CN103984346A - System and method for intelligent warehousing checking - Google Patents
System and method for intelligent warehousing checking Download PDFInfo
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- CN103984346A CN103984346A CN201410216717.XA CN201410216717A CN103984346A CN 103984346 A CN103984346 A CN 103984346A CN 201410216717 A CN201410216717 A CN 201410216717A CN 103984346 A CN103984346 A CN 103984346A
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Abstract
The invention discloses a system and method for intelligent warehousing checking. The whole scheme is conducted by an automatic checking robot and a remote management server in a matched mode. A planimetric map corresponding to a warehouse is established through scanning of the automatic checking robot. The automatic checking robot receives orders of the remote management server, moves to the front of a corresponding goods shelf on the basis of the established planimetric map and reads information in goods labels on the goods shelf. The remote management server remotely controls the automatic checking robot, obtains data sent by the automatic checking robot in real time and conducts automatic warehousing management. By the adoption of the scheme, goods in the warehouse can be automatically checked, goods checking efficiency and goods checking accuracy are greatly improved, and warehousing management is intelligentized.
Description
Technical field
The present invention relates to a kind of warehousing management technology, be specifically related to the goods checking scheme in warehousing management.
Background technology
Warehousing management is exactly the management that the goods and materials in warehouse and warehouse are carried out, and is plan, tissue, control and coordination process that storehouse mechanism carries out in order to make full use of the service of storing in a warehouse efficiently of had storage Resource Supply.Specifically, warehousing management comprises acquisition, storage business management, warehousing flow management, warehousing and storage activities management, keeping management, the multiple management work of safety management and the relevant operation of the resource of storing in a warehouse.
Intelligent storage management system is integrated infotech, wireless radio-frequency, barcode technology, electronic label technology and Computer Applied Technology etc., by storehouse management, be organically combined into a complete information management system without line sweep, electronical display and computer utility.Existing advanced intelligent WMS has relied on an important technological means, and that is exactly the use of RFID.
China is as energy big country, and the industries such as corresponding oil, petrochemical industry, coalification chemical industry develop rapidly, and meanwhile, the kind of dangerous material and quantity also increase severely day by day, numerous especially with the enterprise of these petrochemical complex product industry-relateds.So chemicals logistics high speed development, chemical industry warehouse also becomes hot topic.In 10,000 Duo Jia dangerous material storage enterprises of the whole of China, the chemical industry third-party logistics warehouse of specialty occupies nearly 3 one-tenth.Although the development of the warehouse of China Chemical Industry logistics aspect rapidly, the relevant storehouse management technology using is not well upgraded and is developed, and great majority use the old traditional storehouse management pattern that is still.The administrative standard in dangerous material storage market does not have good specification yet, and modernization level is also on the low side.Under this technical merit, seriously keep the development of Chinese dangerous material warehousing industry in check.
Moreover, the means of making an inventory in WMS of being commonly used at present be mainly divided into make an inventory by hand, the machine of making an inventory makes an inventory.
Wherein, make an inventory by hand: mainly, by personnel's hand-kept content of making an inventory, commodity data, then checks with computer.The machine of making an inventory is made an inventory: utilize data acquisition unit equipment, the merchandise news that needs are made an inventory imports in collector, then utilizes the machine items scanning bar code of making an inventory, and then shows corresponding information, the personnel that make an inventory are according to realizing quantity typing collection, and last import system management software is compared.
This two kinds of means of making an inventory workman that needs to make an inventory enters into the on-the-spot goods stored of storage and makes an inventory one by one, and this not only wastes time and energy, also the coarse problem of deposit point; When the most key, this means of making an inventory cannot be used for making an inventory of dangerous material storage, due to dangerous material storage, make workman person cannot enter into storage scene and make an inventory, and will bring great inconvenience to making an inventory of dangerous material storage like this.
Summary of the invention
For relying on and manually carry out the existing problem of goods checking in existing warehousing management scheme, fundamental purpose of the present invention is to provide a kind of intelligent storage check system, realizes the automatic precision firm offer point of goods.
Meanwhile, on the basis of this system, the present invention also provides a kind of checking method of intelligent storage.
In order to achieve the above object, the present invention adopts following technical scheme:
A kind of intelligent storage check system, described check system comprises label, it also comprises:
Automatically robot makes an inventory, the described robot that automatically makes an inventory, by scanning, sets up the plane map corresponding to warehouse, and the described robot that automatically makes an inventory accepts the instruction of remotely administered server, and based on set up plane map move to before corresponding shelf, read the information in the label on it;
Remotely administered server, the described remotely administered server Long-distance Control robot that automatically makes an inventory, and the Real-time Obtaining data that robot sends of automatically making an inventory, the management automatically of storing in a warehouse.
In this check system, the described robot that automatically makes an inventory comprises a removable body, on this removable body, be provided with laser instrument for scanning, sonar ring, cradle head camera, tag read-write equipment, controller and the power supply of detecting obstacles thing when mobile, described controller control linkage laser instrument, sonar ring, tag read-write equipment and cradle head camera, described power supply provides operating voltage for the robot that automatically makes an inventory.
Further, described remotely administered server mainly comprises:
Data storage cell, described data storage cell memory disc dot system all data in service;
Data communication unit, described data communication unit joins with the robot data of automatically making an inventory, mutual data transmission;
Data processing unit, the data that described data processing unit receives data communication unit are processed, and the data of handling well are deposited in data storage cell; Described data processing unit produces steering order and reaches data communication unit;
Display unit, described display unit is controlled by data processing unit, shows the data that data processing unit is handled well.
Further, described check system also comprises mobile control end, and described mobile control end runs on mobile terminal, and joins with the robot data of automatically making an inventory by mobile network.
Based on above-mentioned check system, the checking method of a kind of intelligent storage provided by the invention, it comprises the steps:
(1) by the robot that automatically makes an inventory, the environment in warehouse is scanned, and set up the plane map of warehouse internal environment according to scanning result;
(2) robot that automatically makes an inventory accepts steering order, and this steering order is resolved, and the plane map according to the result of resolving based on setting up forms corresponding mobile steering order;
(3) robot that automatically makes an inventory moves under steering order automated movement to destination address at this;
(4) robot that automatically makes an inventory reads the information in the label on destination address by tag read-write equipment on it, and the result reading is reached to remotely administered server;
(5) remotely administered server is processed the data that receive, and completes making an inventory of goods.
In the preferred version of this checking method, automatically the robot that makes an inventory in described step (1) scans the environment in warehouse according to default path, obtain the information of mobile road in the positional information of all shelf in warehouse and cabin, and set up accordingly the plane map of warehouse internal environment.
Further, in described step (2), specifically comprise the steps:
(a1) automatically make an inventory robot resolve steering order, from instruction, get destination address information;
(a2) plane map of setting up according to destination address information set, forms corresponding mobile route;
(a3) this mobile route is combined with plane map, calculates corresponding mobile steering order.
Further, in described step (2), specifically comprise the steps:
(b1) automatically make an inventory robot resolve steering order, from instruction, get default mobile route information;
(b2) mobile route information is combined with plane map, calculates corresponding mobile steering order.
Further, the described robot that automatically makes an inventory reaches the plane map information of foundation in remotely administered server, and in moving process, the real-time position information of oneself is reached to remotely administered server, automatically the make an inventory motion track of robot of remotely administered server in real time demonstration on plane map.
Further, the robot that automatically makes an inventory in described step (4) is reading after label internal information, by with remotely administered server in the goods information stored contrast, and comparing result is reached to remotely administered server.
Further, the described robot that automatically makes an inventory, completing once making an inventory after task, will return to original position.
Scheme provided by the invention can realize automatically the making an inventory of goods in warehouse, and greatly improves efficiency and the precision of goods checking, realizes the intellectuality of warehousing management.
Meanwhile, this programme can be realized long-range accurate control, automatically completes making an inventory of goods by the robot that automatically makes an inventory, and without manually entering into storage environment, particularly suitable is applied to dangerization product storage environment.
Brief description of the drawings
Further illustrate the present invention below in conjunction with the drawings and specific embodiments.
Fig. 1 is the system chart of check system provided by the invention;
Fig. 2 is the structural representation of the robot that automatically makes an inventory in the present invention;
Fig. 3 makes an inventory the vertical view of robot automatically in the present invention;
Fig. 4 is the structural representation of card reader mechanism in robot of automatically making an inventory in the present invention;
Fig. 5 is the assembling schematic diagram that moves the robot that automatically makes an inventory in the present invention.
Embodiment
For technological means, creation characteristic that the present invention is realized, reach object and effect is easy to understand, below in conjunction with concrete diagram, further set forth the present invention.
Referring to Fig. 1, it is depicted as the system chart of intelligent storage check system provided by the invention.As seen from the figure, this check system is mainly made up of the robot 100 that automatically makes an inventory, remotely administered server 200 and label 300.
Label 300 is arranged on corresponding goods or shelf, the relevant information of corresponding goods for storing.The general RFID label that adopts of this label 300, its storage inside has the store status, storage time, operating personnel's information of shelf location information, Description of Goods, goods etc.
Automatically make an inventory robot 100 for the core component in whole system, in its work storage environment, can scan storage environment, and set up the plane map corresponding to warehouse; This robot that automatically makes an inventory also accepts the instruction of remotely administered server simultaneously, and based on set up plane map move to before corresponding shelf, read the information in the label on it.
Referring to Fig. 2, to figure, this robot 100 that automatically makes an inventory comprises that removable body 100 bottoms are symmetrically arranged with four driving wheels 101, is provided with laser instrument 102, sonar ring 103 and RGB cradle head camera 104 simultaneously on the deck of mobile body 100.
Laser instrument 102 is arranged on the foredeck of removable body 100, both for obstacle, again for robot from the location in warehouse.
Sonar ring 103 is for detection of the barrier in robot traveling process, and device is made up of 12 sonar sensors, is divided into two groups, and every group of six sonar sensors are separately positioned on the front and back ends of removable body 100.
RGB cradle head camera 104 is for finding target simultaneously, and it arranges on the deck of mobile body 100, and is positioned at the top of laser instrument 102.
In this removable body 100, be also provided with controller and power supply (not shown), its middle controller control linkage moves the laser instrument 102, sonar ring 103 and the RGB cradle head camera 104 that on body 100, arrange; This controller also drives by driving mechanism (as motor and gear train) driving wheel 101 being connected on mobile body simultaneously.
This controller mainly comprises data processing unit, map structuring unit, obstacle unit, path planning unit.
Data processing unit is data computing center in the robot 100 that automatically makes an inventory.
Map structuring unit scans the data that obtain (as obstacle information, shelf location information, mobile road information, relative position etc. between them) and builds the electronic plane map of storage environment according to laser instrument 102.In this map, at least comprise the positional information of all shelf, with respect to positional information, mobile road information etc.
Obstacle unit and path planning unit matching form navigational system in the robot 100 that automatically makes an inventory, and automatically move to destination for controlling the robot 100 that automatically makes an inventory.Obstacle unit obtains data in laser instrument 102 accurate location is entered in the position of robot 100 moving process of automatically making an inventory, and obtains data in sonar ring 103 simultaneously the barrier on mobile route is detected accurately; Corresponding routing information, for the electronic plane map in conjunction with construction according to instruction, is cooked up in path planning unit, and forms corresponding mobile steering order according to this routing information.
The work that power supply is whole robot provides reliable and stable operating voltage, and it is electrically connected with building blocks such as laser instrument 102, sonar ring 103, RGB cradle head camera 104 and controllers respectively.
In order further to improve the portability of operation, the present invention also arranges corresponding control panel 105 on removable body 100.This control panel 105 is arranged on the middle part on removable body 100 decks, has the status indicator lamp in robot operational process on it, reset button, serial line interface and cable interface etc.
In order to realize the goods of making an inventory, the present invention is provided with label read write line 106 on removable body 100, and this label read write line is placed on removable body 100 by corresponding bracing frame 107.
This bracing frame 107 supports different feet 107b, the 107c of basifacial two length and forms with being symmetricly set on for supporting surface 107a that label read write line 106 is installed by one.
Card reader mechanism 106, in the time of concrete installation, is first fixed on the spike 107b that draws money on credit of bracing frame 107 on the deck of removable body 100 by screw, short feet 107c is fixed on laser instrument simultaneously.
After being fixed on bracing frame 107, label read write line 106 is defined in to the supporting surface 107a on bracing frame 107.
The control data corporation that remotely administered server 200 in native system is whole backstage, its robot 100 that can Long-distance Control automatically makes an inventory, and the Real-time Obtaining data that robot sends of automatically making an inventory, the management automatically of storing in a warehouse.
In the time of specific implementation, this remotely administered server is mainly made up of data storage cell 201, data communication unit 202, data processing unit 203 and display unit 204.
Data storage cell 201 is for memory disc dot system all data in service;
The transmission data between server and robot, for joining with the robot data of automatically making an inventory, are realized in data communication unit 202.
Data processing unit 203 is processed for the data that data communication unit received according to the requirement of warehousing management, and the data of handling well are deposited in data storage cell; This data processing unit also produces corresponding steering order according to user's operation simultaneously, and this steering order reaches by data communication unit 202 robot 100 that automatically makes an inventory, and realizes its Long-distance Control.
Display unit 204 provides a human-computer interaction interface, provides and demonstrate all functions of this management server.
In order further to improve the portability of the operation of native system, the present invention, on the basis of such scheme, also provides a kind of mobile control end 400, and this moves control end 400 and is arranged in corresponding mobile terminal with the form of APP.The mobile network that mobile control end 400 is supported by mobile terminal or WIFI network control connect the robot 100 that automatically makes an inventory, and can realize the mobile of the robot 100 that automatically makes an inventory controlled.
The intelligent storage check system forming thus, it is as follows that it carries out the course of work that warehoused cargo makes an inventory automatically:
First carry out building of system, each several part in system (is mainly the robot 100 that automatically makes an inventory, remotely administered server 200) switched on after, robot body is connected to router by the wireless network card of itself, simultaneously the client PC of operation long-distance management server 200 is by wired or be infinitely connected to route, make remotely administered server 200 and automatically make an inventory robot 100 all under same LAN (Local Area Network), now need PC end request Connection Service end between robot and user, to set up communication connection, after completing, connection setup can select at PC end the mode of control, comprise computer instruction control, voice control and the control of cell phone end.
If also there is mobile control end 400 in this system, need to move in corresponding mobile terminal corresponding APP, and establish a communications link by mobile network and the robot 100 that automatically makes an inventory.
After the building of completion system, can carry out work.
Before work, the goods for the treatment of storage carries out the registration of information, it when registration, is the RFID label that each goods or shelf-space allocation are corresponding, again by remotely administered server 200 or on-the-spot read write line, the information of this goods or shelf is written in RFID, based on information comprise time, operating personnel's name of position, the storage of Description of Goods, character, storage etc., and this information stores in the data storage cell of remotely administered server 200.
Completing after all goods registration and storage, can control the robot 100 that automatically makes an inventory and carry out automatically making an inventory of goods.
Before making an inventory first, send and build figure instruction and corresponding mobile route to the robot 100 that automatically makes an inventory by remotely administered server 200 or mobile control end 400.
Automatically the controller of making an inventory in robot 100 is built figure instruction and corresponding mobile route receiving this, the control robot 100 that automatically makes an inventory is moved according to mobile route, in this moving process, to start map structuring unit and obstacle unit, map structuring unit will obtain the size of whole storage environment by the laser instrument of automatically making an inventory in robot 100, the exact position of simultaneously automatically making an inventory robot 100 in moving process, the positional information of each shelf in storage environment, information of interdependent movable passageway etc., and go out the electronic plane map of storage environment according to these information architectures, in this map, at least comprise the positional information of all shelf, with respect to positional information, mobile road information etc.
In moving process, obstacle unit accurately detects by laser instrument and the sonar ring 103 automatically made an inventory in robot 100 barrier running in robot 100 moving process of automatically making an inventory, and controls the robot 100 that automatically makes an inventory and walk around this barrier and move on.
As required, the robot 100 that automatically makes an inventory can be sent to remotely administered server 200 by the map of structure, to realize automatically the make an inventory movement locus of robot 100 of the real-time demonstration of remotely administered server 200.
Complete after map structuring, can carry out making an inventory of goods.In the time making an inventory goods, produce by the client PC end of operation long-distance management server 200 or the mobile terminal that moves mobile control end 400 instruction of making an inventory that shelf are made an inventory, be specially corresponding computer instruction or be cell phone instruction.
Or directly directly produce phonetic control command by loudspeaker, this phonetic control command can directly send to the robot 100 that automatically makes an inventory, also can send to client PC end and mobile terminal, after being accepted to process by it, sending to the robot 100 that automatically makes an inventory.
The time forming for instruction, can be produced immediately by operating personnel, can automatically produce according to the time period of setting.
Automatically the robot 100 that makes an inventory is receiving after corresponding instruction, controller by inner is resolved this instruction, resolve again and obtain after control command, start path planning unit, this path planning unit is the electronic plane map in conjunction with construction by this instruction, cook up corresponding routing information by calculating, and calculate and form corresponding mobile steering order in conjunction with electronic plane map according to this routing information.
Controller moves to target according to the mobile steering order control robot 100 that automatically makes an inventory, in moving process, be obtained from the present position information of Moving plate point robot 100 by laser instrument, now can as required this positional information be sent to operation long-distance management server 200, by operation long-distance management server 200 by automatically the make an inventory running orbit of robot 100 of this positional information in real time demonstration on the electronic plane map of accepting before.This function equally also can realize on mobile terminal.
Simultaneously, in moving process, automatically the controller of making an inventory in robot 100 will start obstacle unit, this unit will accurately detect the barrier running in robot 100 moving process of automatically making an inventory by laser instrument and the sonar ring 103 automatically made an inventory in robot 100, and controls the robot 100 that automatically makes an inventory and walk around this barrier and move on.
Reaching behind target location, will enter into fetch phase several times.In this stage, automatically first the controller of making an inventory in robot 100 is controlled card reader and is opened, card reader reads the RFID electronic tag on target position in storehouse, after reading, these data is reached to remotely administered server 200 or mobile control end 400.
As required, card reader is after reading, the data message that basis is read, from the data storage cell of remotely administered server 200, obtain corresponding storage data, and the data that read and the data of extracting are contrasted, check on warehouse compartment, whether goods is put correctly, the data that read and comparing result are sent to remotely administered server 200 or mobile control end 400.
Complete after the reading of data, the controller of automatically making an inventory in robot 100 by according to before the path planning return to origin of coming, complete thus making an inventory of goods.
Above-mentioned inventory procedure is to carry out based on concrete target instruction target word, directly forms as required a path planning instruction, realizes making an inventory to multiple target positions in storehouse.
Accordingly, on the plane map of storage environment, choose by remotely administered server 200 or mobile control end 400 position in storehouse that need to make an inventory, and default corresponding path (determining sequencing and the moving direction made an inventory), form thus the steering order that comprises preset path and position in storehouse information to be made an inventory, and be sent to inventory point robot 100.
Automatically the controller of robot 100 made an inventory is receiving after instruction, controller by inner is resolved this instruction, resolve again and obtain after control command, start path planning unit, this path planning unit calculates and forms corresponding mobile steering order in conjunction with electronic plane map according to the preset path in instruction.
Controller moves to target according to the mobile steering order control robot 100 that automatically makes an inventory, and when realizing many positions in storehouse, makes an inventory.Detailed process is described above, is not repeated herein.
Known by foregoing, system provided by the invention can realize:
1) to be undertaken by remote speech control, warehoused cargo is made an inventory and information acquisition transmission.
2) completing robot remote control by mobile phone terminal stores in a warehouse and makes an inventory and information acquisition transmission.
3) realize and robot is set carries out autonomous storage in the time period of specifying and make an inventory.
4) realize robot to specifying storage position to make an inventory.
More than show and described ultimate principle of the present invention, principal character and advantage of the present invention.The technician of the industry should understand; the present invention is not restricted to the described embodiments; that in above-described embodiment and instructions, describes just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.The claimed scope of the present invention is defined by appending claims and equivalent thereof.
Claims (10)
1. an intelligent storage check system, described check system comprises label, it is characterized in that, described system also comprises:
Automatically robot makes an inventory, the described robot that automatically makes an inventory, by scanning, sets up the plane map corresponding to warehouse, and the described robot that automatically makes an inventory accepts the instruction of remotely administered server, and based on set up plane map move to before corresponding shelf, read the information in the label on it;
Remotely administered server, the described remotely administered server Long-distance Control robot that automatically makes an inventory, and the Real-time Obtaining data that robot sends of automatically making an inventory, the management automatically of storing in a warehouse.
2. a kind of intelligent storage check system according to claim 1, it is characterized in that, the described robot that automatically makes an inventory comprises a removable body, on this removable body, be provided with laser instrument for scanning, sonar ring, cradle head camera, tag read-write equipment, controller and the power supply of detecting obstacles thing when mobile, described controller control linkage laser instrument, sonar ring, tag read-write equipment and cradle head camera, described power supply provides operating voltage for the robot that automatically makes an inventory.
3. a kind of intelligent storage check system according to claim 1, is characterized in that, described remotely administered server mainly comprises:
Data storage cell, described data storage cell memory disc dot system all data in service;
Data communication unit, described data communication unit joins with the robot data of automatically making an inventory, mutual data transmission;
Data processing unit, the data that described data processing unit receives data communication unit are processed, and the data of handling well are deposited in data storage cell; Described data processing unit produces steering order and reaches data communication unit;
Display unit, described display unit is controlled by data processing unit, shows the data that data processing unit is handled well.
4. a kind of intelligent storage check system according to claim 1, is characterized in that, described check system also comprises mobile control end, and described mobile control end runs on mobile terminal, and joins with the robot data of automatically making an inventory by mobile network.
5. a checking method for intelligent storage, is characterized in that, described method comprises the steps:
(1) by the robot that automatically makes an inventory, the environment in warehouse is scanned, and set up the plane map of warehouse internal environment according to scanning result;
(2) robot that automatically makes an inventory accepts steering order, and this steering order is resolved, and the plane map according to the result of resolving based on setting up forms corresponding mobile steering order;
(3) robot that automatically makes an inventory moves under steering order automated movement to destination address at this;
(4) robot that automatically makes an inventory reads the information in the label on destination address by tag read-write equipment on it, and the result reading is reached to remotely administered server;
(5) remotely administered server is processed the data that receive, and completes making an inventory of goods.
6. the checking method of a kind of intelligent storage described in 5 as requested, it is characterized in that, automatically the robot that makes an inventory in described step (1) scans the environment in warehouse according to default path, obtain the information of mobile road in the positional information of all shelf in warehouse and cabin, and set up accordingly the plane map of warehouse internal environment.
7. the checking method of a kind of intelligent storage described in 5 as requested, is characterized in that, described step specifically comprises the steps: in (2)
(a1) automatically make an inventory robot resolve steering order, from instruction, get destination address information;
(a2) plane map of setting up according to destination address information set, forms corresponding mobile route;
(a3) this mobile route is combined with plane map, calculates corresponding mobile steering order.
8. the checking method of a kind of intelligent storage described in 5 as requested, is characterized in that, described step specifically comprises the steps: in (2)
(b1) automatically make an inventory robot resolve steering order, from instruction, get default mobile route information;
(b2) mobile route information is combined with plane map, calculates corresponding mobile steering order.
9. the checking method of a kind of intelligent storage described in 5 as requested, it is characterized in that, the described robot that automatically makes an inventory reaches the plane map information of foundation in remotely administered server, and in moving process, the real-time position information of oneself is reached to remotely administered server, automatically the make an inventory motion track of robot of remotely administered server in real time demonstration on plane map.
10. the checking method of a kind of intelligent storage described in 5 as requested, it is characterized in that, automatically the robot that makes an inventory in described step (4) is reading after label internal information, by with remotely administered server in the goods information stored contrast, and comparing result is reached to remotely administered server.
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