A21) Providing (161) the second goods (5.2) to be picked in a second goods sector (7.2) of the second goods receiving device (3.2) and defining this second goods sector (7.2) as the second transfer position (11.2), A22) Positioning (162) the second industrial truck (1.2) near the order picker (10), A23) Rotating (163) the second goods receiving device (3.2) relative to the second industrial truck (1.2) such that the second goods sector (7.2) of the second goods receiving device (3.2) faces the order picker (10). [3] Method (100) for picking goods assigned to different orders according to one of the preceding claims, wherein - according to step C1 and / or C2, the positioning of the first driverless industrial truck (1.1) in the vicinity of the order picker takes place by the first industrial truck (1.1) following the order picker (10) at a predeterminable first distance or by the first industrial truck (1.1) being positioned in a first order picking area, and / or - according to step A12 and / or A22, the positioning of the second industrial truck (1.2) in the vicinity of the order picker (10) takes place in that the second industrial truck (1.2) follows the order picker (10) at a predeterminable second distance or in that the second industrial truck (1.2) is positioned in a second order picking area. [4] Order picking system (1, 1.1, 1.2) comprising a driverless industrial truck (2, 2.1, 2.2) and a goods receiving device (3, 3.1, 3.2) rotatably mounted on the industrial truck for receiving and / or providing goods (5, 5.1, 5.2, 5.3) in a plurality of goods sectors (7, 7.1, 7.2), adapted for use in the method (100) according to one of claims 1 to 3. [5] Order picking system (1) according to claim 4, wherein the industrial truck (2, 2.1, 2.2) has a turntable (8) which is rotatable relative to the industrial truck and on which the goods receiving device (3, 3.1, 3.2) is arranged. [6] Order picking system (1) according to one of claims 4 or 5, wherein the goods receiving device (3) has a circumferential hanging device, which is designed in particular as a clothes rail (4) and enables the hanging of clothes hangers. [7] Order picking system (1) according to one of claims 4 to 6, wherein the rotating suspension device is circular, elliptical or polygonal. [8] Order picking system (1) according to one of claims 4 to 7, wherein the goods receiving device (3) has a storage shelf accessible from multiple sides. [9] Order-picking system (1) according to one of claims 4 to 8, wherein the goods sectors (7) of the goods receiving device (3) can each be marked by a light signal by means of a put-by-light device and / or a pick-by-light device. [10] Order picking system (1) according to one of claims 4 to 9, wherein the goods sectors (7) of the goods receiving device (3) are separated from one another by goods separators, in particular by partition walls (6). [11] Order picking system (1) according to one of claims 4 to 10, wherein the industrial truck (2) is designed as an autonomous industrial truck. [12] Computer program product comprising instructions which cause the driverless industrial truck (2) of an order picking system (1) according to one of claims 4 to 11 - the process steps C1 and D1 and C2 and D2 according to claim 1, and / or - carries out the method steps A12 and A13 and optionally the method steps A22 and A23 according to claim 2.

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