WO2023061332A1 - 拣选系统及拣选控制方法 - Google Patents
拣选系统及拣选控制方法 Download PDFInfo
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- WO2023061332A1 WO2023061332A1 PCT/CN2022/124394 CN2022124394W WO2023061332A1 WO 2023061332 A1 WO2023061332 A1 WO 2023061332A1 CN 2022124394 W CN2022124394 W CN 2022124394W WO 2023061332 A1 WO2023061332 A1 WO 2023061332A1
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- Prior art keywords
- container
- picking
- shelf
- pick
- target container
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- 238000000034 method Methods 0.000 title claims abstract description 43
- 230000007246 mechanism Effects 0.000 claims abstract description 350
- 238000003032 molecular docking Methods 0.000 claims description 83
- 230000032258 transport Effects 0.000 claims description 25
- 230000000007 visual effect Effects 0.000 claims description 21
- 230000004044 response Effects 0.000 claims description 9
- 230000008569 process Effects 0.000 description 12
- 239000002699 waste material Substances 0.000 description 4
- 230000009194 climbing Effects 0.000 description 3
- 230000003863 physical function Effects 0.000 description 3
- 230000007723 transport mechanism Effects 0.000 description 3
- 230000007306 turnover Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/02—Apparatus characterised by the means used for distribution
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/02—Apparatus characterised by the means used for distribution
- B07C3/08—Apparatus characterised by the means used for distribution using arrangements of conveyors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/10—Apparatus characterised by the means used for detection ofthe destination
- B07C3/14—Apparatus characterised by the means used for detection ofthe destination using light-responsive detecting means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
Definitions
- This application relates to the technical field of picking automation, in particular to a picking system and a picking control method.
- the working principle of the goods-to-person picking system in the prior art is that the warehousing system receives the order information from e-commerce and other platforms, and gives the optimal picking plan according to the order information, and then the handling equipment assigned by the handling equipment control system The shelf where the goods are located is automatically transported to the picking station, and the picking operator removes the goods from the designated location on the shelf according to the order information. After completion, the handling equipment drives back to the shelf area with the shelves, waiting to receive the next system command.
- the goods-to-person picking system in the prior art has reduced the walking workload of a lot of personnel, when the handling equipment transports the shelves, it needs to stop at the designated picking station and wait for the picking workers to identify, pick and check the goods. Orders, etc., after completing a series of picking operations, the handling equipment can return, which will cause the handling equipment to stop at the picking station for a long time, which will affect the utilization rate of the handling equipment.
- the handling equipment can return, which will cause the handling equipment to stop at the picking station for a long time, which will affect the utilization rate of the handling equipment.
- it is difficult for workers to get them directly and they have to use climbing aids or need to bend over, etc. which will cause a lot of waste of time and will also affect the operation.
- the physical function of the worker causes a certain loss.
- the present application provides a picking system and a picking control method, which can further improve the efficiency of the goods-to-person picking system.
- a sorting system the picking system is deployed in a picking operation area, and the picking operation area includes a picking station;
- the picking system includes: a temporary storage mechanism, a first container pick-and-place mechanism and a second container pick-and-place mechanism;
- the first container pick-and-place mechanism is configured to remove at least one first target container from the first shelf when the first handling device loaded with the first shelf arrives at the temporary storage mechanism, and The first target container is transferred to the temporary storage mechanism;
- the second container pick-and-place mechanism is used to transfer at least one second target container on the temporary storage mechanism for which goods have been picked to an empty storage space.
- the temporary storage mechanism includes a first container conveying mechanism, and the picking operation area also includes a first parking position and a second parking position;
- the first container pick-and-place mechanism is located at the inlet end of the first container conveying mechanism, and the second container pick-and-place mechanism is located at the outlet end of the first container conveying mechanism;
- the first container pick-and-place mechanism is configured to remove at least one first target container from the first shelf after the first handling device loaded with the first shelf reaches the first docking position, and transferring the first target case to the first case delivery mechanism;
- the first container conveying mechanism is used to form a conveying path for the first target container to enter from the inlet, pass through the sorting station, and leave toward the outlet;
- the second container pick-and-place mechanism is used to transfer at least one second target container that has completed the selection of goods and arrived at the outlet end to the fourth shelf after the fourth handling device arrives at the second docking position. on a vacant shelf.
- said fourth handling device comprises said first handling device, or, from the shelf area, a third handling device loaded with a third shelf and arriving at said second docking position;
- the fourth shelf includes the first shelf or the third shelf.
- the picking system is deployed in a picking operation area, and the picking operation area includes a first docking position, a second docking position and a picking station;
- the picking system includes: a first container conveying mechanism, a first container pick-and-place mechanism located at the inlet end of the first container conveying mechanism, and a second container pick-and-place mechanism located at the outlet end of the first container conveying mechanism ;
- the first container pick-and-place mechanism is configured to remove at least one first target container from the first shelf after the first handling device loaded with the first shelf reaches the first docking position, and transfer to said first case delivery mechanism;
- the first container conveying mechanism is used to form a conveying path for the first target container to enter from the inlet, pass through the sorting station, and leave toward the outlet;
- the second container pick-and-place mechanism is configured to transfer at least one second target container that has completed product picking and arrived at the exit end to the On the vacant space on the first shelf.
- the second target container is removed from the second shelf by the first container pick-and-place mechanism after the second handling equipment loaded with the second shelf stops at the first docking position , and transferred to the first container conveying mechanism;
- the second handling device arrives at the first docking position earlier than the first handling device.
- the picking system also includes: a picking robot arm located at the picking station;
- the picking robot arm is associated with a visual recognition mechanism for picking target goods from the first target container.
- the picking system further includes: a second container conveying mechanism located at the picking station;
- the second case conveying mechanism is used to form a conveying path for the picking container to move at the picking station, and the picking container is used to store the goods picking result corresponding to a single order.
- first cargo box pick-and-place mechanism and the second cargo box pick-and-place mechanism are respectively associated with a control mechanism, which is used to control the first cargo box pick-and-place mechanism or the second cargo box pick-and-place mechanism according to the control instructions provided by the server.
- the unloading mechanism moves to the cargo position to be picked and placed, so as to complete the picking and placing operation of the container.
- control instruction further includes identification information of the first target container to be removed
- the first target container is associated with a graphic code, and the graphic code is generated according to the identification information of the first target container;
- the first container pick-and-place mechanism is also associated with a visual identification mechanism
- the visual recognition mechanism is used to identify the graphic code associated with the first target container after moving to the position where the first target container is located according to the control instruction, and identify the to-be-taken container. The correctness of the first target container is confirmed.
- the second target container is associated with a graphic code, and the graphic code is generated according to the identification information of the second target container;
- the second container pick-and-place mechanism is also associated with a visual identification mechanism
- the visual identification mechanism is configured to identify the graphic code of the second target container, and provide the identified identification of the second target container to the server, so that the server can identify the first shelf
- the corresponding relationship between the middle cargo location and the container is updated.
- the first case conveying mechanism is configured with at least two inlet ports and/or at least two outlet ports.
- the system is configured with at least two first container conveying mechanisms.
- the picking system also includes:
- the first transport equipment transports the first shelf back to the shelf area.
- the temporary storage mechanism includes a temporary storage rack.
- the first container pick-and-place mechanism is also used to transfer at least one target container on the temporary storage mechanism that has completed product picking to an empty location in response to a control instruction;
- the second container pick-and-place mechanism is further configured to, in response to a control instruction, remove at least one target container from the shelf when the handling equipment loaded with the shelf arrives at the temporary storage mechanism, and place the The target container is transferred to the temporary storage mechanism.
- At least one first target container to be removed on the first shelf is determined, and the first target container is placed in the The position information on the first shelf is provided to the first container pick-and-place mechanism;
- Controlling the second container pick-and-place mechanism to transfer at least one second target container on the temporary storage mechanism that has completed product picking to an empty storage space.
- the temporary storage mechanism includes a first container conveying mechanism, and the picking operation area also includes a first parking position and a second parking position;
- the position information of the box on the first shelf provided to the first box pick-and-place mechanism includes:
- At least one first target container to be removed on the first rack is determined, and the first target container is The location information on the first shelf is provided to the first container pick-and-place mechanism;
- Controlling the first container pick-and-place mechanism to remove the first target container from the first shelf and transfer it to the temporary storage mechanism includes:
- the first container conveying mechanism is used to form a conveying path for the first target container to enter from the entrance, pass through the picking station in the picking work area, and then leave toward the exit;
- Controlling the second container pick-and-place mechanism to transfer at least one second target container on the temporary storage mechanism that has completed product picking to an empty location includes:
- Controlling the second container pick-and-place mechanism to transfer at least one second target container that has completed product picking and arrived at the exit end to an empty container on the fourth shelf after the fourth handling device arrives at the second docking position. bit.
- said fourth handling device comprises said first handling device, or, from the shelf area, a third handling device loaded with a third shelf and arriving at said second docking position;
- the fourth shelf includes the first shelf or the third shelf.
- the temporary storage mechanism includes a first container conveying mechanism, and the picking operation area also includes a first parking position and a second parking position;
- the position information of the box on the first shelf provided to the first box pick-and-place mechanism includes:
- At least one first target container to be removed on the first rack is determined, and the first target container is The location information on the first shelf is provided to the first container pick-and-place mechanism;
- Controlling the first container pick-and-place mechanism to remove the first target container from the first shelf and transfer it to the temporary storage mechanism includes:
- Controlling the first container pick-and-place mechanism after the first handling device loaded with the first shelf arrives at the first docking position, remove at least one first target container from the first shelf, and place The first target container is transferred to the first container conveying mechanism, and sends an instruction to the first handling equipment to move to the second docking position in the picking operation area;
- the first container conveying mechanism is used to form a conveying path for the first target container to enter from the entrance, pass through the picking station in the picking work area, and then leave toward the exit;
- Controlling the second container pick-and-place mechanism to transfer at least one second target container on the temporary storage mechanism that has completed product picking to an empty location includes:
- the first handling equipment After the first handling equipment arrives at the second docking position in the picking operation area, it provides the position information of the free space on the first shelf to the second shelf pick-and-place mechanism to control the pick-and-place of the second container
- the mechanism transfers the at least one second target container for which the goods have been picked to an empty position on the first shelf.
- the method also includes:
- the method also includes:
- the identification of the first target container and the identification of the goods to be picked therein are provided to the picking robot arm equipped at the picking station, so that the picking task can be performed by the picking robot arm.
- the method also includes:
- the corresponding relationship between the storage space on the first shelf and the identification of the container is updated.
- the method also includes:
- an instruction to move to the shelf area is sent to the first handling device.
- the first handling equipment loaded with the first shelf arrives at the temporary storage mechanism through the first container pick-and-place mechanism, at least a first target container, and transfer the first target container to the temporary storage mechanism;
- the second target container is transferred to the free location, and by means of the temporary storage mechanism, the first container pick-and-place mechanism and the second container pick-and-place mechanism cooperate to complete the transfer of the target return box.
- the first docking position, the second docking position, and the picking station can be equipped in the picking operation area, and the first container conveying mechanism is equipped in the picking system, and the first container located at the entrance of the first container conveying mechanism
- the pick-and-place mechanism is the second box pick-and-place mechanism located at the outlet end of the first box conveying mechanism.
- At least one second target container that has completed the picking of the goods and has arrived at the outlet can be transferred to the first container by the second container pick-and-place mechanism. empty space on the shelf.
- each handling device can also receive one or more cargo boxes sent out by other handling devices before. In this way, the efficient turnover of cargo boxes can be realized, and the transportation capacity of the handling equipment can be fully utilized to avoid waste of transportation capacity.
- the pick-and-place of the boxes can be completed through the box pick-and-place mechanism, it is possible to reduce the occurrence of picking workers bending over or using climbing tools, etc., and reducing the loss of physical functions of the picking workers
- more automated picking can also be achieved by equipping the picking station with a robotic arm.
- Fig. 1 is an axonometric view of a sorting system provided in Embodiment 1 of the present application;
- Fig. 2 is a top view of a sorting system provided in Embodiment 1 of the present application;
- Fig. 3 is a rear view of a sorting system provided in Embodiment 1 of the present application.
- Fig. 4 is a perspective view of a picking system including a picking robot provided in Embodiment 1 of the present application;
- Fig. 5 is a top view of a picking system provided in Embodiment 1 of the present application including a picking robot arm;
- Fig. 6 is a flowchart of a sorting control method provided in Embodiment 2 of the present application.
- picking system 10 first docking position 101, second docking position 102, picking station 103, first container conveying mechanism 104, first container pick-and-place mechanism 105, second container pick-and-place mechanism 106, The picking robot arm 107 , the second container conveying mechanism 108 , the first shelf 201 , the second shelf 202 , the first handling equipment 301 , and the second handling equipment 302 .
- a sorting system is provided, the sorting system is deployed in a picking operation area, and the picking operation area includes a picking station;
- the picking system includes: a temporary storage mechanism, a first container pick-and-place mechanism and a second container pick-and-place mechanism;
- the first container pick-and-place mechanism is configured to remove at least one first target container from the first shelf when the first handling device loaded with the first shelf arrives at the temporary storage mechanism, and The first target container is transferred to the temporary storage mechanism;
- the second container pick-and-place mechanism is used to transfer at least one second target container on the temporary storage mechanism for which goods have been picked to an empty storage space.
- the temporary storage mechanism may be a temporary storage rack, or a container transport mechanism.
- the temporary storage mechanism includes a first container conveying mechanism, and correspondingly, the picking operation area further includes a first docking position and a second docking position; the first container pick-and-place mechanism is located at The inlet end of the first container conveying mechanism, and the second container pick-and-place mechanism are located at the outlet end of the first container conveying mechanism.
- the first container pick-and-place mechanism is used to remove at least one first container from the first shelf after the first handling equipment loaded with the first shelf reaches the first docking position. a target container, and transfer the first target container to the first container conveying mechanism.
- the first container conveying mechanism is used to form a conveying path for the first target container to enter from the inlet, pass through the sorting station, and leave toward the outlet.
- the first transport device can transport the first shelf back to the shelf area.
- the second container pick-and-place mechanism is used to transfer at least one second target container that has completed the selection of goods and arrived at the outlet end to the fourth shelf after the fourth handling device arrives at the second docking position. on a vacant shelf.
- the fourth conveying equipment may be the first conveying equipment, or may also be the third conveying equipment loaded with the third shelf from the shelf area and arriving at the second docking position.
- the fourth rack may be the first rack, or the third rack carried by the third handling device.
- the first container conveying mechanism is configured with at least two inlet ports and/or at least two outlet ports.
- the picking system can also be configured with at least two first case conveying mechanisms to improve picking efficiency.
- the functions of the first container picking mechanism and the second container picking mechanism can be adjusted as required. For example, if there are more target boxes to be transported on the temporary storage mechanism, then the first The case pick-and-place mechanism can also be used to transfer at least one target case located on the temporary storage mechanism for which goods picking has been completed to an empty storage position in response to a control instruction.
- the second container pick-and-place mechanism can also be used to, in response to a control instruction, , removing at least one target container from the shelf, and transferring the target container to the temporary storage mechanism.
- the picking efficiency can be further improved.
- two handling equipment docking positions may be arranged in the picking operation area, which are respectively the first docking position and the second docking position.
- the container removed from the rack at the first docking position may be different from the container put into the rack at the second docking position.
- the handling equipment A arrives at the first docking position at a certain time t, and the container 1 on the shelf loaded by it is taken off. After that, the handling equipment A continues to advance to the second parking position.
- the case 1 may not have been picked, but the case 2 was transported by the handling equipment B before time t, and when the handling equipment A arrives at the second docking position, the picking of the case 2 may have been completed, so , the container 2 can be put into the shelf loaded by the handling equipment A, and then the handling equipment A can return to the shelf area.
- the embodiment of the present application provides a new type of picking system, wherein the picking system can be deployed in the aforementioned picking operation area.
- the first container conveying mechanism of the picking system, the first container pick-and-place mechanism located at the inlet end of the first container conveying mechanism, and the second container pick-and-place mechanism located at the outlet end of the first container conveying mechanism wherein, the inlet end may also correspond to the first docking position, and the outlet end may correspond to the second docking position.
- the specific first container conveying mechanism can play the role of connecting the first docking position, the picking station and the second docking position.
- the first embodiment provides a sorting system, referring to Fig. 1, Fig. 2 and Fig. 3, the sorting system 10 is deployed in the picking operation area, and the picking operation area includes a first docking position 101, a second docking position 102 and picking station 103;
- the picking system 10 includes: a first container conveying mechanism 104, a first container pick-and-place mechanism 105 located at the inlet end of the first container conveying mechanism 104, a second container pick-and-place mechanism located at the outlet end of the first container conveying mechanism 104 Container picking and placing mechanism 106;
- the first container pick-and-place mechanism 105 is configured to remove at least one first container from the first shelf 201 after the first handling device 301 loaded with the first shelf 201 reaches the first docking position 101. target container, and transferred to the first container conveying mechanism 104;
- the first container conveying mechanism 104 is used to form a conveying path for the first target container to enter from the inlet, pass through the picking station 103, and leave toward the outlet;
- the second container pick-and-place mechanism 106 is configured to transfer at least one second target container that has completed the picking of goods and arrived at the outlet after the first handling device 301 arrives at the second docking position 102 to the vacant position of the first shelf 201.
- the first handling device 301 loaded with the first rack 201 is docked at the first docking position 101, at least one container can be removed from the first rack 201 by the first container pick-and-place mechanism 105.
- the first target container is transferred to the first container conveying mechanism 104 .
- This first case delivery mechanism 104 can transport the first target case to the picking station 103, so that specific goods can be picked out from the first target case by a specific picking body, and then the specific goods can also be delivered
- the first target container is delivered to the outlet.
- the first transport device 301 can continue to move forward without waiting for the goods in the first target container to be picked.
- At least one second target container that has completed the picking of goods and arrives at the outlet end can be transferred to the first container by the second container pick-and-place mechanism 106.
- the above-mentioned second target container may be picked up from the first container pick-and-place mechanism 105 by the first container pick-and-place mechanism 105 after the second handling equipment 302 loaded with the second shelf 202 stops at the first docking position 101. It is removed from the second shelf 202 and transferred to the first container conveying mechanism 104.
- the second transport equipment 302 since the second transport equipment 302 arrives at the first docking position 101 earlier than the first transport equipment 301, it will be sorted earlier, so that when the first transport equipment 301 arrives at the second docking position 102 , the second target container may have already been picked, and therefore, the second target container can be directly put into an empty position of the first shelf 201 .
- the second transport equipment 302 arrives at the above-mentioned second parking position 102, it may arrive at the first parking position 101 earlier than the second transport equipment 302.
- the cargo boxes sent by other handling equipment of the second handling equipment 302 are put into the free storage space of the second handling equipment 302, and so on.
- each handling device can also receive one or more cargo boxes sent out by other handling devices before. In this way, the efficient turnover of cargo boxes can be realized, and the transportation capacity of the handling equipment can be fully utilized to avoid waste of transportation capacity.
- the first container conveying mechanism in the middle can play the role of "water storage”, and can avoid pauses by controlling the conveying rhythm and speed of the container.
- both the first container pick-and-place mechanism 105 and the second container pick-and-place mechanism 106 can be equipped with a manual control mechanism, and the pickers manually control the first container pick-and-place mechanism 105 and the second container pick-and-place mechanism.
- Two container pick-and-place mechanisms 106 move in up, down, left, and right directions, and carry out the pick-and-place of the container.
- automatic control of the first container pick-and-place mechanism 105 and the second container pick-and-place mechanism 106 can also be realized.
- an automatic control mechanism can be equipped for the first container pick-and-place mechanism 105 and the second container pick-and-place mechanism 106, and the remote control instruction sent by the server can be received.
- the position information of the first target container on the first shelf, or the position information of the vacant position of the first shelf, and then the first container pick-and-place mechanism and the second container pick-and-place mechanism can follow the received
- the control command automatically moves up, down, left, and right to reach the corresponding position for removing or putting in the container.
- the server mentioned here may be a server in a specific handling equipment control system, and in a specific implementation, the server may include the corresponding relationship among multiple items such as shelves, storage positions, containers, and goods.
- the server can determine the specific goods that need to be picked according to the order that needs to be picked, and then, according to the above correspondence, determine the information such as the container where the shipped product is located, the shelf where the container is located, and , the handling task can be assigned to specific handling equipment, and each handling equipment can carry one of the shelves at a time, and travel to the first docking position described in the embodiment of the present application. That is to say, the server can know the identifier of the shelf carried by the specific handling equipment, the container of the goods to be picked on the shelf, and the position information of the container on the shelf, and so on.
- the first transport device After the first transport device travels to the first docking position, it may send a notification message to the server, or the server may automatically determine that the first transport device has arrived at the first docking position according to the positioning mechanism equipped with the first transport device. At this time, the server may know that the first shelf loaded by the first transport device has been transported to the first docking position. Afterwards, according to the position information of the container where the product to be picked is located in the first shelf, a picking instruction can be generated and sent to the first container picking and placing mechanism. After receiving the picking instruction, the control mechanism of the first container pick-and-place mechanism can move to the specific cargo location, and then perform specific handling of the picking boxes, and transfer the removed boxes to the first box for transportation Institutional.
- the picking instruction provided by the specific server may also include identification information such as the ID of the first target container, and the specific first target container may also be associated with There are graphic codes such as two-dimensional codes, which carry information such as the ID of the first target container.
- the first container pick-and-place mechanism can also be associated with a visual recognition mechanism (not shown in the figure), and after the visual recognition mechanism moves to a designated position, it can also pass through the graphic of the container stored on the position. Scan the code and other methods to obtain the identification of the container stored at the location. Afterwards, the target container to be removed can be confirmed by comparing the identification with the container identification carried in the picking instruction.
- the first container pick-and-place mechanism 105 takes off the first target container on the first shelf 201, it can be placed on the inlet end of the first container conveying mechanism 104, and after that, the first container conveying mechanism 104 will The first target container is transported to the picking station 103 , and the picking body picks the goods from the first target container, and then transports the first target container to the outlet of the first container conveying mechanism 104 .
- the first container pick-and-place mechanism removes the first target container on the first shelf, it can also provide a notification message to the server, or the server can The identification mechanism, etc., judges whether the first target container has been removed from the first shelf by means of image recognition, etc. Then, the server can send an instruction to continue moving to the first transport device. That is, as long as the first target container is removed from the first rack, the first transport device can continue to move forward with the first rack.
- the server may also notify the server, or the server may also judge the position through the positioning mechanism associated with the first transport equipment. Afterwards, since the server can record the location of the first target container on the first shelf 201, and after the first target container is removed, this location will become an empty location on the first shelf 201, so , the server can also record the position of this free storage space on the first shelf 201 . In this way, after the first transport equipment 301 arrives at the second docking position 102 , the server can generate a control command according to the position information of the free space in the first shelf 201 and send it to the second container pick-and-place mechanism 106 . Like this, the second container pick-and-place mechanism 106 just can be under the control of the automatic control mechanism, has finished picking at present, and has been delivered to the second target container of the first container conveying mechanism 104 outlet end, puts into this free space. cargo space.
- the second container pick-and-place mechanism 106 may also be associated with a visual recognition mechanism (not shown in the figure), and when the second target container is put into the designated idle container in the first shelf, position, the graphic code associated with the second target container can also be identified, the identification of the second target container can be identified, and can be submitted to the server. The correspondence between the box IDs is updated.
- first cargo box pick-and-place mechanism 105 and the second cargo box pick-and-place mechanism 106 can be It is implemented in multiple ways, and since this part of the content does not belong to the focus of the embodiment of the present application, it will not be described in detail here.
- the specific picking system may also include: a picking robot arm 107 located at the picking station 103, and the picking robot arm 107 may also be associated with a visual recognition mechanism (not shown in the figure), the visual identification mechanism can be used to identify the first target container and the goods in it, and the picking robot arm 107 can pick the target goods from the first target container. That is, specific goods are taken out from the first target container and put into other containers.
- the server can also provide information such as specific goods and the identification of the container in which they are located to the picking robot arm 107 .
- the picking robot arm 107 can identify the specific first target container by scanning the graphic code of the first target container, and then, According to the information provided by the server, it is known what kind of goods need to be picked from the first target container, and the specific required picking can be determined by scanning the code or image recognition of the goods in the first target container items and perform picking operations.
- the picking robot arm in addition to using the picking robot arm as the main body of the picking, it can also support the manual picking method, and the picking robot arm and the manual picking method can also exist at the same time for semi-automatic product picking. . In addition, you can flexibly switch between fully automatic and semi-automatic modes.
- the specific picking system may further include: a second case conveying mechanism 108 located at the picking station 103 .
- the second case conveying mechanism 108 can be used to form a conveying path for picking containers to move at the picking station 103 , and the picking containers are used to store the goods picking results corresponding to a single order. That is to say, since the picking process is usually carried out in units of orders, it is necessary to separately save the picking results of different orders, so as to package and ship them separately, and so on. Therefore, in actual implementation, there may also be a picking container, and the same picking container can be used to store goods related to the same order.
- the picking subject can put them into specific in the pick container for the order pair.
- the above-mentioned picking containers can be transported by the second case transport mechanism 108, so that the picked containers leave the picking station in time, new picking containers enter the picking station, and so on.
- this second case conveying mechanism 108 it can better adapt to the flow of picking containers with high flow rate, and further improve the picking efficiency.
- the first docking position, the second docking position and the picking station can be equipped in the picking operation area, and the first container conveying mechanism can be equipped in the picking system.
- the first container conveying mechanism can enter the removed first target container from the entrance, and leave toward the exit after passing through the picking station.
- the first handling device arrives at the second docking position
- at least one second target container that has completed the picking of the goods and has arrived at the outlet can be transferred to the first container by the second container pick-and-place mechanism. empty space on the shelf.
- each handling device can also receive one or more cargo boxes sent out by other handling devices before. In this way, the efficient turnover of cargo boxes can be realized, and the transportation capacity of the handling equipment can be fully utilized to avoid waste of transportation capacity.
- the pick-and-place of the boxes can be completed through the box pick-and-place mechanism, the occurrence of situations such as bending over or using climbing tools of the picking workers can be reduced, and the loss of physical functions of the picking workers can be reduced.
- the second embodiment provides a sorting control method from the perspective of the aforementioned server.
- At least one first target container to be removed on the first shelf is determined, and the first target container is placed in the The position information on the first shelf is provided to the first container pick-and-place mechanism;
- Controlling the second container pick-and-place mechanism to transfer at least one second target container on the temporary storage mechanism that has completed product picking to an empty storage space.
- the temporary storage mechanism may be a temporary storage rack, or a container transport mechanism.
- the temporary storage mechanism includes a first container conveying mechanism, and correspondingly, the picking operation area further includes a first docking position and a second docking position;
- the position information of the box on the first shelf provided to the first box pick-and-place mechanism includes:
- At least one first target container to be removed on the first rack is determined, and the first target container is The location information on the first shelf is provided to the first container pick-and-place mechanism;
- Controlling the first container pick-and-place mechanism to remove the first target container from the first shelf and transfer it to the temporary storage mechanism includes:
- the first container conveying mechanism is used to form a conveying path for the first target container to enter from the entrance, pass through the picking station in the picking work area, and leave toward the exit;
- Controlling the second container pick-and-place mechanism to transfer at least one second target container on the temporary storage mechanism that has completed product picking to an empty location includes:
- Controlling the second container pick-and-place mechanism to transfer at least one second target container that has completed product picking and arrived at the exit end to an empty container on the fourth shelf after the fourth handling device arrives at the second docking position. bit.
- the fourth handling equipment includes the first handling equipment, or, from the shelf area, the third handling equipment loaded with the third shelf and arriving at the second docking position; correspondingly, the fourth shelf includes The first shelf or the third shelf.
- the method may specifically include:
- S602 Control the first container pick-and-place mechanism to remove the first target container from the first shelf and transfer it to the first container conveying mechanism, and send a direction to the first handling device to the picking Instructions for moving to the second stop position in the operation area;
- the first container conveying mechanism is used to form a container for the first target container to enter from the entrance, and after passing through the picking station in the picking operation area, it will move toward the exit end the outgoing conveyance path;
- the server may also provide the identification information of the first target container to the first container pick-and-place mechanism, so that after the first container pick-and-place mechanism moves to the first position, The graphic code associated with the first target container is recognized by the associated visual identification mechanism, and the correctness of the first target container to be removed is confirmed.
- the server may also provide the identification of the first target container and the identification of the goods to be picked therein to the picking robot arm equipped at the picking station, so as to pass the Picking robots perform picking tasks.
- the server may also receive the identification information of the second target container collected by the visual recognition mechanism associated with the second shelf pick-and-place mechanism; then, according to the identification information of the second target container and the free storage space The corresponding relationship between the cargo location on the second shelf and the container identifier is updated.
- the server may also send an instruction to the second handling device to move to the shelf area in response to a notification message of putting the second target container into an empty position of the second shelf.
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Abstract
拣选系统（10）及拣选控制方法，拣选系统（10）部署于拣选作业区，拣选作业区包括拣选工位（103）；拣选系统（10）包括：暂存机构、第一货箱取放机构（105）和第二货箱取放机构（106）；第一货箱取放机构（105），用于在装载有第一货架（201）的第一搬运设备（301）到达暂存机构时，从第一货架（201）上取下至少一个第一目标货箱，并将第一目标货箱转移至暂存机构；第二货箱取放机构（106），用于将位于暂存机构上的，已完成货品拣选的至少一个第二目标货箱转移至空闲货位上。
Description
本申请要求于2021年10月15日提交中国专利局、申请号为202111205870.9，发明名称为“拣选系统及拣选控制方法”，于2021年10月15日提交中国专利局、申请号为202122488066.8，实用新型名称为“拣选系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
本申请涉及拣选自动化技术领域，特别是涉及拣选系统及拣选控制方法。
在物流中心环节中，拣货作业的速度与准确性往往决定着订单履行效率与客户服务质量，拣货速度直接物流企业的竞争力。拣货是工人根据订单从货架上挑选货品的操作。为了减少工人寻找货品的时间以提高工作效率，“货到人”拣选系统应运而生。所谓“货到人”拣选系统，是在物流中心的拣选作业过程中，由自动化搬运设备将装载有货物的货架搬运至拣货作业人员所在的工位以供拣选。这种方式既可以大幅度减少拣选作业人员的行走距离，实现高于“人到货”模式数倍的拣选效率，又可以大幅度降低劳动强度，同时在存储密度、节省人力等方面拥有突出优势。
现有技术中的货到人拣选系统的工作原理是，仓储系统接收电商等平台传来的订单信息，根据订单信息给出最优的拣货方案，然后由搬运设备控制系统指派的搬运设备将货品所在的货架自动搬运到拣货工位，拣货作业人员根据订单信息将货架上指定货位的货品取下。完成后，搬运设备再携带着货架驶回货架区，等待接收下一个系统指令。
现有技术中的货到人拣选系统虽然已经减少了很多人员的走动工作量，但是由于搬运设备在运送货架时，需要停靠在指定的拣选工位等待拣货作业人员识别货物、拣选货物以及核对订单等，完成一系列的拣选操作之后，搬运设备才能返回，这样会造成搬运设备在拣货工位停靠时间比较久，影响搬运设备的使用率。另外，对于一些在货架上存放位置较高的货物或者比较低矮的货物，工人难以直接拿到不得不借助攀登辅助工具或者需要弯腰等等，会造成大量时间的浪费，也会对操作的工人的身体机能造成一定的损耗。
因此，如何进一步提升货到人拣选系统的效率，是需要本领域技术人员解决的技术问题。
发明内容
本申请提供了拣选系统及拣选控制方法，能够进一步提升货到人拣选系统的效率。
本申请提供了如下方案：
一种拣选系统，所述拣选系统部署于拣选作业区，所述拣选作业区包括拣选工位；
所述拣选系统包括：暂存机构、第一货箱取放机构和第二货箱取放机构；
所述第一货箱取放机构，用于在装载有第一货架的第一搬运设备到达所述暂存机构时，从所述第一货架上取下至少一个第一目标货箱，并将所述第一目标货箱转移至所述暂存机构；
所述第二货箱取放机构，用于将位于所述暂存机构上的，已完成货品拣选的至少一个第二目标货箱转移至空闲货位上。
所述暂存机构包括第一货箱输送机构，所述拣选作业区还包括第一停靠位置和第二停靠位置；
所述第一货箱取放机构位于所述第一货箱输送机构入口端，所述第二货箱取放机构位 于所述第一货箱输送机构出口端；
所述第一货箱取放机构，用于在装载有第一货架的第一搬运设备到达所述第一停靠位置后，从所述第一货架上取下至少一个第一目标货箱，并将所述第一目标货箱转移至所述第一货箱输送机构；
所述第一货箱输送机构，用于形成供所述第一目标货箱从所述入口端进入，经过所述拣选工位后，向所述出口端方向离开的输送路径；
所述第二货箱取放机构，用于在第四搬运设备到达所述第二停靠位置后，将已完成货品拣选并到达所述出口端的至少一个第二目标货箱转移至第四货架的空闲货位上。
所述第四搬运设备包括所述第一搬运设备，或者，来自货架区，装载有第三货架且到达所述第二停靠位置的第三搬运设备；
所述第四货架包括所述第一货架或者第三货架。
其中，所述拣选系统部署于拣选作业区，所述拣选作业区包括第一停靠位置、第二停靠位置以及拣选工位；
所述拣选系统包括：第一货箱输送机构，位于所述第一货箱输送机构入口端的第一货箱取放机构，位于所述第一货箱输送机构出口端的第二货箱取放机构；
所述第一货箱取放机构，用于在装载有第一货架的第一搬运设备到达所述第一停靠位置后，从所述第一货架上取下至少一个第一目标货箱，并转移至所述第一货箱输送机构；
所述第一货箱输送机构，用于形成供所述第一目标货箱从所述入口端进入，经过所述拣选工位后，向所述出口端方向离开的输送路径；
所述第二货箱取放机构，用于在所述第一搬运设备到达所述第二停靠位置后，将已完成货品拣选并到达所述出口端的至少一个第二目标货箱转移至所述第一货架的空闲货位上。
其中，所述第二目标货箱是在装载有第二货架的第二搬运设备停靠在所述第一停靠位置后，由所述第一货箱取放机构从所述第二货架上取下，并转移至所述第一货箱输送机构；
所述第二搬运设备早于所述第一搬运设备到达所述第一停靠位置。
其中，所述拣选系统还包括：位于所述拣选工位的拣选机械臂；
所述拣选机械臂关联有视觉识别机构，用于从所述第一目标货箱中进行目标货品的拣选。
其中，所述拣选系统还包括：位于所述拣选工位的第二货箱输送机构；
所述第二货箱输送机构，用于形成供拣选容器在所述拣选工位处移动的输送路径，所述拣选容器用于存放单个订单对应的货品拣选结果。
其中，所述第一货箱取放机构以及第二货箱取放机构分别关联有控制机构，用于根据服务器提供的控制指令，控制所述第一货箱取放机构或第二货箱取放机构移动到待取放的货位位置，以便完成对货箱的取放操作。
其中，所述控制指令中还包括待取下的所述第一目标货箱的标识信息；
所述第一目标货箱关联有图形码，所述图形码是根据所述第一目标货箱的标识信息生成的；
所述第一货箱取放机构还关联有视觉识别机构；
所述视觉识别机构，用于根据所述控制指令移动到所述第一目标货箱所在的货位位置后，通过对所述第一目标货箱关联的图形码进行识别，对即将取下的第一目标货箱的正确性进行确认。
其中，所述第二目标货箱关联有图形码，所述图形码是根据所述第二目标货箱的标识信息生成的；
所述第二货箱取放机构还关联有视觉识别机构；
所述视觉识别机构，用于对所述第二目标货箱的图形码进行识别，并将识别出的第二目标货箱的标识提供给所述服务器，以便所述服务器对所述第一货架中货位与货箱之间的对应关系进行更新。
所述第一货箱输送机构配置有至少两个入口端和/或至少两个出口端。
所述系统配置有至少两条所述第一货箱输送机构。
所述的拣选系统，还包括：
在所述第一货箱取放机构从所述第一货架上取下至少一个第一目标货箱后，所述第一搬运设备将所述第一货架搬运回货架区。
所述暂存机构包括暂存架。
所述第一货箱取放机构，还用于响应于控制指令，将位于所述暂存机构上的，已完成货品拣选的至少一个目标货箱转移至空闲货位上；和/或
所述第二货箱取放机构，还用于，响应于控制指令，在装载有货架的搬运设备到达所述暂存机构时，从所述货架上取下至少一个目标货箱，并将所述目标货箱转移至所述暂存机构。
一种拣选控制方法，
在装载有第一货架的第一搬运设备到达拣选作业区的暂存机构后，确定所述第一货架上待取下的至少一个第一目标货箱，并将所述第一目标货箱在所述第一货架上的位置信息提供给第一货箱取放机构；
控制所述第一货箱取放机构将所述第一目标货箱从所述第一货架上取下并转移至所述暂存机构；
控制第二货箱取放机构将位于所述暂存机构上的，已完成货品拣选的至少一个第二目标货箱转移至空闲货位上。
所述暂存机构包括第一货箱输送机构，所述拣选作业区还包括第一停靠位置和第二停靠位置；
所述在装载有第一货架的第一搬运设备到达拣选作业区的暂存机构后，确定所述第一货架上待取下的至少一个第一目标货箱，并将所述第一目标货箱在所述第一货架上的位置信息提供给第一货箱取放机构包括：
在装载有第一货架的第一搬运设备到达拣选作业区的第一停靠位置后，确定所述第一货架上待取下的至少一个第一目标货箱，并将所述第一目标货箱在所述第一货架上的位置信息提供给第一货箱取放机构；
控制所述第一货箱取放机构将所述第一目标货箱从所述第一货架上取下并转移至所述暂存机构包括：
控制所述第一货箱取放机构将所述第一目标货箱从所述第一货架上取下并转移至第一货箱输送机构；
所述第一货箱输送机构用于形成供所述第一目标货箱从入口端进入，经过所述拣选作业区的拣选工位后，向出口端方向离开的输送路径；
控制第二货箱取放机构将位于所述暂存机构上的，已完成货品拣选的至少一个第二目标货箱转移至空闲货位上包括：
控制所述第二货箱取放机构在第四搬运设备到达所述第二停靠位置后，将已完成货品拣选并到达所述出口端的至少一个第二目标货箱转移至第四货架的空闲货位上。
所述第四搬运设备包括所述第一搬运设备，或者，来自货架区，装载有第三货架且到 达所述第二停靠位置的第三搬运设备；
所述第四货架包括所述第一货架或者第三货架。
其中，所述暂存机构包括第一货箱输送机构，所述拣选作业区还包括第一停靠位置和第二停靠位置；
所述在装载有第一货架的第一搬运设备到达拣选作业区的暂存机构后，确定所述第一货架上待取下的至少一个第一目标货箱，并将所述第一目标货箱在所述第一货架上的位置信息提供给第一货箱取放机构包括：
在装载有第一货架的第一搬运设备到达拣选作业区的第一停靠位置后，确定所述第一货架上待取下的至少一个第一目标货箱，并将所述第一目标货箱在所述第一货架上的位置信息提供给第一货箱取放机构；
控制所述第一货箱取放机构将所述第一目标货箱从所述第一货架上取下并转移至所述暂存机构包括：
控制所述第一货箱取放机构，在装载有第一货架的第一搬运设备到达所述第一停靠位置后，从所述第一货架上取下至少一个第一目标货箱，并将所述第一目标货箱转移至所述第一货箱输送机构，并向所述第一搬运设备发送向拣选作业区第二停靠位置行进的指令；所述
第一货箱输送机构用于形成供所述第一目标货箱从入口端进入，经过所述拣选作业区的拣选工位后，向出口端方向离开的输送路径；
控制第二货箱取放机构将位于所述暂存机构上的，已完成货品拣选的至少一个第二目标货箱转移至空闲货位上包括：
在所述第一搬运设备到达拣选作业区的第二停靠位置后，将所述第一货架上的空闲货位的位置信息提供给第二货架取放机构，控制所述第二货箱取放机构将已完成货品拣选的至少一个第二目标货箱转移至所述第一货架的空闲货位上。
其中，所述方法还包括：
将所述第一目标货箱的标识信息提供给所述第一货箱取放机构，以便所述第一货箱取放机构移动到所述第一位置处后，通过关联的视觉识别机构对所述第一目标货箱关联的图形码进行识别，并对待取下的第一目标货箱的正确性进行确认。
其中，所述方法还包括：
将所述第一目标货箱的标识及其中待拣选的货品的标识，提供给所述拣选工位配备的拣选机械臂，以便通过所述拣选机械臂执行拣选任务。
其中，所述方法还包括：
接收所述第二货架取放机构关联的视觉识别机构采集到的第二目标货箱的标识信息；
根据所述第二目标货箱的标识信息以及所述空闲货位的标识，对所述第一货架上货位与货箱标识之间的对应关系进行更新。
其中，所述方法还包括：
响应于将所述第二目标货箱放入所述第一货架的空闲货位的通知消息，向所述第一搬运设备发送向货架区行进的指令。
根据本申请提供的具体实施例，本申请公开了以下技术效果：
通过本申请实施例，在拣选作业区，通过所述第一货箱取放机构在装载有第一货架的第一搬运设备到达所述暂存机构时，从所述第一货架上取下至少一个第一目标货箱，并将所述第一目标货箱转移至所述暂存机构；所述第二货箱取放机构将位于所述暂存机构上的，已完成货品拣选的至少一个第二目标货箱转移至空闲货位上，借助于暂存机构，第一 货箱取放机构和第二货箱取放机构配合完成了目标还箱的转移。
此外，可以在拣选作业区配备第一停靠位置以及第二停靠位置以及拣选工位，并在拣选系统中配备第一货箱输送机构，位于所述第一货箱输送机构入口端的第一货箱取放机构，位于所述第一货箱输送机构出口端的第二货箱取放机构。这样，在装载有第一货架的第一搬运设备到达所述第一停靠位置后，可以通过第一货箱取放机构，从所述第一货架上取下至少一个第一目标货箱，并转移至所述第一货箱输送机构，此时，第一搬运设备可以继续行进，不必在第一停靠位置处等待。第一货箱输送机构则可以将取下的第一目标货箱从入口端进入，经过拣选工位后，向出口端方向离开。在所述第一搬运设备到达所述第二停靠位置后，可以通过第二货箱取放机构，将已完成货品拣选并到达所述出口端的至少一个第二目标货箱转移至所述第一货架的空闲货位上。这样，虽然每个搬运设备在一次搬运过程中需要停靠两次，但是，由于每次停靠时等待的时间，只包括将货箱从货架上取下，或者将货箱放入货架所需的时间，而不需要等待从货箱中拣选出具体货品的过程，因此，可以缩短搬运设备的等待时间，以此提升拣选工作效率。
另外，由于前面的搬运设备搬运的货箱，可以归还到后面的搬运设备所搬运的货架上，以保证运行过程中搬运设备之间的无缝衔接。并且，每个搬运设备在送出一个或多个货箱之后，还可以接收到之前被其他搬运设备送出的一个或多个货箱。从而实现货箱的高效周转，并且可以充分利用搬运设备的运力，避免造成运力浪费。
再者，由于可以通过货箱取放机构完成货箱的取放，因此，可以减少拣选作业人员的弯腰或者借助攀登工具等情况的发生，降低对拣选作业人员身体机能的损耗
另外，在可选的实施方式下，还可以通过在拣选工位配备机械臂，实现更自动化的拣选。
当然，实施本申请的任一产品并不一定需要同时达到以上所述的所有优工位。
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请实施例一提供的一种拣选系统的轴侧图；
图2是本申请实施例一提供的一种拣选系统的俯视图；
图3是本申请实施例一提供的一种拣选系统的后视图；
图4是本申请实施例一提供的一种拣选系统包含拣选机械臂的轴侧图；
图5是本申请实施例一提供的一种拣选系统包含拣选机械臂的俯视图；
图6是本申请实施例二提供的一种拣选控制方法的流程图。
图中：拣选系统10、第一停靠位置101、第二停靠位置102、拣选工位103、第一货箱输送机构104、第一货箱取放机构105、第二货箱取放机构106、拣选机械臂107、第二货箱输送机构108、第一货架201、第二货架202、第一搬运设备301、第二搬运设备302。
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员所获得的所有其他实施例，都属于本申请保护的范围。
本申请一实施例中，提供一种拣选系统，所述拣选系统部署于拣选作业区，所述拣选作业区包括拣选工位；
所述拣选系统包括：暂存机构、第一货箱取放机构和第二货箱取放机构；
所述第一货箱取放机构，用于在装载有第一货架的第一搬运设备到达所述暂存机构时，从所述第一货架上取下至少一个第一目标货箱，并将所述第一目标货箱转移至所述暂存机构；
所述第二货箱取放机构，用于将位于所述暂存机构上的，已完成货品拣选的至少一个第二目标货箱转移至空闲货位上。
实际应用中，所述暂存机构可以是暂存架，也可以是货箱运输机构。
本申请一实施例中，所述暂存机构包括第一货箱输送机构，相应地，所述拣选作业区还包括第一停靠位置和第二停靠位置；所述第一货箱取放机构位于所述第一货箱输送机构入口端，所述第二货箱取放机构位于所述第一货箱输送机构出口端。
本申请实施例中，所述第一货箱取放机构，用于在装载有第一货架的第一搬运设备到达所述第一停靠位置后，从所述第一货架上取下至少一个第一目标货箱，并将所述第一目标货箱转移至所述第一货箱输送机构。
所述第一货箱输送机构，用于形成供所述第一目标货箱从所述入口端进入，经过所述拣选工位后，向所述出口端方向离开的输送路径。
在所述第一货箱取放机构从所述第一货架上取下至少一个第一目标货箱后，所述第一搬运设备可以将所述第一货架搬运回货架区。
所述第二货箱取放机构，用于在第四搬运设备到达所述第二停靠位置后，将已完成货品拣选并到达所述出口端的至少一个第二目标货箱转移至第四货架的空闲货位上。
其中，所述第四搬运设备可以是所述第一搬运设备，或者，也可以是自货架区，装载有第三货架且到达所述第二停靠位置的第三搬运设备。相应地，所述第四货架可以是所述第一货架，也可以是所述第三搬运设备搬运的第三货架。
本申请一实施例中，所述第一货箱输送机构配置有至少两个入口端和/或至少两个出口端。
实际应用中，所述拣选系统还可以配置至少两条所述第一货箱输送机构，来提高拣选效率。
本申请实施例中，第一货箱取货机构和第二货箱取货机构的功能可以根据需要进行调整，例如，若暂存机构上待搬运的目标货箱比较多，那么所述第一货箱取放机构，还可以用于响应于控制指令，将位于所述暂存机构上的，已完成货品拣选的至少一个目标货箱转移至空闲货位上。
若是等待往暂存机构上搬运的目标货箱比较多，那么所述第二货箱取放机构，还可以用于，响应于控制指令，在装载有货架的搬运设备到达所述暂存机构时，从所述货架上取下至少一个目标货箱，并将所述目标货箱转移至所述暂存机构。
通过对第一货箱取货机构和第二货箱取货机构功能的灵活调整，可以更进一步提高拣选效率。
在本申请实施例中，为了提升拣选作业效率，可以在拣选作业区配置两个搬运设备停靠位置，分别为第一停靠位置，也即第二停靠位置。搬运设备装载着货架到达第一停靠位之后，只要具体的货箱被从货架上取下，不需要等待取下的货箱中的具体货品被拣选完成，该搬运设备即可继续向前行进。行进至第二停靠位时，可以再次停靠，等待将已完成拣选的货箱，放入货架上的空闲货位后，该搬运设备再携带着具体的货架回到货架区。
其中，对于同一个搬运设备所装载的货架而言，在第一停靠位置被从货架上取下的货箱，与在第二停靠位置被放入货架的货箱，可以是不同的。例如，搬运设备A在某时刻t到达第一停靠位置，其装载的货架上的货箱1被取下，之后，该搬运设备A继续向第二停靠位置行进，在到达第二停靠位置时，该货箱1可能尚未完成拣选，但是，货箱2是在 时刻t之前由搬运设备B运送过来的，在该搬运设备A到达第二停靠位置时，该货箱2可能已经完成了拣选，因此，可以将该货箱2放入该搬运设备A所装载的货架上，然后，该搬运设备A便可以回到货架区。
这样，虽然每个搬运设备在一次搬运过程中需要停靠两次，但是，由于每次停靠时等待的时间，只包括将货箱从货架上取下，或者将货箱放入货架所需的时间(该时间通常在几秒中之内即可完成)，而不需要等待从货箱中拣选出具体货品的过程，因此，可以缩短搬运设备的等待时间，以此提升拣选工作效率。
具体实现时，为了达到上述目的，本申请实施例提供了新型的拣选系统，其中，该拣选系统可以部署在前述拣选作业区。具体的，该拣选系统第一货箱输送机构，位于所述第一货箱输送机构入口端的第一货箱取放机构，位于所述第一货箱输送机构出口端的第二货箱取放机构，其中，该入口端还可以与第一停靠位置对应，出口端则可以与第二停靠位置对应。具体的第一货箱输送机构则可以起到连接起第一停靠位置、拣选工位以及第二停靠位置的作用。
下面对本申请实施例提供的具体技术方案进行详细介绍。
实施例一
首先，该实施例一提供了一种拣选系统，参见图1、图2、图3，所述拣选系统10部署于拣选作业区，所述拣选作业区包括第一停靠位置101，第二停靠位置102以及拣选工位103；
所述拣选系统10包括：第一货箱输送机构104，位于所述第一货箱输送机构104入口端的第一货箱取放机构105，位于所述第一货箱输送机构104出口端的第二货箱取放机构106；
所述第一货箱取放机构105，用于在装载有第一货架201的第一搬运设备301到达所述第一停靠位置101后，从所述第一货架201上取下至少一个第一目标货箱，并转移至所述第一货箱输送机构104；
所述第一货箱输送机构104，用于形成供所述第一目标货箱从所述入口端进入，经过所述拣选工位103后，向所述出口端方向离开的输送路径；
所述第二货箱取放机构106，用于在所述第一搬运设备301到达所述第二停靠位置102后，将已完成货品拣选并到达所述出口端的至少一个第二目标货箱转移至所述第一货架201的空闲货位上。
也就是说，在装载有第一货架201的第一搬运设备301停靠在所述第一停靠位置101后，可以由第一货箱取放机构105从所述第一货架201上取下至少一个第一目标货箱，并转移至第一货箱输送机构104。这种第一货箱输送机构104可以将该第一目标货箱输送至拣选工位103，以由具体的拣选主体从第一目标货箱中拣选出具体的货品，之后，还可以将具体的第一目标货箱输送至出口端。但是，在对第一目标货箱进行输送以及拣选的同时，第一搬运设备301就可以继续向前行进，不必等待该第一目标货箱中的货品被拣选完。
在上述第一搬运设备停靠在所述第二停靠位置后，可以由第二货箱取放机构106将已完成货品拣选并到达所述出口端的至少一个第二目标货箱转移至所述第一货架201的空闲货位上。
如前文所述，上述第二目标货箱可以是在装载有第二货架202的第二搬运设备302停靠在所述第一停靠位置101后，由所述第一货箱取放机构105从所述第二货架202上取下，并转移至所述第一货箱输送机构104上的。但是，由于第二搬运设备302早于所述第一搬运设备301到达所述第一停靠位置101，因此，会更早被进行拣选，这样，在第一搬运设备301到达第二停靠位置102时，该第二目标货箱可能已经完成拣选，因此，直接将 该第二目标货箱放入第一货架201的空闲货位即可。而第二搬运设备302在到达上述第二停靠位置102时，可以将早于该第二搬运设备302到达第一停靠位置101
的其他搬运设备送来的货箱，放入该第二搬运设备302的空闲货位，以此类推。
也就是说，前面的搬运设备搬运的货箱，可以归还到后面的搬运设备所搬运的货架上，以保证运行过程中搬运设备之间的无缝衔接。并且，每个搬运设备在送出一个或多个货箱之后，还可以接收到之前被其他搬运设备送出的一个或多个货箱。从而实现货箱的高效周转，并且可以充分利用搬运设备的运力，避免造成运力浪费。
另外，中间的第一货箱输送机构可以起到“蓄水”的作用，可以通过控制货箱的输送节奏和速度，避免造成停顿。
这里需要说明的是，具体实现时，具体第一货箱取放机构需要从第一货架上取下哪个货箱，以及第二货箱取放机构需要将具体完整拣选的货箱返回第一货架的哪个货位，可以通过多种方式来确定。例如，一种方式下，可以为第一货箱取放机构105以及第二货箱取放机构106均可配备手动控制机构，由拣货作业人员手动控制第一货箱取放机构105以及第二货箱取放机构106在上下左右各方向移动，并进行货箱的取放。
或者，在另一种方式下，还可以实现对第一货箱取放机构105以及第二货箱取放机构106的自动控制。例如，可以为第一货箱取放机构105以及第二货箱取放机构106配备自动控制机构，并且可以接收服务器发送的远程控制指令，具体的远程控制指令中，就可以包括具体需要取下的第一目标货箱在第一货架上的位置信息，或者，第一货架的空闲货位的位置信息，然后，第一货箱取放机构以及第二货箱取放机构可以按照接收到的控制指令，自动进行上下左右等方向的移动，以到达对应的位置进行货箱的取下或者放入处理。
其中，这里所述的服务器可以是具体搬运设备控制系统中的服务器，具体实现时，服务器中可以包括货架、货位、货箱以及货品等多者之间的对应关系。具体的工作流程中，服务器可以根据具体需要进行拣货的订单，确定出具体需要拣货的货品，然后，根据上述对应关系，确定出货品所在的货箱，货箱所在的货架等信息，并且，可以向具体的搬运设备分配搬运任务，每个搬运设备每次可以搬运其中一个货架，行进至本申请实施例所述的第一停靠位置。也就是说，服务器可以获知具体搬运设备所搬运的货架的标识，该货架上需要被拣货的货品所在的货箱，以及该货箱在该货架上的货位信息，等等。
在第一搬运设备行进至上述第一停靠位置后，可以向服务器发送通知消息，或者，服务器也可以根据第一搬运设备配备的定位机构，自动判断出第一搬运设备到达该第一停靠位置。此时，服务器可以获知该第一搬运设备装载的第一货架被运送到了第一停靠位置。之后，便可以根据该第一货架中需要被拣选的货品所在货箱的货位信息，生成取货指令，并发送给第一货箱取放机构。第一货箱取放机构的控制机构在接收到取货指令之后，可以移动到具体的货位位置，然后进行具体的取货箱处理，并将取下的货箱转移至第一货箱输送机构上。
这里需要说明的是，在可选的实施方式中，具体的服务器提供的取货指令中，还可以包括第一目标货箱的ID等标识信息，而具体的第一目标货箱上也可以关联有二维码等图形码，其中携带有第一目标货箱的ID等信息。此时，第一货箱取放机构还可以关联有视觉识别机构(图中未示出)，该视觉识别机构在移动到指定的位置后，还可以通过对该位置上存放的货箱的图形码进行扫码等方式，获取到该位置上存放的货箱的标识。之后，可以通过将该标识与取货指令中携带的货箱标识进行比对的方式，对待取下的目标货箱进行确认。
第一货箱取放机构105将第一货架201上的第一目标货箱取下后，可以放到第一货箱输送机构104的入口端，之后，该第一货箱输送机构104会将该第一目标货箱输送到拣选工位103，由拣选主体从第一目标货箱中进行货品的拣选后，将该第一目标货箱向第一货 箱输送机构104的出口端进行输送。
另外，第一货箱取放机构将第一货架上的第一目标货箱取下后，也可以向服务端提供通知消息，或者，服务端也可以根据第一货箱取放机构配备的视觉识别机构等，通过图像识别等方式，判断第一目标货箱是否已经从第一货架上取下，等等。然后，服务端可以向第一搬运设备发送继续行进的指令。也即，只要将第一目标货箱从第一货架上取下，第一搬运设备就可以携带该第一货架继续向前行进。
该第一搬运设备到达第二停靠位置后，也可以通知给服务端，或者，同样可以由服务端通过第一搬运设备关联的定位机构进行位置判断。之后，由于服务端可以记录第一货架201上第一目标货箱所在的货位，而第一目标货箱被取下后，这种货位就成为第一货架201上的空闲货位，因此，服务端也可以记录下这种空闲货位在第一货架201上的位置。这样，第一搬运设备301到达第二停靠位置102后，服务端可以根据该第一货架201中空闲货位的位置信息，生成控制指令，并发送给第二货箱取放机构106。这样，第二货箱取放机构106便可以在自动控制机构的控制下，将当前已完成拣选，并已经被输送至第一货箱输送机构104出口端的第二目标货箱，放入该空闲货位。
这里需要说明的是，具体实现时，第二货箱取放机构106也可以关联有视觉识别机构(图中未示出)，在将第二目标货箱放入第一货架中指定的空闲货位时，还可以对第二目标货箱关联的图形码进行识别，识别出第二目标货箱的标识，并且可以提交到服务器，这样，服务器可以将该第一货架201中该货位与货箱标识之间的对应关系进行更新。
另外，需要说明的是，关于第一货箱取放机构105、第二货箱取放机构106的具体结构，取放货箱的方式，以及在货架前进行上下左右移动的控制方式等，可以采用多种方式来实现，由于这部分内容并不属于本申请实施例所关注的重点，因此，这里不再详述。
在可选的实施方式中，如图4、图5所示，具体的拣选系统还可以包括：位于所述拣选工位103的拣选机械臂107，该拣选机械臂107还可以关联有视觉识别机构(图中未示出)，可以通过该视觉识别机构，对第一目标货箱及其中的货品进行识别，并通过拣选机械臂107从所述第一目标货箱中进行目标货品的拣选。也即，将具体的货品从第一目标货箱中取出，放入其他容器中。
这里需要说明的是，服务器还可以将具体货品以及所在货箱的标识等信息提供给拣选机械臂107。这样，在具体的第一目标货箱到达拣选工位后，拣选机械臂107可以通过对第一目标货箱的图形码进行扫码等方式，识别出具体的第一目标货箱，之后，可以根据服务器提供的信息，获知需要从该第一目标货箱中拣选出具体何种货品，并且可以通过对第一目标货箱中的货品进行扫码或者图像识别等方式，确定出具体所需拣选的货品，并执行拣选操作。
另外需要说明的是，在具体实现时，除了可以将拣选机械臂作为拣选主体，还可以支持人工拣选的方式，并且，可以拣选机械臂与人工拣选方式还可以同时存在，进行半自动式的货品拣选。另外，可以灵活地在全自动与半自动方式之间进行切换。
另外，为了进一步提升拣选效率，如图4、图5所示，具体的拣选系统中还可以包括：位于所述拣选工位103的第二货箱输送机构108。该第二货箱输送机构108可以用于形成供拣选容器在所述拣选工位103处移动的输送路径，所述拣选容器用于存放单个订单对应的货品拣选结果。也就是说，由于拣选过程通常是以订单为单位进行，因此，需要分别对各个不同订单的拣选结果进行单独保存，以便分别进行打包发货，等等。因此，具体实现时，还可以存在拣选容器，同一个拣选容器可以用于存放同一个订单关联的货品，这样，拣选主体在从第一目标货箱中拣选出某个货品后，可以放入具体订单对用的拣选容器中。在此过程中，可以通过第二货箱输送机构108，对上述拣选容器进行输送，以使得完成拣选的容器及时离开拣选工位，新的拣选容器进入拣选工位，等等。通过这种第二货箱 输送机构108，可以更好地适应高流量地拣选容器流转，进一步提升拣选效率。
总之，通过本申请实施例，可以在拣选作业区配备第一停靠位置以及第二停靠位置以及拣选工位，并在拣选系统中配备第一货箱输送机构，位于所述第一货箱输送机构入口端的第一货箱取放机构，位于所述第一货箱输送机构出口端的第二货箱取放机构。这样，在装载有第一货架的第一搬运设备到达所述第一停靠位置后，可以通过第一货箱取放机构，从所述第一货架上取下至少一个第一目标货箱，并转移至所述第一货箱输送机构，此时，第一搬运设备可以继续行进，不必在第一停靠位置处等待。第一货箱输送机构则可以将取下的第一目标货箱从入口端进入，经过拣选工位后，向出口端方向离开。在所述第一搬运设备到达所述第二停靠位置后，可以通过第二货箱取放机构，将已完成货品拣选并到达所述出口端的至少一个第二目标货箱转移至所述第一货架的空闲货位上。这样，虽然每个搬运设备在一次搬运过程中需要停靠两次，但是，由于每次停靠时等待的时间，只包括将货箱从货架上取下，或者将货箱放入货架所需的时间，而不需要等待从货箱中拣选出具体货品的过程，因此，可以缩短搬运设备的等待时间，以此提升拣选工作效率。
另外，由于前面的搬运设备搬运的货箱，可以归还到后面的搬运设备所搬运的货架上，以保证运行过程中搬运设备之间的无缝衔接。并且，每个搬运设备在送出一个或多个货箱之后，还可以接收到之前被其他搬运设备送出的一个或多个货箱。从而实现货箱的高效周转，并且可以充分利用搬运设备的运力，避免造成运力浪费。
再者，由于可以通过货箱取放机构完成货箱的取放，因此，可以减少拣选作业人员的弯腰或者借助攀登工具等情况的发生，降低对拣选作业人员身体机能的损耗。
实施例二
该实施例二从前述服务器的角度，提供了一种拣选控制方法。
本申请一实施例提供的拣选控制方法，包括：
在装载有第一货架的第一搬运设备到达拣选作业区的暂存机构后，确定所述第一货架上待取下的至少一个第一目标货箱，并将所述第一目标货箱在所述第一货架上的位置信息提供给第一货箱取放机构；
控制所述第一货箱取放机构将所述第一目标货箱从所述第一货架上取下并转移至所述暂存机构；
控制第二货箱取放机构将位于所述暂存机构上的，已完成货品拣选的至少一个第二目标货箱转移至空闲货位上。
实际应用中，所述暂存机构可以是暂存架，也可以是货箱运输机构。
本申请一实施例中，所述暂存机构包括第一货箱输送机构，相应地，所述拣选作业区还包括第一停靠位置和第二停靠位置；
所述在装载有第一货架的第一搬运设备到达拣选作业区的暂存机构后，确定所述第一货架上待取下的至少一个第一目标货箱，并将所述第一目标货箱在所述第一货架上的位置信息提供给第一货箱取放机构包括：
在装载有第一货架的第一搬运设备到达拣选作业区的第一停靠位置后，确定所述第一货架上待取下的至少一个第一目标货箱，并将所述第一目标货箱在所述第一货架上的位置信息提供给第一货箱取放机构；
控制所述第一货箱取放机构将所述第一目标货箱从所述第一货架上取下并转移至所述暂存机构包括：
控制所述第一货箱取放机构将所述第一目标货箱从所述第一货架上取下并转移至第一货箱输送机构；
所述第一货箱输送机构用于形成供所述第一目标货箱从入口端进入，经过所述拣选作 业区的拣选工位后，向出口端方向离开的输送路径；
控制第二货箱取放机构将位于所述暂存机构上的，已完成货品拣选的至少一个第二目标货箱转移至空闲货位上包括：
控制所述第二货箱取放机构在第四搬运设备到达所述第二停靠位置后，将已完成货品拣选并到达所述出口端的至少一个第二目标货箱转移至第四货架的空闲货位上。
其中，所述第四搬运设备包括所述第一搬运设备，或者，来自货架区，装载有第三货架且到达所述第二停靠位置的第三搬运设备；相应地，所述第四货架包括所述第一货架或者第三货架。
参见图6，本申请一实施例中，以所述暂存机构为货箱输送机构为例，该方法具体可以包括：
S601：在装载有第一货架的第一搬运设备在拣选作业区第一停靠位置停靠后，确定所述第一货架上待取下的至少一个第一目标货箱，并将所述第一目标货箱在所述第一货架上的第一位置信息提供给第一货箱取放机构；
S602：控制所述第一货箱取放机构将所述第一目标货箱从所述第一货架上取下并转移至第一货箱输送机构，并向所述第一搬运设备发送向拣选作业区第二停靠位置行进的指令；所述第一货箱输送机构用于形成供所述第一目标货箱从入口端进入，经过所述拣选作业区的拣选工位后，向出口端方向离开的输送路径；
S603：在装载有第二货架的第二搬运设备在拣选作业区第二停靠位置停靠后，将所述第二货架上的空闲货位的第二位置信息提供给第二货架取放机构，控制所述第二货箱取放机构将完成货品拣选并到达所述出口端的至少一个第二目标货箱转移至所述第二货架的空闲货位上。
具体实现时，服务器还可以将所述第一目标货箱的标识信息提供给所述第一货箱取放机构，以便所述第一货箱取放机构移动到所述第一位置处后，通过关联的视觉识别机构对所述第一目标货箱关联的图形码进行识别，并对待取下的第一目标货箱的正确性进行确认。
如果拣选工位配备了拣选机械臂，则服务器还可以将所述第一目标货箱的标识及其中待拣选的货品的标识，提供给所述拣选工位配备的拣选机械臂，以便通过所述拣选机械臂执行拣选任务。
另外，服务器还可以接收所述第二货架取放机构关联的视觉识别机构采集到的第二目标货箱的标识信息；然后，根据所述第二目标货箱的标识信息以及所述空闲货位的标识，对所述第二货架上货位与货箱标识之间的对应关系进行更新。
再者，该服务器还可以响应于将所述第二目标货箱放入所述第二货架的空闲货位的通知消息，向所述第二搬运设备发送向货架区行进的指令。
关于该实施例二中的未详述部分，可以参见实施例一以及本申请说明书其他部分的记载，这里不再赘述。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上所述仅为本申请的较佳实施例而已，并非用于限定本申请的保护范围。凡在本申请的精神和原则之内所作的任何修改、等同替换、改进等，均包含在本申请的保护范围内。
Claims (23)
- 一种拣选系统，其特征在于，所述拣选系统部署于拣选作业区，所述拣选作业区包括拣选工位；所述拣选系统包括：暂存机构、第一货箱取放机构和第二货箱取放机构；所述第一货箱取放机构，用于在装载有第一货架的第一搬运设备到达所述暂存机构时，从所述第一货架上取下至少一个第一目标货箱，并将所述第一目标货箱转移至所述暂存机构；所述第二货箱取放机构，用于将位于所述暂存机构上的，已完成货品拣选的至少一个第二目标货箱转移至空闲货位上。
- 根据权利要求1所述的拣选系统，其特征在于，所述暂存机构包括第一货箱输送机构，所述拣选作业区还包括第一停靠位置和第二停靠位置；所述第一货箱取放机构位于所述第一货箱输送机构入口端，所述第二货箱取放机构位于所述第一货箱输送机构出口端；所述第一货箱取放机构，用于在装载有第一货架的第一搬运设备到达所述第一停靠位置后，从所述第一货架上取下至少一个第一目标货箱，并将所述第一目标货箱转移至所述第一货箱输送机构；所述第一货箱输送机构，用于形成供所述第一目标货箱从所述入口端进入，经过所述拣选工位后，向所述出口端方向离开的输送路径；所述第二货箱取放机构，用于在第四搬运设备到达所述第二停靠位置后，将已完成货品拣选并到达所述出口端的至少一个第二目标货箱转移至第四货架的空闲货位上。
- 根据权利要求2所述的拣选系统，其特征在于，所述第四搬运设备包括所述第一搬运设备，或者，来自货架区，装载有第三货架且到达所述第二停靠位置的第三搬运设备；所述第四货架包括所述第一货架或者第三货架。
- 根据权利要求1所述的拣选系统，其特征在于，所述暂存机构包括第一货箱输送机构，所述拣选作业区还包括第一停靠位置和第二停靠位置；所述第一货箱取放机构位于所述第一货箱输送机构入口端，所述第二货箱取放机构位于所述第一货箱输送机构出口端；所述第一货箱取放机构，用于在装载有第一货架的第一搬运设备到达所述第一停靠位置后，从所述第一货架上取下至少一个第一目标货箱，并将所述第一目标货箱转移至所述第一货箱输送机构；所述第一货箱输送机构，用于形成供所述第一目标货箱从所述入口端进入，经过所述拣选工位后，向所述出口端方向离开的输送路径；所述第二货箱取放机构，用于在第一搬运设备到达所述第二停靠位置后，将已完成货品拣选并到达所述出口端的至少一个第二目标货箱转移至所述第一货架的空闲货位上。
- 根据权利要求4所述的拣选系统，其特征在于，所述第二目标货箱是在装载有第二货架的第二搬运设备停靠在所述第一停靠位置后，由所述第一货箱取放机构从所述第二货架上取下，并转移至所述第一货箱输送机构；所述第二搬运设备早于所述第一搬运设备到达所述第一停靠位置。
- 根据权利要求1所述的拣选系统，其特征在于，所述拣选系统还包括：位于所述拣选工位的拣选机械臂；所述拣选机械臂关联有视觉识别机构，用于从所述第一目标货箱中进行目标货品的拣 选。
- 根据权利要求1所述的拣选系统，其特征在于，所述拣选系统还包括：位于所述拣选工位的第二货箱输送机构；所述第二货箱输送机构，用于形成供拣选容器在所述拣选工位处移动的输送路径，所述拣选容器用于存放单个订单对应的货品拣选结果。
- 根据权利要求1所述的拣选系统，其特征在于，所述第一货箱取放机构以及第二货箱取放机构分别关联有控制机构，用于根据服务器提供的控制指令，控制所述第一货箱取放机构或第二货箱取放机构移动到待取放的货位位置，以便完成对货箱的取放操作。
- 根据权利要求8所述的拣选系统，其特征在于，所述控制指令中还包括待取下的所述第一目标货箱的标识信息；所述第一目标货箱关联有图形码，所述图形码是根据所述第一目标货箱的标识信息生成的；所述第一货箱取放机构还关联有视觉识别机构；所述视觉识别机构，用于根据所述控制指令移动到所述第一目标货箱所在的货位位置后，通过对所述第一目标货箱关联的图形码进行识别，对即将取下的第一目标货箱的正确性进行确认。
- 根据权利要求8所述的拣选系统，其特征在于，所述第二目标货箱关联有图形码，所述图形码是根据所述第二目标货箱的标识信息生成的；所述第二货箱取放机构还关联有视觉识别机构；所述视觉识别机构，用于对所述第二目标货箱的图形码进行识别，并将识别出的第二目标货箱的标识提供给所述服务器，以便所述服务器对所述第一货架中货位与货箱之间的对应关系进行更新。
- 根据权利要求2所述的拣选系统，其特征在于，所述第一货箱输送机构配置有至少两个入口端和/或至少两个出口端。
- 根据权利要求2所述的拣选系统，其特征在于，所述系统配置有至少两条所述第一货箱输送机构。
- 根据权利要求2所述的拣选系统，其特征在于，还包括：在所述第一货箱取放机构从所述第一货架上取下至少一个第一目标货箱后，所述第一搬运设备将所述第一货架搬运回货架区。
- 根据权利要求1所述的拣选系统，其特征在于，所述暂存机构包括暂存架。
- 根据权利要求1所述的拣选系统，其特征在于，所述第一货箱取放机构，还用于响应于控制指令，将位于所述暂存机构上的，已完成货品拣选的至少一个目标货箱转移至空闲货位上；和/或所述第二货箱取放机构，还用于，响应于控制指令，在装载有货架的搬运设备到达所述暂存机构时，从所述货架上取下至少一个目标货箱，并将所述目标货箱转移至所述暂存机构。
- 一种拣选控制方法，其特征在于，包括：在装载有第一货架的第一搬运设备到达拣选作业区的暂存机构后，确定所述第一货架上待取下的至少一个第一目标货箱，并将所述第一目标货箱在所述第一货架上的位置信息提供给第一货箱取放机构；控制所述第一货箱取放机构将所述第一目标货箱从所述第一货架上取下并转移至所述 暂存机构；控制第二货箱取放机构将位于所述暂存机构上的，已完成货品拣选的至少一个第二目标货箱转移至空闲货位上。
- 根据权利要求16所述的拣选控制方法，其特征在于，所述暂存机构包括第一货箱输送机构，所述拣选作业区还包括第一停靠位置和第二停靠位置；所述在装载有第一货架的第一搬运设备到达拣选作业区的暂存机构后，确定所述第一货架上待取下的至少一个第一目标货箱，并将所述第一目标货箱在所述第一货架上的位置信息提供给第一货箱取放机构包括：在装载有第一货架的第一搬运设备到达拣选作业区的第一停靠位置后，确定所述第一货架上待取下的至少一个第一目标货箱，并将所述第一目标货箱在所述第一货架上的位置信息提供给第一货箱取放机构；控制所述第一货箱取放机构将所述第一目标货箱从所述第一货架上取下并转移至所述暂存机构包括：控制所述第一货箱取放机构将所述第一目标货箱从所述第一货架上取下并转移至第一货箱输送机构；所述第一货箱输送机构用于形成供所述第一目标货箱从入口端进入，经过所述拣选作业区的拣选工位后，向出口端方向离开的输送路径；控制第二货箱取放机构将位于所述暂存机构上的，已完成货品拣选的至少一个第二目标货箱转移至空闲货位上包括：控制所述第二货箱取放机构在第四搬运设备到达所述第二停靠位置后，将已完成货品拣选并到达所述出口端的至少一个第二目标货箱转移至第四货架的空闲货位上。
- 根据权利要求16所述的拣选控制方法，其特征在于，所述第四搬运设备包括所述第一搬运设备，或者，来自货架区，装载有第三货架且到达所述第二停靠位置的第三搬运设备；所述第四货架包括所述第一货架或者第三货架。
- 根据权利要求16所述的拣选控制方法，其特征在于，所述暂存机构包括第一货箱输送机构，所述拣选作业区还包括第一停靠位置和第二停靠位置；所述在装载有第一货架的第一搬运设备到达拣选作业区的暂存机构后，确定所述第一货架上待取下的至少一个第一目标货箱，并将所述第一目标货箱在所述第一货架上的位置信息提供给第一货箱取放机构包括：在装载有第一货架的第一搬运设备到达拣选作业区的第一停靠位置后，确定所述第一货架上待取下的至少一个第一目标货箱，并将所述第一目标货箱在所述第一货架上的位置信息提供给第一货箱取放机构；控制所述第一货箱取放机构将所述第一目标货箱从所述第一货架上取下并转移至所述暂存机构包括：控制所述第一货箱取放机构，在装载有第一货架的第一搬运设备到达所述第一停靠位置后，从所述第一货架上取下至少一个第一目标货箱，并将所述第一目标货箱转移至所述第一货箱输送机构，并向所述第一搬运设备发送向拣选作业区第二停靠位置行进的指令；所述第一货箱输送机构用于形成供所述第一目标货箱从入口端进入，经过所述拣选作业区的拣选工位后，向出口端方向离开的输送路径；控制第二货箱取放机构将位于所述暂存机构上的，已完成货品拣选的至少一个第二目标货箱转移至空闲货位上包括：在所述第一搬运设备到达拣选作业区的第二停靠位置后，将所述第一货架上的空闲货位的位置信息提供给第二货架取放机构，控制所述第二货箱取放机构将已完成货品拣选的 至少一个第二目标货箱转移至所述第一货架的空闲货位上。
- 根据权利要求16所述的方法，其特征在于，还包括：将所述第一目标货箱的标识信息提供给所述第一货箱取放机构，以便所述第一货箱取放机构移动到所述第一位置处后，通过关联的视觉识别机构对所述第一目标货箱关联的图形码进行识别，并对待取下的第一目标货箱的正确性进行确认。
- 根据权利要求16所述的方法，其特征在于，还包括：将所述第一目标货箱的标识及其中待拣选的货品的标识，提供给所述拣选工位配备的拣选机械臂，以便通过所述拣选机械臂执行拣选任务。
- 根据权利要求16所述的方法，其特征在于，还包括：接收所述第二货架取放机构关联的视觉识别机构采集到的第二目标货箱的标识信息；根据所述第二目标货箱的标识信息以及所述空闲货位的标识，对所述第一货架上货位与货箱标识之间的对应关系进行更新。
- 根据权利要求19所述的方法，其特征在于，还包括：响应于将所述第二目标货箱放入所述第一货架的空闲货位的通知消息，向所述第一搬运设备发送向货架区行进的指令。
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