CN212550534U

CN212550534U - Goods picking system

Info

Publication number: CN212550534U
Application number: CN202021095031.7U
Authority: CN
Inventors: 周红霞; 陈宇奇
Original assignee: Shenzhen Hairou Innovation Technology Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2020-06-12
Filing date: 2020-06-12
Publication date: 2021-02-19
Anticipated expiration: 2030-06-12

Abstract

An embodiment of the present disclosure provides a goods picking system, including: a picking robot and a storage area; the picking robot includes a body, and a robotic arm and a storage device are arranged on the body; a storage device is arranged in the storage area; the picking robot is used to obtain picking instructions, Move to the storage area according to the picking instruction, pick out the goods corresponding to the picking instruction from the storage equipment in the storage area through the robotic arm, put the picked goods into the storage device, and transport the goods to the first preset area; The area stores the goods that can be grasped by the robotic arm and the goods that cannot be grasped by the robotic arm; the picking instruction is used to instruct the picking robot to pick up at least part of the goods that can be grasped. The goods picking system provided by the embodiments of the present disclosure can pick the goods that can be grasped by a picking robot, improve the efficiency and accuracy of the entire goods picking system, and reduce the system's dependence on manual labor.

Description

Cargo picking system

Technical Field

The utility model relates to an intelligence commodity circulation field especially relates to a goods system of selecting.

Background

With the continuous development of social trade and the continuous progress of scientific technology, logistics and warehousing technology is also continuously improved, and how to more efficiently realize logistics and warehousing management becomes a hot problem.

In the existing warehousing and logistics system, when goods need to be picked, a goods shelf or a material box filled with the goods needs to be conveyed to a workstation, and then the staff of the workstation carries out the picking operation of the goods.

The prior art has the defects that the picking link is realized by manual operation, and the picking efficiency is low.

SUMMERY OF THE UTILITY MODEL

The embodiment of the disclosure provides a goods picking system, which is used for solving the technical problem of low goods picking efficiency.

In order to achieve the above purpose, the embodiments of the present disclosure provide the following technical solutions:

the disclosed embodiment provides a goods picking system, including: a picking robot and a storage area;

the picking robot comprises a body, wherein a mechanical arm and a storage device are arranged on the body; a storage device is arranged in the storage area;

the picking robot is used for acquiring a picking instruction, moving to the storage area according to the picking instruction, picking the goods corresponding to the picking instruction from the storage equipment in the storage area through the mechanical arm, putting the picked goods into the storage device, and conveying the goods to a first preset area;

the storage area stores goods which can be grabbed by the mechanical arm and goods which cannot be grabbed by the mechanical arm; the picking instructions are used for instructing the picking robot to pick at least part of the goods in the grabbed goods.

In one possible design, the system further includes: a processing terminal; the processing terminal is in communication connection with the picking robot;

the processing terminal is used for determining goods which can be grabbed by the mechanical arm of the picking robot from the goods to be picked, generating a picking instruction according to the goods which can be grabbed in the goods to be picked and sending the picking instruction to the picking robot.

In a possible design, the processing terminal is further configured to determine whether the goods is a good that can be picked by the robot arm according to the attribute information of each good to be picked.

In one possible design, the processing terminal is further configured to generate a carrying instruction according to the goods which cannot be picked and send the carrying instruction to the robot when the goods which cannot be picked by the picking robot exist in the goods to be picked;

the robot is used for moving to the storage area according to the carrying instruction, taking out the corresponding storage equipment from the storage area, and conveying the storage equipment to a second preset area.

In one possible design, the robot comprises the picking robot; and/or the presence of a gas in the gas,

the system further comprises: a transfer robot; the robot includes the transfer robot.

In one possible design, the number of picking robots in the system is multiple;

the processing terminal is further used for distributing carrying instructions and/or picking instructions to the picking robots according to a preset strategy.

In one possible design, the processing terminal is further configured to send the carrying instruction and the picking instruction to the same picking robot when the goods storage position corresponding to the carrying instruction and the goods storage position corresponding to the picking instruction satisfy a preset condition.

In one possible design, the picking robot is specifically configured to: after the picking instruction is obtained, the carrying bin is moved to a storage area, goods corresponding to the picking instruction are picked out from the storage equipment, the picked goods are placed into the picking bin, and the picking bin is conveyed to a first preset area.

In one possible design, if the sorting command is a single-sorting command, the first preset area is a packing work area; and/or the presence of a gas in the gas,

if the picking instruction is an order for collecting and picking, the first preset area is a secondary sorting area.

In one possible design, the picking robot further includes: an identification device;

the identification device is used for identifying the storage equipment and/or goods in the storage area so as to search the goods corresponding to the picking instruction.

In one possible design, the identification device is a visual identification device; the visual recognition device comprises a camera;

the camera is arranged on the mechanical arm.

In one possible design, the picking robot further includes: the light source device is arranged on the mechanical arm;

the light source device is used for providing illumination when the visual identification device identifies the storage equipment and/or goods in the storage area.

In one possible design, the system further includes: at least one of the storage devices; the storage equipment is a goods shelf and/or a bin.

In one possible design, the storage device is provided with an opening on a side for the robotic arm to pass through; and/or the presence of a gas in the gas,

the storage device is provided with a guide member for providing a guide function to the robot arm when the robot arm grips the goods.

In one possible design, the goods that can be grabbed by the mechanical arm and the goods that cannot be grabbed by the mechanical arm are respectively stored in different bins;

a bin for storing the grippable goods is placed at a preset position of the shelf.

The goods picking system comprises a picking robot and a storage area, wherein the picking robot comprises a body, a mechanical arm and a storage device are arranged on the body, a storage device is arranged in the storage area, the picking robot can obtain a picking instruction and move to the storage area according to the picking instruction, the storage area stores goods which can be picked by the mechanical arm and goods which cannot be picked by the mechanical arm, the picking instruction comprises information of at least part of the goods in the goods which can be picked, the picking robot can pick the goods corresponding to the picking instruction from the storage device in the storage area, the picked goods are placed into the storage device and are conveyed to a first preset area, the goods which can be picked by the picking robot can be picked, and the efficiency and the accuracy of the whole goods picking system are improved, and the dependence of the system on manpower is reduced.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present disclosure, and for those skilled in the art, other drawings can be obtained according to the drawings without inventive exercise.

Fig. 1 is a schematic view of a cargo picking system provided by an embodiment of the present disclosure;

FIG. 2 is a schematic view of another cargo picking system provided by embodiments of the present disclosure;

fig. 3 is a schematic diagram illustrating a moving track of a robot in a single picking mode according to an embodiment of the present disclosure;

fig. 4 is a schematic diagram illustrating a moving track of a robot in a collection and picking mode according to an embodiment of the present disclosure;

FIG. 5 is a block diagram of a picking robot according to an embodiment of the present disclosure;

fig. 6 is a schematic side opening view of a storage device according to an embodiment of the present disclosure;

fig. 7 is a schematic view of a guide member of a storage device according to an embodiment of the present disclosure.

Reference numerals:

10-picking robot 20-storage area 30-storage device

40-processing terminal 50-packing working area 60-manual picking area

70-secondary sorting area 80-carrying robot 101-mechanical arm

102-identification means 103-light source means 301-extension plate

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are some, but not all embodiments of the present disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

The terminology used in the embodiments of the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in the disclosed embodiments, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

The goods sorting system provided by the embodiment of the disclosure can be applied to any suitable industry field or technical field, such as the field of intelligent warehousing, the field of intelligent logistics and the like. The picking robot can be used for improving the picking efficiency, the picking robot can move to a storage area where goods are stored according to a picking instruction, pick the goods from the storage area and transport the goods out, so that the goods can be automatically picked, and the picking efficiency is improved.

Fig. 1 is a schematic view of a cargo picking system according to an embodiment of the present disclosure. As shown in fig. 1, the cargo picking system in the present embodiment may include: a picking robot 10 and a storage area 20; the picking robot 10 may include a body on which robotic arms and storage devices are disposed; a storage device 30 may be disposed within the storage area 20.

The picking robot 10 is configured to obtain a picking order, move to the storage area 20 according to the picking order, pick the goods corresponding to the picking order from the storage device 30 in the storage area 20 through the mechanical arm, place the picked goods into the storage device, and transport the goods to a first preset area.

Wherein the storage area 20 stores goods that can be grabbed by the mechanical arm and goods that cannot be grabbed by the mechanical arm; the picking instructions are used to instruct the picking robot 10 to pick at least some of the graspable items.

Specifically, the storage area 20 may be an area for storing goods, such as a warehouse or the like. The storage area 20 is provided with a storage device 30, the storage device 30 may be any device capable of storing goods, such as a bin and/or a shelf, the goods may be placed in the bin or on the shelf, and the robot arm may pick the goods from the storage device 30.

Considering that the robotic arms of the existing picking robot 10 may only support the grabbing of a portion of the goods, the goods stored in the storage area 20 may be classified into two types according to attributes: the picking order obtained by the picking robot 10 may include information about one or more pickable goods, which may be picked by the robot arm and goods that may not be picked by the robot arm, to instruct the picking robot 10 to pick the one or more pickable goods from the storage area 20 through the robot arm.

In an alternative implementation, the cargo that can be grabbed by the robotic arm of the picking robot 10 may be the cargo that the robotic arm of the picking robot 10 has the ability to grab, and is mainly determined by the shape, size and texture of the cargo, for example, cargo that is too large or too small in volume, beyond the grabbing ability of the robotic arm, may be considered to be the cargo that the robotic arm is not capable of grabbing.

In other alternative implementations, the goods that can be grabbed by the mechanical arm of the picking robot 10 may also refer to goods that the mechanical arm has the ability and authority to grab, for example, for some fragile articles, although the mechanical arm of the picking robot 10 can grab the goods, for safety, the goods may be set as goods that the mechanical arm cannot grab, and the picking robot 10 is prohibited from grabbing the goods, so that the safety of picking is improved.

Through divide into the goods into two kinds of goods that the arm can snatch and the goods that can not snatch can realize the effective management to the goods of storage, utilize picking robot 10 only to remove to pick its goods that can snatch, to the goods that picking robot 10 can't snatch, can carry out the manual work and select, realize selecting automatically and select with the manual work and combine together.

In actual practice, the picking robot 10 may obtain picking instructions from other devices, or the picking instructions may be input to the picking robot 10 by a user. The picking order may include information about the goods to be picked, such as identification, quantity, location, etc. of the goods, and the picking robot 10 may move to the storage area 20 storing the goods according to the picking order and pick the corresponding goods from the storage device 30 storing the goods.

After picking the goods, the picked goods can be put into the storage device, the storage device can be any device capable of placing goods, such as a pack basket, etc., and the picking robot 10 carries the picked goods to move to a first preset area, thereby completing the picking work of the goods.

The goods picking system provided by the embodiment comprises a picking robot 10 and a storage area 20, wherein the picking robot 10 comprises a body, a mechanical arm and a storage device are arranged on the body, a storage device 30 is arranged in the storage area 20, the picking robot 10 can obtain a picking instruction and move to the storage area 20 according to the picking instruction, the storage area 20 stores goods which can be picked by the mechanical arm and goods which cannot be picked by the mechanical arm, the picking instruction comprises information of at least part of the goods in the goods which can be picked, the picking robot 10 can pick the goods corresponding to the picking instruction from the storage device 30 in the storage area 20, place the picked goods into the storage device and transport the goods to a first preset area, and can pick the goods which can be picked by the picking robot 10, the efficiency and the rate of accuracy of whole goods system of selecting are improved, the dependence of system to artifical is reduced.

In an alternative embodiment, the cargo picking system may further include a processing terminal 40. The processing terminal 40 may be communicatively coupled to the picking robot 10. The processing terminal 40 is configured to determine goods that can be picked by the mechanical arm of the picking robot 10 from the goods to be picked, and generate a picking instruction according to the goods that can be picked from the goods to be picked and send the picking instruction to the picking robot 10.

The processing terminal 40 may be, for example, a mobile phone, a computer, or the like. The processing terminal 40 may determine the goods to be picked in a number of ways.

In some scenarios, for example, when processing orders, the processing terminal 40 may obtain at least one order to be processed, each order may contain information of one or more goods, and the goods to be picked may be determined according to the at least one order to be processed, and the order to be processed may be issued by a client system or may be input by a worker.

In other scenarios, for example, when picking up goods, the goods stored in the storage area 20 may be sorted out and reclassified, marked or inspected and then returned to the storage area 20 according to a certain policy to manage the goods storage, in which case, the processing terminal 40 may determine the goods that need to be sorted, and use the goods that need to be sorted as the goods to be sorted by the picking robot 10.

Optionally, after determining the goods to be sorted, the processing terminal 40 may be further configured to determine whether the goods is the goods that can be picked by the robot arm according to the attribute information of each goods to be sorted.

Specifically, before or after the goods are put in storage, whether the goods can be grabbed by the picking robot 10 may be detected through a test, and a test result may be recorded, where the attribute information may be a test result corresponding to the goods, that is, the attribute information may be directly used to indicate whether the goods can be grabbed.

Or, the attribute information may be information of the shape, size, material, and the like of the cargo, and whether the cargo can be grabbed may be determined according to the attribute information through a preset determination standard. For example, if the volume of the goods is larger than a volume threshold, the goods cannot be grabbed, and if the goods belong to a preset material such as glass, the goods cannot be grabbed.

The goods to be picked are determined through the processing terminal 40, whether goods which can be picked by the mechanical arm of the picking robot 10 exist in the goods to be picked is judged according to the attribute information of the goods, a picking instruction is generated according to the judgment result and sent to the picking robot 10, the distribution of the goods to be picked between machine picking and manual picking can be effectively achieved, the automation degree of the system is further improved, and the picking efficiency and accuracy are improved.

Under the scene that goods to be picked are determined according to at least one order to be processed, two working modes of single picking and goods collecting picking can be provided. The picking by order may mean that corresponding goods are picked in the storage device 30 according to a single order and sent to be packaged; the picking may be to pick the goods corresponding to a plurality of orders in the storage device 30 and then send the goods to the second sorting.

Optionally, if the picking command is a single-picking command, the first preset area to which the picking robot 10 picks the goods may be the packing work area 50; if the picking order is an order for picking the collected goods, the first predetermined area may be the secondary sorting area 70.

Specifically, in the order picking mode, when a picking instruction is generated according to the graspable goods, the processing terminal 40 may be specifically configured to generate the order picking instruction according to a graspable order in the at least one order to be processed, where the graspable order is an order in which corresponding goods are graspable goods.

If there are some goods available for picking and some goods not available for picking in an order, the order is not a pickable order. The picking order may include information for the goods corresponding to each pickable order.

After the picking robot 10 obtains the picking command, it may move to the storage area 20 according to the picking command, pick the goods corresponding to the pickable order from the storage devices 30 in the storage area 20, and transport the picked goods to the packing work area 50, so as to complete the packing work of the goods.

In the goods collecting and picking mode, when the picking instruction is generated according to the graspable goods, the processing terminal 40 may be specifically configured to generate the picking instruction for collecting and picking according to the graspable goods corresponding to the at least one order to be processed.

The picking instruction of the order collection picking may include information that the at least one order to be processed corresponds to the graspable goods in the items to be picked, and the order in which each graspable goods is located is not distinguished.

After the picking robot 10 obtains the picking command, it may move to the storage area 20 according to the picking command, pick the goods corresponding to the pickable order from the storage devices 30 in the storage area 20, and transport the picked goods to the secondary sorting area 70, so as to perform secondary sorting on the picked goods.

Through the mode, two picking modes of single picking and collection picking can be achieved, picking requirements of different scenes are met, and flexibility and applicability of the system are improved.

In an alternative embodiment, for goods that are not graspable by the robot arm, handling instructions may be generated and sent to the robot.

Specifically, the processing terminal 40 may be further configured to generate a carrying instruction according to the goods that cannot be picked and send the carrying instruction to the robot when the goods that cannot be picked by the picking robot 10 exist in the goods to be picked.

The robot is configured to move to the storage area 20 according to the transfer instruction, take out the corresponding storage device 30 from the storage area 20, and transport the storage device 30 to a second preset area. The second predetermined area may be an area where a user picks a good, such as the manual picking area 60.

The transfer instruction is used for the robot to determine information of the storage device 30 to be transferred, such as identification, position, and the like of the storage device 30. Optionally, the carrying instruction may include information of the goods that cannot be grabbed, such as an identifier, a position, and the like, the robot may store a correspondence between the goods and the storage device 30 where the goods are stored, and the robot may determine information of the corresponding storage device 30 according to the information of the goods and the correspondence in the carrying instruction.

Or, the processing terminal 40 determines the information of the corresponding storage device 30 according to the information of the goods that cannot be grabbed, and the transfer instruction sent to the robot may include the information of the storage device 30, so that the robot may directly find the storage device 30 according to the information of the storage device 30 and transfer the storage device.

The robot may be the picking robot 10 described above, or may be another robot, which is not limited in this disclosure.

Fig. 2 is a schematic view of another cargo picking system provided by the disclosed embodiment. As shown in fig. 2, on the basis of the solution shown in fig. 1, the cargo picking system may further include: the transfer robot 80 may be a robot for executing a transfer instruction, and the transfer robot 80 may be a robot for executing a transfer instruction. The processing terminal 40 may be communicatively connected to the transfer robot 80 to send a transfer instruction to the transfer robot 80.

Specifically, the goods sorting system may include two kinds of robots, a sorting robot 10 and a transfer robot 80, the sorting robot 10 is provided with a mechanical arm, and can sort goods in the storage device 30 and deliver the goods to the packing work area 50 or the secondary sorting area 70 after the sorting is completed. The transfer robot 80 may directly transport the storage device 30 to the manual sorting area 60 for manual sorting without providing a mechanical arm, and may pack the storage device out of the warehouse or send the storage device to a secondary sorting area after the sorting is completed, so as to complete the cargo sorting task in a cooperative manner of two robots.

In practical applications, the processing terminal 40 may divide the order into two types according to the attribute of whether the goods in the order to be processed can be picked by the robot arm, one type of robot arm can pick the goods and is executed by the picking robot 10, and the other type of robot arm cannot pick the goods and is executed by the transfer robot 80, so as to transport the storage device 30 with the goods, such as bins, to the manual picking area 60.

The picking robot 10 and the transfer robot 80 in the cargo picking system may be one or more. The processing terminal 40 may assign robots for goods picking and bin handling according to the order.

After receiving the picking order, the picking robot 10 carrying out the goods picking task can move with empty magazines to the storage area 20, where the magazines can be placed on a storage device of the picking robot 10. After the picking robot 10 moves to the target position of the storage area 20, the picking robot picks the goods corresponding to the picking command from the target position and puts the picked goods into the bin. After the picking at the current position is finished, the picking machine moves to the next target position to continue picking.

After a batch of orders by the picking robot 10 is completed, it may return to the packing work area 50 or the secondary sorting area 70 and replace an empty bin for the next batch of picking tasks. Alternatively, after a portion of the orders are completed, they may be placed in the packing area 50 or the secondary sorting area 70 and the remaining orders may be executed.

In other implementations, the picking robot 10 may first place some or all of the completed bins on a buffer rack in the designated area, and other robots move the bins from the buffer rack to the packing work area 50 or the secondary sorting area 70. It can be understood that the specific path plan after the goods are taken may be set according to actual needs, and this embodiment does not limit this.

The transfer robot 80 that performs the work of bin transfer may also be provided with a storage device such as a basket carried on the back, and the transfer robot 80 moves to the target location of the storage area 20, picks up the entire bin onto the basket carried on the back, and then moves to the next target location to continue picking up the bin onto the basket carried on the back. After a batch of bins is removed, the transfer robot 80 transports the bins to the manual picking area 60, the worker picks the needed goods according to the order, and the transfer robot 80 returns the used bins to the storage area 20 or other areas.

Fig. 3 is a schematic diagram of a moving track of a robot in a single picking mode according to an embodiment of the present disclosure. The bins that are carried by the picking robot 10 as it enters the storage area 20 at the time of order picking may be order bins, one order for each order.

As shown in fig. 3, the picking robot 10 moves to the corresponding storage device 30 according to the picking instruction to pick the goods, and after the picking is completed, the goods are put into the order box and sent to the packing work area 50 to be packed and delivered out of the warehouse. The transfer robot 80 moves to the corresponding storage device 30 according to the transfer instruction, transfers the storage device 30 with the goods to the manual sorting area 60, manually sorts the needed goods to order boxes, and then the robot or the manual transfer the completed order boxes to the packing work area 50 for packing and delivery. In alternative implementations, the completed order boxes may also be sent by the robot to the packing workspace 50 for packing out.

Fig. 4 is a schematic diagram of a moving track of a robot in a collection and picking mode according to an embodiment of the present disclosure. In the order picking mode, the processing terminal 40 may generate an order form according to at least one order to be processed, and the bin carried by the picking robot 10 when entering the storage area 20 may be an order collection bin corresponding to the goods required by the order form.

As shown in fig. 4, the picking robot 10 moves to the corresponding storage device 30 according to the picking instruction to pick the goods, and after the picking is completed, the goods collecting bin needs to be sent to the secondary sorting area 70 to be sorted. The transfer robot 80 moves to the corresponding storage device 30 according to the transfer instruction, transfers the storage device 30 with the goods to the manual sorting area 60, manually sorts the needed goods to the goods collecting box, and then the robot or the manual sends the completed goods collecting box to the secondary sorting area 70 for sorting.

In an alternative embodiment, the robot for executing the handling instructions may be the picking robot 10 described above. The picking robot 10 can perform both picking and handling tasks. For example, in the whole warehousing system, all robots are provided with mechanical arms, and can be selected and carried, so that the number of the robots in the system is effectively reduced, the system maintenance is facilitated, and the system cost is saved.

When the number of picking robots 10 in the system is plural, the processing terminal 40 may be further configured to assign a carrying instruction and/or a picking instruction to each picking robot 10 according to a preset policy.

It will be appreciated that each handling instruction may correspond to an order or orders, and similarly, the picking instruction may correspond to an order or orders. The processing terminal 40 may assign handling instructions and/or picking instructions to the picking robot 10 according to certain policies.

Optionally, the processing terminal 40 may send the carrying instruction and the picking instruction to the same picking robot 10 when the goods storage position corresponding to the carrying instruction and the goods storage position corresponding to the picking instruction satisfy the preset condition.

The preset condition may be set according to actual needs, for example, if a distance between a goods storage position corresponding to the picking instruction and a goods storage position corresponding to the carrying instruction is smaller than a preset distance threshold, the picking instruction and the carrying instruction may be issued to the same picking robot 10, and the picking instruction and the carrying instruction are executed by the same picking robot 10, so as to further improve the picking efficiency of the system.

Alternatively, if the goods storage location corresponding to a transfer instruction is located on the way to execute two picking instructions, the transfer instruction and the two picking instructions may be sent to the same picking robot 10.

For example, if a certain carrying command is used to carry a box of goods, the box of goods is stored at the position a of the storage area 20, the goods corresponding to one picking command is stored at the position B, the goods corresponding to another picking command is stored at the position C, and the position a is on the way from the position B to the position C, then the processing terminal 40 may issue the carrying command and two picking commands to the picking robot 10, the picking robot 10 may first go to the position B for picking the goods according to the optimal path, then go to the position a for taking out the box, and finally go to the position C for picking the goods, and after completing the task, the goods picked from the positions B and C are sent to the packing work area 50, and the box taken out from the position a is sent to the manual picking area 60. In one task, the picking robot 10 can pick and carry the bin, so that the picking efficiency is effectively improved.

Having described the overall structure and operation of the present system, some specific implementations of the picking robot 10 in the system are given below. Fig. 5 is a block diagram of a picking robot according to an embodiment of the present disclosure. As shown in FIG. 5, the picking robot 10 may include: a robot arm 101, a recognition device 102, a light source device 103, and a storage device (not shown).

The mechanical arm 101 can perform lifting, stretching, rotating and other actions, so as to pick up goods. The identification device 102 may be configured to identify the storage devices 30 and/or the items within the storage area 20 to locate the items corresponding to the picking order.

Alternatively, the identification device 102 may be a visual identification device, and the visual identification device may include a camera for capturing images and a processing module for identifying the storage device 30 and/or the goods according to the images captured by the camera.

The camera can be arranged on the mechanical arm 101, and in the process of picking the goods, the mechanical arm 101 can drive the camera to move, so that the storage equipment 30 and/or the goods can be shot more flexibly, and the accuracy of identification is improved.

The light source device 103 may be disposed on the robot arm 101, and the light source device 103 is used for providing illumination when the visual recognition device recognizes the storage equipment 30 and/or goods in the storage area 20.

The light source device 103 may be an illuminating lamp, etc., the turning on and off of the light source device 103 may be set according to actual needs, and may be turned on after entering the storage area 20, or may be turned on after the picking robot 10 moves to a target position for picking goods, and after the light source device 103 is turned on, the storage device 30 and/or goods in the storage area 20 may be illuminated, thereby avoiding that insufficient light causes too poor image effect of shooting and affects recognition accuracy.

The storage devices 30 and/or the goods may be provided with corresponding identifiers, such as bar codes, two-dimensional codes, etc., and the identities of the storage devices 30 and/or the goods may be determined by processing the identifiers, or an appearance model of each storage device 30 and/or the goods may be stored in the picking robot 10, and the storage devices 30 and/or the goods in the storage area 20 may be identified directly by image recognition technology using the appearance model.

Alternatively, the same kind of goods may be stored in one storage device 30, and the picking robot 10 may pick a desired number of goods from the storage devices 30 directly after recognizing the storage device 30 in which the goods to be picked are located.

Alternatively, a plurality of different goods may be stored in one storage device 30, and the picking robot 10 may first find the storage device 30 where the goods to be picked are located, and then identify and pick the goods to be picked from the storage device 30.

In other alternative implementations, the identification apparatus 102 may also be other types of identification apparatuses 102, for example, the identification apparatus 102 may be an NFC (Near Field Communication) reader, the storage device 30 and/or the goods may be provided with an NFC tag, and the identification function may be realized through Communication between the NFC reader and the NFC tag.

In addition, the picking robot 10 may also include other devices to assist in performing cargo picking functions. Optionally, the picking robot 10 may include at least one of: running gear, telescoping device and elevating gear.

Wherein the walking means are used to effect movement of the picking robot 10 such that the picking robot 10 can shuttle between the storage area 20 and other areas. The lifting device may drive the robot arm 101 to ascend or descend so that the robot arm 101 reaches a suitable height, and the telescopic device may drive the robot arm 101 to horizontally move so that the robot arm 101 approaches or departs from the storage device 30, thereby performing an unloading operation of the goods.

In an optional embodiment, the system may further include: at least one of the storage devices 30; the storage device 30 may be a shelf and/or bin.

Alternatively, the side of the storage device 30 may be provided with an opening for the robot arm 101 to pass through. Wherein the side may be the side of the storage device 30 facing the picking robot 10.

Fig. 6 is a schematic side opening view of a storage device according to an embodiment of the disclosure. As shown in fig. 6, taking the storage device 30 as a bin as an example, a semicircular opening may be formed at an upper edge of a side surface of the bin, so that when the picking robot 10 picks a goods from the bin, the goods can pass through the opening, the speed of picking the goods is increased, and when the bin is placed on a shelf, it is not necessary to increase a layer pitch of the shelf for the convenience of passing the robot arm 101, thereby facilitating the increase of the storage density.

Alternatively, the storage device 30 may be provided with a guide member for providing a guide function to the robot arm 101 when the robot arm 101 grips a cargo.

In particular, the guiding means may be any means capable of providing a guiding function. Fig. 7 is a schematic view of a guide member of a storage device according to an embodiment of the present disclosure. As shown in fig. 7, the guide member may be a protruding plate 301. Take storage device 30 is the workbin as an example, the side of workbin towards picking robot 10 can be provided with and stretch out board 301, stretch out board 301 towards picking robot 10 extends, stretch out board 301 can be an inclination with the water flat line, when picking robot 10's arm 101 picked the goods, can follow stretch out board 301 returns to take out the goods more steadily, improve the efficiency and the security of picking.

Wherein the length, width, inclination angle, etc. of the extension plate 301 may be set according to the specific working capacity of the robot arm 101 of the picking robot 10.

In an alternative embodiment, the goods that can be gripped by the robot arm 101 and the goods that cannot be gripped by the robot arm 101 are stored in different bins, respectively, and the bin storing the grippable goods is placed at a predetermined position of the shelf.

Specifically, the bins in the storage area 20 may be divided into two types, one for storing the goods that the robot arm 101 can grab, and one for storing the goods that the robot arm 101 cannot grab. The bin can be placed on a shelf.

Wherein a magazine for storing grippable goods can be placed at a predetermined position of the shelf. The preset position may be a position at which the robot arm 101 can grasp the goods.

For example, the shelf is a multi-layer shelf, if the top layer of the shelf is less shielded and is suitable for the movement of the mechanical arm 101, and the other layers of the shelf except the top layer are more shielded and are not suitable for the movement of the mechanical arm 101, the preset position may be the top layer of the shelf, and a bin storing goods that can be grabbed by the mechanical arm 101 is placed on the top layer of the shelf.

Or, the top layer of the goods shelf is too high, the bottom layer is too low, and the mechanical arm 101 is difficult to reach the top layer or the bottom layer of the goods shelf, so the preset position can be the middle layer of the goods shelf, and the picking efficiency of the mechanical arm 101 is improved.

It can be understood that, in the technical solutions provided in the embodiments of the present disclosure, the functions of the components may be implemented by hardware improvements. For example, the processing terminal 40 determines whether the goods can be grabbed, and may be implemented by a comparator or a logic circuit; the picking robot 10 identifies the goods by adding an existing device with an image identification function; and so on.

In the several embodiments provided in the present disclosure, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the modules is only one logical division, and other divisions may be realized in practice, for example, a plurality of modules may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.

In addition, functional modules in the embodiments of the present disclosure may be integrated into one processing unit, or each module may exist alone physically, or two or more modules are integrated into one unit. Some or all of the modules may be selected according to actual needs to implement the solution of the present embodiment.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present disclosure, and not for limiting the same; while the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present disclosure.

Claims

1. A cargo picking system, comprising: a picking robot and a storage area;

2. The system of claim 1, further comprising: a processing terminal; the processing terminal is in communication connection with the picking robot;

3. The system of claim 2, wherein the processing terminal is further configured to determine whether the goods is a goods that can be picked by the robot arm according to the attribute information of each goods to be picked.

4. The system of claim 2,

the processing terminal is further used for generating a carrying instruction according to the goods which cannot be grabbed and sending the carrying instruction to the robot when the goods which cannot be grabbed by the picking robot exist in the goods to be picked;

5. The system of claim 4, wherein the robot comprises the picking robot; and/or the presence of a gas in the gas,

6. The system of claim 5, wherein the number of picking robots in the system is plural;

7. The system of claim 5,

the processing terminal is further used for sending the carrying instruction and the picking instruction to the same picking robot when the goods storage position corresponding to the carrying instruction and the goods storage position corresponding to the picking instruction meet preset conditions.

8. The system of claim 1, wherein the picking robot is specifically configured to: after the picking instruction is obtained, the carrying bin is moved to a storage area, goods corresponding to the picking instruction are picked out from the storage equipment, the picked goods are placed into the picking bin, and the picking bin is conveyed to a first preset area.

9. The system of claim 1, wherein if the picking order is a pick-by-single order, the first predetermined area is a packing work area; and/or the presence of a gas in the gas,

10. The system of any of claims 1-9, wherein the picking robot further comprises: an identification device;

11. The system of claim 10, wherein the recognition device is a visual recognition device; the visual recognition device comprises a camera;

the camera is arranged on the mechanical arm.

12. The system of claim 11, wherein the picking robot further comprises: the light source device is arranged on the mechanical arm;

13. The system of any one of claims 1-9, further comprising: at least one of the storage devices; the storage equipment is a goods shelf and/or a bin.

14. The system of claim 13, wherein the storage device is provided with an opening in a side thereof for passage of the robotic arm; and/or the presence of a gas in the gas,

15. The system according to any one of claims 1 to 9, wherein the goods graspable by the robot arm and the goods not graspable by the robot arm are stored in different bins, respectively;