CN-121990297-A - Movable indicating equipment, picking system, picking method and server

Abstract

The specification discloses a movable indication device, a picking system, a picking method and a server, wherein the movable indication device is adopted to conduct picking operation. The movable indicating device interacts with the server and moves to a designated area corresponding to the target location according to a movement instruction sent by the server. When the movable indicating equipment reaches the designated area, the movable indicating equipment has the geographic condition of transmitting the guiding signal to the target position, and at the moment, the movable indicating equipment transmits the guiding signal pointing to the target position according to the guiding instruction, so that personnel or manipulators in the field can execute corresponding operations according to the guiding signal. The movable indicating equipment in the specification performs most walking and guiding operations in the working process, thereby being beneficial to improving the working efficiency and reducing the labor cost. According to the picking system and the picking method, the guiding signal is sent out aiming at the target position aimed at by the picking operation, and the picking operation of personnel is effectively assisted.

Inventors

• LIU KAI

Assignees

• 北京极智嘉科技股份有限公司

Dates

Publication Date

20260508

Application Date

20200624

Claims (20)

1. 1. A movable indicating device (1) is characterized by comprising a chassis (11), a body (12), and an indicating device (13) and a communication device which are arranged on the body (12); The body (12) is arranged on the chassis (11); The communication device is configured to be in communication connection with a preset server, and receives a moving instruction aiming at a specified area and a guiding instruction aiming at a target position corresponding to the specified area, which are sent by the server; The movement instruction is generated by the server according to the designated area; the guiding instruction is generated by the server according to the moving instruction and the target position; The chassis (11) is configured to carry the body (12) to move to the designated area according to the movement instruction; The indicating means (13) are configured to, according to the guiding instruction, issue a guiding signal directed to the target position when the movable indicating device (1) reaches the specified area; the indicating device (13) comprises a projection device (131), and the guiding signal comprises an image (32) projected by the projection device (131); the projection device (131) is configured to project an image (32) representing at least part of the information in the guide command to a target position of a shelf (2) corresponding to the guide command, according to the guide command.
2. 2. The movable pointing device (1) according to claim 1, characterized in that the movement instructions comprise at least one of an identification of the designated area, a path to the designated area by the location where the movable pointing device (1) is currently located, a trajectory to the designated area by the location where the movable pointing device (1) is currently located, a path through each designated area to be reached by a picking operation of the movable pointing device (1) within a preset period.
3. 3. The movable indication device (1) according to claim 1, characterized in that for each item to be picked in the order corresponding to the movable indication device (1), an area available for a picking operation for the item to be picked corresponding to the item to be picked (2) is determined as the designated area in the place (5) based on the information of the item to be picked and the information of the respective shelves (2) in the place (5).
4. 4. A movable indication device (1) according to claim 3, wherein the order corresponding to the movable indication device (1) is determined by the server according to the identification information of the preset storage container read and sent by the movable indication device (1) and the preset correspondence between the order to be picked and the storage container, wherein one storage container corresponds to one order to be picked.
5. 5. The movable indication device (1) according to claim 1, wherein the target location comprises a corresponding storage location on a corresponding shelf (2) for each item to be picked in the order corresponding to the movable indication device (1).
6. 6. The movable pointing device (1) according to claim 1, characterized in that the movable pointing device (1) further comprises a pitch angle adjustment mechanism by means of which the pointing means (13) is arranged to the body (12).
7. 7. The movable pointing device (1) according to claim 6, characterized in that the pitch angle adjustment mechanism comprises a ram (161), a guide bar (162) and a shaft (163), the relative axial positions of the ram (161) and the guide bar (162) along the pitch angle adjustment mechanism being adjustable.
8. 8. The movable pointing device (1) according to claim 1, characterized in that the designated area comprises an area in a preset place (5) where picking operations can be performed, the number of designated areas in the place (5) being a plurality.
9. 9. The movable pointing device (1) according to claim 1, characterized in that the pointing means (13) comprises directional light beam emitting means (133), the guiding signal comprising a directional light beam (31) emitted by the directional light beam emitting means (133); The directional beam emitting device (133) is configured to emit a directional beam (31) to a target position of a shelf (2) corresponding to the guiding command according to the guiding command.
10. 10. The movable pointing device (1) according to any of claims 1-9, characterized in that the pointing means (13) comprises a screen (132), the guidance signal comprising graphics and/or characters displayed by the screen (132); The screen (132) is configured to display graphics and/or characters characterizing at least part of the information in the guidance instructions according to the guidance instructions.
11. 11. The movable pointing device (1) according to any of claims 1-9, characterized in that the body (12) is configured to: According to the guiding instruction, the emitting height and the emitting angle of the guiding signal aiming at the target position are determined, and the pose of the indicating device (13) is adjusted according to the emitting height and the emitting angle, so that the indicating device (13) emits the guiding signal pointing at the target position.
12. 12. The movable pointing device (1) according to any of claims 1-9, characterized in that the movable pointing device (1) further comprises tag reading means communicatively connected to the communication means; The tag reading device is configured to read identification information of a preset storage container, so that the communication device sends the identification information of the storage container to the server, the server generates the moving instruction and the guiding instruction according to the identification information of the storage container, and the generated moving instruction and guiding instruction are sent to the movable indicating equipment (1).
13. 13. The movable indication device (1) according to any one of claims 1-9, wherein the information in the guiding order comprises at least one of a unique identification of a shelf (2) corresponding to the guiding order, a unique identification of a target location corresponding to the guiding order, a unique identification of an item corresponding to the guiding order, a number of items corresponding to the guiding order, information of a next designated area to be reached by the movable indication device (1), information of a person receiving the guiding signal, an operation order issued to the person, orientation information of the indication means (13) relative to the target location, information of a carrying platform (14) and/or a storage container corresponding to the guiding order.
14. 14. The movable pointing device (1) according to any of claims 1-9, characterized in that the movable pointing device (1) further comprises positioning means; The positioning device comprises a positioning module, an environment data acquisition module and an inertia measurement module, wherein the environment data acquisition module and the inertia measurement module are in communication connection with the positioning module; The positioning module is configured to determine the current location of the movable indicating device (1) according to the data acquired by the environmental data acquisition module and the inertial measurement module.
15. 15. The movable pointing device (1) according to claim 14, characterized in that the movable pointing device (1) further comprises navigation means communicatively connected to the positioning means; the navigation device is configured to generate navigation information according to the current location of the movable indicating equipment (1) and a preset path, so that the chassis moves according to the navigation information.
16. 16. The movable pointing device (1) according to claim 14, characterized in that the movable pointing device (1) further comprises path planning means, wherein the movement instruction comprises a next designated area to be reached by the movable pointing device (1); the path planning device is configured to plan a path between the current location and the next designated area according to the information of the next designated area and according to the current location of the movable indicating device (1).
17. 17. The movable pointing device (1) according to any of claims 1-9, characterized in that the movable pointing device (1) further comprises obstacle detection means; The obstacle detection device is configured to, when detecting that an obstacle exists on a path leading to the specified area, send information corresponding to the obstacle to the server, so that the server regenerates a movement instruction, and the movable indication device (1) moves to the specified area corresponding to the regenerated movement instruction according to the regenerated movement instruction.
18. 18. A picking system comprising a server, and a movable pointing device (1) in communication with the server, wherein: The server is further configured to determine, for each item to be picked in an order corresponding to the movable indication device (1), a designated area in the place (5) for which a picking operation can be performed on the item to be picked corresponding to the shelf (2) to generate a movement instruction for the designated area according to information of the item to be picked and information of each shelf (2) in the place (5), and determine a storage position corresponding to the item to be picked on the shelf (2), take the storage position as a target position of the item, generate a guiding instruction for the target position according to the movement instruction, and send the movement instruction and the guiding instruction to the movable indication device (1); The movable indicating device (1) is further configured to reach a designated area corresponding to the movement instruction according to the movement instruction, and when reaching the designated area, send out a guide signal pointing to the target position according to the guide instruction; The movable indicating device (1) comprises a projection device (131), wherein the guide signal comprises an image (32) projected by the projection device (131); The projection device (131) is configured to project an image (32) representing at least part of the information in the guide instruction to a target position of a shelf (2) corresponding to the guide instruction according to the guide instruction.
19. 19. The system according to claim 18, wherein the server is configured to determine, for each preset storage container, a to-be-picked order corresponding to the storage container, and use a correspondence between the to-be-picked order and the storage container as a preset correspondence; The movable indicating device (1) is configured to read identification information of a preset storage container and send the identification information of the storage container to the server.
20. 20. The system according to claim 19, wherein the server is further configured to receive the identification information of the storage container sent by the movable indication device (1), and determine, according to the received identification information of the storage container and the preset correspondence, an order corresponding to the movable indication device (1) in each order to be picked.

Description

Movable indicating equipment, picking system, picking method and server The present application is a divisional application, the application number of the original application is 2020105899599, the original application date is 24 days of 6 months in 2020, and the whole content of the original application is incorporated by reference into the present application. Technical Field The application relates to the technical field of robots, in particular to movable indicating equipment, a picking system, a picking method and a server. Background At present, the warehousing technology is permeated into various aspects of production and life, and the degree of dependence of people on the warehousing technology is also increasing. In the prior art, when picking an item, an operator needs to find a shelf corresponding to the item in a place of a warehouse, then find a storage position corresponding to the item on the shelf, and then take the item off the shelf and/or place the item on the shelf. The manual picking by operators has obvious phenomena of difficult shelf searching, difficult storage searching and serious manpower resource consumption, and further causes the problems of low picking efficiency and high picking cost. Therefore, how to improve picking efficiency and reduce picking cost is a problem to be solved. Disclosure of Invention The movable indication equipment, the picking system, the picking method and the server are used for at least partially solving the problems of low article picking efficiency and high dependence of manual operation in the prior art. The embodiment of the specification adopts the following technical scheme: The movable indicating equipment provided by the specification comprises a chassis, a body, and an indicating device and a communication device which are arranged on the body; the body is arranged on the chassis; The communication device is configured to be in communication connection with a preset server, and receives a moving instruction aiming at a specified area and a guiding instruction aiming at a target position corresponding to the specified area, which are sent by the server; The chassis is configured to bear the body to move to the appointed area according to the movement instruction; The pointing device is configured to issue a guidance signal directed to the target location when the movable pointing device reaches the specified area in accordance with the guidance instruction. Optionally, the designated areas comprise areas available for picking operations in a preset place, and the designated areas in the place are multiple in number. Optionally, the target location includes at least one of the locations on the shelf corresponding to the designated area for placement of items. Optionally, the indicating device comprises a projection device, wherein the guiding signal comprises an image projected by the projection device; the projection device is configured to project an image representing at least part of information in the guide instruction to a target position of a shelf corresponding to the guide instruction according to the guide instruction. Optionally, the indicating device comprises a screen, wherein the guiding signal comprises a graph and/or a character displayed by the screen; the screen is configured to display graphics and/or characters characterizing at least part of the information in the guidance instructions according to the guidance instructions. Optionally, the indicating device comprises a directional light beam emitting device, wherein the guiding signal comprises a directional light beam emitted by the directional light beam emitting device; the directional light beam emitting device is configured to emit a directional light beam to a target position of a shelf corresponding to the guide instruction according to the guide instruction. Optionally, the body is configured to: And determining the emission height and the emission angle of the guiding signal aiming at the target position according to the guiding instruction, and adjusting the pose of the indicating device according to the emission height and the emission angle so that the indicating device sends the guiding signal pointing at the target position. Optionally, the screen has a human-machine interaction interface, so that a person receiving the guidance signal interacts with the movable pointing device through the screen. Optionally, the movable indicating device further comprises at least one carrying platform for placing articles. Optionally, the movable indicating device further comprises a tag reading device which is in communication connection with the communication device; The tag reading device is configured to read identification information of a preset storage container, so that the communication device sends the identification information of the storage container to the server, the server generates the moving instruction and the guiding instruction according to the identifi