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CN-112474380-B - Picking system, method and equipment

CN112474380BCN 112474380 BCN112474380 BCN 112474380BCN-112474380-B

Abstract

The application discloses a picking system, a method and equipment, wherein a mechanical arm is arranged on a workbench in the picking system provided by the specification, the mechanical arm can automatically pick cargoes from stock containers carried by first carrying equipment according to instructions of a control center, manual intervention is not needed in the whole picking process, labor cost is reduced, and the workbench where the mechanical arm is arranged in the specification comprises at least two feeding positions, so that conditions are provided for alternate picking of the mechanical arm between the two feeding positions, idle time of the mechanical arm is reduced, and picking efficiency is effectively improved.

Inventors

  • LIU KAI
  • WANG MENGDI
  • WU WENCAI

Assignees

  • 北京极智嘉科技有限公司

Dates

Publication Date
20260505
Application Date
20201014

Claims (14)

  1. 1. A picking system, characterized in that the system comprises a control center, a mechanical arm positioned on a workbench, at least two first carrying devices and at least two second carrying devices; The workbench comprises at least two feeding levels and at least two discharging levels; The control center is used for sending a carrying instruction to a first carrying device according to a stock container where goods to be picked are located and the target loading level when the workbench is provided with the target loading level, sending a picking instruction to the mechanical arm, wherein the goods to be picked are determined according to a specified goods type preset in the control center, the specified goods type is suitable for the goods to be picked by the mechanical arm, the target loading level is determined based on the states of at least two loading levels of the workbench, two-dimensional codes are arranged at each loading level, the corresponding information of the two-dimensional codes at least comprises loading level identifiers corresponding to the loading levels, the bottom of the first carrying device comprises an image collector for collecting the two-dimensional codes, if the two-dimensional code information collected by the first carrying device comprises the loading level identifiers corresponding to the loading levels, the equipment identifiers of the first carrying device and the collected loading level identifiers are sent to the control center, the control center determines that the first carrying device corresponding to the equipment identifiers are located at the loading level corresponding to the loading level, the first carrying device corresponding to the loading level identifiers are located at the loading level, and if the first carrying device corresponding to the loading level identifiers are not located at the idle loading level, and the first carrying device is determined to be at the idle loading level; The first carrying device is configured to carry, according to the received carrying instruction, a bracket identifier corresponding to the inventory container where the to-be-picked item is located and a loading level identifier of the target loading level, navigate to a position corresponding to the inventory container based on the bracket identifier of the inventory container where the to-be-picked item is located, obtain the inventory container where the to-be-picked item is located, and carry the inventory container where the to-be-picked item to the target loading level based on the loading level identifier; The mechanical arm is used for picking the goods to be picked from the stock container according to the received picking instruction under the condition that the first carrying equipment runs to the target loading position; The number of the loading levels is set according to the time required by the first carrying equipment to complete a carrying task and the mechanical arm to complete a picking task, specifically, the quotient of the time required by the first carrying equipment to complete the carrying task and the time required by the mechanical arm to complete the picking task is determined, and the upper rounding value of the quotient is determined as the number of the loading levels; The control center is used for sending a conveying instruction to the first conveying equipment, sending a sorting instruction to the second conveying equipment according to goods to be sorted and target discharging positions before sending a sorting instruction to the mechanical arm, and firstly judging whether the target discharging positions exist on the workbench or not when sending the sorting instruction to the second conveying equipment, wherein the target discharging positions are determined based on states of at least two discharging positions of the workbench, and the mode of judging whether the discharging positions of the workbench are in an idle state is the same as the mode of judging whether the feeding positions are in an idle state by the control center.
  2. 2. The system of claim 1, wherein the control center is specifically configured to determine whether a target loading level exists on the workstation, and if so, send a handling instruction to the first handling device and a picking instruction to the robotic arm based on the inventory container in which the item to be picked is located and the target loading level.
  3. 3. The system of claim 1, wherein, The second carrying equipment is used for driving to the target discharging position according to the received sorting instruction, waiting for the mechanical arm to sort the goods to be sorted into the carrier of the second carrying equipment; The mechanical arm is specifically used for grabbing the goods to be picked from the stock container according to the received picking instruction, and placing the goods to be picked in the carrier of the second carrying device.
  4. 4. A system according to claim 3, wherein the control centre is arranged in particular to determine whether a target blanking level exists for the table and if so to send a sorting instruction to the second handling device in dependence on the goods to be sorted and the target blanking level.
  5. 5. The system of claim 3, wherein the control center is specifically configured to establish a correspondence between the order identifier and the second handling device according to an order identifier of an order corresponding to the item to be picked, and send a sorting instruction including the correspondence and a discharge level identifier of the target discharge level to the second handling device; The second handling equipment is specifically configured to travel to a discharging position corresponding to the discharging position identifier according to the discharging position identifier included in the sorting instruction, determine a delivery address of an order corresponding to the goods to be sorted according to the corresponding relationship included in the sorting instruction if the mechanical arm sorts the goods to be sorted into the carrier of the second handling equipment, and sort the goods to be sorted according to the delivery address.
  6. 6. The system of claim 1, wherein the control center is specifically configured to select a to-be-picked item of a specified item type from among the to-be-picked items according to a preset specified item type, and to send a transfer instruction to the first transfer device and a picking instruction to the robotic arm according to a stock container and a target loading level in which the selected to-be-picked item is located, wherein the specified item type is a preset item type suitable for the robotic arm to pick.
  7. 7. A picking method is characterized in that a mechanical arm is positioned on a workbench, the workbench comprises at least two feeding positions and at least two discharging positions, and the method comprises the following steps: A control center sends a carrying instruction to first carrying equipment according to a stock container where goods to be picked are located and the target loading level when the workbench has the target loading level, and sends a picking instruction to the mechanical arm, wherein the goods to be picked are determined according to a specified goods type preset in the control center, the specified goods type is suitable for the goods to be picked by the mechanical arm, the target loading level is determined based on the states of at least two loading levels of the workbench, each loading level is provided with a two-dimensional code, the information corresponding to the two-dimensional code at least comprises a loading level identifier corresponding to the loading level, the bottom of the first carrying equipment comprises an image collector for collecting the two-dimensional code, if the two-dimensional code information collected by the first carrying equipment comprises the loading level identifier corresponding to the loading level, the equipment identifier of the first carrying equipment and the collected loading level identifier are sent to the control center, the control center determines that the first carrying equipment corresponding to the equipment identifier is located at the loading level identifier corresponding to the loading level, the loading level corresponding to the loading level is not determined to be at the idle loading level, and the control center does not receive the loading level corresponding to the loading level; The first carrying equipment carries a bracket identifier corresponding to the inventory container where the goods to be picked are located and a loading level identifier of the target loading level according to the received carrying instruction, and the first carrying equipment navigates to travel to a position corresponding to the inventory container based on the bracket identifier of the inventory container where the goods to be picked are located to obtain the inventory container where the goods to be picked are located, and carries the inventory container where the goods to be picked are located to the target loading level based on the loading level identifier; Under the condition that the first carrying equipment runs to the target loading level, the mechanical arm picks the goods to be picked from the stock container according to the received picking instruction; The number of the loading levels is set according to the time required by the first carrying equipment to complete a carrying task and the mechanical arm to complete a picking task, specifically, the quotient of the time required by the first carrying equipment to complete the carrying task and the time required by the mechanical arm to complete the picking task is determined, and the upper rounding value of the quotient is determined as the number of the loading levels; Before sending a carrying instruction to first carrying equipment and sending a picking instruction to the mechanical arm, the control center sends a sorting instruction to second carrying equipment according to goods to be picked and target discharging positions, when sending the sorting instruction to the second carrying equipment, whether the target discharging positions exist on the workbench is judged first, the target discharging positions are determined based on states of at least two discharging positions of the workbench, and the mode of judging whether the discharging positions of the workbench are in an idle state is the same as the mode of judging whether the feeding positions are in an idle state by the control center.
  8. 8. The method of claim 7, wherein the control center sends a handling instruction to the first handling device and a picking instruction to the robotic arm based on the stock container in which the item to be picked is located and the target loading level, specifically comprising: the control center judges whether the workbench has a target loading level or not; If the goods to be picked are in the storage container, sending a conveying instruction to first conveying equipment according to the storage container where the goods to be picked are located and the target loading level, and sending a picking instruction to the mechanical arm.
  9. 9. The method of claim 7, wherein the method further comprises: the second carrying equipment runs to the target discharging position according to the received sorting instruction, and waits for the mechanical arm to sort the goods to be sorted into a carrier of the second carrying equipment; the mechanical arm picks the goods to be picked from the stock container according to the received picking instruction, and specifically comprises the following steps: The mechanical arm grabs the goods to be picked from the stock container according to the received picking instruction, and places the goods to be picked in a carrier of the second carrying device; The method further comprises the steps of: and if the mechanical arm picks the goods to be picked into the carrier of the second carrying equipment, the second carrying equipment sorts the goods to be picked.
  10. 10. The method according to claim 9, wherein the control center sends sorting instructions to the second handling device according to the goods to be sorted and the target blanking level, in particular comprising: the control center is specifically used for judging whether the workbench has a target blanking level; If so, sending a sorting instruction to the second carrying equipment according to the goods to be sorted and the target discharging position.
  11. 11. The method according to claim 9, wherein the control center sends sorting instructions to the second handling device according to the goods to be sorted and the target blanking level, in particular comprising: the control center establishes a corresponding relation between the order identification and the second carrying equipment according to the order identification of the order corresponding to the goods to be picked; Sending a sorting instruction containing a discharging level identifier of the corresponding relation and the target discharging level to the second carrying equipment; The second carrying equipment runs to the target blanking level according to the received sorting instruction, and specifically comprises the following steps: The second carrying equipment runs to a discharging position corresponding to the discharging position identifier according to the discharging position identifier contained in the sorting instruction; the second handling device sorts the goods to be sorted, specifically including: The second carrying equipment determines the delivery address of the order corresponding to the goods to be picked according to the corresponding relation contained in the sorting instruction; And sorting the goods to be sorted according to the distribution address.
  12. 12. The method of claim 7, wherein the control center sends a handling instruction to the first handling device and a picking instruction to the robotic arm based on the stock container in which the item to be picked is located and the target loading level, specifically comprising: The control center selects the goods to be picked of the appointed goods type from the goods to be picked according to the preset appointed goods type, wherein the appointed goods type is a preset goods type suitable for the mechanical arm to pick; And sending a conveying instruction to the first conveying equipment according to the selected stock container in which the goods to be picked are located and the target loading level, and sending a picking instruction to the mechanical arm.
  13. 13. The mechanical arm is characterized by being positioned on a workbench and used for picking goods to be picked, wherein the workbench comprises at least two feeding positions and at least two discharging positions; The mechanical arm comprises a controller, a mechanical arm body and a grabbing mechanism positioned on the mechanical arm body; The controller is used for receiving a picking instruction sent by the control center, wherein the picking instruction is sent to the mechanical arm by the control center according to an inventory container where goods to be picked are and the target loading level when the target loading level exists on the workbench; when a first handling device carries a bracket identifier corresponding to a storage container where the goods to be picked are located and a loading level identifier of the target loading level according to a received handling instruction, the first handling device navigates to a corresponding position of the storage container based on the bracket identifier of the storage container where the goods to be picked are located to acquire the storage container where the goods to be picked are located, and carries the storage container where the goods to be picked to the target loading level based on the loading level identifier, a control signal is sent to the mechanical arm body according to the handling instruction, wherein the goods to be picked are determined according to a specified cargo type preset in the control center, the specified cargo type is a cargo type suitable for the mechanical arm to pick, the target loading level is determined based on the states of at least two loading levels of the workbench, each loading level is provided with a two-dimensional code, at least the corresponding information contains the loading level identifier corresponding to the loading level, the bottom of the first handling device comprises an image collector for collecting the two-dimensional code, if the first handling device carries the corresponding to the loading level in the control center, the first handling device sends the first handling device to the control center, and the first handling device corresponding to the loading level identifier corresponding to the first handling device, determining that the loading level corresponding to the loading level identifier is in a non-idle state, and if the control center does not receive the loading level identifier corresponding to the loading level sent by the first handling equipment, determining that the loading level is the target loading level; The mechanical arm body is used for moving according to the received control signal, and when moving to face the first carrying equipment, the grabbing mechanism is triggered to pick the goods to be picked from the stock container; The number of the loading levels is set according to the time required by the first carrying equipment to complete a carrying task and the mechanical arm to complete a picking task, specifically, the quotient of the time required by the first carrying equipment to complete the carrying task and the time required by the mechanical arm to complete the picking task is determined, and the upper rounding value of the quotient is determined as the number of the loading levels; The control center is used for sending a conveying instruction to the first conveying equipment, sending a sorting instruction to the second conveying equipment according to goods to be sorted and target discharging positions before sending a sorting instruction to the mechanical arm, and firstly judging whether the target discharging positions exist on the workbench or not when sending the sorting instruction to the second conveying equipment, wherein the target discharging positions are determined based on states of at least two discharging positions of the workbench, and the mode of judging whether the discharging positions of the workbench are in an idle state is the same as the mode of judging whether the feeding positions are in an idle state by the control center.
  14. 14. The mechanical arm of claim 13, wherein the mechanical arm comprises a plurality of arms, The grabbing mechanism is specifically used for grabbing the goods to be picked from the inventory container based on the triggering of the mechanical arm body when the goods to be picked are moved to face the first carrying device under the driving of the mechanical arm body, and placing the goods to be picked in the carrier of the second carrying device based on the triggering of the mechanical arm body when the goods to be picked are moved to face the second carrying device located at the target discharging position under the driving of the mechanical arm body.

Description

Picking system, method and equipment Technical Field The present application relates to the field of robotics, and in particular, to a picking system, method, and apparatus. Background In automated solutions for warehouse-to-human zero picking, self-driven mobile devices such as automated guided vehicles (Automated Guided Vehicle, AGVs) are often used. Specifically, in the prior art, the stock container is carried from the warehouse to the workbench by the AGV, then the target goods are picked out from the stock container by the staff at the workbench, and finally the picked target goods are sorted to the sowing wall. Therefore, the picking process in the prior art still needs manual participation, and the picking efficiency is low. Disclosure of Invention Embodiments of the present disclosure provide a picking system, method and apparatus to at least partially solve the problems of the prior art. The embodiment of the specification adopts the following technical scheme: The specification provides a picking system, which comprises a control center, a mechanical arm positioned on a workbench and at least two first carrying devices; the workbench comprises at least two feeding levels; the control center is used for sending a conveying instruction to the first conveying equipment according to the stock container where the goods to be picked are located and the target loading level, and sending a picking instruction to the mechanical arm; The first conveying equipment is used for conveying the inventory container where the goods to be picked are to the target loading level according to the received conveying instruction; And if the first carrying equipment runs to the target loading position, the mechanical arm is used for picking the goods to be picked from the stock container according to the received picking instruction. Optionally, the control center is specifically configured to determine whether the workbench has a target loading level, and if so, send a conveying instruction to the first conveying device and send a picking instruction to the mechanical arm according to the inventory container where the goods to be picked are located and the target loading level. Optionally, the system further comprises at least two second handling devices; the workbench further comprises at least two blanking positions; the control center is also used for sending a sorting instruction to the second carrying equipment according to the goods to be sorted and the target discharging level before sending a carrying instruction to the first carrying equipment and sending a sorting instruction to the mechanical arm; The second carrying equipment is used for driving to the target discharging position according to the received sorting instruction, waiting for the mechanical arm to sort the goods to be sorted into the carrier of the second carrying equipment; The mechanical arm is specifically used for grabbing the goods to be picked from the stock container according to the received picking instruction, and placing the goods to be picked in the carrier of the second carrying device. Optionally, the control center is specifically configured to determine whether the workbench has a target unloading position, and if so, send a sorting instruction to the second handling device according to the to-be-sorted goods and the target unloading position. Optionally, the control center is specifically configured to establish a correspondence between the order identifier and the second handling device according to an order identifier of an order corresponding to the to-be-picked item, and send a sorting instruction including the correspondence and a discharging level identifier of the target discharging level to the second handling device; The second handling equipment is specifically configured to travel to a discharging position corresponding to the discharging position identifier according to the discharging position identifier included in the sorting instruction, determine a delivery address of an order corresponding to the goods to be sorted according to the corresponding relationship included in the sorting instruction if the mechanical arm sorts the goods to be sorted into the carrier of the second handling equipment, and sort the goods to be sorted according to the delivery address. Optionally, the control center is specifically configured to select, according to a preset designated cargo type, a cargo to be picked of the designated cargo type from among the cargoes to be picked, and send a conveying instruction to a first conveying device and send a picking instruction to the mechanical arm according to a stock container and a target loading level where the selected cargo to be picked is located, where the designated cargo type is a preset cargo type suitable for the mechanical arm to pick. The selecting method provided by the specification comprises the steps that a mechanical arm is located on a workbench, the workbench comprises at