Order processing mechanism with intermediate storage between pick robots

Abstract

The order processing mechanism (100) includes at least one first pick robot (102) for transferring objects (104) to be processed from at least one starting container (106) to an intermediate storage area (108), the intermediate storage area (108) for temporarily storing the objects (104) to be processed, and at least one second pick robot (110) for transferring the objects (104) to be processed from the intermediate storage area (108) to at least one destination container (112) that can accommodate the at least one object (104) to be processed.

Description

[Technical Field]

[0001] The present invention relates to an order processing mechanism and an order processing method.

[0002] In conventional order fulfillment of objects, for example at an online merchant's logistics center, an order fulfiller removes the object from a starting bin and transfers it into a destination bin.

[0003] For online retailers, products from a warehouse are packaged in cartons and shipped to customers. To do this, products stored in cases, for example, are transported from a warehouse storage location to a worker or robot, who then removes the desired number of products from the case and places them in a shipping case, which is then sent to the customer. The robots used for this purpose typically use manipulators to pick the products from the case, which then picks the products directly from the starting container and places them in a destination container, i.e., a shipping carton.

[0004] Fulfilling an order for an object has traditionally been a time-consuming and costly affair.

[0005] An object of the present invention is to provide an efficient order processing system.

[0006] This problem is solved by the subject matter having the features of the independent claims. Further embodiments are given in the dependent claims.

[0007] In one embodiment of the present invention, an order processing mechanism is provided having at least one first pick robot for transferring objects to be processed from at least one starting container to an intermediate storage area, the intermediate storage area for temporarily placing the objects to be processed, and at least one second pick robot for transferring the objects to be processed from the intermediate storage area to at least one destination container capable of accommodating the at least one object to be processed.

[0008] In another embodiment of the present invention, an order processing method is provided, comprising transferring objects to be processed by at least one first pick robot from at least one starting container to an intermediate storage area for temporarily placing the objects to be processed, and subsequently transferring the objects to be processed by at least one second pick robot from the intermediate storage area to at least one destination container containing the at least one object to be processed.

[0009] Within the framework of this application, the term "order processing mechanism" is understood in particular to mean a system for loading objects from a starting container into a destination container.

[0010] Within the scope of the present application, the term "object" is understood to mean, in particular, a physical object that can be picked or otherwise handled, such as a product element. Examples of product elements are, in particular, technical objects or components, such as tool components (e.g., hammers, screwdrivers, etc.) or consumable components (e.g., screws, nails, anchor bolts, etc.). Further examples of objects or product elements to be ordered are trunk contents, machine components, manual machines (e.g., battery-powered drilling machines), tool inserts, canisters, cans, bottles, cartridges, tubes, and / or drawer contents.

[0011] Within the scope of the present application, the term "container" is understood to mean in particular a container device that contains or can contain objects, such as product elements, on and / or inside a container space depending on the application. Examples of such containers are plastic containers or cartons.

[0012] Within the scope of the present application, the term "starting container" is understood to mean, in particular, a container that contains one or more objects, at least one of which should be transferred to an assigned destination container. For example, the objects in one starting container may be the same object, e.g., the same product element. For example, the starting container may be a product box in a product warehouse. A starting container may contain a large number of objects, e.g., at least 10 or at least 100.

[0013] Within the scope of this application, the term "target container" is understood to mean, in particular, a container to be filled with one or more objects. In particular, the objects transferred to the target container may be different objects, for example different product elements. For example, the target container may be a carton that is filled with ordered objects or product elements and then sent to a customer. A single target container may contain a large number of objects, for example at least 10 or at least 100.

[0014] Within the scope of this application, the term "pick robot" is understood to mean a technical device capable of picking, handling, or otherwise manipulating objects to be fulfilled. A pick robot may be a robot, cobot, or robotic arm, which may be configured with a manipulator for manipulating or handling objects. For example, such a manipulator of a pick robot may be used to pick objects to be fulfilled. In other words, the manipulator of a pick robot may be, for example, a gripper for picking objects to be fulfilled. A pick robot may be configured for pick-by-robot order fulfillment. Pick-by-robot may refer to order fulfillment technology that uses automation technology to prepare objects in a warehouse. Instead of a human worker, a pick robot performs some or all of the tasks of fulfilling an order object.

[0015] Within the scope of this application, the term "intermediate storage" is understood to mean, in particular, a storage device for intermediate storage of objects to be processed after the respective objects are removed from the starting container by a first pick robot on the starting container side until the objects are further processed by a second pick robot on the destination container side. The intermediate storage device may thus be configured as a buffer device for intermediate storage of objects to be processed. Therefore, the intermediate storage device may be arranged between at least one first pick robot and at least one second pick robot, and may be positioned within the reach of both the first and second pick robots. The intermediate storage device may be configured purely passively (i.e., it only provides a static intermediate storage function). Alternatively, it is also possible to provide an actively controllable intermediate storage device that can, for example, be dynamically moved or structurally adapted to the current objects to be processed.

[0016] In one embodiment of the present invention, when fulfilling an order of objects from an originating container to a destination container, a first pick robot is first used to transfer the respective object from the originating container to an intermediate storage area for temporarily placing the object. A second pick robot then transfers the object from the intermediate storage area to the destination container, thereby allowing the destination container to be loaded with the object. By providing an intermediate storage area that serves as a buffer between the originating container pick robot and the destination container pick robot for temporarily placing the objects to be fulfilled, the objects to be fulfilled do not necessarily have to be transferred from the originating container to the destination container according to the "first in, first out" principle. The "first in, first out" principle can refer to logistics in which objects are handled in a specific manner from the originating container. In this case, the objects are first removed again from the originating container from which they were originally delivered and further fulfilled. Although the "first-in, first-out" principle can be temporarily applied in an exemplary embodiment of the present invention, the provision of an intermediate storage area allows one or more objects to be buffered in the intermediate storage area before further order processing, thereby enabling the order of object transfer to a destination container to be changed relative to the removal of the objects from the starting container. This makes it possible to avoid the dead time that traditionally occurs during order processing, in which further order processing must wait because one of the involved components is not yet ready to process the order. By providing an intermediate storage area between the pick robots on the starting container and the destination container, and within the reach of the pick robots on the starting container and the destination container, order processing time can be utilized more efficiently, and a larger number of objects can be processed from the starting container to the destination container. In this way, the provision of at least one intermediate storage area provides an efficient order processing system. The provision of an intermediate storage area also allows the work of the second pick robot (especially the manipulator) to fill the destination container to occur regardless of the order in which the starting containers arrive at the order processing station.

[0017] Additional illustrative examples of order processing mechanisms and methods are described below.

[0018] In one exemplary embodiment, the order fulfillment mechanism can include a starting container supply device for supplying at least one starting container containing at least one object to be fulfilled from a storage location to at least one first pick robot. In a corresponding manner, the order fulfillment method can include supplying at least one starting container from a storage location to at least one first pick robot. For example, the starting container supply device can be configured to supply starting containers from a storage shelf such that the at least one first pick robot can spatially reach the supplied starting container and fulfill the order with the object stored therein. Furthermore, for example, the starting container supply device can trigger the supply of starting containers to the at least one first pick robot in a fully automated manner. The starting container supply device can be motorized and can include, for example, a conveyor belt, a forklift, and / or a transport robot.

[0019] In one exemplary embodiment, the order fulfillment mechanism can include a target container / feeder for feeding at least one target container to at least one second pick robot to be filled with at least one object to be fulfilled for the order. For example, the target container / feeder can be configured to feed an empty target container or a target container (e.g., a shipping carton) that is only partially filled with objects so that the at least one second pick robot can spatially reach the fed target container and place the object therein. For example, the target container / feeder can trigger the feeding of the target container to the at least one second pick robot in a fully automated manner. The target container / feeder can be motorized and can include, for example, a conveyor belt, a forklift, and / or a transport robot.

[0020] In one exemplary embodiment, the order fulfillment mechanism can include a starting container / discharge device for discharging at least one starting container, from which at least one object to be fulfilled has been removed, from at least one first pick robot, particularly to a storage location or a refilling station. Once all objects have been removed from the starting container by the at least one first pick robot, thereby completely emptying the starting container, the starting container / discharge device can return the empty starting container to a storage location or provide it to a refilling station. The empty starting container can then be removed from the storage location and replaced with a full starting container. At the refilling station, the empty starting container can be filled with new objects. The refilled starting container can then be transferred again to a storage location or immediately directly to at least one first pick robot. For example, the starting container / discharge device can trigger the removal of the starting container from the at least one first pick robot in a fully automated manner. The starting container and unloading device may be motor-driven and may for example comprise a conveyor belt, a forklift and / or a transport robot.

[0021] In one exemplary embodiment, the order fulfillment mechanism can include a target container / discharge device for delivering at least one target container containing at least one object to be fulfilled from the at least one second pick robot to a shipping station. In a corresponding manner, the order fulfillment method can include delivering at least one target container filled with at least one object from the at least one second pick robot to a shipping station. Once all objects have been delivered to the target container by the at least one second pick robot, thereby completely filling the target container, the target container / discharge device can transfer the completed target container to the shipping station for delivery to the customer. For example, the target container / discharge device can fully automatically trigger the removal of the target container from the at least one second pick robot. The target container / discharge device can be motorized and can include, for example, a conveyor belt, a forklift, and / or a transport robot.

[0022] The filling of the destination containers can be controlled by a control device so that the destination containers with the objects are filled according to a destination container-filling list. In particular, the pick robot can have access to the destination container-filling list assigned to the destination container to be filled in each case, so that the pick robot can process the objects in an appropriate manner between the starting container and the destination container, and if necessary, buffer the objects in an intermediate storage area.

[0023] In one exemplary embodiment, the order fulfillment mechanism can have at least one starting container, particularly a plurality of starting containers, each of the at least one starting container containing at least one object to be fulfilled, particularly a plurality of objects to be fulfilled, where different starting containers can contain different objects (particularly different product types), and where each starting container can contain multiple identical objects (particularly only one product type).

[0024] In one exemplary embodiment, the order fulfillment mechanism can have at least one target receptacle, and in particular a plurality of target receptacles, each of which can contain at least one object to be fulfilled, and in particular can contain a plurality of objects to be fulfilled. Different target receptacles can contain the same set of objects (especially different product types), and each target receptacle can contain multiple different objects (especially different product types).

[0025] In one exemplary embodiment, the order fulfillment mechanism can have a plurality of first pick robots, each configured to transfer objects to be fulfilled from at least one starting container to an intermediate location. Alternatively or additionally, the order fulfillment mechanism can have a plurality of second pick robots, each configured to transfer objects to be fulfilled from the intermediate location to at least one destination container. Furthermore, the order fulfillment mechanism can have a plurality of intermediate locations, each configured to temporarily store objects to be fulfilled. Preferably, a plurality of first or second pick robots can be provided on the starting container side and / or the destination container side, which can work in parallel and / or in cooperation to transfer objects from the starting container to the destination containers according to individual or unified destination container fill lists for the different destination containers. A modular logistics system can be created that can handle complex order fulfillment tasks in a highly flexible, efficient, and error-robust manner using multiple originating and destination containers with multiple intermediate locations. Such an order fulfillment mechanism can handle multiple originating and destination containers simultaneously, thereby reducing or completely eliminating dead time or waiting times in fulfilling orders.

[0026] In one exemplary embodiment, the intermediate bin, particularly the plurality of intermediate bins, can comprise a table-like surface, a shelf, a trough, and / or a plurality of troughs, particularly arranged one above the other. Such intermediate bins can be provided at low cost and significantly improve the efficiency of the order fulfillment mechanism.

[0027] In one exemplary embodiment, the intermediate storage bin, particularly the plurality of intermediate storage bins, can have a shape such that, when an object to be fulfilled is placed therein, the object assumes a well-defined position and / or orientation, particularly an inclined orientation, under the influence of gravity, thereby enabling picking of the placed object by at least one second pick robot in a predefined manner. For example, when viewed in cross section, the intermediate storage bin can be designed as a right-angled triangle, with the right angle located at the bottom and bounded by two diagonally extending sides. Such a geometry allows a rectangular object to simply slide down into such an intermediate storage bin, whereby the rectangular object easily moves into the right angle at the bottom. This places the rectangular object in a position and orientation that allows the intermediately stored object to be accurately grasped or picked by the second pick robot without additional alignment costs. Since many objects to be fulfilled have at least approximately rectangular prism geometries (e.g., carton packaging), the above-described shape of the intermediate storage bin is highly preferable for many applications.

[0028] In one exemplary embodiment, at least one first pick robot and / or at least one second pick robot may be selectively or automatically equipped with multiple interchangeable manipulators, each with different object handling characteristics. For example, interchangeable grippers of different sizes and / or different picking geometries, suction devices for vacuum-holding objects, etc. may be intended as manipulators. When a pick robot recognizes (e.g., via a sensor) or is notified by a control device that a current order fulfillment task can be better handled with a different manipulator, the pick robot can automatically exchange manipulators for a specific order fulfillment task. Alternatively, the manipulator of a pick robot can be manually exchanged by an operator.

[0029] In one exemplary embodiment, the intermediate bin, particularly multiple intermediate bins, may be configured to be movable and / or interchangeable. For example, an intermediate bin may be moved out between the first and second pick robots if it is not suitable for the current order fulfillment task or if another intermediate bin is better suited. This increases the flexibility of the order fulfillment mechanism.

[0030] In one exemplary embodiment, the order fulfillment mechanism can have at least one sensing device for determining sensory information for monitoring and / or controlling the order fulfillment of objects by the order fulfillment mechanism. For example, such a sensing device can be configured to detect weight information, position information, orientation information, optical information, and / or transponder information. Based on the sensed or sensor-detected information, the order fulfillment mechanism, in particular the pick robot, can be controlled. For example, the at least one sensing device can determine sensory information for identifying and / or characterizing at least one object transferred to at least one intermediate location by at least one first pick robot. Preferably, such sensory information can be provided to a second pick robot, which can use the sensory information to pick the object temporarily placed in the intermediate location and transfer it to a destination container. In this way, the transfer of objects from the starting container via the intermediate location to the destination container can be performed in a particularly error-robust manner using the first and second pick robots.

[0031] In one exemplary embodiment, the order fulfillment method can include providing a plurality of starting containers, each containing at least one object to be fulfilled, for simultaneous access by at least one first pick robot, particularly by multiple first pick robots operating in parallel. The method can further include selecting, by the at least one first pick robot, particularly by multiple first pick robots, one of the provided starting containers for transferring the object to be fulfilled from the selected starting container to an intermediate storage location, particularly to a respectively selected one of multiple intermediate storage locations. In this way, each first pick robot or a control device controlling it can freely select from which of the multiple starting containers within its reach the object should be removed. The respective first pick robot then transfers the object to the intermediate storage location or, alternatively, immediately places the object in the destination container itself. This flexibility ensures that each first pick robot is able to process order processing tasks at all times, or at least for the majority of its working time, without waiting (e.g., until a matching starting container or a matching destination container is provided).

[0032] It is particularly preferred that the order processing method can include selecting a sequence in which the objects to be processed are transferred from at least one first pick robot (or from the supplied starting containers) to at least one intermediate storage location, in particular to multiple intermediate storage locations, different from the sequence in which the starting containers are supplied to at least one first pick robot, in particular to multiple first pick robots operating in parallel. In this way, the "first in, first out" order processing principle does not necessarily apply to each first pick robot (although this principle can be applied at least temporarily). However, each first pick robot preferably has the ability to deviate from the "first in, first out" order processing principle at any time and process the starting containers or the objects contained therein in a freely selectable order, in particular to an intermediate storage location or immediately to a destination container.

[0033] In one exemplary embodiment, the order fulfillment method can include providing a plurality of target containers, each intended to accommodate at least one object to be fulfilled, for simultaneous access by at least one second pick robot, particularly by multiple second pick robots operating in parallel. The method can further include selecting, by at least one second pick robot, particularly by multiple second pick robots, each of the provided target containers for transferring the object to be fulfilled from an intermediate storage location, particularly from a respectively selected one of the multiple intermediate storage locations, to the respectively selected target container. In this way, each second pick robot, or a control device controlling it, can freely select into which of the multiple target containers within its reach the object should be transferred. Each second pick robot can transfer the object from the intermediate storage location to the respective target container, or alternatively, can immediately remove the object from the starting container and place it in the target container itself. This flexibility ensures that each second pick robot is able to process order processing tasks at all times, or at least for the majority of its working time, without waiting (e.g., until a matching starting container or a matching destination container is provided).

[0034] It is particularly preferred that the order processing method can have the sequence of transferring the objects to be processed from at least one intermediate storage location, in particular from a plurality of intermediate storage locations, selected differently from the sequence of transferring the objects to be processed from a plurality of supplied starting containers to at least one intermediate storage location, in particular to a plurality of intermediate storage locations. In this way, the "first in, first out" order processing principle does not necessarily apply to each second pick robot (although this principle can be applied at least temporarily). However, each second pick robot preferably has the ability to deviate from the "first in, first out" order processing principle at any time and load the objects assigned to the target container in a freely selectable sequence, in particular from an intermediate storage location or immediately directly from the starting container.

[0035] Illustrative embodiments of the present invention will now be described in more detail with reference to the following drawings: [Brief explanation of the drawings]

[0036] [Figure 1] FIG. 1 illustrates an order processing mechanism according to an exemplary embodiment of the present invention. [Figure 2] FIG. 2 illustrates an order processing mechanism according to another exemplary embodiment of the present invention. [Figure 3] FIG. 3 illustrates an order processing mechanism according to yet another exemplary embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0037] The same or similar components in different drawings are labeled with the same reference numerals.

[0038] Before describing exemplary embodiments of the present invention with reference to the drawings, some general aspects of the present invention will be described.

[0039] Traditionally, objects had to be placed in the destination bin in the same order that they were placed in the starting bin, which traditionally led to slow order fulfillment speeds.

[0040] In one embodiment of the present invention, an intermediate storage area serving as a buffer is disposed between the pick robot on the starting container side and the pick robot on the destination container side. When necessary, the pick robot on the starting container side can temporarily store objects to be processed that, for whatever reason, cannot yet be transferred to the destination container by the pick robot on the destination container side. By storing objects that cannot yet be further processed or should not be processed in the intermediate storage area, the pick robot can use the time to perform other order processing tasks (e.g., processing another object). In this way, the provision of the intermediate storage area allows the pick robot's resources to be more efficiently utilized for processing objects. Therefore, the order processing mechanism according to the exemplary embodiment of the present invention enables a greater number of objects to be processed into the destination container in a shorter time. In one preferred embodiment, an intermediate storage area configured as a buffer for objects to be processed is provided between the transfer point of the starting container (e.g., a case from a warehouse filled with products) and the sorting point of the objects into the respective destination containers, e.g., shipping cartons. This allows intermediate storage of the objects in the buffer, so that the objects to be processed can be placed in the destination container regardless of the order in which they were placed in the starting container.The provision of the buffer allows a pick robot on the destination container side for sorting the objects into the destination container to place the objects into the destination container, which is configured as, for example, a shipping carton, without interruption, thereby making better use of the available working time.

[0041] In one embodiment, at least one first pick robot may be provided to remove objects from a starting container that are supplied to the first pick robot from the warehouse in a fully automated manner. At least one second pick robot may be provided to place the objects into a destination container. In addition, in one preferred embodiment of the present invention, an intermediate storage area or buffer for one or more objects is provided between both pick robots. The first pick robot removes items from the starting container and places them in the buffer. The second pick robot removes objects from the buffer and places them in the destination container. The intermediate storage area configured as a buffer may always contain objects intended for further order processing, so that the second pick robot is always working to sort the objects into the destination container.

[0042] For example, one starting container in each case or several starting containers at the same time can be provided. Furthermore, one target container in each case or several target containers at the same time can be loaded. The intermediate storage location can preferably consist of two or more storage locations for the objects.

[0043] For example, the intermediate storage area can be configured as a table-like support surface, as a shelf, or as a groove-like storage area, especially in multiple locations one above the other. The grooves can preferably have a square or semicircular cross section. This has the advantage that when the objects to be processed are placed in the intermediate storage area, they can assume a well-defined physical position and orientation due to their gravity, so that they can be easily picked by the second picking robot.

[0044] Objects from a starting container can be custom processed into one or more destination containers, i.e., the configuration of objects in each destination container can be selected as any combination of objects (especially of different types) from any of the starting containers.

[0045] Preferably, multiple functionally specialized manipulators can be used by each first or second pick robot, each for different objects. If multiple manipulators are used, these manipulators can be equipped with different grippers, for example. Preferably, each first or second pick robot can autonomously switch between different manipulators (for example, grippers of different sizes, or a mechanical gripper and a vacuum aspirator).

[0046] The intermediate storage areas can have different shapes adapted to various objects. The intermediate storage areas can be made slidable so that they can be slid, switched or exchanged.

[0047] Furthermore, a control device may be provided for controlling the order processing method or the order processing mechanism and its components. Within the context of this application, a "control device" is understood to mean, in particular, a device with processor resources that is set up to control the order processing mechanism, in particular programmatically, based on a predetermined algorithm. The processor resources may be equipped to carry out the corresponding data processing. The control device may be configured, for example, as one computer or processor, or as several cooperating computers or processors (which may be spatially adjacent or spatially separated from one another). The control device may control and coordinate all components of the order processing mechanism, in particular the pick robot, as well as the devices that supply and remove the starting and destination containers, and optionally the intermediate storage area.

[0048] Process monitoring by the control device (which may in particular involve monitoring whether the correct items and the correct number of items have been ordered) can be carried out, in particular, by determining the weight using scales and / or force and torque sensor devices. Such process monitoring can also include determining the position of the center of gravity, for example, using scales or implementing force and torque sensor devices. Furthermore, visual characteristics can be detected by a camera and used for process monitoring or control. These include, in particular, the detection of QR codes, serial numbers, inscriptions, patterns, bar codes, KI (artificial intelligence)-based object classification, RFID and / or NFC tags, three-dimensional contours, etc.

[0049] In one embodiment of the present invention, objects can be inspected before, during, and / or after order fulfillment. To this end, data regarding the condition of the items, such as image data and / or weight data, can be stored during the order fulfillment process. In the event of a customer complaint, this data can be used to label the item as a "defective product" and serve as the basis for training a KI unit (artificial intelligence unit) to recognize defective products.

[0050] In one embodiment, the target container can be monitored, and if an object changes its original position or orientation, e.g., falls or slides, a new packing arrangement at the target container can be calculated and / or the fallen object can be moved back to an intermediate location and newly packed into the target container.

[0051] Furthermore, it can be checked, in particular by means of a sensor, whether the correct objects and the correct number of pieces have been picked from the starting container.Alternatively or additionally, it can be checked, in particular by means of a sensor, whether the correct objects and the correct number of pieces have been placed in the destination container.

[0052] Preferably, the objects to be ordered can be picked precisely at a predetermined location and thereby placed precisely at a predetermined location.

[0053] In one preferred embodiment, the intermediate storage location may be constructed as an inverted square pyramid, so that any object (especially a rectangular parallelepiped object) placed thereon will slide, preferably automatically, under its gravity into a physically well-defined position and orientation, thus enabling the second picking robot (which may also be called a packing robot) to reach the picking point of the object very precisely and thereby place the object in the target container very precisely.

[0054] After completing picking all objects of one order processing job (e.g., an order placement), a first pick robot (especially its manipulator) for picking objects from a starting container can already seamlessly pick objects of the next order and place them in an intermediate storage area, while a second pick robot (especially its manipulator) for packing into a target container is still engaged in packing the preceding packet (i.e., loading into the preceding target container). When the first packet or first target container has finished packing, there are already a sufficient number of objects (preferably all) in the intermediate storage area for the second packet or second target container, so that the pick robot can immediately start packing the second packet or second target container in the correct order of the objects.

[0055] The manipulator of the second pick robot for packing the object into the destination container can utilize a gripper designed for placement, and the manipulator of the first pick robot for picking from the starting container can utilize a gripper designed for the picking process from the starting container.

[0056] FIG. 1 illustrates an order fulfillment mechanism 100 according to an exemplary embodiment of the present invention. For example, the order fulfillment mechanism 100 may be utilized in a logistics warehouse of an online retailer, where ordered products (hereinafter referred to as objects 104) are intended to be filled from starting containers 106 (e.g., plastic containers) into destination containers 112 (e.g., shipping cartons) according to a respective order list. In the order fulfillment mechanism 100, the corresponding order fulfillment method is controlled by a controller 132, which is capable of controlling all components of the order fulfillment mechanism 100, as described below. For example, the controller 132 may have access to a database 134, in which information related to order fulfillment tasks to be performed (e.g., order lists to be processed) may be stored. The current inventory of the logistics or product warehouse of the order fulfillment mechanism 100, e.g., information regarding the objects 104 currently contained in all starting containers 106, may also be stored in the database 134.

[0057] As shown in FIG. 1 , the order fulfillment mechanism 100 includes a plurality of first pick robots 102. Each first pick robot 102 serves to transfer an object 104 to be fulfilled from a respective starting container 106 to an intermediate storage location 108, which will be described in detail below, or directly to a respective destination container 112. For this purpose, a manipulator 126 associated with each first pick robot 102 may be equipped with, for example, a picking device for picking the object 104. Each first pick robot 102 can then be controlled (particularly by a control device 132) to pick an object 104 from a starting container 106 and selectively place it in the intermediate storage location 108 or directly into a suitable destination container 112.

[0058] Each starting container 106 can have multiple objects 104. For example, each starting container 104 can contain multiple objects 104 that may all be assigned to the same product type (e.g., a package of plastic anchor bolts and a package of M8 wood screws). Preferably, each starting container 106 is assigned to a unique product type. Preferably, different starting containers 106 are assigned to different product types. In another embodiment, a single starting container 106 can contain objects 104 of different product types.

[0059] The aforementioned intermediate storage area 108 also forms part of the order processing mechanism 100 and serves for temporary placement of objects 104 to be processed by orders that have been removed from each of the plurality of starting containers 106 provided by each of the first pick robots 102.

[0060] Additionally, the order fulfillment mechanism 100 includes a plurality of second pick robots 110 that can be operated to transfer the objects 104 to be fulfilled from the intermediate storage location 108 or directly from the respective starting containers 106 to an assigned one of a plurality of target containers 112. For this purpose, a manipulator 126 assigned to each second pick robot 110 may be equipped with, for example, a picking device for picking the objects 104. Each second pick robot 110 can then be controlled (in particular by a control device 132) to selectively pick the objects 104 from the intermediate storage location 108 or the starting containers 106 and place them in the corresponding target containers 112.

[0061] Each target receptacle 112 can accommodate multiple objects 104 to be ordered and fulfilled. Sets of objects 104, either of different product types or of the same product type, to be delivered to an assigned target receptacle 112 for delivery to an orderer are defined in an order list stored in a data bank 134, assigned to each target receptacle 112. Preferably, the objects 104 to be transferred into each target receptacle 112 in accordance with such order list are either of different product types from different starting receptacles 106 or of the same product type.

[0062] As shown in FIG. 1 , the order fulfillment mechanism 100 includes an outgoing container supply device 114 configured to supply starting containers 106 (each containing a number of objects 104 to be fulfilled) from a storage location 116 to within the reach of a first pick robot 102. The storage location 116 may include, for example, one or more shelves, pallets, etc., on which the number of starting containers 106 with the objects 104 are stored. The outgoing container supply device 114 can transfer, for example, by a conveyor belt or vehicle, the starting containers 106 required to fulfill the order list from the storage location 116 to within the reach of the first pick robot 102. The reach of the first pick robot 102 is understood to be the spatial area around each first pick robot 102 within which the first pick robot 102 can retrieve objects 104 from the starting containers 106 located therein.

[0063] The order fulfillment mechanism 100 further includes a target container / feed device 118 for supplying target containers 112 within the reach of the second pick robot 110. When supplied to the second pick robot 110, the target containers 102 into which objects 104 are to be loaded according to the assigned order list may be completely empty or only partially filled. For example, the target containers 112 may be empty shipping cartons at the time of supply. The target container / feed device 118 can transfer target containers 112 required to process the order list within the reach of the second pick robot 110, for example, by a conveyor belt or vehicle. The reach of the second pick robot 110 is understood to be the spatial area around each second pick robot 110 within which the second pick robot 110 can transport objects 104 into the target containers 112 located therein.

[0064] Additionally, the order fulfillment mechanism 100 may include a starting container / discharge device 120 for discharging the starting container 106 that has been fully or partially emptied by the first pick robot 102 to the storage location 116 or to a refilling station (not shown). That is, the returning starting container 104 may be transferred, for example, back to a shelf or pallet in the storage location 116. There, the starting container 106 may be refilled with the corresponding objects 104 or may be transported away for disposal or refilling. The starting container / discharge device 120 may also include a conveyor belt, vehicle, etc. for moving the returning starting container 104.

[0065] Furthermore, the order fulfillment mechanism 100 may have a target container / delivery device 122 for delivering target containers 112 filled with objects 104 to be fulfilled according to the assigned order list from the second pick robot 110 to a shipping station 124. When the order fulfillment task according to the order list is completed for each target container 102, the target container 112 can be delivered to the orderer at the shipping station 124. The target container / delivery device 122 may also have a conveyor belt, vehicle, etc. for moving the filled target containers 112.

[0066] As shown in FIG. 1 , multiple intermediate storage locations 108 are disposed between the first pick robot 102 and the second pick robot 110, each configured to temporarily store an object 104 to be processed. In the illustrated embodiment, each intermediate storage location 108 has a V-shaped receiving groove into which, for example, a rectangular parallelepiped object 104 automatically slides under the influence of gravity to a stable final position in a predefined orientation. This simplifies subsequent picking of the object 104 temporarily stored in the respective intermediate storage location 108 by the second pick robot 110. Thus, the intermediate storage locations 108 shown in FIG. 1 are shaped, oriented, and dimensioned such that, when an object 104 to be processed is placed therein, the object assumes a well-defined position and tilted orientation in the intermediate storage location 108 under the influence of gravity, thereby enabling the respective second pick robot 110 to pick the placed object 104 in a predefined manner. The intermediate bin 108 may be configured to be mobile and can be moved away between the pick robots 102, 110 and replaced with another intermediate bin 108. In this way, the intermediate bin 108 can be adapted as needed to the objects 104 currently being ordered and processed.

[0067] 1, each first pick robot 102 and each second pick robot 110 is equipped with a plurality of interchangeable manipulators 126, each of which exhibits different object-picking characteristics. For example, the preferably automatically interchangeable manipulators 126 of each pick robot 102, 110 can have different sizes and / or shapes of grippers, vacuum aspirators, etc. In this manner, each pick robot 102, 110 can also be specifically adapted to the characteristics of the objects 104 to be ordered and / or to the characteristics of the starting container 106 or the destination container 112.

[0068] Additionally, the order fulfillment mechanism 100 may include one or more sensing devices 130 for determining sensing information for monitoring the order fulfillment of the objects 104 from the starting container 104 to the destination container 112. In the illustrated embodiment, the sensing devices 130 are optical cameras that monitor the area of the starting container 106, the first and second pick robots 102, 110, the intermediate storage location 108, and the destination container 112 and transmit corresponding optical sensing data to a controller 132 for control of the order fulfillment mechanism 100. Alternatively or additionally, the sensing devices 130 may be provided for detecting weight information of the objects 104 and / or the containers 106, 112, position and / or orientation information of the objects 104 in the intermediate storage location 108, and / or transponder information, such as RFID tags, on the containers 106, 112. The containers 106, 112 and / or objects 104 may also be tracked during processing in the order fulfillment facility 100, for example, by a transponder attached to each container 106, 112.

[0069] Preferably, multiple first pick robots 102 can handle multiple starting containers 106 and the objects 104 removed therefrom, as well as multiple intermediate locations 108, in parallel. Correspondingly, multiple second pick robots 110 can handle multiple destination containers 112 and the objects 104 delivered thereto, as well as multiple intermediate locations 108, in parallel. It is particularly preferred that the order of order fulfillment of objects by the pick robots 102, 110 from the starting containers 106, at the intermediate locations 108, from the intermediate locations 108, and into the destination containers 112 can be freely selected. This has the advantage that, unlike conventional approaches, the pick robots 102, 110 can be prevented from idling for relatively long periods of time, for example because they still have to wait for the starting container 104 or the destination container 112. Idling times can be significantly reduced or even completely avoided by providing an intermediate storage area 108 that both the pick robot 102 at the originating bin and the pick robot 110 at the destination bin have free access to for temporary intermediate storage of objects 104 as needed, which leads to particularly efficient order fulfillment operations.

[0070] Figure 2 illustrates an order processing mechanism 100 according to another exemplary embodiment of the present invention, in which some components that are only shown diagrammatically in Figure 1 are illustrated in a realistic embodiment.

[0071] At a delivery point 150 from the warehouse, a starting container 106 configured as a plastic box is filled with a large number of identical objects 104, such as small packs of screws or small packs of anchor bolts. Individual objects 104 can be removed from the starting container 106 by a robotic arm or other manipulator 126 of a first pick robot 102. The order fulfillment operations of the first pick robots 102 can be coordinated or synchronized with one another by a control device 132 (not shown in FIG. 2 ). Each first pick robot 102 can access a plurality of successively arranged pyramidal-shaped intermediate storage locations 108 and temporarily deposit the objects 104 to be fulfilled in the intermediate storage location. Each of a plurality of second pick robots 110, which may each be configured as a robotic arm or other manipulator 126, can remove the objects 104 from the respective intermediate storage locations 108 and transfer them to a destination container 112, here configured as a cardboard carton, at a sorting point 152. The order fulfillment operations of the second pick robot 110 may be coordinated or synchronized with one another by a controller 132, not shown in Figure 2. The order fulfillment operations of the first pick robot 102 and the second pick robot 110 may also be coordinated or synchronized with one another by a controller 132, not shown in Figure 2. The supply and / or removal of the starting container 106 and / or the destination container 112 may be incorporated into such coordination or synchronization.

[0072] Figure 3 illustrates an order processing mechanism 100 according to yet another exemplary embodiment of the present invention. The order processing mechanism 100 illustrated in Figure 3 is capable of implementing an order processing method described in detail below.

[0073] As shown at 160 , each first pick robot 102 can pick one or more objects 104 from a respective one of a plurality of starting containers 106 .

[0074] Sensory information regarding the order fulfillment method may be determined by the sensing device 130, as shown at 162. In the illustrated embodiment, the retrieved object 104 may be characterized optically or sensorily, for example, by reading a transponder attached to the object 104.

[0075] As shown at 164, the sensing information may be stored in a data bank 134, for example, in the cloud.

[0076] As shown at 166 , objects 104 removed from the starting container 106 by the first pick robot 102 may be temporarily placed in one of a number of bins or intermediate bins 108 .

[0077] As shown by the reference numeral 168, the detection information stored in the database 134 regarding the object 104 removed from the starting container 106 can be provided to the second pick robot 110. This obviously allows the second pick robot 110 to know the characteristics of the object 104 temporarily placed in the intermediate storage location 108. This allows the second pick robot 110 to properly and accurately pick the object 104 in the intermediate storage location 108.

[0078] When the first pick robot 102 places an object 104 (e.g., a packet) in the intermediate storage location 108 (configured, for example, as a table), and / or when the second pick robot 110 retrieves the object 104 from the intermediate storage location 108, the object 104 can slide along an edge, thereby aligning the object 104 in a unique or defined manner, which makes the handling process easier and more accurate.

[0079] As shown by the reference numeral 170, the second pick robot 110 retrieves the object 104 temporarily placed in the intermediate storage area 108. At this time, the second pick robot 110 can use the detection information transmitted to it that characterizes the temporarily placed object 104.

[0080] As shown at 172, the second pick robot 110 can load multiple target containers 112 with matching objects 104. The objects shown are a small pack of screws, a hammer, and work safety glasses.

[0081] It should be noted that the word "comprise" does not exclude other elements or steps, and the indefinite articles "eine" and "ein" do not exclude a plurality. It should also be noted that elements or steps described with the aid of one of the above embodiments may also be applied in combination with other elements or steps of other embodiments described above. Reference signs in the claims should not be construed as limiting. (Other possible items) (Item 1) In the order processing mechanism (100), at least one first pick robot (102) for transferring objects (104) to be ordered from at least one starting container (106) to an intermediate storage location (108); said intermediate storage location (108) for temporarily storing objects (104) to be ordered and processed; and at least one second pick robot (110) for transferring the objects (104) to be ordered from the intermediate storage location (108) to at least one target container (112) capable of accommodating at least one object (104) to be ordered. (Item 2) An order processing mechanism (100) as described in item 1, having a starting container supply device (114) for supplying at least one starting container (106) containing at least one object (104) to be processed from a storage location (116) to at least one first pick robot (102). (Item 3) An order processing mechanism (100) according to item 1 or 2, having a target container supply device (118) for supplying at least one target container (112) to be filled with at least one object (104) to be processed by order to at least one second pick robot (110). (Item 4) An order processing mechanism (100) according to any one of items 1 to 3, having a starting container / discharge device (120) for transporting at least one starting container (106) from which at least one object (104) to be processed for an order has been removed, from at least one first pick robot (102), in particular to a storage location (116) or a refilling station. (Item 5) An order processing mechanism (100) as described in any one of items 1 to 4, having a target container / discharge device (122) for transporting at least one target container (112) containing at least one object (104) to be processed from at least one second pick robot (110) to a shipping station (124). (Item 6) An order processing mechanism (100) according to any one of items 1 to 5, having at least one starting container (106), in particular a plurality of starting containers (106), each of the at least one starting container (106) containing at least one object (104) to be processed by order, in particular a plurality of objects (104) to be processed by order. (Item 7) An order processing mechanism (100) as described in any one of items 1 to 6, having at least one target container (112), in particular a plurality of target containers (112), each of which is capable of containing at least one object (104) to be ordered and in particular capable of containing a plurality of objects (104) to be ordered and processed. (Item 8) An order processing mechanism (100) as described in any one of items 1 to 7, having a plurality of first pick robots (102), each of which is configured to transfer an object (104) to be processed in an order from at least one starting container (106) to the intermediate storage area (108). (Item 9) An order processing mechanism (100) as described in any one of items 1 to 8, having a plurality of second pick robots (110), each of which is configured to transfer an object (104) to be processed from the intermediate storage area (108) to at least one target container (112). (Item 10) An order processing mechanism (100) according to any one of items 1 to 9, having a plurality of intermediate storage locations (108), each of which is configured to temporarily store an object (104) to be processed as an order. (Item 11) The order processing mechanism (100) according to any one of items 1 to 10, wherein the intermediate storage area (108), in particular a plurality of the intermediate storage areas (108), has a table-like surface, a shelf, a groove-like storage area, and / or a plurality of groove-like storage areas, in particular arranged one above the other. (Item 12) The order processing mechanism (100) according to any one of items 1 to 11, wherein the intermediate storage location (108), in particular a plurality of the intermediate storage locations (108), has a shape such that when an object (104) to be processed by an order is placed thereon, the object assumes a well-defined position and / or orientation, in particular an inclined orientation, in the intermediate storage location (108) under the influence of gravity, thereby enabling picking of the placed object (104) by at least one second pick robot (110) in a predefined manner. (Item 13) An order processing mechanism (100) according to any one of items 1 to 12, wherein at least one of the first pick robots (102) and / or at least one of the second pick robots (110) can be equipped, in particular selectively or automatically, with a plurality of interchangeable manipulators (126), each having different object handling characteristics. (Item 14) The order processing mechanism (100) according to any one of items 1 to 13, wherein the intermediate storage location (108), in particular a plurality of the intermediate storage locations (108), are configured to be mobile and / or interchangeable. (Item 15) An order processing mechanism (100) according to any one of items 1 to 14, having at least one sensing device (130) for determining sensing information for monitoring and / or controlling the order processing of objects (104) by the order processing mechanism (100). (Item 16) Item 16. The order processing mechanism (100) of item 15, wherein at least one of the sensing devices (130) is configured to sense weight information, position information, orientation information, optical information, and / or transponder information. (Item 17) In the order processing method, transferring the objects (104) to be ordered by at least one first pick robot (102) from at least one starting container (106) to an intermediate storage area (108) for temporarily placing the objects (104) to be ordered; the objects (104) to be ordered are subsequently transferred by at least one second pick robot (110) from the intermediate location (108) to at least one target container (112) containing the at least one object (104) to be ordered; An order processing method comprising: (Item 18) Item 18. The order processing method according to item 17, further comprising supplying at least one starting container (106) from a storage location (116) to at least one first pick robot (102). (Item 19) The order processing method described in item 17 or 18, further comprising transporting at least one target container (112) filled with at least one object (104) from at least one second pick robot (110) to a shipping station (124). (Item 20) The order processing method includes: a plurality of said starting containers (106), each containing at least one object (104) to be ordered and processed, are provided for simultaneous access by at least one said first pick robot (102), in particular by a plurality of said first pick robots (102) operating in parallel; by at least one first pick robot (102), in particular by a plurality of first pick robots (102), a respective one of the supplied starting containers (106) is selected for transferring an object (104) to be processed from the selected starting container (106) to the intermediate storage location (108), in particular to a respective selected one of the plurality of intermediate storage locations (108); 20. The order processing method according to any one of items 17 to 19, comprising: (Item 21) Item 21. The order processing method according to item 20, wherein the order of transferring the objects (104) to be processed from the supplied starting containers (106) to at least one intermediate storage location (108), in particular to a plurality of intermediate storage locations (108), is selected differently from the order in which the starting containers (106) are supplied to at least one first pick robot (102), in particular to a plurality of first pick robots (102) operating in parallel. (Item 22) The order processing method includes: a plurality of said target containers (112), each intended to contain at least one object (104) to be ordered, are provided for simultaneous access by at least one said second pick robot (110), in particular by a plurality of said second pick robots (110) operating in parallel; selection of each of the supplied target containers (112) by at least one second pick robot (110), in particular by a plurality of second pick robots (110), for transferring the objects (104) to be processed from the intermediate storage locations (108), in particular from a respectively selected one of the plurality of intermediate storage locations (108) to the respectively selected target container (112); 22. The order processing method according to any one of items 17 to 21, comprising: (Item 23) 23. The order processing method according to claim 22, wherein the order of transferring the objects (104) to be processed from at least one intermediate storage location (108), in particular from a plurality of intermediate storage locations (108), is selected differently from the order of transferring the objects (104) to be processed from the plurality of supplied starting containers (106) to at least one intermediate storage location (108), in particular to a plurality of intermediate storage locations (108).

Claims

1. In the order processing mechanism, at least one first pick robot for transferring objects to be ordered from at least one starting container to an intermediate storage location; said intermediate storage area for temporarily placing objects to be processed; and at least one second pick robot for transferring objects to be ordered from the intermediate storage location to at least one target container capable of receiving at least one object to be ordered.

2. 2. The order processing mechanism of claim 1, further comprising a starting container / feeding device for feeding at least one starting container containing at least one object to be ordered from a storage location to at least one first pick robot.

3. 2. The order processing mechanism of claim 1, further comprising a target container supply device for supplying at least one target container to be filled with at least one object to be processed to at least one second pick robot.

4. 2. The order processing mechanism according to claim 1, further comprising a starting container / discharge device for discharging at least one starting container from at least one first pick robot, the starting container having at least one object to be processed as an order removed therefrom, in particular to a storage location or a refilling station.

5. 2. The order processing mechanism of claim 1, further comprising a target container / dispense device for dispensing at least one target container containing at least one object to be ordered from the at least one second pick robot to a shipping station.

6. 2. The order processing mechanism of claim 1, comprising at least one starting container, in particular a plurality of starting containers, each of the at least one starting container containing at least one object to be processed as an order, in particular a plurality of objects to be processed as an order.

7. 2. The order processing mechanism of claim 1, comprising at least one target container, in particular a plurality of target containers, each of which can accommodate at least one object to be ordered, in particular a plurality of objects to be ordered.

8. 2. The order processing mechanism of claim 1, comprising a plurality of the first pick robots, each of which is configured to transfer objects to be order-processed from at least one of the starting containers to the intermediate storage area.

9. 2. The order processing mechanism of claim 1, further comprising a plurality of the second pick robots, each of which is configured to transfer an object to be processed from the intermediate storage location to at least one of the target containers.

10. 2. The order processing mechanism of claim 1, comprising a plurality of said intermediate storage locations, each of said intermediate storage locations configured for temporarily storing an object to be processed as an order.

11. The order processing mechanism according to claim 1, wherein the intermediate storage area, in particular a plurality of the intermediate storage areas, comprises a table-like placement surface, a shelf, a groove-like storage area, and / or a plurality of groove-like storage areas, in particular arranged one above the other.

12. 2. The order processing mechanism according to claim 1, wherein the intermediate storage location, in particular a plurality of the intermediate storage locations, has a shape such that when an object to be processed by an order is placed thereon, the object assumes a well-defined position and / or orientation, in particular an inclined orientation, under the influence of gravity at the intermediate storage location, thereby enabling picking of the placed object by the at least one second pick robot in a predefined manner.

13. 2. The order processing mechanism according to claim 1, wherein at least one of the first pick robots and / or at least one of the second pick robots can be equipped, in particular selectively or automatically, with a plurality of interchangeable respective manipulators, each having different object handling properties.

14. The order processing mechanism according to claim 1 , wherein the intermediate storage location, in particular a plurality of intermediate storage locations, are configured to be mobile and / or exchangeable.

15. 15. The order processing mechanism of claim 1, comprising at least one sensing device for determining sensing information for monitoring and / or controlling the order processing of objects by the order processing mechanism.

16. 16. The order fulfillment mechanism of claim 15, wherein the at least one sensing device is configured to sense weight information, position information, orientation information, optical information, and / or transponder information.

17. In the order processing method, transferring the objects to be processed by the at least one first pick robot from the at least one starting container to an intermediate storage area for temporarily placing the objects to be processed; the objects to be ordered are subsequently transferred by at least one second pick robot from the intermediate storage location to at least one destination container containing at least one object to be ordered; An order processing method comprising:

18. 20. The method of claim 17, wherein the method comprises providing at least one of the starting containers from a storage location to at least one of the first pick robots.

19. 20. The method of claim 17, further comprising: transferring at least one target container filled with at least one object from at least one second pick robot to a shipping station.

20. The order processing method includes: - providing a plurality of said starting containers, each containing at least one object to be ordered and processed, for simultaneous access by at least one said first pick robot, in particular by a plurality of said first pick robots operating in parallel; by at least one first pick robot, in particular by a plurality of first pick robots, a respective one of the supplied starting containers is selected in order to transfer the objects to be processed from the selected starting container to the intermediate storage location, in particular to a respective selected one of the plurality of intermediate storage locations; 20. The method of claim 17, comprising:

21. 21. The order processing method according to claim 20, wherein the order in which the objects to be processed are transferred from the supplied starting containers to at least one intermediate storage location, in particular to a plurality of intermediate storage locations, is selected differently from the order in which the starting containers are supplied to at least one first pick robot, in particular to a plurality of first pick robots operating in parallel.

22. The order processing method includes: a plurality of said target containers, each intended to contain at least one object to be ordered, are provided for simultaneous access by at least one second pick robot, in particular by a plurality of said second pick robots operating in parallel; by at least one second pick robot, in particular by a plurality of second pick robots, selecting each of the supplied target containers for transferring the object to be processed from the intermediate storage location, in particular from a respectively selected one of the plurality of intermediate storage locations, to the respectively selected target container; 22. The method of claim 17, further comprising:

23. 23. The method for processing orders according to claim 22, characterized in that the order of transferring objects to be processed from at least one intermediate storage location, in particular from a plurality of intermediate storage locations, is selected differently from the order of transferring objects to be processed from a plurality of supplied starting containers to at least one intermediate storage location, in particular to a plurality of intermediate storage locations.

Images