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WO2024174322A1 - 一种拣选方法及货到人拣选系统 - Google Patents

一种拣选方法及货到人拣选系统 Download PDF

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Publication number
WO2024174322A1
WO2024174322A1 PCT/CN2023/083587 CN2023083587W WO2024174322A1 WO 2024174322 A1 WO2024174322 A1 WO 2024174322A1 CN 2023083587 W CN2023083587 W CN 2023083587W WO 2024174322 A1 WO2024174322 A1 WO 2024174322A1
Authority
WO
WIPO (PCT)
Prior art keywords
target
order
picking
line
information
Prior art date
Application number
PCT/CN2023/083587
Other languages
English (en)
French (fr)
Inventor
华聚良
Original Assignee
江苏华章物流科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 江苏华章物流科技股份有限公司 filed Critical 江苏华章物流科技股份有限公司
Priority to US18/667,890 priority Critical patent/US20240299985A1/en
Publication of WO2024174322A1 publication Critical patent/WO2024174322A1/zh

Links

Classifications

    • 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
    • B07C7/00—Sorting by hand only e.g. of mail
    • 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
    • B07C3/003—Destination control; Electro-mechanical or electro- magnetic delay memories
    • 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
    • B07C3/008—Means for collecting objects, e.g. containers for sorted mail items
    • 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
    • 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
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • 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
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • 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
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1378—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on fixed commissioning areas remote from the storage areas
    • 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
    • B65G35/00—Mechanical conveyors not otherwise provided for
    • B65G35/06—Mechanical conveyors not otherwise provided for comprising a load-carrier moving along a path, e.g. a closed path, and adapted to be engaged by any one of a series of traction elements spaced along the path
    • 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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/34—Devices for discharging articles or materials from conveyor 
    • B65G47/38—Devices for discharging articles or materials from conveyor  by dumping, tripping, or releasing load carriers
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders

Definitions

  • the present invention relates to the technical field of warehousing and logistics, and in particular to a picking method and a goods-to-person picking system.
  • picking is an important operation link in the warehouse that attracts much attention. Its labor volume, time consumption, cost and efficiency are often the focus of attention.
  • Goods to person is a common picking method in the field of logistics and warehousing.
  • the commonly known picking stations are used to pick according to the goods to person principle.
  • the goods or items of the order are transferred from the warehouse shelves to the corresponding picking stations in a pre-set order, and they are usually placed in containers; they are taken out of the storage containers and placed in the order containers. This process is usually repeated until the corresponding order or the corresponding order container is processed at the picking station, and then the next order or the next order container is picked.
  • To complete the picking of an order or the picking of an order container it is necessary to first determine whether the pre-set storage container or order container has arrived at its corresponding picking station position, and then complete the picking.
  • This method of picking with containers as picking units has strong coupling, low efficiency, long time consumption and high cost.
  • the length of manual and robot arms is limited, and usually they can only pick items within a certain range near a specific workstation without moving themselves, so the number of order containers is often limited to 2-3.
  • a parcel sorting system has been developed, and its technical solution discloses that "the system also includes multiple mobile transport devices, each of which is used to load a parcel to be picked or multiple parcels to be picked with the same destination, and the mobile transport device transports the parcel to be picked to the parcel inspection outlet corresponding to the destination of the parcel to be picked.” Even if a mobile transport device is used for transit transportation and sorting, the mobile transport device also needs to complete the tasks of loading, transportation and unloading. The degree of efficiency improvement is limited and it still cannot meet the high-frequency and short-time sorting requirements; and the use of multiple mobile transport devices also greatly increases the cost investment of the system; the simultaneous operation of multiple mobile transport devices also brings considerable challenges to the path planning technology.
  • the technical problems to be solved by this patent are: how to achieve weak coupling between orders and order lines in the order picking process of order picking and improve efficiency, and how to solve the problems of limited picking range and small number of order containers at low cost.
  • the present invention aims to provide a picking method and a goods-to-person picking system that use order lines (variety) as picking units to achieve weak coupling between orders and order lines in an order picking process to improve efficiency.
  • the technical solution adopted by the present invention is: a picking method based on a goods-to-person picking system, the picking method comprising:
  • Target picking station Matching the target picking station, target railcar and target order container corresponding to each order line according to each order line information; configuring the target source box to be transported from the external storage area to the corresponding target picking station using the supply conveyor line;
  • the goods-to-person picking system includes a supply conveyor line connected to an external storage area, at least one target picking station, at least one target rail trolley, a target conveyor track for each of the target rail trolleys to travel, and at least one target order container.
  • the order information is matched to the order line information based on the target product, and one or more order information is obtained in batches and split into order line information.
  • the target commodity quantity of the current order line information is obtained to determine whether the current target commodity quantity of the order line information exceeds the target commodity quantity in the target source box;
  • the target product related information is added to the order line information.
  • each order line After each order line completes the picking task of its target picking station, it is determined whether the target source box has a picking task of other target picking stations;
  • the goods-to-person picking system is also equipped with a delivery conveyor line, and the target goods are transported by a target rail car and transferred to a target order container.
  • the transmission and transfer steps include:
  • the target commodity is transported by the target rail car and transferred to the shipping conveyor line;
  • the target commodity is conveyed by the shipping conveyor line and transferred into the target order container.
  • all the target commodities of each order line of the order information correspond to an order line conveyor line; wherein:
  • Each of the order line conveying lines corresponds to one or more order containers, and the one or more order containers corresponding to each order line are determined according to the information of each order line.
  • a trolley buffer station is also provided on the conveying track
  • the target rail trolley When the target rail trolley needs to avoid other rail trolleys while traveling on the conveying track, the target rail trolley is cached at the trolley cache station.
  • a goods-to-person picking system comprises a supply conveyor line connected to an external storage area, at least one target picking station, at least one target order container and a control device, and the goods-to-person picking system further comprises:
  • At least one target rail trolley the target rail trolley is equipped with a target conveying track for traveling, and the target conveying track is provided with a receiving position and a unloading position, the target rail trolley is used to carry the target commodity picked from the picking station at the receiving position, and the target rail trolley is also used to unload the carried target commodity into a target order container at the unloading position;
  • a target source box the target source box is used to be transported from an external storage area to a picking station for picking via a supply conveyor line, the supply conveyor line is connected to the picking station;
  • the control device is used to obtain order information and process the order information into order line information
  • the control device is used to determine the target rail cart, target picking station, and target order container corresponding to each target source box according to each order line information
  • the control device is also used to send the order line information to the target picking station
  • the control device is used to control the supply conveyor line and the target rail cart to transport the target goods to the corresponding target order container
  • each order line information includes the target goods, target picking quantity and target source box corresponding to the order line
  • each order line includes one or more target goods and the target picking quantity and target source box of each target good.
  • the goods-to-person picking system also has a delivery conveyor line
  • the shipping conveyor line has a first end connected to the conveying track of the target rail cart, and the shipping conveyor line also has a second end arranged above the entrance of the target order container.
  • the shipping conveyor line is used to transport the target goods through the corresponding target rail cart and transfer them to the target order container.
  • the shipping conveyor line includes a plurality of order line conveyor lines arranged in parallel; all order line commodities of an order correspond to one order line conveyor line, and each order line conveyor line is configured with one or more order containers.
  • the delivery conveyor line includes a main delivery conveyor line and a commodity buffer line;
  • the main delivery conveyor line is used to receive the target goods unloaded by the target rail car and transfer the target goods to the target order container;
  • the commodity buffer line is in an arc-shaped structure, and both ends of the arc-shaped structure are connected to the main delivery conveying line.
  • a turning device is provided on the top of the target rail car
  • the overturning device has a horizontal receiving position and an inclined unloading position, and the overturning device switches between the horizontal receiving position and the inclined unloading position to receive the target goods picked from the picking station or unload the target goods into the target order container or the shipping conveyor line.
  • the present invention has the following significant advantages:
  • the order information is split into several order line information, and then the target picking station, target rail cart and target order container corresponding to each order line are matched according to each order line information, and then the target commodity is picked to its corresponding target order container and transported to its corresponding target picking station with the help of the target rail cart, so that picking can be carried out with the order line (variety) as the picking unit, and the weak coupling between orders and order lines in the order picking process of order picking is achieved, the efficiency is improved, and the labor intensity is reduced; in addition, the problem of limited picking range and small number of target order containers is solved by setting the target rail cart, and the function of configuring multiple order boxes (i.e., target source boxes) is realized, which can meet the high-frequency and short-time sorting needs, and greatly improve the efficiency, reduce the picking cost and equipment investment cost.
  • target line variableiety
  • the target commodity quantity of the current order line information is used to determine whether the current target commodity quantity of the order line information exceeds the target commodity quantity in the target source box. If so, the new order line information is split; if not, it is added to the current order line information, and each order line information is updated in time. The updated order line information is picked normally to realize automatic and efficient splitting of the order line.
  • the picking method and goods-to-person picking system of the present invention realize picking based on order lines (variety) as picking units, achieve weak coupling between orders and order lines in the picking process, improve efficiency and reduce labor intensity.
  • FIG1 is a schematic flow chart of a picking method according to a preferred embodiment of the present invention.
  • FIG2 is a flowchart of the processing of the target source box when each order line completes the picking task of the target picking station;
  • FIG3 is a flow chart of an embodiment of splitting the order information
  • FIG4 is a schematic diagram of the layout of a picking system according to a preferred embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a picking system according to a preferred embodiment of the present invention.
  • FIG6 is a schematic diagram of the layout of a picking system according to another preferred embodiment of the present invention.
  • FIG. 7 is a schematic diagram of the structure of a double-layer picking station in the prior art.
  • the present invention proposes a picking method, which is applied to a goods-to-person picking system.
  • the aforementioned goods-to-person picking system changes the layout of the traditional picking station.
  • the present invention proposes for the first time a picking method that uses order lines (varieties) as picking units to achieve the technical effect of reducing coupling and realizing high-efficiency picking.
  • the problem of limited number of order boxes and limited arm length of manual or robot picking operations is solved by setting a target rail trolley. Compared with a trackless trolley, the target rail trolley does not need to consider path planning and other issues, which reduces the R&D cost.
  • the picking method shown in FIG. 1 is applied to a goods-to-person picking system of a stereoscopic warehouse.
  • the picking method is used in the goods-to-person picking system of the embodiment as shown in Figure 4.
  • the goods-to-person picking system shown in Figure 4 includes a supply conveyor line 2 (such as a roller conveyor) connected to an external storage area, a target picking station 1, a target rail cart, a conveyor track 131 for the target rail cart 132 to travel, a target order container 5 and a control device (not shown in the figure).
  • the goods-to-person picking system shown in FIG6 also has a plurality of target picking stations: target picking station 1 1a, target picking station 2 1b, target picking station 3 1c, target picking station 4 1d, and a plurality of target rail carts: target rail cart 1 13a, target rail cart 2 13b, target rail cart 3 13c, target rail cart 4 13d.
  • the control device communicates with the supply conveyor line 2, the target rail cart 132, and one or more target picking stations 1.
  • the supply conveyor line 2 is used to transport the target source box 4 from the external storage area to the target picking station 1.
  • the height of the target picking station 1 is generally set to meet ergonomics, and is used to take out the target commodity 3 in the target source box 4 and place it on the target rail cart 132.
  • the target rail trolley 132 has a receiving position 131a and an unloading position 131b configured on the conveying track 131.
  • the target rail trolley 132 is a two-way, four-way, or four-way climbable rail trolley (two-way, four-way, or four-way climbable rail trolley is a technology well known in the art. According to the disclosure of the present invention, any existing or future developed appropriate structure can be used.), which is used to carry and transport the target commodity 3.
  • each target picking station 1 is adjacent to a receiving position 131a on the conveying track 131 of the target rail trolley 132.
  • Each target picking station 1 corresponds to one or more receiving positions 131a.
  • the target order container 5 is adjacent to the unloading position of the target rail trolley 132 (in some embodiments, as shown in FIG. 4 , the target order container 5 is arranged below the conveying track 131) and can transfer the target commodity 3 from the target rail trolley 132 to the target order container 5.
  • the conveying track 131 includes a straight conveying section and/or an arc conveying section.
  • the target rail trolley 132 can reach its corresponding receiving position at each picking station 1 and its corresponding unloading position of each target order container 5 by traveling along the conveying track 131, that is, the rail trolley 132 can receive commodities from the receiving positions of different target picking stations 1 and deliver them to the same target order container 5 or different target order containers 5.
  • the picking method includes:
  • the target source box is configured to be transported from the external storage area to the corresponding target picking station using the supply conveyor line;
  • the target commodity is configured to be picked from the target source box to the target railcar;
  • order line information such as splitting one order into 5 pieces of commodity No. 1, 18 pieces of commodity No. 2, and 8 pieces of commodity No. 3.
  • the same variety of target commodity 3 can also correspond to one order line or multiple order lines. For example, when the number of target commodities 3 of this variety is large (500), the target commodity 3 may be stored in different target source boxes 4, then the same variety of target commodity 3 can also correspond to multiple order lines.
  • the technicians in this field can adjust the splitting strategy according to the actual situation.
  • the above-mentioned current batches can be divided according to order quantity (such as 100 orders as one batch), order time (such as orders within one hour as one batch), and order priority (orders with the same order priority level as one batch).
  • order quantity such as 100 orders as one batch
  • order time such as orders within one hour as one batch
  • order priority orders with the same order priority level as one batch.
  • the above-mentioned current order batch division is only an example, and the division of order batches is not limited to the three types of division according to order quantity, order time, and order priority.
  • the order line information includes the target product 3 corresponding to each order line of the current order (such as product No. 3 corresponding to order line No. 1), the picking quantity of the aforementioned target product 3 (such as 8 pieces of product No. 3 or 80 pieces of product No. 3), and the target source box 4 corresponding to the target product 3 (such as source box No. 4).
  • step S101 when the above-mentioned order information is split and updated, it is executed in accordance with steps S101 and S102 as shown in Figure 2, wherein: S101. Obtain a target commodity quantity of the current order line information; S102. Determine whether the current target commodity quantity of the order line information exceeds the target commodity quantity in the target source box; if so, split the target commodity related information into new order line information; if not, add the target commodity related information to the order line information.
  • the target picking station 1, target rail cart 132 and target order container 5 corresponding to each order line are determined according to the information of each order line.
  • the target picking station 1 is generally allocated according to the idle principle.
  • the empty target rail cart 132 is determined as the target rail cart according to the proximity principle, and one target rail cart 132 can correspond to one order line or multiple order lines.
  • Each target order container 5 has a unique container number.
  • the control device determines that the order corresponds to one or more target order containers 5 according to the volume, quantity, shape and material of each order. If the order corresponds to a target order container 5, then the container is the target order container.
  • each order line is allocated a suitable order container from the aforementioned multiple order containers according to the quantity, volume, shape, and material of each order line.
  • one or more order lines can be allocated the same or different target order containers 5; for example, when an order line corresponds to multiple orders, then the order line will be allocated different target order containers 5, such as 80 pieces of No. 3 goods in 3 orders are allocated to at least 3 different containers; for example, 80 pieces of No. 3 goods in 1 order can be allocated to 1 or more containers according to the quantity, volume, shape, and material; for another example, 8 pieces of No. 3 goods and 5 pieces of No. 7 goods in 1 order can be allocated to the same target order container 5.
  • Technical personnel in this field can adjust the allocation strategy according to actual conditions.
  • the target source box 4 is transported from the external storage area to the corresponding target picking station 1 by the supply conveyor line 2.
  • the target picking station 1 displays the corresponding order line information, and the operator (human or robot) operates according to the display information of the picking station 1.
  • the target commodity 3 is picked from the target source box 4 to the corresponding target rail cart 132.
  • a turning device 1321 is provided on the top of the target rail cart 132.
  • the turning device 1321 has a horizontal receiving position and an inclined unloading position.
  • the height of the horizontal receiving position is lower than the height of the conveyor line outlet, and the height of the inclined unloading position is higher than the height of the target order container 5.
  • the turning device 1321 switches between the horizontal receiving position and the inclined unloading position to receive the target commodity 3 conveyed by the conveyor line outlet or unload the target commodity 3 into the target order container 5.
  • a delivery conveyor line 6 is provided between the unloading position and the order container 5.
  • the height of the delivery conveyor line 6 is higher than the entrance height of the order container 5.
  • the delivery conveyor line 6 is used to convey the target product 3.
  • the flipping direction of the flipping device 1321 is not limited in this patent, and it can be flipped forward or backward or to both sides. It should be understood that the aforementioned The overturning device 1321 is a well-known technology in the art, and any suitable structure currently available or developed in the future can be used according to the disclosure of the present invention.
  • the rail trolley 132 can also be other structures and forms, such as a horizontal conveying device (belt, roller conveyor, etc.) as long as it can carry and unload goods, and is not limited to the structure disclosed in the present invention.
  • the target commodity 3 is transported by the rail trolley 132 and directly or indirectly transferred to the target order container 5.
  • the target rail trolley 132 is controlled by the control device to transport the target commodity 3 and directly or indirectly transfer it to one or more order containers 5 corresponding to the order; if multiple order information is obtained in batches and the multiple order information is split into order line information, that is, one order line corresponds to the same variety of target commodity 3 of multiple orders, such as splitting multiple orders of the current batch into 50 pieces of commodity No. 1 (such as order No. 1 of the three orders includes 30 pieces of commodity No. 1, and order No. 2 includes 20 pieces of commodity No. 1). ), 180 pieces of No. 2 commodity, and 80 pieces of No.
  • the target rail trolley 132 generally adopts a horizontal conveying device to facilitate its unloading of a specified number of target commodities 3.
  • the aforementioned target commodity 3 is transported by the target rail trolley 132 and directly transferred to the target order container 5, which means: as shown in FIG4, the target commodity 3 is directly unloaded from the target rail trolley 132 to the target order container 5.
  • the aforementioned target commodity 3 is transported by the target rail trolley 132 and indirectly transferred to the target order container 5, which means: as shown in FIG3, in an embodiment in which a delivery conveyor line 6 is provided between some unloading positions and the target order container 5, the target commodity 3 is unloaded from the target rail trolley 132 to the delivery conveyor line 6, and the delivery conveyor line 6 delivers the goods to the target order container 5.
  • the picking task of the order line is completed, and when the picking tasks of all order lines of the order are completed, the order picking task is completed.
  • the picking method disclosed in the present invention is used to realize picking with order lines (variety) as picking units, achieves weak coupling between orders and order lines in the order picking process of order picking, and improves picking efficiency; solves the problems of limited picking range and small number of order containers, and realizes the function of configuring multiple order boxes, which can meet high-frequency and short-time sorting needs, and greatly improves efficiency and reduces picking costs and equipment investment costs.
  • the aforementioned picking system further has a shipping conveyor line 6, and the target commodity 3 is transported by the rail trolley 132 and transferred to the order container 5, including: the target commodity 3 is transported by the rail trolley 132 and transferred to the shipping conveyor line 6. The target commodity 3 is transported by the shipping conveyor line 6 and transferred to the target order container.
  • the delivery conveyor line 6 includes a plurality of order line conveyor lines 61 arranged in parallel; all order line commodities of an order correspond to an order line conveyor line (e.g., 5 pieces of item No. 1, 18 pieces of item No. 2, and 8 pieces of item No. 3 of the aforementioned order all correspond to the same conveyor line, that is, one order corresponds to one order line conveyor line), and one order line conveyor line corresponds to one or more target order containers 5. In this way, an order line of an order can be picked at different or the same target picking stations 1.
  • order line conveyor line e.g., 5 pieces of item No. 1, 18 pieces of item No. 2, and 8 pieces of item No. 3 of the aforementioned order all correspond to the same conveyor line, that is, one order corresponds to one order line conveyor line
  • one order line conveyor line corresponds to one or more target order containers 5. In this way, an order line of an order can be picked at different or the same target picking stations 1.
  • the target rail cart 132 can also take over the target commodities of order lines of different orders from different or the same picking station 1 and transport them to different order line conveyor lines; the double-layer picking station 8 in the traditional technology, as shown in FIG7 , must pick one by one according to the order sequence, which brings the problem of strong coupling, and the picking system proposed in the present invention greatly reduces the coupling between multiple orders or multiple order lines, and improves the picking efficiency.
  • the target order container 5 of the present invention can be manually transported to the position where it docks with the order line conveyor line, or it can be automatically transported to the position where it docks with the order line conveyor line 61 through the conveyor line 7.
  • the above-mentioned picking method further includes: determining the corresponding order line conveyor line according to the order information; and determining one or more order containers 5 corresponding to each order line according to each order line information.
  • the order line conveyor line 61 is also provided with a shipping commodity cache line 62, the inlet and outlet of the shipping commodity cache line 62 are respectively connected to the order line conveyor line 61, and the shipping commodity cache line 62 is used to cache the target commodity 3. If the target order container 5 corresponding to the target commodity 3 has not reached the position where it is docked with the order line conveyor line 61, the target commodity 3 is temporarily input into the shipping commodity cache line 62 cache, and after the target order container 5 reaches the position where it is docked with the order line conveyor line, it returns to the order line conveyor line and is transported into the target order container 5.
  • the supply conveyor line 2 is arranged in a ring shape.
  • the supply conveyor line 2 can be connected to each target picking station to transfer the target source box 4 to each target picking station.
  • the aforementioned picking method further includes: after the target source box 4 is transported from the external storage area to the corresponding picking station by the conveyor line to complete the picking task, it is determined whether the target source box 4 has a picking task for other picking stations; if so, the target source box 4 is output to the supply conveyor line 2 for transportation for other corresponding target picking stations 1 to pick, so that multiple target picking stations 1 can share a target source box 4, reducing the transportation cost of the target source box 4 and improving the supply efficiency; if not, the picking task of the source box 4 is terminated, and the target source box 4 is output to the outside world.
  • the supply conveyor line 2 includes a main supply conveyor line 21 and a source box cache line 22.
  • the source box buffer line 22 is connected to the main supply conveying line 21.
  • the source box buffer line 22 is used for source box buffering to improve the source box conveying efficiency to further improve the picking efficiency.
  • the target conveying track 131 is further provided with a trolley buffering station 131c.
  • the picking method further includes: when the target rail trolley 132 needs to avoid other rail trolleys 132 during the driving process of the conveying track 131, the target rail trolley 132 is buffered at the trolley buffering station 131c.
  • the order information includes 5 pieces of item 1, 18 pieces of item 2 and 8 pieces of item 3, so the order is split into 3 order lines: 5 pieces of item 1, 18 pieces of item 2 and 8 pieces of item 3.
  • the three order line information is sent to the corresponding one or more target picking stations 1, 1 or more target railroads respectively.
  • the control device determines one or more target order containers 5 according to the three order line information (size, quantity, volume, material, etc.), and allocates the same delivery conveyor line 6 to the three order line information.
  • the source boxes 4 (generally one source box 4 stores one order line item) corresponding to the three order line target items 3 (5 items of item No. 1, 18 items of item No. 2, and 8 items of item No. 3) are transported to the source box positions 11 of the work tables 12 of the corresponding one or more target picking stations 1 through the supply conveyor line 2.
  • the aforementioned one or more target picking stations 1 display the corresponding order line information, and the operator (human or robot) operates according to the display information of the target picking station 1, and the target commodity 3 is picked from the target source box 4 to the corresponding one or more target rail carts 132.
  • the one or more target rail carts 132 transport the target commodities 3 carried by them to the corresponding shipping conveyor line 6, and the shipping conveyor line 6 transports the target commodities 3 (5 pieces of commodity No. 1, 18 pieces of commodity No. 2, and 8 pieces of commodity No. 3) to the one or more target order containers 5 corresponding to the order, completing the order picking.
  • steps S301 and S302 are executed to determine whether the target source box 4 has a picking task for other picking stations 1; if so, the target source box 4 is output to the supply conveyor line 2 for transportation to other corresponding target picking stations 1 for picking; if not, the picking task of the target source box 4 is terminated, and the target source box 4 is output to the outside.
  • Embodiment 2 A goods-to-person picking system
  • the goods-to-person picking system includes a supply conveyor line 2 (such as a roller conveyor) connected to an external storage area, one or more target picking stations 1, one or more target rail carts 132, a conveyor track 131 for the target rail cart 132 to travel, a target order container 5, and a control device (not shown in the figure).
  • the control device communicates with the supply conveyor line 2, the target rail cart 132, and the target picking station 1.
  • the supply conveyor line 2 is connected to the target picking station 1, and the target source box 4 is transported from the external storage area to the target picking station 1 through the supply conveyor line 2 for picking.
  • the conveyor track 131 is provided with a receiving position and an unloading position.
  • the target picking station 1 is used to take out the target commodity 3 in the target source box 4 and place it on the target rail trolley 132, which also includes a workbench 12.
  • the workbench 12 is used to provide a platform for picking operations for operators or robots or mechanical arms.
  • the height of the workbench 12 is generally set to a height that is ergonomic and convenient for picking or a height suitable for operation by robots or mechanical arms.
  • a source box position 11 for placing the target source box 4 is provided on the workbench 12.
  • the target rail trolley 132 has a receiving position 131a and a unloading position 131b configured on the conveying track 131.
  • the two-way or four-way or four-way climbable rail trolley 132 is a well-known technology in the art. According to the disclosure of the present invention, any existing or future developed appropriate structure can be used.), which is used to carry and transport the target commodity 3.
  • each target picking station 1 is adjacent to the receiving position of the target railcar 132.
  • Each target picking station 1 corresponds to one or more receiving positions.
  • the target order container 5 is adjacent to the aforementioned unloading position and can transfer the target commodity 3 from the target rail cart 132 to the target order container 5.
  • the conveying track 131 includes a straight conveying section and/or an arc conveying section.
  • the rail cart 132 can reach its corresponding receiving position at each target picking station 1 and its corresponding unloading position at each target order container 5 by traveling along the conveying track 131.
  • the target rail cart 132 can carry the target commodity 3 picked from the target picking station 1 at the receiving position, and can unload the carried target commodity 3 into the target order container 5 at the unloading position.
  • the control device is used to obtain order information and process the order information into order line information, wherein the order line information includes the target commodity 3 corresponding to each order line, the picking quantity of the target commodity 3, and the target source box 4 corresponding to the target commodity 3; send the order line information to the picking station 1 according to each order line information; and control the supply conveyor line 2 and the target rail car 132 to transport the target commodity 3 to the corresponding target order container 5.
  • the target order container 5 can be transported to the order container position by humans or robots or transported to the order container position by the conveyor line 7.
  • the target picking station 1 is further provided with a commodity information recognition device 14 electrically connected to the control device.
  • the commodity information recognition device 14 is used to obtain commodity information (such as commodity appearance, volume, weight, etc.).
  • the commodity information recognition device 14 is a 3D image recognition device.
  • the 3D image recognition device is arranged above the target rail trolley receiving position 131a, and is used to obtain commodity appearance, volume, image, etc. information and feed it back to the control system for verification by the control system to prevent errors or deviations in the picking operation.
  • the aforementioned picking system further comprises a delivery conveyor line 6, the delivery conveyor line 6 comprises a first end and a second end, the first end is connected to the conveying track 131, and the second end is arranged above the entrance of the target order container 5; the aforementioned target commodity 3 is conveyed by the delivery conveyor line 6 and transferred into the target order container 5.
  • the delivery conveyor line 6 comprises a plurality of order line conveyor lines 61 arranged in parallel; all order line commodities of an order correspond to one order line conveyor line 61, and one order line conveyor line 61 corresponds to one or more target order containers 5.
  • an order line of an order can be picked at different or the same target picking stations 1, and then transported to an order line conveyor line 61 by different or the same target rail carts 132; the rail carts 132 can also take over target goods 3 of order lines of different orders from different or the same picking stations 1 and transport them to different order line conveyor lines 61; the double-layer picking station 8 in traditional technology, as shown in Figure 7, must pick one by one according to the order sequence, which brings about the problem of strong coupling, and the picking system proposed in the present invention greatly reduces the coupling between multiple orders or multiple order lines, and improves the picking efficiency.
  • the delivery conveyor line 6 includes an order line conveyor line 61 and a commodity cache line 62.
  • the order line conveyor line 61 is used to receive the target commodity 3 unloaded by the target rail car 132, and transfer the target commodity 3 to the target order container 5.
  • the commodity cache line 62 is a semi-arc structure, and both ends of the semi-arc structure are connected to the main delivery conveyor line.
  • the commodity cache line 62 can also be other structures and forms, as long as it can cache the target commodity 3, and is not limited to the structure disclosed in the present invention.
  • a tilting device 1321 is provided on the top of the target rail trolley 132.
  • the tilting device 1321 has a horizontal receiving position and an inclined unloading position.
  • the tilting device 1321 switches between the horizontal receiving position and the inclined unloading position to Receive the target commodity 3 picked from the picking station 1 or unload the target commodity 3 into the target order container 5 or the shipping conveyor line 6.
  • the flipping direction of the overturning device 1321 is not limited in this patent, and it can be flipped forward or backward, or flipped to both sides. It should be understood that the aforementioned overturning device 1321 is a technology well known in the art, and any existing or future developed appropriate structure can be used according to the disclosure of the present invention.
  • the target rail trolley 132 can also be of other structures and forms, as long as it can carry and unload goods, and is not limited to the structure disclosed in the present invention.
  • the aforementioned conveying track 131 is further provided with a trolley buffering station 131 c, and the trolley buffering station 131 c is used for caching the target rail trolley 132.
  • the target rail trolley 132 carrying the target commodity 3 needs to avoid other target rail trolleys 132 while traveling on the conveying track 131, the target rail trolley 132 carrying the target commodity 3 is buffered on the trolley buffering station 131 c.
  • the target rail trolley 132 can reach its corresponding receiving position at each target picking station 1 and its corresponding unloading position at each target order container 5 by traveling along the conveying track 131, that is, the target rail trolley 132 can receive commodities from the receiving positions of different target picking stations 1 and deliver them to the same target order container 5 or different target order containers 5.
  • the supply conveyor line 2 is arranged in a ring shape.
  • the supply conveyor line 2 can be docked with each target picking station 1 to transfer the target source box 4 to each target picking station 1.
  • the supply conveyor line 2 includes a main supply conveyor line 21 and a source box cache line 22.
  • the source box cache line 22 is connected to the main supply conveyor line 21, and the source box cache line 22 is used for caching the source box 4, improving the source box conveying efficiency to further improve the picking efficiency.
  • the picking principle of the picking system is as described in the aforementioned picking method and will not be repeated here.

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Abstract

一种拣选方法，该拣选方法通过获取订单信息并将订单信息拆分成订单行信息，每一个订单行信息包括该订单行对应的目标商品（3）、目标拣货数量以及目标来源箱（4），随后根据每个订单行信息确定每个订单行对应的拣选站（1）、目标有轨小车（132）以及目标订单容器（5）；目标商品从目标来源箱被拣选至目标有轨小车并且被有轨小车输送并转移至目标订单容器内。该拣选方法实现了以订单行(品种)为拣选单元进行拣选，达到了拣选工艺中的订单之间、订单行之间拣选的订单拣选工艺中订单之间、订单行之间的弱耦合性、提高了效率、降低了劳动强度。还公开了一种应用该分拣方法的货到人拣选系统。

Description

一种拣选方法及货到人拣选系统 技术领域
本发明涉及仓储物流技术领域，具体而言涉及一种拣选方法及货到人拣选系统。
背景技术
在仓储物流管理过程中，拣选是备受关注的库内重要作业环节，它的用工量、耗时、成本、效率往往备受关注。
“货到人”是物流仓储领域常用的一种拣选方式。通常已知的拣选站用于按照货到人原则来进行拣选。订单的货物或物品按照预先设定的顺序从仓库货架被传送到相应的拣选站上，其通常被放置到容器中；其从存储容器中被取出，并被放置到订单容器中。该过程通常重复直至相应的订单或相应的订单容器在拣选站处被处理完毕，再处理下一个订单或者下一个订单容器的拣选。完成一个订单的拣选或者一个订单容器的拣选都需要先确定预先设定的存储容器、订单容器是否到其相应的拣选站位置，再完成拣选，这种以容器为拣选单元拣选的方式具有强耦合性，效率较低、耗时长、成本高；另外，人工和机器人手臂长度受限，通常在自身不移动的情况下只能拣选站特定的工位附近一定范围内的物品，因此订单容器的数量往往只能有2-3个；虽然市面上针对该拣选范围受限、订单箱的数量少的问题，也出现了部分改进产品，如专利号为CN104907258B、专利名称为“包裹分捡系统及信息获取方法”的中国专利文献公开了一种包裹分捡系统，其技术方案公开了“所述系统还包括多个移动运输装置，每个所述移动运输装置均用于装载一个待分捡包裹或多个目的地相同的待分捡包裹，所述移动运输装置将所述待分捡包裹运输至与所述待分捡包裹的目的地对应的包裹检验出口。”即使采用移动运输装置进行中转运输分拣的方式，移动运输装置也需要完成装载、运输和卸载的任务这样效率提高的程度有限、依然无法满足高频率、短时限的分拣要求；并且运用多个移动运输装置也大大增加了该系统的成本投入；多个移动运输装置同时运行也给路径规划技术带来了不小的挑战。
本专利所要解决的技术问题是：如何实现订单拣选的订单拣选工艺中订单之间、订单行之间的弱耦合性、提高效率，以及如何低成本解决拣选范围受限、订单容器数量少的问题。
发明内容
本发明目的在于提供以订单行(品种)为拣选单元进行拣选以实现订单拣选的订单拣选工艺中订单之间、订单行之间的弱耦合性、提高效率的一种拣选方法以及货到人拣选系统。
本发明所采用的技术方案是：基于货到人拣选系统的拣选方法，所述拣选方法包括：
获取订单信息并且将所述订单信息拆分成若干个订单行信息，每一个所述订单行信息包括该订单行对应的目标商品、目标拣货数量以及目标来源箱，每一个所述订单行包括一种或数种目标商品以及每一所述目标商品的目标拣货数量以及目标来源箱；
根据每个所述订单行信息匹配每个所述订单行对应的目标拣选站、目标有轨小车以及目标订单容器；将所述目标来源箱配置为使用所述供货输送线从外界存储区输送至对应的所述目标拣选站；以及
将所述目标商品配置为从所述目标来源箱拣选至所述目标有轨小车；以及
将所述目标商品配置为使用所述目标有轨小车将其输送并转移至所述目标订单容器内；
其中：所述货到人拣选系统包括与外界存储区连接的供货输送线、至少一个目标拣选站、至少一个目标有轨小车、供每一个所述目标有轨小车行驶的目标输送轨道以及至少一个目标订单容器。
在本技术方案中，所述订单信息以目标商品为判断依据匹配至订单行信息，并且按照批次获取1个或多个订单信息并将1个或多个订单信息拆分成订单行信息。
在本技术方案中，在所述订单信息拆分时，获取当前所述订单行信息的某一目标商品数量，判断订单行信息当前的目标商品数量是否超出目标来源箱内的目标商品数量；
若是，则将该目标商品相关信息拆分成新的订单行信息；
若否，则将该目标商品相关信息添加至该订单行信息。
在本技术方案中，当所述供货输送线呈环形设置，所述目标拣选站的数量为多台时，
每一个订单行完成其所述目标拣选站的拣选任务完成后，判断所述目标来源箱是否有其它目标拣选站的拣选任务；
如果是，将所述目标来源箱输出至所述供货输送线内输送以供其它对应的目标拣选站拣选；
如果否，结束该所述目标来源箱的拣选任务。
在本技术方案中，在所述货到人拣选系统还配置有出货输送线，所述目标商品被目标有轨小车输送并转移至目标订单容器内，传输以及转移步骤包括：
所述目标商品被所述目标有轨小车输送并转移至所述出货输送线上；以及
所述目标商品被所述出货输送线输送并转移至所述目标订单容器内。
在本技术方案中，每一个所述订单信息的所有订单行目标商品对应一条订单行输送线；其中：
所述订单行输送线为多条并且被并列地配置在所述出货输送线上，并且对应的所述订单行输送线根据订单信息确定；
每一条所述订单行输送线对应1个或者多个订单容器，并且每个订单行对应的1个或者多个订单容器根据每个所述订单行信息确定。
在本技术方案中，在所述输送轨道还设有小车缓存台；
当目标有轨小车在输送轨道行驶的过程中需要避让其它有轨小车时，则所述目标有轨小车在小车缓存台缓存。
一种货到人拣选系统，包括与外界存储区连接的供货输送线、至少一个目标拣选站、至少一个目标订单容器以及控制装置，所述货到人拣选系统还包括：
至少一个目标有轨小车，所述目标有轨小车配置有供其行驶的目标输送轨道，并且所述目标输送轨道设有接货位置和卸货位置，所述目标有轨小车用于在接货位置时可承载从拣选站拣选的目标商品，并且所述目标有轨小车还用于在卸货位置能将承载的目标商品卸载至目标订单容器内；以及
目标来源箱，所述目标来源箱用于通过供货输送线从外界存储区输送至拣选站以供拣选，所述供货输送线与拣选站连通；
其中：所述控制装置用于获取订单信息并且将订单信息处理成订单行信息，所述控制装置用于根据每个所述订单行信息确定每一个所述目标来源箱所对应的目标有轨小车、目标拣选站、目标订单容器，所述控制装置还用于将所述订单行信息发送至所述目标拣选站，以及所述控制装置用于控制所述供货输送线、目标有轨小车将所述目标商品运输至对应的目标订单容器内；每一个所述订单行信息包括该订单行对应的目标商品、目标拣货数量以及目标来源箱，每一个所述订单行包括一种或数种目标商品以及每一所述目标商品的目标拣货数量以及目标来源箱。
在本技术方案中，所述货到人拣选系统还具有出货输送线；
所述出货输送线具有与所述目标有轨小车的输送轨道连通的第一端，所述出货输送线还具有设置在目标订单容器入口上方的第二端，所述出货输送线用于将所述目标商品通过其对应的所述目标有轨小车输送并转移至所述目标订单容器内。
在本技术方案中，所述出货输送线包括多条并列设置的订单行输送线；一个订单的所有订单行商品对应一条所述订单行输送线，每一条所述订单行输送线配置1个或者多个订单容器。
在本技术方案中，所述出货输送线包括主出货输送线和商品缓存线；
所述主出货输送线用于接收目标有轨小车卸载的目标商品，并且将所述目标商品传输至所述目标订单容器内；
所述商品缓存线呈弧形结构，弧形结构的两端均与所述主出货输送线连通。
在本技术方案中，所述目标有轨小车顶部设置有翻盘装置；
所述翻盘装置具有水平接货位置和倾斜卸货位置，所述翻盘装置在水平接货位置和倾斜卸货位置之间切换，以接收从拣选站拣选的目标商品或将目标商品卸载至目标订单容器或出货输送线内。
与现有技术相比，本发明的显著优点是：
1.将订单信息拆分成若干个订单行信息，随后根据每个所述订单行信息匹配每个所述订单行对应的目标拣选站、目标有轨小车以及目标订单容器，然后借助目标有轨小车将目标商品拣选至其对应的目标订单容器，以及输送至其对应的目标拣选站，实现了可以以订单行(品种)为拣选单元进行拣选，达到了订单拣选的订单拣选工艺中订单之间、订单行之间的弱耦合性、提高了效率、降低了劳动强度；另外通过设置目标有轨小车也解决了拣选范围受限、目标订单容器数量少的问题，实现了可以配置多个订单箱(即目标来源箱)的功能，能够满足高频率、短时限的分拣需求，且大幅提高了效率、降低了拣选成本和设备投入成本。
2.当前所述订单行信息的某一目标商品数量，判断订单行信息当前的目标商品数量是否超出目标来源箱内的目标商品数量，若超出则拆分新订单行信息，若否则添加至当前订单行信息，以及时更新每一个订单行信息，更新后的订单行信息进行正常拣选，实现自动高效拆分订单行。
3.多条并且被并列地配置在所述出货输送线上的订单行输送线，提高了目标有轨小车的转运效率。
综上所述，本发明的拣选方法及货到人拣选系统，实现了以订单行(品种)为拣选单元进行拣选，达到了拣选工艺中的订单之间、订单行之间拣选的订单拣选工艺中订单之间、订单行之间的弱耦合性、提高了效率、降低了劳动强度。
附图说明
图1是本发明较优实施例的拣选方法的流程示意图；
图2是当每一个订单行完成其所述目标拣选站的拣选任务完成对目标来源箱的处理流程图；
图3为在所述订单信息拆分时的一个实施例的流程图；
图4是本发明较优实施例的拣选系统的布局示意图；
图5是本发明较优实施例的拣选系统的结构示意图；
图6是本发明另一较优实施例的拣选系统的布局示意图；
图7是现有技术中的现有技术的双层拣选站的结构示意图。
具体实施方式
为了更了解本发明的技术内容，特举具体实施例并配合所附图式说明如下。
在本公开中参照附图来描述本发明的各方面，附图中示出了许多说明的实施例。本公开的实施例不必定意在包括本发明的所有方面。应当理解，上面介绍的多种构思和实施例，以及下面更加详细地描述的那些构思和实施方式可以以很多方式中任意一种来实施，这是因为本发明所公开的构思和实施例并不限于任何实施方式。另外，本发明公开的一些方面可以单独使用，或者与本发明公开的其他方面的任何适当组合来使用。
现有传统的拣选方法，多应用于单层或者多层拣选站1(如图7的双层拣选站8)，以容器为拣选单元拣选的方式具有强耦合性，效率较低、耗时长、成本高；人工和机器人位于相对固定的工位上进行拣选，由于人工和机器人的手臂长度受限，通常在自身不移动的情况下只能拣选工位附近一定范围内的物品，因此订单箱(即本专利所述的来源箱)的数量往往有限，通常只能有2-3个；即使有的机器人自身可以移动以进行更多订单箱的拣选作业，但是移动会导致拣选作业效率降低。
为解决前述订单箱数量受限和降低耦合性的难题，本发明提出了一种拣选方法，应用于一种货到人拣选系统。前述货到人拣选系统改变了传统的拣选站的布局，基于该拣选系统布局本发明首次提出了以订单行(品种)为拣选单元进行拣选的拣选方法以达到降低耦合性实现高效率拣选的技术效果，并通过设置目标有轨小车解决了订单箱数量有限、拣选作业受人工或机器人的手臂长度限制的问题，目标有轨小车相对于无轨小车也无需考虑路径规划等问题，降低了研发成本。
实施例1
如图1所示的该拣选方法，应用于一种立体仓库的货到人拣选系统。
该拣选方法用于如图4所示的实施例的货到人拣选系统中，图4所示的货到人拣选系统包括与外界存储区连接的供货输送线2(如辊筒输送机)、一个目标拣选站1、一辆目标有轨小车、供目标有轨小车132行驶的输送轨道131、目标订单容器5以及控制装置(图中未示出)。
或者用于如图6所示的实施例的货到人拣选系统中，图6所示的货到人拣选系统中还具有多个目标拣选站：目标拣选站一1a、目标拣选站二1b、目标拣选站三1c、目标拣选站四1d，以及具有多个目标有轨小车：目标有轨小车一13a、目标有轨小车二13b、目标有轨小车三13c、目标有轨小车四13d。控制装置分别与供货输送线2、目标有轨小车132、一个或多个目标拣选站1之间互相通讯。供货输送线2用于将目标来源箱4从外界存储区输送至目标拣选站1。目标拣选站1的高度一般设置得符合人机工程学，用于将目标来源箱4里的目标商品3取出放置到目标有轨小车132上。
目标有轨小车132具有配置在所述输送轨道131上的接货位置131a和卸货位置131b，目标有轨小车132为双向或者四向或者四向可爬坡的有轨小车(双向或者四向或者四向可爬坡有轨小车为本领域所熟知的技术，根据本发明的公开可以使用现有的，或者未来开发的任何适当的结构。)，用于承载和运输目标商品3。
如图4、图5结合图6所示，每个目标拣选站1均与目标有轨小车132的所述输送轨道131上的接货位置131a相邻。每个目标拣选站1对应1个或者多个接货位置131a。目标订单容器5与目标有轨小车132的卸货位置相邻(在某些实施例中，如图4所示，目标订单容器5设置在输送轨道131下方)且能使目标商品3从目标有轨小车132转移至目标订单容器5内。输送轨道131包括直线输送段和/或弧线输送段，目标有轨小车132沿着输送轨道131行驶可以到达其在各个拣选站1对应的接货位置和其对应的各个目标订单容器5的卸货位置，即有轨小车132可以从不同的目标拣选站1的接货位置接收商品并送到相同的目标订单容器5或者不同的目标订单容器5内。
基于前述货到人拣选系统，如图1至图4所示，所述拣选方法包括：
S100.获取订单信息并且将所述订单信息拆分成若干个订单行信息；
S200.根据每个所述订单行信息匹配每个所述订单行对应的目标拣选站、目标有轨小车以及目标订单容器；
S300.将所述目标来源箱配置为使用所述供货输送线从外界存储区输送至对应的所述目标拣选站；
S400.将所述目标商品配置为从所述目标来源箱拣选至所述目标有轨小车；
S500.将所述目标商品配置为使用所述目标有轨小车将其输送并转移至所述目标订单容器内。
使用上述方法按照批次获取1个或多个订单信息并将1个或多个订单信息拆分成订单行信息，如将一个订单拆分成1号商品5件、2号商品18件、3号商品8件。再如将当前批次的多个订单(10个订单)拆分成1号商品50件、2号商品180件、3号商品80件；即一个订单行对应一个或者多个订单的某品种的目标商品3，进一步地，同一个品种的目标商品3也可以对应一个订单行或者多个订单行，如当这个品种的目标商品3数量较多(500个)，该目标商品3可能存储在不同的目标来源箱4里，那么同一个品种的目标商品3也可以对应多个订单行，本领域所属的技术人员根据实际情况进行调整拆分策略即可。前述当前批次可以按照订单数量(如100个订单为一个批次)、订单时间(如一个小时内的订单为一个批次)、订单优先级别(订单优先级为同一级别的订单为一个批次)划分，前述的当前订单批次划分仅为举例，订单批次的划分并不局限于按照订单数量、订单时间、订单优先级别划分的三种 方式。所述订单行信息包括所述当前订单的每个订单行对应的目标商品3(如1号订单行对应的3号商品)、前述目标商品3的拣货数量(如8件3号商品或者80件3号商品)以及目标商品3对应的目标来源箱4(如4号来源箱)。
上述订单信息在拆分过程中，进行拆分更新时，依照如图2所示的步骤S101和步骤S102执行，其中：S101.获取当前所述订单行信息的某一目标商品数量；S102.判断订单行信息当前的目标商品数量是否超出目标来源箱内的目标商品数量；若是，则将该目标商品相关信息拆分成新的订单行信息；若否，则将该目标商品相关信息添加至该订单行信息。
上述实施例在执行时，根据每个所述订单行信息确定每个订单行对应的目标拣选站1、目标有轨小车132以及目标订单容器5。目标拣选站1一般根据空闲原则分配。通常根据就近原则确定空载目标有轨小车132为目标有轨小车，一辆目标有轨小车132可以对应一个订单行或多个订单行。每个目标订单容器5均具有唯一的容器编号。控制装置根据每个订单的体积、数量、形状、材质确定该订单对应一个或者多个目标订单容器5。如果该订单对应一个目标订单容器5，那么该容器为目标订单容器，如果该订单对应多个订单容器，那么根据每个订单行的数量、体积、形状、材质给每个订单行分配前述多个订单容器中的一个适合的订单容器，应当理解的是，1个或者多个订单行可以分配相同或者不同的目标订单容器5；如当某个订单行对应了多个订单，那么该订单行将分配不同的目标订单容器5，如3个订单的80件3号商品至少分配在3个不同的容器里；另如1个订单的80件3号商品则可以根据数量、体积、形状、材质分配在1个或者多个容器里；再如，1个订单的8件3号商品和5件7号商品可以分配在同一个目标订单容器5里，本领域所属的技术人员根据实际情况进行调整分配策略即可。
该实施例中，目标来源箱4被供货输送线2从外界存储区输送至对应的目标拣选站1。目标拣选站1显示对应订单行信息，操作员(人或机器人)按照拣选站1的显示信息进行操作。
该实施例中，目标商品3从目标来源箱4被拣选至对应的目标有轨小车132。在本实施例中，目标有轨小车132顶部设置有翻盘装置1321。翻盘装置1321，具有水平接货位置和倾斜卸货位置，其水平接货位置的高度低于输送线出口高度，其倾斜卸货位置的高度高于目标订单容器5的高度。翻盘装置1321在水平接货位置和倾斜卸货位置之间切换以接收输送线出口输送的目标商品3或将目标商品3卸载至目标订单容器5内。
在另一些实施例中，卸货位置与订单容器5之间设有出货输送线6，出货输送线6的高度高于订单容器5入口高度，出货输送线6用于输送目标商品3。翻盘装置1321的翻转方向在本专利中不作限定，既可以往前或者往后翻转，也可以向两侧翻转。应当理解的是，前述 翻盘装置1321为本领域所熟知的技术，根据本发明的公开可以使用现有的，或者未来开发的任何适当的结构。当然，有轨小车132还可以为其他结构、形式，如水平输送装置(皮带、滚筒输送机等)只要能承载货物和卸载货物即可，不局限于本发明公开的结构。
在该实施例中，目标商品3被有轨小车132输送并直接转移或间接转移至目标订单容器5内。需要说明的是，如果将一个订单行仅对应一个订单，那么目标有轨小车132受控制装置的控制将目标商品3输送并直接转移或间接转移至该订单对应的1个或者多个订单容器5内；如果按照批次获取多个订单信息并将多个订单信息拆分成订单行信息,即一个订单行对应多个订单的同一品种目标商品3，如将当前批次的多个订单拆分成1号商品50件(如3个订单中的1号订单包括30件1号商品，2号订单包括20件1号商品)、2号商品180件、3号商品80件，那么1号商品50件中的其中30件商品3被目标有轨小车132输送并直接转移或间接转移至1号订单对应的1个或者多个订单容器5内；1号商品50件中的其中20件商品3被目标有轨小车132输送并直接转移或间接转移至2号订单对应的1个或者多个目标订单容器5内，在这些实施例中，一般目标有轨小车132采取水平输送装置，方便其卸载指定数量的目标商品3。
前述目标商品3被目标有轨小车132输送并直接转移至目标订单容器5内是指：如图4所示，目标商品3从目标有轨小车132直接卸货至目标订单容器5。前述目标商品3被目标有轨小车132输送并间接转移至目标订单容器5内是指：如图3所示，在某些卸货位置与目标订单容器5之间设有出货输送线6的实施例中，目标商品3从目标有轨小车132卸货至出货输送线6上，出货输送线6将货物输送至目标订单容器5内。至此，该订单行的拣选任务完成，当该订单所有订单行的拣选任务完成后，该订单拣选任务完成。
如此，采用本发明公开的拣选方法实现了以订单行(品种)为拣选单元进行拣选，达到了订单拣选的订单拣选工艺中订单之间、订单行之间的弱耦合性、提高了拣选效率；解决了拣选范围受限、订单容器数量少的问题，实现了可以配置多个订单箱的功能，能够满足高频率、短时限的分拣需求，且大幅提高了效率、降低了拣选成本和设备投入成本。
在某些实施例中，如图3所示，前述拣选系统还具有出货输送线6，上述目标商品3被有轨小车132输送并转移至订单容器5内包括：目标商品3被有轨小车132输送并转移至出货输送线6上。目标商品3被出货输送线6输送并转移至目标订单容器内。
如图5所示，所述出货输送线6包括多条并列设置的订单行输送线61；一个订单的所有订单行商品对应一条订单行输送线(如前述订单的1号商品5件、2号商品18件、3号商品8件均对应同一条输送线，即一个订单对应一条订单行输送线)，一条订单行输送线对应1个或者多个目标订单容器5，如此，一个订单的订单行可以在不同或相同的目标拣选站1进 行拣选，然后被不同或相同的目标有轨小车132输送至一条订单行输送线；目标有轨小车132也可以从不同或相同的拣选站1承接不同订单的订单行的目标商品并且输送到不同的订单行输送线；传统技术中的双层拣选站8，如图7所示，必须按照订单顺序逐个拣选，带来了强耦合性的问题，而本发明提出的拣选系统极大程度地降低了多个订单之间或者多个订单行之间的耦合性，提高了拣选效率。
本发明的目标订单容器5可以人工搬运至其与订单行输送线对接的位置，也可以通过输送线7自动化地输送至其与订单行输送线61对接的位置。前述拣选方法更加包括：根据订单信息，确定对应的订单行输送线；根据每个订单行信息，确定每个订单行对应的1个或者多个订单容器5。
在一些实施例中，订单行输送线61还设有出货商品缓存线62，出货商品缓存线62的入口和出口分别与订单行输送线61连通，出货商品缓存线62用于缓存目标商品3，如目标商品3所对应的目标订单容器5未到其与订单行输送线61对接的位置，则目标商品3暂时被输入至出货商品缓存线62缓存，待目标订单容器5到其与订单行输送线对接的位置后，再回到订单行输送线并被输送至目标订单容器5内。
在某些实施例中，如图4至图6所示，供货输送线2呈环形设置，当目标拣选站1的数量为多台时，供货输送线2可与每个目标拣选站对接以将目标来源箱4转移至各个目标拣选站。前述拣选方法更加包括：目标来源箱4被输送线从外界存储区输送至对应的拣选站完成拣选任务后，判断目标来源箱4是否有其它拣选站的拣选任务；如果是，将目标来源箱4输出至供货输送线2内输送以供其它对应的目标拣选站1拣选，如此，多个目标拣选站1可以共用一个目标来源箱4，减少目标来源箱4的输送成本，提高供货效率；如果否，结束该来源箱4的拣选任务，该目标来源箱4被输出至外界。在某些实施例中，供货输送线2包括主供货输送线21和来源箱缓存线22。来源箱缓存线22与主供货输送线21连通，来源箱缓存线22用于来源箱缓存，提高来源箱输送效率以进一步提高拣选效率。
在至少一些实施例中，如图5所示，前述目标输送轨道131还设有小车缓存台131c。所述拣选方法更加包括：当目标有轨小车132在输送轨道131行驶的过程中需要避让其它有轨小车132时，则有目标轨小车132在小车缓存台131c缓存。
接下来，以针对某个订单任务的拣选过程为例，具体阐述前述实施例中以订单行为拣选单元的拣选过程：
当控制装置接收到一个订单信息,该订单信息包括1号商品5件、2号商品18件和3号商品8件，因此将该订单拆分成3个订单行：1号商品5件、2号商品18件、3号商品8件。将这三个订单行信息分别发送至其对应的1个或者多个目标拣选站1、1个或者多个目标有轨 小车132；控制装置并根据这3个订单行信息(尺寸、数量、体积、材质等)确定1个或者多个目标订单容器5、并为这3个订单行信息分配同一条出货输送线6。这三个订单行目标商品3(1号商品5件、2号商品18件、3号商品8件)所对应的来源箱4(一般一个来源箱4里存储一个订单行商品)通过供货输送线2输送至对应的1个或者多个目标拣选站1的工作台12的源箱位11。
前述1个或者多个目标拣选站1显示对应订单行信息，操作员(人或机器人)按照目标拣选站1的显示信息进行操作，目标商品3从目标来源箱4被拣选至对应的1个或者多个目标有轨小车132内。1个或者多个目标有轨小车132将其承载的目标商品3输送至对应的出货输送线6，出货输送线6将目标商品3(1号商品5件、2号商品18件、3号商品8件)输送至该订单对应的1个或者多个目标订单容器5内，完成该订单拣选。
完成该订单拣选后，在某些实施例中，如图3所示，执行步骤S301以及S302，判断目标来源箱4是否有其它拣选站1的拣选任务；如果是，将目标来源箱4输出至供货输送线2内输送以供其它对应的目标拣选站1拣选；如果否，结束该目标来源箱4的拣选任务，该目标来源箱4被输出至外界。
实施例2一种货到人拣选系统
如图4至图6所示，货到人拣选系统包括与外界存储区连接的供货输送线2(如辊筒输送机)、1个或者多个目标拣选站1、1辆或者多辆目标有轨小车132、供目标有轨小车132行驶的输送轨道131、目标订单容器5以及控制装置(图中未示出)。控制装置分别与供货输送线2、目标有轨小车132、目标拣选站1之间互相通讯。供货输送线2与目标拣选站1连通，目标来源箱4通过供货输送线2从外界存储区输送至目标拣选站1以供拣选。输送轨道131设有接货位置和卸货位置。
目标拣选站1用于将目标来源箱4里的目标商品3取出放置到目标有轨小车132上，其还包括工作台12。工作台12用于为操作人员或机器人或机械手臂提供拣选作业的平台，工作台12的高度一般被设置成符合人体工程学方便拣取的高度或者适合机器人、机械手臂操作的高度。工作台12上设置有用于放置目标来源箱4的源箱位11。目标有轨小车132具有配置在所述输送轨道131上的接货位置131a和卸货位置131b，其为双向或者四向或者四向可爬坡有轨小车132(双向或者四向或者四向可爬坡有轨小车132为本领域所熟知的技术，根据本发明的公开可以使用现有的，或者未来开发的任何适当的结构。)，用于承载和运输目标商品3。
在该货到人拣选系统中，每个目标拣选站1均与目标有轨小车132的接货位置相邻。每 个目标拣选站1对应1个或者多个接货位置。目标订单容器5与前述卸货位置相邻且能使目标商品3从目标有轨小车132转移至目标订单容器5内。输送轨道131包括直线输送段和/或弧线输送段，有轨小车132沿着输送轨道131行驶可以到达其在各个目标拣选站1对应的接货位置和其对应的各个目标订单容器5的卸货位置。目标有轨小车132在接货位置时可承载从目标拣选站1拣选的目标商品3，其在卸货位置能将承载的目标商品3卸载至出目标订单容器5内。控制装置，用于获取订单信息并将订单信息处理成订单行信息，所述订单行信息包括所述每个订单行对应的目标商品3、前述目标商品3的拣货数量以及目标商品3对应的目标来源箱4；根据每个所述订单行信息，并发送订单行信息至拣选站1；以及控制前述供货输送线2、目标有轨小车132将所述目标商品3运输至对应的目标订单容器5内。目标订单容器5可由人工或者机器人搬运至订单容器位置或者通过输送线7输送至订单容器位置。
在一些实施例中，目标拣选站1还设置一与控制装置电连接的商品信息识别装置14。商品信息识别装置14用于获取商品信息(如商品外观、体积、重量等信息)。在本实施例中，商品信息识别装置14为3D图像识别装置。3D图像识别装置，设置在目标有轨小车接货位置131a上方，用于获取商品外观、体积、图像等信息并反馈至控制系统以便于控制系统进行校验，防止拣选作业出现错误或偏差。
在某些实施例中，如图5所示，前述拣选系统还具有出货输送线6，出货输送线6具有第一端和第二端，第一端与输送轨道131连通，第二端设置在目标订单容器5入口上方；前述目标商品3被出货输送线6输送并转移至目标订单容器5内。另一些实施例中，所述出货输送线6包括多条并列设置的订单行输送线61；一个订单的所有订单行商品对应一条订单行输送线61，一条订单行输送线61对应1个或者多个目标订单容器5。如此，一个订单的订单行可以在不同或相同的目标拣选站1进行拣选，然后被不同或相同的目标有轨小车132输送至一条订单行输送线61；有轨小车132也可以从不同或相同的拣选站1承接不同订单的订单行目标商品3并且输送到不同的订单行输送线61；传统技术中的双层拣选站8，如图7所示，必须按照订单顺序逐个拣选，带来了强耦合性的问题，而本发明提出的拣选系统极大程度地降低了多个订单之间或者多个订单行之间的耦合性，提高了拣选效率。
在一些实施例中，所述出货输送线6包括订单行输送线61和商品缓存线62。订单行输送线61用于接收目标有轨小车132卸载的目标商品3，并将目标商品3传输至目标订单容器5内。商品缓存线62呈半弧形结构，半弧形结构的两端均与主出货输送线连通。当然商品缓存线62还可以为其他结构、形式，只要能缓存目标商品3即可，不局限于本发明公开的结构。
在一些实施例中，所述目标有轨小车132顶部设置有翻盘装置1321。翻盘装置1321，具有水平接货位置和倾斜卸货位置，翻盘装置1321在水平接货位置和倾斜卸货位置之间切换以 接收从拣选站1拣选的目标商品3或将目标商品3卸载至目标订单容器5或出货输送线6内。翻盘装置1321的翻转方向在本专利中不作限定，既可以往前或者往后翻转，也可以向两侧翻转。应当理解的是，前述翻盘装置1321为本领域所熟知的技术，根据本发明的公开可以使用现有的，或者未来开发的任何适当的结构。当然，目标有轨小车132还可以为其他结构、形式，只要能承载货物和卸载货物即可，不局限于本发明公开的结构。
在一些实施例中，如图5所示，前述输送轨道131还设有小车缓存台131c，小车缓存台131c用于目标有轨小车132缓存。当携带目标商品3的目标有轨小车132在输送轨道131行驶的过程中需要避让其它目标有轨小车132时，则将携带目标商品3的目标有轨小车132在小车缓存台131c缓存。另外，值得说明的是，由于目标有轨小车132沿着输送轨道131行驶可以到达其在各个目标拣选站1对应的接货位置和其对应的各个目标订单容器5的卸货位置，即目标有轨小车132可以从不同的目标拣选站1的接货位置接收商品并送到相同的目标订单容器5或者不同的目标订单容器5内。
在某些实施例中，如图6所示，供货输送线2呈环形设置，当目标拣选站1的数量为多台时，供货输送线2可与每个目标拣选站1对接以将目标来源箱4转移至各个目标拣选站1。在另一些实施例中，供货输送线2包括主供货输送线21和来源箱缓存线22。来源箱缓存线22与主供货输送线21连通，来源箱缓存线22用于来源箱4缓存，提高来源箱输送效率以进一步提高拣选效率。
该拣选系统的拣选原理如前述的拣选方法所述，在此不再赘述。
应当理解，前述构思以及在下面更加详细地描述的额外构思的所有组合只要在这样的构思不相互矛盾的情况下都可以被视为本公开的发明主题的一部分。另外，所要求保护的主题的所有组合都被视为本公开的发明主题的一部分。
虽然本发明已以较佳实施例揭露如上，然其并非用以限定本发明。本发明所属技术领域中具有通常知识者，在不脱离本发明的精神和范围内，当可作各种的更动与润饰。因此，本发明的保护范围当视权利要求书所界定者为准。

Claims (13)

  1. 一种拣选方法，应用于具有与外界存储区连接的供货输送线、至少一个目标拣选站的货到人拣选系统，其特征在于，所述拣选方法包括：
    获取订单信息并且将所述订单信息拆分成若干个订单行信息，每一个所述订单行信息包括该订单行对应的目标商品、目标拣货数量以及目标来源箱，每一个所述订单行包括一种或数种目标商品以及每一所述目标商品的目标拣货数量以及目标来源箱；
    根据每个所述订单行信息匹配每个所述订单行对应的目标拣选站、目标有轨小车以及目标订单容器；和
    将所述目标来源箱配置为使用所述供货输送线从外界存储区输送至对应的所述目标拣选站；以及
    将所述目标商品配置为从所述目标来源箱拣选至所述目标有轨小车；以及
    将所述目标商品配置为使用所述目标有轨小车将其输送并转移至所述目标订单容器内；
    其中：所述货到人拣选系统包括至少一个目标有轨小车、供每一个所述目标有轨小车行驶的目标输送轨道以及至少一个目标订单容器。
  2. 根据权利要求1所述的拣选方法，其特征在于，
    所述订单信息以目标商品为判断依据匹配至订单行信息，并且按照批次获取1个或多个订单信息并将1个或多个订单信息拆分成订单行信息。
  3. 根据权利要求2所述的拣选方法，其特征在于，
    在所述订单信息拆分时，获取当前所述订单行信息的某一目标商品数量；
    判断订单行信息当前的目标商品数量是否超出目标来源箱内的目标商品数量；
    若是，则将该目标商品相关信息拆分成新的订单行信息；
    若否，则将该目标商品相关信息添加至该订单行信息。
  4. 根据权利要求1-3任意一项所述的拣选方法，其特征在于，
    当所述供货输送线呈环形设置，所述目标拣选站的数量为多台时，
    每一个订单行完成其所述目标拣选站的拣选任务完成后，判断所述目标来源箱是否有其它目标拣选站的拣选任务；
    如果是，将所述目标来源箱输出至所述供货输送线内输送以供其它对应的目标拣选站拣选；
    如果否，结束该所述目标来源箱的拣选任务。
  5. 根据权利要求1-3任意一项所述的拣选方法，其特征在于，
    在所述货到人拣选系统还配置有出货输送线，所述目标商品被目标有轨小车输送并转移至目标订单容器内，传输以及转移步骤包括：
    所述目标商品被所述目标有轨小车输送并转移至所述出货输送线上；以及
    所述目标商品被所述出货输送线输送并转移至所述目标订单容器内。
  6. 根据权利要求5所述的拣选方法，其特征在于，
    每一个所述订单信息的所有订单行目标商品对应一条订单行输送线；其中：
    所述订单行输送线为多条并且被并列地配置在所述出货输送线上，并且对应的所述订单行输送线根据订单信息确定；
    每一条所述订单行输送线对应1个或者多个订单容器，并且每个订单行对应的1个或者多个订单容器根据每个所述订单行信息确定。
  7. 根据权利要求1所述的拣选方法，其特征在于，
    当目标有轨小车在所述输送轨道行驶的过程中需要避让其它有轨小车时，则所述目标有轨小车被小车缓存台缓存，所述小车缓存台设置在所述输送轨道上。
  8. 一种货到人拣选系统，包括与外界存储区连接的供货输送线、至少一个目标拣选站、至少一个目标订单容器以及控制装置，其特征在于，所述货到人拣选系统还包括：
    至少一个目标有轨小车，所述目标有轨小车配置有供其行驶的目标输送轨道，并且所述目标输送轨道设有接货位置和卸货位置，所述目标有轨小车用于在接货位置时可承载从拣选站拣选的目标商品，并且所述目标有轨小车还用于在卸货位置能将承载的目标商品卸载至目标订单容器内；以及
    目标来源箱，所述目标来源箱用于通过供货输送线从外界存储区输送至拣选站以供拣选，所述供货输送线与拣选站连通；
    其中：所述控制装置用于获取订单信息并且将订单信息处理成订单行信息，所述控制装置用于根据每个所述订单行信息确定每一个所述目标来源箱所对应的目标有轨小车、目标拣选站、目标订单容器，所述控制装置还用于将所述订单行信息发送至所述目标拣选站，以及所述控制装置用于控制所述供货输送线、目标有轨小车将所述目标商品运输至对应的目标订单容器内；每一个所述订单行信息包括该订单行对应的目标商品、目标拣货数量以及目标来源箱，每一个所述订单行包括一种或数种目标商品以及每一所述目标商品的目标拣货数量以及目标来源箱。
  9. 根据权利要求8所述的货到人拣选系统，其特征在于，
    所述货到人拣选系统还具有出货输送线；
    所述出货输送线具有与所述目标有轨小车的输送轨道连通的第一端，所述出货输送线还具有设置在目标订单容器入口上方的第二端，所述出货输送线用于将所述目标商品通过其对应的所述目标有轨小车输送并转移至所述目标订单容器内。
  10. 根据权利要求9所述的货到人拣选系统，其特征在于，所述出货输送线包括多条并列设置的订单行输送线；一个订单的所有订单行商品对应一条所述订单行输送线，每一条所述订单行输送线配置1个或者多个订单容器。
  11. 根据权利要求9所述的一种货到人拣选系统，其特征在于，所述出货输送线包括主出货输送线和商品缓存线；
    所述主出货输送线用于接收目标有轨小车卸载的目标商品，并且将所述目标商品传输至所述目标订单容器内；
    所述商品缓存线呈弧形结构，弧形结构的两端均与所述主出货输送线连通。
  12. 根据权利要求8或9所述的货到人拣选系统，其特征在于，所述目标有轨小车顶部设置有翻盘装置；
    所述翻盘装置具有水平接货位置和倾斜卸货位置，所述翻盘装置在水平接货位置和倾斜卸货位置之间切换，以接收从拣选站拣选的目标商品或将目标商品卸载至目标订单容器或出货输送线内。
  13. 根据权利要求9所述的货到人拣选系统，其特征在于，所述目标拣选站还设置一与控制装置电连接的商品信息识别装置。
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