CN106379681B - A kind of intelligent storage robot, system and system control method - Google Patents
A kind of intelligent storage robot, system and system control method Download PDFInfo
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- CN106379681B CN106379681B CN201610540374.1A CN201610540374A CN106379681B CN 106379681 B CN106379681 B CN 106379681B CN 201610540374 A CN201610540374 A CN 201610540374A CN 106379681 B CN106379681 B CN 106379681B
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- shelf
- turnover box
- picking
- administrative center
- stocks
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- 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
- B65G1/12—Storage devices mechanical with separate article supports or holders movable in a closed circuit to facilitate insertion or removal of articles the articles being books, documents, forms or the like
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
Abstract
The invention discloses a kind of intelligent storage robot, system and system control methods.The intelligent storage robot includes mobile chassis and at least one mechanical arm for capturing article, the mobile chassis bottom is equipped with the first two-dimensional code reader, the elevating mechanism that the mobile chassis is equipped with the first shelf and drives mechanical arm vertically moving, controller and wireless communication module are additionally provided on the mobile chassis, the controller is electrically connected with mobile chassis, mechanical arm, the first two-dimensional code reader, elevating mechanism and wireless communication module respectively.The present invention picking, get in stocks when do not need to carry entire shelf, cost is relatively low, and shelf size is unrestricted, improve staff sort kinds of goods efficiency.
Description
Technical field
The present invention relates to a kind of intelligent storage technical field more particularly to intelligent storage robot, system and system controls
Method.
Background technology
Intelligent storage is a link of logistics progress, and the application of intelligent storage ensure that each ring of kinds of goods storehouse management
Joint number according to input speed and accuracy, it is ensured that enterprise timely and accurately grasps the truthful data of inventory, rationally keep and control
Business inventory.By the coding of science, also easily the batch of inventory good, shelf-life etc. can be managed.
Currently, intelligent storage is that multiple shelf for placing kinds of goods are arranged in warehouse, intelligent storage robot is according to wireless
Shelf where kinds of goods are carried to employee's treatment region by the order of instruction from warehouse, and staff picks in employee's treatment region, scans
Commodity.But this intelligent storage robot can only carry entire shelf, cost higher to performance requirements such as the load-bearing of itself
Higher, weight, height of shelf etc. are also restrained, and staff looks for order kinds of goods on shelf, less efficient.
Invention content
The purpose of the present invention is overcoming existing intelligent storage robot that can only carry entire shelf, performance requirement is higher, at
This is higher, and shelf size is restricted, and staff sorts the less efficient technical problem of kinds of goods, provides a kind of intelligent storage
Robot, system and system control method do not need to carry entire shelf, and cost is relatively low, and shelf size is unrestricted, improve work
Make the efficiency that personnel sort kinds of goods.
To solve the above-mentioned problems, the present invention is achieved by the following scheme：
A kind of intelligent storage robot of the present invention, including mobile chassis and at least one machinery for capturing article
Arm, the mobile chassis bottom are equipped with the first two-dimensional code reader, and the mobile chassis is equipped with the first shelf and drives machinery
Arm vertically moving elevating mechanism is additionally provided with controller and wireless communication module, the control on the mobile chassis
Device is electrically connected with mobile chassis, mechanical arm, the first two-dimensional code reader, elevating mechanism and wireless communication module respectively.
In the technical scheme, mobile chassis includes chassis, several castors and driving foot in tray bottom is arranged
The drive module of movement is taken turns, drive module is electrically connected with the controller, and controller drives castor to move by drive module, to control
Mobile chassis processed moves freely on the ground.
First two-dimensional code reader is camera, for reading two-dimension code label used for positioning on ground, each two dimension
It is built-in with unique ID number or coordinate value in code.A certain number of two-dimension code labels are disposed on ground to realize to intelligent storage
The guiding function of robot.Quick Response Code uses rectangular, there are three seeking as figure on three angles, is visited using CCD recognizing apparatus
It surveys the position of Quick Response Code, size, angle of inclination and is decoded.Intelligent storage robot is by identifying that Quick Response Code carries out itself
Positioning, moves to designated position.
When mechanical arm is 2 or more, elevating mechanism can drive mechanical arm to lift jointly.Elevating mechanism can also drive each
Mechanical arm independent-lifting, each mechanical arm lifting do not interfere with the lifting of other mechanical arms.Intelligent storage robot can be used
Kinds of goods on itself the first shelf are removed and are placed on warehouse shelf by one mechanical arm, using another mechanical arm by warehouse goods
Kinds of goods, which are removed, on frame is placed on itself the first shelf.
Module is carried out wireless communication with administrative center by radio communication for intelligent storage robot.When administrative center receives
When picking order, administrative center analyzes picking order, determines all positions for needing picking product in picking order, then scheduling intelligence
Storage robot picking, scheduled intelligent repository robot motion need the position of picking product from opposite depot shelf to all
The turnover box for removing the corresponding kinds of goods of storage is placed on the first shelf of itself, when intelligent storage robot needs picking product by all
After being all placed on the first shelf of itself, intelligent storage robot motion to employee's treatment region；On administrative center receives
When goods order, administrative center analyzes order of getting in stocks, and determines the position that all kinds of goods that need to get in stocks need to be placed in order of getting in stocks, then adjusts
Intelligent storage robot motion is spent to employee's treatment region, and kinds of goods are placed on intelligent storage machine by employee according to the instruction of administrative center
In the turnover box of the designated position of the first shelf of device people, scheduling intelligent storage robot of administrative center moves to all need successively
The position that kinds of goods of getting in stocks need to be placed is removed need to the get in stocks turnover box of kinds of goods of storage from the corresponding position of itself the first shelf and is placed into
The designated position of corresponding warehouse shelf.
Intelligent storage robot directly picks and places kinds of goods, does not need to carry entire shelf, and cost is relatively low, and shelf size is unrestricted
System can once carry more than one piece kinds of goods, improve the efficiency that staff sorts kinds of goods.
Preferably, being additionally provided with the translation mechanism for driving elevated levels movement, the translation on the mobile chassis
Mechanism is electrically connected with the controller.Translation mechanism, which is realized, drives mechanical arm to move horizontally.
Preferably, the mechanical arm includes gripper, drives the telescoping mechanism that moves horizontally of gripper and driving telescopic machine
The flexible driving mechanism of structure, the driving mechanism are electrically connected with the controller.
Preferably, the telescoping mechanism can drive gripper, both sides are moved forwards, backwards, after first shelf are located at gripper
Side, the mechanical arm front and rear sides are equipped with the second two-dimensional code reader, and second two-dimensional code reader is electrically connected with the controller.
It stores and posts the two-dimension code label with positioning function on the turnover box of kinds of goods, intelligent storage robot is read by the second Quick Response Code
It takes the two-dimension code label on device identification turnover box to be positioned, finely tunes the position of mechanical arm so that turnover box is more accurately captured,
The turnover box information stored in two-dimension code label can also be read.
A kind of intelligent warehousing system of the present invention, including a kind of above-mentioned intelligent storage robot, further include administrative center,
Be distributed in storage region several second shelf and be arranged storage localized ground on several used for positioning first
Two-dimension code label, second shelf are equipped with several turnover boxes for being used to place kinds of goods, the gripper of intelligent storage robot
It is matched with turnover box, the administrative center is wirelessly connected by wireless network and wireless communication module.
In the technical scheme, the first two-dimension code label is disposed adjacent composition two-dimension code navigation band, intelligent storage machine successively
Device people realizes and is moved freely in storage region by identifying that the first two-dimension code label carries out self poisoning.
Turnover box unified specification captures convenient for mechanical arm, and same kinds of goods are placed in each turnover box.When picking, intelligence
The turnover box for being placed with the kinds of goods is removed and transports to employee's treatment region by the robot that can store in a warehouse, and staff takes out specified from turnover box
The kinds of goods of quantity.Administrative center receives the order that external equipment is sent, according to order allocate intelligent storage robot picking, on
Goods, while having the function of storage business, outbound business, warehouse are alloted and empty storekeeper is managed etc., to batch management, material correspondence, library
The function synthesizeds such as point, quality inspection management, empty storekeeper reason and just in time inventory management of depositing use.
Preferably, turnover box at least side is equipped with the second two-dimension code label.Intelligent storage robot passes through the second two dimension
The second two-dimension code label on code reader identification turnover box is positioned, and finely tunes the position of mechanical arm so that more accurately grab
The unique number of turnover box, intelligent storage robot can pass through second where taking turnover box, the second two-dimension code label to be also stored with
Two-dimensional code reader is read.
Preferably, a kind of intelligent warehousing system further includes at least one workbench for being distributed in storage region, institute
It includes microprocessor, touch screen and scanner to state workbench, and the microprocessor is electrically connected with touch screen and scanner respectively, institute
Stating workbench can be communicated with administrative center.Workbench is connect by cable network or wireless network with administrative center, micro-
Processor carries out data exchange with administrative center.The turnover box removed is transported to workbench by intelligent storage robot, and work people
Member sorts kinds of goods in workbench, and touch screen shows the inventory information that need to be removed from intelligent storage robot, and staff is from intelligence
The kinds of goods removed in robot that can store in a warehouse all use scanner inswept, and the inswept inventory information of scanner is sent to pipe by microprocessor
Reason center, administrative center record these information, can print relevant information as desired by printer.
Preferably, the workbench further includes third shelf, each it is used to place the placement of turnover box on the first shelf
Position is designed with the first indicator light, and the placement position for each being used to place turnover box on third shelf is designed with the second indicator light.Work as intelligence
It can store in a warehouse after the turnover box removed is transported to workbench by robot, administrative center controls the first goods of the intelligent storage robot
The first indicator light at placement position where needing picking product on frame where turnover box is lighted, and is controlled and is used on the workbench third shelf
The second indicator light at the placement position for placing corresponding kinds of goods is lighted, and is quickly removed kinds of goods convenient for staff and is put into specific bit
It sets.
A kind of control method of intelligent warehousing system of the present invention, using a kind of above-mentioned intelligent warehousing system, including with
Lower step：
When administrative center receives picking order, administrative center analyzes picking order, determines all need in picking order
The position of picking product, and dispatch intelligent storage robot picking；
Intelligent storage robot, which receives to be moved to successively after the pick-up instruction of administrative center's transmission, all needs picking product institute
In position picking, intelligent storage robot is moved to the method that some needs picking product position picking and includes the following steps：Intelligence
The robot that can store in a warehouse is moved at second shelf where needing picking product, is removed from second shelf using a mechanical arm
Being placed with this needs the turnover box of picking product and is put on the first shelf of itself, will be on itself the first shelf using another mechanical arm
Be not placed in picking order to need the turnover box of picking product to remove the turnover box for being put into and being removed on second shelf original
Position, and the location information of the turnover box being put on the second shelf is sent to administrative center；
Intelligent storage robot by it is all need picking product where turnover box remove be put on the first shelf of itself after root
The operating position information sent according to administrative center is moved to corresponding workbench.
In the technical scheme, administrative center determines in picking order behind all positions for needing picking product, calculates and reaches
It is all need picking product where the second shelf location optimal paths, one intelligent storage robot of scheduling according to optimal path successively
Being moved to all needs picking product position picking.When intelligent storage robot picking is dispatched by administrative center, by pick-up instruction, institute
Have need picking product location information, optimal path and execute the picking order operating position information be sent to execute picking task
Intelligent storage robot.Kinds of goods location information includes the number of the second shelf where kinds of goods and position, is placed with the kinds of goods
The position of the number of turnover box and the turnover box on second shelf.
When needing picking product position to move to some, mechanical arm is adjusted to crawl automatically should for intelligent storage robot
Kinds of goods need optimum position to be achieved, improve working efficiency.
Intelligent storage robot takes next when being placed with the turnover box for needing picking product from the second shelf, and the second shelf are vacated
One placement position for placing turnover box, if there is the turnover box without taking on the first shelf of intelligent storage robot,
The then intelligent storage robot position original by the turnover box that is removed on the second shelf is put into without the turnover box taken, and should
The number for the turnover box being put on the second shelf and position are sent to administrative center, and administrative center carries out registration storage.New
The turnover box left in last picking flow is placed into picking flow position for the turnover box newly removed, taken
Last turnover box is stored while this required turnover box, is improved work efficiency, and intelligent storage robot has enough to meet the need storage
The relevant information of case is sent to administrative center, and administrative center records the position of these turnover boxes again, and entire storage has been carried out
Full random storage.
Preferably, when intelligent storage robot by all turnover box transportations needed where picking product to workbench after, pipe
Reason center sends pick-up instruction and gives the workbench, the touch screen of workbench show picking order it is all need to take inventory information and
Its position on the first shelf, the information that staff shows according to touch screen is placed with correspondence from the first shelf needs picking product
Turnover box in take out need picking product, be put into after being scanned with scanner on third shelf, when staff needs picking product by all
After being all put on third shelf, staff exports picking by touch screen and completes instruction, and picking is completed information and sent out by workbench
Administrative center is given, control intelligent storage robot of administrative center leaves workbench.
A kind of control method of intelligent warehousing system of the present invention, using a kind of above-mentioned intelligent warehousing system, including with
Lower step：
When administrative center, which receives, gets in stocks order, administrative center analyzes order of getting in stocks, and determines all need in order of getting in stocks
The position of the corresponding turnover box of kinds of goods of getting in stocks, and dispatch intelligent storage robot and get in stocks；
Intelligent storage robot is moved to all kinds of goods that need to get in stocks successively after receiving the instruction of getting in stocks that administrative center sends
Corresponding turnover box is removed in corresponding turnover box position from corresponding second shelf, and the turnover box removed is put into itself
On first shelf；
All corresponding turnover boxes of kinds of goods that need to get in stocks are removed by intelligent storage robot be put on the first shelf of itself after
The operating position information sent according to administrative center is moved to corresponding workbench；
Administrative center sends instruction of getting in stocks and the workbench, the touch screen of workbench is given to show that all of order of getting in stocks need to get in stocks
Inventory information and its position of corresponding turnover box on the first shelf, the information that staff shows according to touch screen is from
Being taken out on three shelf need to get in stocks kinds of goods, be put into after being scanned with scanner on the first shelf, when staff is by all goods that need to get in stocks
After product are all put on the first shelf, staff is got in stocks by touch screen output and completes instruction, and workbench will get in stocks and complete information
It is sent to administrative center, the turnover box on itself the first shelf is put back to original position by scheduling intelligent storage robot of administrative center.
In the technical scheme, administrative center, which determines, gets in stocks in order behind the position of all kinds of goods that need to get in stocks, and calculates
Up to the optimal path of the second shelf location where the corresponding turnover box of all kinds of goods that need to get in stocks, an intelligent storage robot is dispatched
The corresponding turnover box position of all kinds of goods that need to get in stocks is moved to successively according to optimal path to remove from corresponding second shelf
Corresponding turnover box.
When scheduling intelligent storage robot of administrative center gets in stocks, administrative center will get in stocks instruction, all kinds of goods pair that need to get in stocks
It the turnover box location information answered, optimal path and executes the operating position information of the order of getting in stocks and is sent to execution and gets in stocks task
Intelligent storage robot.Turnover box location information includes the number of the second shelf and the volume of position, turnover box where turnover box
Number and the position on second shelf.
The beneficial effects of the invention are as follows：（1）It picks and places goods and does not need to carry entire shelf, cost is relatively low, and shelf size is unrestricted
System improves the efficiency that staff sorts kinds of goods.（2）The same of the corresponding turnover box of picking product is needed in the picking order for taking new
Picking order is retained in the turnover box in intelligent storage robot to Shi Cunfang after the completion in the past, improves work efficiency, entire storehouse
Completely random storage is carried out in storage.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of intelligent storage robot；
Fig. 2 is a kind of circuit theory connection block diagram of intelligent storage robot；
Fig. 3 is the structural schematic diagram when telescoping mechanism of mechanical arm is retracted；
Fig. 4 is the structural schematic diagram when telescoping mechanism of mechanical arm stretches out；
Fig. 5 is a kind of structural schematic diagram of intelligent warehousing system；
Fig. 6 is a kind of structural schematic diagram of the second shelf；
Fig. 7 is a kind of structural schematic diagram of turnover box；
Fig. 8 is a kind of structural schematic diagram of workbench；
Fig. 9 is a kind of circuit theory connection block diagram of workbench；
Figure 10 is the schematic diagram that turnover box is removed from the second shelf by intelligent storage robot.
In figure：1, mobile chassis, 2, mechanical arm, the 3, first two-dimensional code reader, the 4, first shelf, 5, elevating mechanism, 6,
Controller, 7, wireless communication module, 8, translation mechanism, 9, gripper, 10, telescoping mechanism, 11, driving mechanism, the 12, second Quick Response Code
Reader, the 13, second shelf, the 14, first two-dimension code label, 15, turnover box, 16, administrative center, 17, workbench, 18, Wei Chu
Manage device, 19, touch screen, 20, scanner, 21, third shelf, the 22, first indicator light, the 23, second indicator light, 24, raised line, 25,
Second two-dimension code label.
Specific implementation mode
Lead to embodiment below, and in conjunction with attached drawing, the technical solutions of the present invention will be further described.
Embodiment 1：A kind of intelligent storage robot of the present embodiment, as shown in Figure 1 and Figure 2, including mobile chassis 1 and two
A mechanical arm 2,1 bottom of mobile chassis are equipped with the first two-dimensional code reader 3, and mobile chassis 1 is equipped with the first shelf 4 and with motivation
The vertically moving elevating mechanism 5 of tool arm 2, controller 6, wireless communication module 7 is additionally provided on mobile chassis 1 and is driven rises
The translation mechanism 8 that descending mechanism 5 moves horizontally, controller 6 respectively with mobile chassis 1, mechanical arm 2, the first two-dimensional code reader 3,
Elevating mechanism 5, wireless communication module 7 and translation mechanism 8 are electrically connected.
Mobile chassis includes chassis, several castors in tray bottom is arranged and the driving mould of driving castor movement
Block, drive module are electrically connected with the controller, and controller drives castor to move by drive module, to control mobile chassis on ground
It is moved freely on face.Translation mechanism drives mechanical arm horizontal movement, elevating mechanism to drive mechanical arm vertical and straight movement, the two cooperation real
Now drive mechanical arm three-dimensional motion.
Elevating mechanism can drive two mechanical arms to lift jointly.Elevating mechanism can also drive each mechanical arm independent-lifting,
Each mechanical arm lifting does not interfere with the lifting of other mechanical arms.Intelligent storage robot can be used a mechanical arm by itself
Kinds of goods on first shelf, which are removed, to be placed on warehouse shelf, and kinds of goods on warehouse shelf are removed placement using another mechanical arm
Onto itself the first shelf.
First two-dimensional code reader is camera, for reading two-dimension code label used for positioning on ground, each two dimension
It is built-in with unique ID number or coordinate value in code.A certain number of two-dimension code labels are disposed on ground to realize to intelligent storage
The guiding function of robot.Quick Response Code uses rectangular, there are three seeking as figure on three angles, is visited using CCD recognizing apparatus
It surveys the position of Quick Response Code, size, angle of inclination and is decoded.Intelligent storage robot is by identifying that Quick Response Code carries out itself
Positioning, moves to designated position.
Module is carried out wireless communication with administrative center by radio communication for intelligent storage robot.When administrative center receives
When picking order, administrative center analyzes picking order, determines all positions for needing picking product in picking order, then scheduling intelligence
Storage robot picking, scheduled intelligent repository robot motion need the position of picking product from opposite depot shelf to all
The turnover box for removing the corresponding kinds of goods of storage is placed on the first shelf of itself, when intelligent storage robot needs picking product by all
After being all placed on the first shelf of itself, intelligent storage robot motion to employee's treatment region；On administrative center receives
When goods order, administrative center analyzes order of getting in stocks, and determines the position that all kinds of goods that need to get in stocks need to be placed in order of getting in stocks, then adjusts
Intelligent storage robot motion is spent to employee's treatment region, and kinds of goods are placed on intelligent storage machine by employee according to the instruction of administrative center
In the turnover box of the designated position of the first shelf of device people, scheduling intelligent storage robot of administrative center moves to all need successively
The position that kinds of goods of getting in stocks need to be placed is removed need to the get in stocks turnover box of kinds of goods of storage from the corresponding position of itself the first shelf and is placed into
The designated position of corresponding warehouse shelf.
Intelligent storage robot directly picks and places kinds of goods, does not need to carry entire shelf, and cost is relatively low, and shelf size is unrestricted
System can once carry more than one piece kinds of goods, improve the efficiency that staff sorts kinds of goods.
As shown in figure 3, mechanical arm 2 is flexible including gripper 9, the telescoping mechanism 10 for driving gripper 9 to move horizontally and driving
The flexible driving mechanism 11 of mechanism 10, driving mechanism 11 are electrically connected with controller 6, and telescoping mechanism 10 can drive gripper 9 forwards, backwards
Both sides are moved, and the first shelf 4 are located on rear side of gripper 9, and 2 front and rear sides of mechanical arm are designed with the second two-dimensional code reader 12, and second
Two-dimensional code reader 12 is electrically connected with controller 6.
Kinds of goods are placed in turnover box 15, and 15 side wall of turnover box is equipped with the raised line 24 that coordinates with gripper 9, before and after turnover box 15
Both sides are designed with the second two-dimension code label 25.Intelligent storage robot identifies the on turnover box by the second two-dimensional code reader
Two two-dimension code labels are positioned, and the position of mechanical arm is finely tuned so that more accurately capture turnover box, the second two-dimension code label is also
The unique number of turnover box, intelligent storage robot can be read by the second two-dimensional code reader where being stored with.
Turnover box is placed on warehouse shelf.When taking turnover box, elevating mechanism drives manipulator motion to proper height, such as
Shown in Fig. 4, driving mechanism drives telescoping mechanism to stretch out, and so that gripper bottom is moved to below the raised line of turnover box, elevating mechanism band
Dynamic mechanical arm moves upwards, and turnover box is lifted, as shown in figure 3, driving mechanism driving telescoping mechanism is retracted, turnover box is taken
Go out；When putting turnover box, after turnover box is placed into designated position by driving mechanism driving telescoping mechanism stretching, elevating mechanism band motivation
Tool arm moves downward a bit of, and driving mechanism drives telescoping mechanism to retract, and gripper is made to retract below the raised line of turnover box.
A kind of intelligent warehousing system of the present embodiment, as shown in Fig. 5, Fig. 6, Fig. 7, including a kind of above-mentioned intelligent storage machine
Device people further includes administrative center 16, be distributed in storage region several second shelf 13, be distributed in storage region several
Workbench 17 and several first two-dimension code labels 14 used for positioning being arranged on storage localized ground, the second shelf 13
Several turnover boxes 15 for being used to place kinds of goods are equipped with, 15 side wall of turnover box is equipped with the raised line 24 coordinated with gripper 9, turnover box
15 front and rear sides are designed with the second two-dimension code label 25, and administrative center 16 is wirelessly connected by wireless network and wireless communication module 7
It connects.
First two-dimension code label 14 is disposed adjacent composition two-dimension code navigation band successively, and intelligent storage robot passes through identification the
One two-dimension code label 14 carries out self poisoning, realizes and is moved freely in storage region.Intelligent storage robot passes through the second two dimension
The second two-dimension code label on code reader identification turnover box is positioned, and finely tunes the position of mechanical arm so that more accurately grab
The unique number of turnover box, intelligent storage robot can pass through second where taking turnover box, the second two-dimension code label to be also stored with
Two-dimensional code reader is read.
Turnover box unified specification captures convenient for mechanical arm, and same kinds of goods are placed in each turnover box.When picking, such as
Shown in Figure 10, the turnover box for being placed with the kinds of goods is removed from corresponding second shelf and is put into itself by intelligent storage robot
On one shelf, workbench is transported to after taking institute's turnover box in need, staff takes out the goods of specified quantity from turnover box
Product.Administrative center receives the order that external equipment is sent, and allocates intelligent storage robot picking according to order, gets in stocks, has simultaneously
There are storage business, outbound business, warehouse to allot, the functions such as stock allotment and empty storekeeper reason, to batch management, material is corresponding, library
The function synthesizeds such as point, quality inspection management, empty storekeeper reason and just in time inventory management of depositing use.
As shown in Figure 8, Figure 9, workbench 17 includes microprocessor 18, touch screen 19, scanner 20 and third shelf 21, micro-
Processor 18 is electrically connected with touch screen 19 and scanner 20 respectively, and workbench 17 can be communicated with administrative center 16.Work
Platform 17 is connect by cable network or wireless network with administrative center 16, and microprocessor 18 carries out data friendship with administrative center 16
It changes.
The turnover box removed is transported to workbench by intelligent storage robot, and staff sorts kinds of goods in workbench, touches
Touch the inventory information that screen display need to be removed from intelligent storage robot, the goods that staff removes from intelligent storage robot
Product all use scanner inswept, and the inswept inventory information of scanner is sent to administrative center by microprocessor, and administrative center is to these
Information is recorded, and can print relevant information as desired by printer.
The placement position for each being used to place turnover box on first shelf 4 of intelligent storage robot is designed with the first indicator light
22, the first indicator light 22 is electrically connected with controller 6, and the placement position for each being used to place turnover box on 21 frame of third goods is designed with the
Two indicator lights 23, the second indicator light 23 are electrically connected with microprocessor 18.When intelligent storage robot transports the turnover box removed
To after workbench, administrative center controls putting where turnover box where needing picking product on the first shelf of the intelligent storage robot
The first indicator light at set is lighted, and second placed at position for placing corresponding kinds of goods on the workbench third shelf is controlled
Indicator light is lighted, and is quickly removed kinds of goods convenient for staff and is put into designated position.
This intelligent warehousing system can be transformed on the basis of traditional warehouse, and any change is not done to the shelf in traditional warehouse
Dynamic, workbench can arbitrarily be shifted one's position according to warehouse layout and quantity, and Quick Response Code is common common QR Code codes, uses letter
Single, easy to maintain, the elevating mechanism of intelligent storage robot is scalable, and warehouse shelf is carried than the higher that normal shelf can be done
High utilization rate of warehouse.
A kind of control method of the intelligent warehousing system of the present embodiment, using a kind of above-mentioned intelligent warehousing system, including
Following steps：
When administrative center receives picking order, administrative center analyzes picking order, determines all need in picking order
The position of picking product calculates up to all optimal paths for needing the second shelf location of picking product place, dispatches an intelligent storehouse
Storage robot is moved to successively according to optimal path all needs picking product position picking；
Intelligent storage robot, which receives to be moved to successively after the pick-up instruction of administrative center's transmission, all needs picking product institute
In position picking, intelligent storage robot is moved to the method that some needs picking product position picking and includes the following steps：Intelligence
Robot can be stored in a warehouse during needing picking product position to move to this, control the mechanical arm that is located above by itself first
One on the shelf turnover box for needing picking product not being placed in picking order is removed, and underlying manipulator motion is controlled
To with the turnover box where needing picking product on the second shelf the corresponding height in position, when intelligent storage robot is moved to this
When needing at the second shelf where picking product, control where this on the second shelf need picking product by underlying mechanical arm
Turnover box is removed, and controls the mechanical arm being located above and the turnover box removed from itself the first shelf is put into quilt on the second shelf
Turnover box information and its location information that this is put on the second shelf are sent to management by the original position of turnover box removed
Center, intelligent storage robot need picking product position to move, underlying machinery are controlled in moving process to next
The turnover box removed from the second shelf is put on the first shelf of itself by arm；
Intelligent storage robot by it is all need picking product where turnover box remove be put on the first shelf of itself after root
The operating position information sent according to administrative center is moved to corresponding workbench.
When intelligent storage robot picking is dispatched by administrative center, by pick-up instruction, all picking product location informations, optimal of needing
Path and the operating position information for executing the picking order are sent to the intelligent storage robot for executing picking task.Kinds of goods position
Confidence breath include the second shelf where kinds of goods number and position, be placed with the kinds of goods turnover box number and the turnover box exist
Position on second shelf.
Intelligent storage robot takes next when being placed with the turnover box for needing picking product from the second shelf, and the second shelf are vacated
One placement position for placing turnover box is not required to picking product if existing to be placed on the first shelf of intelligent storage robot
Turnover box, then intelligent storage robot will be placed with the turnover box for being not required to picking product to be put into the turnover box that is removed on the second shelf former
First position, and the number of the turnover box being put on the second shelf and position are sent to administrative center, administrative center carries out
Registration storage.The turnover box left in upper primary picking flow is placed into the turnover newly removed in a new picking flow
The position of case is stored upper primary turnover box while taking this required turnover box, is improved work efficiency, intelligent storage machine
The relevant information for storing turnover box is sent to administrative center by device people, and administrative center records the position of these turnover boxes again,
Completely random storage is carried out in entire storage.
When intelligent storage robot by all turnover box transportations needed where picking product to workbench after, administrative center sends
Pick-up instruction gives the workbench, and the touch screen of workbench shows that current operation mode is picking pattern, and shows picking order
All to take inventory information and its position on the first shelf, display screen, which is also shown, each needs picking product that should be placed on the
Specific location on three shelf.As shown in figure 8, administrative center controls needs picking product on the first shelf of the intelligent storage robot
The first indicator light at placement position where the turnover box of place is lighted, and is controlled on the workbench third shelf for placing corresponding goods
The second indicator light at placement position where the turnover box of product is lighted, and the information that staff shows according to touch screen is from the first goods
It is placed with to take out in the corresponding turnover box for needing picking product on frame and needs picking product, be put into after being scanned with scanner on third shelf for putting
In the turnover box for setting corresponding kinds of goods, the first indicator light and the second indicator light are lighted and are quickly found out corresponding kinds of goods convenient for staff.
When staff by it is all need picking product to be all put on third shelf after, staff exports picking by touch screen
Instruction is completed, picking completion information is sent to administrative center by workbench.Administrative center analyzes the intelligent storage at the workbench
With the presence or absence of the turnover box for storing the kinds of goods that need to get in stocks in current order of getting in stocks on the first shelf in robot, if not
In the presence of then administrative center's control intelligent storage robot leaves workbench；If it is present administrative center send get in stocks instruction to
The workbench, the touch screen of workbench show that current operation mode is pattern of getting in stocks, and show it is all need to get in stocks inventory information with
And for placing position of the turnover box of corresponding kinds of goods of getting in stocks on the first shelf, it is used to place corresponding goods of getting in stocks on the first shelf
The first indicator light at placement position where the turnover box of product is lighted, the information scanner that staff shows according to touch screen
It gets in stocks kinds of goods, and kinds of goods of getting in stocks is put on the first shelf in the turnover box for placing corresponding kinds of goods of getting in stocks, work needed for scanning
Make after all kinds of goods that need to get in stocks are put on the first shelf in the turnover box for placing corresponding kinds of goods of getting in stocks by personnel, to pass through touch
Screen output is got in stocks completion instruction, and workbench, which will get in stocks, to be completed information and be sent to administrative center, and administrative center controls intelligent storage machine
Device people leaves workbench.
Embodiment 2：The control method of a kind of intelligent warehousing system of the present embodiment, using a kind of intelligent storehouse of embodiment 1
Storage system includes the following steps：
When administrative center receives picking order, administrative center analyzes picking order, determines all need in picking order
The position of picking product calculates up to all optimal paths for needing the second shelf location of picking product place, dispatches an intelligent storehouse
Storage robot is moved to successively according to optimal path all needs picking product position picking；
Intelligent storage robot, which receives to be moved to successively after the pick-up instruction of administrative center's transmission, all needs picking product institute
In position picking, intelligent storage robot is moved to the method that some needs picking product position picking and includes the following steps：Intelligence
Robot can be stored in a warehouse during needing picking product position to move to this, control the mechanical arm that is located above by itself first
One on the shelf turnover box for needing picking product not being placed in picking order is removed, and underlying manipulator motion is controlled
To with the turnover box where needing picking product on the second shelf the corresponding height in position, when intelligent storage robot is moved to this
When needing at the second shelf where picking product, control where this on the second shelf need picking product by underlying mechanical arm
Turnover box is removed, and controls the mechanical arm being located above and the turnover box removed from itself the first shelf is put into quilt on the second shelf
Turnover box information and its location information that this is put on the second shelf are sent to management by the original position of turnover box removed
Center, intelligent storage robot need picking product position to move, underlying machinery are controlled in moving process to next
The turnover box removed from the second shelf is put on the first shelf of itself by arm；
Intelligent storage robot by it is all need picking product where turnover box remove be put on the first shelf of itself after root
The operating position information sent according to administrative center is moved to corresponding workbench；
When intelligent storage robot by all turnover box transportations needed where picking product to workbench after, administrative center sends
Pick-up instruction gives the workbench, and the touch screen of workbench shows that current operation mode is picking pattern, and shows picking order
All to take inventory information and its position on the first shelf, display screen, which is also shown, each needs picking product that should be placed on the
Specific location on three shelf.As shown in figure 8, administrative center controls needs picking product on the first shelf of the intelligent storage robot
The first indicator light at placement position where the turnover box of place is lighted, and is controlled on the workbench third shelf for placing corresponding goods
The second indicator light at placement position where the turnover box of product is lighted, and the information that staff shows according to touch screen is from the first goods
It is placed with to take out in the corresponding turnover box for needing picking product on frame and needs picking product, be put into after being scanned with scanner on third shelf for putting
In the turnover box for setting corresponding kinds of goods, the first indicator light and the second indicator light are lighted and are quickly found out corresponding kinds of goods convenient for staff；
When staff by it is all need picking product to be all put on third shelf after, staff exports picking by touch screen
Instruction is completed, picking completion information is sent to administrative center by workbench, and control intelligent storage robot of administrative center leaves work
Make platform.
When administrative center, which receives, gets in stocks order, administrative center analyzes order of getting in stocks, and determines all need in order of getting in stocks
The position of the corresponding turnover box of kinds of goods of getting in stocks is calculated up to the second shelf position where the corresponding turnover box of all kinds of goods that need to get in stocks
The optimal path set, it is corresponding that one intelligent storage robot of scheduling is moved to all kinds of goods that need to get in stocks according to optimal path successively
Corresponding turnover box is removed from corresponding second shelf in turnover box position；
Intelligent storage robot is moved to all kinds of goods that need to get in stocks successively after receiving the instruction of getting in stocks that administrative center sends
Corresponding turnover box is removed in corresponding turnover box position from corresponding second shelf, and the turnover box removed is put into itself
On first shelf；
All corresponding turnover boxes of kinds of goods that need to get in stocks are removed by intelligent storage robot be put on the first shelf of itself after
The operating position information sent according to administrative center is moved to corresponding workbench；
Administrative center sends instruction of getting in stocks and the workbench, the touch screen of workbench is given to show that current operation mode is mould of getting in stocks
Formula, and show all inventory informations and for placing position of the turnover box of corresponding kinds of goods of getting in stocks on the first shelf of need to getting in stocks
It sets, is lighted on the first shelf for placing the first indicator light at the placement position where corresponding to the turnover box of kinds of goods of getting in stocks, worked
The information that personnel show according to touch screen takes out the kinds of goods that need to get in stocks from third shelf, and the first shelf are put into after being scanned with scanner
On in turnover box for placing corresponding kinds of goods of getting in stocks, be used for when all kinds of goods that need to get in stocks are put on the first shelf by staff
After placing in the turnover box of corresponding kinds of goods of getting in stocks, staff is got in stocks by touch screen output and completes instruction, and workbench will get in stocks
It completes information and is sent to administrative center, scheduling intelligent storage robot of administrative center puts back to the turnover box on itself the first shelf
It is in situ.
When scheduling intelligent storage robot of administrative center gets in stocks, administrative center will get in stocks instruction, all kinds of goods pair that need to get in stocks
It the turnover box location information answered, optimal path and executes the operating position information of the order of getting in stocks and is sent to execution and gets in stocks task
Intelligent storage robot.Turnover box location information includes the number of the second shelf and the volume of position, turnover box where turnover box
Number and the position on second shelf.
Claims (8)
1. a kind of intelligent warehousing system, it is characterised in that：Including intelligent storage robot, intelligent storage robot includes mobile bottom
Disk（1）With at least one mechanical arm for capturing article（2）, the mobile chassis（1）It is read equipped with the first Quick Response Code bottom
Device（3）, the mobile chassis（1）It is equipped with the first shelf（4）With drive mechanical arm（2）Vertically moving elevating mechanism
（5）, the mobile chassis（1）On be additionally provided with controller（6）And wireless communication module（7）, the controller（6）Respectively with movement
Chassis（1）, mechanical arm（2）, the first two-dimensional code reader（3）, elevating mechanism（5）And wireless communication module（7）Electrical connection, is also wrapped
Include administrative center（16）, be distributed in storage region several second shelf（13）And if being arranged on storage localized ground
Dry the first two-dimension code label used for positioning（14）, second shelf（13）It is equipped with several weeks for being used to place kinds of goods
Turnning box（15）, the gripper of intelligent storage robot（9）With turnover box（15）Matching, the administrative center（16）Pass through wireless network
With wireless communication module（7）It is wirelessly connected；
When administrative center, which receives, gets in stocks order, administrative center's analysis is got in stocks order, and determining all in order of getting in stocks need to get in stocks
The position of the corresponding turnover box of kinds of goods, and dispatch intelligent storage robot and get in stocks；
Intelligent storage robot is moved to all kinds of goods correspondences that need to get in stocks successively after receiving the instruction of getting in stocks that administrative center sends
Turnover box position remove corresponding turnover box from corresponding second shelf, and the turnover box removed is put into itself first
On shelf；
All corresponding turnover boxes of kinds of goods that need to get in stocks are removed by intelligent storage robot is put on the first shelf of itself rear basis
The operating position information that administrative center sends is moved to corresponding workbench；
Administrative center sends instruction of getting in stocks and the workbench, the touch screen of workbench is given to show all kinds of goods that need to get in stocks for order of getting in stocks
Information and its position of corresponding turnover box on the first shelf, the information that staff shows according to touch screen is from third goods
The kinds of goods that need to get in stocks are taken out on frame, are put into after being scanned with scanner on the first shelf, when staff need to get in stocks kinds of goods by all
After being put on the first shelf, staff is got in stocks by touch screen output and completes instruction, and workbench, which will get in stocks, completes information transmission
To administrative center, the turnover box on itself the first shelf is put back to original position by scheduling intelligent storage robot of administrative center.
2. a kind of intelligent warehousing system according to claim 1, it is characterised in that：The mobile chassis（1）On be additionally provided with
Drive elevating mechanism（5）The translation mechanism moved horizontally（8）, the translation mechanism（8）With controller（6）Electrical connection.
3. a kind of intelligent warehousing system according to claim 1, it is characterised in that：The mechanical arm（2）Including gripper
（9）, drive gripper（9）The telescoping mechanism moved horizontally（10）And driving telescoping mechanism（10）Flexible driving mechanism（11）,
The driving mechanism（11）With controller（6）Electrical connection.
4. a kind of intelligent warehousing system according to claim 3, it is characterised in that：The telescoping mechanism（10）It can drive and grab
Pawl（9）Both sides are moved forwards, backwards, first shelf（4）Positioned at gripper（9）Rear side, the mechanical arm（2）Front and rear sides are equipped with
Second two-dimensional code reader（12）, second two-dimensional code reader（12）With controller（6）Electrical connection.
5. a kind of intelligent warehousing system according to claim 1, it is characterised in that：Further include being distributed in storage region extremely
A few workbench（17）, the workbench（17）Including microprocessor（18）, touch screen（19）And scanner（20）, described micro-
Processor（18）Respectively with touch screen（19）And scanner（20）Electrical connection, the workbench（17）It can be with administrative center（16）
It is communicated.
6. a kind of intelligent warehousing system according to claim 5, it is characterised in that：The workbench（17）It further include third
Shelf（21）, the first shelf（4）Upper each placement position for placing turnover box is designed with the first indicator light（22）, third shelf
（21）Upper each placement position for placing turnover box is designed with the second indicator light（23）.
7. a kind of control method of intelligent warehousing system, intelligent warehousing system includes intelligent storage robot, intelligent storage machine
People includes mobile chassis（1）With at least two mechanical arms for capturing turnover box（2）, the mobile chassis（1）Bottom is equipped with
First two-dimensional code reader（3）, the mobile chassis（1）It is equipped with the first shelf（4）With drive mechanical arm（2）Vertically
The elevating mechanism of movement（5）, the mobile chassis（1）On be additionally provided with controller（6）And wireless communication module（7）, the control
Device（6）Respectively with mobile chassis（1）, mechanical arm（2）, the first two-dimensional code reader（3）, elevating mechanism（5）And radio communication mold
Block（7）Electrical connection, further includes administrative center（16）, be distributed in storage region several second shelf（13）And it is arranged in storehouse
Store up several first two-dimension code labels used for positioning on localized ground（14）, second shelf（13）It is equipped with several
Turnover box for placing kinds of goods（15）, the gripper of intelligent storage robot（9）With turnover box（15）Matching, the administrative center
（16）Pass through wireless network and wireless communication module（7）It is wirelessly connected；
It is characterized by comprising the following steps：
When administrative center receives picking order, administrative center analyzes picking order, and determining all in picking order needs picking
The position of product, and dispatch intelligent storage robot picking；
Intelligent storage robot, which receives to be moved to successively after the pick-up instruction of administrative center's transmission, all needs picking product institute in place
Picking is set, intelligent storage robot is moved to the method that some needs picking product position picking and includes the following steps：Intelligent storehouse
Storage robot is moved at second shelf where needing picking product, is removed and is placed with from second shelf using a mechanical arm
This needs the turnover box of picking product and is put on the first shelf of itself, using another mechanical arm by not having on itself the first shelf
Having to be placed in picking order needs the turnover box of picking product to remove the original place of turnover box for being put into and being removed on second shelf
Position, and the location information of the turnover box being put on the second shelf is sent to administrative center；
Intelligent storage robot by it is all need picking product where turnover box remove be put on the first shelf of itself after according to pipe
The operating position information that reason center is sent is moved to corresponding workbench.
8. a kind of control method of intelligent warehousing system according to claim 7, it is characterised in that：When intelligent storage machine
By after all turnover box transportations to workbench needed where picking product, administrative center sends pick-up instruction and gives the workbench, work people
The touch screen for making platform shows that all of picking order need to take inventory information and its position on the first shelf, staff's root
The information shown according to touch screen needs picking product from taking-up in the corresponding turnover box for needing picking product is placed on the first shelf, uses scanner
Be put into after scanning on third shelf, when staff by it is all need picking product to be all put on third shelf after, staff passes through
Touch screen exports picking and completes instruction, and picking completion information is sent to administrative center, the intelligent storehouse of administrative center's control by workbench
Storage robot leaves workbench.
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| CN201610540374.1A CN106379681B (en) | 2016-07-11 | 2016-07-11 | A kind of intelligent storage robot, system and system control method |
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| CN111731746A (en) * | 2019-05-08 | 2020-10-02 | 北京京东乾石科技有限公司 | Transfer robot and warehouse logistics system |
| CN111731746B (en) * | 2019-05-08 | 2022-06-07 | 北京京东乾石科技有限公司 | Transfer robot and warehouse logistics system |
| EP4186821A4 (en) * | 2020-07-24 | 2023-12-20 | Hai Robotics Co., Ltd. | Robot, cargo handling method, server and warehousing system |
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