• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A method for picking objects (2a..2d) is specified in which at least one object (2a..2d) with a robot (3) is taken from a source loading aid (5a, 5b) and into a destination loading aid (6a..6c) is stored. After removal of the object (2a..2d), it is checked with a first sensor system (11) of the robot (3) whether at least one object (2a..2d) is held by the robot (3). With a second sensor system (14a, 14b, 17, 18) a number and / or a type of the at least one removed object (2a..2d) is determined. The deposition of the at least one object (2a..2d) into the destination loading aid (6a..6c) is aborted or modified if no object (2a..2d) is held by the robot (3) or the number and / or or the type of the at least one removed object (2a..2d) does not contribute to the completion of a picking order which has a desired number and / or desired type of objects (2a..2d) in the destination loading aid (6a..6c). Are defined. Furthermore, a device (1a..1c) and a computer program product for carrying out the presented method are specified.
    公开号:AT519452A4
    申请号:T50032/2017
    申请日:2017-01-18
    公开日:2018-07-15
    发明作者:
    申请人:Tgw Logistics Group Gmbh；
    IPC主号:
    专利说明:

    Summary
    A method for picking objects (2a..2d) is specified, in which at least one object (2a..2d) is removed from a source loading aid (5a, 5b) with a robot (3) and into a target loading aid (6a ..6c) is filed. After the object (2a..2d) has been removed, a first sensor system (11) of the robot (3) is used to check whether at least one object (2a..2d) is held by the robot (3). With a second sensor system (14a, 14b, 17, 18), a number and / or a type of the at least one removed object (2a..2d) is determined. The placement of the at least one object (2a..2d) in the target loading aid (6a..6c) is interrupted or changed if no object (2a..2d) is held by the robot (3) or the number and / or the type of the at least one removed object (2a..2d) does not contribute to the completion of a picking order which contains a target number and / or target type of objects (2a..2d) in the target loading aid (6a..6c) Are defined. Furthermore, a device (1a..1c) and a computer program product for carrying out the method presented are specified.
    Fig. 1
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    The invention relates to a method for picking goods or objects, in which a) at least one object is removed from a source loading aid with the aid of a robot and b) the at least one object is placed in a target loading aid with the aid of the said robot, c) after the object has been removed from the source loading aid, a first sensor system is used to check whether at least one object is held by the robot. The invention further relates to a device for picking goods or objects, comprising a robot with means for removing at least one object from a source loading aid and for depositing the at least one object in a target loading aid, and a provision device for providing the source loading aid and the target loading aid in an effective area or gripping area of the robot. In addition, the device comprises a first sensor system for checking whether at least one object is held by the robot. Finally, the invention also relates to a computer program product with a computer program stored thereon, which can be loaded into a computer of a device of the type mentioned above and executes a method there according to the type mentioned above when the computer program is executed there.
    A method and a device of the type mentioned are basically known from the prior art. For example, a sensor can be arranged on or in the gripper of a robot which checks whether an object is actually held by the robot or not. However, the sensors used up to now are only suitable for comparatively simple tasks and are not suitable for guaranteeing an error-free or largely error-free sequence of a relatively complex picking process.
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    It is therefore an object of the invention to provide an improved method and an improved device for picking goods or objects. If possible, the method should be able to be carried out independently by a robot, and there should be little or no need for human intervention.
    The object of the invention is achieved with a method of the type mentioned, in which
    d) a number and / or a type of the at least one removed object is determined with the aid of a second sensor system and
    e) the process for depositing the at least one object into the target loading aid is interrupted or modified if the check with the first sensor system shows that e1) no object is held by the robot, or e2) at least one object is held by the robot However, the test carried out with the second sensor system shows that the number and / or the type of the at least one object removed from the source loading aid does not contribute to the completion of a picking order which contains a target number and / or target type of objects in the Target loading equipment defined.
    The object of the invention is also achieved with a device of the type mentioned at the outset, additionally comprising a second sensor system for determining a number and / or a type of the at least one removed object and a controller which is designed to carry out a process for storing the at least one abort or change an object in the target loading aid if the test with the first sensor system shows that no object is held by the robot, or that at least one object is held by the robot, but the test carried out with the second sensor system results that the number and / or the type of the at least one object removed from the source loading aid is not sufficient to complete a
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    Commissioning order which defines a target number and / or target type of objects in the target loading aid.
    The object of the invention is finally achieved with a computer program product with a computer program stored thereon, which can be loaded into a computer of a device of the above-mentioned type and executes a method there according to the above-mentioned type when the computer program is executed there.
    The robot therefore carries out a picking process and, for example, fills a shipping carton that acts as a target loading aid with the goods or objects ordered by a customer, either with a (single) cycle of steps a) to e) or by recursively repeating the steps mentioned a) to e). With each run, it is checked whether the number and / or the type of objects removed from the source loading aid contributes to the completion of a picking order, i.e. whether the number of at least one object removed from the source loading aid is less than or equal to the difference between the target number and the actual number of objects contained in the target loading equipment. Additionally or alternatively, the types of the objects removed from the source loading aid should match the types of the objects still missing in the target loading aid.
    The robot can be designed, for example, as a portal robot or as a multi-axis robot (industrial robot).
    The means for removing and depositing the at least one object can be formed, for example, by a gripper-like or hand-like gripper or by a vacuum gripper. In addition, in an advantageous embodiment of the device presented, the first sensor system can be arranged on the robot. The first sensor system can include an ultrasonic sensor and / or, if the robot is equipped with a vacuum gripper, a vacuum sensor. In particular, two vacuum sensors and an ultrasonic sensor can be provided. The first sensor system can also have an RFID reader, a camera and / or a balance / a force sensor.
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    A loading aid can be, for example, a box, in particular made of plastic, a box (e.g. made of cardboard), a bag, a sack, a tray, a pallet, a basket or the like.
    The presented invention is particularly suitable for picking a customer order, but is not fundamentally limited to this. Within the scope of the invention, a picking process can generally also include the manipulation or packing of goods or objects, for example at the goods receipt of a storage system. For example, the presented invention can be used to repack objects from incoming source loading aids into target loading aids, which are then brought into an (automated) warehouse.
    The term providing device is to be understood broadly and includes, in particular, a conveyor device for supplying the source loading aid into an effective area of the robot and for removing the target loading aid from the effective area of the robot. The term conveyor specifically includes stationary conveyors (e.g. roller conveyors) as well as (autonomous) industrial trucks.
    Further advantageous refinements and developments of the invention result from the subclaims and from the description in conjunction with the figures.
    It is advantageous if, in case e1), the process is continued directly with step a). Accordingly, the dropping process is stopped immediately if it is determined that the robot is not holding any object at all. The picking process is therefore particularly time-efficient.
    It is also advantageous if, in case e2), all objects held by the robot are placed in the source loading aid and continued with step a). In this variant of the presented picking process, the removal process is repeated until the objects removed from the source loading aid contribute to the completion of the picking order.
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    The picking process is therefore particularly simple in terms of programming or control technology.
    It is also advantageous if, in case e2), all objects held by the robot are stored in a storage position different from the source loading aid and the target loading aid, an object intended for the target loading aid is detected and stored in the target loading aid and one Object not intended for the target loading aid is recorded and stored in the source loading aid and is subsequently continued with step a). In this variant of the picking process presented, the objects held by the robot but not contributing to the completion of the picking order are placed in a storage position or at a clarification station and sorted according to whether they contribute to completing the picking order or not. Objects that do not contribute are transported back to the source loading aid, and contributing objects to the target loading aid. The order picking process is therefore particularly efficient. Storing objects that are not intended for the target loading aid in the source loading aid is advantageous but not mandatory. It is also conceivable that the objects mentioned are handled differently. For example, these can initially remain at the sewage treatment plant and from there can be sorted back into a warehouse at a later time. It is also conceivable that a further (third) loading aid is provided at the sewage treatment plant, into which the objects mentioned are placed and with which they can be transported back to a warehouse, for example.
    It is also advantageous if in case e2) all objects held by the robot are placed in the target loading aid, an object not intended for the target loading aid is removed from the target loading aid and stored in the source loading aid and subsequently with step a) is continued. With this variant of the presented picking process, the storage process is carried out in any case. It is then determined that the target loading aid also contains objects that are not used to complete the picking
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    Contribution, then these objects are removed from the target loading aid and stored in the source loading aid.
    In a further advantageous variant of the picking method presented, the objects are equipped with radio identification tags, or RFID tags for short, and the second sensor system has a first RFID reading device for these RFID tags, the reading area of which includes the source loading aid, However, the target loading device and a stopping area of the robot are excluded (in particular temporarily), and the number and / or type of the at least one object removed from the source loading device is determined using information read from the RFID tag with the first RFID reader determined and / or the second sensor system has a second RFID reading device for these RFID tags, the reading area of which includes the target loading aid, but excludes the source loading aid and a stopping area of the robot (in particular temporarily), and it is used with the aid of the second RFID reader the information read from the RFID tag, the number and / or the type pe of the at least one object stored in the target loading aid and / or the second sensor system has a third RFID reading device for these RFID tags, the reading area of which includes a holding area of the robot, but excludes the source loading aid and the target loading aid (in particular temporarily), and the number and / or the type of the at least one object held by the robot is determined with the aid of information read from the RFID tag with the third RFID reading device. Accordingly, the second sensor system of the picking device presented comprises an RFID reader for radio identification tags, or RFID tags for short, the reading area of which includes the source loading aid, the target loading aid and / or a holding area of the robot. The type of the object on or in which the RFID tag is arranged is advantageously stored on an RFID tag, or a reference is stored on the said RFID tag in a database in which the said type is stored. By using it
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    N2016 / 32500-AT-00 of RFID tags, the number and / or type of the objects present in the source loading aid, in the stopping area of the robot and / or in the target loading aid can be determined particularly well. Basically, only the information stored on the RFIDTags needs to be evaluated (e.g. type = whole milk 3.5%, weight = 1 kg, width = 7 cm, depth = 7 cm, height = 20 cm). In this way, it can be determined which objects are removed from the source loading aid and which objects are stored in the target loading aid.
    It is particularly advantageous if the objects contained in the source loading aid are detected with the aid of the first RFID reader before and after the removal of the at least one object and the number and / or type of the at least one object removed from the source loading aid a determined difference of the objects detected during the two reading processes is determined and / or if the objects contained in the target loading aid are detected with the help of the second RFID reader before and after the at least one object is deposited and the number and / or type of the at least one object stored in the target loading aid is determined on the basis of a determined difference between the objects detected in the two reading processes.
    In this variant of the picking method, the objects held by the robot or the objects stored by it are determined by forming the difference between two reading processes. No means for determining the number and / or the type of objects therefore need be provided on the robot itself.
    It is also particularly advantageous if a third RFID reader for RFID tags, which is arranged on a moving part of the robot, is moved towards the source loading aid in order to detect the objects contained in the source loading aid and / or is moved toward the target loading aid in order to detect the objects contained in the target loading aid and / or is moved away from the source loading aid and from the target loading aid in order to detect the objects held by the robot in the holding area.
    With this variant of the picking process, there is basically only one
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    RFID reader is required to identify the objects in the source loading aid, in the target loading aid and in the stopping area. With the help of the robot, the RFID reading device is aligned or positioned so that it can only detect the objects located in the source loading aid, in the target loading aid or in the stopping area.
    In a further advantageous embodiment of the picking method presented, the second sensor system has a camera and / or a 3D sensor, and the number and / or type of the at least one object removed from the source loading aid is determined by comparing a before and one after the removal process Image of a content of the source loading aid is determined and / or the number and / or type of the at least one object stored in the target loading aid is determined by comparing an image of a content of the target loading aid recorded before and after the storage process and / or the number and / or type of the at least one object held by the robot is determined on the basis of an image captured by the holding area of the robot.
    Similar to the use of RFID readers, the number and / or type of the objects removed from the source loading aid, the objects present in the holding area and / or the objects stored in the target loading aid are determined by forming the difference between two detection processes, thereby capturing two images different times or in different states of the picking device.
    In a further advantageous variant of the picking method presented, the source loading aid is weighed before and after the removal of the at least one object with the aid of a scale, which is included in the second sensor system, and the number and / or type of the at least one is weighed out object removed from the source loading aid on the basis of a measured Diff9 / 53
    N2016 / 32500-AT-00 determined the reference weight, and / or the target loading aid is weighed before and after the at least one object is deposited with the aid of a scale, which is included in the second sensor system, and the number and / or the type of the at least one object stored in the target loading aid is determined on the basis of a measured differential weight, and / or a weight held by the robot before and after the removal of the at least one object is determined using a scale (in particular using a weighing device arranged on the robot) or force sensor), which is included in the second sensor system, and the number and / or type of the at least one object held by the robot is determined on the basis of a measured differential weight.
    In particular, a weight of an object of a type contained in the source loading aid is known, and the number and / or type of the at least one object removed from the source loading aid and / or object stored in the target loading aid and / or object held by the robot becomes known determined by searching for a combination of objects contained in the source loading equipment, the total weight of which is essentially the same as the differential weight.
    This variant of the picking process assumes that the weight of an object contained in the source loading aid is known. For example, this is communicated to a higher-level computer when goods are received or determined by the latter. In general, it can be assumed that the objects contained in a loading aid are generally known in terms of type and number in a warehouse system of a known type. This information can then be used to identify the objects removed from the source loading aid, the objects located in the stopping area and / or the objects stored in the target loading aid. The term essentially means in the given context a deviation of ± 10% from the reference value.
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    In particular, the differential weight is divided by the total weight of each combination of objects contained in the source loading aid up to a total of five objects or up to a total number of objects which can be removed from the source loading aid by the robot in a removal process, and the combination sought is that to which the value closest to one is assigned. If the calculation is known, the total number of objects that can be removed from the source loading device by the robot in one removal process can be used as the basis for the calculation. If this total number is not known, assuming that the robot can no longer remove objects from the source loading aid, a total of five objects can be used as the basis for the calculation.
    It is also particularly advantageous if the total weight of each combination of objects differs from one another up to a total number of five objects or up to a total number of objects, which can be removed from the source loading aid by the robot in one removal process. This ensures that each combination of objects has a unique total weight and there are no combinations of objects that have (essentially) the same total weight. The objects removed from the source loading aid, located in the stopping area and / or stored in the target loading aid can thus be clearly identified. Basically, the picking process presented also works if not every combination of objects has a clear total weight. If necessary, error handling must then be carried out according to case e2). A trivial case for clear total weights is when the source loading device only contains one type of object.
    It is advantageous to proceed as after the occurrence of case e2) if the value closest to one has a deviation from one above a first threshold value or a deviation from the second next value below a second threshold value. In this way it can be checked whether the determined quotient is close enough to one and the determined result
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    N2016 / 32500-AT-00 is therefore certain or whether the deviation of the quotient from one is relatively large and the result obtained is therefore uncertain. For the same purpose, in addition or as an alternative, the distance to the quotient which is closest to one can be determined. If the distance is too short, it cannot be said with certainty which of the two quotients (namely the closest or the second closest one) is the correct one, i.e. indicates the objects actually taken from the source loading aid. If the distance is sufficiently large, the quotient closest to one actually indicates the objects removed from the source loading aid.
    It is also particularly advantageous if the procedure is followed after the occurrence of the case e2) and / or an alarm is issued if a comparison of the determined number and / or the determined type of the at least one object removed from the source loading aid deviates the ascertained number and / or the ascertained type of the at least one object held by the robot and / or a comparison of the ascertained number and / or the ascertained type of the at least one object removed from the source loading aid results in a deviation from the ascertained number and / or the determined type of the at least one object stored in the target loading aid and / or a comparison of the determined number and / or the determined type of the at least one object held by the robot shows a deviation from the determined number and / or the determined type of the at least one im Target loading aid stored object.
    In this way, it can be checked whether all objects removed by the robot from the source loading aid have also been stored in the target loading aid, or whether a deviation is found, and consequently objects have accidentally fallen off the robot or have otherwise been lost on the way. At this point it is noted that an alarm can not only include audible and / or optical signals that can be perceived directly, but can also be understood to mean messages to a higher-level computer.
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    In a further advantageous variant of the method presented, the robot is instructed for the removal process to take an exact number of objects and / or a specific object or specific objects from the source loading aid. In this way, the order picking process can be planned or predicted well. As a rule and without the occurrence of an unforeseen event, the robot always removes those objects from the source loading aid that contribute to the completion of the picking order.
    However, it is also favorable if the robot is instructed for the removal process to remove any number of objects and / or any object or objects from the source loading aid. As a result, the removal process is easy to carry out in terms of program or control technology, since it is not tied to any specifications. In this variant, a check as to whether the number and / or the type of an object removed from a source loading aid contributes to completing the picking order only takes place after the objects have been removed from the source loading aid.
    Only one type of object is advantageously contained in the source loading aid. In this variant, it is not necessary to check the type of objects for the picking process, since the type of objects contained in the respective source loading aids is known, for example a higher-level computer.
    It is expedient if the first sensor system only determines an occupancy state of the holding area of the robot by at least one object. This means that the first sensor system merely differentiates whether no object or at least one object is held by the robot or is present in the holding area, and can therefore be of a technically simple construction.
    It is also expedient if the second sensor system is arranged on the robot, in particular on a moving part of the robot. In this variant, the second sensor system can be designed such that it only detects the holding area of the robot and / or such that it detects the source loading aid and the target 13/53
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    Can record loading aids when the second sensor system is moved there. The second sensor system can in particular have an RFID reader or a camera. In principle, however, the use of a scale moved by the robot is also possible. For example, the weight force held by the robot can be determined by a corresponding sensor. If the source loading aid or the target loading aid is now lifted by the robot, the weight of the objects contained therein can be determined. Of course, the weight of objects located in the holding area can also be determined with the aid of the sensor mentioned.
    Finally, it is also favorable if the second sensor system is stationary and detects the source loading aid and / or target loading aid. Separate second sensors can be provided for the source loading aid and the target loading aid, or a common sensor is provided, for example a camera, an RFID reader or a scale, which includes both the source loading aid and the target loading aid can capture. It would also be conceivable that the common sensor can be moved away from the source loading aid or from the target loading aid, or that the source loading aid or the target loading aid is moved away from the common sensor (for example with the aid of a conveyor device) by only one onto the source loading aid or only enable measurement directed at the target loading device. In principle, it is also conceivable that the holding area of the robot can be detected by the stationary second sensor system if it is moved there.
    At this point it is also stated that the design variants presented for the device presented and the advantages resulting therefrom also apply analogously to the disclosed method and vice versa.
    For a better understanding of the invention, this will be explained in more detail with reference to the following figures. Show it:
    Fig. 1 shows a first example of a device for picking goods, in the source loading aid, target loading aid and in the Halt14 / 53
    N2016 / 32500-AT-00 area of the robot existing objects can be detected with the help of RFID readers;
    Fig. 2 similar to FIG. 1, but with a camera for detecting the objects and
    Fig. 3 similar to Fig. 1, but with a scale for detecting the objects mentioned.
    In the introduction, it should be noted that in the differently described embodiments, the same parts are provided with the same reference numerals or the same component names, and the disclosures contained in the entire description can be applied analogously to the same parts with the same reference numerals or the same component names. The location information selected in the description, e.g. above, below, laterally, etc. related to the figure described and illustrated immediately and in the case of a change of position to be transferred to the new position. Furthermore, individual features or combinations of features from the different exemplary embodiments shown and described can also represent independent, inventive or inventive solutions.
    1 shows a first example of a device 1a for picking goods or objects 2a..2d, which a robot 3 with means 4 for removing at least one object 2a..2d from a source loading aid 5a, 5b and for depositing the at least one object 2a..2d in a target loading aid 6a..6c, and a conveying device 7 for feeding the source loading aid 5a, 5b into an effective area of the robot 3 and for removing the target loading aid 6a..6c from the effective area of the robot 3. The conveyor device 7 thus simultaneously forms a provision device for providing the source loading aid 5a, 5b and the target loading aid 6a..6c in an effective area of the robot 3.
    In this example, the robot 3 comprises a robot base 8, a first movable robot arm 9, a second movable robot arm 10 and one
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    Gripper 4, which here forms the means 4 for removing / depositing at least one object 2a..2d. The gripper 4 can be designed in the form of pliers. In addition, a first sensor system 11 is provided for checking whether at least one object 2a..2d is held by the robot 3. In this example, the first sensor system 11 is arranged on the robot 3. In principle, however, the first sensor system 11 can also be arranged at another location on the device 1a.
    The design of the robot 3 as a multi-axis robot or industrial robot shown in FIG. 1 is purely exemplary. Instead, the robot 3 could also be designed as a portal robot or as a mixed form of the two types. In addition, the gripper 4 could also be designed like a finger or hand. In addition, instead of or in addition to the gripper 4, other means for removing / depositing at least one object 2a..2d could also be provided, for example a suction gripper (vacuum gripper) or a plurality of suction grippers.
    The first sensor system 11, which is shown purely symbolically in FIG. 1, could for example include an ultrasonic sensor and / or, if the robot 3 is equipped with a vacuum gripper, a vacuum sensor. The first sensor system 11 can in particular also be designed to determine only one occupancy state of the holding area of the robot 3 by at least one object 2a..2d. That is, the first sensor system 11 only differentiates whether no object 2a..2d or at least one object 2a..2d is held by the robot 3 or is present in the holding area A.
    The conveying device 7 for supplying a source loading aid 5a, 5b and for removing a target loading aid 6a..6c into the effective range or gripping range of the robot 3 is designed in this example as a roller conveyor with two conveyor tracks of a known type, which frame profiles 12 also has conveyor rollers 13 arranged therebetween. The specific design of the conveyor 7 is also purely exemplary. For example, the source loading aids 5a, 5b and target loading aids 6a..6c could also be transported in other ways, for example on conveyor belts or with the help
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    N2016 / 32500-AT-00 of industrial trucks, especially with the help of autonomous industrial vehicles. In addition, the conveyor tracks could also be arranged differently than is shown in FIG. 1.
    The device 1a further comprises a second sensor system 14a, 14b and a controller 15, which is connected to the first sensor system 11 and the second sensor system 14a, 14b, as is indicated in FIG. 1 by dashed lines. The addressed connection can be wired or wireless.
    In this example, the first sensor system comprises an ultrasound sensor 11, and the second sensor system comprises a first RFID reading device 14a and a second RFID reading device 14b.
    Finally, the device 1a also includes a storage position or a clarification station 16 which is arranged at a position different from source loading aids 5a, 5b and destination loading aids 6a..6c.
    1, a first source loading aid 5a and a first target loading aid 6a are located in the area of action of the robot 13. The further source loading aids 5b and the further target loading aids 6b, 6c become the effective area at a later point in time of the robot 13 is conveyed (see also the conveying direction indicated by arrows in FIG. 1). Furthermore, in FIG. 1 there is specifically a first object 2a in the first source loading aid 5a, a second object 2b in the first target loading aid 6a, a third object 2c in the stopping area of the robot 13 and a fourth object 2d in the second source loading aid 5b.
    During the course of the order-picking process, however, the second source loading aid 5b and the third target loading aid 6c can, for example, also reach the area of action of the robot 13. Then the fourth object 2d can also reach the holding area A or the third target loading aid 6c.
    At different times, the source loading aids 5a, 5b are the target loading aids 6a..6c and the objects 2a..2d at different locations. Des17 / 53
    N2016 / 32500-AT-00 half all source loading aids 5a, 5b, target loading aids 6a..6c and objects 2a..2d are referenced below, that is, it is indicated, for example, that the object 2a..2d is in the Stop area A is located, even if the situation shown in FIG. 1 actually only applies to the third object 2c.
    Furthermore, it is pointed out that, in particular with regard to the source loading aids 5a, 5b, target loading aids 6a..6c and objects 2a..2d, the number and plurality are used interchangeably. In general, one object 2a..2d or several objects 2a..2d can be picked by one or more source loading aids 5a, 5b into one or more target loading aids 6a..6c. The conveying direction of the conveying device 7 can also be reversed for this purpose.
    The function of the device 1a shown in FIG. 1 is now as follows:
    In a first step a), the robot 3 is used to check at least one object 2a..2d from the source loading aids 5a loading aids 5a, 5b using the first sensor system 11 to determine whether at least one object 2a..2d is being carried out by the robot 3 is held (step c). With the aid of the second sensor system 14a, 14b, a number and / or a type of the at least one removed object 2a..2d is ascertained., 5b. After the removal of the object 2a..2d from the source, the check shows that the number and / or type of the at least one object 2a..2d removed from the source loading aid 5a, 5b contributes to the completion of a picking order which Defining the number and / or target type of objects 2a..2d in the target loading aid 6a..6c, the at least one object 2a..2d is stored in the target loading aid 6a..6c (step b).
    If the test with the first sensor system 11 shows that no object 2a..2d is held by the robot 3 (case e1) or that at least one object 2a..2d is held by the robot 3 which is held by the second sensor system 14a , 14b, however, the test shows that the number and / or the type
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    N2016 / 32500-AT-00 of the at least one object 2a..2d taken from the source loading aid 5a, 5b does not contribute to the completion of the order picking (case e2), then the process for storing the at least one object 2a..2d in Target loading equipment 6a..6c canceled or modified.
    Specifically, this can be done by continuing directly with step a) in case e1). Accordingly, the depositing process is stopped immediately if it is determined that the robot 3 is not holding any object 2a..2d at all. The picking process is therefore particularly time-efficient.
    In case e2) this can also be done by storing all objects 2a..2d held by the robot 3 in the source loading aid 5a, 5b and continuing with step a). Accordingly, the removal process in this variant of the presented picking process is repeated until the objects 2a..2d removed from the source loading aids 5a, 5b contribute to the completion of the picking order. The picking process is therefore particularly simple in terms of programming or control technology.
    Alternatively, in case e2), all objects 2a..2d held by the robot 3 can be deposited at a storage position 16 different from the source loading aid 5a, 5b and from the target loading aid 6a..6c. In a further step, an object 2a..2d intended for the target loading aid 6a..6c is detected and stored in the target loading aid 6a..6c and an object 2a..2d not intended for the target loading aid 6a..6c is detected and stored in the source loading aid 5a, 5b. The sequence then continues with step a). In this variant of the picking method presented, the objects 2a..2d held by the robot 3 but not contributing to the completion of the picking order are placed at a storage position 16 or at a clarification station and sorted according to whether they contribute to the completion of the picking order or Not. Objects 2a..2d not contributing to the order are conveyed back into the source loading aid 5a, 5b, and objects 2a..2d contributing to the target loading aid 6a..6c. The order picking process is therefore particularly efficient.
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    The storage of the objects 2a..2d not intended for the target loading aid 6a..6c in the source loading aid 5a, 5b is advantageous but not mandatory. It is also conceivable that the objects 2a..2d mentioned are handled differently. For example, these can initially remain in the storage position 16 and be stored from there at a later time, for example in a warehouse. It is also conceivable that a further (third) loading aid is provided at the storage position 16, in which the objects 2a..2d mentioned are stored and with which they are transported back to a warehouse, for example.
    Finally, it is also conceivable that in case e2) all objects 2a..2d held by the robot 3 are stored in the target loading aid 6a..6c, an object 2a..2d not intended for the target loading aid 6a..6c is removed from the target loading aid 6a..6c and placed in the source loading aid 5a, 5b and is subsequently continued with step a). With this variant of the presented picking process, the storage process is carried out in any case. If it is then determined that the target loading aid 6a..6c also contains objects 2a..2d that do not contribute to the completion of the picking process, then these objects 2a..2d are removed again from the target loading aid 6a..6c and in the source -Loading aids 5a, 5b.
    The robot 3 therefore carries out a picking process by, for example, filling a shipping carton functioning as a target loading aid 6a..6c with the goods or objects 2a..2d ordered by a customer. This can be done by running through steps a) to e) or by recursively repeating said steps a) to e). During each run, it is checked whether the number and / or the type of objects 2a..2d removed from the source loading aid 5a, 5b contribute to the completion of a picking order, that is, whether the number of at least one removed from the source loading aid 5a, 5b Object 2a..2d is less than or equal to the difference between the target number and the actual number of objects 2a..2d contained in the target loading aid 6a..6c. Additionally or alternatively, the types of objects 20/53 taken from the source loading aid 5a, 5b should
    N2016 / 32500-AT-00 te 2a..2d match the types of objects 2a..2d still missing in the target loading aid 6a..6c.
    The sequence of the picking process and in particular the check whether an object 2a..2d is held by the robot 3 and whether the number and / or the type of the at least one object 2a..2d removed from the source loading aid 5a, 5b for completion a picking order contributes, is done by the controller 15, specifically in cooperation with the first sensor system 11 and the second sensor system 14a, 14b.
    In the example shown in FIG. 1, objects 2a..2d are equipped with RFID tags on which the type of an object 2a..2d is stored or a reference to a database in which said type is stored.
    By using RFID tags, the number and / or type of the objects 2a..2d present in the source loading aid 5a, 5b, in the holding area A of the robot 3 and / or in the target loading aid 6a..6c can be determined particularly well. Basically, only the information stored on the RFID tags needs to be evaluated (e.g. type = whole milk 3.5%, weight = 1 kg, width = 7 cm, depth = 7 cm, height = 20 cm). In this way it can be determined which objects 2a..2d are taken from the source loading aid 5a, 5b and which objects 2a..2d are stored in the target loading aid 6a..6c.
    In the example shown in FIG. 1, the reading area of the first RFID reader 14a includes the source loading aid 5a. However, the target loading aid 6a and the stopping area A of the robot 3 are not detected. Accordingly, the number and / or the type of the at least one object 2a..2d taken from the source loading aid 5a can be determined using the information which is read from the RFID tags with the first RFID reading device 14a.
    In an analogous manner, the reading area of the second RFID reading device 14b in the example shown in FIG. 1 comprises the target loading aid 6a. However, the source loading aid 5a and the holding area A of the robot 3 are not detected. As a result, the information associated with the second RFID21 / 53
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    Readers 14b are read from the RFID tags, the number and / or type of the at least one object 2a..2d stored in the target loading aid 6a are determined.
    The second sensor system 14a, 14b is stationary in this example, and an RFID reader 14a, 14b is provided for each of the source loading aids 5a, 5b and the target loading aids 6a..6c. It would also be conceivable that a common RFID reader is provided for the source loading aid 5a, 5b and the target loading aid 6a..6c. In this case, the common RFID reading device can be moved for a reading process towards the source loading aid 5a, 5b and away from the target loading aid 6a..6c and vice versa. It would also be conceivable that the source loading aid 5a, 5b is moved towards the RFID reader and the target loading aid 6a..6c is moved away from the RFID reader and vice versa. This movement can take place, for example, with the aid of the conveyor device 7.
    In particular, it is also conceivable that the second sensor system has a third RFID reader that is arranged on a moving part of the robot 3. For example, the third RFID reader can be arranged on the second robot arm 10, as is the case for the first sensor system 11 in FIG. 1. However, an RFID reader arranged on the second robot arm 10 can also be part of the first sensor system or form it.
    The third RFID reading device can be moved towards the source loading aid 5a, 5b in order to detect the objects 2a..2d contained in the source loading aid 5a, 5b. The target loading aid 6a is excluded from the reading area of the third RFID reader. However, the third RFID reader can also be moved to the target loading aid 6a..6c in order to detect the objects 2a..2d contained in the target loading aid 6a..6c. Then the source loading aid 5a, 5b is excluded from the reading area of the third RFID reading device.
    The reading area of the third RFID reading device can also include the holding area A of the robot 3. For a detection of the objects 2a..2d held in the holding area A of the robot 3, the third RFID reader is moved away from the source loading aid 5a, 5b and from the target loading aid 6a..6c in order to do this
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    To connect source loading aids 5a, 5b and target loading aids 6a..6c from the reading area of the third RFID reading device.
    In a completely analogous manner, the holding area A of the robot 3 can also be moved into the reading area of the first RFID reading device 14a or into the reading area of the second RFID reading device 14b in order to detect the objects 2a..2d present in the holding area A. The source loading aid 5a, 5b and / or the target loading aid 6a..6c can accordingly be moved away from the reading area of the first RFID reading device 14a / second RFID reading device 14b.
    From what has been said above, it can be seen in particular that basically only a single RFID reader is required to identify the objects 2a..2d located in the source loading aid 5a, 5b, in the target loading aid 6a..6c and in the holding area A.
    The objects 2a..2d held in the holding area A of the robot 3 or the objects 2a..2d deposited by the robot 3 can be determined by forming a difference between two reading processes. No means for determining the number and / or the type of objects 2a..2d then need be provided on the robot 3 itself.
    For example, the objects 2a..2d contained in the source loading aid 5a, 5b can be detected using the first RFID reader 14a before and after the removal of the at least one object 2a..2d. As a result, the number and / or the type of the at least one object 2a..2d taken from the source loading aid 5a, 5b can be determined on the basis of a determined difference between the objects 2a..2d detected in the two reading processes.
    It is also conceivable that the objects 2a..2d contained in the target loading aid 6a..6c are detected with the aid of the second RFID reader 14b before and after the at least one object 2a..2d is deposited and that the number and / or the type of the at least one object 2a..2d stored in the target loading aid 6a..6c is determined on the basis of a determined difference between the objects 2a..2d detected in the two reading processes.
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    In general, it can be provided that the robot 3 is instructed for the removal process to remove an exact number of objects 2a..2d and / or a specific object 2a..2d or specific objects 2a..2d from the source loading aid 5a, 5b. In this way, the order picking process can be planned or predicted easily. As a rule and without the occurrence of an unforeseen event, the robot 3 always removes those objects 2a..2d from the source loading aids 5a, 5b which contribute to the completion of the order picking.
    However, it is also conceivable that the robot 3 is instructed for the removal process to remove any number of objects 2a..2d and / or any object 2a..2d or any objects 2a..2d from the source loading aid 5a, 5b , As a result, the removal process is easy to carry out in terms of program or control technology, since it is not tied to any specifications. In this variant, a check as to whether the number and / or the type of an object 2a..2d taken from a source loading aid 5a, 5b contributes to the completion of the picking order generally takes place only after the objects 2a..2d have been removed from the source loading aid 5a, 5b.
    In a further variant of the picking method, it can be checked whether a comparison of the number and / or type of the at least one object 2a..2d taken from the source loading aids 5a, 5b a deviation from the number and / or the determined number Type of the at least one object 2a..2d held by the robot 3 results. If this is the case, the procedure is the same as after the occurrence of the case e2) and / or an alarm, in particular an alarm message to a higher-level computer, is output. In this way, it can be checked whether all objects 2a..2d removed from the source loading aid 5a, 5b by the robot 3 are also held by the robot 3, or whether a deviation is found, and consequently objects 2a..2d accidentally fall off the robot 3 or got lost in some other way.
    In an analogous manner, it can also be checked whether a comparison of the number and / or type of the determined
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    N2016 / 32500-AT-00 at least one object 2a..2d taken from the source loading aid 5a, 5b is a deviation from the determined number and / or the determined type of the at least one object 2a stored in the target loading aid 6a..6c. .2d results and / or a comparison of the determined number and / or the determined type of the at least one object 2a..2d held by the robot 3 results in a deviation from the determined number and / or the determined type of the at least one in the target loading aid 6a..6c stored object 2a..2d results.
    In these cases too, the procedure can be the same as after the occurrence of the case e2) and / or an alarm, in particular an alarm message, is output to a higher-level computer. In this way, it can be checked whether all objects 2a..2d taken by the robot 3 from the source loading aid 5a, 5b or all objects 2a..2d held by the robot 3 are also stored in the target loading aid 6a..6c, or whether one Deviation is determined, and consequently objects 2a..2d have fallen down next to the target loading aid 6a..6c.
    FIG. 2 now shows a further embodiment of a picking device 1b, which is very similar to the picking device 1a shown in FIG. 1.
    In contrast to this, a camera 17 is provided instead of the RFID reading devices 14a, 14b, which detects the content of the source loading aid 5a, 5b and the target loading aid 6a..6c. In addition to the camera 17 or alternatively, a 3D sensor or room depth sensor can also be provided.
    Similar to the use of RFID readers 14a, 14b, the number and / or the type of the objects removed from the source loading aid 5a, 5b, the objects present in the holding area A and / or the objects stored in the target loading aid 6a..6c 2a..2d determined by forming the difference between two acquisition processes, thereby acquiring two images at different times or in different states of the picking device 1b.
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    Specifically, this is done by determining the number and / or type of the at least one object 2a..2d removed from the source loading aid 5a, 5b by comparing an image of a content of the source loading aid 5a, 5b recorded before and after the removal process and / or the number and / or the type of the at least one object 2a..2d stored in the target loading aid 6a..6c is determined by comparing an image of a content of the target loading aid 6a..6c recorded before and after the depositing process and / or the number and / or the type of the at least one object 2a..2d held by the robot 3 is determined on the basis of an image captured by the holding area of the robot 3.
    Otherwise, what has been said for the order picking device 1 a shown in FIG. 1 also applies analogously to the order picking device 1 b.
    In particular, it is also conceivable in this embodiment that the second sensor system has a camera which is arranged on a moving part of the robot 3. For example, the camera can be arranged on the second robot arm 10, as is the case for the first sensor system 11 in FIG. 1. However, a camera arranged on the second robot arm 10 can also be part of the first sensor system or form it.
    By aligning the camera accordingly, the content of the source loading aid 5a, 5b, the target loading aid 6a..6c and also the holding area A can be detected. The holding area A can also be moved into the detection area of the camera 17 in order to identify the objects 2a..2d present there.
    From what has been said above, it is again evident that basically only a single camera 17 is required in order to identify the objects 2a..2d located in the source loading aid 5a, 5b, in the target loading aid 6a..6c and in the holding area A.
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    FIG. 3 now shows a further embodiment of an order-picking device 1c, which is very similar to the order-picking device 1a shown in FIG. 1 and also the order-picking device 1b shown in FIG. 2. In contrast to this, however, a scale 18 is now provided for the second sensor system, which detects the content of the source loading aid 5a, 5b and the target loading aid 6a..6c. In this example, the scale 18 extends for this purpose over both conveyor tracks of the conveyor 3, which is advantageous but not mandatory. Another difference is that the picking device 1c does not have a clarification station 16. Of course, the picking device 1c can have one.
    In the order picking device 1c shown in FIG. 3, the number and / or the type of the objects 2a which are removed from the source loading aids 5a, 5b, the objects 2a which are present in the holding area A and / or which are stored in the target loading aids 6a..6c ..2d are determined by forming the difference between two detection processes, thereby detecting a weight at different times or in different states of the order-picking device 1c.
    Specifically, this can be done by weighing the source loading aid 5a, 5b before and after the removal of the at least one object 2a..2d and by the number and / or type of the at least one removed from the source loading aid 5a, 5b and in Sequence of objects 2a..2d held by robot 3 in holding area A is determined on the basis of a measured differential weight. Accordingly, the target loading aid 6a..6c can also be weighed before and after the at least one object 2a..2d is deposited, and the number and / or type of the at least one object 2a stored in the target loading aid 6a..6c. .2d is determined on the basis of a measured differential weight.
    Basically, the described method works with a common scale 18 for the source loading aid 5a, 5b and the target loading aid 6a..6c. In an advantageous variant of the picking device 1 c, however, are separate 27/53
    N2016 / 32500-AT-00 most scales are provided for several or each one source loading aid 5a, 5b and several or each target loading aid 6a..6c.
    It is also conceivable that the weight force held by the robot 3 is determined by a corresponding sensor, which is part of the first or second sensor system. In this way, a weight held by the robot 3 can be measured and the number and / or the type of the at least one object 2a..2d held by the robot 3 can be determined on the basis of a measured differential weight. However, it is also conceivable that the source loading aid 5a, 5b or the target loading aid 6a..6c is lifted by the robot 3 in order to determine the weight of the objects 2a..2d contained therein.
    A prerequisite for determining the number and / or type of the objects 2a..2d present in the source loading aid 5a, 5b, in the target loading aid 6a..6c and / or in the holding area A of the robot 3 is knowledge of the weight of one in the source -Loading aids 5a, 5b contained object 2a..2d. For example, this is communicated to a higher-level computer when goods are received or determined by the latter. In general, it can be assumed that the objects 2a..2d contained in a source loading aid 5a, 5b are generally known in terms of type and number in a warehouse system of a known type.
    In particular, the number and / or the type of the at least one object 2a..2d removed from the source loading aid 5a, 5b and / or object 2a..2d stored in the target loading aid 6a..6c and / or object 2a held by the robot 3 ..2d are determined by searching for a combination of objects 2a..2d contained in the source loading aids 5a, 5b, the total weight of which is essentially the same as a determined differential weight.
    The total number of objects 2a..2d which can be removed from the source loading aid 5a, 5b in a removal process by the robot 3 can be used as the basis for this calculation. If this total number is not known, assuming that the robot 3 can no longer remove objects 2a..2d from the source loading aid 5a, 5b 28/53
    N2016 / 32500-AT-00 a total of five objects 2a..2d can be used as the basis for the calculation.
    Accordingly, in an advantageous variant of the proposed method, the differential weight is determined by the total weight of each combination of objects 2a..2d contained in the source loading aid 5a, 5b up to a total number of five objects 2a..2d or up to a total number of objects 2a. .2d, which can be removed from the source loading aid 5a, 5b by the robot 3 in one removal process. The combination sought is consequently the one to which the value closest to one is assigned.
    In order to ensure that the determined quotient is close enough to one and that the determined result is therefore reliable, the procedure is the same as when case e2) occurs if the value closest to one has a deviation above a first threshold value. This means that the process for depositing an object 2a..2d in the target loading aid 6a..6c is then interrupted or modified.
    For the same purpose, in addition or as an alternative, the distance to the quotient which is closest to one can be determined. If the distance is too short, it cannot be said with certainty which of the two quotients (namely the closest or the second closest one) is the correct one, i.e. indicates the objects actually taken from the source loading aid. If the distance is sufficiently large, the quotient closest to one actually indicates the objects 2a..2d taken from the source loading aids 5a, 5b. The same procedure is followed as when case e2) occurs if the value closest to one has a deviation from the second next value which is below a second threshold value.
    It is also particularly advantageous if the total weight of each combination of objects 2a..2d up to a total number of five objects 2a..2d or up to a total number of objects 2a..2d, which in a removal process by the robot 3 the source loading aids 5a, 5b can be removed
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    N2016 / 32500-AT-00 can, different from each other. This ensures that each combination of objects 2a..2d has a unique total weight and that there are no combinations of objects 2a..2d that have (essentially) the same total weight. The objects 2a..2d removed from the source loading aid 5a, 5b, located in the holding area A and / or stored in the target loading aid 6a..6c can thus be clearly identified. Basically, the picking process presented also works if not every combination of objects 2a..2d has a clear total weight. If necessary, error handling must then be carried out according to case e2).
    A trivial case for clear total weights is given when the source loading aid 5a, 5b contains only one type of objects 2a..2d. The sort-specific storage of objects 2a..2d in the source loading aids 5a, 5b is also advantageous for the picking devices 1 a and 1 b shown in FIGS. 1 and 2, since the determination of a type of an object 2a..2d can be omitted during order picking, but only the number of objects 2a..2d removed from the source loading aid 5a, 5b, present in the holding area of the robot 3 and / or stored in the target loading aid 6a..6c need be determined.
    The exemplary embodiments show possible design variants of devices 1 a..1 c according to the invention, it being noted at this point that the invention is not restricted to the specially illustrated design variants thereof, but also other design variants are possible, the derivation of which is possible in the technical field active specialist.
    In particular, the design variants presented in FIGS. 1 to 3 can be combined as desired. For example, the second sensor system of a commissioning device 1a..1c can comprise at least one RFID reader 14a, 14b and / or at least one camera 17 and / or at least one scale 18. The second sensor system can only be stationary, can only be arranged on the robot 3 or can form a mixed form. The same also applies to the first sensor system 11 of a commissioning device 1a..1c, which likewise comprise an RFID reader 14a, 14b and / or a camera 17 and / or a scale 18
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    N2016 / 32500-AT-00 can. The first sensor system 11 can only be stationary, can only be arranged on the robot 3 or can form a mixed form. The first sensor system 11 can thus in particular be arranged separately from the robot 3, but in its area of effect. The first sensor system 11 can be formed, for example, by a camera system which is arranged in a stationary manner in order to detect the presence of at least one object 2a..2d on the robot 3 or gripper. However, the first sensor system 11 is preferably arranged on the robot 3, in particular on a movable robot arm or on a gripper. The second sensor system 14a, 14b, 17, 18 can differ from the first sensor system 11 or can also be constructed in the same way.
    At this point, it is also noted that the order-picking process can take place in particular with the aid of a plurality of source loading aids 5a, 5b and a number of target loading aids 6a..6c. A source loading aid 5a, 5b and a target loading aid 6a..6c can be in the area of action of the robot 3 at a time, or there can be several source loading aids 5a, 5b and / or target loading aids 6a .. at a time. 6c in the area of action of the robot 3.
    Irrespective of the claimed invention, only a second sensor system can also be provided and the first sensor system can be omitted, since the check as to whether or not an object 2a..2d is present in the holding area A of the robot 3 can in principle also be carried out by the second sensor system.
    However, the scope of protection is determined by the claims. The description and the drawings are to be used to interpret the claims. Individual features or combinations of features from the different exemplary embodiments shown and described can represent independent inventive solutions. The object on which the independent inventive solutions are based can be found in the description.
    In particular, it is also stated that the devices 1a..1c shown in reality can also comprise more or fewer components than shown and are sometimes shown in a greatly simplified manner in the figures.
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    For the sake of order, it should finally be pointed out that the illustrated devices 1a..1c and their components, in order to better understand their structure, have also been partially shown to scale and / or enlarged and / or reduced.
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    LIST OF REFERENCE NUMBERS 1a., 1c Device for picking goods 2a..2d object 3 robot 4 Means for removing / depositing at least one object (gripper) 5a, 5b Source loading equipment 6a..6c Target loading equipment 7 Providing means / conveyor 8th robot base 9 first robot arm 10 second robot arm 11 first sensor system 12 frame profile 13 conveyor roller 14a, 14b RFID reader 15 control 16 Storage position / Klärplatz 17 Libra 18 camera A holding area
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    权利要求:
    Claims (30)
    [1]
    claims
    1. Method for picking goods or objects (2a..2d), comprising the steps
    a) removing at least one object (2a..2d) from a source loading aid (5a, 5b) with the aid of a robot (3) and
    b) depositing the at least one object (2a..2d) into a target loading aid (6a..6c) with the aid of said robot (3), wherein
    c) after removing the object (2a..2d) from the source loading aid (5a, 5b) with the aid of a first sensor system (11) it is checked whether at least one object (2a..2d) is held by the robot (3) , characterized in that
    d) with the aid of a second sensor system (14a, 14b, 17, 18) a number and / or a type of the at least one removed object (2a..2d) is determined and
    e) the process for depositing the at least one object (2a..2d) into the target loading aid (6a..6c) is interrupted or modified if the test with the first sensor system (11) shows that e1) is not an object ( 2a..2d) is held by the robot (3) or, e2) at least one object (2a..2d) is held by the robot (3), which is connected to the second sensor system (14a, 14b, 17, 18) However, the test carried out shows that the number and / or type of the at least one object (2a..2d) taken from the source loading aid (5a, 5b) does not contribute to the completion of a picking order, but a target number and / or target Type of objects (2a..2d) defined in the target loading aid (6a..6c).
    [2]
    2. The method according to claim 1, characterized in that in case e1) it is continued directly with step a).
    [3]
    3. The method according to claim 1, characterized in that in case e2) all objects (2a..2d) held by the robot (3) are stored in the source loading aid (5a, 5b) and are continued with step a).
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    [4]
    4. The method according to claim 1, characterized in that in case e2) all objects (2a..2d) held by the robot (3) on one of the source loading aid (5a, 5b) and the target loading aid (6a..6c) various storage positions (16) are stored, an object (2a..2d) intended for the target loading aid (6a..6c) is recorded and stored in the target loading aid (6a..6c) and one not for the target loading aid ( 6a..6c) specific object (2a..2d) is detected and stored in the source loading aid (5a, 5b) and is subsequently continued with step a).
    [5]
    5. The method according to claim 1, characterized in that in case e2) all objects (2a..2d) held by the robot (3) are stored in the target loading aid (6a..6c), one not for the target loading aid (6a .. 6c) certain object (2a..2d) is removed from the target loading aid (6a..6c) and placed in the source loading aid (5a, 5b) and is subsequently continued with step a).
    [6]
    6. The method according to any one of claims 1 to 5, characterized in that the objects (2a..2d) are equipped with radio identification tags, RFID tags for short, and the second sensor system for a first RFID reader (14a) has RFID tags, the reading area of which includes the source loading aid (5a, 5b), but excludes the target loading aid (6a..6c) and a holding area (A) of the robot (3) and that with the help of one with the first RFID reader (14a) determines the number and / or type of at least one object (2a..2d) removed from the source loading aid (5a, 5b) from the information read out from the RFID tag and / or the second sensor system has a second RFID reader (14b) for these RFID tags, the reading area of which includes the target loading aid (6a..6c), but excludes the source loading aid (5a, 5b) and a holding area (A) of the robot (3) and that is read from the RFID tag with the aid of a second RFID reader (14b) NEN information the number and / or the type of at least one object (2a..2d) stored in the target loading aid (6a..6c)
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    N2016 / 32500-AT-00 is determined and / or the second sensor system has a third RFID reading device for these RFID tags, the reading area of which comprises a holding area (A) of the robot (3), the source loading aids (5a, 5b) and that Target loading aids (6a..6c), however, excludes and that with the aid of information read from the RFID tag with the third RFID reader, the number and / or type of the at least one object (2a) held by the robot (3). 2d) is determined.
    [7]
    7. The method according to claim 6, characterized in that the objects (2a..2d) contained in the source loading aid (5a, 5b) with the help of the first RFID reader (14a) before and after the removal of the at least one object (2a ..2d) are recorded and that the number and / or type of the at least one object (2a..2d) removed from the source loading aid (5a, 5b) on the basis of a determined difference between the objects (2a. .2d) is determined and / or the objects (2a..2d) contained in the target loading aid (6a..6c) with the help of the second RFID reader (14b) before and after the at least one object (2a .. 2d) are recorded and that the number and / or type of the at least one object (2a..2d) stored in the target loading aid (6a..6c) on the basis of a determined difference between the objects (2a..2d ) is determined.
    [8]
    8. The method as claimed in claim 6 or 7, characterized in that a third RFID reader for RFID tags arranged on a moving part (10) of the robot (3) is moved towards the source loading aid (5a, 5b) by the source loading aid (5a, 5b) contained objects (2a..2d), and / or is moved towards the target loading aid (6a..6c) to the objects (2a..2d) contained in the target loading aid (6a..6c) ) and / or is moved away from the source loading aid (5a, 5b) and from the target loading aid (6a..6c) in order to move the objects (2a..2d ) capture.
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    [9]
    9. The method according to any one of claims 6 to 8, characterized in that the type of that object (2a..2d) is stored on an RFID tag, on or in which the RFID tag is arranged, or that on the said RFID tag Tag a reference is stored in a database in which the said type is stored.
    [10]
    10. The method according to any one of claims 1 to 9, characterized in that the second sensor system has a camera (17) and / or a 3D sensor and the number and / or type of at least one from the source loading aid (5a, 5b) object (2a..2d) is determined by comparing an image of a content of the source loading aid (5a, 5b) recorded before and after the removal process and / or the number and / or type of the at least one in the target loading aid (6a ..6c) stored object (2a..2d) is determined by comparing an image of a content of the target loading aid (6a..6c) recorded before and after the depositing process and / or the number and / or type of at least one of the The object (2a..2d) held by the robot (3) is determined on the basis of an image captured by the holding area (A) of the robot (3).
    [11]
    11. The method according to any one of claims 1 to 10, characterized in that the source loading aid (5a, 5b) before and after the removal of the at least one object (2a..2d) with the aid of a scale (18), which is from the second Sensor system is included, weighed and that the number and / or type of the at least one object (2a..2d) taken from the source loading aid (5a, 5b) is determined on the basis of a measured differential weight and / or the target loading aid ( 6a..6c) before and after depositing the at least one object (2a..2d) with the aid of a scale (18), which is included in the second sensor system, and that the number and / or type of the at least one in Target loading aid (6a..6c) of deposited object (2a..2d) an37 / 53
    N2016 / 32500-AT-00 is determined by means of a measured differential weight and / or a weight held before and after the removal of the at least one object (2a..2d) by the robot (3) with the aid of a scale which is included in the second sensor system is measured and that the number and / or the type of the at least one object (2a..2d) held by the robot (3) is determined on the basis of a measured differential weight.
    [12]
    12. The method according to claim 11, characterized in that a weight of an object (2a..2d) contained in the source loading aid (5a, 5b) of a type is known and the number and / or type of the at least one from the source loading aid ( 5a, 5b) of the removed object (2a..2d) and / or of the object (2a..2d) stored in the target loading aid (6a..6c) and / or of the object (2a..2d) held by the robot (3) that a combination of objects (2a..2d) contained in the source loading aid (5a, 5b) is sought, the total weight of which is essentially the same as the differential weight.
    [13]
    13. The method according to claim 12, characterized in that the differential weight by the total weight of each combination of objects (2a..2d) contained in the source loading aid (5a, 5b) up to a total of five objects (2a..2d) or up to a total number of objects (2a..2d) which can be removed from the source loading aid (5a, 5b) in one removal process by the robot (3), and the combination sought is the one which is the closest value to one assigned.
    [14]
    14. The method according to claim 13, characterized in that the procedure is as in one of claims 3 to 5 in case e2), if the value closest to one is a deviation from one above a first threshold value or one below a second threshold value Deviates from the second next value.
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    N2016 / 32500 AT-00
    [15]
    15. The method according to any one of claims 12 to 14, characterized in that the total weight of each combination of objects (2a..2d) up to a total number of five objects (2a..2d) or up to a total number of objects (2a ..2d), which can be removed from the source loading aid (5a, 5b) in one removal process by the robot (3).
    [16]
    16. The method according to any one of claims 1 to 15, characterized in that the procedure is as in one of claims 3 to 5 in case e2) and / or an alarm is issued when a comparison of the number and / or type of the determined at least one object (2a..2d) removed from the source loading aid (5a, 5b) results in a deviation from the determined number and / or the determined type of the at least one object (2a..2d) held by the robot (3) and / or a comparison of the determined number and / or the determined type of the at least one object (2a..2d) taken from the source loading aid (5a, 5b) a deviation from the determined number and / or the determined type of the at least one im Target loading aids (6a..6c) of the stored object (2a..2d) and / or a comparison of the number and / or type of the at least one object (2a..2d) held by the robot (3) determines a deviation to the determined number and / or de r determined type of the at least one object (2a..2d) stored in the target loading aid (6a..6c).
    [17]
    17. The method according to any one of claims 1 to 16, characterized in that the robot (3) is instructed for the removal process to remove an exact number of objects (2a..2d) from the source loading aid (5a, 5b).
    [18]
    18. The method according to any one of claims 1 to 16, characterized in that the robot (3) is instructed for the removal process, a beiie39 / 53
    N2016 / 32500-AT-00 remove the large number of objects (2a..2d) from the source loading device (5a, 5b).
    [19]
    19. The method according to any one of claims 1 to 18, characterized in that the robot (3) is instructed for the removal process to use a specific object (2a..2d) or specific objects (2a..2d) from the source loading aid (5a, 5b).
    [20]
    20. The method according to any one of claims 1 to 18, characterized in that the robot (3) is instructed for the removal process, any object (2a..2d) or any objects (2a..2d) from the source loading aid (5a, 5b ) refer to.
    [21]
    21. The method according to any one of claims 1 to 20, characterized in that only one type of objects (2a..2d) is contained in the source loading aid (5a, 5b).
    [22]
    22. The method according to any one of claims 1 to 21, characterized in that the first sensor system (11) determines only one occupancy state of the holding area (A) of the robot (3) by at least one object (2a..2d).
    [23]
    23. Device (1a..1c) for picking goods or objects (2a..2d), comprising a robot (3) with means (4) for removing at least one object (2a..2d) from a source loading aid ( 5a, 5b) and for storing the at least one object (2a..2d) in a target loading aid (6a..6c), a provision device (7) for providing the source loading aid (5a, 5b) and the target loading aid (6a ..6c) in an effective area of the robot (3), a first sensor system (11) for checking whether at least one object (2a..2d) is held by the robot (3),
    40/53
    N2016 / 32500-AT-00 characterized by a second sensor system (14a, 14b, 17, 18) for determining a number and / or a type of the at least one removed object (2a..2d) and a controller (15), which is associated therewith is designed to abort or change a process for depositing the at least one object (2a..2d) into the target loading aid (6a..6c) if the test with the first sensor system (11) shows that no object (2a. .2d) is held by the robot (3), or that at least one object (2a..2d) is held by the robot (3), but the test carried out with the second sensor system (14a, 14b, 17, 18) shows that the number and / or type of the at least one object (2a..2d) taken from the source loading aid (5a, 5b) does not contribute to the completion of a picking order, but a target number and / or target type of objects (2a..2d) defined in the target loading aid (6a..6c).
    [24]
    24. The device (1a..1c) according to claim 23, characterized in that the means for removing and depositing the at least one object (2a..2d) are formed by a pliers-like or hand-like gripper (4) or by a vacuum suction gripper.
    [25]
    25. The device (1a..1c) according to claim 23 or 24, characterized in that the first sensor system (11) and / or the second sensor system (14a, 14b, 17, 18) is arranged on the robot (3).
    [26]
    26. The device (1 a..1 c) according to one of claims 23 to 25, characterized in that the second sensor system (14a, 14b, 17, 18) is stationary and the source loading aid (5a, 5b) and / or Target loading aids (6a..6c) recorded.
    [27]
    27. The device (1a..1c) according to one of claims 23 to 26, characterized in that the first sensor system (11) is an ultrasonic sensor and / or, if the robot (3) is equipped with a vacuum suction pad, a vacuum Includes sensor, and / or an RFID reader and / or a camera and / or a scale / a force sensor.
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    N2016 / 32500 AT-00
    [28]
    28. The device (1a..1c) according to one of claims 23 to 27, characterized in that the second sensor system has an RFID reader (14a, 14b) for radio identification tags, RFID tags for short, the reading area of which is the source Loading aids (5a, 5b), the target loading aids (6a..6c) and / or a holding area (A) of the robot (3), a camera (A) and / or a 3D sensor, which detects an image of a The content of the source loading aid (5a, 5b), the target loading aid (6a..6c) and / or a holding area (A) of the robot (3) or at least a scale for weighing the source loading aid (5a, 5b), of the target loading aid (6a..6c) and / or a holding area (A) of the robot (3).
    [29]
    29. The device (1 a..1 c) according to one of claims 23 to 28, characterized in that the provision device comprises a conveyor device (7) for supplying the source loading aid (5a, 5b) into an effective area of the robot (3) and for transporting the target loading aid (6a..6c) out of the effective range of the robot (3).
    [30]
    30. Computer program product with a computer program stored thereon, which can be loaded into / onto a computer (15) of a device (1a..1c) according to one of Claims 23 to 29 and executes a method there according to one of Claims 1 to 22 if the Computer program is running there.
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    N2016 / 32500 AT-00
    2d ι I 5b / 6b, 6c 12 - ^ χ v
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    同族专利:
    公开号 | 公开日
    AT519452B1|2018-07-15|
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    EP3571020B1|2021-10-20|
    US20200269432A1|2020-08-27|
    WO2018132855A1|2018-07-26|
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    US20110153065A1|2008-08-27|2011-06-23|Murata Machinery, Ltd.|Picking system and picking method|
    DE102010002317A1|2010-02-24|2011-08-25|Apologistics GmbH, 04416|System and method for separating and picking articles|
    DE102011053547A1|2011-09-13|2013-03-14|Apologistics Gmbh|Method and system for storing and picking articles, in particular pharmacy articles|
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    US20150032252A1|2013-07-25|2015-01-29|IAM Robotics, LLC|System and method for piece-picking or put-away with a mobile manipulation robot|
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    EP3906204A2|2019-01-04|2021-11-10|TGW Logistics Group GmbH|Picking station and method for automatically picking and automatically packaging products|
    WO2020163885A1|2019-02-11|2020-08-20|Tgw Logistics Group Gmbh|Storage and picking system having improved stocking performance and method for operating same|
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    DE102019135452A1|2019-12-20|2021-06-24|IGZ Ingenieurgesellschaft für logistische Informationssysteme mbH|Fully automatic robot picking system and picking process with a sensor arrangement for measuring a removed item as part of the lifting process|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA50032/2017A|AT519452B1|2017-01-18|2017-01-18|Method and device for picking goods|ATA50032/2017A| AT519452B1|2017-01-18|2017-01-18|Method and device for picking goods|
    EP18707220.2A| EP3571020B1|2017-01-18|2018-01-16|Method and device for picking goods|
    US16/476,154| US20200269432A1|2017-01-18|2018-01-16|Method and device for picking goods|
    PCT/AT2018/060012| WO2018132855A1|2017-01-18|2018-01-16|Method and device for picking goods|
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