Shelf management system, picking zone and picking system

Abstract

order picking system, comprehensive a storage container zone (20) configured to store a large number of storage containers (202), a transfer robot (40) for transporting the storage containers (202) and a picking zone (10) configured for a picking operator to take target goods transported by the transfer robot (40) from the storage container (202), where the picking zone (10) includes at least one picking station (1), which includes picking station (1): a U-shaped picking passage (121) and a picking station (122), arranged in the U-shaped picking passage (121), which picking station (122) is configured for the picking employee to take the target goods, which U-shaped picking passage (121) is configured to provide a movement path for the transfer robot (40) to enter the picking station (1), pass through the picking station (122) at the U-shaped picking passage (121) in the picking station (1) and exit the picking station (1).

Description

Technical field

[0001] The present application concerns the field of logistics automation, for example a shelf management system, a picking zone and a picking system. background

[0002] With the rapid development of logistics automation technology, robot-based goods-to-person (G2P) systems have become widespread in the warehousing industry of Western industrialized countries due to their flexibility and low cost. In traditional warehouse operations, racks are fixed, and employees must walk to their assigned storage locations to perform operations. In contrast, in a G2P system, a mobile robot transports a rack to a workstation, where it is hung up, and employees perform the operations at the station without having to walk. The G2P mode significantly increases the efficiency of human operations.

[0003] In the robot-based goods-to-person system, goods can be placed on multiple sides of a mobile rack. For example, storage locations can be provided on all four sides (front, back, left, and right), while manual operations can only be performed on one side at a time. Therefore, the rack must be rotated so that the working side faces the employee. Furthermore, to increase picking efficiency, a single station can accommodate multiple racks, but employees can only work on one rack at a time. Therefore, before the operation, the robot must transport the rack, position it at the station, and wait for the employee to begin. Summary

[0004] A robot-based goods-to-person system features a fixed queue, uses a fixed turning zone for performing rotary handling on a shelf, and employs a procedure for entering the turning zone via a curved path. However, the number of robots that can be accommodated in the fixed queue is limited, and robots that cannot be picked up remain in an aisle, blocking the paths of other robots. The queue route is relatively fixed, which can easily lead to route deadlocks. The turning zone is also fixed, which can easily become an efficiency bottleneck, and if multiple transfer robots require rotary handling, the waiting robots have to wait for the turning zone to be cleared, thus reducing mobility. Furthermore, entering the turning zone via a curved path requires a large distance between shelves, which does not contribute to increasing the overall space utilization of a warehouse.

[0005] Therefore, the present application proposes a shelf management procedure and system to solve at least one of the aforementioned problems and thus increase the picking efficiency of the system.

[0006] One aspect of the technical solution of the present application relates to a shelf management procedure, comprising: estimating whether there is free space in a station waiting area; in response to the estimation that there is free space in the station waiting area, selecting a shelf from shelves assigned to the station that have not been transported, and controlling a transfer robot to transport the selected shelf; after coupling the transfer robot to the selected shelf, again estimating whether there is free space in any queue of all stations that require the selected shelf;In response to estimating that there is free space in a queue of all stations, control the transfer robot to transport the selected shelf to the queue where free space was estimated, and determine, if the transfer robot transports the selected shelf and reaches a preset area around the queue where free space was estimated, whether free space has been released in the queue where free space was estimated; and in response to determining that free space has been released in the queue where free space was estimated, control the transfer robot to enter the queue where free space was estimated.

[0007] In one embodiment, the method further comprises: In response to the estimation that there is no free space in any of the queues at all stations, controlling the transfer robot to place and wait in position.

[0008] In one embodiment, the method further comprises: in response to the fact that no free space has been released in the queue where free space was estimated, controlling the transfer robot to place and wait at a position where the number of transfer robots within a preset area around the transfer robot is less than a preset number and does not block the paths of other mobile robots, or controlling the transfer robot to transport the selected shelf to another station that requires the selected shelf.

[0009] In one embodiment, the method further comprises: After controlling the transfer robot to enter the queue in which free space has been estimated, determining in real time whether free space has been released in front of the transfer robot, and in response to determining that free space has been released in front of the transfer robot, controlling the transfer robot to move towards the front free space, or in response to the finding that no free space has been released in front of the transfer robot, controlling the transfer robot to place and wait in position.

[0010] In one embodiment, estimating whether there is free space in the station waiting area comprises: determining that there is free space in the station waiting area in response to the fact that the number of transfer robots currently transporting shelves for a station is less than the size of the station waiting area; or determining that there is free space in the station waiting area in response to the fact that the number of transfer robots currently transporting shelves for a station is greater than or equal to the size of the station waiting area; and determining that there is free space in the station waiting area in response to the fact that this time is shorter than the time required for a newly assigned transfer robot to reach the station waiting area.

[0011] In one embodiment, the method further comprises: controlling the transfer robot to detect the environment of the selected shelf in real time within the movement path of the transfer robot during the transport of the selected shelf; and in response to the detection that the environment of the selected shelf satisfies a rotation condition, controlling the transfer robot to perform a rotation handling operation on the selected shelf.

[0012] In one embodiment, controlling the transfer robot to perform the rotation handling on the selected shelf in response to the detection that the environment of the selected shelf meets the rotation condition comprises: In response to the detection that the environment of the selected shelf meets the rotation condition, controlling the transfer robot to rotate the selected shelf at at least one of the following three positions: rotation in the transport path, rotation in a rotation zone of the station corresponding to the queue in which free space was estimated, or rotation at the workstation of the queue in which free space was estimated.

[0013] In one embodiment, controlling the transfer robot for real-time detection of the environment of the selected shelf within the transfer robot's movement path during transport of the selected shelf comprises: controlling the transfer robot within the transfer robot's movement path during transport of the selected shelf to detect whether a cell within a preset area around a forward route point is occupied, and in response to a successful request for the cell within the preset area around the forward route point, using the forward route point as a pivot point;and if the transfer robot reaches the preset turning point, occupy the cell within the preset area around the forward route point as the turning zone, and in response to an unsuccessful occupancy of the cell within the preset area around the forward route point, control the transfer robot to continue moving.

[0014] In one embodiment, controlling the transfer robot to perform the rotation handling on the selected shelf in response to the detection that the environment of the selected shelf meets a rotation condition includes: Before reaching the workstation of the queue where free space has been estimated, if the transfer robot has not rotated the selected shelf in the transport route for transporting the selected shelf, controlling the transfer robot to enter the rotation zone of the station corresponding to the queue where free space has been estimated, for rotation of the selected shelf.

[0015] In one embodiment, the method further comprises: If the rotated selected shelf needs to continue rotating, determining whether a cell within a preset area around the transfer robot can be occupied at the location, and in response to the finding that the cell within the preset area around the transfer robot can be occupied at the location, assigning the corresponding cell as the rotation zone, and in response to the finding that the cell within the preset area around the transfer robot cannot be occupied at the location, controlling the transfer robot to re-enter the queue where free space has been estimated, and to continue waiting in the queue and enter the rotation zone of the corresponding station.

[0016] In one embodiment, controlling the transfer robot to perform the rotary handling on the selected shelf comprises: controlling the transfer robot to rotate the selected shelf using a straight and polygonal path within the rotation zone.

[0017] A further aspect of the technical solution of the present application relates to a rack management system comprising: a transfer robot configured to transport a rack; the rack, configured to provide locations for receiving goods and transportable by the transfer robot; a rack zone configured to store the rack; a station and a station waiting area, wherein the station is a workstation for employees; and the station waiting area is an area provided near the workstation for employees, in which the transfer robot transports the rack, positions it, and waits for operation by the employee; and a server that is communicatively connected to the transfer robot and configured to execute the aforementioned rack management procedure.

[0018] In one embodiment, a picking station layout mode comprises one of the following: a symmetrical twin-station layout mode, a parallel layout mode, or a queue mode without a specific turning zone.

[0019] In one embodiment, in a case where the layout mode of the picking station comprises the symmetrical dual-station layout mode, the picking station comprises two rotary zones, wherein the two picking passages each lie around the two rotary zones, the two picking passages partially overlapping to form a through-passage area between the two rotary zones, wherein each picking passage is provided with an entry position, a handling position, several rotary zone entry positions, several queue return positions, and an exit position, wherein the handling position is a position where the transfer robot, which transports the storage containers, waits for handling by the picking operator, the rotary zone entry position is a position that allows the transfer robot to move from the picking passage into the rotary zone, the queue return position is a positionwhich allows the transfer robot to move from the turning zone into the picking passage, the entry position in the through-flow area is defined, the two picking passages share an entry position, and the turning zone entry positions, the queue return positions, and the exit positions of the two picking passages are arranged symmetrically on two sides of the through-flow area.

[0020] In one embodiment, in a case where the layout mode of the picking station comprises the parallel layout mode, the picking station comprises two rotary zones, wherein the two picking passages are each arranged around the two rotary zones, wherein each picking passage is provided with an entry position, a handling position, several rotary zone entry positions, several queue return positions, and an exit position, wherein the two picking passages are arranged in parallel, wherein the handling position is a position at which the transfer robot, which transports the storage containers, waits for handling by the picking operator, the rotary zone entry position is a position that allows the transfer robot to move from the picking passage into the rotary zone, and the queue return position is a position that allows the transfer robot toto get from the turning zone into the picking passage.

[0021] In one embodiment, in a case where the layout mode of the picking station includes a queue mode without a specific turning zone, each picking passage is used as a turning zone, wherein the picking passage is provided with a handling position, an exit position and multiple entry positions, the multiple entry positions being located between the handling position and the exit position.

[0022] In one embodiment, several directions are provided for the exit position, and if the transfer robot has to perform a shelf rotation again after completing the operation, the transfer robot is enabled to re-enter the station waiting area from the exit position, or to leave the station waiting area from the exit position and return to the station waiting area via an external route.

[0023] In one embodiment, if a layout mode of the station waiting area includes a multi-workplace layout mode, the station waiting area includes several workstations arranged in a line, and each workstation serves as an entry and exit point, wherein the workstation is a place where the transfer robot transports the shelf and waits for the operation by the employee.

[0024] In one embodiment, the transfer robot is a wheel-driven vehicle and is equipped with a lifting mechanism configured to lift the shelf.

[0025] In one embodiment, the lifting mechanism and a vehicle body move independently of each other to ensure that the vehicle body is not moved while the lifting mechanism performs lowering and lifting operations; that the vehicle body is not moved while the lifting mechanism rotates; that the vehicle body and the lifting mechanism are locked together and rotate at the same speed; or that the vehicle body and the lifting mechanism rotate simultaneously at different speeds.

[0026] Furthermore, the "goods-to-person" mode is relatively common in robot-based automated order picking systems. This mode relies on an intelligent transfer robot. The robot automatically moves directly beneath a target pallet / container according to order requirements and warehouse information, lifts the pallet / container, and transports it to a picking station equipped with a display device, such as a screen. This display shows the location information of the goods required in the order. A picker then receives the required goods and places them in a designated container according to the instructions to complete the order. Once the order is complete, the robot transports the pallet / container back to its designated location.

[0027] Throughout the entire process with the aforementioned "goods-to-person" solution, the employee does not need to walk, thus significantly increasing picking efficiency and reducing employee workload. However, the aforementioned "goods-to-person" robot solution typically uses a procedure where a picking station is assigned to a person carrying the order, and this can result in idle time for the employee while waiting for the robot, which does not contribute to increased picking efficiency.

[0028] The present application also relates to a picking zone which reduces the waiting time of the transfer robot in the picking zone in order to increase picking efficiency.

[0029] The present application also relates to a picking system that reduces the waiting time of the transfer robot in order to increase picking efficiency.

[0030] The present utility model uses the following technical solutions.

[0031] A picking zone comprises one or more picking stations, each picking station comprising two picking passages and two picking positions located in each of the two picking passages, each picking position being configured for a picker-operated person to take target goods; each picking passage is configured to provide a movement path for a transfer robot to enter the picking station and to pass through the picking position at each picking passage in each picking station and to exit the picking station.

[0032] As an optional solution for the picking zone, the two picking passages are each U-shaped and arranged side by side or parallel, and the two picking stations are each located at the lowest points of the U-shapes of the two picking passages, and a picking work area for the movement of a picking employee is provided at one end of the two picking passages away from the storage container zone.

[0033] In one embodiment, the two picking passages are arranged side by side. In another embodiment, the two picking stations are arranged side by side.

[0034] In one embodiment, the picking work area is provided with two opposing putwalls, each putwall accommodating several order containers, and the two picking stations are located in an extension space formed by the two putwalls.

[0035] In one embodiment, the two picking passages in each picking station are arranged in a U-shape and spaced apart from each other; the two picking positions are located on lateral sides of the U-shapes of the two picking passages and are arranged opposite each other, and a picking work area is provided for the movement of a picking employee between the two picking passages.

[0036] In one embodiment, the two picking passages are directly opposite each other and spaced apart.

[0037] In one embodiment, the two picking stations are directly opposite each other and spaced apart.

[0038] In one embodiment, one of the two picking passages forms a clockwise movement path, and the other picking passage forms a counterclockwise movement path.

[0039] In one embodiment, each picking passage has an inlet grid forming an inlet to the picking passage and an outlet grid forming an outlet to the picking passage, and the width of the inlet grid and outlet grid is wider than the maximum outer diameter of the storage container.

[0040] In one embodiment, each picking passage comprises an entry passage and an exit passage forming two lateral sides of the U-shape, wherein the exit passage is located on one side of the picking passage that is adjacent to another picking station, and the two adjacent picking stations share an exit passage.

[0041] In one embodiment, the picking zone is logically provided with two-dimensional grids, where one two-dimensional grid corresponds to one of the picking stations.

[0042] In one embodiment, in each picking passage, the two-dimensional grids located in the picking passage in the direction of travel upwards of the picking station form an area for passage and waiting of the transfer robot.

[0043] In one embodiment, a reference mark is provided at a center point of at least one of the two-dimensional grids for positioning the transfer robot.

[0044] A picking system comprises: a storage bin zone configured to store a variety of storage bins; a transfer robot configured to transport the storage bins; and a picking zone configured for a picker to take target goods transported by the transfer robot from the storage bin, wherein: the picking zone comprises one or more picking stations, each picking station comprising two picking passages and two picking positions, each located in the two picking passages, each picking position configured for the picker to take target goods;Each picking passage is configured to provide a movement path for the transfer robot to enter the picking station, to pass through the picking station at each picking passage, and to exit the picking station.

[0045] In one embodiment, the two picking passages are each U-shaped and arranged side by side or parallel, with the two picking stations located at the lowest points of the U-shapes of the two picking passages. A picking work area for the movement of a picking operator is provided at one end of the two picking passages, away from the storage container zone. In another embodiment, the two picking passages are arranged side by side. In yet another embodiment, the two picking stations are arranged side by side.

[0046] In one embodiment, the picking work area is provided with two opposing putwalls, each putwall accommodating several order containers, and the two picking stations are located between the two putwalls.

[0047] In one embodiment, the two picking passages in each picking station are arranged in a U-shape and spaced apart from each other; the two picking positions are located on lateral sides of the U-shapes of the two picking passages and are arranged opposite each other, and a picking work area is provided for the movement of a picking employee between the two picking passages.

[0048] In one embodiment, a picking area of ​​the storage container located in the picking zone is parallel to the lateral sides of the U-shape of each picking passage.

[0049] In one embodiment, one of the two picking passages forms a clockwise movement path, and the other picking passage forms a counterclockwise movement path.

[0050] In one embodiment, each picking passage has an inlet grid forming an inlet to the picking passage and an outlet grid forming an outlet to the picking passage, and the width of the inlet grid and outlet grid is wider than the maximum outer diameter of the storage container.

[0051] In one embodiment, each picking passage comprises an entry passage and an exit passage forming two lateral sides of the U-shape, wherein the exit passage is located on one side of the picking passage that is adjacent to another picking station, and the two adjacent picking stations share an exit passage.

[0052] In one embodiment, the storage container zone and the picking zone are logically provided with two-dimensional grids, wherein a two-dimensional grid in the picking zones corresponds to one of the picking stations.

[0053] In one embodiment, in each picking passage, the two-dimensional grids located in the picking passage in the direction of travel upwards of the picking station form an area for passage and waiting of the transfer robot.

[0054] In one embodiment, a reference mark is provided at a center point of at least one of the two-dimensional grids for positioning the transfer robot. Brief description of the drawings Fig. Figure 1 is a flowchart of a queuing and rotation procedure for a shelf in an embodiment of the present application; Fig. 2 is a flowchart for planning a route for the means of transport to transport the rack according to the requirements of an order and for real-time adjustment of the means of transport's movement path in an embodiment of the present application; Fig. 3 is a flowchart of a rotary handling device on a shelf in an embodiment of the present application; Fig. 4 is a schematic structural view of a top view of a shelf in an embodiment of the present application; Fig. Figure 5 is a schematic structural view of a symmetrical dual-station layout mode in an embodiment of the present application; Fig. Figure 6 is a schematic structural view of a parallel layout in an embodiment of the present application; Fig. Figure 7 is a schematic structural view of a queue mode without a special turning zone in an embodiment of the present application; Fig. Figure 8 is a schematic structural view of a multi-workstation in an embodiment of the present application; Fig. Figure 9 is a schematic representation of the rotation in a rotation zone using a straight plus arc-shaped path in an embodiment of the present application; Fig. 10 is a structural block diagram of a shelf management system in an embodiment of the present application; Fig. Figure 11 is a structural block diagram of a shelf management system in an embodiment of the present application; Fig. Figure 12 is a schematic structural view of a picking system according to an embodiment of the present application; Fig. Figure 13 is a schematic structural view of a storage container according to an embodiment of the present application; Fig. Figure 14 is a schematic structural view of a transfer robot according to an embodiment of the present application; Fig. Figure 15 is a schematic structural view of a picking station in Fig. 12; Fig. Figure 16 is a schematic structural view of a picking station and a storage container according to an embodiment of the present application; Fig. Figure 17 is a schematic structural view of a picking station and a storage container according to an embodiment of the present application; Fig. Figure 18 is a schematic structural view of a picking station and a storage container according to an embodiment of the present application; Fig. Figure 19 is a schematic structural view of a picking system according to an embodiment of the present application; Fig. Figure 20 is a schematic structural view of a picking station and a storage container in Fig. 19. Reference symbol:

[0055] 10 - Picking zone; 1 - Picking station; 11 - Picking work area; 112 - Storage wall; 12 - Picking and waiting zone; 121 - Picking passage; 1211 - Entrance passage; 1212 - Exit passage; 1213 - Direction change aisle; 122 - Picking station; 123 - Two-dimensional grid; 1231 - Entrance grid; 1232 - Exit grid; 20 - Storage container zone; 201 - Storage container group; 202 - Storage container; 2021 - Picking area; 2022 - Separation layer; 2023 - Brand code; 2024 - Support column; 203 - Longitudinal aisle; 204 - Transverse aisle; 30 - Walking together; 40 - Transfer robot; 401 - Lifting mechanism; 402 - Drive mechanism; 403 - Scanning device; 50 storage containers. Detailed description of the embodiments

[0056] Aisle: An area where a robot can walk when transporting a shelf.

[0057] Station waiting area: An area provided near the employee's workstation where the robot transports the shelf, positions it, and waits for the employee to perform the operation.

[0058] Shelf: A square or rectangular shelf that can be transported by a transfer robot. A shelf can be divided into multiple layers, and each layer can be equipped with storage spaces in four directions (i.e., on the four sides of the shelf).

[0059] As in Fig. Figure 1 shows a queuing and turning procedure for a shelf, comprising the following steps.

[0060] Step S110: When a transport order is assigned, perform queue scheduling for a means of transport to transport a rack, with the queue scheduling starting when the order is assigned.

[0061] Step S120: Plan a route (track) for the means of transport to transport the rack according to the requirements of an order and real-time adjustment of the means of transport's movement path.

[0062] Step S130: Real-time detection of the environment in which the shelf is located, within the movement path from assignment to completion of the transport task.

[0063] Step S140: Perform a rotation handling operation on the shelf when it is determined that the environment in which the shelf is located is suitable for rotation.

[0064] As an optional implementation, the means of transport is a mobile robot.

[0065] As an optional implementation, performing queue scheduling for a transfer robot when a transport order is assigned includes: real-time monitoring of the order time and the number of transfer robots in the station waiting area, and determining whether a new mobile robot should be assigned to transport a shelf from the station, based on the order time and the number of transfer robots in the station waiting area. If the order time and the number of transfer robots in the station waiting area are at full capacity, no new mobile robot is assigned; that is, the assignment of a new transport order is interrupted.

[0066] As an optional implementation, the procedure, when assigning a transport order as described above, includes: Preferably performing skip scheduling for a high-priority rack or one that does not require rotation. That is, for a transfer robot that does not need to perform rotation on a rack, or for a high-priority transfer robot, a shortest path can be planned directly to insert it into a cell closest to the work position, while a low-priority robot waits.

[0067] As an optional implementation, the procedure for assigning a transport order further includes: reducing the scheduling for a rotary handling operation on a rack. That is, with a symmetrical station layout, when assigning an order, if it is assumed that an area R of a rack must face an operator, which requires the rack to be rotated in Station I but not in Station II, which is mirrored to Station I, then an order that generates the rack order can be assigned to Station II, as shown in Fig. 4 shown.

[0068] As an optional implementation, the procedure for assigning a transport request includes: assigning a corresponding layout mode of the station's queue route for the transport task according to a request attribute in the transport request.

[0069] According to a specific implementation of an embodiment of the present application, a layout mode of the picking station comprises a symmetrical double-station layout mode, a parallel layout mode or a queue mode without a specific turning zone, and a multi-workstation layout mode.

[0070] As in Fig. As shown in Figure 5, in the symmetrical dual-station layout mode, the area enclosed by cells 1-12 is a rotation zone. Cell 8 or 9 is a position where a mobile robot stops and waits for the operator to perform the operation. Cell 10 is an exit from the station waiting zone. A path for a transfer robot without rotating a shelf is: 1→4→7→9 or 12→5→7→9. The transfer robot can transport the shelf from cell 11, 12, 2, or 3 into the rotation zone and perform the shelf rotation there. From the rotation zone, it can enter cell 5, 6, 8, or 9 to return to the queue. The specific cells are determined according to available space in the queue. The transfer robot can also rotate in cell 4, which serves as a second rotation point for the station waiting zone to increase efficiency when multiple transfer robots require rotation.Prior to rotation in cell 4, the system locks the cells in front of, behind, to the left and right of cell 4 to ensure safe rotation of the shelf.

[0071] As in Fig. As shown in Figure 6, in the parallel layout, cells 1-12 form a queue route where the queue can proceed clockwise or counterclockwise. A turning zone is enclosed by cells 1-12. A path for a transfer robot without rotating a shelf is: 1→4→6 or 12→5→6. The transfer robot can transport the shelf from cell 2, 11, or 12 into the turning zone and rotate the shelf within the turning zone. From the turning zone, it can enter cell 3, 5, or 6 to return to the queue. At the position of cell 6, the transfer robot stops and waits for the operator to perform the operation. Cell 10 is an exit from the station waiting zone. The station waiting zones can be adjacent to each other or separated by several cells.The transfer robot can also rotate in cell 4, which serves as the second turning point in the station's waiting area, increasing efficiency when multiple transfer robots require rotation. Before rotating in cell 4, the system locks the cells in front of, behind, to the left, and to the right of cell 4 to ensure safe rotation of the rack.

[0072] As in Fig. Figure 7 shows that in the queue mode without a dedicated turning zone, the working position is in cell 8. Cell 10 is an exit from the station waiting area. Any of cells 1-8 can serve as the rotation position for the shelf within the station waiting area. Before a shelf is rotated by the transfer robot, the system locks the cells in front of, behind, to the left, and to the right of the cell, preventing any other transfer robot from entering, thus ensuring rotation safety. The queue mode without a dedicated turning zone is not limited to a 2-row, 5-column layout but can be expanded or reduced as needed.

[0073] As an optional implementation, as in Fig. As shown in Figure 8, the design of a station with multiple workstations has an inline form, where a mobile robot can independently enter and exit each workstation. At such a workstation, the transfer robot does not need to wait for another transfer robot while moving to a workstation. The number of workstations is unlimited. If no surrounding cell is occupied, the transfer robot can rotate the shelf at the workstation; and during the route phase of the transfer robot's movement to the workstation, the transfer robot can request a surrounding cell to perform a shelf rotation task. Whether the transfer robot sets down the shelf or waits for the operation to be completed is determined according to the shelf operation time.If the shelf operation time is longer than the time required for the transfer robot to perform the next task, the transfer robot can set down the shelf and continue with the next task. Once the shelf operation is complete, the system assigns a transfer robot to pick up the shelf.

[0074] As an optional embodiment, as in the Fig. 5, Fig. 6 and Fig. Figure 7 shows that in the symmetrical dual-station layout mode, the parallel layout mode, and the queue mode without a special turning zone, to avoid a head-to-tail deadlock of waiting transfer robots, several directions are provided for cell 10 as the exit point, so that if a shelf rotation has to be performed again after completion of the operation, the transfer robot can re-enter the station waiting zone from cell 10 as the exit point, or leave the station waiting zone from cell 10 as the exit point and return to the station waiting zone via an external route.

[0075] As an optional implementation, rotation handling is performed on the shelf in a process from assignment to completion of the transport task, i.e., real-time inspection of the environment in which the shelf is located, in a process from assignment to completion of the transport task, and performing the rotation if the environment in which the shelf is located meets a rotation condition.

[0076] As an optional implementation, as in Fig. As shown in Figure 2, planning a route for the means of transport to move the rack according to the requirements of an order and the real-time adjustment of the means of transport's movement path includes the following steps.

[0077] Step S210: Estimating a free space in the station waiting area.

[0078] Step S220: If it is estimated that there is free space in the station waiting area, i.e., if there is free space in the station waiting area or a potential free space is estimated, select a shelf from shelves that have not been transported in the station waiting area and assign a transfer robot to transport the shelf.

[0079] Step S230: After the transfer robot has acquired the shelf (acquiring the shelf means that the transfer robot has coupled to the shelf, but has not yet transported the shelf), re-estimates the availability of free space in the station waiting area, performing the estimation for all stations that need the shelf, and if it is estimated that there is free space, starts transporting the shelf, and if it is estimated that there is no free space, places and waits in place.

[0080] Step S240: When the rack gets close to the station waiting area, if the free space in the station waiting area has not been cleared, select a low-density transfer robot position that does not block the paths of other mobile robots to place and wait, or transport the rack to another station that needs the rack, and if free space has been cleared in a station waiting area, enter the station waiting area.

[0081] Step S250: If it is determined in real time that free space has been released in the station waiting area at the front, move towards the station, and if no free space has been released at the front, place and wait in place.

[0082] As an optional implementation, step S210 includes estimating free space in the station waiting area: If the number of transfer robots (including the number of transfer robots within the station waiting area) currently transporting shelves for a station is less than the size of the station waiting area, free space must be available.If the number of transfer robots currently transporting shelves for a station is greater than or equal to the size of the station waiting area, calculate the time for a transfer robot at the end of the station waiting area to free up a space, where the time is the sum of the time for all forward waiting transfer robots to move one step and the time for a shelf at the head of the queue to remain and be operated, and if the time is shorter than the time for a newly assigned transfer robot to reach the station waiting area, estimate a potential free space.

[0083] As an optional implementation, a rotation handling operation is performed on the rack if it is determined that the environment in which the rack is located is suitable for rotation. There are three ways to perform a rotation handling operation on the rack: rotation in the transport route, rotation at a designated turning point in the station waiting area, and rotation at the workstation on site.

[0084] As an optional implementation, as in Fig. As shown in Figure 3, the real-time detection of the environment in which the shelf is located, within the movement path from assignment to completion of the transport task, and the performance of a rotation handling operation on the shelf when it is detected that the environment in which the shelf is located is suitable for rotation, comprises the following steps.

[0085] Step S310: Determine if the shelf needs to be rotated; if no rotation is needed, plan a route directly; and if rotation is needed, proceed to step S320.

[0086] Step S320: While moving along a track of the transfer robot, detect whether a cell near a preceding waypoint is occupied, and in response to the application possibility for the cell near the preceding waypoint at the same time, use the waypoint as a turning point,

[0087] Step S330: When the transfer robot arrives at the turning point, it occupies a surrounding cell; in response to a successful occupancy, it rotates the shelf and releases the occupancy of the surrounding cell after completion of the shelf rotation; and in response to an unsuccessful occupancy, it continues moving.

[0088] Step S340: Before the transfer robot reaches the station, if the shelf has not been rotated on the route, it enters a rotation zone designated for the station to perform the rotation.

[0089] Step S350: In a case where the rotated shelf needs to be rotated further, determine on site whether a surrounding cell can be occupied, and if the surrounding cell can be occupied, perform the rotation on site, and in response that the surrounding cell cannot be occupied, re-enter the station waiting area and continue waiting in the queue, as well as enter a preset turntable for rotation of the shelf.

[0090] As an optional implementation, a straight-line and arc tangent path or a multi-line path is used in the rotation zone to perform the shelf rotation. Upon entering a specific rotation zone, a full arc requires a large distance between the shelves. In straight-line and arc tangent mode, the shelf is parallel to an adjacent shelf in a straight section. In polygonal route mode, the shelf is always parallel to an adjacent shelf. By using the straight-line plus arc mode or the polygonal mode, the distance between the shelves is reduced in the case of a full arc when the shelf typically reaches the rotation point, allowing the shelf size to be larger for cells of the same size and improving storage space utilization, as shown in [reference to relevant diagram]. Fig. 9 shown.

[0091] In another aspect of the technical solution of the present application, as in Fig. Figure 10 shows a rack management device, the device comprising: a queue scheduling unit configured to perform queue scheduling for a transport vehicle to move a rack upon assignment of a transport order; a path adaptation unit configured to plan a path for the transport vehicle to move the rack according to the requirements of an order and to adapt the transport vehicle's movement path in real time; an environment detection unit configured to perform real-time detection in a surrounding environment where the storage container is located within a movement path from assignment to completion of a transport task; and a rotary handling unit configured to perform rotary handling on the rack in response to the detection that the surrounding environment is suitable for rotation.

[0092] As an optional implementation, the means of transport is a mobile robot.

[0093] As an optional implementation, the queue scheduling unit includes a transport allocation module configured to monitor the order time and the number of transport vehicles in the station waiting area in real time and to determine whether a new transport vehicle should be allocated to transport the station's shelf, according to the order time and the number of transport vehicles in the station waiting area.

[0094] As an optional implementation, the queue scheduling unit includes a queue skip module, configured to perform skip scheduling for a transport vehicle for a shelf with high priority or no need for rotation.

[0095] As an optional implementation, the queue scheduling unit includes an optimized scheduling module, configured to reduce the scheduling for rotary handling at a rack when a transport order is assigned.

[0096] As an optional implementation, the queue scheduling unit also includes a queue route layout assignment module, configured to assign a corresponding layout mode of the station's queue route for the transport task according to an order attribute in the transport order.

[0097] As an optional implementation, the station's queue route layout mode includes a symmetrical dual-station layout mode, a parallel layout mode, a queue mode without a specific turning zone, and a multi-workstation layout mode.

[0098] As an optional implementation, in the multi-workplace layout mode, a transport vehicle moving to a workplace does not have to wait for another transport vehicle, and if a cell around the transport vehicle is unoccupied, the transport vehicle can perform a rotary handling operation on the shelf at the workplace; during the routing phase of the transport vehicle moving to a workplace, the transfer robot can request a surrounding cell to perform a shelf rotation task; and whether the next operation of the transport vehicle is to place the shelf or wait for the completion of the operation is determined according to the shelf operation time; if the shelf operation time is longer than the time for the transport vehicle to perform the next task, the transport vehicle places the shelf and continues with the next task, and after completion of the shelf operation, a transport vehicle is assigned to pick up the shelf;And if the shelf operation time is not longer than the time for the transport vehicle to perform the next task, the transport vehicle waits for the operation to be completed.

[0099] As an optional implementation, in the symmetrical dual-station layout mode, the parallel layout mode, and the queue mode without a specific turning zone, multiple directions are provided for an exit point, so that if a shelf rotation needs to be performed again after completion of the operation, the transport vehicle can re-enter the station waiting zone from the exit position, or leave the station waiting zone from the exit position and return to the station waiting zone via an external route.

[0100] As an optional implementation, the rotary handling unit includes a real-time inspection module configured to inspect the environment in which the rack is located in real time during a process from assignment to completion of the transport task and to perform the rotation if the environment in which the rack is located meets a rotation condition.

[0101] As an optional implementation, the route adaptation unit includes: an estimation module, configured to estimate free space in the station waiting area; a selection module, configured, if it estimates that free space exists in the station waiting area, to select a shelf from shelves that have not been transported in the station waiting area and to assign a transport vehicle to transport the shelf; an evaluation module, configured, after the transport vehicle has reached the shelf, to re-estimate free space in the station waiting area, performing the estimation for all stations that require the shelf, and if it estimates that free space exists, to start transporting the shelf, and if it estimates that no free space exists, to place it in position and wait;A first route planning module, configured to select a low-density transport position that does not block the paths of other transports when the rack approaches the station waiting area, if space in the station waiting area has not been cleared, for placement and waiting, or to transport the rack to another station that requires it, and if space has been cleared in a station waiting area, to enter the station waiting area; and a determination module, configured to move towards the station if space has been cleared in the station waiting area ahead, and if no space has been cleared ahead, to place the rack in position and wait.

[0102] As an optional implementation, the estimation module is configured to estimate that there is free space in the station waiting area if the number of transfer robots currently transporting shelves for a station is less than the size of the station waiting area, and if the number of transfer robots currently transporting shelves for a station is greater than or equal to the size of the station waiting area, to calculate the time for a transport unit at the end of the station waiting area to free up space, and if this time is shorter than the time for a newly assigned transport unit to reach the station waiting area, to estimate that there is free space.

[0103] As an optional implementation, there are three ways for the rotary handling unit to perform rotary handling on the rack: rotation in a transport path, rotation at a rotating point provided in the station waiting area, and rotation on site at a handling position.

[0104] As an optional implementation, the environment detection unit includes a detection module, a first rotation determination module, a second rotation determination module, and a third rotation determination module.

[0105] As the transport vehicle moves along a route, it detects whether a cell near an upcoming route point is occupied. If the adjacent cell around the leading route point can be requested simultaneously, the route point is used as a turning point. When the preset turning point is reached, the transport vehicle occupies the surrounding cell. If the occupancy is successful, the transport vehicle rotates the shelf and releases the occupancy of the surrounding cell after completing the shelf rotation. If the occupancy is unsuccessful, the transport vehicle continues on its way.

[0106] Before reaching the station, if the rack has not been rotated along the route, the transport enters a designated rotation zone for the station to perform the rotation; and if the rotated rack still needs to be rotated, it is determined on site whether a surrounding cell can be occupied, and if the surrounding cell can be occupied, the transport performs the rotation on site, and if the surrounding cell cannot be occupied, the transport re-enters the station waiting zone and continues waiting in line, and enters a pre-set rotation point to rotate the rack.

[0107] As an optional implementation, a straight and arc-shaped tangent route or a polygonal route is used in the rotation zone to perform the shelf rotation.

[0108] In another aspect of the technical solution of the present application, as in Fig. Figure 11 shows a rack management system being provided, the system comprising: a transport means configured to transport the rack; the rack configured to provide places to receive goods and transportable by the transfer robot; a rack zone configured to store the rack; and a server configured to execute the rack management procedure in this technical solution to perform a scheduling configuration for the transport means and the rack.

[0109] As an optional implementation, the means of transport is a mobile robot.

[0110] According to a specific implementation of the embodiment of the present application, the transfer robot is a wheel-driven vehicle and is equipped with a lifting mechanism and has the capability to travel in a straight line, travel in an arc and turn on the spot.

[0111] As an optional implementation, the lifting mechanism and a vehicle body move independently of each other to ensure that the vehicle body does not move while the lifting mechanism performs lowering and lifting operations; the vehicle body does not move while the lifting mechanism rotates; the vehicle body and the lifting mechanism are locked and rotate at the same speed; and the vehicle body and the lifting mechanism rotate simultaneously at different speeds.

[0112] As an optional implementation, the system further includes a station and a station waiting area. The station is a workstation for employees; and the station waiting area is an area designated near the employee workstation where the transport vehicle carries the rack, lines it up, and waits for the employee to operate it.

[0113] The technical solution of the present application has the following advantageous effects: 1. The technical solution of the present application aims for overall efficiency and is based on an area-wide queuing strategy. This means that when a job is assigned, the robot queuing scheduling extends to the entire area, and the queue begins as soon as a job is assigned to a robot. The robot job time and the number of robots in the station waiting area are monitored in real time to determine whether a new robot should be assigned to retrieve a shelf and transport it to a station. This overcomes the disadvantage of a limited number of robots that can be accommodated in a fixed queue.Furthermore, shelf rotation is refined into a task where a route turning point is flexibly and dynamically provided as needed, and shelf rotation can be performed at multiple positions; and the symmetrical design of the station can reduce the need for a single shelf rotation task. This overcomes the disadvantages of a fixed turning zone easily creating a bottleneck, and of waiting robots for the turning zone to be released when multiple transfer robots require turning, thus reducing mobility and achieving the goal of improved shelf transport efficiency. 2. Multiple directions for a queue route are provided to avoid a deadlock. 3. The queue features a queue-skipping mechanism, where a queue route is provided for a shelf with high priority or no need for rotation, in order to further improve efficiency. 4. Several workstations are provided within a station area. For a shelf that needs to be operated for an extended period, a robot can place the shelf down and perform further tasks. Once the operation is complete, the robot retrieves the shelf, and simultaneously another shelf is added to further improve efficiency. 5. The symmetrical layout of the station avoids generating a shelf rotation task when an order is assigned, further improving efficiency. 6. In the rotation zone, the rack is rotated using a straight and arc tangent route or a polygonal route, and when the rack normally reaches the rotation point, the distance between the racks is reduced in the case of a full arc curve, so that the rack size can be larger for cells of the same size, and the storage space utilization is improved.

[0114] It should be noted that relational terms such as "first" and "second" are used here only to distinguish one entity or operation from another, and do not necessarily require or imply that any such actual relationship or order exists between the entities or operations. Furthermore, the terms "include," "contain," or other variations thereof are intended to encompass non-exclusive inclusion, such that a process, procedure, article, or device that includes a set of elements includes not only those elements but also other elements not explicitly listed, or elements inherent in such process, procedure, article, or device. Without further restrictions, elements included by the expression "include a set of elements" include...“defined, the presence of other identical elements in the process, procedure, article or device comprising the elements is not excluded.

[0115] Several embodiments are described together. References can be made between embodiments for identical and similar parts. Each embodiment focuses on its differences from the others.

[0116] Logic and / or steps described herein in a flowchart or otherwise may, for example, be considered a sequenced list of executable instructions for implementing a logical function and may be embodied in any computer-readable medium for use by or in combination with an instruction execution system, device, or apparatus (e.g., a computer-based system, a system with a processor, or any other system capable of retrieving and executing instructions from an instruction execution system, device, or apparatus). For the purposes of this description, "computer-readable medium" may be any device capable of containing, storing, communicating, distributing, or transmitting a program for use by or in combination with an instruction execution system, device, or apparatus.Other specific examples (a non-exhaustive list) of computer-readable medium include: an electrical connector (electronic device) with one or more wires, a portable computer disc (magnetic device), random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) or flash memory, an optical fiber, and portable compact disc-read-only memory (CD-ROM). Furthermore, computer-readable medium can even be paper or other suitable medium on which the program can be printed, since the paper or other medium can, for example, be optically scanned and then processed, interpreted, or otherwise appropriately manipulated to obtain the program electronically and then store it in computer memory.

[0117] It should be understood that several parts of the present application may be embodied in hardware, software, firmware or a combination thereof.

[0118] In the implementations mentioned above, multiple steps or procedures can be stored in software or firmware, which are stored in memory and executed by a suitable instruction execution system. If implemented in hardware, they can be implemented, as in any other implementation, by any or a combination of the following techniques known in the prior art: a discrete logic circuit with a logic gate circuit to implement a logical function of a data signal, an application-specific integrated circuit with a suitable combinational logic gate circuit, a programmable gate array (PGA), a field-programmable gate array (FPGA), etc.

[0119] It can be understood that the term "one" should be understood as "at least one" or "one or more"; that is, in one embodiment the number of an element may be one, while in other embodiments the number of the element may be more than one, and the term "one" should not be understood as a limitation of the number.

[0120] Although ordinal numbers such as "first" and "second" are used to describe different components, these components are not limited by this. The term is used merely to distinguish one component from another. For example, a first component may be called a second component, and likewise a second component may be called a first component, without departing from the principles of the inventive concept. The term "and / or" as used herein includes any and all combinations of one or more of the related elements listed.

[0121] The terms used herein serve solely to describe different embodiments and are not to be understood as limiting. As used herein, a singular form is intended to include a plural form unless the context clearly indicates otherwise. It is also understood that the terms "comprehensive" and / or "possessing," when used in this description, indicate the presence of the specified features, numbers, steps, operations, components, elements, or combinations thereof, without excluding the presence or addition of one or more other features, numbers, steps, operations, components, elements, or combinations thereof.

[0122] The terms used herein, including technical and scientific terms, have the same meanings as those commonly understood by experts in the field, unless otherwise defined. It should be understood that terms defined in commonly used dictionaries have meanings consistent with those used in the relevant technical field.

[0123] Fig. Figure 12 is a schematic structural view of a picking system according to an embodiment of the present application. As in Fig. As shown in Figure 12, this embodiment provides a picking system primarily used in a goods-to-person (H2P) warehouse and logistics system, where ordered goods are picked from a storage container 202 into order boxes. In this embodiment, the picking system is described using its application in goods-to-person picking operations. However, it can be understood that the picking system provided in this embodiment is not limited to goods picking but can also be applied to conventional warehouse and logistics operations such as loading and unloading and inventory control.

[0124] As in Fig. As shown in Figure 12, the picking system provided in this embodiment comprises a storage container zone 20, a picking zone 10, a common aisle 30, and a transfer robot 40. The storage container zone 20 is configured to place storage containers 202, and storage bins 50 for storing goods are arranged on the storage containers 202, with the goods arranged in the storage bins 50; the picking zone 10 is spaced apart from the storage container zone 20 and is configured for a picking operator to take ordered goods and place the picked goods in the order boxes; the transfer robot 40 is configured to transport a storage container 202 from the storage container zone 20 to the picking zone 10 or to transport a storage container 202, from which picking has been completed, back to the storage container zone 20;The common aisle 30 is provided between the storage container zone 20 and the picking zone 10 and serves for the rapid movement of the transfer robot 40, in order to enable the movement of the transfer robot 40 between the storage container zone 20 and the picking zone 10.

[0125] When an order management center receives a picking order, the order management center determines the position of a storage container 202, where ordered goods are located in storage container zone 20, and dispatches the transfer robot 40; the order management center sends the position of the destination storage container 202 to the transfer robot 40, and the transfer robot 40 autonomously navigates to the lower area of ​​the destination storage container 202 according to the position and transports the destination storage container 202 to picking zone 10; the picking operator in picking zone 10 picks the ordered goods from the destination storage container 202 according to the picking order and places the ordered goods in an order box; and the storage container 202, from which picking has been completed, is transported by the transfer robot 40 from picking zone 10 back to storage container zone 20 via the common aisle.

[0126] As in Fig. Figure 12 shows that, to enable the transport of the storage container 202 in the storage container zone 20 by the transfer robot 40 and to allow the transfer robot 40 to move within the storage container zone 20, several storage container groups 201 are provided in the storage container zone 20, and an aisle for the transfer robot 40 is formed between each two adjacent storage container groups 201. In order to achieve a reasonable and orderly layout of the storage container zone 20 and to reduce obstacles for the movement of the transfer robot 40, in one embodiment the storage container groups 201 are arranged in rows and columns within the storage container zone 20.Each row of storage container groups 201 comprises at least one storage container group 201, and a transverse aisle 204 is formed between each two adjacent rows of storage container groups 201, arranged along a first direction; each column of storage container groups 201 comprises at least one storage container group 201, and a longitudinal aisle 203 is formed between each two adjacent columns of storage container groups 201, arranged along a second direction. The first direction and the second direction are perpendicular to each other, and a "cross" connection or a "T" connection is formed at the junction of the transverse aisle 204 and the longitudinal aisle 203.

[0127] In this embodiment, each storage container group 201 comprises at least one storage container 202, and in order to improve the utilization efficiency of the storage container zone 20, in one embodiment each storage container group 201 comprises several storage containers 202, and the several storage containers 202 are arranged in rows and columns in the storage container group 201.

[0128] Fig. Figure 13 is a schematic structural view of a storage container 202 according to an embodiment of the present application. As in Fig. As shown in Figure 13, the storage container 202 comprises several longitudinally spaced partitions 2022 and four floor-mounted support columns 2024, whereby different types of goods can be placed directly on each partition 2022, and the goods can also be placed inside or on top of the storage container 202 or on its outer surface by any suitable means such as hooks or rods. A storage container 50 can also be provided on the partition 202 of the storage container 202. The storage container 50 can be separate from the storage container 202 or form an integrated structure with it. One or more items can be placed in the storage container 50.

[0129] In this embodiment, the storage container 202 can be open on one side; that is, a product or a storage container 50 can be placed along the depth direction of the separating layer 2022. In another embodiment, the storage container 202 is open on two sides; that is, two products or two storage containers 50 can be placed along the depth direction of the separating layer 2022 of the storage container 202; that is, a product or a storage container 50 is placed in each opening direction. In yet another embodiment, the storage container 202 can also be open on four sides; that is, products or storage containers 50 can be placed on the four sides of the storage container 202.

[0130] To facilitate the following description, it is assumed that a storage container 50 is provided on the separating layer 2022 of the storage container 202, and that goods are located in the storage container 50. It can be understood that, in this embodiment, it does not affect the operation of the picking system whether the goods are placed directly into the storage container 202 or placed into the storage container 202 via the storage container 50.

[0131] To facilitate the description of the subsequent order picking process, in this embodiment the open side of the storage container 202 is referred to as the picking area, that is, an area used for picking up and placing the storage container 50. An order picker can process the goods in the storage container 50 on top of the storage container 202 by means of the picking area of ​​the storage container 202.This means that a storage container 202 with two open sides has two opposing picking areas 2021, and the ordered goods can be placed in a storage container 50 that corresponds to any picking area 2021 of the storage container 202; for a storage container 202 with one open side, the picking operation is only carried out on a storage container 50 that corresponds to the picking area 2021; and a storage container 202 open on four sides has four picking areas 2021, and the picking operation can be carried out on a storage container 50 that corresponds to any of the four picking areas 2021.

[0132] In order to facilitate the transport of the storage container 202 by the transfer robot 40, the transport of the storage container 202 by the transfer robot 40 is a lifting type in this embodiment. Fig. Figure 14 is a schematic structural view of a transfer robot 40 according to an embodiment of the present application. As shown in the Fig. 12 and Fig. As shown in Figure 14, the transfer robot 40 comprises a drive mechanism 402 and a lifting mechanism 401. The drive mechanism 402 enables the transfer robot 40 to move within the picking zone 10, the storage bin zone 20, and the common aisle 30. The lifting mechanism 401 is configured to lift the storage bin 202 so that it no longer touches the floor, thereby moving the storage bin 202.During the transport of the storage container 202 by the transfer robot 40, the transfer robot 40 travels through the transverse aisle 204 and / or the longitudinal aisle 203 to the lower area of ​​the storage container 202 to be transported; and the lifting mechanism 401, which is connected to a pallet at the top, operates to lift the pallet and make contact with the lower area of ​​the storage container 202, so that the support columns 2024 of the storage container 202 leave the ground; in this way, the transfer robot 40 lifts the entire target storage container 202 from the ground, and the transfer robot 40 moves the storage container 202 to a target position.When the transfer robot 40 completes the transport of the storage container 202, the lifting mechanism 401 works to lower the pallet, causing the storage container 202 to come back into contact with the ground, and the pallet continues to lower until it no longer touches the storage container 202, and the transfer robot 40 moves out of the lower area of ​​the storage container 202 by means of the drive mechanism 402 to achieve separation between the storage container 202 and the transfer robot 40.

[0133] In another embodiment, the transport of the storage container 202 can also be of a submersible type. A coupling device for connecting the storage container 202 and the transfer robot 40 is provided at the lower part of the storage container 202 or at the top of the transfer robot 40. The transfer robot 40 travels through the transverse aisle 204 and / or the longitudinal aisle 203 in the storage container zone 20 and moves to the lower part of the storage container 202. After the storage container 202 and the transfer robot 40 have been coupled by the coupling device, the storage container 202 is pulled to the target position.

[0134] In another embodiment, the transport of the storage container 202 by the transfer robot 40 can also be of a pulling type. The transfer robot 40 is connected to the storage container 202 by a pulling mechanism, and the transfer robot 40 moves to pull and move the storage container 202. In other embodiments, the transport of the storage container 202 by the transfer robot 40 can also take other forms, which are not individually listed in this embodiment.

[0135] In this embodiment, the transfer robot 40 is further equipped with a rotation mechanism connected to the pallet. This rotation mechanism can rotate the pallet, thereby rotating the storage container 202, while the direction of travel of the transfer robot 40 remains unchanged to change the orientation of the storage container 202 during transport. That is, in this embodiment, the rotational movement of the transfer robot 40 can be separated from the rotational movement of the storage container 202. The movement of the transfer robot 40 can be forward, backward, in-situ rotation for changing direction, cornering, etc., and the orientation of the storage container 202 can remain unchanged during movements such as forward, backward, and in-situ rotation for changing direction of the transfer robot 40.If the orientation of storage container 202 needs to be changed, the rotation mechanism can operate to rotate the pallet, thereby rotating storage container 202.

[0136] In this embodiment, the transfer robot 40 further comprises an autonomous navigation function. Using autonomous navigation as an example of 2D code navigation, the transfer robot 40 further comprises a navigation identification component configured to identify a 2D code marking provided on the floor. The transfer robot 40 further comprises a downward-facing camera. The transfer robot 40 can navigate and move forward according to the 2D code information (which may also be other floor markings) detected by the downward-facing camera and can travel along a route specified by the control system to the lower area of ​​the target storage container 202, as indicated by the control system.In other embodiments, the transfer robot 40 can adopt other navigation modes in addition to 2D code navigation, such as inertial navigation or Simultaneous Localization and Mapping (SLAM) navigation, or a combination of two or more of the aforementioned navigation modes, such as 2D code navigation and inertial navigation or SLAM navigation and 2D code navigation, etc.

[0137] In one embodiment, the transfer robot 40 further comprises a scanning device 403 with an upwardly directed scan head. As in Fig. As shown in Figure 14, a brand code 2023 is provided at the exact center of the lower region of the target storage container 202. After the transfer robot 40 has moved to the lower region of the target storage container 202, the upward-facing scanning device 403 correctly detects the brand code 2023 to ensure that the transfer robot 40 is positioned precisely directly beneath the target storage container 202, thus ensuring that the transfer robot 40 can smoothly lift and transport the target storage container 202. In this embodiment, the brand code 2023 is a 2D code, and the scanning device 403 is a camera. In other embodiments, the brand code 2023 can be a barcode, a radio frequency identification (RFID) tag, etc., and the type of scanning device 403 corresponds to the type of brand code 2023.

[0138] In this embodiment, to reduce obstacles to the transport of the storage container 202 by the transfer robot 40, two columns of storage containers 202 are provided in each storage container group 201, and several storage containers 202 are arranged side by side along the second direction in each column. That is, each storage container 202 faces the same longitudinal aisle 203. When the transfer robot 40 transports any storage container 202 in the storage container group 201, the transfer robot 40 can enter the space below the storage container 202 through the longitudinal aisle 203 to which the storage container 202 faces. After the transfer robot 40 has lifted the storage container 202, the storage container 202 is moved into the longitudinal aisle 203, thus being moved out.If, on the other hand, the storage container 202 is to be moved back to the starting position of the storage container group 201, the transfer robot 40 drives the storage container 202 through the longitudinal aisle 203 into the starting position to effect the resetting of the storage container 202. That is, providing two rows of storage containers 202 per storage container group 201 avoids interference between the transfer robot 40 and other storage containers 202 of the storage container group 201 during transport, thereby improving transport efficiency. In another embodiment, alternatively, two rows of storage containers 202 can be provided per storage container group 201, with each row comprising several storage containers 202 – i.e., each storage container 202 of the storage container group 201 is adjacent to a transverse aisle 204. The transfer robot 40 can move the target storage container 202 out of or into the storage container group 201 via the corresponding cross passage 204.In further embodiments, to increase the compactness of the arrangement of the storage container zone 20 and to save space for the storage containers 202, each storage container group 201 can be equipped with more than two columns and more than two rows of storage containers 202. In this case, some storage containers 202 of the group 201 are surrounded by other storage containers 202 at the periphery. To transport the target storage container 202, one or more additional transfer robots 40 must be used simultaneously to move a storage container 202 away from one side of the target storage container 202 before the target storage container 202 is transported.

[0139] To improve the utilization rate of storage container zone 20, a storage container group 201 is provided at each of the three edges of storage container zone 20 that are not adjacent to picking zone 10, wherein storage container zone 20 is arranged along the first direction, and the storage container group 201, which is located away from an edge of storage container zone 20, comprises a row of storage containers 202; at the two edges of storage container zone 20 along the second direction, two columns of storage containers 202 are arranged on each side; and the two ends of the row of storage containers 202 are coupled to the two ends of the two columns of storage containers 202, so that storage container zone 20 forms a semi-enclosed space that is open towards picking zone 10.

[0140] In this embodiment, the common aisle 30 is arranged along the first direction and is located between the picking zone 10 and the storage container zone 20. The transfer robot 40 enters or leaves the storage container zone 20, enters or leaves the picking zone 10, or moves back and forth between the picking zone 10 and the storage container zone 20 via the common aisle 30. Therefore, the density of the transfer robot 40 in the common aisle 30 is greater than the density of the transfer robot 40 in the storage container zone 20 and the picking zone 10. To minimize obstacles for the transfer robot 40's movement, no obstacles are provided in the common aisle 30.

[0141] In this embodiment, the common lane 30 comprises four travel lanes arranged along the first direction, and transfer robots 40 in two adjacent travel lanes may travel in opposite directions to prevent collisions while the transfer robots 40 are traveling in the common lane 30 and simultaneously to facilitate traffic flow in the common lane 30. In other embodiments, the number of travel lanes in the common lane 30 may be two or six or more, and in one embodiment, the number of travel lanes in the common lane 30 is an even number, and the direction of travel of the transfer robots 40 in two adjacent travel lanes is opposite.

[0142] Picking zone 10 is located on one side of storage container zone 20, and picking zone 10 faces the open side of storage container zone 20. In this embodiment, picking is done manually; that is, a picker picks the ordered goods from storage container 202, which has been transported to picking zone 10. In other embodiments, an automatic picking mode can alternatively be used; that is, a robot arm is used to pick the ordered goods from storage container 202, which has been moved to picking zone 10. In this embodiment, the picking work in picking zone 10 is described using manual picking as an example.

[0143] The picking zone 10 comprises several picking stations 1 arranged side by side along the first direction, and order picking is carried out by a picking operator at each picking station 1. In this embodiment, the number of picking stations 1 in picking zone 10 can be freely determined according to requirements.

[0144] Fig. Figure 15 is a schematic structural view of a picking station and a storage container according to an embodiment of the present application. As shown in the Fig. 12 and Fig. As shown in Figure 15, in this embodiment each picking station 1 is provided with two picking positions 122 and two picking passages 121, and the picking passages 121 are arranged in a unique assignment to the picking positions 122, such that each picking passage 121 provides a path for the transfer robot 40 to pass through the corresponding picking position 122. Furthermore, the two picking positions 122 of each picking station 1 can be used by the same picking operator to pick target goods.

[0145] In this embodiment, each picking station 1 has two picking stations 122 and picking passages 121 corresponding to the picking stations 122, and each picking passage 121 allows the transfer robot 40 to reach the corresponding picking station 122, so that a specific picking operator can be responsible for picking at the two picking stations 122, and after the picking operator has completed picking at one picking station 122 and the transfer robot 40, which entered from the picking passage 121, has not yet transported the storage container 202 to picking station 122, the picking operator can carry out picking at the other picking station 122 in the storage container 202 that is waiting to be picked.This reduces the waiting time for the order picker and improves order picking efficiency.

[0146] In this embodiment, the picking passage 121 is U-shaped and open towards the storage container zone 20, with both the entrance and exit of the picking passage 121 directed towards the storage container zone 20. In one embodiment, the picking passage 121 is formed by planning with a two-dimensional grid arranged in a rectangular array, which helps to improve the regularity of the picking passage 121 and thereby improve the planning consistency and the compactness of the arrangement of the entire picking zone 10.

[0147] In this embodiment, to reduce the movement path of the transfer robot 40 and improve the space utilization of the picking zone 10, the picking passage 121 is formed by planning with two columns of two-dimensional grid groups arranged side by side along the first direction, and each column of two-dimensional grid groups comprises several two-dimensional grids 123 arranged side by side along the second direction. A connecting line of the centers of a column of two-dimensional grid groups along the second direction forms an entrance passage 1211 of the U-shaped aisle, and a two-dimensional grid 123 of the entrance passage 1211, coupled to the common aisle 30, is an entrance grid 1231.A connecting line of the centers of the other column of two-dimensional grid groups along the second direction is an output passage 1212 of the U-shaped corridor, and a two-dimensional grid 123 of the output passage 1212 coupled to the common corridor 30 is an output grid 1232; a connecting line of the centers of the two-dimensional grids 123 at the ends of the two columns of two-dimensional grid groups that are away from the common corridor 30 forms a direction-switching corridor 1213 of the U-shaped corridor, the direction-switching corridor 1213 being arranged along the first direction, and the two ends of the direction-switching corridor 1213 each being connected to the ends of the output passage 1212 and the input passage 1211;and when the transfer robot 40 travels to the connection of the direction-switching passage 1213 and the entrance passage 1211 or to the connection of the direction-switching passage 1213 and the exit passage 1212, the transfer robot 40 rotates in situ to change direction in order to change the direction of travel of the transfer robot 40.

[0148] In one embodiment, each column of two-dimensional grid groups comprises four two-dimensional grids 123 to improve the space utilization of the picking zone 10 and the space compactness of the picking system.

[0149] In this embodiment, the two-dimensional grids 123 can be formed by virtual logical division in a controller of the picking system or by grid marking at an actual location. To better implement the navigation of the transfer robot 40 along the picking passage 121, a reference marker for positioning the transfer robot 40 is provided in the center of at least one two-dimensional grid in this embodiment. In one embodiment, a reference marker for navigation of the transfer robot 40 is placed in the center of each two-dimensional grid 123. In one embodiment, the reference marker is a 2D code, and the transfer robot 40 is equipped with a camera to scan the 2D code.The navigation of the transfer robot 40 using a 2D code is a conventional technical means in the prior art, and its principles and specific operations are not described in this embodiment.

[0150] In this embodiment, a picking station 122 is provided at the lowest point of the U-shaped picking passage 121, and a picking work area 11 is provided on one side of the picking passage 121, which is located away from the storage container zone 20. This work area is configured for the picking operator to move around in. To improve space utilization and the compactness of the arrangement, in one embodiment the two picking passages 121 of the same picking station 1 are arranged side by side.Furthermore, to reduce the movement distance of the order picker when switching between the picking stations 122, in this embodiment, a picking station 122 is formed in each of the two two-dimensional grid groups that constitute a picking passage 121. This grid is located at the lower end of the two two-dimensional grid groups that form a picking passage 121 and is adjacent to the other picking passage 121. This allows the two picking stations 122 to be arranged side by side, thus reducing the distance between them. In other embodiments, the two-dimensional grids that form the two picking stations 122 can alternatively be spaced apart from each other. In this embodiment, the exit passage 1212 of each picking passage 121 is adjacent to another picking passage 121 of the same picking station 1.In this embodiment, picking station 122 occupies the two-dimensional grid 123 at the junction of the exit passage 1212 and the direction change aisle 1213. When the transfer robot 40 travels through the entrance passage 1211 and the direction change aisle 1213 to picking station 122, the storage container 202, which is transported by the transfer robot 40, is picked at picking station 122 by the order picker. After picking is complete, the transfer robot 40 moves out of picking station 1 along the exit passage 1212.

[0151] To prevent collisions and interference between transfer robots 40 or between storage containers 202 transported by the transfer robots 40, in this embodiment each two-dimensional grid 123 can only be occupied by one transfer robot 40. To improve picking efficiency when a transfer robot 40 is waiting to pick up a container at the picking station 122, the two-dimensional grid between the entrance grid 1231 of the picking passage 121 and the picking station 122 forms a waiting area for the transfer robot 40 to move and wait. Each waiting area can accommodate one transfer robot 40 waiting to move to the picking station 122.Furthermore, once picking is completed at transfer robot 40, located at picking station 122, and transfer robot 40 has moved out of picking station 122, the next waiting transfer robot 40, which is transporting a storage container 202, moves to picking station 122 and waits to be picked. To prevent blockage of picking passage 121, no waiting transfer robot 40 is located in any of the two-dimensional grids 123 corresponding to exit passage 1212, except for the two-dimensional grid 123 occupied by picking station 122. After picking is completed at transfer robot 40, the transfer robot moves directly out of picking station 1 through exit passage 1212.Since there is no stationary transfer robot 40 in the exit passage 1212, the travel interference between the transfer robots 40 can be reduced by arranging the exit passages 1212 of the two picking passages 121 adjacent to each other.

[0152] In this embodiment, to improve picking efficiency, two storage walls 112 for placing order boxes are arranged in the picking work area 11. The two storage walls 112 are arranged opposite each other, and the two picking stations 122 are located on an extension of a space formed by the two storage walls 112. Several order containers for storing order boxes are arranged on each storage wall 112. This configuration can increase the number of order boxes stored in the picking work area 11, that is, increase the number of orders that the picking operator can process simultaneously.

[0153] To further facilitate order picking by the order picker, a screen is provided in picking work area 11. This screen is communicatively connected to the picking system controller and configured to display order and picking information for the picking operations for which picking station 1 is responsible. This allows the order picker to pick the goods with reference to the order information. The order information includes at least the type of goods ordered in each picking order, the quantity of each type of goods ordered, a storage container 202 corresponding to each type of goods ordered, and the position of each type of goods ordered within the storage container 202.The picking information can include the currently picked storage container 202, the type of target goods on the currently picked storage container 202, the position of each type of target goods on the currently picked storage container 202, the picked quantity of each type of target goods on the currently picked storage container 202, the position of one or more order boxes corresponding to each type of target goods on a Putwall 112, etc.

[0154] In this embodiment, the order picker can only pick one order at a time; that is, picking for the next order can only begin after the target goods of one order have been picked. However, since multiple orders typically involve the same goods or goods in the same storage container 202, in one embodiment the order picker can perform picking operations for multiple orders simultaneously to improve picking efficiency. Single-order picking and simultaneous multi-order picking are both conventional technical means in the prior art and are not described in this embodiment.

[0155] In this embodiment, when a storage container 202 is placed in storage container zone 20, a picking surface 2021 of the storage container 202 faces picking zone 10, and the picking surface 2021 of the storage container 202 has the same orientation as a work surface of picking station 122. The work surface of picking station 122 is a side of picking station 122 that faces picking work area 11. That is, in the process in which the transfer robot 40, which carries the storage container 202, moves to picking station 122, the picking of goods can be carried out by the picking operator without the storage container 202 having to be rotated to change direction.This is suitable for a scenario in which the storage container 202 has two opposite open sides, and at least one storage container 50 can be arranged side by side along the first direction on each separating layer 2022 of the storage container 202, and only one storage container 50 is arranged in the second direction; or the storage container 202 has four open sides, but only one storage container 50 is provided on each separating layer 2022 of the storage container 202.

[0156] In this embodiment, the length of the storage container 202 in the first direction is L0, and the width of the storage container 202 in the second direction is W0. To ensure the transport of the storage container 202 in the storage container zone 20, the width L2 of the transverse aisle 204 is greater than L0, and the width W2 of the longitudinal aisle 203 is greater than W0. To ensure the movement of the storage container 202 in the picking zone 10 and to prevent collisions during the movement of the transfer robot 40, the length L1 of each two-dimensional grid 123 along the first direction is greater than L0, and the width W1 of each two-dimensional grid 123 in the second direction is greater than W0. Furthermore, to improve space utilization, W1 is slightly greater than W0, and L1 is slightly greater than L0. In one embodiment, to improve space utilization and route planning convenience, all two-dimensional grids 123 have the same dimensions.

[0157] The order picking system provided in this embodiment further includes a control system for managing the operations of several components within the system. The control system comprises an order management center configured to receive orders from customers and to transmit orders to transfer robots and picking stations.

[0158] This embodiment further relates to a picking procedure that is applied to the aforementioned picking system. The picking procedure provided in this embodiment comprises the following steps.

[0159] Step S1010: An order management center receives a picking order, analyzes the position of a target storage container 202 that corresponds to the ordered goods in the picking order, in a storage container zone 20, and simultaneously plans a target picking station 1 that corresponds to the picking order.

[0160] Step S1020: The order management center uses a transfer robot 40 and plans an initial movement path for the transfer robot 40 according to a starting position of the transfer robot 40 and the position of the target storage container 202.

[0161] Step S1030: The transfer robot 40 travels according to the first movement path to the lower area of ​​the target storage container 202.

[0162] Step S1040: A lifting mechanism 401 of the transfer robot 40 works to lift a pallet and make contact with the lower part of the storage container 202 until the target storage container 202 no longer touches the ground.

[0163] Step S1050: A control system determines a target picking passage 121, which the transfer robot 40 must enter, according to the traffic density of transfer robots 40 in two picking passages 121 in the target picking station 1.

[0164] Step S1060: The control system plans a second movement path for the transfer robot 40 according to the position of an entry grid of the target picking passage 121 and the position of the target storage container 202.

[0165] Step S1060: The transfer robot 40 moves according to the second movement path to the entry grid of the target picking passage 121, whereby in this process the target storage container 202 does not perform a change of direction movement, and the transfer robot 40 can perform forward movement, backward movement, stationary rotation to change direction, etc.

[0166] Step S1070: The transfer robot 40 moves forward along a second direction according to an entrance passage to one end of the entrance passage, turns 90 degrees in situ and travels along a direction change aisle 1213 to the picking station 122.

[0167] Step S1080: A picking operator picks the target goods onto the target storage container 202.

[0168] Step S1090: After picking has been completed, the transfer robot 40 turns 90 degrees to change direction and travels along an exit passage 1212 to an exit grid 1232 while carrying the storage container 202.

[0169] Step S1100: The control system plans a third movement path according to the position of the output grid 1232 and the position of the target storage container 202 in the storage container zone 20, and the transfer robot 40 transports the storage container 202 back to the storage container zone 20 according to the third movement path.

[0170] Step S1110: A lifting mechanism 401 of the transfer robot 40 works to lower the pallet until the storage container 202 comes back into contact with the ground and the pallet is no longer in contact with the lower part of the storage container 202.

[0171] Step S1120: A drive mechanism 402 of the transfer robot 40 operates, so that the transfer robot 40 is moved out of the lower area of ​​the storage container 202 and is separated from the storage container 202.

[0172] This embodiment also relates to a storage and logistics system that includes the aforementioned order picking system.

[0173] Fig. Figure 16 is a schematic structural view of a picking system according to an embodiment of the present application. As in Fig. As shown in Figure 16, this embodiment provides a picking system primarily for implementing goods-to-person picking of ordered goods and can also enable conventional warehousing and logistics operations such as loading and inventory control. In this embodiment, the picking system comprises a storage bin zone 20, a common aisle 30, a picking zone 10, and transfer robots 40. The arrangements of the storage bin zone 20, the common aisle 30, the picking zone 10, and the transfer robots 40 are essentially identical to those in embodiment I, with the only difference being the configuration of the picking passage 121 in picking station 1. Identical structures as in embodiment I are not repeated in this embodiment.

[0174] In this embodiment, in a particular picking station 1, an inlet passage 1211 of each picking passage 121 is arranged adjacent to another picking passage 121, and an outlet passage 1212 of each picking passage 121 is arranged adjacent to another picking station 1.

[0175] In this embodiment, in order to further improve the space utilization of the picking zone, two adjacent entry aisles 1211 in two adjacent picking stations 1 share a common exit passage 1212.

[0176] In this embodiment, two adjacent picking stations 1 can share a common putwall 112, and the putwall 112 has two open sides, each for placing order containers. Alternatively, a putwall 112 can be provided in a picking work area 11 of a picking station 1, and the putwall 112 is spaced apart from a picking position 122, and a picking operator may move between the putwall 112 and the picking position 122.

[0177] Fig. Figure 17 is a schematic structural view of a picking system according to an embodiment of the present application. As in Fig. As shown in Figure 17, this embodiment provides a picking system primarily for implementing goods-to-person picking of ordered goods and can also enable conventional warehousing and logistics operations such as loading and inventory control. In this embodiment, the picking system comprises a storage bin zone 20, a common aisle 30, a picking zone 10, and transfer robots 40. The arrangements of the storage bin zone 20, the common aisle 30, the picking zone 10, and the transfer robots 40 are essentially identical to those in embodiment I, with the only difference being the configuration of the storage bin 202 in the storage bin zone 20 and the configuration of the two-dimensional grid 123. Identical structures as in embodiment I are not repeated in this embodiment.

[0178] In this embodiment, the storage container 202 is open on two sides, with one open side of the storage container 202 facing the picking zone 10 and the other open side facing away from the picking zone 10. On each partition layer 2022 of the storage container 202, two rows of storage containers 50 are provided side by side along the second direction, and each row of storage containers 50 comprises at least one storage container 50. That is, the storage container 202 has two opposing picking areas 2021, and each picking area 2021 can only be used to remove and place the storage container 50 on the corresponding open side.In this case, if the target goods are placed on a picking area 2021 facing picking zone 10, the storage container 202 does not need to change direction during transport by the transfer robot 40 to implement the picking; and if the target goods are placed on a picking area 2021 facing away from picking zone 10, the storage container 202 must be rotated 180 degrees during transport by the transfer robot 40 to picking station 122, so that the picking area 2021 corresponding to the target goods faces picking work area 11.

[0179] In this embodiment, the length of the storage container 202 in the first direction is L0, and the width of the storage container 202 in the second direction is W0. To ensure the movement of the transfer robot 40, which carries the storage container 202, within the storage container zone 20 and the picking zone 10, and to prevent interference and collisions with other transfer robots 40 or storage containers 202, the width L2 of the transverse aisle 204 is greater than L0, and the width W2 of the longitudinal aisle 203 is greater than W0; and the length L1 of each two-dimensional grid 123 in the first direction is greater than L0, and the width W1 of each two-dimensional grid 123 in the second direction is greater than W0. To improve space utilization, W1 is slightly greater than W0, and L1 is slightly greater than L0.

[0180] In this embodiment, each picking passage 121 is provided with a turning zone for the change of direction rotation of the storage container 202. Since the storage container 202 must perform a change of direction rotation before moving to the picking station 122, the turning zone is one of the corresponding two-dimensional grids 123 that form an entry passage 1211. In one embodiment, an entry grid 1231 of each picking passage 121 forms the aforementioned turning zone to ensure the consistency of the subsequent two-dimensional grids 123, reduce planning difficulty, and prevent travel interference between the transfer robots 40. In other embodiments, the aforementioned turning zone can also be formed by any of the two-dimensional grids 123 that form the entry passage 1211.

[0181] In this embodiment, to prevent interference with the movement of transfer robots 40 around the rotation zone when the storage container 202 changes direction and to maintain the planning consistency of the picking zone 10, the length L3 of the two-dimensional grid 123 corresponding to the rotation zone corresponds in the first direction to the length L1 of a two-dimensional grid 123 corresponding to a non-rotation zone, and the width of the two-dimensional grid 123 corresponding to the rotation zone in the second direction is greater than the maximum outer diameter of the storage container 202, that is, W3≤W02+L02.

[0182] In this embodiment, to ensure the planning consistency of the cells along a route, an exit grid 1232 and an entry grid 1231 have the same dimensions; that is, the storage container 202 can also perform a change of direction rotation in the exit grid 1232, so that the rotated storage container 202 regains its original orientation. In other words, in this embodiment, the lengths of the two-dimensional grids 123 in the first direction are identical in each picking passage 121, but the widths of the exit grid 1232 and the entry grid 1231 in the second direction are larger than those of other two-dimensional grids 123 in the picking passage 121, in order to provide space for the change of direction rotation of the storage container 202 and at the same time improve the space utilization of the picking zone 10.

[0183] This embodiment further relates to a picking method that can implement picking from both sides of a storage container. The picking method provided in this embodiment is as follows.

[0184] Step S2010: An order management center receives a picking order, analyzes the position of a target storage container 202 that corresponds to the ordered goods in the picking order, in a storage container zone 20, and simultaneously plans a target picking station 1 that corresponds to the picking order.

[0185] Step S2020: The order management center dispatches a transfer robot 40 and plans an initial movement path for the transfer robot 40 according to a starting position of the transfer robot 40 and the position of the target storage container 202.

[0186] Step S2030: The transfer robot 40 travels according to the first movement path to the lower area of ​​the target storage container 202.

[0187] Step S2040: A lifting mechanism 401 of the transfer robot 40 works to lift a pallet and make contact with the lower part of the storage container 202 until the storage container 202 no longer touches the ground.

[0188] Step S2050: A control system determines a target picking passage 121, which the transfer robot 40 must enter, according to the traffic density of transfer robots 40 in two picking passages 121 in the target picking station 1.

[0189] Step S2060: The control system plans a second movement path for the transfer robot 40 according to the position of an entry grid of the target picking passage 121 and the position of the target storage container 202.

[0190] Step S2070: The transfer robot 40 moves according to the second movement path to the entry grid 1231 of the target picking passage 121, whereby in this process the target storage container 202 does not perform a change of direction movement, and the transfer robot 40 can perform forward movement, backward movement, in-situ rotation to change direction, etc.

[0191] Step S2080: The control system determines whether picking is to be carried out on two sides or one side of the target storage container 202, according to the order information, and if picking is to be carried out on one side of the target storage container 202 and a picking area 2021 is directed away from picking station 122, step S2090 is executed, and if picking is to be carried out on one side of the target storage container 202 and a picking area 2021 is directed towards picking station 122, step S2110 is executed.

[0192] Step S2090: The pallet of the transfer robot 40 rotates to rotate the target storage container 202 by 180 degrees, and then step S2100 is performed.

[0193] Step S2100: The transfer robot 40 moves forward along a second direction of the entrance passage to one end of the entrance passage 1211, turns 90 degrees in situ and travels along a direction change aisle 1213 to the picking station 122.

[0194] Step S2110: A picking operator picks the target goods onto the target storage container 202.

[0195] Step S2120: After picking has been completed, the transfer robot 40 turns 90 degrees to change direction and travels along an exit passage 1212 to an exit grid 1232 while carrying the storage container 202.

[0196] Step S2130: The control system plans a third movement path according to the position of the output grid 1232 and the position of the target storage container 202 in the storage container zone 20, and the transfer robot 40 transports the storage container 202 back to the storage container zone 20 according to the third movement path.

[0197] Step S2140: A lifting mechanism 401 of the transfer robot 40 works to lower the pallet until the target storage container 202 comes back into contact with the ground and the pallet is no longer in contact with the lower part of the target storage container 202.

[0198] Step S2150: A drive mechanism 402 of the transfer robot 40 operates, so that the transfer robot 40 is moved out of the lower area of ​​the storage container 202 and is separated from the target storage container 202.

[0199] In this embodiment, for a storage container 202 that is to be picked on one side, if the storage container 202 has undergone a change of direction rotation at the input grid 1231, the storage container 202 can perform a change of direction rotation at the output grid 1232, so that the orientation of the storage container 202 is reset to the original position, or alternatively, no change of direction can be performed, and in this case, the orientation of the storage container 202 must be updated in the control system.

[0200] For a storage container 202, which is to be picked from two sides, in this embodiment, after a single picking operation, it enters the exit grid 1232 and performs a change of direction rotation, and then picking is carried out on the other picking area 2021. In other embodiments, it is also possible that after a single picking operation, it re-enters the input grid 1231 in the picking passage 121 and then performs a change of direction rotation.

[0201] In this embodiment, the provision of the turning zone is advantageous for the implementation of the picking operation on both sides of the storage container 202, reduces the space required for a separate turning zone and improves the structural compactness and the space utilization of the picking zone.

[0202] This embodiment also relates to a storage and logistics system that includes the aforementioned order picking system.

[0203] Fig. Figure 18 is a schematic structural view of a picking system according to an embodiment of the present application. As in Fig. As shown in Figure 18, this embodiment provides a picking system primarily for implementing goods-to-person picking of ordered goods and can also enable conventional warehousing and logistics operations such as loading and inventory control. In this embodiment, the picking system comprises a storage bin zone 20, a common aisle 30, a picking zone 10, and transfer robots 40. The arrangements of the storage bin zone 20, the common aisle 30, the picking zone 10, and the transfer robots 40 are essentially identical to those in embodiment II, with the only difference being the configuration of the storage bin 202 in the storage bin zone 20 and the configuration of the two-dimensional grid 123. Identical structures as in embodiment I are not repeated in this embodiment.

[0204] In this embodiment, when the storage container 202 is located in storage container zone 20, a picking surface 2021 of the storage container 202 is oriented towards or away from a longitudinal aisle 203. In this case, since the picking surface 2021 of the storage container 202 is not oriented towards picking zone 10, regardless of which picking surface 2021 the target goods are located on, the storage container 202 must be rotated so that the picking surface 2021 is oriented towards the picking work area 11. Furthermore, if picking from both sides of the storage container 202 is required, the storage container 202 must change direction after the initial picking operation, and then picking is carried out on the other side of the storage container 202.

[0205] In this embodiment, when the storage container 202 is stored in the storage container zone 20, the length of the storage container 202 in the first direction is L0, and the width of the storage container 202 in the second direction is W0. To ensure the normal movement of the transfer robot 40, which carries the storage container 202, in the storage container zone 20, the width L2 of the transverse aisle 204 is greater than L0, and the width W2 of the longitudinal aisle 203 is greater than W0. To ensure the rotation of the storage container 202 in the rotation zone, the length L3 of the two-dimensional grid 123, which corresponds to the rotation zone, is greater than W0 in the first direction, and its width W3 is greater than W0 in the second direction. W02+L02. The length L1 of a two-dimensional grid 123, excluding the turning zone in each picking passage 121, in the first direction is greater than W0, and its width W1 in the second direction is greater than L0, and to improve space utilization, W1 is slightly greater than L0, and L1 is slightly greater than W0.

[0206] This embodiment further relates to a picking procedure that is applied to the aforementioned picking system. The picking procedure provided in this embodiment comprises the following steps.

[0207] Step S3010: An order management center receives a picking order, analyzes the position of a target storage container 202 that corresponds to the ordered goods in the picking order, in a storage container zone 20, and simultaneously plans a target picking station 1 that corresponds to the picking order.

[0208] Step S3020: The order management center dispatches a transfer robot 40 and plans an initial movement path for the transfer robot 40 according to a starting position of the transfer robot 40 and the position of the target storage container 202.

[0209] Step S3030: The transfer robot 40 travels according to the first movement path to the lower area of ​​the target storage container 202.

[0210] Step S3040: A lifting mechanism 401 of the transfer robot 40 works to lift a pallet and make contact with the lower part of the storage container 202 until the target storage container 202 no longer touches the ground.

[0211] Step S3050: A control system determines a target picking passage 121, which the transfer robot 40 must enter, according to the occupancy of transfer robots 40 in two picking passages 121 in the target picking station 1.

[0212] Step S3060: The control system plans a second movement path for the transfer robot 40 according to the position of an entry grid of the target picking passage 121 and the position of the target storage container 202.

[0213] Step S3070: The transfer robot 40 moves according to the second movement path to the entry grid 1232 of the target picking passage 121, whereby in this process the storage container 202 does not perform a change of direction movement, and the transfer robot 40 can perform forward movement, backward movement, in-situ rotation to change direction, etc.

[0214] Step S3080: The control system determines a rotation angle of the storage container 202 according to a relationship between the output orientation of a picking area 2021, which corresponds to the target goods on the target storage container 202, and a work surface of a picking station 122.

[0215] Step S3090: The pallet of the transfer robot 40 rotates to rotate the storage container 202 by a preset angle.

[0216] In this embodiment, the transfer robot 40 causes a change of direction of the storage container 202 at the entry grid 1231, such that the picking area 2021 coincides with the work surface of the picking station 122. In other embodiments, it is also possible for the transfer robot 40 to transport the storage container 202 to the common aisle 30, causing a change of direction of the storage container 202, such that a picking area 2021 of the storage container 202 coincides with the work surface of the picking station 122. That is, in this embodiment, the first change of direction rotation that results in a picking area 2021 of the storage container 202 coinciding with the work surface of the picking station 122 can take place in the common aisle 30 or, alternatively, in the entry grid 1231 of the picking passage 121.

[0217] Step S3100: The transfer robot 40 moves forward along a second direction according to an entrance passage to one end of the entrance passage, turns 90 degrees in situ and travels along a direction change aisle 1213 to the picking station 122.

[0218] Step S3110: A picking operator picks the target goods onto the target storage container 202.

[0219] Step S3120: After picking has been completed, the transfer robot 40 turns 90 degrees to change direction and travels along an exit passage 1212 to an exit grid 1232 while carrying the storage container 202.

[0220] Step S3130: The control system determines whether the target storage container 202 is to be picked from two sides, and if the target storage container 202 is to be picked from two sides, step S3140 is executed, and if the target storage container 202 is not to be picked from two sides, step S3160 is executed.

[0221] Step S3140: The pallet of the transfer robot 40 rotates to rotate the target storage container 202 by 180 degrees.

[0222] Step S3150: The control system determines a target picking passage 121, which the transfer robot 40 must re-enter, according to the occupancy of transfer robots 40 in the two picking passages 121 in the target picking station 1, and the transfer robot enters the target picking passage 121 from the exit grid 1232, in which it is located, and passes the entry grid 1231, passes the entry passage 1211 and enters the picking station 122 for picking, and after completion of picking, the transfer robot passes the exit passage 1212 and moves into the exit grid 1232 of the target picking passage 121.

[0223] Step S3160: The pallet of the transfer robot 40 rotates to rotate the storage container 202 by a preset angle so that the storage container 202 regains its original orientation.

[0224] In this embodiment, the storage container 202 is reset to its original orientation at the exit grid 1232 of the picking passage 121. In other embodiments, it is also possible for the transfer robot 40, which carries the storage container 202, to leave the picking station 1 and enter the common aisle 30, and then rotate the storage container 202 to its initial orientation.

[0225] Step S3170: The control system plans a third movement path according to the position of the output grid 1232 and the position of the target storage container 202 in the storage container zone 20, and the transfer robot 40 transports the storage container 202 back to the storage container zone 20 according to the third movement path.

[0226] Step S3180: A lifting mechanism 401 of the transfer robot 40 works to lower the pallet until the target storage container 202 comes back into contact with the ground and the pallet no longer touches the lower part of the storage container 202.

[0227] Step S3190: A drive mechanism 402 of the transfer robot 40 operates, so that the transfer robot 40 is moved out of the lower area of ​​the storage container 202 and is separated from the target storage container 202.

[0228] For a storage container 202, which is to be picked from two sides, in this embodiment, after a single picking operation, it enters the exit grid 1232 and performs a change of direction rotation, and then picking is carried out on the other picking area 2021. In other embodiments, it is also possible that after a single picking operation, it re-enters the entry grid in the picking passage 121 and then performs a change of direction rotation.

[0229] In this embodiment, the provision of the turning zone is advantageous for the implementation of the picking operation on both sides of the storage container 202, reduces the space required for a separate turning zone and improves the structural compactness and the space utilization of the picking zone.

[0230] This embodiment also relates to a storage and logistics system that includes the aforementioned order picking system.

[0231] Fig. Figure 19 is a schematic structural view of a picking system according to an embodiment of the present application, and Fig. Figure 20 is a schematic structural view of a picking station and a storage container according to an embodiment of the present application. As shown in the Fig. 19 and Fig.As shown in Figure 20, this embodiment provides a picking system primarily for implementing goods-to-person picking of ordered goods and can also facilitate conventional warehousing and logistics operations such as loading and unloading and inventory management. In this embodiment, the picking system comprises a storage bin zone 20, a common aisle 30, a picking zone 10, and transfer robots 40. The arrangements of the storage bin zone 20, the common aisle 30, the picking zone 10, and the transfer robots 40 are essentially identical to those in embodiment I, with the only difference being the configuration of the picking zone 10. Identical structures as in embodiment I are not repeated in this embodiment.

[0232] In this embodiment, the storage container 202 has two opposing picking surfaces 2021, one of which faces a longitudinal aisle 203, and the other facing away from the adjacent longitudinal aisle 203. One or more storage containers 50 can be provided side by side along the second direction on each separating layer 2022 of the storage container 202.

[0233] In this embodiment, each picking station 1 comprises two picking stations 122 and two picking passages 121, each picking passage 122 forming a U-shape, with both the entrance and exit of the picking passage 122 facing the storage container zone 20. The two picking passages are spaced apart from each other, and a picking work area 11 for the movement of a picking operator is formed between the two picking passages. The picking station 122 is located on one side of the U-shaped picking passage 121 and faces the picking work area 11.

[0234] In this configuration, since picking station 122 is located on one side of picking work area 11, when the transfer robot 40 transports storage container 202 from storage container zone 20 to picking station 122, storage container 202 may not need to be rotated to align a picking area 2021 of storage container 202 with picking work area 11, thus improving picking efficiency and avoiding the need to increase space by providing a separate turning zone.Furthermore, the picking stations 122 and the picking passages 121 are provided on two sides of the picking work area 11, so that the same picking operator can be responsible for picking at both picking stations 122, and after the picking of a storage container 202 has been completed at one picking station 122 and the transfer robot that entered from picking passage 121 has not yet transported the storage container 202 to picking station 122, the picking operator can carry out the picking at a storage container 202 that is waiting to be picked at the other picking station 122, thereby reducing the idle waiting time of the picking operator and improving picking efficiency.

[0235] In one embodiment, one of the two picking passages 121 is arranged clockwise and the other counterclockwise. This means that either the entry aisles 1211 or the exit aisles 1212 of the two picking passages 121 are located on a side of the picking passages 121 that is adjacent to the picking work area 11. In this configuration, when the transfer robot 40 transports the storage container 202 to the picking stations 122 of different picking passages 121, the picking area 2021 facing the picking work area 11 is different in each case.This means that, according to the orientation of picking area 2021, which corresponds to the target goods on storage container 202, one of the two picking passages 121 can be selected to enter picking station 1. Thus, picking area 2021, where the target goods are located, is oriented directly towards picking work area 11 when storage container 202 is at picking station 122, facilitating picking by the order picker. This is advantageous for picking a storage container 202 that needs to be picked from two sides, avoids a change of direction of rotation of the storage container 202 during transport by the transfer robot 40, and improves picking efficiency.

[0236] In this embodiment, a communication aisle 124 is provided on one side of the picking work area 11, which is directed towards the storage container zone 20, of the picking station 1. This aisle connects the two picking passages 121, and the communication aisle 124 is formed by two logically divided two-dimensional grids, which are arranged next to each other together with the input grids 1231 and output grids 1232 to achieve the connection between the two picking passages 121, so that the transfer robot 40 does not have to leave the picking station 1 to move between the two picking passages 121 in the same picking station 1, thereby implementing the two-sided picking operation of the storage container 202.

[0237] In one embodiment, each of the entry aisles 1211 of the two picking passages 121 is located on one side of the picking passage 121 that is adjacent to the picking work area 11, and two adjacent picking passages 121 of two adjacent picking stations 1 share an exit passage 1212. This configuration can improve the compactness of the arrangement of the picking stations 1 in the picking zone 10 and save space.

[0238] In one embodiment, each column of two-dimensional grid groups comprises four two-dimensional grids 123 to improve the space utilization of the picking zone 10 and the spatial compactness of the picking system. In one embodiment, the third two-dimensional grid 123 along the direction of the entrance passage 1211 forms the picking station 122.In this configuration, on the one hand, the first two two-dimensional grids 123 can be used for the transfer robot 40 to enter and wait in the picking passage 121, thereby increasing the number of transfer robots 40 that can wait in the picking passage 121; on the other hand, this facilitates the provision of putwalls 112 on two sides of the picking station 122 along the second direction, so that the picking operator can quickly remove the target goods from the storage container 202 during picking and place them in an order box of the putwall 112. In another embodiment, the picking station 122 can also be formed by a two-dimensional grid 123 at the end of the entry passage 1211, which is located away from the entry grid 1231.

[0239] The length of storage container 202 in the first direction is L0, and the width of storage container 202 in the second direction is W0. To ensure the transport of storage container 202 in storage zone 20, the width L2 of the transverse aisle 204 is greater than L0, and the width W2 of the longitudinal aisle 203 is greater than W0. To ensure the movement of storage container 202 in picking zone 10 and to prevent collisions during the movement of the transfer robot 40, the length L1 of each two-dimensional grid 123 along the first direction is greater than L0, and the width W1 of each two-dimensional grid 123 in the second direction is greater than W0. Furthermore, to improve space utilization, W1 is slightly greater than W0, and L1 is slightly greater than L0.

[0240] In one embodiment to improve the planning consistency of picking zone 10, all two-dimensional grids 123 are identical.

[0241] In one embodiment, a putwall 112 is provided in the picking work area 11, and the putwall 112 is located between two picking stations 122, and the putwall 112 is directed away from the storage container zone 20. In other implementations, two putwalls 112 can also be provided in the picking work area 11, and the two putwalls 112 are arranged opposite each other and are located on two sides of the picking station 122 along the second direction.

[0242] In this embodiment, since a picking surface 2021 of the storage container 202 in the storage container zone 20 is oriented towards or away from a longitudinal aisle 203, the initial orientation of the picking surface 2021 of the storage container 202 in the storage container zone 20 corresponds to the orientation of the work surface of the picking station 122. That is, during transport of the storage container 202 by the transfer robot 40, the storage container 202 does not need to change direction. In other embodiments, the placement position of the storage container 202 in the storage container zone 20 may not be limited, and before the transfer robot 40 transports the storage container 202 to the picking station 1, it may rotate the storage container 202 to change direction, so that the picking surface 2021 of the storage container 202 corresponds to the orientation of the work surface of the picking station 122.

[0243] This embodiment further relates to a picking procedure that is applied to the aforementioned picking system and can implement the picking of items from both sides of storage container 202. The picking procedure comprises the following steps.

[0244] Step S4010: An order management center receives a picking order, analyzes the position of a target storage container 202 that corresponds to the ordered goods in the picking order, in a storage container zone 20, and simultaneously plans a target picking station 1 that corresponds to the picking order.

[0245] Step S4020: The order management center dispatches a transfer robot 40 and plans an initial movement path for the transfer robot 40 according to a starting position of the transfer robot 40 and the position of the target storage container 202.

[0246] Step S4030: The transfer robot 40 travels according to the first movement path to the lower area of ​​the target storage container 202.

[0247] Step S4040: A lifting mechanism 401 of the transfer robot 40 works to lift a pallet and make contact with the lower part of the storage container 202 until the target storage container 202 no longer touches the ground.

[0248] Step S4050: The control system determines whether the target storage container 202 is to be picked from two sides, and if the target storage container 202 is to be picked from two sides, it determines a target picking passage 121 that the transfer robot 40 must enter, according to the occupancy in the two picking passages 121 in the target picking station 1, and if the target storage container 202 is not to be picked from two sides, it determines a target picking passage 121 that the transfer robot 40 must enter, according to the orientation of a picking area 2021 of the target storage container 202.

[0249] Step S4060: The control system plans a second movement path for the transfer robot 40 according to the position of an entry grid of the target picking passage 121 and the position of the target storage container 202.

[0250] Step S4070: The transfer robot 40 moves according to the second movement path to the entry grid of the target picking passage 121, whereby in this process the target storage container 202 does not perform a change of direction movement, and the transfer robot 40 can perform forward movement, backward movement, in-situ rotation to change direction, etc.

[0251] In this embodiment, the initial orientation of the storage container 202 in storage container zone 20 corresponds to the orientation of the work surface of one of the picking stations 122, so that the storage container 202 does not require a change of direction. In other embodiments, if the initial orientation of the storage container 202 in storage container zone 20 does not correspond to the orientation of the work surface of one of the two picking stations 122, the transfer robot 40 can rotate the storage container 202 to change its orientation before transporting it to picking station 1, so that the picking surface 2021 of the storage container 202 corresponds to the orientation of the work surface of one of the picking stations 122.

[0252] Step S4080: The transfer robot 40 moves along a second direction according to an entrance passage forward to picking station 122.

[0253] Step S4090: A picking operator picks the target goods onto the target storage container 202.

[0254] Step S4100: After order picking has been completed, the transfer robot 40 travels along a direction change aisle 1213 and an exit passage 1212 to an exit grid 1232 while carrying the storage container 202.

[0255] Step S4110: The control system determines whether the storage container 202 is to be picked on two sides, and if the target storage container 202 is to be picked on two sides, step S4120 is executed, and if the target storage container 202 is not to be picked on two sides, step S4130 is executed.

[0256] Step S4120: The transfer robot 40 enters the other picking passage 121 through a communication corridor 124 and travels to the corresponding picking station 122, while carrying the target storage container 202 to be picked by the picking operator, and after completion of the picking, it passes through the exit passage 1212 and moves into the exit grid 1232 of the target picking passage 121.

[0257] Step S4130: The control system plans a third movement path according to the position of the output grid 1232 and the position of the target storage container 202 in the storage container zone 20, and the transfer robot 40 transports the target storage container 202 back to the storage container zone 20 according to the third movement path.

[0258] Step S4140: A lifting mechanism 401 of the transfer robot 40 works to lower the pallet until the target storage container 202 comes back into contact with the ground and the pallet no longer touches the lower part of the target storage container 202.

[0259] Step S4150: A drive mechanism 402 of the transfer robot 40 operates, so that the transfer robot 40 is moved out of the lower area of ​​the target storage container 202 and is separated from the storage container 202.

[0260] This embodiment also relates to a storage and logistics system that includes the aforementioned order picking system.

Claims

[1] Order picking system, comprehensive a storage container zone (20) configured to store a large number of storage containers (202), a transfer robot (40) for transporting the storage containers (202) and a picking zone (10) configured for a picking operator to take target goods transported by the transfer robot (40) from the storage container (202), where the picking zone (10) includes at least one picking station (1), which includes picking station (1): a U-shaped picking passage (121) and a picking station (122), arranged in the U-shaped picking passage (121), which picking station (122) is configured for the picking employee to take the target goods, which U-shaped picking passage (121) is configured to provide a movement path for the transfer robot (40) to enter the picking station (1), pass through the picking station (122) at the U-shaped picking passage (121) in the picking station (1) and exit the picking station (1). [2] Picking system according to claim 1, wherein the picking zone (10) is logically provided with two-dimensional grids, wherein one two-dimensional grid corresponds to the picking station (122) on the U-shaped picking passage (121). [3] Picking system according to claim 2, wherein a two-dimensional grid in the direction of travel upwards of the picking station (122) at the U-shaped picking passage (121) forms an area for passage and waiting of the transfer robot (40). [4] Picking system according to claim 1, wherein the picking system further comprises storage containers (50), which storage containers (50) are arranged on the storage container (50) for storing goods and the goods are arranged in the storage container (50). [5] Picking system according to claim 4, wherein the picking system further comprises order boxes, the picking zone (10) is spaced apart from the storage container zone (20) and is configured for a picking-person to take ordered goods from storage containers (202) or storage containers (50) and place the taken goods in the order boxes. [6] Picking system according to claim 1, wherein the picking system further comprises an order management center and the order management center determines the position of the storage container (202) where ordered goods are located in the storage container zone (20) and dispatches the transfer robot (40). [7] Picking system according to claim 1, wherein the storage containers (202) are designed for direct placement of goods in them. [8] Picking system according to claim 1, wherein the at least one picking station (1) comprises a further U-shaped picking passage. [9] Picking system according to claim 8, wherein one of all picking stations (1) comprises the further U-shaped picking passage. [10] Picking system according to claim 8, wherein each picking station (1) comprises the further U-shaped picking passage. [11] Picking system according to claim 10, wherein each picking station (122) is configured for the picking operator to take the target goods and each U-shaped picking passage (121) is configured to provide a movement path for the transfer robot (40) to enter the respective picking station (1), pass through the respective picking station (122) of the U-shaped picking passage (121) and leave the respective picking station (1). [12] Picking system according to claim 1 or 11, wherein the picking station (122) is provided at a low point of the U-shaped picking passage (121). [13] Picking system according to claims 11 and 12, wherein the one and the further U-shaped picking passage (121) are arranged side by side or parallel, a further picking station is provided at a low point of the further U-shaped picking passage and a picking work area (11) for the movement of a picking person is formed at the end of the one and the further U-shaped picking passage (121) away from the storage container zone (20). [14] Picking system according to claim 10 or 13, wherein the one and the further U-shaped picking passage are arranged next to each other, and wherein preferably the one and the further picking station are arranged next to each other. [15] Picking system according to claim 14, wherein one U-shaped picking passage forms a clockwise movement path and the other U-shaped picking passage forms a counterclockwise movement path. [16] Combination of a picking station (122) and a U-shaped picking passage (121), arranged to form a section of the picking system according to claim 3 and, together with the U-shaped picking passage (121), providing the movement path for the transfer robot (40) to enter the picking station (1), pass through the picking station (122) at the U-shaped picking passage (121) in the picking station (1), and exit the picking station (1), wherein the picking station (122) corresponds to a two-dimensional grid with which the picking zone (10) is logically provided and is a picking station (122) configured for a picking operator to pick target goods, and wherein the U-shaped picking passage (121) comprises: an entrance grid forming an entrance to the U-shaped picking passage (121), and an exit grid that forms an exit of the picking passage (121), wherein a web width of the inlet grid and the outlet grid is wider than a maximum outside diameter of the storage container (202) and includes an inlet passage and an outlet passage which form adjacent sides of the U-shape.

Images