CN107679786B - Intelligent warehouse management system based on guide robot - Google Patents
Intelligent warehouse management system based on guide robot Download PDFInfo
- Publication number
- CN107679786B CN107679786B CN201710752253.8A CN201710752253A CN107679786B CN 107679786 B CN107679786 B CN 107679786B CN 201710752253 A CN201710752253 A CN 201710752253A CN 107679786 B CN107679786 B CN 107679786B
- Authority
- CN
- China
- Prior art keywords
- equipment
- information
- warehouse
- subsystem
- management
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- 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
-
- 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 invention relates to an intelligent warehouse management system based on a guide robot, which comprises an information subsystem, a central monitoring subsystem, a guide subsystem, a security subsystem and an environment subsystem, wherein the subsystems are connected through an Ethernet. The intelligent warehouse management system makes equipment management information of a warehouse, and can intelligently link equipment in and out of the warehouse, environment monitoring and security monitoring; an intelligent guide robot is introduced, the warehouse is modified according to the requirement, and the intelligent guide robot is integrally linked with an equipment management system; a mobile terminal is introduced to carry out mutual operation with the robot, so that the equipment can be delivered and stored in real time; aiming at the characteristics of insufficient personnel in the warehouse, alternation of old and new warehouse managers and insufficient business, the system assists the warehouse managers to realize rapid warehouse entry and exit, and through field tests, the personnel requirement is one third of that of the original warehouse, and the time is shortened by nearly 50%.
Description
Technical Field
The invention relates to the field of electronic information, in particular to an intelligent warehouse management system based on a guide robot.
Background
With the rapid development of technologies such as internet, big data, cloud computing and internet of things and the wide application of technologies such as intelligent sensing, wireless communication, remote sensing, satellite positioning and geographic information systems, unbiased visualization and intelligent identification, positioning, tracking, monitoring, management and evaluation of the warehouse can be realized, so that the warehouse reaches an intelligent state, becomes an intelligent warehouse and replaces a traditional warehouse.
At present, most logistics warehousing companies in China form a very perfect visual warehouse management technology, and products are put in and out of a warehouse, subjected to equipment statistical analysis and subjected to logistics scheduling to be completely commercialized. The current mainstream smart storage schemes include two, smart dense shelves and shelf-to-person.
The intelligent dense goods shelf is based on a movable goods shelf, integrates technical means such as computer control, servo control, light guide and the like, has the advantages of space saving and the defects of light bearing equipment, standard size, large change amount and inapplicability to the existing storehouse transformation.
Goods shelves arrive people, and the storage robot is leading, and the goods shelves of bearing a burden are to appointed region, require the goods shelves light, and the weight of goods is light, but introduce these advanced technologies completely into old storehouse, and the degree of difficulty that needs to reform transform on the one hand is big, and on the other hand needs a large amount of funds, and is low cost-effective ratio, and the meaning of reforming transform is not big.
Disclosure of Invention
In view of the above analysis, the present invention aims to provide an intelligent warehouse management system based on a guiding robot, so as to solve the problem that the warehouse entry and exit efficiency of old and old warehouses is low, and especially, the warehouse entry and exit efficiency is influenced by people under the circumstances that warehouse managers are unskilled in business and are old and new.
The purpose of the invention is mainly realized by the following technical scheme:
an intelligent warehouse management system based on a guide robot comprises an information subsystem, a central control subsystem and a guide subsystem, wherein the subsystems are connected through an Ethernet;
the information subsystem stores equipment data information in the warehouse;
the central monitoring subsystem accesses the information subsystem according to the requirements of the user, acquires equipment information, and issues the equipment information to the guidance subsystem to receive the working state, route planning and position information of the guidance subsystem;
and the guiding subsystem carries out path planning according to the information issued by the central monitoring subsystem, and controls the guiding robot to assist the user in carrying out accurate automatic guiding and auxiliary transportation on the equipment.
Further, the system also comprises a security subsystem and an environment subsystem;
the security subsystem mainly comprises an entrance guard, and when the entrance guard logs in through fingerprint identification, the central control system receives entrance guard login information;
the environment subsystem is composed of a temperature and humidity sensor and an interface conversion unit, the interface conversion unit is used as a network node to be connected to the Ethernet, and the central monitoring system obtains temperature and humidity information of the temperature and humidity sensor from the network.
Furthermore, the information subsystem comprises an information storage module, an information service module and an information browsing module;
the information storage module stores equipment data information and supports storage and access of the equipment data;
the information service module supports the operation of data in the information storage module, completes the updating of the data in the information storage module, adopts a distributed structure, completes the subscription and distribution of the data and supports an external unified operation interface;
the information browsing module provides a port for a manager to access the information storage module, a man-machine interaction interface and data interaction service.
Furthermore, the central monitoring subsystem comprises a comprehensive control display device, a double-display screen, a code scanning device and a switch, and is connected through an Ethernet;
the comprehensive control display equipment automatically or through instructions obtains and acquires equipment information, temperature and humidity information, entrance guard login information and working state information of the guide robot, manages the obtained equipment information, sends equipment position information to the guide subsystem to guide the robot to position the equipment in the storehouse in a linkage manner, and supports the system to log in for configuration management according to user authentication and access authority; the system login log record and history lookup are supported, and various configuration files, network addresses and database parameters are effectively managed;
the double-display screen is used for displaying information including equipment management information, temperature and humidity information, entrance guard login information and guidance management information;
the code scanning device is a two-dimensional code scanning gun, and the two-dimensional code scanning gun acquires information of warehouse-in/warehouse-out/inventory equipment by scanning a two-dimensional code on a warehouse-out/warehouse-in/inventory goods list and sends the information to the comprehensive control display device;
the switches comprise a core layer switch and an access layer switch, the core layer switch is a wired switch terminal, the access layer switch is a wireless switch terminal, the core layer switch is assembled in a duty room, forms a high-speed local area network together with all subsystems connected to the Ethernet and provides kilomega interconnection speed for interconnection of the wireless access layer switches; the access layer switch is assembled in a storehouse and provides gigabit network wireless access capability for guiding the robot or the remote access terminal; the core switch and the access layer switch are both locally controlled and independently powered up.
Further, the integrated control display device managing the equipment information comprises:
and (3) management of a claim form: the input, query, modification, deletion, statistics and submission of the equipment claim form are realized;
and (4) warehousing bill management: the entry, modification, deletion, query and summary statistics of the warehousing entry in the whole life cycle are realized;
and (4) delivery list management: the recording, modification, deletion, query and summary statistics of the call delivery list in the whole life cycle are realized;
managing inventory equipment: the management of various states including requirements and performances of a single equipment is realized, and the condition of the single equipment is mastered in real time; providing query, statistics and analysis of overall state and inventory global information of various equipment;
information maintenance: providing import and export of various data of the management information system; providing maintenance management for various basic information of the management information system;
user management: providing management on user information and authority, and distributing functional use authority of a user in the equipment information management system by endowing the user with different roles;
importing and exporting original data: and exporting the data in the information storage module into an Excel file, and importing the Excel file into the information storage module.
Furthermore, the central monitoring subsystem further comprises a remote access terminal, wherein the remote access terminal is a movable terminal, remotely accesses the warehouse management system through the access layer switch, reads the information in the information storage module, loads a map in a warehouse, displays a motion track of a guide robot and the position of the equipment for going out of/in-warehouse/checking, and confirms the information of the equipment for going out of/in-warehouse/checking; when the system is used, a warehouse manager carries a remote access terminal, and under the guidance of a guide robot, the warehouse-in/warehouse-out/inventory equipment is consulted and confirmed.
Further, the guidance subsystem comprises a guidance control and management module, a guidance robot and a robot charging pile; the guidance control and management module and the guidance robot form a WIFI network for communication, the guidance control and management module provides an interface and communicates with the central control system through the Ethernet;
the guide control and management module carries out unified management on the whole guide subsystem and comprises an RCS service module and an AMS service module;
the RCS service module is responsible for controlling and managing the guide robot and controlling, managing and monitoring the state of the guide robot and the attached autonomous intelligent charging station equipment;
the AMS service module is responsible for receiving, forwarding and processing the management equipment alarm information and the service alarm information;
the robot charging pile is used as an intelligent charging device of the guide robot, provides an automatic charging function for the guide robot, and adopts alternating current 220V commercial power for power supply;
the guide robot is an execution unit of the guide subsystem, responds to a scheduling instruction of the guide control and management module, and assists storehouse management personnel in carrying out accurate automatic guide and auxiliary transportation on equipment output/storage/inventory; and simultaneously, the guiding robot feeds back the working state, the planning track and the information of the arrived equipment position points to the guiding control and management module in real time through a WIFI network.
Furthermore, the guiding robot is composed of an AGV device, a cloud deck and a laser indicator, the laser indicator is connected to the AGV device through the cloud deck, the AGV device serves as an operation platform and moves to an appointed task area according to a scheduling instruction of a guiding control and management module and a follow-up device placing position requirement, and the cloud deck can rotate horizontally and in a pitching mode according to the instruction and is configured with the laser indicator to indicate; the laser indicator emits laser to position the equipment on the shelf.
Furthermore, the guiding robot adopts inertial navigation and visual navigation to realize autonomous positioning navigation and accurate positioning; the double-wheel differential drive is adopted, and flexible motion control including forward movement, backward movement and rotation is supported; the intelligent power supply management is adopted, multi-level electric quantity threshold control is supported, automatic charging is carried out when the electric quantity is low, and automatic return work is carried out after charging is finished; multiple safety protections are adopted to support multi-stage safety protections including front/back remote detection, front/back short-distance detection, front/back collision detection and front/back emergency stop buttons; the electric quantity and the equipment state are prompted through a three-color indicator lamp and a nixie tube; and WIFI network communication and seamless roaming are supported, and barrier-free operation is realized in a network coverage area.
The invention has the following beneficial effects:
1. the equipment management of the warehouse is informationized, and the equipment can be intelligently linked to enter and exit from the warehouse, environment monitoring and security monitoring;
2. an intelligent guide robot is introduced, the warehouse is modified according to the requirement, and the intelligent guide robot is integrally linked with an equipment management system;
3. a mobile terminal is introduced to carry out mutual operation with the robot, so that the equipment can be delivered and stored in real time;
4. aiming at the characteristics of insufficient staff in the warehouse, alternation of old and new warehouse managers and insufficient business, the warehouse management system assists the warehouse managers to realize rapid warehouse entry and exit, and through field tests, the staff requirements are one third of those of the original warehouse, and the time is shortened by nearly 50%;
5. under the condition that the base construction of the storehouse is not changed, the arrangement can be carried out quickly.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
FIG. 1 is a diagram of an intelligent warehouse management system architecture;
FIG. 2 is a diagram of a hub monitoring subsystem architecture;
FIG. 3 is a schematic diagram of a guidance subsystem;
FIG. 4 is a drawing of the guiding robot;
fig. 5 is a flow chart of intelligent warehouse management based on hub monitoring.
Detailed Description
The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form a part hereof, and which together with the embodiments of the invention serve to explain the principles of the invention.
The invention discloses an intelligent warehouse management system based on a guide robot. As shown in fig. 1, the intelligent warehouse management system includes an information subsystem, a central monitoring subsystem, a guidance subsystem, an environment subsystem, and a security subsystem, and the subsystems are connected via an ethernet network and perform data communication.
The information subsystem comprises an information storage module, an information service module and an information browsing module;
the information storage module stores equipment data information and supports storage and access of the equipment data, and the equipment data information is obtained through code scanning import, external import and manual input;
the information service module supports operations such as adding, deleting, changing and searching data in the information storage module, completes data updating in the information storage module, adopts a distributed structure, completes data subscription and distribution, and supports an external unified operation interface;
the information browsing module provides a port for a manager to access the information storage module, a man-machine interaction interface and data interaction service.
The central monitoring subsystem is used as a main body of man-machine interaction, and the operation of each functional interface is realized by accessing the information subsystem, including the acquisition of equipment information and the management of equipment; and issuing equipment position information to the guidance subsystem, realizing accurate search according to the equipment position information, and receiving information such as the working state, route planning, position and the like of the guidance subsystem.
As shown in fig. 2, the hub monitoring subsystem includes an integrated display and control device, a composite screen, a code scanning device, a switch, and a remote access terminal, the switch includes a core layer switch and an access layer switch, the integrated display and control device, the composite screen, the code scanning device, and the switch are connected via an ethernet, and the remote access terminal performs data exchange with other components via the access layer switch.
The comprehensive control display equipment can realize an information acquisition function, an information display control function, an equipment information management function, a system linkage function, a foundation and operation maintenance function and application configuration parameter management;
the integrated control display equipment is communicated with the information subsystem to acquire the information of the equipment for going out of or entering into/checking the equipment stored in the information storage module in the information subsystem; the comprehensive control display equipment is communicated with the environment subsystem to acquire temperature and humidity sensor information of the environment subsystem; the comprehensive control display equipment is communicated with the security subsystem to acquire access control login information of the security subsystem; the integrated control display equipment is communicated with the guidance subsystem to acquire information such as the working state (planned path and real-time position) of the guidance robot in the guidance subsystem.
The comprehensive control display equipment can display the acquired equipment management information, the acquired temperature and humidity information, the acquired entrance guard login information and the acquired guidance management information on a display in a separate or combined mode.
The comprehensive control display device manages services including claiming, warehousing, ex-warehouse and inventory, manages and maintains relevant data required by the services, maintains basic information, imports original data and the like, and specifically comprises the following management contents:
1) and (3) management of a claim form: the input, query, modification, deletion, statistics and submission of the equipment claim form are realized;
2) and (4) warehousing bill management: the flow direction management of the equipment in all logistics units (suppliers, organs, primary units, warehouses and the like) is realized, and the recording, modification, deletion, query and summary statistics of the warehousing unit in the whole life cycle are managed;
3) and (4) delivery list management: the flow direction management of the equipment in all logistics units (suppliers, organs, primary units, warehouses and the like) is realized, and the recording, modification, deletion, query and summary statistics in the whole life cycle of the outbound list are managed;
4) inventory management: the management of various states (requirements: new and overstock; performance: good, damaged and scrapped) of a single equipment is realized, and the condition of mastering the single equipment in real time is achieved; providing query, statistics and analysis of overall state and inventory global information of various equipment;
5) information maintenance: providing the functions of importing and exporting various data of the management information system; providing maintenance management for various basic information of the management information system;
6) user management: providing management on user information and authority, and distributing functional use authority of a user in the equipment information management system by endowing the user with different roles;
7) importing original data: the device provides an independent application, and can export data in the SQLServer2005 database into an Excel file and import the Excel file into the SQLServer2005 database.
The comprehensive control display equipment can link the received warehousing/inventory information with the guiding subsystem to position the equipment in the storeroom.
The integrated control display equipment support system carries out configuration management according to user authentication and access right login; and system login log recording and history consulting are supported.
The comprehensive control display equipment can effectively manage application configuration parameters such as various configuration files, network addresses, database parameters and the like.
The double-display screen is arranged in the duty room, displays the acquired equipment management information, the acquired temperature and humidity information, the acquired entrance guard login information, the acquired guide management information and other information, and is convenient for warehouse managers to visually know the condition of the warehouse.
The code scanning device is a two-dimensional code scanning gun which is connected with the comprehensive control display device, the two-dimensional code scanning gun acquires the information of the warehouse-in/warehouse-out equipment by scanning the two-dimensional code on the warehouse-in/warehouse-out list, the equipment information is linked to the guide robot of the guide subsystem through the comprehensive control display device, and the warehouse-in/warehouse-out equipment is positioned in the warehouse.
The switch is divided into two switches, a core layer switch and an access layer switch, the core layer switch is a wired switch terminal, the access layer switch is a wireless switch terminal, the core layer switch is assembled in a duty room and is provided with 24 ports, the core layer switch and the subsystems connected to the Ethernet form a high-speed local area network, and gigabit interconnection speed is provided for interconnection of the wireless access layer switches so as to guarantee the speed and the reliability of the wireless access layer switches. The access layer switch is arranged in the storehouses, at least one access layer switch is arranged in each storehouse, and the access layer switch can be simultaneously matched with 6 guide robots or remote access terminals to provide gigabit network access capability for the guide robots or the remote access terminals. Whether the core switch or the access layer switch is locally controlled and independently powered up, so that the laying of lines and the maintenance of equipment are facilitated.
The remote access terminal is a movable terminal, and the information in the information storage module is read through the access layer switch and the remote access warehouse management system, a map in a warehouse is loaded, the motion track of the guide robot and the position of the warehouse-out/warehouse-in/inventory equipment are displayed, and the warehouse-out/warehouse-in/inventory equipment information can be confirmed. When the system is used, a warehouse manager carries a remote access terminal, looks up and confirms the warehouse-in/warehouse-out/inventory equipment under the guidance of a guide robot, and the remote access terminal adopts a mainstream PAD as a function carrier.
As shown in fig. 3, the guidance subsystem includes a guidance control and management module, a guidance robot, and a robot charging pile. And the guide control and management module and the guide robot form a WIFI network for communication through the access layer switch arranged in the storehouse.
The guide Control and management module carries out unified management on the whole guide subsystem, and comprises an RCS (Robat Control System) service module and an AMS (area management System) service module,
the RCS service module is responsible for controlling and managing the guide robot, and controlling, managing and monitoring the state of the guide robot, an attached autonomous intelligent charging station and other equipment;
the AMS service module is responsible for receiving, forwarding and processing the management equipment alarm information and the service alarm information;
the boot control and management module provides an interface to interface with the user's hub monitoring system via ethernet.
The robot fills electric pile as guide robot's intelligent charging device can for guide robot provides the automatic function of charging, adopts the alternating-current 220V commercial power supply, and every storehouse is equipped with a robot and fills electric pile.
The guide robot is an execution unit of the guide subsystem, responds to a scheduling instruction of the guide control and management module, assists storehouse managers in accurately guiding the equipment to enter/exit/inventory, and realizes automatic guide and auxiliary transportation functions; and simultaneously, the guiding robot feeds back the working state, the planning track and the information of the arrived equipment position points to the guiding control and management module in real time through a WIFI network. A plurality of guide robots can be arranged in one warehouse, and the guide control and management module can control each guide robot by setting each guide robot IP differently.
As shown in fig. 4, the guidance robot includes an AGV device, a pan-tilt, and a laser pointer. The laser indicator is connected to the AGV equipment through a cloud platform, the AGV equipment serving as an operation platform can follow the requirement of the equipment placing position to move to an appointed task area according to a scheduling instruction of a guide control and management module, and the cloud platform can rotate horizontally and in a pitching mode according to the instruction and is configured with the laser indicator to indicate; the laser indicator emits laser to position preset equipment on the shelf.
The guiding robot adopts inertial navigation and visual navigation technologies to realize autonomous positioning navigation and accurate positioning; the double-wheel differential drive is adopted, the flexible motion control of advancing, retreating, rotating and the like is supported, and the motion process is smooth and flexible; the intelligent power supply management is adopted, multi-level electric quantity threshold control is supported, automatic charging is carried out when the electric quantity is low, and automatic return work is carried out after charging is finished; the multi-level safety protection is adopted, the front/back remote detection, the front/back short-distance detection, the front/back collision detection, the front/back emergency stop button and other multi-level safety protection are supported, and the safe and reliable motion control is realized; the large-scale cargo can be transported, and the transportation and rotation of 300kg of cargo are supported; the electric quantity, the equipment state and the like are prompted through a three-color indicator lamp and a nixie tube; WIFI network communication and seamless roaming are supported, and the network coverage area operates without barriers; the charging time length after the complete discharge of the guide robot is less than 1.5 hours;
the security subsystem mainly comprises an entrance guard, and when the entrance guard logs in through fingerprint identification, the central control system can receive entrance guard login information.
The environment subsystem is composed of a temperature and humidity sensor and an interface conversion unit, the interface conversion unit is used as a network node to be connected to the Ethernet, and the central monitoring system obtains temperature and humidity information from the network and displays the temperature and humidity information.
The central control subsystem is used as a main body of man-machine interaction of the intelligent warehouse management system, and the management process of the intelligent warehouse is completed based on the central control of the central control subsystem.
As shown in fig. 5, an intelligent warehouse management method based on hub monitoring includes the following steps:
step 1, intelligent warehouse management login, wherein the central control subsystem performs self-detection on each subsystem of the warehouse management system
The self-detection process is initiated by a central control subsystem, the information subsystem, the central control subsystem, the guide subsystem, the environment subsystem and the security subsystem are sequentially subjected to self-detection, a self-detection report is formed, the self-detection condition is reported, and if the self-detection report is abnormal, the self-detection report is displayed in the self-detection report to remind a warehouse manager; and if no abnormity exists, entering an intelligent management process.
Step 2, carrying out intelligent management on the warehouse, wherein the intelligent management comprises equipment management, environment management and access control management
The equipment management comprises intelligent management of equipment in/out of a warehouse/inventory, and comprises the following steps:
1) judging the warehouse entry/inventory, wherein the equipment management is carried out based on a warehouse entry/inventory bill, the bill is generated according to a warehouse entry/inventory request, and the bill comprises a two-dimensional code;
2) determining relevant intelligent guidance of the warehouse-in/warehouse-out/inventory according to relevant warehouse-in/inventory receipts, and editing data information of relevant equipment in an information storage module in the information subsystem;
when the document is judged to be put into storage for management, the intelligent guiding method comprises the following steps:
a) after receiving the warehousing list and the corresponding equipment, the staff in the duty room inputs the equipment information into the central monitoring subsystem through the two-dimensional code scanning gun;
b) the comprehensive control display equipment, the composite display screen and the display of the remote control terminal of the central monitoring subsystem automatically display the information such as the type, the number, the subordination storeroom, the position of a goods shelf and the like of the warehousing equipment so as to be convenient for an operator to check and send the position information of the equipment to the guiding subsystem;
c) guiding the robot to plan a path for the warehousing according to the position of the issued equipment, planning a route of warehousing work, bearing the warehoused equipment, moving to a specified task area under the interaction of a remote access terminal of an operator, and enabling the cloud deck to rotate horizontally and in a pitching mode according to instructions, so that the laser indicator emits laser to position the preset warehoused equipment on the shelf, and assisting the personnel to finish warehousing the equipment;
d) after the equipment is put in storage, an operator confirms the equipment information through the remote access terminal and sends the equipment storage completion information; and the central hub monitoring subsystem finishes modifying the data of the information storage module of the information subsystem after receiving the warehousing completion information.
e) And the central monitoring subsystem sends an instruction to control the guiding robot to return.
When the document is judged to be delivered out of the warehouse for management, the intelligent guiding method comprises the following steps:
a) after receiving the delivery order, the staff in the duty room inputs the information of the equipment to be delivered into the central monitoring subsystem through the two-dimensional code scanning gun;
b) the central monitoring subsystem automatically displays the quantity of stored equipment, the position of a shelf and the position information of the equipment, and operates to transmit the position information of the equipment to the guiding subsystem;
c) guiding the robot to plan a path for the warehouse-out according to the position of the equipment, planning a route of the warehouse-out work, moving to a specified task area under the interaction of a remote access terminal of a warehouse manager, enabling the cloud deck to rotate horizontally and in a pitching mode according to instructions, enabling the laser indicator to emit laser to position the position of the warehouse-out equipment on a goods shelf, and guiding the robot to bear the warehouse-out equipment to assist the operator in finishing the warehouse-out after the operator confirms the warehouse-out equipment;
d) after the equipment is delivered out of the warehouse, an operator confirms the equipment information through the remote access terminal and sends the equipment delivery completion information; and the central control subsystem finishes modifying the data of the information storage module of the information subsystem after receiving the ex-warehouse finishing information.
e) And the central monitoring subsystem sends an instruction to control the guiding robot to return.
When the bill is judged to be the checking management, the intelligent guiding method comprises the following steps:
a) after receiving the equipment checking list, the staff in the duty room inputs the information of the equipment to be checked into the central monitoring subsystem through the two-dimensional code scanning gun;
b) the central control subsystem automatically displays the quantity of inventory equipment, the affiliated storeroom, the position of the goods shelf and the position information of the equipment, and operates to transmit the position information of the equipment to the guiding subsystem;
c) the robot is guided to carry out path planning for the checking according to the position of the equipment to be checked, the route of checking work is planned, the position of the equipment to be checked is found under the interaction of a remote access terminal of a warehouse manager, laser emitted by a laser emitter controlled by a holder is aligned with the equipment to be checked, and the robot is assisted to confirm the equipment to be checked; and the operator confirms the equipment information through the remote access terminal and performs the next equipment checking until the checking process is finished.
d) After the equipment is checked, an operator confirms the equipment information through the remote access terminal and sends the equipment checking completion information; and the central control subsystem finishes modifying the data of the information storage module of the information subsystem after receiving the inventory finishing information.
e) And the central monitoring subsystem sends an instruction to control the guiding robot to return.
2. Environmental management
Real-time temperature and humidity information of a temperature and humidity sensor arranged in the storehouse is converted by an interface conversion unit and then transmitted to a central monitoring system through the Ethernet, and the central monitoring system displays the acquired temperature and humidity information in real time and gives a storehouse temperature and humidity regulation suggestion.
3. Access control
The access control system of the security subsystem monitors access control login information in real time, when the access control logs in through fingerprint identification, the login information is transmitted to the central monitoring system through the Ethernet to be displayed, and all important information can be found and processed in time.
In summary, the intelligent warehouse management system based on the guiding robot provided by the embodiment of the invention has the following beneficial effects:
1. the equipment management of the warehouse is informationized, and the equipment can be intelligently linked to enter and exit from the warehouse, environment monitoring and security monitoring;
2. an intelligent guide robot is introduced, the warehouse is modified according to the requirement, and the intelligent guide robot is integrally linked with an equipment management system;
3. a mobile terminal is introduced to carry out mutual operation with the robot, so that the equipment can be delivered and stored in real time;
4. aiming at the characteristics of insufficient staff in the warehouse, alternation of old and new warehouse managers and insufficient business, the warehouse management system assists the warehouse managers to realize rapid warehouse entry and exit, and through field tests, the staff requirements are one third of those of the original warehouse, and the time is shortened by nearly 50%;
5. under the condition that the base construction of the storehouse is not changed, the arrangement can be carried out quickly.
Those skilled in the art will appreciate that all or part of the flow of the method implementing the above embodiments may be implemented by a computer program, which is stored in a computer readable storage medium, to instruct related hardware. The computer readable storage medium is a magnetic disk, an optical disk, a read-only memory or a random access memory.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (8)
1. An intelligent warehouse management system based on a guide robot is characterized by comprising an information subsystem, a central monitoring subsystem and a guide subsystem, wherein all the subsystems are connected through an Ethernet;
the information subsystem stores equipment data information in the warehouse;
the central monitoring subsystem accesses the information subsystem according to the requirements of the user, acquires equipment information, and issues the equipment information to the guidance subsystem to receive the working state, route planning and position information of the guidance subsystem;
the guiding subsystem carries out path planning according to the information issued by the central monitoring subsystem, and controls a guiding robot to assist a user in carrying out accurate automatic guiding and auxiliary transportation on equipment;
the central monitoring subsystem further comprises a remote access terminal, the remote access terminal is a movable terminal, the remote access terminal accesses the warehouse management system remotely through an access layer switch, reads information in an information storage module of the information subsystem, loads a map in a warehouse, displays a motion track of a guide robot and the position of an equipment in/out of a warehouse/in stock, and confirms the information of the equipment in/out of the warehouse/in stock; when the system is used, warehouse managers carry the remote access terminal, and look up and confirm the warehouse-in/warehouse-out/inventory equipment under the guidance of the guide robot;
the intelligent management of the equipment for going out/in/checking comprises the following steps:
1) judging the warehouse-in/warehouse-out/checking, wherein the intelligent management is carried out based on a warehouse-in/warehouse-out/checking bill, the bill is generated according to a warehouse-in/warehouse-out/checking request, and the bill comprises a two-dimensional code;
2) determining relevant intelligent guidance of the warehouse-in/warehouse-out/inventory according to relevant warehouse-in/inventory receipts, and editing data information of relevant equipment in an information storage module in the information subsystem;
when the document is judged to be put into storage for management, the intelligent guiding method comprises the following steps:
a) after receiving the warehousing list and the corresponding equipment, the staff in the duty room inputs the equipment information into the central monitoring subsystem through the two-dimensional code scanning gun;
b) the comprehensive control display equipment, the composite display screen and the display of the remote control terminal of the central monitoring subsystem automatically display the type, the number, the affiliated storehouse and the shelf position information of the warehousing equipment so as to be checked by an operator and send the equipment position information to the guidance subsystem;
c) guiding the robot to plan a path for the warehousing according to the position of the equipment, planning a route of warehousing work, bearing the warehoused equipment, moving to a specified task area under the interaction of a remote access terminal of an operator, and enabling the cloud deck to rotate horizontally and in a pitching mode according to instructions, so that the laser indicator emits laser to position the preset warehoused equipment on a shelf, and assisting the personnel to finish warehousing the equipment;
d) after the equipment is put in storage, an operator confirms the equipment information through the remote access terminal and sends the equipment storage completion information; the central hub monitoring subsystem finishes modifying the data of the information storage module of the information subsystem after receiving the warehousing completion information;
e) the central monitoring subsystem sends out an instruction to control the guiding robot to return;
when the document is judged to be delivered out of the warehouse for management, the intelligent guiding method comprises the following steps:
a) after receiving the delivery order, the staff in the duty room inputs the information of the equipment to be delivered into the central monitoring subsystem through the two-dimensional code scanning gun;
b) the central monitoring subsystem automatically displays the quantity of stored equipment, the position of a shelf and the position information of the equipment, and operates to transmit the position information of the equipment to the guiding subsystem;
c) guiding the robot to plan a path for the warehouse-out according to the position of the equipment, planning a route of the warehouse-out work, moving to a specified task area under the interaction of a remote access terminal of a warehouse manager, enabling the cloud deck to rotate horizontally and in a pitching mode according to instructions, enabling the laser indicator to emit laser to position the position of the warehouse-out equipment on a goods shelf, and guiding the robot to bear the warehouse-out equipment to assist the operator in finishing the warehouse-out after the operator confirms the warehouse-out equipment;
d) after the equipment is delivered out of the warehouse, an operator confirms the equipment information through the remote access terminal and sends the equipment delivery completion information; the central control subsystem finishes modifying the data of the information storage module of the information subsystem after receiving the ex-warehouse finishing information;
e) the central monitoring subsystem sends out an instruction to control the guiding robot to return;
when the bill is judged to be the checking management, the intelligent guiding method comprises the following steps:
a) after receiving the equipment checking list, the staff in the duty room inputs the information of the equipment to be checked into the central monitoring subsystem through the two-dimensional code scanning gun;
b) the central control subsystem automatically displays the quantity of inventory equipment, the affiliated storeroom, the position of the goods shelf and the position information of the equipment, and operates to transmit the position information of the equipment to the guiding subsystem;
c) the robot is guided to carry out path planning for the checking according to the position of the equipment to be checked, the route of checking work is planned, the position of the equipment to be checked is found under the interaction of a remote access terminal of a warehouse manager, laser emitted by a laser emitter controlled by a holder is aligned with the equipment to be checked, and the robot is assisted to confirm the equipment to be checked; the operator confirms the equipment information through the remote access terminal and performs the next equipment checking until the checking process is finished;
d) after the equipment is checked, an operator confirms the equipment information through the remote access terminal and sends the equipment checking completion information; the central hub monitoring subsystem finishes modifying the data of the information storage module of the information subsystem after receiving the inventory finishing information;
e) and the central monitoring subsystem sends an instruction to control the guiding robot to return.
2. The intelligent warehouse management system of claim 1 further comprising a security subsystem and an environmental subsystem;
the security subsystem mainly comprises an entrance guard, and when the entrance guard logs in through fingerprint identification, the central control system receives entrance guard login information;
the environment subsystem is composed of a temperature and humidity sensor and an interface conversion unit, the interface conversion unit is used as a network node to be connected to the Ethernet, and the central monitoring system obtains temperature and humidity information of the temperature and humidity sensor from the network.
3. The intelligent warehouse management system of claim 1 or 2 wherein the information subsystem comprises an information storage module, an information service module, and an information browsing module;
the information storage module stores equipment data information and supports storage and access of the equipment data;
the information service module supports the operation of data in the information storage module, completes the updating of the data in the information storage module, adopts a distributed structure, completes the subscription and distribution of the data and supports an external unified operation interface;
the information browsing module provides a port for a manager to access the information storage module, a man-machine interaction interface and data interaction service.
4. The intelligent warehouse management system of claim 3 wherein the hub monitoring subsystem comprises a complex control display device, a double screen, a code scanning device and a switch, and is connected via an Ethernet;
the comprehensive control display equipment automatically or through instructions obtains equipment information, temperature and humidity information, entrance guard login information and working state information of the guide robot, manages the obtained equipment information, sends equipment position information to the guide subsystem to guide the robot to position the equipment in the storehouse in a linkage mode, and supports the system to carry out configuration management according to user authentication and access right login; the system login log record and history lookup are supported, and various configuration files, network addresses and database parameters are effectively managed;
the double-display screen is used for displaying information including equipment management information, temperature and humidity information, entrance guard login information and guidance management information;
the code scanning device is a two-dimensional code scanning gun, and the two-dimensional code scanning gun acquires information of warehouse-in/warehouse-out/inventory equipment by scanning a two-dimensional code on a warehouse-out/warehouse-in/inventory goods list and sends the information to the comprehensive control display device;
the switches comprise a core layer switch and an access layer switch, the core layer switch is a wired switch terminal, the access layer switch is a wireless switch terminal, the core layer switch is assembled in a duty room, forms a high-speed local area network together with all subsystems connected to the Ethernet and provides kilomega interconnection speed for interconnection of the wireless access layer switches; the access layer switch is assembled in a storehouse and provides gigabit network wireless access capability for guiding the robot or the remote access terminal; the core layer switch and the access layer switch are both locally controlled and independently powered up.
5. The intelligent warehouse management system of claim 4 wherein the integrated control display device to equipment information management comprises:
and (3) management of a claim form: the input, query, modification, deletion, statistics and submission of the equipment claim form are realized;
and (4) warehousing bill management: the entry, modification, deletion, query and summary statistics of the warehousing entry in the whole life cycle are realized;
and (4) delivery list management: the recording, modification, deletion, query and summary statistics of the call delivery list in the whole life cycle are realized;
managing inventory equipment: the management of various states including requirements and performances of a single equipment is realized, and the condition of the single equipment is mastered in real time; providing query, statistics and analysis of overall state and inventory global information of various equipment;
information maintenance: providing import and export of various data of the management information system; providing maintenance management for various basic information of the management information system;
user management: providing management on user information and authority, and distributing functional use authority of a user in the equipment information management system by endowing the user with different roles;
importing and exporting original data: and exporting the data in the information storage module into an Excel file, and importing the Excel file into the information storage module.
6. The intelligent warehouse management system of claim 2 wherein the guidance subsystem comprises a guidance control and management module, a guidance robot, and a robotic charging post; the guidance control and management module and the guidance robot form a WIFI network for communication, the guidance control and management module provides an interface and communicates with the central control system through the Ethernet;
the guide control and management module carries out unified management on the whole guide subsystem and comprises an RCS service module and an AMS service module;
the RCS service module is responsible for controlling and managing the guide robot and controlling, managing and monitoring the state of the guide robot and the attached autonomous intelligent charging station equipment;
the AMS service module is responsible for receiving, forwarding and processing the management equipment alarm information and the service alarm information;
the robot charging pile is used as an intelligent charging device of the guide robot, provides an automatic charging function for the guide robot, and adopts alternating current 220V commercial power for power supply;
the guide robot is an execution unit of the guide subsystem, responds to a scheduling instruction of the guide control and management module, and assists storehouse management personnel in carrying out accurate automatic guide and auxiliary transportation on equipment output/storage/inventory; and simultaneously, the guiding robot feeds back the working state, the planning track and the information of the arrived equipment position points to the guiding control and management module in real time through a WIFI network.
7. The intelligent warehouse management system of claim 6, wherein the guiding robot is composed of an AGV device, a cradle head and a laser indicator, the laser indicator is connected to the AGV device through the cradle head, the AGV device serves as a running platform and moves to a designated task area according to the requirement of the placement position of follow-up equipment according to the scheduling instruction of the guiding control and management module, and the cradle head can rotate horizontally and in pitch according to the instruction and configure the laser indicator for indication; the laser indicator emits laser to position the equipment on the shelf.
8. The intelligent warehouse management system of claim 7 wherein the guidance robot employs inertial navigation, visual navigation to achieve autonomous positioning navigation and precise positioning; the double-wheel differential drive is adopted, and flexible motion control including forward movement, backward movement and rotation is supported; the intelligent power supply management is adopted, multi-level electric quantity threshold control is supported, automatic charging is carried out when the electric quantity is low, and automatic return work is carried out after charging is finished; multiple safety protections are adopted to support multi-stage safety protections including front/back remote detection, front/back short-distance detection, front/back collision detection and front/back emergency stop buttons; the electric quantity and the equipment state are prompted through a three-color indicator lamp and a nixie tube; and WIFI network communication and seamless roaming are supported, and barrier-free operation is realized in a network coverage area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710752253.8A CN107679786B (en) | 2017-08-28 | 2017-08-28 | Intelligent warehouse management system based on guide robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710752253.8A CN107679786B (en) | 2017-08-28 | 2017-08-28 | Intelligent warehouse management system based on guide robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107679786A CN107679786A (en) | 2018-02-09 |
| CN107679786B true CN107679786B (en) | 2021-01-15 |
Family
ID=61134636
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710752253.8A Active CN107679786B (en) | 2017-08-28 | 2017-08-28 | Intelligent warehouse management system based on guide robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107679786B (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108376325B (en) * | 2018-02-26 | 2021-08-17 | 成都科木信息技术有限公司 | Logistics information networked management method |
| CN108427423A (en) * | 2018-05-07 | 2018-08-21 | 温州大学瓯江学院 | A kind of unmanned intelligent comprehensive monitoring and dispatching system and its control method of storing in a warehouse |
| CN109146374A (en) * | 2018-08-15 | 2019-01-04 | 国网山东省电力公司济南供电公司 | A kind of intelligent repository Integration Data Model method |
| CN109858859A (en) * | 2019-01-24 | 2019-06-07 | 平安科技（深圳）有限公司 | Warehouse management method, device, computer equipment and medium based on maincenter monitoring |
| JP2020140444A (en) * | 2019-02-28 | 2020-09-03 | セイコーエプソン株式会社 | Maintenance support system and terminal used for the same |
| 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 |
| CN110803447B (en) * | 2019-09-20 | 2021-09-21 | 北京旷视机器人技术有限公司 | Article transportation management method, device and system and storage medium |
| CN113044450B (en) * | 2019-12-26 | 2023-01-31 | 北京极智嘉科技股份有限公司 | Task processing method and device for conveying equipment |
| CN111483741B (en) * | 2020-04-10 | 2021-10-22 | 北京每日优鲜电子商务有限公司 | Conveying system and conveying method |
| CN112548349A (en) * | 2020-12-01 | 2021-03-26 | 北京致远互联软件股份有限公司 | Event tracing mechanism-based deduction component implementation method |
| CN113247514B (en) * | 2021-07-14 | 2021-09-21 | 江苏永联慧科物联技术有限公司 | Industrial Ethernet-based cooperative control method for multiple stackers |
| CN114971457A (en) * | 2022-04-20 | 2022-08-30 | 通号工程局集团有限公司 | Intelligent guide robot warehousing management system and management method thereof for material guarantee center |
| CN116880477A (en) * | 2023-07-07 | 2023-10-13 | 盐城工业职业技术学院 | AGV intelligent guiding system and method applied to warehouse logistics |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105225090A (en) * | 2015-10-10 | 2016-01-06 | 广东轻工职业技术学院 | Automated warehousing management system and method |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101251910A (en) * | 2007-12-27 | 2008-08-27 | 北京奥腾讯达科技有限公司 | Remote computer storage administrating system |
| CN103971220B (en) * | 2014-05-21 | 2018-04-20 | 上海第二工业大学 | A kind of harmful influence intelligent warehouse management system |
| CN104809606B (en) * | 2015-04-29 | 2018-05-04 | 上海交通大学 | There is the warehouse management system of guiding car dispatching distribution more |
| CN105129308B (en) * | 2015-07-24 | 2017-05-10 | 徐继文 | Intelligent warehouse system |
| CN106327127A (en) * | 2016-08-26 | 2017-01-11 | 国网山东省电力公司滨州市滨城区供电公司 | Power distribution equipment material warehousing management and monitoring system |
-
2017
- 2017-08-28 CN CN201710752253.8A patent/CN107679786B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105225090A (en) * | 2015-10-10 | 2016-01-06 | 广东轻工职业技术学院 | Automated warehousing management system and method |
Non-Patent Citations (1)
| Title |
|---|
| 激光定位导航系统在电力物资仓库的应用;王铁铮等;《农村电气化》;20160527(第5期);第43-44页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107679786A (en) | 2018-02-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107679786B (en) | Intelligent warehouse management system based on guide robot | |
| CN107705058B (en) | Intelligent warehouse management method based on central monitoring | |
| US11840814B2 (en) | Overriding control of motorized transport unit systems, devices and methods | |
| CN102066234B (en) | System for managing operation of industrial vehicles for loading fragile loads | |
| CN104809606B (en) | There is the warehouse management system of guiding car dispatching distribution more | |
| CN107705059B (en) | Intelligent guiding system and method based on laser holder guidance | |
| CN111738663A (en) | Intelligent warehouse management system based on AVG technology | |
| CN109533757B (en) | Robot capable of switching navigation modes, navigation mode switching method and medium | |
| CN102707718A (en) | Communication technique by which an autonomous guidance system controls an industrial vehicle | |
| CN109035627A (en) | A kind of automatic Pilot books delivery system towards garden | |
| CN112455984B (en) | Intelligent material transportation and storage system of mill | |
| CN108549386A (en) | AGV trolleies managing and control system and method | |
| CN113011813A (en) | Flexible bin allocation method for electric power materials | |
| Cho | A study on establishment of smart logistics center based on logistics 4.0 | |
| CN116203957A (en) | Method and system for managing operation tasks of inspection and transportation robot | |
| CN109118150A (en) | Presumption method, apparatus, computer equipment and the storage medium of commodity volume | |
| GB2543133A (en) | Shopping space mapping systems, devices and methods | |
| CN205771344U (en) | A kind of fork truck location tracking system | |
| CN114971280A (en) | AGV (automatic guided vehicle) conveying and scheduling system of forklift central control assembly line and scheduling method thereof | |
| AU2021105322A4 (en) | Logistics management system of samples in environmental monitoring laboratory | |
| TWM613423U (en) | Smart stocker system | |
| CN112163816A (en) | Intelligent logistics warehouse goods checking method based on artificial intelligence | |
| Alιm et al. | Smart warehouses in logistics 4.0 | |
| Yue et al. | Design and evaluation of a large‐scale magnetically navigated robot scheduling system | |
| CN110472903A (en) | A kind of fruits and vegetables warehouse logistics delivery system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |