Order processing mechanism with intermediate storage area 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 processing for objects, for example, at a logistics center of an online merchant, an order processor takes an object out of a starting container and transfers it into a target container.

[0003] For online merchants, goods from warehouses are packaged into cartons and shipped to customers. For this purpose, for example, goods stored in cases are conveyed from a storage location in the warehouse to an operator or a robot, and the operator or robot takes a desired number of goods out of the case and puts them into shipping cases, which are then sent to customers. Robots used for this purpose typically employ a manipulator to pick goods from cases, and the manipulator directly picks goods from the starting container and places them into the target container, that is, into the shipping carton.

[0004] Conventionally, order processing of objects has been a time-consuming task.

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

[0006] This object is solved by the subject matter having the features of the independent claim. Further embodiments are set out in the dependent claims.

[0007] In one embodiment of the present invention, there is provided an order processing mechanism comprising: at least one first picking robot for transferring an object to be ordered from at least one starting container to an intermediate storage area; an intermediate storage area for temporarily placing the object to be ordered; and at least one second picking robot for transferring the object to be ordered from the intermediate storage area to at least one target container capable of accommodating at least one object to be ordered.

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

[0009] Within the scope of this application, the concept of "order processing mechanism" is understood to refer specifically to a system for loading an object from a starting container into a target container.

[0010] Within the scope of this application, the concept of “subject matter” is understood to mean, in particular, a physical object, such as a commodity element, that is pickable or otherwise handled. Examples of commodity elements include technical objects or components, such as tool components (e.g., hammers, screwdrivers, etc.) and consumable components (e.g., screws, nails, anchor bolts, etc.). Further examples of objects or commodity elements to be processed on order include trunk contents, machine components, manual machinery (e.g., battery-operated drilling machines), tool inserts, canisters, cans, bottles, cartridges, tubes, and / or drawer contents.

[0011] Within the scope of this application, the concept of "container" is understood to mean, in particular, a containment device that can contain, or accommodate, objects such as product elements, on its surface and / or inside a containment space in accordance with its intended use. Examples of such containers include plastic containers and cartons.

[0012] Within the scope of this application, the concept of a “starting container” is understood to mean, in particular, a container containing one or more objects, of which at least one is to be transferred to an assigned target container. For example, the multiple objects in a single starting container may be the same object, for example, the same product element. For example, a starting container may be a product box in a product warehouse. A single starting container may contain a large number of objects, for example, at least 10 or at least 100.

[0013] Within the scope of this application, the concept of “target container” is understood to mean a container to be filled with one or more objects. In particular, the objects to be 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 shipped to the customer after being loaded with the ordered objects or product elements. 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 concept of a “pick robot” is understood to be a technical device capable of picking, handling, or otherwise manipulating objects to be processed on an order. A pick robot may be a robot, cobot, or robotic arm, even if it is configured to have a manipulator for manipulating or handling objects. For example, such a manipulator of a pick robot can pick up objects to be processed on an order. In other words, the manipulator of a pick robot may be, for example, a gripper for picking objects to be processed on an order. A pick robot may be configured for pick-by-robot order processing. Pick-by-robot can mean order processing technology that uses automation technology to prepare objects in a warehouse. Instead of human workers, the pick robot performs some or all of the tasks in processing orders for objects.

[0015] Within the scope of this application, the concept of an "intermediate storage area" is understood to be a storage device for the intermediate storage of items to be ordered, from the time each item is picked up from the starting container by a first pick robot on the starting container side until it is further ordered by a second pick robot on the target container side. Thus, the intermediate storage area may be configured as a buffer device for the intermediate storage of items to be ordered. Therefore, the intermediate storage area may be located 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 area may be configured purely passively (i.e., providing only a static intermediate storage function). Alternatively, it is possible to provide an actively controllable intermediate storage area that can be moved dynamically, for example, or structurally adapted to the items currently to be ordered.

[0016] In one embodiment of the present invention, when processing an order for an object from a starting container to a target container, a first pick robot is used to move the object from the starting container to an intermediate storage area for temporary placement. A second pick robot then moves the object from the intermediate storage area to the target container, thereby loading the object into the target container. By providing an intermediate storage area that functions as a buffer between the pick robot on the starting container side and the pick robot on the target container side for temporarily placing the object to be processed, it is not always necessary to move the object to be processed from the starting container to the target container according to the "first in, first out" principle. The "first in, first out" principle can mean logistics in which the object is handled in a specific manner from the starting container. In this case, the object is first retrieved from the starting container where it was first supplied, and then processed again. In exemplary embodiments of the present invention, while the "first in, first out" principle can be temporarily applied, the provision of an intermediate storage area offers the advantage of allowing one or more items to be buffered in the intermediate storage area before further order processing, thereby changing the order of item transfer from the departure container to the target container. This avoids the dead time that conventionally occurs during order processing, where further order processing must be delayed because one of the components involved is not yet ready for order processing. By providing an intermediate storage area within the reach of the respective pick robots on the departure and target container sides, order processing time can be utilized more efficiently, and a larger number of items can be ordered from the departure container to the target container. Thus, by providing at least one intermediate storage area, an efficient order processing system can be provided. The provision of an intermediate storage area offers the advantage that the work of a second pick robot (particularly the manipulator) for loading into the target container can be performed regardless of the arrival order of the departure containers at the order processing station.

[0017] The following describes additional examples of order processing mechanisms and order processing methods.

[0018] In one exemplary embodiment, the order processing mechanism may have a starting container / supplying device for supplying at least one starting container containing at least one object to be processed from a storage location to at least one first pick robot. Correspondingly, the order processing method may include supplying at least one starting container from a storage location to at least one first pick robot. For example, the starting container / supplying device may be configured to supply the starting container from a storage shelf so that at least one first pick robot can spatially reach the supplied starting container and process the object stored therein. For example, the starting container / supplying device can induce the supply of the starting container to at least one first pick robot to be fully automated. The starting container / supplying device may be motor-driven and may include, for example, a conveyor belt, a forklift, and / or a transport robot.

[0019] In one exemplary embodiment, the order processing mechanism may have 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. For example, the target container / supply device may be configured to supply empty target containers or target containers partially filled with an object (e.g., shipping cartons) so that at least one second pick robot can spatially reach the supplied target containers and load the object into them. For example, the target container / supply device can induce the supply of target containers to at least one second pick robot to be fully automated. The target container / supply device may be motor-driven and may include, for example, a conveyor belt, a forklift, and / or a transport robot.

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

[0021] In one exemplary embodiment, the order processing mechanism may have a target container / dispatch device for dispensing at least one target container containing at least one object to be processed from at least one second pick robot to a shipping station. Correspondingly, the order processing method may have at least one target container filled with at least one object being dispensed from at least one second pick robot to a shipping station. Once all the objects have been loaded into the target container by at least one second pick robot and the target container is fully filled, the target container / dispatch device can move the processed target container to the shipping station for shipment to the customer. For example, the target container / dispatch device can trigger the dispensing of the target container from at least one second pick robot in a fully automated manner. The target container / dispatch device may be motor-driven and may include, for example, a conveyor belt, a forklift, and / or a transport robot.

[0022] The filling of target containers can be controlled by a control device so that target containers containing the target material are filled according to the target container filling list. In particular, the pick robot can be given access to the target container filling list assigned to each target container to be filled, thereby allowing the pick robot to process orders for the target material between the starting container and the target container in an appropriate manner, and, if necessary, buffer the material in an intermediate storage area.

[0023] In one exemplary embodiment, the order processing mechanism may have at least one starting container, and in particular several starting containers, each of which contains at least one object to be processed, and in particular several objects to be processed. Each different starting container may contain each different object (in particular each different product type), and each starting container may contain a number of identical objects (in particular just one product type).

[0024] In one exemplary embodiment, the order processing mechanism may have at least one target container, and in particular several target containers, each of which may contain at least one object to be processed, and in particular several objects to be processed. Different target containers may have the same set of objects (in particular different product types), and each target container may have a number of different objects (in particular different product types).

[0025] In one exemplary embodiment, the order processing mechanism may have a plurality of first pick robots, each of which is configured to transfer the items to be processed from at least one starting container to an intermediate storage area. Alternatively or supplementally, the order processing mechanism may have a plurality of second pick robots, each of which is configured to transfer the items to be processed from the intermediate storage area to at least one target container. Furthermore, the order processing mechanism may have a plurality of intermediate storage areas, each of which is configured to temporarily hold the items to be processed. Preferably, a plurality of first or second pick robots may be provided on the starting container side and / or the target container side, capable of working in parallel and / or cooperatively to transfer items from the starting container to the target containers, each according to an individual or unified target container-filling list for different target containers. A modular logistics system can be created that can handle complex order processing tasks with high flexibility, high efficiency, and error robustness, using multiple pick robots on both the departure container side and the target container side, each with multiple intermediate storage areas. Such an order processing mechanism can handle multiple departure containers and multiple target containers simultaneously, thereby reducing or completely eliminating wasted or waiting time in order processing.

[0026] In one exemplary embodiment, the intermediate storage area, particularly multiple intermediate storage areas, may have a table-like surface, shelves, grooved storage areas, and / or in particular multiple grooved storage areas arranged in a vertical configuration. Such intermediate storage areas can be provided at low cost and significantly improve the efficiency of the order processing mechanism.

[0027] In one exemplary embodiment, the intermediate storage area, and in particular multiple intermediate storage areas, may have a shape such that when an object to be processed is placed in the intermediate storage area, the object takes a well-defined position and / or orientation under the influence of gravity, particularly an inclined orientation, thereby enabling the picking of the placed object by at least one second pick robot in a predefined manner. For example, the intermediate storage area may be designed as a right triangle when viewed in cross-section, with the right angle positioned on the bottom side and divided by two sides extending diagonally. Such geometry allows a rectangular object to simply slide into such an intermediate storage area, thereby easily moving the rectangular object to enter the right angle on the bottom side. This positions and orientations the rectangular object so that the intermediate storage object can be accurately grasped or picked by the second pick robot without additional alignment costs. Since many objects to be processed have at least approximately rectangular geometry (e.g., carton packaging), the above-described shape of the intermediate storage area is highly preferable for many applications.

[0028] In one exemplary embodiment, the at least one first picking robot and / or the at least one second picking robot may in particular selectively or automatically be equipped with a plurality of exchangeable respective manipulators each having different object handling properties. For example, as manipulators, exchangeable grippers of respectively different sizes and / or respectively different picking geometries, suction devices for holding objects by vacuum, or the like may be envisaged. If the respective picking robot recognizes (e.g., by means of a sensor) that current order processing operations can be handled better using a different manipulator, or receives a notification to that effect from a control device, the picking robot can automatically exchange the manipulator to adapt to the respective order processing operation. Alternatively, the exchange of the manipulator of the picking robot can be performed manually by an operator.

[0029] In one exemplary embodiment, the intermediate storage location, in particular a plurality of intermediate storage locations, may be configured to be movable and / or exchangeable. For example, the intermediate storage location can be moved out from between the first and the second picking robot if it is unsuitable for the current order processing operation, or if another intermediate storage location is better suited. This increases the flexibility of the order processing arrangement.

[0030] In one exemplary embodiment, the order processing mechanism may have at least one detection device for determining detection information for monitoring and / or controlling the order processing of objects by the order processing mechanism. For example, such a detection device may be configured to detect weight information, position information, orientation information, optical information, and / or transponder information. Based on the detected or sensor-detected information, the order processing mechanism, in particular the pick robot, can be controlled. For example, at least one detection device can determine detection information for identifying and / or characterizing at least one object that has been moved to at least one intermediate storage area by at least one first pick robot. Preferably, such detection information can be supplied to a second pick robot, which, based on this detection information, can pick up the object temporarily placed in the intermediate storage area and move it to the target container. In this way, the transfer of objects from the starting container to the target container via the intermediate storage area can be performed in a particularly error-robust manner using the first and second pick robots.

[0031] In an exemplary embodiment, the order processing method may comprise providing a plurality of starting containers each comprising at least one object to be order-processed for simultaneous access by at least one first picking robot, in particular by a plurality of first picking robots operating in parallel. Furthermore, the method may comprise that one of the supplied starting containers is selected in each case by at least one first picking robot, in particular by a plurality of first picking robots, to transfer an object to be order-processed from the selected starting container to an intermediate storage location, in particular to a respectively selected one of a plurality of intermediate storage locations. In this way, the respective first picking robot or the control device controlling it can freely select from which of the plurality of starting containers within the reach the object is to be taken out. The respective first picking robot then transfers this object to the intermediate storage location, or alternatively immediately places it into the target container by itself. Such a degree of freedom can ensure that the respective first picking robot can process order processing operations at all times, or at least over most of its working time, without generating waiting time (for example, until a suitable starting container or a suitable target container is supplied).

[0032] The order processing method may particularly preferably have an order in which the order to be processed is selected separately from the order in which the multiple starting containers are supplied to at least one first pick robot (or from multiple supplied starting containers) to at least one intermediate storage area, particularly to multiple intermediate storage areas. In this way, the "first in, first out" order processing principle is not necessarily applied to each first pick robot (although it may be applied at least temporarily). However, it is preferable that each first pick robot has the capability to deviate from the "first in, first out" order processing principle at any time and process orders in a freely selectable order, particularly to intermediate storage areas, or immediately to target containers.

[0033] In one exemplary embodiment, the order processing method may include a plurality of target containers, each intended to contain at least one object to be processed, being supplied for simultaneous access by at least one second pick robot, particularly by a plurality of second pick robots operating in parallel. Furthermore, the method may include at least one second pick robot, particularly a plurality of second pick robots, selecting one of the supplied target containers for the transfer of the object to be processed from an intermediate storage area, particularly from one of a plurality of intermediate storage areas selected at the time, to a target container selected at the time. In this way, each second pick robot, or the control device that controls it, can freely select which of the plurality of target containers within reach the object should be delivered to. The object can be transferred by each second pick robot from the intermediate storage area to its respective target container, or, alternatively, it can be immediately picked up from the starting container and placed into the target container itself. This degree of flexibility ensures that each second pick robot can process order processing tasks at all times, or at least for the majority of its working time, without any waiting time (for example, until a suitable starting container or a suitable target container is supplied).

[0034] It is particularly preferable that the order processing method may include an order in which the order to be processed is transferred from at least one intermediate storage area, and more particularly from multiple intermediate storage areas, in a manner separate from the order in which the order to be processed is transferred from a supply of multiple starting containers to at least one intermediate storage area, and more particularly from multiple intermediate storage areas. In this way, the "first in, first out" order processing principle is not necessarily applied to each second pick robot (although it may be applied, at least temporarily). However, it is preferable that each second pick robot has the ability to deviate from the "first in, first out" order processing principle at any time and load the assigned items into the target container in a freely selectable order, particularly from the intermediate storage areas, or immediately and directly from the starting containers.

[0035] Next, an exemplary embodiment of the present invention will be described in more detail with reference to the following drawings. [Brief explanation of the drawing]

[0036] [Figure 1] Figure 1 shows an order processing mechanism based on an exemplary embodiment of the present invention. [Figure 2] Figure 2 shows an order processing mechanism based on another embodiment illustrating the present invention. [Figure 3] Figure 3 shows an order processing mechanism based on yet another embodiment illustrating the present invention. [Modes for carrying out the invention]

[0037] Identical or similar components in different drawings are given the same reference numeral.

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

[0039] Traditionally, items had to be placed in the target container in the same order they were placed in the starting container. This traditionally led to slow order processing speeds.

[0040] In one embodiment of the present invention, an intermediate storage area is provided between the pick robot on the departure container side and the pick robot on the target container side, which functions as a buffer. If necessary, the pick robot on the departure container side can temporarily place items to be processed in this intermediate storage area if, for any reason, they cannot yet be transferred to the target container by the pick robot on the target container side. By placing items that cannot yet be processed or should not be processed at this time in the intermediate storage area, the pick robot can perform other order processing tasks in the meantime (e.g., processing other items). In this way, the provision of the intermediate storage area allows for more efficient use of the pick robot's resources for processing items. Therefore, an order processing mechanism based on an exemplary embodiment of the present invention enables the processing of a larger number of items to the target container in a shorter time. One preferred embodiment involves providing an intermediate storage area, configured as a buffer for items to be processed, between the handover point of the departure container (e.g., a case from a warehouse containing goods) and the sorting point of the items to each target container, for example, configured as a shipping carton. This allows items to be temporarily stored in a buffer, enabling the items to be processed for order to be placed in the target container regardless of the order in which they were placed in the departure container. The pick robot on the target container side, which sorts items into the target container, can place items into the target container, for example, configured as a shipping carton, without interruption thanks to the buffer, thereby making better use of available work time.

[0041] In one embodiment, there may be at least one first pick robot that fully automatically retrieves items supplied from a warehouse to the first pick robot from a departure container. There may be at least one second pick robot that places the items into a target container. In addition, in one preferred embodiment of the present invention, an intermediate storage area or buffer for one or more items is provided between both of these pick robots. The first pick robot retrieves the goods from the departure container and places them into the buffer. The second pick robot retrieves the items from the buffer and places them into the target container. The intermediate storage area, which is configured as a buffer, may always contain items intended for further order processing, so the second pick robot is always working to sort the items into the target container.

[0042] For example, one starting container may be provided each time, or multiple starting containers may be provided simultaneously. Furthermore, one target container may be loaded each time, or multiple target containers may be loaded simultaneously. The intermediate storage area may preferably consist of two or more storage areas for the objects.

[0043] For example, the intermediate storage area may be configured as a table-like surface, a shelf, or a groove-shaped storage area, particularly in multiple locations arranged vertically. The groove may preferably have a square or semicircular cross-section. This has the advantage that when an object to be processed is placed in the intermediate storage area, it can be in a physically well-defined position and orientation based on its gravity, thereby allowing the object to be picked by a second pick robot in a simple manner.

[0044] The objects from the starting container can be ordered and placed into one target container, or into multiple target containers. In other words, the composition of the objects in each target container can be selected as any combination of objects (especially of different types) from any starting container.

[0045] It is preferable that multiple functionally specialized manipulators can be used by each first or second pick robot for different objects. When multiple manipulators are used, these manipulators may each be equipped with, for example, different grippers. It is preferable that 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 suction device).

[0046] The intermediate storage area can have a variety of shapes adapted to different objects. The intermediate storage area may be manufactured to be slidable, thereby allowing it to slide, switch, or be replaced.

[0047] Furthermore, a control device may be provided for controlling the order processing method or order processing mechanism and its components. Within the scope of this application, “control device” is understood to mean a device having processor resources set up to control the order processing mechanism—particularly programmatically—based on a predetermined algorithm. Processor resources may be equipped to perform corresponding data processing. The control device may be configured, for example, as a single computer or processor, or as multiple computers or processors working together (they may be spatially adjacent or spatially separated). The control device can control and coordinate all components of the order processing mechanism, in particular the pick robot, as well as the starting container and target container, and optionally the intermediate storage area, and the supply and unloading devices.

[0048] Process monitoring by control devices (which may include monitoring whether the correct goods were ordered in the correct quantities) can be performed, in particular, by determining weight using scales and / or force and torque sensor devices. Such process monitoring may also include determining the center of gravity, for example, by scales or by the implementation of force and torque sensor devices. Furthermore, visual characteristics can be detected by cameras and used for process monitoring or process control. This includes, in particular, the detection of QR codes®, serial numbers, lettering, patterns, barcodes, KI (artificial intelligence)-based object classification, RFID and / or NFC tags, and three-dimensional contours.

[0049] In one embodiment of the present invention, the object can be inspected before, during, and / or after order processing. To this end, data relating to the condition of the product, such as image data and / or weight data, can be stored during the order processing process. If a customer makes a claim, this data can be labeled, for example, as a "defective product" and used as a basis for training a KI unit (Artificial Intelligence Unit) to recognize defective products.

[0050] In one embodiment, the target container can be monitored. If the object changes its initial position or orientation, for example, if it falls over or slides, the packing arrangement in the target container can be recalculated, and / or the fallen object can be returned to the intermediate storage area and repacked in the target container.

[0051] Furthermore, it is possible to specifically use sensors to verify whether the correct objects in the correct number have been picked from the starting container. Alternatively or in addition, it is possible to specifically use sensors to verify whether the correct objects in the correct number have been placed in the target container.

[0052] It is preferable that the items to be processed in the order can be accurately picked at their designated locations and, as a result, placed accurately in those locations.

[0053] In one preferred embodiment, the intermediate storage area may be constructed as an inverted square pyramid, so that any object (particularly a rectangular object) placed thereon preferably slides automatically to a physically well-defined position and orientation based on its gravity. Thus, a second pick robot (which may also be called a packing robot) can reach the picking point of the object with great precision, thereby enabling the object to be placed in the target container with great precision.

[0054] A first pick robot (particularly its manipulator) for picking objects from a starting container can seamlessly pick and place objects for the next order into an intermediate storage area after completing the picking of all objects for one order processing operation (e.g., a purchase order), while a second pick robot (particularly its manipulator) for packing into target containers is still engaged in packing the preceding packet (i.e., loading into the preceding target container). When the first packet or first target container is packed, there are already enough objects (preferably all) in the intermediate storage area for the second packet or second target container, so the pick robot can immediately begin packing the second packet or second target container in the correct order of objects.

[0055] The manipulator of the second pick robot for packing objects into the target container can utilize a gripper designed for placement. 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] Figure 1 shows an order processing mechanism 100 based on an exemplary embodiment of the present invention. For example, the order processing mechanism 100 can be used in the logistics warehouse of an online vendor, where ordered products (hereinafter referred to as objects 104) are intended to be filled from departure containers 106 (e.g., plastic containers) into target containers 112 (e.g., shipping cartons) according to the order list at the time. In the order processing mechanism 100, the appropriate order processing method is controlled by a control device 132 that can control all the components of the order processing mechanism 100 as described below. For example, the control device 132 can access a data bank 134 in which information relating to the order processing tasks to be performed (e.g., the order list to be processed) may be stored. The latest inventory of goods in the logistics warehouse or goods warehouse of the order processing mechanism 100, for example, information about the objects 104 currently contained in all departure containers 106, may also be stored in the data bank 134.

[0057] As shown in Figure 1, the order processing mechanism 100 has a plurality of first pick robots 102. Each first pick robot 102 is responsible for moving the objects 104 to be processed from their respective starting containers 106 to an intermediate storage area 108, which will be described in detail below, or directly to their respective target containers 112. For this purpose, each first pick robot 102 may be equipped with a manipulator 126, for example, a picking device for picking the objects 104. Each first pick robot 102 can then be controlled (particularly by the control device 132) to pick the objects 104 from the starting container 106 and selectively place them in the intermediate storage area 108 or directly into a suitable target container 112.

[0058] Each starting container 106 may contain multiple objects 104. For example, each starting container 104 may contain multiple objects 104, all of which may be assigned to the same product type (e.g., packages of plastic anchor bolts or packages of M8 wood screws). It is preferable that each starting container 106 may be assigned to a unique product type. It is also preferable that different starting containers 106 may be assigned to different product types. In another embodiment, a single starting container 106 may contain objects 104 of different product types.

[0059] The aforementioned intermediate storage area 108 also forms part of the order processing mechanism 100 and functions as a temporary storage place for the objects 104 to be processed, which have been picked up from their respective supplied starting containers 106 by their respective first pick robots 102.

[0060] In addition, the order processing mechanism 100 includes a plurality of second pick robots 110 that can be operated to move the object 104 to be processed from the intermediate storage area 108 or directly from each of the starting containers 106 to one of the assigned target containers 112. For this purpose, a manipulator 126 assigned to each second pick robot 110 may be assembled, for example, a picking device for picking the object 104. Each second pick robot 110 can then be controlled (particularly by the control device 132) to selectively pick the object 104 from the intermediate storage area 108 or the starting container 106 and place it in the appropriate target container 112.

[0061] Each target container 112 can accommodate multiple items 104 to be processed. A set of items 104 of different or identical product types to be delivered to a target container 112 assigned for shipment to a customer is defined in an order list stored in a data bank 134 assigned to each target container 112. Depending on such an order list, it is preferable that the items 104 to be transferred into each target container 112 are of different product types from different departure containers 106, or are of identical product types.

[0062] As shown in Figure 1, the order processing mechanism 100 includes a departure container / supply device 114 configured to supply departure containers 106 (each containing a number of objects 104 to be processed) from a storage area 116 to the reach of a first pick robot 102. The storage area 116 may include one or more shelves, pallets, etc., where a number of departure containers 106 containing objects 104 are stored. The departure container / supply device 114 can move the departure containers 106 necessary for processing the order list from the storage area 116 to the reach of the first pick robot 102, for example, by a conveyor belt or vehicle. The reach of the first pick robot 102 is understood to be the spatial area around each first pick robot 102, in which the aforementioned first pick robot 102 can pick up objects 104 from the departure containers 106 placed therein.

[0063] Furthermore, the order processing mechanism 100 has a target container / supplying device 118 for supplying target containers 112 within the reach of the second pick robot 110. When supplying to the second pick robot 110, the target containers 102 into which the objects 104 are to be loaded according to the assigned order list may be completely empty or only partially filled. For example, the target container 112 may be an empty shipping carton at the time of supply. The target container / supplying device 118 can move the target containers 112 necessary for processing 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, which is the spatial area in which the second pick robot 110 can carry the objects 104 into the target containers 112 located there.

[0064] In addition, the order processing mechanism 100 may have a departure container / discharge device 120 for transporting the departure container 106, which has been completely or partially emptied by the first pick robot 102, to the storage area 116 or to a refilling station (not shown). That is, the departure container 104 to be returned can be moved, for example, back to a shelf or pallet in the storage area 116. There the departure container 106 can be refilled with the appropriate object 104, or transported away for disposal or refilling. The departure container / discharge device 120 may also have a conveyor belt, a vehicle, etc., for moving the departure container 104 to be returned.

[0065] Furthermore, the order processing mechanism 100 may have a target container / discharge device 122 to transport target containers 112 loaded with the objects 104 to be processed from the second pick robot 110 to the shipping station 124, according to the assigned order list. Once the order processing work according to the order list is completed for each target container 102, the target container 112 can be shipped to the customer at the shipping station 124. The target container / discharge device 122 may also have a conveyor belt, a vehicle, etc., to move the filled target containers 112.

[0066] As shown in Figure 1, multiple intermediate storage areas 108 are positioned between the first pick robot 102 and the second pick robot 110, each of which is configured to temporarily hold an object 104 to be processed. In the illustrated embodiment, each intermediate storage area 108 has a V-shaped storage groove into which, for example, a rectangular object 104 automatically slides into a stable final position in a predefined orientation under the influence of gravity. This simplifies subsequent picking of the object 104 temporarily placed in each intermediate storage area 108 by the second pick robot 110. Thus, the intermediate storage areas 108 shown in Figure 1 are shaped, oriented, and dimensional so that when an object 104 to be processed is placed in the intermediate storage area 108, the object takes on a well-defined position and tilted orientation under the influence of gravity, thereby enabling picking of the placed object 104 by each second pick robot 110 in a predefined manner. The intermediate storage area 108 may be configured to be mobile and can be moved away from the pick robots 102 and 110 to be replaced with another intermediate storage area 108. In this way, the intermediate storage area 108 can be adapted as needed to the object 104 that is currently to be processed.

[0067] As schematically shown in Figure 1, each first pick robot 102 and each second pick robot 110 are equipped with a plurality of interchangeable manipulators 126, each of which induces different object picking characteristics. For example, the preferably automatically interchangeable manipulators 126 of each pick robot 102,110 may each have grippers, vacuum suction devices, etc., of different sizes and / or shapes. Thus, each pick robot 102,110 can also be specially adapted to the characteristics of the object 104 to be processed and / or the characteristics of the starting container 106 or target container 112.

[0068] In addition, the order processing mechanism 100 may have one or more detection devices 130 for determining detection information to monitor the order processing of the object 104 from the departure container 104 to the target container 112. In the illustrated embodiment, the detection device 130 is an optical camera that monitors the areas of the departure container 106, the first and second pick robots 102, 110, the intermediate storage area 108, and the target container 112, and transmits the corresponding optical detection data to the control device 132 for the control of the order processing mechanism 100. Alternatively or supplementally, detection devices 130 may be provided for detecting weight information of the object 104 and / or containers 106, 112, position information and / or orientation information of the object 104 in the intermediate storage area 108, and / or transponder information such as RFID tags on containers 106, 112. The containers 106, 112 and / or the object 104 can also be tracked during processing in the order processing mechanism 100, for example, by transponders attached to each container 106, 112.

[0069] It is preferable that multiple first pick robots 102 can handle multiple starting containers 106 and the objects 104 taken from them, as well as multiple intermediate storage areas 108, in parallel. In a corresponding manner, multiple second pick robots 110 can handle multiple target containers 112 and the objects 104 carried into them, as well as multiple intermediate storage areas 108, in parallel. In this case, it is particularly preferable that the order in which the pick robots 102 and 110 process orders for objects from the starting containers 106, at the intermediate storage areas 108, from the intermediate storage areas 108, and to the target containers 112 can be freely selected. This has the advantage of avoiding the need for pick robots 102 and 110 to idle for relatively long periods of time, for example, because they still have to wait for a starting container 104 or a target container 112, unlike conventional approaches. Both the pick robot 102 on the departure container side and the pick robot 110 on the target container side are provided with an intermediate storage area 108 that they can freely access to temporarily store the object 104 as needed. This significantly reduces, or even eliminates, idle time. This leads to particularly efficient order processing.

[0070] Figure 2 shows an order processing mechanism 100 based on another exemplary embodiment of the present invention. In Figure 2, some components shown schematically in Figure 1 are illustrated in a realistic embodiment.

[0071] At the handover point 150 from the goods warehouse, the departure container 106, configured as a plastic box, is filled with numerous identical items 104, such as small packs of screws or small packs of anchor bolts. Each item 104 can be picked up from the departure container 106 by the robotic arm or other manipulator 126 of the first pick robot 102. The order processing operations of the first pick robots 102 can be coordinated or synchronized with each other by a control device 132 (not shown in Figure 2). Each first pick robot 102 can access a series of pyramidal intermediate storage areas 108, into which the items 104 to be processed can be temporarily placed. Each of the multiple second pick robots 110, each possibly configured as a robotic arm or other manipulator 126, can pick up the items 104 from their respective intermediate storage areas 108 and transport them to the sorting point 152, where they are configured as target containers 112, which are in the form of cardboard cartons. The order processing operations of the second pick robot 110 can be coordinated or synchronized with each other by a control device 132 (not shown in Figure 2). The order processing operations of the first pick robot 102 and the second pick robot 110 can also be coordinated or synchronized with each other by a control device 132 (not shown in Figure 2). The supply and / or unloading of the starting container 106 and / or target container 112 can be incorporated into such coordination or synchronization.

[0072] Figure 3 shows an order processing mechanism 100 based on yet another embodiment as an example of the present invention. The order processing mechanism 100 shown in Figure 3 can be used to implement the order processing method described in detail below.

[0073] As shown by reference numeral 160, each first pick robot 102 can pick one or more objects 104 from each of the multiple starting containers 106.

[0074] As shown by reference numeral 162, the detection device 130 can determine detection information regarding the order processing method. In the illustrated embodiment, the retrieved object 104 can be characterized, for example, optically or by reading a transponder attached to the object 104, in a sensory manner.

[0075] As illustrated by reference numeral 164, detection information can be saved in the data bank 134, for example, in the cloud.

[0076] As shown by reference numeral 166, the object 104 picked up from the starting container 106 by the first pick robot 102 can be temporarily placed in one of several storage locations or intermediate storage locations 108.

[0077] As shown by reference numeral 168, detection information stored in the data bank 134 regarding the object 104 taken out of the starting container 106 can be supplied to the second pick robot 110. This allows the second pick robot 110 to know the characteristics of the object 104 temporarily placed in the intermediate storage area 108. This enables the second pick robot 110 to properly and accurately pick the object 104 in the intermediate storage area 108.

[0078] The first pick robot 102 can slide the object 104 (e.g., a packet) along its edge when placing it in the intermediate storage area 108 (which is configured as, for example, a table), and / or the second pick robot 110 can slide the object 104 along its edge when retrieving it from the intermediate storage area 108. This allows the object 104 to be aligned in a unique or defined manner. This simplifies and makes the handling process more accurate.

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

[0080] As shown by reference numeral 172, the second pick robot 110 can load suitable objects 104 into multiple target containers 112. The objects shown are small packs of screws, a hammer, and safety glasses.

[0081] As a supplement, it should be noted that "having" does not exclude other components or stages, and the indefinite articles "eine" and "ein" do not exclude plurals. Furthermore, it should be noted that a constituent element or stage described by referring to one of the above embodiments can also be applied in combination with other constituent elements or stages of the other embodiments described above. The symbols in the claims should not be considered limiting. (Other possible items) (Item 1) In the order processing mechanism (100), At least one first pick robot (102) for transferring the items to be processed (104) from at least one starting container (106) to an intermediate storage area (108), The intermediate storage area (108) for temporarily placing the object (104) to be processed, An order processing mechanism comprising at least one second pick robot (110) for transferring an object (104) to be processed from the intermediate storage area (108) to at least one target container (112) capable of accommodating at least one object (104) to be processed. (Item 2) An order processing mechanism (100) according to item 1, having a starting container / supplying device (114) for supplying at least one starting container (106) containing at least one object (104) to be processed from a storage area (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 / supplying device (118) for supplying at least one target container (112) to be filled with at least one object (104) to be processed 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 departure container / discharge device (120) for discharging at least one departure container (106) from which at least one object (104) to be processed for order processing from at least one first pick robot (102) to a storage area (116) or a refilling station. (Item 5) An order processing mechanism (100) according to any one of items 1 to 4, having a target container / dispatch device (122) for dispensing 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 dispatch station (124). (Item 6) An order processing mechanism (100) according to any one of items 1 to 5, comprising at least one of the starting containers (106), in particular a plurality of starting containers (106), each of the at least one of the starting containers (106) comprising at least one object (104) to be processed, in particular a plurality of objects (104) to be processed. (Item 7) An order processing mechanism (100) according to any one of items 1 to 6, having at least one of the target containers (112), in particular a plurality of target containers (112), each of which is capable of accommodating at least one object (104) to be processed, in particular a plurality of objects (104) to be processed. (Item 8) An order processing mechanism (100) according to any one of items 1 to 7, having a plurality of the first pick robots (102), each of which is configured to move an object to be processed (104) from at least one of the starting containers (106) to the intermediate storage area (108). (Item 9) An order processing mechanism (100) according to any one of items 1 to 8, having a plurality of the second pick robots (110), each of which is configured to move an object (104) to be processed from the intermediate storage area (108) to at least one of the target containers (112). (Item 10) An order processing mechanism (100) according to any one of items 1 to 9, having a plurality of intermediate storage areas (108), each of which is configured for temporarily storing an object (104) to be processed. (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 mounting surface, shelves, groove-shaped storage areas, and / or a plurality of groove-shaped storage areas arranged in a vertical position. (Item 12) The order processing mechanism (100) according to any one of items 1 to 11, wherein the intermediate storage area (108), in particular a plurality of the intermediate storage areas (108), has a shape such that when an object (104) to be processed for order is placed in the intermediate storage area (108), the object takes a well-defined position and / or orientation under the influence of gravity, in particular an inclined orientation, thereby enabling the picking of the placed object (104) by at least one of the second pick robots (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 with a plurality of interchangeable manipulators (126) each having different object handling characteristics, particularly selectively or automatically. (Item 14) The intermediate storage area (108), in particular a plurality of the intermediate storage areas (108), is configured to be movable and / or interchangeable, as described in any one of items 1 to 13, for the order processing mechanism (100). (Item 15) An order processing mechanism (100) according to any one of items 1 to 14, having at least one detection device (130) for determining detection information for monitoring and / or controlling the order processing of an object (104) by the order processing mechanism (100). (Item 16) At least one of the detection devices (130) is configured to detect weight information, position information, orientation information, optical information, and / or transponder information, in the order processing mechanism (100) described in item 15. (Item 17) In order processing methods, The object to be processed (104) is transferred 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 object to be processed (104), The object to be processed (104) is subsequently transferred by at least one second pick robot (110) from the intermediate storage area (108) to at least one target container (112) containing the object to be processed (104), An order processing method having the following characteristics. (Item 18) The order processing method according to item 17, wherein at least one of the starting containers (106) is supplied from a storage location (116) to at least one of the first pick robots (102). (Item 19) The order processing method according to item 17 or 18, wherein at least one target container (112) filled with at least one object (104) is transported from at least one second pick robot (110) to a shipping station (124). (Item 20) The aforementioned order processing method is: Multiple starting containers (106) are supplied, each containing at least one object (104) to be ordered, for simultaneous access by at least one of the first pick robots (102), particularly by multiple of the first pick robots (102) operating in parallel, At least one of the first pick robots (102), and more particularly multiple of the first pick robots (102), selects each time one of the supplied starting containers (106) to transfer the object to be processed (104) from the selected starting container (106) to the intermediate storage area (108), and more particularly to one of the multiple intermediate storage areas (108) selected each time. An order processing method according to any one of items 17 to 19, having the following characteristics: (Item 21) The order processing method according to item 20, wherein the order in which the objects to be processed (104) are transferred from a plurality of supplied starting containers (106) to at least one intermediate storage area (108), particularly to a plurality of intermediate storage areas (108), is selected separately from the order in which the plurality of starting containers (106) are supplied to at least one first pick robot (102), particularly to a plurality of first pick robots (102) operating in parallel. (Item 22) The aforementioned order processing method is: A plurality of target containers (112), each intended to contain at least one object (104) to be processed, are supplied for simultaneous access by at least one of the second pick robots (110), particularly by a plurality of the second pick robots (110) operating in parallel, At least one of the second pick robots (110), particularly multiple of the second pick robots (110), selects one of the supplied target containers (112) for the transfer of the object (104) to be ordered from the intermediate storage area (108), particularly from one of the multiple intermediate storage areas (108) selected each time, to the target container (112) selected each time, An order processing method according to any one of items 17 to 21, having the following characteristics: (Item 23) The order processing method according to item 22, wherein the order in which the objects to be processed (104) are transferred from at least one intermediate storage area (108), particularly from multiple intermediate storage areas (108), is selected separately from the order in which the objects to be processed (104) are transferred from a supplied plurality of starting containers (106) to at least one intermediate storage area (108), particularly to multiple intermediate storage areas (108).

Claims

1. In the order processing mechanism, A first pick robot for transferring items to be processed from at least one starting container to an intermediate storage area, The aforementioned intermediate storage area for temporarily placing the items to be processed, The system includes at least one second pick robot for transferring objects to be processed from the intermediate storage area to at least one target container capable of holding at least one object to be processed, An order processing mechanism in which the intermediate storage areas, in particular a plurality of the intermediate storage areas, are shaped such that when an object to be processed for order is placed there, the object takes a well-defined position and / or orientation in the intermediate storage area under the influence of gravity, in particular an inclined orientation, thereby enabling at least one of the second pick robots to pick the placed object in a predefined manner.

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

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

4. The order processing mechanism according to claim 1, further comprising a departure container / discharge device for discharging at least one departure container from which at least one object to be processed for order has been removed, from at least one first pick robot, particularly to a storage area or a refilling station.

5. The order processing mechanism according to claim 1, further comprising a target container / dispatch device for dispensing at least one target container containing at least one object to be processed from at least one second pick robot to a shipping station.

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

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

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

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

10. The order processing mechanism according to claim 1, having a plurality of intermediate storage areas, each of which is configured for temporarily storing an object to be processed.

11. The order processing mechanism according to claim 1, wherein the intermediate storage area, in particular, has a table-like mounting surface, shelves, groove-shaped storage areas, and / or a plurality of groove-shaped storage areas arranged in a vertically oriented manner.

12. The order processing mechanism according to claim 1, wherein the intermediate storage area, in particular, a plurality of the intermediate storage areas, have a pyramidal shape, in particular an inverted square pyramidal shape.

13. 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 with a plurality of interchangeable manipulators, each having different object handling characteristics, particularly selectively or automatically.

14. The order processing mechanism according to claim 1, wherein the intermediate storage area, in particular, a plurality of the intermediate storage areas, are configured to be movable and / or interchangeable.

15. The order processing mechanism according to any one of claims 1 to 14, further comprising at least one detection device for determining detection information for monitoring and / or controlling the order processing of an object by the order processing mechanism.

16. The order processing mechanism according to claim 15, wherein at least one of the detection devices is configured to detect weight information, position information, orientation information, optical information, and / or transponder information.

17. In order processing methods, The items to be processed are transferred by at least one first pick robot from at least one starting container to an intermediate storage area for temporarily placing the items to be processed, The object to be processed is subsequently transferred by at least one second pick robot from the intermediate storage area to at least one target container containing at least one object to be processed, It has, An order processing method wherein the intermediate storage area, in particular a plurality of the intermediate storage areas, has a shape such that when an object to be processed for order is placed there, the object takes a well-defined position and / or orientation in the intermediate storage area under the influence of gravity, in particular an inclined orientation, thereby enabling at least one of the second pick robots to pick the placed object in a predefined manner.

18. The order processing method according to claim 17, wherein at least one of the starting containers is supplied from a storage location to at least one of the first pick robots.

19. The order processing method according to claim 17, wherein at least one target container filled with at least one object is transported from at least one second pick robot to a shipping station.

20. The aforementioned order processing method is: Multiple starting containers are supplied, each containing at least one object to be ordered, for simultaneous access by at least one of the first pick robots, particularly by multiple of the first pick robots operating in parallel, At least one of the first pick robots, and more particularly multiple of the first pick robots, selects one of the supplied starting containers each time to transfer the object to be processed from the selected starting container to the intermediate storage area, and more particularly to one of the multiple intermediate storage areas selected each time. The order processing method according to claim 17, comprising:

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

22. The aforementioned order processing method is: A plurality of target containers, each intended to contain at least one object to be processed, are supplied for simultaneous access by at least one of the second pick robots, particularly by a plurality of the second pick robots operating in parallel. At least one of the second pick robots, and more particularly multiple of the second pick robots, selects one of the supplied target containers for the transfer of the object to be processed from the intermediate storage area, particularly from one of the multiple intermediate storage areas selected each time, to the target container selected each time. An order processing method according to any one of claims 17 to 21, comprising:

23. The order processing method according to claim 22, wherein the order in which the objects to be processed are transferred from at least one intermediate storage area, particularly from a plurality of intermediate storage areas, is selected separately from the order in which the objects to be processed are transferred from a plurality of supplied starting containers to at least one intermediate storage area, particularly to a plurality of intermediate storage areas.

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