Picking method, picking vehicle, and picking system

Abstract

To provide a picking method, a picking vehicle, and a picking system for effectively achieving the automation of picking processes.SOLUTION: There are provided a picking method, a picking vehicle, and a picking system. The picking method includes steps of: acquiring current volume data and current weight data of a box; and generating current placement position data of the box based on the current volume data, the current weight data, and a placement position model of an artificial intelligence model. The placement position model includes multiple placement data respectively containing predetermined volume data, predetermined weight data, and predetermined placement position data corresponding to one another and moves the box to a target placement position via the picking vehicle based on the current placement position data.SELECTED DRAWING: Figure 9

Description

Technical Field

[0001] The present disclosure relates to a picking method, a picking vehicle, and a picking system.

Background Art

[0002] In recent years, due to the rapid development of online shopping, a large amount of labor is required in the logistics industry. However, manually picking items not only causes a shortage of manpower but also makes it difficult to control the stacking of items. For example, when manually moving and stacking items, the position of the items in the rack may shift or protrude from the rack, and it is difficult to maintain the operating rate of the rack above the desired level.

Summary of the Invention

[0003] The present disclosure aims to provide a picking method, a picking vehicle, and a picking system that can effectively automate the picking process.

[0004] An embodiment of the present disclosure includes obtaining current volume data and current weight data of an item, generating current placement position data of the item based on the current volume data, the current weight data, and a placement position model of an artificial intelligence model, where the placement position model includes a plurality of placement data, and each of the plurality of placement data includes a plurality of groups of corresponding predetermined volume data, predetermined weight data, and predetermined placement position data, and moving the item to a target placement position via a picking vehicle based on the current placement position data.

[0005] Another embodiment of the present disclosure provides a picking vehicle configured to move on a support surface and including a movable base, a mounting platform, at least one fork, and a pressing component. The movable base is configured to move on the support surface. The mounting platform is movably disposed on the movable base and has a mounting surface facing away from the support surface. At least one fork is movably disposed on the mounting surface of the mounting platform. The pressing component is movably disposed on the mounting surface of the mounting platform. At least one fork is disposed between the pressing component and the mounting surface.

[0006] Yet another embodiment of the present disclosure provides a picking system configured to pick one or more articles and including a control device, a supply device, at least one rack, and at least one picking vehicle. The supply device is electrically connected to the control device and is configured to convey one or more articles. At least one rack is disposed on a side of the supply device. At least one picking vehicle includes a movable base, a mounting platform, at least one fork, and a pressing component. The movable base is configured to move between the supply device and at least one rack on the support surface and is electrically connected to the control device. The mounting platform is movably disposed on the movable base and has a mounting surface facing away from the support surface. At least one fork is movably disposed on the mounting surface of the mounting platform and is configured to support one or more articles. The pressing component is movably disposed on the mounting surface of the mounting platform. At least one fork is disposed between the pressing component and the mounting surface. The pressing component is configured to push one or more articles supported by at least one fork into at least one rack.

[0007] According to the picking method, picking vehicle, and picking system disclosed by the above-described embodiment, current placement position data of an article is generated based on current volume data, current weight data, and a placement position model of an artificial intelligence model. Therefore, the learned artificial intelligence model can determine an optimized placement position of the article based on the volume and weight of the article. In this way, not only is it possible to prevent the article from shifting within the rack or protruding from the rack, but it is also allowed for the occupancy rate of the rack to be higher than a desired level, and automation of the picking process is effectively realized.

[0008] In addition, by means of a fork and a pressing component movably arranged on the mounting surface of the mounting platform, the picking vehicle can move the article and push it into the rack. Therefore, automation of the picking operation is effectively realized by controlling the picking vehicle. Also, compared with a picking vehicle that sucks an article by means of a vacuum chuck, the present disclosure can move articles of various sizes by means of the fork and the pressing member without being limited by the size of the vacuum chuck.

Brief Description of the Drawings

[0009] The present disclosure will be better understood from the detailed description shown below in this specification and the accompanying drawings. The accompanying drawings are provided for illustrative purposes only and are not intended to limit the present disclosure.

[0010]

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Mode for Carrying Out the Invention

[0011] In the following detailed description, for the sake of explanation, numerous specific details are set forth in order to provide a thorough understanding of the disclosed embodiments. It will be apparent, however, that one or more embodiments may be practiced without these specific details. In other instances, well-known structures and devices are shown schematically in order to simplify the drawing.

[0012] Please refer to FIGS. 1 to 4. Here, FIG. 1 is a perspective view of a picking vehicle according to an embodiment of the present disclosure, FIG. 2 is a side view of the picking vehicle of FIG. 1, FIG. 3 is a partially enlarged perspective view of the picking vehicle of FIG. 1, and FIG. 4 is a partially enlarged perspective view of the picking vehicle of FIG. 3.

[0013] The picking vehicle 400 is, for example, an automated guided vehicle (AGV) or an autonomous mobile robot (AMR). In the present embodiment, the picking vehicle 400 includes a movable base 410, a mounting plate 420, a rotating assembly 430, a lifting assembly 440, a mounting platform 450, a fork drive assembly 460, a fixed plate 465, a plurality of forks 470, a pressing component drive assembly 480, and a pressing component 490.

[0014] As shown in FIG. 1, the movable base 410 is configured to move on the support surface 30. The movable base 410 has an upper surface 411, a first side surface 412, and a second side surface 413. The first side surface 412 and the second side surface 413 face away from each other and are connected to the upper surface 411. The upper surface 411 is configured to face away from the support surface 30.

[0015] As shown in FIG. 1, the mounting plate 420 is rotatably disposed on the upper surface 411 via a rotation assembly 430. The rotation assembly 430 can include a drive unit 431 and a gear assembly 432. The drive unit 431 is, for example, a motor and is disposed on the movable base 410. The gear assembly 432 connects the drive unit 431 and the mounting plate 420 and is configured such that the drive unit 431 rotates the mounting plate 420 along, for example, the Z-axis direction via the gear assembly 432.

[0016] As shown in FIGS. 1 and 2, the lifting assembly 440 includes a slide rail 441, a drive unit 442, and a slider 443. The slide rail 441 is, for example, a linear slide rail and is erected on the upper surface 411 of the movable base 410. The drive unit 442 is, for example, a motor and is disposed on the slide rail 441. The slider 443 is slidably disposed on the slide rail 441. The drive unit 442 is connected to the slider 443 inside the slide rail 441 via, for example, a belt (not shown) so as to drive the slider 443 to slide on the slide rail 441 along, for example, the Z-axis direction. The drive unit 442 includes, for example, a speed reduction drive device for converting the rotation speed of the drive unit 442 into torque. The mounting platform 450 is fixed to the slider 443 and has a mounting surface 451. The mounting surface 451 faces away from the support surface 30.

[0017] As shown in FIGS. 1 and 2, the picking vehicle 400 can further include a chain 455. Two opposing side surfaces of the chain 455 are respectively fixed to the slide rail 441 and the mounting platform 450.

[0018] As shown in FIGS. 3 and 4, the fork drive assembly 460 includes, for example, a drive unit 461, a connecting rod 462, a slide rail 463, and a slider 464. The drive unit 461 is, for example, a motor and is disposed on the mounting surface 451. The connecting rod 462 connects the drive unit 461 and the slide rail 463. The slide rail 463 is disposed on the mounting surface 451 of the mounting platform 450. The slider 464 is slidably disposed on the slide rail 463. The drive unit 461 is configured to move the slider 464 on the slide rail 463 toward or away from the slide rail 441 via the connecting rod 462. The fixing plate 465 is fixed to the slider 464. The forks 470 are spaced apart from each other and protrude from the side surface of the fixing plate 465. Further, in the present embodiment, the mounting platform 450 is disposed between the forks 470 and the movable base 410. That is, the mounting platform 450 is disposed above the movable base 410. Therefore, the picking vehicle 400 can move an article (an article at a high position) at a position away from the support surface 30.

[0019] The drive assembly 480 for pushing the component (for the pressing component) includes, for example, a drive unit 481, a connecting rod 482, two gears 483, two belts 484, two sliders 485, and two guide rods 486. The drive unit 481 is, for example, a motor and is arranged on the mounting surface 451. The connecting rod 482 is connected to the drive unit 481. The two gears 483 are sleeve-shaped and are fixed to the connecting rod 482. The two belts 484 are respectively engaged with the two gears 483. The two sliders 485 are respectively fixed to the two belts 484 and are slidably arranged on the mounting surface 451 of the mounting platform 450 via the guide rods 486. The drive unit 481 is configured to drive the slider 485 to move toward or away from the slide rail 441 on the guide rod 486 via the connecting rod 482, the gear 483, and the belt 484. The pressing component 490 is fixed on the two sliders 485. Further, the fork 470 is arranged between the pressing component 490 and the mounting surface 451.

[0020] The picking vehicle 400 can further include a control unit 495. The control unit 495 is arranged on the mounting surface 451 and is electrically connected to the drive units 461 and 481 on the mounting (installation) surface 451 via one or more cables (not shown). The one or more cables may be arranged in the chain 455 so as not to interfere with the operation of other components.

[0021] Next, the picking system 10 according to an embodiment of the present disclosure will be described. Referring to FIGS. 5 and 6, FIG. 5 is a block diagram of a picking system according to an embodiment of the present disclosure, and FIG. 6 is a schematic perspective view of the picking system of FIG. 5. In the present embodiment, the picking system 10 includes a control device 100, a supply device 200, a plurality of racks 300, and a plurality of picking vehicles 400.

[0022] The supply device 200 is, for example, a conveyor and is electrically connected to the control device 100. The supply device 200 is configured to convey one or more articles 20, 21. The rack 300 is arranged on the side of the supply device 200. Since the structure of the picking vehicle 400 has been described in detail with reference to FIGS. 1 to 4, repeated description will be omitted. The movable base 410 is configured to be movable between the supply device 200 and the rack 300 on the support surface 30 and is electrically connected to the control device 100. For example, a circuit assembly 496 electrically connected to the control device 100 may be arranged on the movable base 410. The circuit assembly 496 can include a computing computer and a control module. The control unit 495 is electrically connected to the circuit assembly 496, for example, via the Internet. The fork 470 is configured to support one or more articles 21, 22. The pressing component 490 is configured to push one or more articles 21, 22 supported by the fork 470 into the rack 300.

[0023] In the present embodiment, the picking system 10 can further include a code reader 500, a sensor 600, and an imaging device 700. The code reader 500 is electrically connected to the control device 100 and is configured to read the barcode of the article 20. The sensor 600 is, for example, an infrared sensor or an image sensor. The sensor 600 is electrically connected to the control device 100 and is configured to detect the position of the article 21 on the supply device 200. The imaging device 700 is electrically connected to the control device 100 and is configured to capture an image of the rack 300. In other embodiments, at least one of the code reader 500, the sensor 600, and the imaging device 700 can be omitted according to actual requirements.

[0024] Hereinafter, a picking method according to an embodiment of the present disclosure will be described. Refer to FIGS. 6 to 11. FIGS. 7 and 8 are partial enlarged perspective views of the picking system of FIG. 5. FIGS. 9 to 11 are flowcharts of a picking method according to an embodiment of the present disclosure. For convenience of illustration, articles 20 to 23 labeled with different numbers are shown in FIG. 6. In reality, articles 20 to 23 may be the same article at different picking stages. The following steps may be executed, for example, by the control device 100 of FIG. 5.

[0025] Refer to FIGS. 6 to 9. First, step S01 of supplying article 20 to the sensing area S of the supply device 200 by, for example, a sorter is executed. In other embodiments, the article may be manually supplied to the sensing area.

[0026] Refer to FIGS. 6 and 9. Next, step S02 of reading the barcode of article 20 by the barcode reader 500 and acquiring the current volume data and current weight data of article 20 is executed. For example, the code may correspond to the code of the article, and the corresponding volume data and weight data may be acquired from a database based on the code of the article corresponding to the barcode.

[0027] Refer to FIG. 9. Next, step S03 is executed to compare the current volume data and the current weight data with the reference volume data and the reference weight data, respectively. If the current volume data and the current weight data do not match the reference volume data and the reference weight data, respectively, a warning signal may be generated to notify the technician to handle the error.

[0028] Please refer to FIGS. 6 and 9. When the current volume data and the current weight data match the reference volume data and the reference weight data respectively, step S04 is executed to move the article 21 from the sensing area S to the pickup area 201 of the supply device 200, and the sensor 600 determines whether the article 21 is located in the pickup area 201. The pickup area 201 is located, for example, at the end of the supply device 200. If the sensor 600 determines that the article 21 is not located in the pickup area 201, a warning signal may be generated to notify the technician of how to handle the error. If the sensor 600 determines that the article 21 is located in the pickup area 201, step S05 of calling an artificial intelligence model learned by an artificial intelligence algorithm is executed.

[0029] Please refer to FIG. 9. Next, step S06 is executed to generate the current placement position data of the article 21 based on the current volume data, the current weight data, and the placement position model of the artificial intelligence model. In the present embodiment, the current placement position data includes target rack data and target stacking position data. The placement position model includes a plurality of placement data. Each placement data includes a plurality of groups of corresponding predetermined volume data, predetermined weight data, and predetermined placement position data. In the present embodiment, the predetermined placement position data includes predetermined rack data and predetermined stacking position data. Specifically, the target rack data and the predetermined rack data indicate on which rack 300 of the racks the article 21 should be placed. Also, the target stacking position data and the predetermined stacking position data indicate where on the indicated rack 300 the article 21 should be placed.

[0030] In other embodiments, the picking system may include one rack. In such an embodiment, the current placement position data may not include the target rack data, and the predetermined placement position data may not include the predetermined rack data.

[0031] In this embodiment or other embodiments, the artificial intelligence model may be trained by a supervised method using a plurality of training data and a generative artificial intelligence (GAI) algorithm. Each training data includes volume data and weight data, and each training data may have a label indicating one of a plurality of predetermined placement positions. The artificial intelligence model is, for example, ChatGPT, Databricks-Dolly 2.0, or Meta-Llama 2, and can be trained by at least one of PEFT (Parameter Efficient Fine Tuning), LoRA (Low-Rank Adaptation), and Cutting-Stock Algorithm. For example, more than 1,000 pieces of learning data corresponding to an operating rate of 85% or more can be randomly generated using the Cutting-Stock Algorithm, and such learning data can be converted into a plurality of predetermined placement position data corresponding to an average operating rate of 94%.

[0032] In this embodiment, step S04 of determining the position of the article 21 is executed before step S05 of calling the artificial intelligence model, but the present disclosure is not limited thereto. In other embodiments, step S05 may be executed before step S04, or steps S04 and S05 may be executed simultaneously.

[0033] Please refer to FIG. 9. Next, step S07 is executed to transfer the current placement position data to the database.

[0034] Please refer to FIGS. 6 and 9. Next, step S08 is executed to select one of the picking vehicles 400.

[0035] Please refer to FIGS. 7 and 10. Next, step S09 of performing control to move the selected picking vehicle 400 to the vicinity of the picking area 201 is executed.

[0036] Please refer to FIGS. 7 and 10. Next, step S10 is executed to adjust the height of the mounting platform 450 relative to the support surface 30 via the lifting assembly 440 and to adjust the angle of the mounting platform 450 along the Z-axis direction via the rotating assembly 430.

[0037] Please refer to FIGS. 7 and 10. Next, step S11 is executed to separate the fork 470 from the slide rail 441 via the fork drive assembly 460 so that the fork 470 is pushed into the space between the article 21 and the supply device 200.

[0038] Please refer to FIGS. 7 and 10. Next, step S12 is executed to support the article 21 by the fork 470.

[0039] Please refer to FIGS. 8 and 10. Then, steps S13 to S18 are executed to move the article 22 to the target placement position via the picking vehicle 400 based on the current placement position data.

[0040] Specifically, please refer to FIGS. 8 and 10. Step S13 is first executed to control the picking vehicle 400 to move the article 22 to the vicinity of the rack 300 indicated by the target rack data. Further, referring back to FIG. 6, the three picking vehicles 400 in FIG. 6 may be respectively assigned to the vicinity of the supply device 200, the vicinity of the rack 300, and the standby area A located on the side of the rack 300 along the assignment direction D. The picking vehicle 400 located in the standby area A can be assigned to the vicinity of the supply device 200 in the next cycle of the picking method.

[0041] Please refer to FIGS. 7, 8 and 10. Next, step S14 is executed to adjust the height of the mounting platform 450 relative to the support surface 30 via the lifting assembly 440 and to adjust the angle of the mounting platform 450 along the Z-axis direction via the rotating assembly 430 based on the target stacking position data.

[0042] Please refer to FIGS. 8 and 10. Then, based on the target stacking position data, step S15 is executed in which the driving assembly 460 moves the fork 470 towards or away from the slide rail 441. Further, when moving the fork 470, interference between the fork 470 and the rack 300 or interference between the fork 470 and the article 23 placed on the rack 300 may be prevented by a dynamic tracking algorithm.

[0043] Please refer to FIGS. 8 and 11. Next, step S16 is executed in which the pressing part 490 is moved away from the slide rail 441 via the driving assembly 480 for the pressing part.

[0044] Please refer to FIGS. 8 and 11. Next, step S17 is executed in which the pressing part 490 is driven via the driving assembly 480 for the pressing part to push out the article 22 from the picking vehicle 400.

[0045] Please refer to FIGS. 8 and 11. Subsequently, step S18 is executed in which the article 23 is stacked on the rack 300 at the target placement position indicated by the target stacking position data. The target placement position indicated by the target stacking position data is located on the rack 300 indicated by the target rack data.

[0046] Please refer to FIG. 11. Next, step S19 is executed in which it is determined whether the rack 300 is abnormal via the imaging device 700. If the rack 300 is normal, step S20 is executed in which it is determined whether the rack 300 is full via the imaging device 700. If the rack 300 is full, the picking method ends. If the rack 300 is not full, steps S02 - S19 are repeated.

[0047] For example, the imaging device 700 may capture one or more of a depth image, an infrared image, and an RGB image. Further, the structure of the rack may be analyzed to construct a rack coordinate system, the difference between a plurality of images may be analyzed to identify the contour of an article, and the state of the article may be identified by tracking the article. Therefore, the vortex and height of the rack may be analyzed, the difference in depth (depth) features may be analyzed, and the position and state of the article may be tracked. In this way, the imaging device 700 can determine whether the article 23 is abnormal and whether the rack 300 is full. For example, if the article 23 is displaced from other articles in the rack 300 or protrudes from the rack 300, it is determined that the rack 300 is abnormal, and if the space in the rack 300 for accommodating the article occupies a certain ratio or more of the entire space of the rack 300, it is determined that the rack 300 is full.

[0048] When the rack 300 is abnormal, step S21 is executed, and a warning signal for notifying a technician to handle the error is generated.

[0049] In the picking vehicle 400 shown in FIGS. 1 to 4, the mounting platform 450 is disposed above the movable base 410, but the present disclosure is not limited thereto.

[0050] Hereinafter, other embodiments will be described. In the following embodiments, some of the reference numerals (symbols) and contents of the above embodiments are used, the same reference numerals are used for the same or similar elements, and the description of the same technical content is omitted. For the description of the omitted parts, the above embodiments can be referred to, and the detailed description is omitted in the following embodiments.

[0051] Please refer to FIG. 12. FIG. 12 is a perspective view of a picking vehicle according to another embodiment of the present disclosure. In this embodiment, the picking vehicle 400a includes a movable base 410, a mounting plate 420a, a rotating assembly 430, a lifting assembly 440, a mounting platform 450a, a fork drive assembly 460, a fixed plate 465, a fork 470, a pressing part drive assembly 480, and a pressing part 490. The mounting plate 420a includes, for example, a first plate portion 421a and a second plate portion 422a. The second plate portion 422a stands on the side of the first plate portion 421a. The first plate part 421a is disposed on the upper surface 411 and connected to the rotating assembly 430. The second plate portion 422a is located on the side of the first side surface 412 that is farthest from the second side surface 413. The mounting platform 450a protrudes from the second plate portion 422a, and the first side surface 412 is located between the mounting platform 450a and the second side surface 413. Therefore, the picking vehicle 400a can take a large working space and can be used to move an article (an article with a small height) located close to the support surface 30.

[0052] According to the picking method, picking vehicle, and picking system disclosed by the above embodiment, current placement position data of an article is generated based on current volume data, current weight data, and a placement position model of an artificial intelligence model. Therefore, the learned artificial intelligence model can determine an optimized placement position of the article based on the volume and weight of the article. In this way, not only is it possible to prevent the article from shifting or protruding from the rack, but it is also allowed for the occupancy rate of the rack to be higher than a desired level, and the automation of the picking process is effectively realized.

[0053] In addition, the picking vehicle can move an article and push it into the rack by means of forks and pressing parts movably arranged on the mounting surface of the mounting platform. Therefore, the automation of the picking operation is effectively realized by the control of the picking vehicle. Further, compared with a picking vehicle that sucks an article by means of a vacuum chuck, the present disclosure can move articles of various sizes by means of forks and pressing parts without being limited by the size of the vacuum chuck.

[0054] It will be apparent to those skilled in the art that various modifications and variations can be made to the disclosed embodiments. The specification and examples are intended to be considered as exemplary only, and the true scope of the present disclosure is indicated by the following claims and their equivalents.

Claims

1. Obtain the current volume data and current weight data of the article, Based on the current volume data, the current weight data, and a placement position model of an artificial intelligence model, generate the current placement position data of the article, where the placement position model includes a plurality of placement data, and each of the plurality of placement data includes a plurality of groups of predetermined volume data, predetermined weight data, and predetermined placement position data that correspond to each other, Based on the current placement position data, moving the article to a target placement position via a picking vehicle, A picking method.

2. The current placement position data includes target rack data and target stacking position data, the predetermined placement position data includes predetermined rack data and predetermined stacking position data, and the picking vehicle moves the article to the target placement position located on one of a plurality of racks. The picking method according to Claim 1.

3. Before obtaining the current volume data and the current weight data of the article, further including supplying the article to a sensing area of a supply device. The picking method according to Claim 1.

4. After obtaining the current volume data and the current weight data of the article, further including comparing the current volume data and the current weight data with reference volume data and reference weight data respectively, and when the current volume data and the current weight data respectively match the reference volume data and the reference weight data, generating the current placement position data of the article based on the current volume data, the current weight data, and the placement position model of the artificial intelligence model. The picking method according to Claim 1.

5. Before moving the article to the target placement position via the picking vehicle based on the current placement position data, moving the article from the sensing area to a pickup area on the supply device, determining by a sensor whether the article is located in the pickup area, and when the article is located in the pickup area, further including moving the article to the target placement position via the picking vehicle based on the current placement position data. The picking method according to Claim 3.

6. After moving the article to the target placement position via the picking vehicle based on the current placement position data, further comprising determining whether the rack is abnormal via an imaging device. The picking method according to claim 1.

7. After moving the article to the target placement position via the picking vehicle based on the current placement position data, further comprising determining whether the rack is full via an imaging device. The picking method according to claim 1.

8. A picking vehicle configured to move on a support surface, A movable base configured to move on the support surface, A mounting platform movably disposed on the movable base and having a mounting surface facing away from the support surface, At least one fork movably disposed on the mounting surface of the mounting platform, A pressing component movably disposed on the mounting surface of the mounting platform, wherein the at least one fork is disposed between the pressing component and the mounting surface. Picking vehicle.

9. The mounting platform is disposed between the at least one fork and the movable base. The picking vehicle according to claim 8.

10. The movable base has an upper surface, a first side surface, and a second side surface, The first side surface and the second side surface face away from each other and are connected to the upper surface, The upper surface is configured to face away from the support surface, The first side surface is located between the mounting platform and the second side surface. The picking vehicle according to claim 8.

11. Further comprising a mounting plate and a rotation assembly, The mounting plate is rotatably disposed on the side of the movable base that is farthest from the support surface via the rotation assembly, The mounting platform is disposed on the mounting plate, and the rotation assembly includes a drive unit and a gear assembly, The drive unit is disposed on the movable base, and the gear assembly connects the drive unit and the mounting plate such that the drive unit rotates the mounting plate via the gear assembly. The picking vehicle according to claim 8.

12. Further comprising a lifting assembly, The lifting assembly includes a slide rail, a drive unit, and a slider. The slide rail stands on the side of the movable base that is farthest from the support surface, The drive unit is arranged on the slide rail, The slider is slidably arranged on the slide rail, The drive unit is connected to the slider to drive the slider to slide on the slide rail, The mounting platform is fixed to the slider, The picking vehicle according to claim 8.

13. Further comprising a chain, Two opposing side surfaces of the chain are respectively fixed to the slide rail and the mounting platform, The picking vehicle according to claim 12.

14. Further comprising a drive assembly for the at least one fork, The drive assembly for the at least one fork includes a drive unit, a connecting rod, a slide rail, and a slider, The drive unit is arranged on the mounting surface, The connecting rod connects the drive unit and the slide rail, The slide rail is arranged on the mounting surface, The slider is slidably arranged on the slide rail, The drive unit is configured to drive the slider to slide on the slide rail via the connecting rod, The at least one fork is fixed to the slider, The picking vehicle according to claim 8.

15. Further comprising a drive assembly for the pressing component, the drive assembly for the pressing component includes a drive unit, a connecting rod, two gears, two belts, two sliders, and two guide rods, The drive unit is arranged on the mounting surface, The connecting rod is connected to the drive unit, The two gears are fixed to the connecting rod in a sleeve shape, The two belts are respectively engaged with the two gears, The two sliders are respectively fixed to the two belts, The two sliders are slidably arranged on the mounting surface via the two guide rods respectively, The drive unit is configured to drive the two sliders to slide on the two guide rods via the connecting rod, the two gears, and the two belts, and the pressing component is fixed to the two sliders, The picking vehicle according to claim 8.

16. Further comprising a control unit disposed on the mounting surface and electrically connected to the drive unit The picking vehicle according to claim 14

17. A picking system configured to pick one or more articles, A control device; A supply device electrically connected to the control device and configured to convey the one or more articles; At least one rack disposed on a side surface of the supply device; At least one picking vehicle, A movable base configured to move between the supply device and the at least one rack on a support surface and electrically connected to the control device; A mounting platform movably disposed on the movable base and having a mounting surface facing away from the support surface; At least one fork movably disposed on the mounting surface of the mounting platform and configured to support the one or more articles; A pressing component movably disposed on the mounting surface of the mounting platform, wherein the at least one fork is disposed between the pressing component and the mounting surface, and the pressing component is configured to push the one or more articles supported by the at least one fork into the at least one rack. A picking vehicle comprising: A picking system.

18. The picking system further comprises an imaging device electrically connected to the control device, and the imaging device is configured to capture an image of the at least one rack. The picking system according to claim 17

19. The picking system further comprises a sensor electrically connected to the control device, and the sensor is configured to sense one or more positions of the one or more articles on the supply device. The picking system according to claim 17

20. The picking system further comprises a code reader electrically connected to the control device, and the code reader is configured to read one or more barcodes on the one or more articles. The picking system according to claim 17

Images