CN107679786A - A kind of intelligent warehouse management system based on guided robot - Google Patents
A kind of intelligent warehouse management system based on guided robot Download PDFInfo
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- CN107679786A CN107679786A CN201710752253.8A CN201710752253A CN107679786A CN 107679786 A CN107679786 A CN 107679786A CN 201710752253 A CN201710752253 A CN 201710752253A CN 107679786 A CN107679786 A CN 107679786A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
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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
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
- G06Q10/0875—Itemisation or classification of parts, supplies or services, e.g. bill of materials
Abstract
The present invention relates to a kind of intelligent warehouse management system based on guided robot, including information subsystem, maincenter Monitor And Control Subsystem, guiding subsystem, security protection subsystem and environment subsystem, each subsystem to be connected by Ethernet.The intelligent warehouse management system is information-based by the stores management in warehouse, can intelligent linkage equipment go out storage, environmental monitoring, safety monitoring；Intelligently guiding robot is introduced, is transformed for warehouse demand, linkage integrated with equipment management system realization；Mobile terminal is introduced, mutual operation is carried out with robot, storage can be gone out to equipment in real time；For warehouse personnel's deficiency, the old and new stock clerk alternating, the characteristics of business is not yet done, substore keeper, which realizes, quickly goes out storage, and by field test, personnel requirement is 1/3rd of former warehouse, and the time shortens nearly 50%.
Description
Technical field
The present invention relates to electronic information field, especially a kind of intelligent warehouse management system based on guided robot.
Background technology
With the fast development of the technologies such as internet, big data, cloud computing, Internet of Things, and intelligent sensing, channel radio
The extensive use of the technologies such as letter, remote sensing, satellite fix, GIS-Geographic Information System, the visualization to unbiased of storing in a warehouse and intelligence can be realized
Energyization identification, positioning, track, monitor, manage and assess, so that warehouse reaches the state of " wisdom ", turn into " intelligent repository ",
And traditional warehouse will be substituted.
At present, domestic logistic storage company mostly has formed very perfect visualization depot management technology, and product goes out
Storage, equipment statistical analysis, Logistic Scheduling complete commercialization.The intelligent storage scheme of main flow includes two kinds at present, and intelligence is close
Collect shelf and shelf to people.
Intelligent compact shelf, based on moveable shelf, collection computer controls, SERVO CONTROL, the skill such as light to guide article
Art means, advantage are to save space, and shortcoming is that load-bearing equipment is light, and size specification, change amount is big, do not apply to existing storehouse and change
Make.
Shelf are to people, based on the robot that stores in a warehouse, heavy burden shelf to designated area, it is desirable to shelf are light, goods it is in light weight, but
It is that these advanced technologies are fully introduced into old storehouse, on the one hand needs the difficulty transformed big, on the other hand needs substantial amounts of money
Gold, efficiency-cost ratio is low, and transformation has little significance.
The content of the invention
In view of above-mentioned analysis, the present invention is intended to provide a kind of intelligent warehouse management system based on guided robot, is used
To solve old storehouse at present, to go out warehouse-in efficiency low, especially in store management personnel's succession of the old by the new, in the case of business is unskilled, people
The problem of to influence warehouse-in efficiency.
The purpose of the present invention is mainly achieved through the following technical solutions：
A kind of intelligent warehouse management system based on guided robot, including, information subsystem, maincenter Monitor And Control Subsystem and
Subsystem is guided, each subsystem is connected by Ethernet；
Equipment data message in described information subsystem storage repository；
The maincenter Monitor And Control Subsystem accesses described information subsystem, obtains equipment information, and issue according to user's request
Receive working condition, route planning and the positional information of guiding subsystem simultaneously to guiding subsystem；
The information that the guiding subsystem issues according to the maincenter Monitor And Control Subsystem, carry out path planning, control guiding
Robot assists user to carry out accurate automatic guiding and assistant conveyance to equipment.
Further, in addition to security protection subsystem and environment subsystem；
The security protection subsystem is mainly made up of gate inhibition, and when gate inhibition is logged in by fingerprint recognition, maincenter monitoring system can connect
Receive gate inhibition's log-on message；
The environment subsystem is made up of Temperature Humidity Sensor and interface conversion unit, and the interface conversion unit is as net
Network node access network based on ethernet, maincenter monitoring system obtain the humiture information of the Temperature Humidity Sensor from network.
Further, described information subsystem includes information storage module, information service module and information browse module；
Described information memory module stores equipment data message, supports the storage and access of equipment data；
Described information service module is supported to operate data in described information memory module, completes described information storage
Data update in module, using distributed frame, complete the subscription and distribution of data, support external unified operation interface；
Described information browsing module provide administrative staff access described information memory module port, human-computer interaction interface and
Data interaction service.
Further, the maincenter Monitor And Control Subsystem includes Comprehensive Control display device, multiple display screen, barcode scanning equipment and exchange
Machine, and be connected by Ethernet；
The Comprehensive Control display device is automatic or instruction obtains equipment information, humiture information, gate inhibition's login letter
The work state information of breath and guided robot, and the equipment information of acquisition is managed, sent to the guiding subsystem
Asset location information linkage guided robot carries out equipment positioning in storehouse, and support system is stepped on by user authentication, access rights
Land is managed for configuration；Support system logs in log recording and history is consulted, to all kinds of configuration files, network address, database
Parameter is effectively managed；
The multiple display screen is used to show equipment management information, humiture information, gate inhibition's log-on message and guide management information
Information inside；
The barcode scanning equipment is two-dimensional code scanning rifle, and the two-dimensional code scanning rifle is clear by scanning/being put in storage/making an inventory goods
Quick Response Code on list, the information of in/out storehouse/equipment of making an inventory is obtained, delivers to the Comprehensive Control display device；
The interchanger includes core layer switch and access layer switches, and the core layer switch is cable convertor
Terminal, the access layer switches are wireless exchange board terminal, and the core layer switch is assemblied in night shift room, with being connected to
Each subsystem on Ethernet forms high-speed LANs together, and provides gigabit interconnection for the interconnection of accessing wirelessly layer switch
Speed；The access layer switches are assemblied in storehouse, and it is wireless to provide gigabit networking for guided robot or remote terminal access
Access capability；The core switch and access layer switches are all local control, independent power-up.
Further, the Comprehensive Control display device includes to equipment information management：
Claim menu manager：Realize that equipment claims single typing, inquiry, modification, deletion, statistics and submission；
Be put in storage menu manager：Realize typing, modification, deletion, inquiry and the collect statistics in storage bill whole life cycle；
Outbound menu manager：Realize and allot typing in outbound list whole life cycle, modification, deletion, inquire about and collect system
Meter；
Stock's stores management：The management of various states of the single equipment including demand and performance is realized, is grasped in real time
The situation of single equipment；There is provided to all kinds of equipment overall status and inquiry, the statistics and analysis of stock's global information；
Maintenance of information：Importing, export to the various data of management information system is provided；There is provided various to management information system
The maintenance management of Back ground Information；
User management：Management to user profile, authority is provided, by assigning the different role of user, carrys out distributing user
Right of using functions in equipment information management system；
The importing and export of legacy data：Realize and the data in described information memory module are exported as into Excel file, with
And Excel file is imported into described information memory module.
Further, the maincenter Monitor And Control Subsystem also includes remote terminal access, and the remote terminal access is removable
Dynamic terminal, by the access layer switches, warehouse management system is remotely accessed, reads the letter in described information memory module
Breath, loads map in storehouse, display guided robot movement locus, in/out storehouse/asset location of making an inventory, to in/out storehouse/make an inventory
Equipment information is confirmed；When in use, store management personnel carry remote terminal access, under the guiding of guided robot,
In/out storehouse/equipment of making an inventory is consulted and confirmed.
Further, the guiding subsystem includes guiding control and management module, guided robot and robot charging
Stake；The guiding control and management module, guided robot form a WIFI network and communicated, the guiding control and pipe
Manage module and interface is provided, communicated by Ethernet with the maincenter monitoring system；
The guiding control and management module are managed collectively to whole guiding subsystem, including RCS service modules and
AMS service modules；
The RCS service modules are responsible for the control and management of guided robot, to guided robot and attached autonomous intelligence
The station equipment that can charge is controlled management and condition monitoring；
The AMS service modules are responsible for equipment alarm information and service the reception forward process of warning information；
Intelligent charger of the robot charging pile as the guided robot, is provided for the guided robot
Automatic charging function, using alternating current 220V mains-supplied；
The guided robot is the execution unit of guiding subsystem, and response guiding control and the scheduling of management module refer to
Order, store management personnel are assisted for the accurate automatic guiding of equipment in/out storehouse/progress of making an inventory and assistant conveyance；It is simultaneously described to draw
Lead robot by working condition itself, planned trajectory, the asset location point information that reaches by WIFI network Real-time Feedback to drawing
Lead control and management module.
Further, the guided robot is made up of AGV equipment, head and laser designator, the laser designator
It is connected to by head in the AGV equipment, the AGV equipment is as operation platform according to guiding control and the tune of management module
Degree instruction, the putting position requirement of follow-up equipment are moved to appointed task area, and the head can revolve according to commanded level and pitching
Turn, configure the laser designator and indicated；The laser designator sends laser and position of the equipment on shelf is carried out
Positioning.
Further, the guided robot is realized autonomous positioning navigation using inertial navigation, vision guided navigation and accurately determined
Position；Driven using two-wheel differential, support to include advancing, retreat, be rotated in interior compliant motion control；Using intelligent power pipe
Reason, support more grade power thresholds to control, recharging during low battery, complete autonomous after charging to return to work；Using multiple peace
Full protection, support include front/rear remote detection, and front/rear closely to detect, front/rear collision detection, front/rear scram button exists
Interior multilevel security protection；By tri-colour LED, charactron, electricity, equipment state are prompted；Support WIFI network communication and nothing
Seam roams, smoothly operation in network's coverage area.
The present invention has the beneficial effect that：
1. the stores management in warehouse is information-based, can intelligent linkage equipment go out storage, environmental monitoring, safety monitoring；
2. introducing intelligently guiding robot, transformed for warehouse demand, it is integrated with equipment management system realization
It is dynamic；
3. introducing mobile terminal, mutual operation is carried out with robot, storage can be gone out to equipment in real time；
The characteristics of 4. it is insufficient to be directed to warehouse personnel, the old and new stock clerk alternating, and business is not yet done, substore keeper
Realize and quickly go out storage, by field test, personnel requirement is 1/3rd of former warehouse, and the time shortens nearly 50%；
5. in the case where storehouse capital construction does not change, can quickly lay.
Brief description of the drawings
Accompanying drawing is only used for showing the purpose of specific embodiment, and is not considered as limitation of the present invention, in whole accompanying drawing
In, identical reference symbol represents identical part.
Fig. 1 is intelligent warehouse management system structure chart；
Fig. 2 is maincenter Monitor And Control Subsystem structure chart；
Fig. 3 is guiding subsystem schematic diagram；
Fig. 4 is guided robot composition figure；
Fig. 5 is the intelligent repository management flow chart based on maincenter monitoring.
Embodiment
The preferred embodiments of the present invention are specifically described below in conjunction with the accompanying drawings, wherein, accompanying drawing forms the application part, and
It is used for the principle for explaining the present invention together with embodiments of the present invention.
The specific embodiment of the present invention, discloses a kind of intelligent warehouse management system based on guided robot.Such as
Shown in Fig. 1, the intelligent warehouse management system includes information subsystem, maincenter Monitor And Control Subsystem, guiding subsystem, environment subsystem
System and security protection subsystem, each subsystem are connected by Ethernet, row data communication of going forward side by side.
Described information subsystem includes information storage module, information service module and information browse module；
Described information memory module stores equipment data message, supports the storage and access of equipment data, the equipment number
It is believed that breath is imported by barcode scanning, outside importing and manual input-mode obtain；
Described information service module is supported the operation such as increase data in described information memory module, delete, changing, looking into, complete
Data update in into described information memory module, using distributed frame, complete the subscription and distribution of data, support externally unified
Operate interface；
Described information browsing module provide administrative staff access described information memory module port, human-computer interaction interface and
Data interaction service.
Main body of the maincenter Monitor And Control Subsystem as man-machine interaction, by access information subsystem, realize each function interface
Operation, including equipment information is obtained, manage equipment；Asset location information is issued to guiding subsystem, according to asset location information
Accurate lookup is realized, while receives the information such as guiding subsystem work state, route planning, position.
As shown in Fig. 2 the maincenter Monitor And Control Subsystem include comprehensive display panel control, multiple display screen, barcode scanning equipment, interchanger and
Remote terminal access, the interchanger include core layer switch and access layer switches, the comprehensive display panel control, shown again
Screen, barcode scanning equipment, interchanger are connected by Ethernet, and the remote terminal access passes through access layer switches and miscellaneous part
Carry out data exchange.
The Comprehensive Control display device can realize acquisition of information function, presentation of information control function, equipment information management
Function, system interlink function, basis and operation maintenance function and application configuration parameter management；
The Comprehensive Control display device and described information subsystem communication, obtain information in described information subsystem and store
In/out storehouse/equipment information of making an inventory of module storage；The Comprehensive Control display device communicates with the environment subsystem, obtains
The Temperature Humidity Sensor information of the environment subsystem；The Comprehensive Control display device and the security protection subsystem communication, are obtained
Take gate inhibition's log-on message of the security protection subsystem；The Comprehensive Control display device and the guiding subsystem communication, are obtained
Guide the information such as working condition (path planning, real time position) of guided robot in subsystem.
The Comprehensive Control display device can according to demand, by the stores management information, humiture information, door of acquisition
Prohibit log-on message and guide management information to show by respectively or in a manner of combination over the display.
The Comprehensive Control display device to including claiming, being put in storage, outbound and stock services are managed, and to these industry
The related data management and maintenance that business needs, Back ground Information is safeguarded, legacy data imports etc., specifically include following management content：
1) menu manager is claimed：Realize that equipment claims single typing, inquiry, modification, deletion, statistics and submission；
2) menu manager is put in storage：Realize stream of the equipment in all logistics units (supplier, office, one-level unit, warehouse etc.)
To management, the typing in storage bill whole life cycle, modification, deletion, inquiry and collect statistics are managed；
3) outbound menu manager：Realize stream of the equipment in all logistics units (supplier, office, one-level unit, warehouse etc.)
To management, exchange and transfer to typing, modification, deletion, inquiry and collect statistics in the list whole life cycle of storehouse to be managed；
4) stock control：Realize to the various state (demands of single equipment：Newly, overstock；Performance：Well, damage, scrap)
Management, reaches the situation for grasping single equipment in real time；Inquiry to all kinds of equipment overall status and stock's global information is provided, united
Meter and analysis；
5) maintenance of information：Importing to the various data of management information system, export function are provided；There is provided to agrment information system
Unite the maintenance managements of various Back ground Informations；
6) user management：The management to user profile, authority is provided, by assigning the different role of user, to distribute use
Right of using functions of the family in equipment information management system；
7) legacy data imports：Equipment provides an independent application, can be by the number in SQLServer2005 databases
SQLServer2005 databases are imported into according to exporting as Excel file, and by Excel file.
The Comprehensive Control display device can exist the in/out storehouse of reception/information of making an inventory linkage guiding subsystem
Equipment positioning is carried out in storehouse.
The Comprehensive Control display device supports system is logged in by user authentication, access rights to be managed for configuration；Support
System logs in log recording and history is consulted.
The Comprehensive Control display device can be to application configurations such as all kinds of configuration files, network address, database parameters
Parameter is effectively managed.
The multiple display screen is arranged in night shift room, shows that the stores management information, humiture information, gate inhibition of acquisition log in letter
The information such as breath and guide management information, is easy to stock clerk intuitively to understand the situation in warehouse.
The barcode scanning equipment is two-dimensional code scanning rifle, and the two-dimensional code scanning rifle is connected with the Comprehensive Control display device
Connect, by scanning/being put in storage/making an inventory the Quick Response Code on list, obtain in/out storehouse/equipment information of making an inventory, and by the equipment information
Guided robot by Comprehensive Control display device linkage to the guiding subsystem, to in/out storehouse/disk in storehouse
Point equipment is positioned.
The interchanger is divided into two kinds of interchangers, core layer switch and access layer switches, the core layer switch
For cable convertor terminal, the access layer switches are wireless exchange board terminal, and the core layer switch is assemblied on duty
In room, there are 24 ports, form high-speed LANs together with connecting each subsystem over ethernet, and be accessing wirelessly
Layer switch interconnection provides gigabit interconnection speed to ensure its speed and reliability.The access layer switches are assemblied in storehouse
In, one is at least equipped with each storehouse, the access layer switches can be simultaneously whole with 6 guided robots or remote access
End, gigabit networking access capability is provided for guided robot or remote terminal access information.Either core switch is still visited
It is all local control to ask layer switch, independent power-up, so facilitates the laying of circuit and the maintenance of equipment.
The remote terminal access is movable termination, passes through the access layer switches, remote access storehouse management system
System, the information in described information memory module is read, load map in storehouse, display guided robot movement locus, in/out
Storehouse/asset location of making an inventory, in/out storehouse/equipment information of making an inventory can be confirmed.When in use, store management personnel carry remote
Journey accesses terminal, under the guiding of guided robot, in/out storehouse/equipment of making an inventory is consulted and confirmed, the remote access
Terminal is using main flow PAD as function carrier.
As shown in figure 3, the guiding subsystem includes, guiding control and management module, guided robot and robot fill
Electric stake.By the access layer switches set in storehouse, guiding control and management module, guided robot form a WIFI
Network is communicated.
The guiding control and management module are managed collectively to whole guiding subsystem, including RCS (Robat
Control System) service module and AMS (Alarm management System) service module,
The RCS service modules are responsible for the control and management of guided robot, to guided robot and attached autonomous intelligence
The equipment such as energy charging station are controlled management and condition monitoring；
The AMS service modules are responsible for equipment alarm information and service the reception forward process of warning information；
The guiding control and management module provide interface, are docked by Ethernet with the maincenter monitoring system of user.
Intelligent charger of the robot charging pile as the guided robot, can be that the guided robot carries
For automatic charging function, using alternating current 220V mains-supplied, each storehouse is equipped with a robot charging pile.
The guided robot is the execution unit of guiding subsystem, and response guiding control and the scheduling of management module refer to
Order, store management personnel are assisted to realize homing guidance, assistant conveyance work(for equipment in/out storehouse/making an inventory accurately is guided
Energy；The asset location point information of working condition itself, planned trajectory, arrival is passed through WIFI network by the guided robot simultaneously
Real-time Feedback is to guiding control and management module.There can be multiple guided robots in one warehouse, by each vectoring aircraft
Device people IP carries out different settings, realizes guiding control and control of the management module to each guided robot.
As shown in figure 4, the guided robot includes AGV equipment, head and laser designator.The laser designator is led to
Cross head to be connected in the AGV equipment, the AGV equipment can be according to guiding control and the tune of management module as operation platform
Degree instruction, the putting position requirement of follow-up equipment are moved to appointed task area, and the head can revolve according to commanded level and pitching
Turn, configuration laser designator is indicated；The laser designator sends position of the laser to the equipment pre-set on shelf
Put and positioned.
The guided robot is realized autonomous positioning navigation using inertial navigation, vision guided navigation technology and is accurately positioned；Adopt
Driven with two-wheel differential, compliant motion control, the motion process such as support is advanced, retreated, rotation are smoothly submissive；Using intelligent power
Management, support more grade power thresholds to control, recharging during low battery, complete autonomous after charging to return to work；Using multiple
Security protection, support that front/rear remote detection, front/rear closely to detect, front/rear collision detection, front/rear scram button etc. are more
Level security protects, and realizes safe and reliable motion control；It can realize that large cargo is carried, support 300kg goods to carry, rotation
Turn；By tri-colour LED, charactron, electricity, equipment state etc. are prompted；Support WIFI network communication and seamless roam, network
Overlay area smoothly operation；Charge duration after the complete electric discharge of the guided robot<=1.5 hours；
The security protection subsystem is mainly made up of gate inhibition, and when gate inhibition is logged in by fingerprint recognition, maincenter monitoring system can connect
Receive gate inhibition's log-on message.
The environment subsystem is made up of Temperature Humidity Sensor and interface conversion unit, and interface conversion unit is as network section
Point access network based on ethernet, maincenter monitoring system obtain humiture information and shown from network.
Main body of the maincenter Monitor And Control Subsystem as intelligent warehouse management system man-machine interaction, the pipe of the intelligent repository
Reason process is that the maincenter monitoring based on maincenter Monitor And Control Subsystem is completed.
As shown in figure 5, a kind of intelligent repository management method based on maincenter monitoring, comprises the following steps：
Step 1, intelligent repository administrative login, each subsystem of the maincenter Monitor And Control Subsystem to the warehouse management system
Carry out Autonomous test
The self-checking detection process, with maincenter Monitor And Control Subsystem initiate, to described information subsystem, maincenter Monitor And Control Subsystem,
Guiding subsystem, environment subsystem and security protection subsystem carry out Autonomous test successively, and form Self-Check Report, report self-test situation,
Then it is shown in if abnormal in Self-Check Report, reminds warehouse keeper；If without exception, into intelligent management process.
Step 2, intelligent management is carried out to warehouse, the intelligent management includes stores management, environmental management and entrance guard management
The stores management includes carrying out equipment the intelligent management in in/out storehouse/make an inventory, and comprises the following steps：
1) to in/out storehouse/making an inventory judges, the stores management based on in/out storehouse/make an inventory document to carry out,
The document is according to in/out storehouse/request generation of making an inventory, and includes Quick Response Code on document；
2)/document of making an inventory determines related in/out storehouse/intelligently guiding made an inventory according to the in/out storehouse of correlation, and to described
The data message of related equipment enters edlin in information storage module in information subsystem；
When being judged as stock management according to document, intelligent guide method comprises the following steps：
A) after night shift room staff is connected to storage bill and corresponding equipment, by two-dimensional code scanning rifle by equipment Data Enter
Maincenter Monitor And Control Subsystem；
B) display of the Comprehensive Control display device of maincenter Monitor And Control Subsystem, multiple aobvious screen and remote control terminal shows automatically
It is shown into the species of storehouse equipment, quantity, is subordinate to the information such as storehouse, shelf location, so that operator checks, and assigns asset location letter
Breath extremely guiding subsystem；
C) guided robot carries out path planning, the road of planning storage work according to asset location is issued for this storage
Line, carrying storage equipment, under the remote terminal access interaction of operator, be moved to appointed task area, the head according to
Commanded level and pitching rotation, laser designator is sent laser and position of the storage equipment pre-set on shelf is carried out
Positioning, personnel are assisted to complete equipment storage；
D) after completing equipment storage, operator confirms via remote terminal access to equipment information, sends this equipment
Storage completes information；The maincenter Monitor And Control Subsystem receives after storage completes information and completes to deposit the information of described information subsystem
Store up the modification of module data.
E) the maincenter Monitor And Control Subsystem sends instruction control guided robot playback.
When being judged as library management according to document, intelligent guide method comprises the following steps：
A), will out-going material Data Enter maincenter by two-dimensional code scanning rifle after night shift room staff is connected to outbound list
Monitor And Control Subsystem；
B) maincenter Monitor And Control Subsystem shows storage material quantity, is subordinate to storehouse, shelf location and asset location information automatically,
Operation assigns asset location information to guiding subsystem；
C) guided robot is according to asset location, and path planning is carried out for this outbound, the route of planning outbound work,
Under the remote terminal access interaction of store management personnel, appointed task area is moved to, the head is according to commanded level and bows
Rotation is faced upward, laser designator is sent laser and is positioned to going out position of the out-going material on shelf, operator confirms outbound
After equipment, guided robot carries out Kuku equipment and assists personnel to complete equipment outbound；
D) after completing equipment outbound, operator confirms via remote terminal access to equipment information, sends this equipment
Information is completed in outbound；The maincenter Monitor And Control Subsystem receives after information is completed in outbound and completes to deposit the information of described information subsystem
Store up the modification of module data.
E) the maincenter Monitor And Control Subsystem sends instruction control guided robot playback.
When according to document be judged as making an inventory management when, intelligent guide method comprises the following steps：
A) after night shift room staff is connected to list of material of making an inventory, will be made an inventory equipment Data Enter by two-dimensional code scanning rifle
Maincenter Monitor And Control Subsystem；
B) maincenter Monitor And Control Subsystem shows stock material quantity of making an inventory, is subordinate to storehouse, shelf location and asset location automatically
Information, operation assign asset location information to guiding subsystem；
C) guided robot is made an inventory for this according to asset location of being made an inventory and carries out path planning, plan work of making an inventory
Route, store management personnel remote terminal access interaction under, find equipment position of making an inventory, and pass through cradle head control
Laser transmitter projects laser alignment described in make an inventory equipment, assistance personnel confirm equipment of making an inventory；Operator visits via long-range
Ask that terminal-pair equipment information is confirmed, next equipment of making an inventory is carried out, until inventory procedure terminates.
D) after completion equipment is made an inventory, operator confirms via remote terminal access to equipment information, sends this equipment
Make an inventory and complete information；The maincenter Monitor And Control Subsystem is completed to deposit the information of described information subsystem after receiving completion information of making an inventory
Store up the modification of module data.
E) the maincenter Monitor And Control Subsystem sends instruction control guided robot playback.
2. environmental management
The Temperature Humidity Sensor real time humiture information of configuration, passes through Ethernet after interface conversion unit is changed in storehouse
Transmit to maincenter monitoring system, maincenter monitoring system and it is warm and humid to provide storehouse while the humiture information that real-time display obtains
Degree regulation and control are suggested.
3. entrance guard management
The gate control system of the security protection subsystem, gate inhibition's log-on message is monitored in real time, when gate inhibition is logged in by fingerprint recognition,
Log-on message is sent into maincenter monitoring system by Ethernet to show, it is ensured that all important information can find and locate in time
Reason.
In summary, the intelligent warehouse management system provided in an embodiment of the present invention based on guided robot, have as follows
Beneficial effect：
1. the stores management in warehouse is information-based, can intelligent linkage equipment go out storage, environmental monitoring, safety monitoring；
2. introducing intelligently guiding robot, transformed for warehouse demand, it is integrated with equipment management system realization
It is dynamic；
3. introducing mobile terminal, mutual operation is carried out with robot, storage can be gone out to equipment in real time；
The characteristics of 4. it is insufficient to be directed to warehouse personnel, the old and new stock clerk alternating, and business is not yet done, substore keeper
Realize and quickly go out storage, by field test, personnel requirement is 1/3rd of former warehouse, and the time shortens nearly 50%；
5. in the case where storehouse capital construction does not change, can quickly lay.
It will be understood by those skilled in the art that realizing all or part of flow of above-described embodiment method, meter can be passed through
Calculation machine program instructs the hardware of correlation to complete, and described program can be stored in computer-readable recording medium.Wherein, institute
Computer-readable recording medium is stated as disk, CD, read-only memory or random access memory etc..
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, the change or replacement that can readily occur in,
It should all be included within the scope of the present invention.
Claims (9)
1. a kind of intelligent warehouse management system based on guided robot, it is characterised in that monitored including information subsystem, maincenter
Subsystem and guiding subsystem, each subsystem are connected by Ethernet；
Equipment data message in described information subsystem storage repository；
The maincenter Monitor And Control Subsystem accesses described information subsystem, obtains equipment information, and be handed down to and draw according to user's request
Guide system receives working condition, route planning and the positional information of guiding subsystem simultaneously；
The information that the guiding subsystem issues according to the maincenter Monitor And Control Subsystem, carry out path planning, control guiding machine
People assists user to carry out accurate automatic guiding and assistant conveyance to equipment.
2. intelligent warehouse management system according to claim 1, it is characterised in that also including security protection subsystem and environment
System；
The security protection subsystem is mainly made up of gate inhibition, and when gate inhibition is logged in by fingerprint recognition, maincenter monitoring system can receive door
Prohibit log-on message；
The environment subsystem is made up of Temperature Humidity Sensor and interface conversion unit, and the interface conversion unit is as network section
Point access network based on ethernet, maincenter monitoring system obtain the humiture information of the Temperature Humidity Sensor from network.
3. intelligent warehouse management system according to claim 1 or 2, it is characterised in that described information subsystem includes letter
Cease memory module, information service module and information browse module；
Described information memory module stores equipment data message, supports the storage and access of equipment data；
Described information service module is supported to operate data in described information memory module, completes described information memory module
Interior data renewal, using distributed frame, completes the subscription and distribution of data, supports external unified operation interface；
Described information browsing module provides the port that administrative staff access described information memory module, human-computer interaction interface and data
Interactive service.
4. intelligent warehouse management system according to claim 3, it is characterised in that the maincenter Monitor And Control Subsystem includes comprehensive
Control display device, multiple display screen, barcode scanning equipment and interchanger are closed, and is connected by Ethernet；
The Comprehensive Control display device is automatic or instruction obtain equipment information, humiture information, gate inhibition's log-on message and
The work state information of guided robot, and the equipment information of acquisition is managed, send equipment to the guiding subsystem
Positional information linkage guided robot carries out equipment positioning in storehouse, and support system is logged into by user authentication, access rights
Row configuration management；Support system logs in log recording and history is consulted, to all kinds of configuration files, network address, database parameter
Effectively managed；
The multiple display screen is used to showing including equipment management information, humiture information, gate inhibition's log-on message and guide management information
Information；
The barcode scanning equipment is two-dimensional code scanning rifle, and the two-dimensional code scanning rifle is by scanning/being put in storage/make an inventory on detailed list of goods
Quick Response Code, obtain the information of in/out storehouse/equipment of making an inventory, deliver to the Comprehensive Control display device；
The interchanger includes core layer switch and access layer switches, and the core layer switch is that cable convertor is whole
End, the access layer switches are wireless exchange board terminal, and the core layer switch is assemblied in night shift room, be connected to
Too online each subsystem forms high-speed LANs together, and provides gigabit interconnection speed for the interconnection of accessing wirelessly layer switch
Degree；The access layer switches are assemblied in storehouse, are provided gigabit networking for guided robot or remote terminal access and are wirelessly connect
Enter ability；The core switch and access layer switches are all local control, independent power-up.
5. intelligent warehouse management system according to claim 4, it is characterised in that the Comprehensive Control display device is to device
Material information management includes：
Claim menu manager：Realize that equipment claims single typing, inquiry, modification, deletion, statistics and submission；
Be put in storage menu manager：Realize typing, modification, deletion, inquiry and the collect statistics in storage bill whole life cycle；
Outbound menu manager：Realize typing, modification, deletion, inquiry and the collect statistics alloted in outbound list whole life cycle；
Stock's stores management：The management of various states of the single equipment including demand and performance is realized, is grasped in real time single
The situation of equipment；There is provided to all kinds of equipment overall status and inquiry, the statistics and analysis of stock's global information；
Maintenance of information：Importing, export to the various data of management information system is provided；There is provided to the various bases of management information system
The maintenance management of information；
User management：Management to user profile, authority is provided, by assigning the different role of user, carrys out distributing user in device
Right of using functions in material information management system；
The importing and export of legacy data：Realize and the data in described information memory module are exported as into Excel file, and will
Excel file imported into described information memory module.
6. intelligent warehouse management system according to claim 4, it is characterised in that the maincenter Monitor And Control Subsystem also includes
Remote terminal access, the remote terminal access are movable termination, by the access layer switches, remotely access warehouse pipe
Reason system, the information in described information memory module is read, load map in storehouse, display guided robot movement locus, go out/
Asset location is put in storage/made an inventory, in/out storehouse/equipment information of making an inventory is confirmed；When in use, store management personnel carry remote
Journey accesses terminal, under the guiding of guided robot, in/out storehouse/equipment of making an inventory is consulted and confirmed.
7. intelligent warehouse management system according to claim 1 or 2, it is characterised in that the guiding subsystem includes drawing
Lead control and management module, guided robot and robot charging pile；The guiding control and management module, guided robot group
Communicated into a WIFI network, the guiding control and management module provide interface, are supervised by Ethernet and the maincenter
Control system is communicated；
The guiding control and management module are managed collectively to whole guiding subsystem, including RCS service modules and AMS clothes
Business module；
The RCS service modules are responsible for the control and management of guided robot, and guided robot and attached autonomous intelligence are filled
Power station equipment is controlled management and condition monitoring；
The AMS service modules are responsible for equipment alarm information and service the reception forward process of warning information；
Intelligent charger of the robot charging pile as the guided robot, is provided automatically for the guided robot
Charge function, using alternating current 220V mains-supplied；
The guided robot is the execution unit of guiding subsystem, and response guiding controls and the dispatch command of management module, association
Store management personnel are helped for the accurate automatic guiding of equipment in/out storehouse/progress of making an inventory and assistant conveyance；The guiding machine simultaneously
People controls working condition itself, planned trajectory, the asset location point information of arrival by WIFI network Real-time Feedback to guiding
And management module.
8. intelligent warehouse management system according to claim 7, it is characterised in that the guided robot by AGV equipment,
Head and laser designator composition, the laser designator are connected in the AGV equipment by head, and the AGV equipment is made
Appointed task is moved to according to guiding control and the dispatch command of management module, the putting position requirement of follow-up equipment for operation platform
Area, the head can rotate according to commanded level and pitching, configure the laser designator and indicated；The laser designation
Device sends laser and position of the equipment on shelf is positioned.
9. the intelligent warehouse management system according to claim 7 or 8, it is characterised in that the guided robot is using used
Property navigation, vision guided navigation realize autonomous positioning navigation and be accurately positioned；Using two-wheel differential drive, support include advance, retrogressing,
Compliant motion control in being rotated in；Using intelligent electric power management, support more grade power thresholds to control, independently fill during low battery
Electricity, complete autonomous return work after charging；Using multiple safety protection, support includes front/rear remote detection, front/rear low coverage
From detection, front/rear collision detection, the multilevel security protection including front/rear scram button；By tri-colour LED, charactron, carry
Show electricity, equipment state；Support WIFI network communicates and seamless roam, smoothly operation in network's coverage area.
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| CN110282319A (en) * | 2019-06-10 | 2019-09-27 | 潍坊海丰自动化科技有限公司 | Intelligent AGV logistics resource |
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