CN106843201A - Automatic guide vehicle and the method for choosing article using automatic guide vehicle - Google Patents
Automatic guide vehicle and the method for choosing article using automatic guide vehicle Download PDFInfo
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- CN106843201A CN106843201A CN201611127103.XA CN201611127103A CN106843201A CN 106843201 A CN106843201 A CN 106843201A CN 201611127103 A CN201611127103 A CN 201611127103A CN 106843201 A CN106843201 A CN 106843201A
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- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000012790 confirmation Methods 0.000 claims abstract description 22
- 230000008569 process Effects 0.000 claims abstract description 15
- 230000004044 response Effects 0.000 claims description 8
- 235000013399 edible fruits Nutrition 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 10
- 238000004891 communication Methods 0.000 description 6
- 238000004590 computer program Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000005291 magnetic effect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000001228 spectrum Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000009331 sowing Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The invention provides a kind of method for choosing article using automatic guide vehicle, including：Main control computer drives guide car to march to selection position according to optimal LK algorithm；When guide car reaches selection position, the information of one or more that to be chosen article is shown by display；Corresponding to one or more that the to be chosen article goods in of multiple goods is pointed out every the quantity of the article that should be put into corresponding goods by one or more prompting devices；Main control computer receives the confirmation signal corresponding with one or more that to be chosen article by one or more prompting devices；Main control computer determines whether selection position is last selection position in optimal LK algorithm, if, then terminate selection process, if not, then continue drive guide car march to next selection position and repeat step display, prompting step, receiving step and determine step, until reach last choose position untill.
Description
Technical field
The disclosure relates generally to item picking field, draws automatically more particularly, to automatic guide vehicle and for utilizing
The method that guide-car chooses article.
Background technology
In the order compound nucleus process in electric business warehouse, firstly, it is necessary to generate aggregate order, will necessarily relation order collection
Close to one piece of formation, one picking task carries out certain path optimization, it is necessary to be directed to the aggregate order so that sorter walks
Shortest path；Then, sorter needs, according to the requirement of aggregate order, to push dolly and go picking in storehouse；Finally, in set
After order selection is completed, dolly is shifted onto and checks platform and carry out order sowing by sorter, i.e. reviewing officer will according to order
Ask, the corresponding commodity of order are delivered in corresponding order grid to realize checking for order.
However, sorter needs first to complete aggregate order selection, again shifts dolly onto and check platform and checked, that is, need
Operated twice, implementation is comparatively laborious.Accordingly, it would be desirable to two kinds of processes will be chosen and checked to one kind merges realization
Disposably complete two method and apparatus of task.
The content of the invention
To achieve these goals, in the first aspect of the present invention, disclose a kind of for using automatic guide vehicle selection
The method of article, the automatic guide vehicle include main control computer, guide car, display and multiple goods every, each of which goods every
On be provided with a prompting device, methods described includes：
The main control computer drives the guide car to march to selection position according to optimal LK algorithm；
When the guide car reaches the selection position, one or more that to be chosen thing is shown by the display
The information of product；
Point out the multiple goods corresponding with one or more that to be chosen article in by one or more prompting devices
Goods every the article that should be put into corresponding goods quantity；
The main control computer is received relative with one or more that to be chosen article by one or more of prompting devices
The confirmation signal answered；
The main control computer determines whether the selection position is last selection position in the optimal LK algorithm,
If it is, terminate selection process, if it is not, then continuing to drive the guide car to march to next selection position and repeat institute
Step display, the prompting step, the receiving step and the determination step are stated, is until reaching last selection position
Only.
Preferably, point out the multiple goods in and one or more that to be chosen article by one or more prompting devices
Corresponding goods also includes every the quantity of the article that should be put into corresponding goods：
Indicate belonging to one or more of articles at least one is obtained by the code reader in above-mentioned automatic guide vehicle
An information for set in set；
By one or more prompting devices according to the multiple goods of information alert of one set in described one
Quantity of the corresponding goods of individual set every the article that should be put into corresponding goods；And
The main control computer determines whether to complete picking to the article of all set belonging to one or more of articles
Choosing, if it is, make the prompting device terminate prompting process, otherwise continues the obtaining step, the prompting step and described
Determine step, until completing the selection to the article of all set untill.
Preferably, the prompting device also points out the title of the article that corresponding goods should be put into.
Preferably, the information that the display shows includes title, picture, the position in shelf of the article to be chosen
Put and quantity in one or more.
Preferably, the main control computer is received and one or more that to be chosen thing by one or more of prompting devices
The corresponding confirmation signal of condition includes：
The main control computer receive with one or more that to be chosen article corresponding goods every number
Confirmation signal.
Preferably, the main control computer drives the guide car to march to selection position and includes according to optimal LK algorithm：
The Quick Response Code in scanner road pavement in the automatic guide vehicle is scanned to determine to reach the selection position
Put.
Preferably, methods described also includes：
The main control computer via WIFI communicated with host computer with obtain one or more that to be chosen article information,
Corresponding to one or more that the to be chosen article goods in of the multiple goods is every the article that should be put into corresponding goods
Quantity；
The main control computer sends the information of one or more that the to be chosen article for being obtained to the display；And
It is relative with one or more that to be chosen article in that the main control computer sends the multiple goods to the indicator
Quantity of the goods answered every the article that should be put into corresponding goods.
Preferably, the main control computer is communicated by RS485 agreements with the display and the indicator.
In the second aspect of the present invention, disclose a kind of automatic guide vehicle, including main control computer, guide car, display and
Multiple goods every, each goods every being above provided with a prompting device, wherein,
The main control computer is configured as driving the guide car to march to selection position according to optimal LK algorithm, by one
Individual or multiple prompting devices receive the confirmation signal corresponding with one or more that to be chosen article, and determine the selection position
Whether put is last selection position in the optimal LK algorithm, if it is, terminate selection process, if it is not, then
Continue to drive the guide car to march to next selection position；
The display is configured as display to be chosen when the guide car reaches the selection position one or many
The information of individual article；And
The prompting device be configured as being pointed out when the guide car reaches the selection position the multiple goods in
Quantity of the corresponding goods of one or more that to be chosen article every the article that should be put into corresponding goods.
Preferably, the automatic guide vehicle also includes：Code reader, is configured as：Obtain and indicate one or more of things
An information for set at least one set belonging to product；Wherein,
The prompting device be additionally configured to when the code reader get one set information when carried according to described information
Show quantity of corresponding to the one set goods in of the multiple goods every the article that should be put into corresponding goods；And
The main control computer is additionally configured to determine whether to complete all set to belonging to one or more of articles
Article selection, if it is, make the prompting device terminate prompting process, otherwise continue to make the code reader obtain described in extremely
The information of another set in a few set.
Preferably, the prompting device is additionally configured to：Point out the title of the article that corresponding goods should be put into.
Preferably, the prompting device includes：
Warning light, the goods where being configured as the prompting device is opened when placing articles are needed；
One group of charactron, be configured as display will the goods where the prompting device every the article of middle placement quantity and/
Or the title of article that corresponding goods should be put into；And
Button, is configured as receiving confirmation signal.
Preferably, the information that the display shows includes title, picture, the position in shelf of the article to be chosen
Put and quantity in one or more.
Preferably, the main control computer is additionally configured to：Receive the goods corresponding with same one or more that to be chosen article
Every number confirmation signal.
Preferably, the automatic guide vehicle also includes：Scanner, the Quick Response Code being configured as in road pavement be scanned with
It is determined that reaching the selection position.
Preferably, the main control computer is additionally configured to：
Communicated with obtaining information, the multiple goods of one or more that to be chosen article with host computer via WIFI
Quantity of the goods corresponding to one or more that to be chosen article every the article that should be put into corresponding goods in；
The information of one or more that the to be chosen article for being obtained is sent to the display；And
To the indicator send corresponding with one or more that the to be chosen article goods in of the multiple goods every with
The quantity of the article that corresponding goods should be put into.
Preferably, the main control computer is communicated by RS485 agreements with the display and the indicator.
In scheme proposed by the present invention, sorter carries out item picking using automatic guide vehicle, so as to will choose and multiple
Two kinds of processes of core are merged to realize and disposably complete two purposes of task.
Brief description of the drawings
According to combining following description of the exemplary drawings to exemplary embodiment, the other details of the disclosure, aspect and excellent
Point will become obvious, in the accompanying drawings：
Fig. 1 shows the schematic diagram of the internal structure of storehouse according to an embodiment of the invention；
Fig. 2 shows the schematic diagram of automatic guide vehicle according to an embodiment of the invention；
Fig. 3 shows the structural representation of automatic guide vehicle according to an embodiment of the invention；
Fig. 4 shows the flow for being used for the method using automatic guide vehicle selection article according to an embodiment of the invention
Figure；And
Fig. 5 shows the signal for being used for the system using automatic guide vehicle selection article according to an embodiment of the invention
Figure.
Accompanying drawing does not show to all circuits or structure of embodiment.Through all accompanying drawing identical reference tables
Show same or analogous part or feature.
Specific embodiment
Specific embodiment of the invention is described more fully below, it should be noted that the embodiments described herein is served only for citing
Illustrate, be not intended to limit the invention.In the following description, in order to provide thorough understanding of the present invention, a large amount of spies are elaborated
Determine details.It will be apparent, however, to one skilled in the art that：This hair need not be carried out using these specific details
It is bright.In other instances, in order to avoid obscuring the present invention, known circuit, material or method are not specifically described.
Throughout the specification, meaning is referred to " one embodiment ", " embodiment ", " example " or " example "
：Special characteristic, structure or the characteristic described with reference to the embodiment or example are comprised at least one embodiment of the invention.
Therefore, phrase " in one embodiment ", " in embodiment ", " example " for occurring in each place of entire disclosure
Or " example " is not necessarily all referring to same embodiment or example.Furthermore, it is possible to will be specific with any appropriate combination and/or sub-portfolio
Feature, structure or property combination in one or more embodiments or example.Additionally, those of ordinary skill in the art should manage
Solution, accompanying drawing is provided to descriptive purpose provided herein, and accompanying drawing is not necessarily drawn to scale.Art used herein
Language "and/or" includes any and all combination of the project that one or more correlations are listed.
Fig. 1 shows the schematic diagram of the internal structure of storehouse according to an embodiment of the invention.Storehouse includes multiple shelf
With multiple tunnels, different types of article is housed on each shelf.Sorter can according to it is predefined from picking starting point to
The article that the LK algorithm of picking terminal is gone to needed for corresponding shelf are extracted by multiple tunnels.It should be noted that picking road
Footpath is not limited to the path shown in Fig. 1, and can be to be defined according to specific storehouse internal structure.
Showing for automatic guide vehicle (AGV) 300 according to an embodiment of the invention is schematically shown in figs. 2 and 3
It is intended to.Automatic guide vehicle 300 includes main control computer 310, guide car 320, display 330 and multiple goods every 340, each goods every
A prompting device 350 is provided with 340.Each component in automatic guide vehicle 300 can be obtained from the battery of automatic guide vehicle 300
Take energy.
Main control computer 310 is configured as driving guide car 320 to march to selection position according to optimal LK algorithm, by one
Or multiple prompting devices 350 receive the confirmation signal corresponding with one or more that to be chosen article, and determine to choose position
Whether it is last selection position in optimal LK algorithm, if it is, terminate selection process, if it is not, then continuing to drive
Dynamic guide car 320 marches to next selection position.Optimal LK algorithm is that main control computer 310 is obtained by WiFi communication from host computer
Take, and optimal LK algorithm includes multiple selection positions, i.e. stop.Host computer can obtain order and spanning set
File list, is then handed down to main control computer by order relevant information.Host computer is based on generated collection according to the internal structure of storehouse
File list generates optimal LK algorithm, by the scanner scanning Quick Response Code on automatic guide vehicle, to determine the essence of picking shelf
True position positioning.
Display 330 is configured as showing one or more that to be chosen article when guide car 320 reaches selection position
Information.The information of the display of display 330 can include title, picture, the position in shelf, the quantity of the article to be chosen
In one or more etc..
Prompting device 350 is configured as what is pointed out multiple goods in 340 when guide car 320 reaches selection position and to be chosen
Quantity of the corresponding goods of one or more articles every the article that should be put into corresponding goods.Sorter can be according to prompting device
350 prompting verifies the quantity of commodity.It should be noted that goods every quantity can with flexible configuration, can for example increase or
Reduce.Preferably, goods every quantity to be the quantity on order in each aggregate order set.Shelf may be located at guiding
The top centre position of car 320, and be bolted on guide car 320.
Automatic guide vehicle can also include：Code reader, is configured as：Obtain and indicate belonging to one or more articles at least
An information for set in one set.It should be noted that when simultaneously the article to be chosen of not all is all identical, it is necessary to will
Article is divided into multiple set, and wherein identical article is divided into a set, in other words, what each set included
Article is identical.After sorter knows the information of the display of display 330, sorter can choose article, and by one
Article is placed on code reader front and carries out barcode scanning to obtain the aggregate information of the article by code reader.
Prompting device 350 can be additionally configured to when code reader get one set information when it is many according to the information alert
Quantity of corresponding to this set goods in 340 of individual goods every the article that should be put into corresponding goods.When sorter receives
When prompting, sorter will can be respectively put into corresponding according to prompting to all items for being belonged to identity set by the article of barcode scanning
Goods is in.
Main control computer 310 can be additionally configured to determine whether to complete to all set belonging to one or more articles
The selection of article, if it is, making prompting device 350 terminate prompting process, otherwise continues to make code reader obtain at least one set
In another set information.When code reader continues to obtain the information of another set, prompting device 350 continues according to described
The information of another set points out the quantity of article of the corresponding goods every that should be put into corresponding goods, until completing to institute
Untill having the selection of article of set.
Prompting device 350 can be additionally configured to：Point out the title of the article that corresponding goods should be put into.Sorter can be with root
The correctness of article is verified according to the prompting of prompting device 350.
Prompting device 350 can include：Warning light, the goods where being configured as prompting device 350 is when placing articles are needed
Open；One group of charactron, be configured as display will the goods where prompting device 350 every the article of middle placement quantity and/or phase
Answer the title of the article that goods should be put into；And button, it is configured as receiving confirmation signal.The confirmation signal indicates prompting device
Goods where 350 terminates every the dispensing of the article for needing to place.For example, whenever sorter will be currently needed for specific according to prompting
Goods is all put into the goods when middle every the article of middle dispensing, and sorter presses button of the specific goods every upper prompting device, to confirm
Deliver and complete.In this case, main control computer receives the confirmation signal from sorter by button, and then main control computer is true by this
Recognize signal to send to host computer, with whether correct by host computer verification placement position.
Main control computer 310 can be additionally configured to：Receive with the corresponding goods of one or more that to be chosen articles every
The confirmation signal of number.If for example, the identical items to be chosen need to be put into 5 goods every, in the presence of with 5 goods
Every 5 corresponding indicators, i.e. 5 buttons.In this case, only when sorter presses 5 buttons with indicator to 5
Individual goods every dispensing all terminate (correspondingly, main control computer receives 5 confirmation signals by button) when, just represent for choosing
The dispensing of identical items terminate.
Automatic guide vehicle 300 can also include：Scanner, the Quick Response Code being configured as in road pavement is scanned to determine
Reach selection position.
Main control computer 310 can be additionally configured to：
Information, the multiple goods communicated with host computer via WIFI to obtain one or more that to be chosen article are in
The quantity of the article that the goods corresponding to one or more that to be chosen article should be put into every, corresponding goods in and selectively
The title of the article that corresponding goods should be put into；
The information of one or more that the to be chosen article for being obtained is sent to display 330；And
Corresponding to one or more that the to be chosen article goods in of multiple goods is sent every, corresponding goods to indicator 350
The quantity of the article that should be put into and the selectively title of the article that corresponding goods should be put into.
Preferably, main control computer 310 is communicated by RS485 agreements with display 330 and indicator 350.
Fig. 4 shows the stream for being used for the method 400 using automatic guide vehicle selection article according to an embodiment of the invention
Cheng Tu.Automatic guide vehicle includes main control computer, guide car, display and multiple goods every, each of which goods every being above provided with one
Individual prompting device (as shown in Figures 2 and 3).Method 400 is comprised the following steps.
In step 410, main control computer drives guide car to march to selection position according to optimal LK algorithm.Step 410 can be with
Including：The Quick Response Code in scanner road pavement in automatic guide vehicle is scanned to determine to reach selection position.Optimal selection
Path is that main control computer is obtained by WiFi communication from host computer, and optimal LK algorithm includes multiple selection positions, i.e.
Stop.Host computer can obtain order and generate aggregate order, and order relevant information then is handed down into main control computer.Host computer
Internal structure according to storehouse is based on generated aggregate order and generates optimal LK algorithm, by the scanning on automatic guide vehicle
Instrument scans Quick Response Code, is positioned with the exact position for determining picking shelf.
In step 420, when guide car reaches selection position, one or more that to be chosen article is shown by display
Information.The information that display shows includes title, picture, the position in shelf, in quantity one of the article to be chosen
It is individual or multiple etc..
In step 430, point out multiple goods in and one or more that to be chosen article by one or more prompting devices
Quantity of the corresponding goods every the article that should be put into corresponding goods.Prompting device can also point out what corresponding goods should be put into
The title of article.
Step 430 can include：Obtained by the code reader in above-mentioned automatic guide vehicle and indicate one or more article institutes
An information for set at least one set of category；By one or more prompting devices according to an information alert for set
Multiple goods gather quantity of the corresponding goods every the article that should be put into corresponding goods in one；Main control computer determines whether
The selection of the article to all set belonging to one or more articles is completed, if it is, making prompting device terminate to point out
Journey, otherwise continue obtaining step, prompting step and determine step, until completing the selection to the article of all set untill.
In step 440, main control computer is received and one or more that to be chosen article phase by one or more prompting devices
Corresponding confirmation signal.Step 440 can include：Main control computer receives the goods corresponding with same one or more that to be chosen article
Every number confirmation signal.If for example, one or more that to be chosen article needs to be put into 5 corresponding goods
Every, then in the presence of with 5 goods every 5 corresponding indicators, i.e. 5 buttons.In this case, only when sorter presses 5
Button with indicator to 5 goods every dispensing all terminate (correspondingly, main control computer receives 5 confirmation signals) when, just represent pin
Dispensing to one or more that to be chosen article terminates.
In step 450, main control computer determines whether selection position is last selection position in optimal LK algorithm, such as
Fruit is then to terminate selection process, if it is not, then continuing to drive guide car to march to next selection position and repeat display step
Suddenly, prompting step, receiving step and determine step, until reach last selection position untill.
Method 400 can also include：
Main control computer is communicated with obtaining information, the multiple of one or more that to be chosen article via WIFI with host computer
The quantity of the article that corresponding to one or more that the to be chosen article goods in of goods should be put into every, corresponding goods in and can
The title of the article that selectively corresponding goods should be put into；
Main control computer sends the information of one or more that the to be chosen article for being obtained to display；And
Main control computer to indicator send corresponding to one or more that the to be chosen article goods in of multiple goods every, it is corresponding
The quantity of the article that goods should be put into and the selectively title of the article that corresponding goods should be put into.
Preferably, main control computer can be communicated by RS485 agreements with display and indicator.
Fig. 5 schematically shows the system for being used for that article is chosen using automatic guide vehicle according to an embodiment of the invention
500 schematic diagram.System 500 includes processor 510, for example, digital signal processor (DSP).Processor 510 can be for
Perform the single assembly or multiple devices of the different actions of procedures described herein.System 500 can also include input/output
(I/O) device 530, for receiving signal or to other entity sending signals from other entities.
Additionally, system 500 includes memory 520, the memory 520 can have following form：It is non-volatile or volatile
Property memory, for example, Electrically Erasable Read Only Memory (EEPROM), flash memory etc..Memory 520 stores computer-readable
Instruction, when processor 510 performs the computer-readable instruction, the computer-readable instruction makes computing device as herein described
Action.
Shown in the drawings of some block diagrams and/or flow chart.It should be understood that some sides in block diagram and/or flow chart
Frame or its combination can be realized by computer program instructions.These computer program instructions can be supplied to all-purpose computer,
The processor of special-purpose computer or other programmable data processing units, so that these instructions can be with when by the computing device
Create the device for realizing illustrated function/operation in these block diagrams and/or flow chart.
Therefore, the technology of the disclosure can be realized in the form of hardware and/or software (including firmware, microcode etc.).Separately
Outward, the technology of the disclosure can take the form of the computer program product on the computer-readable medium of the instruction that is stored with, should
Computer program product is available for instruction execution system (for example, one or more processors) to use or combined command execution system
Use.In the context of the disclosure, computer-readable medium can include, store, transmit, propagate or transmit instruction
Arbitrary medium.For example, computer-readable medium can include but is not limited to electricity, magnetic, optical, electromagnetic, infrared or semiconductor system,
Device, device or propagation medium.The specific example of computer-readable medium includes：Magnetic memory apparatus, such as tape or hard disk
(HDD)；Light storage device, such as CD (CD-ROM)；Memory, such as random access memory (RAM) or flash memory；And/or wired/
Wireless communication link ".
" detailed description of the above has been elaborated for utilizing multipotency by using schematic diagram, flow chart and/or example
The method of spectrum x-ray imaging system identification article and numerous embodiments of multi-power spectrum x-ray imaging system.This schematic diagram,
In the case that flow chart and/or example are comprising one or more functions and/or operation, it will be understood by those skilled in the art that this
Each function and/or operation in schematic diagram, flow chart or example can be by various structures, hardware, software, firmware or essence
Upper their any combination is realized individually and/or jointly.In one embodiment, if theme described in embodiment of the disclosure
Stem portion can by application specific integrated circuit (ASIC), field programmable gate array (FPGA), digital signal processor (DSP),
Or other integrated forms are realized.However, those skilled in the art will appreciate that some aspects of embodiments disclosed herein
Can equally realize in integrated circuits, being embodied as run on one or more computer on the whole or partly
Individual or multiple computer programs (for example, being embodied as one or more programs run in one or more computer system),
One or more programs run on the one or more processors are embodied as (for example, being embodied as in one or more microprocessors
One or more programs run on device), it is embodied as firmware, or substantially it is embodied as any combination of aforesaid way, and
Those skilled in the art will be provided with the ability for designing circuit and/or write-in software and/or firmware code according to the disclosure.Additionally,
It would be recognized by those skilled in the art that the mechanism of theme described in the disclosure can be divided as the program product of diversified forms
Hair, and regardless of the particular type of the actual signal bearing medium for being used for and performing distribution, the example of theme described in the disclosure
Property embodiment be applicable.The example of signal bearing medium is included but is not limited to：Recordable-type media, such as floppy disk, hard disk drive,
Compact-disc (CD), digital universal disc (DVD), digital magnetic tape, computer storage etc.；And transmission type media, such as numeral and/or
Analogue communication medium (for example, optical fiber cable, waveguide, wired communications links, wireless communication link etc.) ".
Claims (17)
1. a kind of method for choosing article using automatic guide vehicle, the automatic guide vehicle includes main control computer, guide car, aobvious
Show that device and multiple goods include every being above provided with a prompting device, methods described every, each of which goods：
The main control computer drives the guide car to march to selection position according to optimal LK algorithm；
When the guide car reaches the selection position, one or more that to be chosen article is shown by the display
Information；
Point out the multiple goods corresponding with one or more that to be chosen article goods in by one or more prompting devices
Every the quantity of the article that should be put into corresponding goods；
The main control computer is received corresponding with one or more that to be chosen article by one or more of prompting devices
Confirmation signal；
The main control computer determines whether the selection position is last selection position in the optimal LK algorithm, if
It is then to terminate selection process, if it is not, then continuing to drive the guide car to march to next selection position and repeat described aobvious
Show step, the prompting step, the receiving step and the determination step, until reach last selection position untill.
2. method according to claim 1, wherein, by one or more prompting devices point out the multiple goods in will
The goods that one or more articles of selection are corresponding also includes every the quantity of the article that should be put into corresponding goods：
At least one set indicated belonging to one or more of articles is obtained by the code reader in above-mentioned automatic guide vehicle
In one set information；
By one or more prompting devices according to the multiple goods of information alert of one set in one collection
Close quantity of the corresponding goods every the article that should be put into corresponding goods；And
The main control computer determines whether to complete the selection of the article to all set belonging to one or more of articles, such as
Fruit is the prompting device is terminated prompting process, otherwise continues the obtaining step, the prompting step and the determination step
Suddenly, untill until completing the selection to the article of all set.
3. method according to claim 1, wherein, the prompting device also points out the name of the article that corresponding goods should be put into
Claim.
4. method according to claim 1, wherein, the information that the display shows includes the name of the article to be chosen
Title, picture, the position in shelf and one or more in quantity.
5. method according to claim 1, wherein, the main control computer by one or more of prompting devices receive with
The corresponding confirmation signal of one or more that to be chosen article includes：
The main control computer receive with the corresponding goods of one or more that to be chosen article every number confirmation
Signal.
6. method according to claim 1, wherein, the main control computer drives the guiding garage according to optimal LK algorithm
Proceeding to selection position includes：
The Quick Response Code in scanner road pavement in the automatic guide vehicle is scanned to determine to reach the selection position.
7. method according to claim 1, also includes：
The main control computer is communicated with obtaining the information, described of one or more that to be chosen article via WIFI with host computer
Quantity of corresponding to one or more that the to be chosen article goods in of multiple goods every the article that should be put into corresponding goods；
The main control computer sends the information of one or more that the to be chosen article for being obtained to the display；And
It is corresponding with one or more that to be chosen article in that the main control computer sends the multiple goods to the indicator
Quantity of the goods every the article that should be put into corresponding goods.
8. method according to claim 7, wherein, the main control computer is by RS485 agreements and the display and described
Indicator is communicated.
9. a kind of automatic guide vehicle, including main control computer, guide car, display and multiple goods are every, each goods every being above provided with
One prompting device, wherein,
The main control computer is configured as driving the guide car to march to selection position according to optimal LK algorithm, by one or
Multiple prompting devices receive the confirmation signal corresponding with one or more that to be chosen article, and determine that the selection position is
No is last the selection position in the optimal LK algorithm, if it is, terminate selection process, if it is not, then continuing
The guide car is driven to march to next selection position；
The display is configured as showing one or more that to be chosen thing when the guide car reaches the selection position
The information of product；And
The prompting device be configured as being pointed out when the guide car reaches the selection position the multiple goods in to pick
Quantity of the corresponding goods of one or more articles of choosing every the article that should be put into corresponding goods.
10. automatic guide vehicle according to claim 9, also includes：Code reader, is configured as：Obtain instruction one
Or an information for set at least one set belonging to multiple articles；Wherein,
The prompting device be additionally configured to when the code reader get one set information when according to described information point out institute
State quantity of corresponding to the one set goods in of multiple goods every the article that should be put into corresponding goods；And
The main control computer is additionally configured to determine whether to complete the thing to all set belonging to one or more of articles
The selection of product, if it is, making the prompting device terminate prompting process, otherwise continues to make at least one described in the code reader acquisition
The information of another set in individual set.
11. automatic guide vehicles according to claim 9, wherein, the prompting device is additionally configured to：Corresponding goods is pointed out in
The title of the article that should be put into.
12. automatic guide vehicles according to claim 11, wherein, the prompting device includes：
Warning light, the goods where being configured as the prompting device is opened when placing articles are needed；
One group of charactron, be configured as display will the goods where the prompting device every the article of middle placement quantity and/or phase
Answer the title of the article that goods should be put into；And
Button, is configured as receiving confirmation signal.
13. automatic guide vehicles according to claim 9, wherein, the information that the display shows includes the thing to be chosen
The title of product, picture, the position in shelf and one or more in quantity.
14. automatic guide vehicles according to claim 9, wherein, the main control computer is additionally configured to：Receiving will choose with same
The corresponding goods of one or more articles every number confirmation signal.
15. automatic guide vehicles according to claim 9, also include：Scanner, the Quick Response Code being configured as in road pavement enters
Row scans to determine to reach the selection position.
16. automatic guide vehicles according to claim 9, wherein, the main control computer is additionally configured to：
Communicated with host computer with information, the multiple goods of acquisition one or more that to be chosen article in via WIFI
Quantity of the goods corresponding to one or more that to be chosen article every the article that should be put into corresponding goods；
The information of one or more that the to be chosen article for being obtained is sent to the display；And
To the indicator send corresponding to one or more that the to be chosen article goods in of the multiple goods every with it is corresponding
The quantity of the article that goods should be put into.
17. automatic guide vehicles according to claim 16, wherein, the main control computer passes through RS485 agreements and the display
Device and the indicator are communicated.
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| CN201611127103.XA CN106843201B (en) | 2016-12-08 | 2016-12-08 | Automatic guided vehicle and method for picking items with an automatic guided vehicle |
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