CN106934579A - The control method of the automated storage and retrieval system based on unmanned plane - Google Patents
The control method of the automated storage and retrieval system based on unmanned plane Download PDFInfo
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Abstract
The invention discloses a kind of control method of the automated storage and retrieval system based on unmanned plane, goods warehousing is carried out using unmanned plane, goods is carried out using unmanned plane storehouse flow chart is moved, goods checking flow chart is carried out using unmanned plane, goods is carried out using unmanned plane flow chart is patrolled and examined, goods outbound flow chart is carried out using unmanned plane.The present invention utilizes full-automatic unmanned machine monitoring system, can realize goods from be put in storage, make an inventory, move storehouse, patrol and examine, the full-automatic of outbound is monitored, and improves cargo operation efficiency, reduces warehouse cost, realizes the accurately and timely response of goods delivery.
Description
Technical field
The invention belongs to automatic stored monitoring technology field, more particularly to a kind of automated storage and retrieval system based on unmanned plane
Control method.
Background technology
The Chinese tradition storage sector substantially all use manpower of dispatching flow is completed, exist manpower demand it is big, with goods efficiency
It is low, the problems such as connect ETCD estimated time of commencing discharging and asymmetric delivery period with goods high cost and user therefore a large amount of using automated warehousing sorting
Charging appliance, a new outlet is provided to current industry.
But it is not suitable for reconstructing the enterprise of storage facilities for those, input is huge but unlikely to bring benefit high.
One is producer's goods unlike express delivery industry wraps up the congenital standardizations such as light, small, standard, in most cases, Zhi Nengtong
The information such as the bar code, Quick Response Code, icon or the RFID that cross in external packing carry out data acquisition；Two is manually to find goods process effect
Rate is low, and often makes a mistake, and many troubles are brought to ongoing operations；Three is that passive video monitoring mode has been discontented with
The need for being enough to enterprise, the active of full operation process supervision is it has been mentioned that front, how specification ongoing operations seem particularly heavy
Will.
Accordingly, it would be desirable to a kind of full-automatic unmanned machine monitoring system, can realize goods from storage, sorting, load, transport to
The full-automatic monitoring received.
The content of the invention
Goal of the invention：For problem above, the present invention proposes a kind of controlling party of the automated storage and retrieval system based on unmanned plane
Method.
Technical scheme：To realize the purpose of the present invention, the technical solution adopted in the present invention is：It is a kind of based on unmanned plane
The control method of automated storage and retrieval system, goods warehousing is carried out using unmanned plane, specifically includes following steps：
(1) electronic information of the volume, the photo of goods and goods of unmanned plane collection goods, is sent to system；
(2) system carries out the distribution of warehouse compartment, and preserves the photo and electronic information of goods；
(3) by warehouse compartment information transmission to fork truck, goods is put into fork truck system the warehouse compartment specified.
A kind of control method of the automated storage and retrieval system based on unmanned plane, carries out goods and moves storehouse, specific bag using unmanned plane
Include following steps：
(1) system will move goods instruction and send to fork truck, and fork truck is moved to the warehouse compartment of goods to be moved；
(2) system will move goods instruction and send to unmanned plane, and unmanned plane flies to the warehouse compartment of goods to be moved；
(3) unmanned plane collection warehouse compartment information, is back to system；
(4) system validation, fork truck carries out the shifting storehouse of goods, and unmanned plane track up moves goods video；
(5) move goods to terminate, unmanned plane collection moves into warehouse compartment information, return system；
(6) system validation, correctly then system changes the related information of goods and warehouse compartment；Then unmanned plane sends prompting to mistake.
A kind of control method of the automated storage and retrieval system based on unmanned plane, goods checking is carried out using unmanned plane, specific bag
Include following steps：
(1) default is made an inventory region and the plan of making an inventory；
(2) unmanned plane is set to make an inventory flight path；
(3) instruction that will make an inventory is sent to unmanned plane；
(4) unmanned plane starts to make an inventory, and goods information, and return system are read in real time；
(5) system carries out the information comparison of warehouse goods.
A kind of control method of the automated storage and retrieval system based on unmanned plane, carries out goods and patrols and examines using unmanned plane, specific bag
Include following steps：
(1) goods information that default is required to look up；
(2) system sets and patrols and examines route；
(3) instruction will be patrolled and examined to send to unmanned plane；
(4) unmanned plane starts to patrol and examine, and the goods information on goods yard, and return system are read in real time；
(5) system validation position is correct, gives unmanned plane sending signal, and unmanned plane stops patrolling and examining, and sends prompting.
A kind of control method of the automated storage and retrieval system based on unmanned plane, goods outbound is carried out using unmanned plane, specific bag
Include following steps：
(1) system sends to fork truck shipment instruction, and fork truck is moved to the warehouse compartment for treating shipment goods；
(2) system sends to unmanned plane shipment instruction, and unmanned plane flies to and treats the warehouse compartment of shipment goods；
(3) unmanned plane collection warehouse compartment information, is back to system；
(4) system validation, fork truck carries out the shipment of goods；
(5) unmanned plane track up shipment video, return system；
(6) outbound terminates, the related information of system modification goods and warehouse compartment.
Beneficial effect：The present invention utilize full-automatic unmanned machine monitoring system, can realize goods from storage, sorting, load,
The full-automatic monitoring received is transported, cargo operation efficiency is improve, warehouse cost is reduced, the standard of goods delivery is realized
Really timely respond to.Ensure data accuracy while, reduce Operating Complexity, reduce operational sequence, improve operating efficiency and
Reduce paper waste and cost increase that label duplicate printing brings.
Brief description of the drawings
Fig. 1 is to carry out goods warehousing flow chart using unmanned plane；
Fig. 2 is to carry out goods using unmanned plane to move storehouse flow chart；
Fig. 3 is to carry out goods checking flow chart using unmanned plane；
Fig. 4 is to carry out goods using unmanned plane to patrol and examine flow chart；
Fig. 5 is to carry out goods outbound flow chart using unmanned plane；
Fig. 6 is central control processing unit schematic diagram.
Specific embodiment
Technical scheme is further described with reference to the accompanying drawings and examples.
The control method of the automated storage and retrieval system based on unmanned plane of the present invention, can realize goods from storage, storehouse
Store up, move, make an inventory, patrolling and examining, the full-automatic monitoring of the operation such as outbound is loaded, greatly improve the accurate of Storage of Goods management
Rate, reduces warehouse cost, realizes the accurate of dispatching and timely responds to.
Application of the treatment of the standard information such as bar code, Quick Response Code, icon, RFID in storage can greatly reduce storehouse
The working strength of room administrative staff, finds produced problem in article storing process in time, and feeds back to related personnel's solution, carries
The returns and efficiency of warehousing management high, further improve goods and materials warehousing management system.
According to type of goods in storehouse, rationalize distribution warehouse compartment, warehouse compartment and Item Number are worked out, to each warehouse compartment and article
Put up corresponding material object and can read label, facilitate fork truck, unmanned plane or handheld terminal to sweep warehouse compartment label and article tag
Retouch, carry out the storage of stock article and make an inventory.
The control method of the automated storage and retrieval system based on unmanned plane of the present invention, including following aspect application：
(1) as shown in figure 1, using the storage of unmanned aerial vehicle (UAV) control goods, goods to be moved into the receipts in warehouse from interim storage area
Goods area.
Goods is placed on interim storage area, and the information gathering for carrying out goods by staff's control unmanned plane works, bag
Include the electronic information such as bar code on the volume of goods, the photo of goods and goods, Quick Response Code or RFID, and by these standards
To automated storage and retrieval system, system can carry out the distribution of warehouse compartment to information transmission according to the volume of goods and current warehouse compartment situation, and
Preserve the corresponding photo of goods and electronic information.
Goods information is sent to system the handheld terminal of fork truck car-mounted terminal and staff simultaneously.Fork truck is according to terminal
The goods information of upper acquisition and the distribution information of warehouse compartment, goods is put into the warehouse compartment specified.When cargo storage position and system point
With warehouse compartment it is inconsistent when, unmanned plane can automatic speech prompting.
The mode of traditional acquisition goods electronic information is that staff's handheld scan gun is identified, and staff needs
Scanning goods in turn, labor intensive and time.And unmanned plane can be adopted in the interim storage area flight of goods using photographing element
Collection information, by the database of Wireless Data Transmission to system.
To the goods with special identifier, for example, fragile article, dangerous material etc., unmanned plane can be recognized and by the special mark
Knowledge is preserved to corresponding goods as additional information.
Some goods are in itself without the electronic information such as bar code, Quick Response Code or RFID, then using RFID label tag, staff
RFID label tag is bound to goods.
(2) as shown in Fig. 2 carrying out the shifting storehouse of goods using unmanned plane.
When goods needs to carry out shifting storehouse, system sends move, by goods to be moved according to shifting plan to fork truck
Thing, remove warehouse compartment and move into the information transmission such as warehouse compartment to fork truck car-mounted terminal, fork truck is moved to goods to be moved according to instructing
Warehouse compartment.Simultaneity factor sends to unmanned plane the information such as move and goods to be moved, removal warehouse compartment and immigration warehouse compartment, nobody
Machine is flown to goods to be moved, gathers the warehouse compartment information of goods to be moved, and return system is confirmed.
Then, fork truck carries out the movement of goods, and unmanned plane is tracked the shooting of video, and gathers the warehouse compartment for moving into warehouse compartment
Information, return system treats whether system validation moves into accurately.Mobile correct then power cut-off, system modification goods and warehouse compartment
Related information；Mobile mistake, unmanned plane sends voice message, and guiding staff is modified.
(3) as shown in figure 3, carrying out making an inventory for goods using unmanned plane.
Warehousing management runs into and needed to use when making an inventory stock substantial amounts of manpower, and goods is put before in actually making an inventory due to making an inventory
Irregular, personnel's anomic division of labor of making an inventory is put, data of making an inventory is easily caused inaccurate.Therefore the goods deposited in storage uses bar
The standard electronic information such as shape code, Quick Response Code or RFID is identified, and is being flown to effective on warehoused cargo using unmanned plane
Information is identified, and compares with stock, it is ensured that the accuracy of number of articles, mistake when reduction is made an inventory in storage storehouse
Rate, while also mitigating the artificial workload made an inventory.
When being made an inventory using unmanned plane, made an inventory region and the plan of making an inventory by default, and according to the plan of making an inventory, storehouse
The position of shelf and height, set unmanned plane and make an inventory flight path, automatic when setting unmanned plane during flying to read on approach route
Goods information.
System will make an inventory instruction transmission to unmanned plane, and unmanned plane starts to be made an inventory by optimal route, and unmanned plane is being made an inventory
The goods information on goods yard, and return system are read in flight path in real time, it is 2 meters that it reads distance.When unmanned plane reads
By the real-time return system of wireless network after goods information, carry out contrast with stock article title in warehousing system and quantity and reach
The purpose made an inventory.
(4) patrolled and examined as shown in figure 4, carrying out goods using unmanned plane.
The situation that some cargo destineds cannot find can be often run into warehousing management, it is most of because stock up, shipment
Flow is separate, and timely communication when two class staff lack work causes.And system can not possibly in time find goods
The position in warehouse is presently in, the effect that at this moment the full warehouse of unmanned plane is patrolled and examined just is embodied.Patrolled and examined using unmanned plane and looked into automatically
Look for or according to range-based searching, greatly shorten warehouse personnel and search the time, be that efficient Care for Cargo storage brings possibility.
When being patrolled and examined using unmanned plane, the goods information that default is required to look up, and set patrol plan, set and patrol
Inspection route, will patrol and examine instruction and sends to unmanned plane, and unmanned plane is patrolled and examined according to patrol plan, is patrolled by optimal route,
The goods information on goods yard, and return system are read in real time, are confirmed.When system validation is to correct position, unmanned plane hair is given
The number of delivering letters, unmanned plane stops patrolling and examining, and sends voice message staff and go to.Unmanned plane performs task after instruction is obtained,
Rapid positioning cargo location, facilitates staff to search goods.
Store management personnel can also in time have found to ask by the situation in the camera monitor in real time storehouse on unmanned plane
Topic, ensures storehouse safe operation.Can be by the label information and warehousing management of goods yard and goods during regular visit in storehouse
System is contrasted, and the incorrect information of object storing is found in time, and notify that administrative staff are corrected.Manual control nobody
Machine check human eyesight is not covered, body enters the region for not going or having toxic articles to deposit, and monitoring to dangerous matter sources etc..
(5) as shown in figure 5, using the outbound of unmanned aerial vehicle (UAV) control goods.
General shipment only leans on the means such as monitoring device, the multiple check of personnel, and inefficiency, workload are huge.Enter
When the outbound of crudely-made articles thing is processed, staff can carry out goods information checking work using unmanned plane, and unmanned plane can gather goods
Standard information, such as recognizable information of bar code, 2 D code information；Contrasted with specified outbound Item Information, unmanned plane
Voice message can be carried out according to the correct of Data Comparison.To outbound door, unmanned plane can follow the shipment to staff's conveying articles
Order, the overall process that this shipment is operated is recorded by picture pick-up device, to play the function of monitor in real time, to be sent out in mistake
Can be with for future reference when raw.
When goods needs outbound, system sends outbound instruction to fork truck according to shipment plan, will treat outbound goods, moves
Go out the information transmissions such as warehouse compartment to fork truck car-mounted terminal, fork truck is moved to the warehouse compartment for treating outbound goods according to instruction.Simultaneity factor will
Outbound instructs and treats the information such as outbound goods, removal warehouse compartment to send to unmanned plane, and unmanned plane flies to and treats outbound goods, gathers and treats out
The warehouse compartment information of storehouse goods, return system is confirmed.
Then, fork truck carries out the outbound of goods, and unmanned plane is tracked the shooting of video, return system.Outbound work knot
The related information of Shu Hou, system modification goods and warehouse compartment.
As shown in fig. 6, warehousing system of the present invention includes central control processing unit, including flight path control list
Unit, sporting flying control unit, image procossing recognition unit, goods perceive processing unit, Video processing memory cell, data without
Line transmission unit, storage information processing unit and storage and power subsystem.
According to the information technology that current storehouse house-owner stream is used：Image recognition, RFID are recognized, are wirelessly transferred, store in a warehouse system
System etc., application layer, three levels of transport layer and acquisition layer are divided into by framework.Application layer：Be by the combination of WMS,
Realize to the article inbound/outbound process of storehouse, put, the data such as make an inventory are analyzed and process, and realize intelligentized management and control.
Transport layer：By the wireless router in storehouse of storing in a warehouse, or mobile operator the wireless technology such as 3g, 4g realize data to
Upper transmission.Acquisition layer：Camera assembly is carried by unmanned plane to realize being read out the Item Information stored in storage storehouse, it is real
When video monitoring.
Claims (5)
1. a kind of control method of the automated storage and retrieval system based on unmanned plane, it is characterised in that：Goods is carried out using unmanned plane to enter
Storehouse, specifically includes following steps：
(1) electronic information of the volume, the photo of goods and goods of unmanned plane collection goods, is sent to system；
(2) system carries out the distribution of warehouse compartment, and preserves the photo and electronic information of goods；
(3) by warehouse compartment information transmission to fork truck, goods is put into fork truck system the warehouse compartment specified.
2. a kind of control method of the automated storage and retrieval system based on unmanned plane, it is characterised in that：Goods shifting is carried out using unmanned plane
Storehouse, specifically includes following steps：
(1) system will move goods instruction and send to fork truck, and fork truck is moved to the warehouse compartment of goods to be moved；
(2) system will move goods instruction and send to unmanned plane, and unmanned plane flies to the warehouse compartment of goods to be moved；
(3) unmanned plane collection warehouse compartment information, is back to system；
(4) system validation, fork truck carries out the shifting storehouse of goods, and unmanned plane track up moves goods video；
(5) move goods to terminate, unmanned plane collection moves into warehouse compartment information, return system；
(6) system validation, correctly then system changes the related information of goods and warehouse compartment；Then unmanned plane sends prompting to mistake.
3. a kind of control method of the automated storage and retrieval system based on unmanned plane, it is characterised in that：Goods disk is carried out using unmanned plane
Point, specifically includes following steps：
(1) default is made an inventory region and the plan of making an inventory；
(2) unmanned plane is set to make an inventory flight path；
(3) instruction that will make an inventory is sent to unmanned plane；
(4) unmanned plane starts to make an inventory, and goods information, and return system are read in real time；
(5) system carries out the information comparison of warehouse goods.
4. a kind of control method of the automated storage and retrieval system based on unmanned plane, it is characterised in that：Goods is carried out using unmanned plane to patrol
Inspection, specifically includes following steps：
(1) goods information that default is required to look up；
(2) system sets and patrols and examines route；
(3) instruction will be patrolled and examined to send to unmanned plane；
(4) unmanned plane starts to patrol and examine, and the goods information on goods yard, and return system are read in real time；
(5) system validation position is correct, gives unmanned plane sending signal, and unmanned plane stops patrolling and examining, and sends prompting.
5. a kind of control method of the automated storage and retrieval system based on unmanned plane, it is characterised in that：Goods is carried out using unmanned plane to go out
Storehouse, specifically includes following steps：
(1) system sends to fork truck shipment instruction, and fork truck is moved to the warehouse compartment for treating shipment goods；
(2) system sends to unmanned plane shipment instruction, and unmanned plane flies to and treats the warehouse compartment of shipment goods；
(3) unmanned plane collection warehouse compartment information, is back to system；
(4) system validation, fork truck carries out the shipment of goods；
(5) unmanned plane track up shipment video, return system；
(6) outbound terminates, the related information of system modification goods and warehouse compartment.
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| CN107168191A (en) * | 2017-07-10 | 2017-09-15 | 上海工程技术大学 | The intelligent sorting system and implementation method of a kind of ecommerce article |
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| CN107784469A (en) * | 2017-10-23 | 2018-03-09 | 国网江苏省电力公司南通供电公司 | A kind of articles from the storeroom checking method based on unmanned plane image technique |
| CN109726949A (en) * | 2017-10-31 | 2019-05-07 | 青岛日日顺物流有限公司 | A kind of unmanned plane goods checking system, method and unmanned plane |
| CN108681834A (en) * | 2018-06-26 | 2018-10-19 | 北京云迹科技有限公司 | Order dispenses task creating method and generating means |
| CN108960737A (en) * | 2018-07-16 | 2018-12-07 | 武汉理工大学 | Warehouse automatic tour inspection system and method based on machine vision |
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