Order-picking arrangement with intermediate storage between picking robots

Abstract

An order-picking arrangement (100), having at least one first picking robot (102) for transferring an object (104) to be order-picked from at least one source container (106) to an intermediate storage means (108), the intermediate storage means (108) for intermediate storage of an object (104) to be order-picked, and at least one second picking robot (110) for transferring an object (104) to be order-picked from the intermediate storage means (108) to at least one target container (112) which can receive at least one object (104) to be order-picked.

Description

[0001] Picking arrangement with intermediate storage between picking robots

[0002] The invention relates to a picking arrangement and a picking method.

[0003] In conventional order picking, a picker removes items from source containers and transfers them to target containers, for example in an online retailer's logistics center.

[0004] At an online retailer, goods from a warehouse are packed into boxes and shipped to a customer. For this purpose, the goods, stored in boxes, for example, are transported from a storage location in the warehouse to a worker or a robot, which removes the desired number of items from the box and places them in a shipping box, which is then sent to the customer. Robots used for this purpose typically use a manipulator to pick up the goods from the box, which directly picks goods from the source container and places them into the destination container, i.e., the shipping carton.

[0005] Picking items is traditionally a time-consuming task.

[0006] It is an object of the present invention to provide an efficient order picking system.

[0007] This object is achieved by the subject matter having the features according to the independent patent claims. Further embodiments are shown in the dependent claims.

[0008] According to one embodiment of the present invention, a picking arrangement is provided, comprising at least one first picking robot for transferring an object to be picked from at least one source container to an intermediate storage area, the intermediate storage area for temporarily depositing an object to be picked, and at least one second picking robot for transferring an object to be picked from the intermediate storage area to at least one target container which can accommodate at least one object to be picked.

[0009] According to a further embodiment of the present invention, a picking method is provided, comprising transferring an object to be picked by means of at least one first picking robot from at least one source container to an intermediate storage area for temporarily depositing an object to be picked, and subsequently transferring the object to be picked by means of at least one second picking robot from the intermediate storage area to at least one target container which receives the at least one object to be picked.

[0010] In the context of this application, the term "picking arrangement" is understood in particular to mean a system for loading target containers with items from source containers.

[0011] In the context of this application, the term "object" is understood to mean, in particular, a tangible or otherwise manageable physical body, for example, a commodity. Examples of such commodity elements include, in particular, technical objects or components, such as tool components (e.g., hammers, screwdrivers, etc.) or consumable components (e.g., screws, nails, dowels, etc.). Further examples of objects or commodity elements to be picked are suitcase contents, machine components, hand-held machines (e.g., a cordless drill), tool inserts, canisters, cans, bottles, cartridges, tubes, and / or drawer contents.

[0012] In the context of this application, the term "container" is understood in particular to mean a receiving device on and / or in which objects such as merchandise elements are or can be received in a receiving space. Examples of such containers are plastic containers or cardboard boxes. In the context of this application, the term "source container" is understood in particular to mean a container containing one or more objects, at least one of which is to be transferred to an associated target container. For example, several objects in a source container can be identical objects, for example identical merchandise elements. For example, a source container can be a goods box from a warehouse. A source container can contain many objects, for example at least ten or at least one hundred.

[0013] In the context of this application, the term "target container" is understood in particular to mean a container that is to be filled with one or more items. In particular, the items transferred into a target container can be different items, for example, different merchandise elements. For example, a target container can be a carton that is sent to a customer after being filled with ordered items or merchandise elements. A target container can contain many items, for example, at least ten or at least one hundred.

[0014] In the context of this application, the term "picking robot" is understood in particular to mean a technical device that can grip, handle, or otherwise manipulate objects to be picked. A picking robot can, for example, be a robot, cobot, or robot arm that can be configured with a manipulator for manipulating or handling objects. For example, such a manipulator of a picking robot can grip an object to be picked. In other words, a manipulator of a picking robot can, for example, be a gripper for gripping an object to be picked. A picking robot can be configured for pick-by-robot picking. Pick-by-robot can refer to a picking technique for providing objects in a warehouse with the aid of automation technology. Instead of a worker, picking robots perform some or all of the tasks involved in picking objects.

[0015] In the context of this application, the term "intermediate storage" is understood in particular to mean a receiving device for the intermediate storage of items to be picked after a respective item has been removed from a source container by a first picking robot on the source container side and before this item is further picked by a second picking robot on the target container side. The intermediate storage can thus be designed as a buffer device for the intermediate storage of picked items. Therefore, the intermediate storage can be arranged between the at least one first picking robot and the at least one second picking robot and can be positioned within reach of both the first picking robot and the second picking robot. An intermediate storage can be designed to be purely passive (i.e., provide only a static intermediate storage function).However, it is also possible to provide an actively controllable clipboard that can, for example, be moved dynamically or structurally adapted to the items currently being picked.

[0016] According to one embodiment of the invention, when picking items from a source container to a target container, a first picking robot can initially be used to transfer each item from the source container to an intermediate storage area for temporarily depositing said item. A second picking robot can then transfer said item from the intermediate storage area to the target container, thereby loading the target container with the item. By providing an intermediate storage area acting as a buffer between the source container-side picking robot and the target container-side picking robot for temporarily depositing items to be picked, items to be picked do not necessarily have to be transferred from source containers to target containers according to the "first in, first out" principle.The "first in, first out" principle can refer to a logic according to which objects from source containers are handled in a specific manner. Objects from source containers that are fed in first are also removed first and further picked. Although exemplary embodiments of the invention can at least temporarily apply the "first in, first out" principle, the provision of an intermediate storage area advantageously allows the order of transferring objects to a target container compared to the order of removing objects from a source container to be modified by buffering one or more objects in the intermediate storage area prior to further picking. This makes it possible to avoid conventionally occurring dead times during picking, during which further picking must be waited for because one of the components involved is not yet ready for picking.By providing an intermediate storage area between the source container and target container picking robots, and within range of the source container and target container picking robots, picking time can be used more efficiently and a larger number of items can be picked from source containers into target containers. By providing at least one intermediate storage area, it is thus possible to create an efficient picking system. Advantageously, due to the provision of the intermediate storage area, the work of the second picking robot (especially its manipulator) for packing into the target container can be performed independently of the arrival order of the source containers at the picking station.

[0017] In the following, additional exemplary embodiments of the picking arrangement and the picking method are described.

[0018] According to an exemplary embodiment, the order-picking arrangement can comprise a source container feed device for feeding the at least one source container, which contains at least one object to be picked, from a storage location to the at least one first picking robot. Correspondingly, the order-picking method can comprise feeding the at least one source container from a storage location to the at least one first picking robot. For example, the source container feed device can be designed to feed source containers from storage shelves in such a way that the at least one first picking robot can spatially reach the supplied source containers and pick objects accommodated therein. For example, the source container feed device can accomplish the feeding of source containers to the at least one first picking robot fully automatically.The source container feeding device can be motor-driven and can comprise, for example, a conveyor belt, a forklift truck and / or a transport robot.

[0019] According to an exemplary embodiment, the order-picking arrangement can have a target container feed device for feeding the at least one target container, which is to be filled with at least one object to be picked, to the at least one second picking robot. For example, the target container feed device can be designed to feed empty or only partially filled target containers (e.g., shipping cartons) in such a way that the at least one second picking robot can spatially reach the fed target containers and insert objects therein. For example, the target container feed device can manage the feeding of target containers to the at least one second picking robot fully automatically. The target container feed device can be motor-driven and can, for example, comprise a conveyor belt, a forklift truck, and / or a transport robot.

[0020] According to an exemplary embodiment, the order-picking arrangement can have a source container removal device for removing the at least one source container, from which at least one object to be picked has been removed, from the at least one first picking robot, in particular to a storage location or to a refilling station. If all objects have been removed from a source container by the at least one first picking robot and the container is thus completely empty, the source container removal device can return empty source containers to the storage location or feed them to a refilling station. The emptied source containers can then be picked up at the storage location and replaced with filled source containers. At the refilling station, new objects can be filled into the emptied source containers. The refilled source container can then be returned to the storage location or directly to the at least one first picking robot.For example, the source container removal device can fully automatically remove source containers from the at least one first picking robot. The source container removal device can be motor-driven and can, for example, comprise a conveyor belt, a forklift, and / or a transport robot.

[0021] According to an exemplary embodiment, the picking arrangement can have a target container removal device for removing the at least one target container, which contains at least one object to be picked, from the at least one second picking robot to a shipping station. Correspondingly, the picking method can have the at least one target container filled with at least one object being removed from the at least one second picking robot to a shipping station. Once all objects have been inserted into a target container by the at least one second picking robot and the container is thus completely filled, the target container removal device can transfer the fully picked target containers to a shipping station for shipping to a customer. For example, the target container removal device can carry out the removal of target containers from the at least one second picking robot fully automatically.The target container removal device can be motor-driven and can, for example, comprise a conveyor belt, a forklift truck and / or a transport robot.

[0022] The filling of a target container can be controlled by a control device so that the target container is filled with items according to a target container filling list. In particular, the corresponding target container filling list can be made accessible to the picking robots for each target container to be filled, so that the picking robots can pick items between the source containers and the target containers accordingly and, if necessary, buffer items at the intermediate storage location.

[0023] According to an exemplary embodiment, the order-picking arrangement can comprise at least one source container, in particular a plurality of source containers, wherein each of the at least one source container contains at least one item to be picked, in particular a plurality of items to be picked. Different source containers can contain different items (in particular different types of goods), wherein a respective source container can contain a plurality of identical items (in particular only a single type of goods).

[0024] According to an exemplary embodiment, the picking arrangement can comprise at least one target container, in particular a plurality of target containers, wherein each of the at least one target container can accommodate at least one object to be picked, in particular a plurality of objects to be picked. Different target containers can accommodate different or identical sets of objects (in particular different types of goods), wherein a respective target container can accommodate a plurality of different objects (in particular different types of goods).

[0025] According to an exemplary embodiment, the order-picking arrangement can have a plurality of first picking robots, each of which is designed to transfer an object to be picked from the at least one source container to the intermediate storage area. Alternatively or additionally, the order-picking arrangement can have a plurality of second picking robots, each of which is designed to transfer an object to be picked from the intermediate storage area to the at least one target container. Furthermore, the order-picking arrangement can have a plurality of intermediate storage areas, each of which is designed to temporarily deposit an object to be picked. Advantageously, a plurality of first orSecond picking robots can be provided, which can work in parallel and / or cooperatively to transfer items from source containers to target containers according to an individual or uniform target container filling list for different target containers. By combining several source-container-side and several target-container-side picking robots with multiple intermediate storage areas, a modular logistics system can be created that can process complex picking tasks with high flexibility, high efficiency, and high error-resistance. Such a picking arrangement allows multiple source containers and multiple target containers to be served simultaneously, thereby reducing or completely eliminating dead or waiting times during picking.

[0026] According to an exemplary embodiment, the intermediate storage, in particular a plurality of intermediate storages, can comprise a table-like storage surface, a shelf, a channel-shaped storage, and / or a plurality of channel-shaped storages, in particular arranged one above the other. Such intermediate storages can be provided with little effort and significantly improve the efficiency of the picking arrangement.

[0027] According to an exemplary embodiment, the intermediate storage area, in particular a plurality of intermediate storage areas, can have a shape such that when an object to be picked is deposited on the intermediate storage area, the object assumes a well-defined position and / or orientation, in particular a tilted orientation, under the influence of gravity in order to enable the deposited object to be picked in a predefined manner by the at least one second picking robot. For example, an intermediate storage area can be configured in cross-section as a right-angled triangle, the right angle of which is arranged on the bottom side and is delimited by two inclined sides. This geometry allows a cuboid-shaped object to simply slide into such an intermediate storage area, whereby the cuboid-shaped object readily moves into the right angle on the bottom side.This positions and orients the cuboid object without any additional alignment effort, allowing a second picking robot to precisely grasp or grasp the temporarily stored object. Since many objects to be picked have at least an approximately cuboid geometry (e.g., cardboard packaging), the described shape of the intermediate storage area is highly advantageous for many applications.

[0028] According to an exemplary embodiment, the at least one first picking robot and / or the at least one second picking robot can be equipped, in particular selectively or automatically, with a respective one of a plurality of interchangeable manipulators with different object handling properties. For example, interchangeable grippers of different sizes and / or different gripping geometries, a suction device for vacuum-holding objects, etc., can be provided as manipulators. A respective picking robot that detects (e.g., via sensors) or is informed by a control device that a current picking task can be better accomplished with a different manipulator can automatically exchange a manipulator in order to adapt to a respective picking task. Alternatively, exchanging a manipulator of a picking robot can also be carried out manually by a worker.According to an exemplary embodiment, the intermediate storage, in particular a plurality of intermediate storages, can be designed to be mobile and / or interchangeable. For example, an intermediate storage can be moved out between the first and second picking robots if it is unsuitable for a current picking task or if another intermediate storage is more suitable for it. This further increases the flexibility of the picking arrangement.

[0029] According to an exemplary embodiment, the picking arrangement can have at least one detection device for determining detection information for monitoring and / or controlling the picking of objects by means of the picking arrangement. For example, such a detection device can be designed to detect weight information, position information, orientation information, optical information, and / or transponder information. The picking arrangement, in particular the picking robots, can be controlled based on detected or sensor-detected information. For example, the at least one detection device can be used to determine detection information for identifying and / or characterizing at least one object that has been transferred to at least one intermediate storage location by the at least one first picking robot.This detection information can advantageously be fed to a second picking robot, based on which the second picking robot can grasp the object temporarily placed at the intermediate storage location and transfer it to a target container. In this way, the transfer of the object from the source container via the intermediate storage location to the target container can be carried out with particularly low error rates using the first and second picking robots.

[0030] According to an exemplary embodiment, the picking method can comprise feeding a plurality of source containers, each of which contains at least one object to be picked, for simultaneous access by the at least one first picking robot, in particular by a plurality of first picking robots operating in parallel. Furthermore, the method can comprise selecting, by means of the at least one first picking robot, in particular by means of the plurality of first picking robots, a respective one of the supplied source containers for transferring an object to be picked from the selected source container to the intermediate storage area, in particular to a respective one of a plurality of intermediate storage areas. Thus, a respective first picking robot or a control device controlling it can freely select from which of several source containers within its range an object is to be removed.The respective first picking robot can then transfer this item to the intermediate storage or, alternatively, place it directly into a target container itself. This degree of freedom ensures that a respective first picking robot can always complete a picking task, or at least for a large portion of its working time, without being subjected to waiting times (for example, until a suitable source container or a suitable target container is delivered).

[0031] Particularly advantageously, the picking method can comprise selecting an order for transferring objects to be picked from the at least one first picking robot (or from the supplied plurality of source containers) to the at least one intermediate storage area, in particular to the plurality of intermediate storage areas, which is different from an order for feeding the plurality of source containers to the at least one first picking robot, in particular to the plurality of first picking robots operating in parallel. Thus, a respective first picking robot is not necessarily subject to a "first in, first out" picking principle (but can apply this at least temporarily). Advantageously, however, a respective first picking robot is capable of deviating from a "first in, first out" picking principle at any time andto pick the items contained therein in a freely selectable order, in particular to place them on the intermediate shelf or directly into a target container.

[0032] According to an exemplary embodiment, the picking method may comprise feeding a plurality of target containers, each of which is provided for receiving at least one object to be picked, for simultaneous access by the at least one second picking robot, in particular by a plurality of second picking robots operating in parallel. Furthermore, the method may comprise selecting, by means of the at least one second picking robot, in particular by means of the plurality of second picking robots, a respective one of the supplied target containers for transferring an object to be picked from the intermediate storage area, in particular from a respectively selected one of a plurality of intermediate storage areas, to the respectively selected target container.Thus, a respective second picking robot or a control device controlling it can freely select which of several target containers within its range an object should be inserted into. The respective second picking robot can transfer this object from the intermediate storage to a respective target container or, alternatively, can directly remove it from a source container and place it in a target container. This degree of freedom ensures that a respective second picking robot can always, or at least for a large portion of its working time, complete a picking task without being subjected to waiting times (for example, until a suitable source container or a suitable target container is supplied).

[0033] Particularly advantageously, the picking method can comprise selecting a sequence for transferring items to be picked from the at least one intermediate storage location, in particular from the plurality of intermediate storage locations, that differs from a sequence for transferring items to be picked from the supplied plurality of source containers to the at least one intermediate storage location, in particular to the plurality of intermediate storage locations. Thus, a respective second picking robot is not necessarily subject to a "first in, first out" picking principle (but can at least temporarily apply this). Advantageously, however, a respective second picking robot is capable of deviating from a "first in, first out" picking principle at any time and loading target containers with associated items in a freely selectable sequence, in particular from the intermediate storage location or directly from a source container.

[0034] In the following, exemplary embodiments of the present invention are described in detail with reference to the following figures.

[0035] Figure 1 shows a picking arrangement according to an exemplary embodiment of the invention.

[0036] Figure 2 shows a picking arrangement according to another exemplary embodiment of the invention.

[0037] Figure 3 shows a picking arrangement according to a further exemplary embodiment of the invention.

[0038] The same or similar components in different figures are provided with the same reference numerals.

[0039] Before exemplary embodiments of the invention are described with reference to the figures, some general aspects of the invention will be explained:

[0040] Traditionally, items must be placed in a destination container in the order they arrive in source containers. This typically results in slow picking speeds.

[0041] According to one embodiment of the invention, an intermediate storage area acting as a buffer is arranged between a source container-side picking robot and a target container-side picking robot. The source container-side picking robot can, if necessary, temporarily deposit an item to be picked that, for whatever reason, cannot currently be transferred to a target container by a target container-side picking robot. By depositing an item in the intermediate storage area that cannot or should not currently be further picked, the picking robots can perform other picking tasks in the meantime (e.g., picking another item). In this way, the resources of the picking robots for picking items can be used more efficiently by providing an intermediate storage area.Thus, a picking arrangement according to an exemplary embodiment of the invention makes it possible to pick a larger number of items into target containers in a shorter time. An advantageous aspect consists in the provision of an intermediate storage area designed as a buffer for items to be picked between a transfer point of source containers (for example, boxes filled with goods from a warehouse) and a sorting point for the items into a respective target container, designed, for example, as a shipping carton. The items to be picked can thus be placed in a target container regardless of the order in which the source containers arrive, because items can be temporarily stored in the buffer.The picking robot on the target container side for sorting the objects into the target container can, by providing the buffer, continuously place objects into target containers designed, for example, as shipping boxes, so that the available working time can be used more effectively.

[0042] In one embodiment, at least one first picking robot can be provided, which removes objects from a source container that has been fed to the first picking robot fully automatically from a warehouse. At least one second picking robot can be provided to place the objects in a target container. According to a preferred embodiment of the invention, an intermediate storage area or buffer for one or more objects is additionally provided between these two picking robots: The first picking robot removes the goods from the source container and places them in the buffer. The second picking robot removes the objects from the buffer and places them in the target container. Since objects intended for further picking can always be arranged in the intermediate storage area designed as a buffer, the second picking robot is always busy sorting the objects into the target container.

[0043] For example, one or more source containers are served simultaneously. Furthermore, one or more target containers can be filled simultaneously. The intermediate storage area can preferably be formed from two or more storage locations for items.

[0044] For example, the intermediate storage area can be designed as a table-like storage surface, a shelf, or a trough-shaped storage area, particularly several troughs one above the other. The troughs can preferably have a square or semicircular cross-section. This advantageously allows items to be picked to be placed in a physically well-defined position and orientation due to their gravity when placed in the intermediate storage area, so that they can be easily picked by a second picking robot.

[0045] Items from a source container can be picked into one or more destination containers. This means that the composition of items in each destination container can be selected as any combination of items (especially of different types) from any source container.

[0046] Advantageously, several functionally specialized manipulators can be used on a respective first or second picking robot for different objects. When using multiple manipulators, these can be equipped with different grippers, for example. Advantageously, a respective first or second picking robot can independently switch between different manipulators (for example, grippers of different sizes or a mechanical gripper and a vacuum suction cup). The intermediate storage can have different shapes, adapted to different objects. The intermediate storage can be designed to be movable so that it can be moved, changed, or exchanged.

[0047] Furthermore, a control device can be provided for controlling the picking method or the picking arrangement and its components. In the context of this application, the term "control device" is understood in particular to mean a device with processor resources that is configured to control the picking arrangement—in particular, programmatically—based on predefined algorithms. The processor resources can be equipped to perform corresponding data processing. The control device can be configured, for example, as a single computer or processor or as a plurality of interacting computers or processors (which can be located close to one another or separated from one another).The control device can control and coordinate all components of the picking arrangement, in particular the picking robots as well as devices for feeding and removing source containers and target containers and optionally also from the intermediate storage.

[0048] Process monitoring by the control device (which may include monitoring whether the correct item has been picked in the correct quantity) can be carried out, in particular, by determining weight using a scale and / or force and moment sensors. Such process monitoring can also include determining the center of gravity, for example, using a scale, or implementing force and moment sensors. Furthermore, visual properties can be detected using a camera and used for process monitoring or process control. This includes, in particular, the detection of a QR code, a serial number, labels, patterns, barcodes, AI (artificial intelligence)-based object classification, RFID and / or NFC tags, a three-dimensional contour, etc.According to one embodiment of the invention, the items can be checked for defects before, during, and / or after picking. For this purpose, data on the item's condition, such as image data and / or weight data, can be stored during the picking process. If a customer submits a complaint, this data can be labeled as a "defective product," for example, and used as the basis for training an AI unit (artificial intelligence unit) to detect defective products.

[0049] According to one embodiment, a target container can be monitored. If an object changes its original position or orientation, for example, falls over or slips, a packing order in the target container can be recalculated and / or the fallen object can be returned to the clipboard and repacked into the target container.

[0050] Furthermore, it can be checked, particularly using sensors, whether the correct item and the correct quantity have been picked from the source container. Alternatively or additionally, it can be checked, particularly using sensors, whether the correct item and the correct quantity have been placed in the target container.

[0051] Preferably, items to be picked can be picked precisely at a given position and thus placed precisely at a given position.

[0052] According to a preferred embodiment, the intermediate storage area can be designed as an inverted square pyramid, so that all objects (especially cuboid-shaped objects) slide into a physically well-defined position and orientation due to their gravity when deposited, preferably automatically. This allows the second picking robot (which can also be referred to as a packing robot) to move to the gripping point of the object with extreme precision and thus deposit the object in the target container with extreme precision.

[0053] The first picking robot (in particular its manipulator) for gripping items from the source container can, after completing the picking of all items in a picking task (for example, an order), seamlessly pick items for the next order and place them in the intermediate storage, while the second picking robot (in particular its manipulator) for packing into the target container is still busy packing the previous package (i.e., loading a previous target container). Once the first package or the first target container has been fully packed, there are already enough items for the second package or the second target container in the intermediate storage (preferably all of them), so that the picking robot can immediately begin packing the second package or the second target container in the correct order of items.

[0054] The manipulator of a second picking robot for packing items into a target container can use a gripper configured for placing items. The manipulator of a first picking robot for picking items from the source container can use a gripper configured for picking items from the source container.

[0055] Figure 1 shows a picking arrangement 100 according to an exemplary embodiment of the invention. For example, the picking arrangement 100 can be used in a logistics warehouse of an online retailer, where ordered products (hereinafter referred to as items 104) are to be filled from source containers 106 (for example, plastic containers) into target containers 112 (for example, shipping cartons) according to a respective order list. In the picking arrangement 100, a corresponding picking method is controlled by a control device 132, which can control all components of the picking arrangement 100 described below. For example, the control device 132 can access a database 134 in which information regarding picking tasks to be performed (for example, order lists to be processed) can be stored.It is also possible for the database 134 to store a current inventory of the logistics warehouse or warehouse of the picking arrangement 100, for example, information about the items 104 currently contained in all source containers 106.

[0056] As shown in Figure 1, the order picking arrangement 100 has a plurality of first picking robots 102. Each first picking robot 102 serves to transfer an object 104 to be picked from a respective source container 106 to an intermediate storage area 108 described in more detail below or directly to a respective target container 112. For this purpose, an associated manipulator 126 can be mounted on each first picking robot 102, for example a gripping device for gripping objects 104. Each first picking robot 102 can then be controlled (in particular by means of the control device 132) to grip objects 104 in the source containers 106 and optionally deposit them at the intermediate storage area 108 or to deposit them directly into a suitable target container 112.

[0057] Each of the source containers 106 can contain a plurality of items 104. For example, a plurality of items 104 can be arranged in each of the source containers 104, all of which can be associated with an identical product type (e.g., a pack of plastic dowels or a pack of M8 wood screws). Thus, each source container 106 can preferably be assigned a specific product type. Different source containers 106 can preferably be associated with different product types. In another embodiment, a single source container 106 can also contain items 104 of different product types.

[0058] Said intermediate storage 108 also forms part of the picking arrangement 100 and functions for temporarily depositing an object 104 to be picked, which has been removed by a respective one of the first picking robots 102 from a respective one of the plurality of supplied source containers 106.

[0059] In addition, the order-picking arrangement 100 comprises a plurality of second picking robots 110, which can be operated to transfer an object 104 to be picked from the intermediate storage area 108 or directly from a respective source container 106 to an associated one of a plurality of target containers 112. For this purpose, an associated manipulator 126, for example a gripping device for gripping objects 104, can be mounted on each second picking robot 110. Each second picking robot 110 can then be controlled (in particular by means of the control device 132) to pick objects 104 selectively from the intermediate storage area 108 or from the source containers 106 and to deposit them in a suitable target container 112.

[0060] Each of the target containers 112 can accommodate a plurality of items 104 to be picked. A set of items 104 of different goods types or identical goods types to be introduced into an associated target container 112 for shipment to an orderer is defined in an order list stored in the database 134, which is associated with a respective target container 112. According to such an order list, the items 104 to be transferred to a respective target container 112 can preferably be different goods types from different source containers 106 or identical goods types.

[0061] As shown in Figure 1, the order-picking arrangement 100 has a source container feed device 114 designed to feed the source containers 106 (each of which holds a plurality of items 104 to be picked) from a storage location 116 into a range of the first picking robots 102. The storage location 116 can, for example, comprise one or more shelves, pallets, or the like on which many source containers 106 with items 104 are stored. The source container feed device 114 can, for example, by means of a conveyor belt or a vehicle, move source containers 106 required for processing order lists from the storage location 116 into the range of the first picking robots 102. The range of the first picking robots 102 is understood to mean a spatial area around the respective first picking robot 102 in which the said first picking robot 102 can remove items 104 from a source container 106 arranged there.

[0062] The order picking arrangement 100 further comprises a target container feed device 118 for feeding target containers 112 within a range of the second picking robots 110. When fed to the second picking robots 110, the target containers 102, which are to be filled with items 104 according to an assigned order list, can be completely empty or only partially filled. For example, the target containers 112 can be empty shipping cartons upon feeding. The target container feed device 118 can, for example, use a conveyor belt or a vehicle to move empty target containers 112 required for processing order lists into the range of the second picking robots 110. The range of the second picking robots 110 is understood to mean a spatial area around the respective second picking robot 110, in which the said second picking robot 110 can place items 104 into a target container 112 arranged there.

[0063] Furthermore, the order-picking arrangement 100 can have a source container removal device 120 for removing source containers 106, which have been completely or partially emptied by the first picking robot 102, back to the storage location 116 or to a refill station (not shown). The returned source containers 104 can thus, for example, be returned to the shelves or pallets of the storage location 116. There, the source containers 106 can be refilled with corresponding items 104 or picked up for disposal or refilling. The source container removal device 120 can, in turn, have a conveyor belt, a vehicle, or the like to move the source containers 104 to be returned.

[0064] Furthermore, the picking arrangement 100 can have a target container removal device 122 for removing target containers 112, filled with items 104 to be picked according to an assigned order list, from the second picking robots 110 to a shipping station 124. Once a picking task corresponding to an order list has been completed for a respective target container 102, this target container 112 can be shipped to an orderer at the shipping station 124. The target container removal device 122 can in turn have a conveyor belt, a vehicle, or the like to move the filled target containers 112.

[0065] As shown in Figure 1, a plurality of intermediate storage areas 108 can be arranged between the first picking robots 102 and the second picking robots 110, each of which is configured to temporarily deposit an object 104 to be picked. In the illustrated embodiment, each of the intermediate storage areas 108 has a V-shaped receiving groove into which, for example, a cuboid-shaped object 104 slides automatically into a stable final position with a predefined orientation under the influence of gravity. This simplifies subsequent gripping of an object 104 temporarily deposited in a respective intermediate storage area 108 by one of the second picking robots 110.Thus, the intermediate storage areas 108 according to Figure 1 are shaped, oriented, and dimensioned such that when an object 104 to be picked is placed on the intermediate storage area 108, it assumes a well-defined position and tilted orientation under the influence of gravity, enabling the placed object 104 to be picked in a predefined manner by a respective second picking robot 110. The intermediate storage areas 108 can be mobile and can be moved between the picking robots 102, 110 and replaced by other intermediate storage areas 108. In this way, the intermediate storage areas 108 can be adapted as needed to the objects 104 currently being picked.

[0066] As schematically shown in Figure 1, each first picking robot 102 and each second picking robot 110 is equipped with a plurality of interchangeable manipulators 126, each of which provides a different object gripping property. For example, the preferably automatically interchangeable manipulators 126 of a respective picking robot 102, 110 can have grippers of different sizes and / or shapes, vacuum suction cups, etc. Thus, each picking robot 102, 110 can be specifically adapted to the properties of the objects 104 to be picked and / or to the properties of the source container 106 or target container 112.

[0067] The picking arrangement 100 can further comprise one or more detection devices 130 for determining detection information for monitoring the picking of the objects 104 from the source containers 104 into the target containers 112. In the illustrated embodiment, the detection device 130 is an optical camera that monitors the area of ​​the source containers 106, the first and second picking robots 102, 110, the intermediate storage areas 108, and the target containers 112 and transmits corresponding optical detection data to the control device 132 for controlling the picking arrangement 100. Alternatively or additionally, a detection device 130 for detecting weight information of objects 104 and / or containers 106, 112, position information and / or orientation information of objects 104 on the intermediate storage areas 108 and / or transponder information of RFID tags or the like on the containers 106, 112 may also be provided.It is also possible to track the containers 106, 112 and / or the objects 104 during their processing in the picking arrangement 100, for example by means of transponders attached to the respective container 106, 112.

[0068] Advantageously, the plurality of first picking robots 102 can handle a plurality of source containers 106 and objects 104 removed therefrom, as well as a plurality of intermediate storage areas 108, in parallel. Correspondingly, the plurality of second picking robots 110 can handle a plurality of target containers 112 and objects 104 inserted therein, as well as a plurality of intermediate storage areas 108, in parallel. In this case, it is particularly advantageous to freely select the order in which objects are picked from source containers 106, into intermediate storage areas 108, from intermediate storage areas 108, and into target containers 112 by means of the picking robots 102, 110. In contrast to conventional approaches, this advantageously prevents a picking robot 102, 110 from being idle for extended periods, for example, because such a picking robot 102, 110 still has to wait for a source container 104 or a target container 112.By providing intermediate storage areas 108, which both the source container-side picking robots 102 and the destination container-side picking robots 110 can freely access to temporarily store items 104 as needed, idle times can be significantly reduced or even completely eliminated. This leads to particularly efficient picking operations.

[0069] Figure 2 shows a picking arrangement 100 according to another exemplary embodiment of the invention. Figure 2 shows some of the components shown only schematically in Figure 1 with actual embodiments.

[0070] At a transfer point 150 from a warehouse, source containers 106, designed as plastic boxes, are filled with a plurality of identical items 104, for example, screw packs or dowel packs. Individual items 104 can be removed from the source containers 106 by robot arms or other manipulators 126 of first picking robots 102. The picking tasks of the first picking robots 102 can be coordinated or synchronized using a control device 132 (not shown in Figure 2). Each of the first picking robots 102 has access to a plurality of serially arranged pyramid-shaped intermediate storage areas 108, into which items 104 to be picked can be temporarily deposited.Each of several second picking robots 110, which can each be configured as robot arms or other manipulators 126, can remove an object 104 from a respective intermediate storage area 108 and place it at a sorting point 152 into a target container 112, configured here as a cardboard box. The picking tasks of the second picking robots 110 can be coordinated or synchronized with one another by means of a control device 132 not shown in Figure 2. The picking tasks of the first picking robots 102 and the second picking robots 110 can also be coordinated or synchronized with one another by means of a control device 132 not shown in Figure 2. The feeding and / or removal of the source containers 106 and / or the target containers 112 can be included in this coordination or synchronization.

[0071] Figure 3 shows a picking arrangement 100 according to another exemplary embodiment of the invention. Using the picking arrangement 100 shown in Figure 3, a picking method can be carried out, which will be explained in more detail below:

[0072] As shown by reference numeral 160, a respective first picking robot 102 can pick one or more items 104 from a respective one of a plurality of source containers 106.

[0073] As indicated by reference numeral 162, detection information about the picking process can be determined by means of a detection device 130. In the illustrated embodiment, a removed object 104 can be characterized by sensors, for example, optically or by reading a transponder attached to the object 104.

[0074] As shown by reference numeral 164, the detection information may be stored in a database 134, for example in a cloud.

[0075] As shown by reference numeral 166, an object 104 removed from a source container 106 by a first picking robot 102 can be temporarily deposited at one of several storage locations or intermediate storage areas 108.

[0076] As illustrated by reference numeral 168, the detection information stored in the database 134 regarding the object 104 removed from the source container 106 can be fed to a second picking robot 110. This clearly informs the second picking robot 110 about the properties of an object 104 that has been temporarily placed in a temporary storage area 108. This enables the second picking robot 110 to correctly and precisely grasp the object 104 in the temporary storage area 108.

[0077] A first picking robot 102 can push an object 104 (e.g., a package) against an intermediate storage area 108 (e.g., a table) when placing it, and / or a second picking robot 110 can push the object 104 against an edge when picking it up from the intermediate storage area 108. This allows the object 104 to be aligned in a unique or defined manner. This makes the handling process simple and precise.

[0078] As shown by reference numeral 170, the second picking robot 110 can pick up the object 104 temporarily deposited in the intermediate storage area 108. In doing so, the second picking robot 110 can use the detection information transmitted to it, which characterizes the temporarily deposited object 104.

[0079] As illustrated by reference numeral 172, the second picking robot 110 can load multiple target containers 112 with matching items 104. The items illustrated are screw packs, a hammer, and safety goggles.

[0080] Additionally, it should be noted that "comprising" does not exclude other elements or steps, and "a" or "an" does not exclude a plurality. Furthermore, it should be noted that features or steps described with reference to one of the above embodiments may also be used in combination with other features or steps of other embodiments described above. Reference signs in the claims are not to be considered as limitations.

Claims

Patent claims 1. A picking arrangement (100), comprising: at least one first picking robot (102) for transferring an object (104) to be picked from at least one source container (106) to an intermediate storage area (108); the intermediate storage area (108) for temporarily depositing an object (104) to be picked; and at least one second picking robot (110) for transferring an object (104) to be picked from the intermediate storage area (108) to at least one target container (112) which can accommodate at least one object (104) to be picked.

2. Order picking arrangement (100) according to claim 1, comprising a source container feeding device (114) for feeding the at least one source container (106), which contains at least one object (104) to be picked, from a storage location (116) to the at least one first picking robot (102).

3. Order picking arrangement (100) according to claim 1 or 2, comprising a target container feeding device (118) for feeding the at least one target container (112), which is to be filled with at least one object (104) to be picked, to the at least one second picking robot (HO).

4. Order picking arrangement (100) according to one of claims 1 to 3, comprising a source container removal device (120) for removing the at least one source container (106) from which at least one object (104) to be picked has been removed, from which at least a first picking robot (102), in particular to a storage location (116) or to a refilling station.

5. Order picking arrangement (100) according to one of claims 1 to 4, comprising a target container removal device (122) for removing the at least one target container (112), which contains at least one object (104) to be picked, from the at least one second picking robot (110) to a shipping station (124).

6. Order-picking arrangement (100) according to one of claims 1 to 5, comprising the at least one source container (106), in particular a plurality of source containers (106), wherein each of the at least one source container (106) contains at least one object (104) to be picked, in particular a plurality of objects (104) to be picked.

7. Order-picking arrangement (100) according to one of claims 1 to 6, comprising the at least one target container (112), in particular a plurality of target containers (112), wherein each of the at least one target container (112) can accommodate at least one object (104) to be picked, in particular a plurality of objects (104) to be picked.

8. Order picking arrangement (100) according to one of claims 1 to 7, comprising a plurality of first picking robots (102), each of which is designed to transfer an object to be picked (104) from the at least one source container (106) to the intermediate storage area (108).

9. Order picking arrangement (100) according to one of claims 1 to 8, comprising a plurality of second picking robots (110), each of which is designed to transfer an object (104) to be picked from the intermediate storage area (108) to the at least one target container (112).

10. Order-picking arrangement (100) according to one of claims 1 to 9, comprising a plurality of intermediate storage areas (108), each of which is designed for temporarily depositing an object (104) to be picked.

11. Order-picking arrangement (100) according to one of claims 1 to 10, wherein the intermediate storage (108), in particular a plurality of intermediate storages (108), has a table-like storage surface, a shelf, a channel-shaped storage and / or a plurality of channel-shaped storages arranged in particular one above the other.

12. Order-picking arrangement (100) according to one of claims 1 to 11, wherein the intermediate storage (108), in particular a plurality of intermediate storages (108), has a shape such that when an object (104) to be picked is deposited, the object assumes a well-defined position and / or orientation, in particular a tilted orientation, under the influence of gravity on the intermediate storage (108) in order to enable gripping of the deposited object (104) by means of the at least one second picking robot (110) in a predefined manner.

13. Order picking arrangement (100) according to one of claims 1 to 12, wherein the at least one first picking robot (102) and / or the at least one second picking robot (110), in particular selectively or automatically, is provided with a each of a plurality of interchangeable manipulators (126) having different object handling properties.

14. Order-picking arrangement (100) according to one of claims 1 to 13, wherein the intermediate storage (108), in particular a plurality of intermediate storages (108), is designed to be mobile and / or exchangeable.

15. Order picking arrangement (100) according to one of claims 1 to 14, comprising at least one detection device (130) for determining detection information for monitoring and / or controlling the order picking of objects (104) by means of the order picking arrangement (100).

16. Order-picking arrangement (100) according to claim 15, wherein the at least one detection device (130) is designed to detect weight information, position information, orientation information, optical information and / or transponder information.

17. Order picking process comprising: Transferring an object (104) to be picked by means of at least one first picking robot (102) from at least one source container (106) to an intermediate storage area (108) for temporarily depositing an object (104) to be picked; and subsequently transferring the object (104) to be picked by means of at least one second picking robot (110) from the intermediate storage area (108) to at least one target container (112) which receives the at least one object (104) to be picked.

18. Order picking method according to claim 17, wherein the order picking method comprises feeding the at least one source container (106) from a storage location (116) to which at least one first picking robot (102) has.

19. The picking method according to claim 17 or 18, wherein the picking method comprises removing the at least one target container (112) filled with at least one object (104) from the at least one second picking robot (110) to a shipping station (124).

20. Order picking method according to one of claims 17 to 19, wherein the order picking method comprises: Feeding a plurality of source containers (106), each of which contains at least one object (104) to be picked, for simultaneous access by the at least one first picking robot (102), in particular by a plurality of parallel-operating first picking robots (102); and Selecting, by means of the at least one first picking robot (102), in particular by means of the plurality of first picking robots (102), from a respective one of the supplied source containers (106) for transferring an object (104) to be picked from the selected source container (106) to the intermediate storage area (108), in particular to a respectively selected one of a plurality of intermediate storage areas (108).

21. The picking method according to claim 20, wherein the picking method comprises selecting an order of transferring objects (104) to be picked from the supplied plurality of source containers (106) to the at least one intermediate storage area (108), in particular to the plurality of intermediate storage areas (108), different from an order of feeding the plurality of source containers (106) to the at least one first picking robot (102), in particular to the plurality of parallel operating first picking robots (102).

22. Order picking method according to one of claims 17 to 21, wherein the order picking method comprises: Feeding a plurality of target containers (112), each of which is provided for receiving at least one object (104) to be picked, for simultaneous access by the at least one second picking robot (110), in particular by a plurality of parallel-operating second picking robots (110); and Selecting, by means of the at least one second picking robot (110), in particular by means of the plurality of second picking robots (110), from a respective one of the supplied target containers (112) for transferring an object (104) to be picked from the intermediate storage (108), in particular from a respectively selected one of a plurality of intermediate storages (108), to the respectively selected target container (112).

23. The picking method according to claim 22, wherein the picking method comprises selecting an order of transferring objects (104) to be picked from the at least one intermediate storage area (108), in particular from the plurality of intermediate storage areas (108), different from an order of transferring objects (104) to be picked from the supplied plurality of source containers (106) to the at least one intermediate storage area (108), in particular to the plurality of intermediate storage areas (108).

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