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WO2013037360A1 - Procédé et système d'entreposage et de préparation de commandes d'articles, notamment d'articles de pharmacie - Google Patents

Procédé et système d'entreposage et de préparation de commandes d'articles, notamment d'articles de pharmacie Download PDF

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Publication number
WO2013037360A1
WO2013037360A1 PCT/DE2012/100259 DE2012100259W WO2013037360A1 WO 2013037360 A1 WO2013037360 A1 WO 2013037360A1 DE 2012100259 W DE2012100259 W DE 2012100259W WO 2013037360 A1 WO2013037360 A1 WO 2013037360A1
Authority
WO
WIPO (PCT)
Prior art keywords
article
storage container
articles
dimensions
storage
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/DE2012/100259
Other languages
German (de)
English (en)
Inventor
Matthias Folk
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Apologistics GmbH
Original Assignee
Apologistics GmbH
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 Apologistics GmbH filed Critical Apologistics GmbH
Publication of WO2013037360A1 publication Critical patent/WO2013037360A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/041—Camera

Definitions

  • the invention relates to a method for storing and picking articles, in particular pharmacy articles, as well as a system for carrying out the method.
  • DE 43 18 341 B4 discloses a method and a device for storing pharmacy articles. By means of the method, it should be possible to optimally store pharmacy items in a warehouse. The arriving in boxes in the warehouse articles are removed there, poured onto a conveyor belt and fed to a separating unit. Subsequently, the barcode of the article is identified with a scanner, which is usually located on the narrow sides of the article. The identified articles are then measured by means of optical measuring devices, for example using three CCD line scan cameras, which capture the spatial coordinates of the article.
  • Both the identity of the article and its spatial coordinates are transmitted to a computer in which all storage locations of the warehouse are also stored.
  • the warehouse is a drawer storage whose drawers can be extended and retracted by means of telescopic poles.
  • the calculator assigns the article a free storage location corresponding to its dimensions.
  • the article is removed from the conveyor belt and stored in its predetermined storage location. If the article is now requested by the pharmacist, the article is placed on a conveyor belt by the robot from the storage location.
  • the computer receives a signal that the storage location is free again.
  • the arrival of the article in the sales room of the pharmacy is determined.
  • DE 10 2008 027 646 A1 discloses an automated storage system for small parts, in which the small parts are detected by cameras before storage and the images are evaluated by means of an electronic data processing system.
  • the storage system has a plurality of trays, which can be individually requested and transferred to a serving for picking or removal of articles placement space by means of a paternoster-like system.
  • a table-like storage area is provided at the place of placement, onto which the articles are deposited before being stored in the requested tray.
  • the cameras for detecting the articles are arranged in the ceiling area of the storage system above the placement space or on the side walls of the storage system, these cameras being directed to the storage area.
  • DE 10 2008 027 646 A1 can detect the storage and removal of articles in or from a tray. How the articles are to be classified in a tray, however, is not described in DE 10 2008 027 646 AI.
  • the object of the invention is to eliminate the disadvantages of the prior art.
  • a method for storing and order picking of articles, in particular of pharmacy articles be specified, which both a fast and secure storage of articles as well as a fast and secure delivery of the item when requested.
  • a system is to be specified which is suitable for carrying out the method.
  • the following steps are provided for the storage of each further article in the storage container:
  • the invention is based on the finding that the storage of articles in storage containers, especially in trays, and the removal of a requested article can be significantly accelerated if only a different size storage items in a storage container, provided that it is only articles with the same identifier is.
  • a storage container are thus only items of the same size, if they are items with the same identifier. Items of the same size but with different identifiers may not be in a storage container.
  • the storage of an article in a storage container is significantly accelerated in this way, since only one criterion must be met: The storage container must not already be an article of the same size, but with different identification marks.
  • the tags can be an alphanumeric character, a string of alphanumeric characters, or a barcode.
  • the central pharmaceutical number (PZN) in particular their barcode, are suitable identifiers. Each article carries an identification mark. Different articles carry different identification marks. Same articles carry the same identification marks.
  • the central pharmaceutical number is the identification key for pharmaceuticals and other pharmacy products, which is regulated nationwide in Germany. It clearly identifies medicinal products by name, active ingredient strength, pharmaceutical form and package size. The central pharmaceutical number is also available in Austria.
  • GTIN Global Trade Item Number
  • Two articles have different dimensions if they differ in at least one extension in the x, y or z direction.
  • cuboidal articles differ from one another when they differ in at least one extension, for example in their length, width or height.
  • Two articles have different dimensions even if they differ in shape.
  • a circular cylindrical article differs from a cuboid article, even if both articles have the same height and the diameter of the end faces of the circular cylindrical article corresponds to the width and length of the cuboid article.
  • a certain tolerance range may be required.
  • An extension of an article is therefore similar to the extension of another article if the extension of the other article is within a given tolerance. range, based on the extent of the other article. It has been found that the tolerance range can be as small as plus / minus 0.1 mm.
  • Each storage container preferably has a label that is different from that of the other storage containers.
  • the tag can be an alphanumeric character or a string of alphanumeric characters, such as a number.
  • the articles are preferably stored exposed in the storage container.
  • the storage containers are preferably storage containers without Eisenabtrenn Heidelberg.
  • position refers to the position coordinates of an article
  • position coordinates in addition to the position coordinates, in particular the coordinates of an x, y and z coordinate system, the term position may also include angles or vector values.
  • the further article, which has not been transferred to the storage container in step (c), is transferred as the first article to another storage container or, if there are already articles in the other storage container, the steps (b) and (c) be repeated with respect to the other storage container.
  • An article that can not be transferred to a storage container because it already contains an article of the same dimensions but different identification marks is either placed in a new storage container, ie a storage container in which there are no articles, or in a storage container, in which there are already articles. In the latter case, however, it must again be checked whether the articles already in the storage container are exclusively articles of other dimensions or articles of the same dimensions but with different identifiers.
  • a predetermined number of articles may be introduced into a storage container.
  • this number is chosen so that the articles are exposed on the bottom of the storage container.
  • the number of articles that may be placed in a storage container based on the dimensions of the articles that have already been introduced into the storage container, can be calculated.
  • a new value can be calculated and specified as a number.
  • a fixed value can be specified.
  • the predetermined number of articles is in the storage container, the transfer of articles into the storage container is terminated. Subsequently, the storage container can be moved to a predetermined storage space in the warehouse, for example, on a shelf.
  • an item which is located in the warehouse in a storage container, can proceed as follows.
  • the prerequisite is that the identification mark of the article, for example its pharmaceutical central number, is known.
  • the following steps are preferably provided:
  • an electronic data processing system in which the markings of the storage containers are stored.
  • the identification marks and the dimensions of the articles should also be stored in the data processing system.
  • each storage container is associated with a record (storage bin record) in which the tag and dimensions of each article located in the storage bin are stored.
  • step (i) the storage container in which an article with the desired identifier is located is identified on the basis of the article data records.
  • step (ii) the dimensions of the articles and positions of the articles determined there are stored in a comparison data record.
  • the comparison data set is compared with the storage bin record to identify the article in the storage bin that has the same dimensions as the article with the desired tag.
  • step (iv) the identification mark of the removed article is determined. This is a pure security measure and is not mandatory.
  • the system includes:
  • a first optical device for receiving first images of the articles to be transferred to the storage containers
  • a second optical device for receiving second images of the articles to be transferred to the storage containers
  • a first transport device for transporting the articles to be transferred to the storage containers to the first optical device
  • a second transport device for transporting the articles from the second optical device to a provided storage container; a first handling device for transferring the articles from the first transport device to the second transport device; a sorting device for sorting out articles before they reach the first storage container by means of the second transport device, provided that articles of the same dimensions but with different identification marks are already present in the provided storage container,
  • - stores a record (storage bin record) for each storage bin in which the tag and dimensions of each item located in the storage bin are stored.
  • the data processing system is expediently a computer which communicates with the optical devices via data lines.
  • the optical Facilities are transmitted to the data processing system, the dimensions and an identifier of the articles extracted, with which the article is compared, which are already in a storage container, as well as the necessary control signals generated and transmitted via data lines to the rejection unit.
  • the data processing system also controls the transport devices and the handling devices that should be connected to it via data lines.
  • the system further comprises: a third optical device for receiving images of the articles located in the storage containers; and second handling means for retrieving an article having a desired tag from a storage container; wherein the electronic data processing system extracts from the images of the third optical device the dimensions and positions of all articles in the storage container and compares the extracted dimensions with the dimensions stored in the storage container data set.
  • the third optical device and the second handling device should also be connected to the data processing system via data lines.
  • the extraction of the dimensions and the positions of all articles in the storage container can be carried out with software running on the data processing equipment. This can be an image processing program.
  • a fourth optical device can be provided, specifically for taking pictures of the articles each taken from the storage containers. The images are transmitted to the data processing system via a data line.
  • the identification tag of the removed article can be determined there and, by comparison with the identifier of the requested article, it can be ascertained whether it is actually the requested article. This is the case if the item has the same identification number as the requested item. This article is then an article with the desired identifier.
  • a third transport device can be provided for the supply and removal of the storage container.
  • the first, the third or both optical devices are preferably each a camera, such as a CCD camera, which takes pictures continuously or discontinuously.
  • the first optical device is directed to the first conveyor belt, while the second optical device is directed to the second conveyor belt or a detection position, in which the first handling device transfers the article removed from the first conveyor belt, before transporting it further to the second conveyor belt moves and drops there.
  • the software executing on the data processing system may utilize a light-slit method based on the principle of the conventional triangulation technique known in the art to determine the dimensions of the articles and their position. By means of the triangulation method, the position coordinates of the articles and thus their dimensions and positions can be calculated mathematically. Finally, the pictures can be taken from the pictures.
  • the second, the fourth or both of these optical devices are each a scanner such as a bar code scanner.
  • the first, the second or both handling devices are expediently robots, for example robots with articulated arm or swivel arm.
  • the robots are robots with multiple axes of motion.
  • the robots should have at least one gripping or suction device for receiving the articles.
  • the robot has a plurality of gripping or suction devices, wherein each of these gripping or suction devices is adapted to receive articles with predetermined characteristics.
  • the rejection device can be, for example, a flap or an ejector, which can be connected to and controlled by the data processing system via a data line.
  • the first and second transport means are preferably conveyor belts.
  • the third transport means may be, for example, a storage bin elevator which takes the containers from a conveyor and transports them to a storage bin in the warehouse and picks them up again when a storage bin containing a requested article is needed.
  • the storage container is then picked up from its storage location, guided past the third optical device, so that an image of the content of the items contained in the storage container can be recorded. From this image, the data processing system extracts the dimensions and positions of all the articles that are in the storage container and generates a control signal for the second handling device that removes the article of dimensions from the storage container having the same dimensions as the requested article.
  • the second handling device removes this article from the storage container and guides it to a conveyor belt or to a second detection position and then to the conveyor belt, depending on whether the fourth optical device is directed to the conveyor belt or the second detection position. If the article is the Required Article, ie an article having the desired identification mark, the article is transported by means of the conveyor belt to an issuing office.
  • Figure 1 is a partial schematic representation of an embodiment of the system according to the invention, wherein the part shown allows the transfer of sortenunrein supplied articles in storage containers.
  • Fig. 2 is a partial schematic illustration of an embodiment of the system according to the invention, the part shown enabling the removal of a requested article from a storage container;
  • FIG. 3 shows an example of the removal of a requested article from a storage container according to an embodiment of the method according to the invention using the system shown in FIG.
  • Fig. 1 illustrates the transfer of sortenunrein supplied articles. The position of one and the same article is marked with a number in a square.
  • the delivered articles 1 are first separated automatically with a known singling device (article position [0]).
  • the articles 1 are then successively guided by means of a first assembly line 2 into the detection area of a camera 3, the first optical device (article position [1]).
  • a data processing system not shown.
  • a robot 4 the first handling device, then conveys the article 1 from the first conveyor belt 2 to a second conveyor belt 5 (article position [2]).
  • the article enters the detection range of a barcode scanner 6, the second optical device.
  • the bar code scanner 6 By means of the bar code scanner 6, an image is generated by the article 1 and transmitted to a data processing system (not shown). There the software determines the barcode of the article 1. If the system according to the invention and the method according to the invention are used in a pharmaceutical goods store, the barcode is the central pharmaceutical number (abbreviated as PZN). This number is the identification mark of article 1.
  • PZN central pharmaceutical number
  • width and height are mathematically encrypted by the data processing system in the data processing system, such.
  • B Calculation in the cross dimension as hash functions applied.
  • the article 1 now has an article data record and could be conveyed by means of the second conveyor belt 5 from its article position [3] now in a waiting storage container 7, which has a storage container number. Before that, however, by means of software which is executed on the data processing system, it is checked whether there are not already articles of the same dimensions in the storage container 7, but with different PZNs.
  • a storage container data record is stored for each storage container 1 to n.
  • the storage container data record has the following structure: Storage container no. X, PZN Article 1, length Article 1, width Article 1, height Article 1 Storage container no. X, PZN Article 2, length Article 2, width Article 2, height Article 2 Storage tank no. X, PZN Article 3, length Article 3, width Article 3, height Article 3 bis
  • the storage bin record is updated as soon as an article enters or is removed from the storage bin.
  • the article 1 has a different PZN than an article of the same dimension, which is located in the storage container 7, the article is sorted out by means of the outfeed device 9 and reaches another storage container (provided there is also no article there same dimensions with other PZN) or an intermediate storage 8 (item item [4]).
  • Articles are sorted into the storage containers until a predetermined number of items has been reached in the storage container.
  • the storage container can then, for example, with a third transport device to a storage location in a storage rack 10th be spent. At the same time there is a request for a new storage container.
  • only storage containers can be located in the storage rack in which there are no articles of the same dimensions but different PZN.
  • a storage container may only contain items of the same dimensions if these items have the same PZN.
  • FIG. 2 illustrates the removal of an article 1 from the storage rack 10. The position of one and the same article is marked with a number in a square.
  • a storage container 7 with the storage container number X is selected by means of the data processing system on the basis of the storage container data records, in which an article 1 with the desired PZN is located (item item [6]).
  • This storage container 7 is then transferred, for example, by means of a lift (not shown) to a third assembly line 11 (item position [7]). From the storage container record further the dimensions, ie height, width and length of the requested article are known.
  • the storage container 7 with the article 1 enters the detection range of a camera 12, the third optical device (article position [8]). With the camera 12, an image of the contents of the storage container 7 is now generated and transmitted to the data processing system.
  • the comparison data set has the following structure: Storage container no. 1, PZN Ar 1, length Ar 1, width Ar 1, height Ar 1, position Ar 1, etc.
  • the bar code scanner 16 By means of the bar code scanner 16, an image is generated by the article 1 and transmitted to a data processing system (not shown). There the software determines the barcode of the article 1. This is a control scan to avoid errors. The desired PZN is compared with the PZN objectively found on the article, thus producing a clear result.
  • the article 1 is the requested article and is conveyed by means of the fourth assembly line to a supply zone (article position [10]).
  • the PZN of the requested article is entered into the data processing system 101.
  • the data processing system determines from the storage container Records a storage container 7, which contains an article 1 with the PZN of the requested article 102.
  • This storage container 7 is picked up from the storage location and transported to the detection area of the third optical device, a camera 12.
  • an image is taken and transmitted to the data processing system.
  • the dimensions and positional coordinates of all the articles that are in the storage container are determined 103.
  • the article having the same dimensions as the requested article is the desired article.
  • other articles with the same dimensions but different PZN are not located in the storage container 7.
  • the position coordinates of the article 1 are transmitted to the robot 14 104.
  • all articles are stored lying freely and without intermediate partitions 105.
  • the robot 14 accesses the article 1 from the storage container 7.
  • the article 1 is guided to the detection area of a barcode scanner 16 for a KontroUscanning 106.
  • the determined by the barcode scanner 16 PZN of Article 1 is in the data processing system with the PZN of the requested article 107. If the reconciliation of the PZN of Article 1 with the PZN of the requested article is determined 108, Article 1 is issued.

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  • Engineering & Computer Science (AREA)
  • Business, Economics & Management (AREA)
  • Economics (AREA)
  • Operations Research (AREA)
  • Strategic Management (AREA)
  • Entrepreneurship & Innovation (AREA)
  • Human Resources & Organizations (AREA)
  • Marketing (AREA)
  • Mechanical Engineering (AREA)
  • Quality & Reliability (AREA)
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  • Tourism & Hospitality (AREA)
  • Physics & Mathematics (AREA)
  • General Business, Economics & Management (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

L'invention concerne un procédé d'entreposage automatique et de préparation de commandes d'articles, notamment d'articles de pharmacie aux dimensions variables en trois dimensions, dans un entrepôt comportant une pluralité de conteneurs de stockage pouvant respectivement recevoir plusieurs articles, un marquage d'identification et les dimensions de l'article étant déterminés pour l'entreposage d'un premier article dans un conteneur de stockage, ledit article pouvant ensuite être transféré dans le conteneur de stockage, caractérisé en ce qu'aux fins de l'entreposage de chaque article suivant dans le conteneur de stockage, les étapes suivantes sont prévues : (a) détermination du signe d'identification et des dimensions de l'article suivant ; (b) comparaison des dimensions de l'article suivant avec les dimensions des articles déjà présents dans le conteneur de stockage et, si un de ces articles est un article aux dimensions identiques, comparaison du marquage d'identification dudit article suivant aux marquages d'identification de tous les articles qui sont déjà présents dans le conteneur de stockage et qui sont des articles aux dimensions identiques ; et (c) transfert de l'article suivant dans le conteneur de stockage si le conteneur de stockage ne contient aucun article qui soit aux dimensions identiques mais pourvu d'un autre marquage d'identification.
PCT/DE2012/100259 2011-09-13 2012-08-31 Procédé et système d'entreposage et de préparation de commandes d'articles, notamment d'articles de pharmacie Ceased WO2013037360A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102011053547.0A DE102011053547B4 (de) 2011-09-13 2011-09-13 Verfahren und System zum Lagern und Kommissionieren von Artikeln, insbesondere von Apothekenartikeln
DE102011053547.0 2011-09-13

Publications (1)

Publication Number Publication Date
WO2013037360A1 true WO2013037360A1 (fr) 2013-03-21

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PCT/DE2012/100259 Ceased WO2013037360A1 (fr) 2011-09-13 2012-08-31 Procédé et système d'entreposage et de préparation de commandes d'articles, notamment d'articles de pharmacie

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DE (1) DE102011053547B4 (fr)
WO (1) WO2013037360A1 (fr)

Cited By (4)

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CN108614564A (zh) * 2018-06-14 2018-10-02 北京航空航天大学 一种基于信息素导航的智能集群仓储机器人系统
WO2019174937A1 (fr) * 2018-03-12 2019-09-19 Robert Bosch Gmbh Procédé et système de caméras pour la surveillance d'une procédure de commissionnement ou d'emballage
CN111228114A (zh) * 2014-05-09 2020-06-05 株式会社汤山制作所 药剂分类装置
DE102022120156A1 (de) 2022-08-10 2024-02-15 Bayerische Motoren Werke Aktiengesellschaft Regaleinrichtung, insbesondere zum zumindest vorübergehenden Lagern und/oder Transportieren von Objekten, sowie Verwendung einer solchen Regaleinrichtung

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AT514162A1 (de) 2013-04-09 2014-10-15 Knapp Ag Lager- und Kommissioniersystem zum vollautomatisierten Erkennen und Kommissionieren von Artikeln
DE102013006523B4 (de) * 2013-04-16 2020-07-23 Mimot Gmbh Verfahren zum Betreiben einer Einrichtung zum Lagern und Bereitstellen von in Gurtspulen aufgenommenen elektrischen Bauelementen
GB201402263D0 (en) * 2014-02-10 2014-03-26 Ocado Ltd Intermediate holding facility for picking station
AT519452B1 (de) * 2017-01-18 2018-07-15 Tgw Logistics Group Gmbh Verfahren und Vorrichtung zum Kommissionieren von Waren
DE102017110861B4 (de) 2017-05-18 2025-01-30 Ssi Schäfer Automation Gmbh Vorrichtung und Verfahren zum Steuern eines Materialflusses an einem Materialfluss-Knotenpunkt
CN107878990B (zh) * 2017-12-11 2023-08-01 上海诺亚木木机器人科技有限公司 一种货物配送管理方法、系统、服务器及送货机器人
DE102021104623B4 (de) 2021-02-26 2024-08-29 Ssi Schäfer Automation Gmbh (At) Materialflusssteuerung mit virtuellen Sensoren

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111228114A (zh) * 2014-05-09 2020-06-05 株式会社汤山制作所 药剂分类装置
CN111228114B (zh) * 2014-05-09 2023-10-27 株式会社汤山制作所 药剂分类装置
WO2019174937A1 (fr) * 2018-03-12 2019-09-19 Robert Bosch Gmbh Procédé et système de caméras pour la surveillance d'une procédure de commissionnement ou d'emballage
CN111837147A (zh) * 2018-03-12 2020-10-27 罗伯特·博世有限公司 用于监控分拣过程或包装过程的方法和摄像机系统
CN108614564A (zh) * 2018-06-14 2018-10-02 北京航空航天大学 一种基于信息素导航的智能集群仓储机器人系统
DE102022120156A1 (de) 2022-08-10 2024-02-15 Bayerische Motoren Werke Aktiengesellschaft Regaleinrichtung, insbesondere zum zumindest vorübergehenden Lagern und/oder Transportieren von Objekten, sowie Verwendung einer solchen Regaleinrichtung

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