CN108596295A - The system and method for article position is confirmed using automatic vehicle - Google Patents
The system and method for article position is confirmed using automatic vehicle Download PDFInfo
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- G—PHYSICS
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- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
- G06K17/0029—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device the arrangement being specially adapted for wireless interrogation of grouped or bundled articles tagged with wireless record carriers
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- G—PHYSICS
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- 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
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- 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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- H—ELECTRICITY
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- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
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Abstract
The present invention relates to a kind of system and methods confirming article position using automatic vehicle, it measures mobile data by automatic vehicle when being moved to target shelf, and after being moved to target shelf, send the item identification data of the article on target shelf and mobile data to server, so that server judges whether article corresponding with item identification data is located at the technological means in precalculated position according to mobile data, the technical effect for actively confirming physical location of the article in warehouse can be reached.
Description
Technical field
The present invention relates to a kind of item location system and methods, refer in particular to a kind of use automatic vehicle positioning object in storage
System and method.
Background technology
Warehouse is the place of the article for storing or taking care of manufacturer, goods supplier, total logistics cost.It is currently used
Storehouse management mode is that multiple shelf are arranged in warehouse, and each shelf have multiple laminates, and one kind can be placed on each laminate
Or various article.Warehouse personnel can move between shelves, with article of placing or take.
It increases with the demand of logistics, in order to accelerate to pick up the efficiency of goods picking in warehouse, the article in warehouse is with certain
Regularly placing, for example, put according to classification, put according to item associations, being put according to article popular degree, that is,
It says, in warehouse, each article would generally be there are one the precalculated position put, and warehouse personnel needs article being placed into corresponding
Precalculated position.
Thus, slip up when warehouse personnel is in putting on article, laying for goods is not made a reservation for corresponding
Position may cause the warehouse personnel for subsequently picking up goods picking that can not find the article of needs on a predetermined position, cause to have in this way
Inventory and can not shipment the case where, even, in the warehouse of automation, be more likely to because the precalculated position of article has been placed it
His article so that automatic vehicle is when needing to pick the article, by having picked other objects misplaced on the precalculated position of the article
Product lead to shipment mistake.
In summary, it is known that always exist article for a long time in the prior art and put in warehouse to errors present general
The problem of causing to pick wrong article or article can not be found, it is therefore necessary to propose improved technological means, be asked to solve this
Topic.
Invention content
In view of the prior art, there are articles to be put to errors present in warehouse and will cause to pick wrong article or nothing
Method finds the problem of article, a kind of system and method confirming article position using automatic vehicle of present disclosure, wherein：
The presently disclosed system that article position is confirmed using automatic vehicle, is included at least：Automatic vehicle and server,
In, automatic vehicle includes processing module, to load area data corresponding with working region, and selection target shelf；Drive mould
Block, to drive automatic vehicle to be moved to target shelf；Measurement module is shifted, to measure mobile data when automatic vehicle moves；
Data acquisition module, to obtain the item identification data of the article on target shelf；Communication module, to transmit mobile data
And item identification data；Server is then receiving mobile data and item identification data, and to according to item identification data
The precalculated position of article is read, and according to mobile data judges the physical location of article whether precalculated position is consistent.
The presently disclosed method that article position is confirmed using automatic vehicle, step are included at least：Automatic vehicle loads
Area data corresponding with working region, and selection target shelf；Automatic vehicle is moved to target shelf, and is measured and moved when movement
Dynamic data；After automatic vehicle is moved to target shelf, the item identification data of article on target shelf is obtained；Automatic vehicle transmission moves
Data and item identification data are moved to server；Server reads the precalculated position of article according to item identification data；Server
Judge whether the physical location of article is consistent with precalculated position according to mobile data.
Presently disclosed System and method for is as above, and the difference between the prior art is that the present invention passes through automatic vehicle
Mobile data is measured when being moved to target shelf, and after being moved to target shelf, by the article of the article on target shelf
Identification data send server to mobile data so that server judges corresponding with item identification data according to mobile data
Whether article is located at the precalculated position that server is recorded, and to solve the problems of prior art, and can reach actively
Confirm the technical effect of physical location of the article in warehouse.
Description of the drawings
The system architecture diagram that article position is confirmed using automatic vehicle that Fig. 1 is carried for the present invention.
The method flow diagram that article position is confirmed using automatic vehicle that Fig. 2A is carried for the present invention.
Fig. 2 B judge the whether correct method flow diagram of article position for what the present invention was carried using automatic vehicle.
Symbol description：
100 automatic vehicles
110 communication modules
120 locating modules
130 data sensing modules
140 drive modules
150 displacement measurement modules
160 data acquisition modules
170 articles grip module
180 processing modules
300 servers
Step 202 automatic vehicle loads area data corresponding with working region
Step 206 automatic vehicle selection target shelf
Step 210 automatic vehicle is moved to target shelf, and measures mobile data when movement
Step 220 automatic vehicle judges whether to be moved to target shelf
Step 230 automatic vehicle obtains the item identification data of the article on target shelf
Step 240 automatic vehicle transmits mobile data and item identification data to server
Step 250 server reads the precalculated position of article according to item identification data
Step 260 server judges whether the physical location of article is consistent with precalculated position according to mobile data
Step 270 server executes processing routine
Step 280 automatic vehicle obtains the commodity data for being set to the article on target shelf
Step 289 automatic vehicle transmits commodity data to server
Step 290 server judges whether commodity data is consistent with article
Specific implementation mode
Carry out the feature and embodiment that the present invention will be described in detail below in conjunction with accompanying drawings and embodiments, content is enough to make any
Those skilled in the art can fully understand that the present invention solves the technological means that technical problem is applied and implements according to this easily,
It is achieved in the attainable effect of the present invention.
The present invention is applied automatic stored interior, and the position of the article in warehouse on shelf can be confirmed by automatic vehicle,
It is exactly that physical location of the article in warehouse is confirmed by automatic vehicle.
Following elder generation is carried with Fig. 1 present invention confirms the system architecture diagram of article position to illustrate the present invention's using automatic vehicle
System operation.As shown in Figure 1, the system of the present invention contains automatic vehicle 100 and server 300.
Automatic vehicle 100 can move in working region, be responsible for before determining that target shelf, generation are moved to target shelf
Mobile data and acquirement are positioned over the item identification data of the article on target shelf.In the present invention, mobile data includes
It can indicate that automatic vehicle 100 is moved to the data of another position by a specific position, including but not limited to automatic vehicle 100
The direction of starting point and movement and distance etc.；Item identification data is then that can indicate the data of an article, can be by arbitrary
Word, letter, number, the symbol arbitrary arrangement of quantity form, wherein and an item identification data is corresponded to an article, and
Item identification data corresponding to different articles is different from.In general, only there are one corresponding articles to identify for an article
Data, but the present invention is not limited thereto.
Automatic vehicle 100 can include communication module 110, drive module 140, displacement measurement module 150, data acquisition module
160, processing module 180, and module 170 can be gripped with additional locating module 120, data sensing module 130, article.Its
In, processing module 180 and locating module 120, data sensing module 130, drive module 140, displacement measurement module 150, data
Other modules connection in acquisition module 160, article gripping module 170 and communication module 110 etc. automatic vehicles 100, Ke Yiqu
Derived from produced by other modules in motor-car 100 or receive data or signal, data or signal can also be provided to automatic vehicle
Other modules in 100.
Communication module 110 is responsible for connecting with server 300, and can transmit data or signal to server 300, such as moves
Mobile data is with the item identification data acquired by data acquisition module 160 caused by the measurement module 150 of position, the reality in part
It applies in example, communication module 110 can also receive the data or signal that server 300 is transmitted.Wherein, communication module 110 can be with
It is connect with server 300 by wireless communication techniques such as WiFi, bluetooth, Zigbee, but the present invention is not limited thereto.
Locating module 120 can constantly obtain working as automatic vehicle 100 using indoor positioning technologies in conjunction with communication module 110
Front position, and the current location of acquired automatic vehicle 100 is constantly supplied to processing module 180.
Data sensing module 130 can be during automatic vehicle 100 moves, when automatic vehicle 100 close to setting or is placed
When positioning device in the working region of automatic vehicle 100, place that the close positioning device of sensing automatic vehicle 100 is recorded
It identifies data, and the place identification data of sensing gained can be supplied to processing module 180.Wherein, data sensing module 130
Near-field communication (Near-filed Communication, NFC) or radio frequency identification (Radio Frequency can be used
Identification, RFID) etc. technologies (but the present invention is not limited thereto), by positioning device read place identify number
According to.
In some embodiments, each positioning device is corresponding with a shelf, and each positioning device quilt in advance
The position being separated by a certain distance with corresponding shelf is set in working region, meanwhile, the place stored by positioning device is known
Other data are corresponding with the same shelf corresponding to positioning device.That is, when automatic vehicle 100 is moved near shelf,
Data sensing module 130 can be sensed and 100 institute of automatic vehicle by positioning device corresponding with the shelf that automatic vehicle 100 is close
The corresponding fixed point of close shelf identifies data, such as the identification data of shelf and location information etc., but the present invention is not with this
It is limited.
Drive module 140 is responsible for the control instruction driving automatic vehicle 100 provided according to processing module 180 so that automatic
Vehicle 100 can move.
Displacement measurement module 150 is responsible for measuring mobile data when automatic vehicle 100 moves, and can will measure the shifting of gained
Dynamic data are supplied to processing module 180.Wherein, displacement measurement module 150 is the device or group by being set on automatic vehicle 100
Part measures mobile data, for example, being moved using the wheel footpath of the wheel of automatic vehicle 100 and the number of rotation to calculate automatic vehicle
Distance for another example judge direction etc. that automatic vehicle 100 moves using electronic compass, but shift measurement module 150 and measure movement
The mode of data is not limited with above-mentioned.
Data acquisition module 160 is responsible for obtaining the item identification data of the article on target shelf, and can will be acquired
To item identification data be supplied to processing module 180.In general, data acquisition module 160 can include image capture list
First (not shown), and can be according in the appearance of the article on target shelf, apparent bar code, packaging or packaging
Title or bar code obtain item identification data, but data acquisition module 160 obtain the mode of item identification data not more than
It states and is limited.
For example, it includes target shelf that data acquisition module 160 can be captured by the image acquisition unit for being included
On article appearance or article packaging image, and can according in the image captured article appearance or article pack take
Item identification data, wherein data acquisition module 160 can be directly to the article appearance or article in the image that captures
Packaging carries out image procossing to judge item identification data, can also transmit the image captured by communication module 110
Image procossing is carried out to server 300, and receives the item identification data that server 300 is judged；Data acquisition module 160
The image of the bar code in appearance or packaging comprising the article on target shelf can also be captured by image acquisition unit, and
Bar code in the image captured can be decoded as item identification data.
In some embodiments, it includes target that data acquisition module 160 can also will be captured by image acquisition unit
The image of article appearance or article packaging on shelf is supplied to processing module 180, in such embodiments, data acquisition module
Block 160 is not usually required to fetch item identification data from processing module 180 again, but the present invention is not limited thereto.
Data acquisition module 160 can also generate control instruction, and control is referred to when that can not obtain item identification data
Order is supplied to article to grip module 170 so that article gripping module 170 starts operation；Data acquisition module 160 can also be in nothing
When method obtains item identification data, notification information is generated, and notification information is supplied to processing module 180.
Data acquisition module 160 can also be by obtaining the commodity data of article on target shelf, and can will be accessed
Commodity data be supplied to processing module 180.Title, type of the commodity data that the present invention is carried including but not limited to an article
Number, the data such as color, size/volume/capacity.
In general, commodity indication device is provided on surrounding's laminate of article on target shelf, for example, commodity indicate
Board or Commodity identification label etc..If data acquisition module 160 includes image acquisition unit, data acquisition module 160 can lead to
Cross the commodity data represented by image acquisition unit acquisition commodity nameplate；If data acquisition module 160 includes digital independent list
Member, then data acquisition module 160 can read Commodity identification label by near-field communication or identification technique in wireless radio frequency and be recorded
Commodity data.But the mode that data acquisition module 160 obtains commodity data is not limited with above-mentioned, for example, data acquisition module
It is a certain range of that block 160 can also capture the top comprising article, lower section, left and right by image acquisition unit
Image, and it is supplied to processing module 180 using the image captured as commodity data.
Article grips module 170 can be by gripping article on target shelf so that data acquisition module 160 can obtain object
The item identification data of the picked up article of product acquisition module 170.Wherein, article gripping module 170 can also move and/or turn
Dynamic picked up article so that data acquisition module 160 easier can obtain the picked up article of article acquisition module 170
Item identification data.
Processing module 180 is responsible for load area data corresponding with working region, the number of regions that processing module 180 is loaded
According to the relevant information of the various objects comprising the route that can be walked in working region, in working region, but the present invention is not
As limit, wherein height of the relevant information of above-mentioned various objects including but not limited to each laminate on the positions of shelf, shelf
The position etc. of degree, barrier.
Processing module 180 also is responsible for selecting a shelf as target goods by being set in all shelf of working region
Frame.Processing module 180 can be according to the sequential selection target shelf for recording shelf in area data, can also be according to the volume of shelf
Number selection target shelf.In addition, if automatic vehicle 100 is movement in orbit, automatic vehicle 100 can also be each according to being moved to
Shelf apart from selection target shelf, if but the movement not in orbit of automatic vehicle 100, in conjunction with indoor positioning technologies come into
Row movement, processing module 180 can also be according to the distance between automatic vehicle 100 and each shelf selection target shelf.But it handles
The mode of 180 selection target shelf of module is not limited with above-mentioned.
If automatic vehicle 100 is moved in conjunction with indoor positioning technologies, processing module 180 can receive locating module 120
The current location of acquired automatic vehicle 100, and according to the current location of received automatic vehicle 100 and the area loaded
Shelf location control drive module 140 in numeric field data drives automatic vehicle 100 to be moved to selected target shelf.In part
In embodiment, processing module 180 can also judge automatic vehicle according to the place identification data that data sensing module 130 senses
100 physical location, and the current location of automatic vehicle 100 acquired by locating module 120 can be compared and judged from
The physical location of motor-car 100, with foundation comparison result to being supplied to the control instruction of drive module 140 to be finely adjusted so that place
Reason module 180 can more be accurately controlled drive module 140 and target shelf are arrived in the driving of automatic vehicle 100.
Processing module 180 also is responsible for judging whether automatic vehicle 100 is moved into target shelf.Processing module 180 also may be used
When data sensing module 130 senses place and identifies data, to judge that automatic vehicle 100 is moved into target shelf；Processing
The current location and the mesh recorded in area data that module 180 can compare the automatic vehicle 100 acquired by locating module 120
Mark shelf location information, when distance between the two within a predetermined range when, processing module 180 may determine that automatic vehicle 100
Be moved into target shelf, conversely, when automatic vehicle 100 current location and target shelf location information distance apart
When too far, processing module 180 may determine that automatic vehicle 100 has not moved to target shelf.But processing module 180 judges automatic vehicle
The mode for whether being moved into target shelf is not limited with above-mentioned.
In some embodiments, what processing module 180 can also receive that data acquisition module 160 captured includes article
Appearance or packaging image, and image procossing can be carried out to image that data acquisition module 160 is captured, to be adopted by data
Judge that item identification data, processing module 180 can also be incited somebody to action by communication module 110 in the image that collection module 160 is captured
The image that data acquisition module 160 is captured sends server 300 to, and receives the article identification that server 300 is judged
Data.
Processing module 180 can also obtain notification information caused by data acquisition module 160, and can generate control and refer to
It enables, and is supplied to article to grip module 170 generated control instruction so that article gripping module 170 starts operation.
Processing module 180 can also obtain the commodity data acquired in data acquisition module 160, and pass through communication module
110 send the commodity data acquired in data acquisition module 160 to server 300.In some embodiments, if processing mould
Commodity data acquired by block 180 is the image a certain range of up and down comprising article, then processing module 180 can also
Image is analyzed, with by judging included commodity data in image.
Server 300 can be connect with automatic vehicle 100, and be responsible for receiving the mobile data that is transmitted of automatic vehicle 100 and
Item identification data.In the present invention, server 300 is with automatic vehicle 100 other than it can connect, can also simultaneously with one
Or more other automatic vehicles connections.
Server 300 also is responsible for obtaining the precalculated position of article corresponding with received item identification data.Service
Device 300 can according to received item identification data by reading out the precalculated position of article in the database that pre-establishes,
Received item identification data can also be sent to the pre-determined bit of external data host (not shown) inquiry article
It sets.But the mode that server 300 obtains the precalculated position of article is not limited with above-mentioned.
Server 300 also is responsible for judging the physical location of article according to received mobile data.For example, it is assumed that each
Platform automatic vehicle 100 has the fixed position parked, if the starting point in the mobile data that automatic vehicle 100 is transmitted is stand,
It the position that then server 300 can be parked automatic vehicle 100, and can be according to automatic vehicle in mobile data as datum mark
100 moving direction calculates physical location of the article in working region with displacement distance；For another example, if automatic vehicle 100 is passed
Starting point in the mobile data sent is the position set by the positioning device corresponding to target shelf, then server 300 can incite somebody to action
It the position of positioning device corresponding to target shelf, and can be according to the movement of automatic vehicle in mobile data 100 as datum mark
Direction calculates the physical location of article with displacement distance.But server 300 judge the mode of the physical location of article not with
It is above-mentioned to be limited.
Server 300 also is responsible for judging that the precalculated position of read-out article and the physical location for the article judged are
It is no to be consistent.If the precalculated position of article is consistent with the physical location of article, indicate that article is correctly placed on precalculated position, and
If the two is not inconsistent, then it represents that article is placed on incorrect position.
Server 300 can the article for judging the precalculated position of read-out article and being judged physical location not
When being consistent, corresponding processing routine is executed.For example, server 300 can not have phase jljl on the precalculated position for judge article
Product (namely the article be placed at physical location in stock) and it is set in this without the precalculated position of other articles
When physical location (namely only the placing the article in the physical location of the article) of article, the precalculated position of article is updated
For the physical location of article；Server 300, which can also transmit mobile message, makes automatic vehicle 100 move the item to precalculated position.
Server 300 can also receive the commodity data that automatic vehicle 100 is transmitted, and judge received commodity data
Whether it is consistent with article.For example, server 300 can obtain title, external form, the type of article according to item identification data
Number, the data such as color, and compared with received commodity data, with judge received commodity data whether with article phase
Symbol, but server 300 judges whether the mode being consistent with article is not limited thereto commodity data.
Then the operation system and method for the present invention are explained with one embodiment, and please refer to what Fig. 2A present invention was carried
The method flow diagram of article position is confirmed using automatic vehicle.In this example, it is assumed that the present invention applies in automatic stored, but
The present invention is not limited thereto.
When being intended to inspect the position of article using the present invention, first, the processing module 180 of automatic vehicle 100 can load with
Corresponding area data (the step 202) in working region, and select one in the area data by being loaded and be arranged in working region
In shelf as target shelf (step 206).In this example, it is assumed that the communication module 110 of automatic vehicle 100 can be online
Area data is downloaded to server 300, and the area data downloaded can be supplied to processing module 180.If communication module
Include appointed shelf in 110 area datas downloaded, then processing module 180 can be with the goods specified by selection region data
In frame with automatic vehicle 100 apart from nearest shelf as target shelf.
After the 180 selection target shelf (step 206) of processing module of automatic vehicle 100, processing module 180 can control certainly
The drive module 140 of motor-car 100 so that drive module 140 drives automatic vehicle 100 to 180 selected target goods of processing module
Frame moves.Wherein, automatic vehicle 100 can be moved along track in working region, and if automatic vehicle 100 includes locating module
120, then automatic vehicle 100 can also be moved freely in working region.In this example, it is assumed that automatic vehicle 100 can be in work
Make to move freely in region, then locating module 120 can persistently be obtained automatically in conjunction with communication module 110 using indoor positioning technologies
The current location of vehicle 100 so that processing module 180 can constantly working as according to the automatic vehicle 100 acquired by locating module 120
Front position generates corresponding control instruction and is supplied to drive module 140, to make drive module 140 correct according to control instruction
Driving automatic vehicle 100 to target shelf move.In addition, if automatic vehicle 100 also includes data sensing module 130, data sense
Surveying module 130 can be when drive module 140 drives automatic vehicle 100, and the close positioning device of sensing automatic vehicle 100 is recorded
Place identify data, and can by sensing gained place identification data be supplied to processing module 180 so that processing module
The 180 place identification data fine tunings that can be sensed according to data sensing module 130 are supplied to the control of drive module 140 to refer to
It enables, target shelf more accurately is arrived into the driving of automatic vehicle 100 to control drive module 140.
During the drive module 140 of automatic vehicle 100 drives automatic vehicle 100 to move, the displacement of automatic vehicle 100 measures
Module 150 can measure mobile data (step 210), and the processing module 180 of automatic vehicle 100 can also judge that automatic vehicle 100 is
No (step 220) before having moved to target shelf.If processing module 180 judges that automatic vehicle 100 is not yet moved to target shelf
Before, then processing module 180 can control drive module 140 and continue that automatic vehicle 100 is driven to move toward target shelf, and displacement measures mould
Block 150 can continue to measure mobile data (step 210), and processing module 180 can continue to judge whether automatic vehicle 100 has moved
(step 220) before moving to target shelf, before processing module 180 judges that automatic vehicle 100 is moved to target shelf.
When the processing module 180 of automatic vehicle 100 judges that automatic vehicle 100 is moved to before target shelf, the shifting of automatic vehicle 100
The mobile data for measuring gained can be supplied to processing module 180, the data acquisition module of automatic vehicle 100 by position measurement module 150
Block 160 can also obtain the item identification data (step 230) of the article on target shelf.In this example, it is assumed that processing
Module 180 can be according to the height production of each laminate on the laminate number and target shelf of the target shelf that area data is recorded
Raw control data, and generated control data are supplied to data acquisition module 160 so that data acquisition module 160 can be with
Include the image for being positioned over the appearance or packaging of each laminate or the article on floor on target shelf according to control data acquisition,
And image identification directly or by server 300 to the image captured is carried out, judged with the appearance by the article in image
Article simultaneously reads item identification data corresponding with the article judged, or is directly judged by the packaging of the article in image
Go out item identification data.Data acquisition module 160 can also be positioned over the article on target shelf according to control data acquisition
Appearance or packaging on bar code image, and to the bar code in image into row decoding to obtain item identification data.
Item identification data (the step of the article on target shelf is obtained in the data acquisition module 160 of automatic vehicle 100
230) when, if data acquisition module 160 can not obtain item identification data, such as article stacking or bar code not in article
Front situation, then data acquisition module 160 can transmit processing module 180 of the notification information to automatic vehicle 100 so that processing
The height of each laminate generates control on the laminate number and target shelf of the target shelf that module 180 is recorded according to area data
Information processed simultaneously sends article gripping module 170, the control that data acquisition module 160 can also be provided according to processing module 180 to
Data processed generate control information and send article gripping module 170 to.Article grips module 170 after receiving control information,
It can be positioned over the article on target shelf on specific laminate according to control information gripping, or even the article that rotation is gripped, made
The image for including the appearance or packaging that the picked up article of module 170 is gripped by article can be captured by obtaining data acquisition module 160,
Or capture the image of the bar code in the appearance or packaging that are gripped the picked up article of module 170 by article.
Item identification data (the step of the article on target shelf is got in the data acquisition module 160 of automatic vehicle 100
230) after, acquired item identification data can be supplied to the processing module 180 of automatic vehicle 100 by data acquisition module 160,
Processing module 180 can identify number by the article that the communication module 110 of automatic vehicle 100 is provided data acquisition module 160
According to this and the mobile data that is provided of the displacement measurement module 150 of automatic vehicle 100 is transmitted to 300 (step 240) of server.
It, can foundation after the item identification data and mobile data that server 300 receives that automatic vehicle 100 is transmitted
Received item identification data acquires the precalculated position (step 250) of corresponding article.In this example, it is assumed that clothes
Business device 300 can be according to item identification data by the precalculated position of reading article in database or archives.
Precalculated position (the step of article is acquired according to the item identification data that automatic vehicle 100 is transmitted in server 300
250) after, server 300 can judge and received item identification data according to the mobile data that automatic vehicle 100 is transmitted
Whether the physical location of corresponding article and the precalculated position of accessed article are consistent (step 260).In the present embodiment,
Assuming that server 300 first can judge object corresponding with received item identification data according to received mobile data
The physical location of product, then compare the precalculated position of accessed article and the article judged physical location whether phase
Symbol, that is, compare indicate article precalculated position position data with expression article physical location position data whether phase
Together, or judge the distance between the precalculated position of article and the physical location of article whether in predetermined value.If so, can
Confirm that article is placed on precalculated position,
And if server 300 judges that the physical location of article is not consistent with the precalculated position of article, that is, judge judge
The distance between the precalculated position of article and the physical location of article be not in predetermined value, then server 300 can execute processing
Program (step 270).In the present embodiment, the precalculated position of article can be updated to the physical location of article by server 300,
Mobile message can also be transmitted to automatic vehicle 100 so that automatic vehicle 100 moves the item to precalculated position.
In this way, by the invention it is possible to judging the reality of article using the practical measurement data for measuring gained of automatic vehicle 100
Border position to confirm whether article is placed on precalculated position, and then avoids that there is a situation where can not find article.
In the above embodiments, the processing module 180 of automatic vehicle 100 continues to judge that automatic vehicle 100 has moved to target
Before shelf after (step 220), the data acquisition module 160 of automatic vehicle 100 gets the article identification of the article on target shelf
In the step of data (step 230), data acquisition module 160 can also capture comprising be positioned on target shelf each laminate or
The appearance of article on floor or the image of packaging, and it is supplied to processing mould using the image captured as item identification data
Block 180, processing module 180 directly can carry out image identification, or the communication by automatic vehicle 100 to the image captured
Module 110 sends the image that data acquisition module 160 captures to server 300 and carries out image identification.With above-mentioned number
Identical according to acquisition module 160, processing module 180 can be judged article by the appearance of the article in image and read and be sentenced
Break the corresponding item identification data of the article, or item identification data directly judged by the packaging of the article in image,
The item identification data that server 300 is judged according to the appearance or packaging of the article in image can also be received.In this way,
After processing module 180 obtains item identification data, can by communication module 110 by the item identification data obtained and
The mobile data that the displacement measurement module 150 of automatic vehicle 100 is provided is transmitted to 300 (step 240) of server.
In summary, it is known that the difference between the present invention and the prior art is to move to target shelf with automatic vehicle
When measure mobile data, and after being moved to target shelf, by the item identification data of the article on target shelf and mobile number
According to sending server to so that server judges whether article corresponding with item identification data is located at according to mobile data and services
The technological means in the precalculated position that device is recorded, thus technological means can solve article present in the prior art in warehouse
The problem of causing to pick wrong article or article can not be found is put to errors present, and then reaches and actively confirms that article exists
The technical effect of physical location in warehouse.
In the above embodiments, the object of the article on target shelf is got in the data acquisition module 160 of automatic vehicle 100
, can be as shown in the flow of Fig. 2 B after product identify data (step 230), data acquisition module 160 can be obtained then and is set to
Commodity data (the step 280) of article on target shelf.In the present embodiment, if each places article on target shelf
Commodity identification label is both provided on laminate, then data acquisition module 160 can incude or read in Commodity identification label and be remembered
The commodity data of record；And if on target shelf each place article laminate on be both provided with commodity nameplate, data are adopted
Collection module 160 can capture the image for including the information indicated on commodity nameplate, and the image to being captured carries out word
Identification, to obtain commodity data after identification.
Commodity data (the step for being set to the article on target shelf is obtained in the data acquisition module 160 of automatic vehicle 100
280) after, the commodity data got can be supplied to the processing module 180 of automatic vehicle 100 by data acquisition module 160, processing
Module 180 can transmit mobile data with item identification data to server 300 in the communication module 110 by automatic vehicle 100
When (step 240), the commodity data accessed by data acquisition module 160 is also passed to 300 (step of server together
289)。
Mobile data, item identification data and the commodity data that automatic vehicle 100 is transmitted are received in server 300
Afterwards, server 300 may determine that whether received commodity data is consistent (step with the article being positioned on target shelf
290).In this example, it is assumed that server 300 can be positioned over target shelf by being obtained in the item identification data that receives
On the title of article, external form, model, color and other items data, and with the title of the article on received target shelf,
Whether the commodity datas such as external form, model, color are compared, be consistent with article with the commodity data for judging received.
If server 300 judge received commodity data not with the object corresponding to received item identification data
Condition accords with, then server 300 can execute corresponding processing, for example, database that can be according to commodity data by pre-establishing
In hunt out the item identification data being consistent, and the item identification data for the article that laminate is placed will be corresponded to more on target shelf
It is newly the item identification data that is hunted out, or according to commodity data by hunting out the object being consistent in the database that pre-establishes
The position data of the correct position of product, and move article to being searched according to the position data notice automatic vehicle 100 hunted out
The correct position sought out.
Furthermore it is of the invention using automatic vehicle confirm article position method, it can be achieved that in hardware, software or hardware with it is soft
In the combination of part, the computer of several interconnection also can be realized or interspersed among with different components in a centralised manner in computer systems
The dispersing mode of system is realized.
Although the embodiment illustrated by the present invention is as above, only the content is not directly to limit the special of the present invention
Sharp protection domain.Any persond having ordinary knowledge in the technical field of the present invention is not departing from presently disclosed spirit
Under the premise of range, is retouched to making a little change in the formal and details of the implementation of the present invention, belong to the present invention's
Scope of patent protection.The scope of patent protection of the present invention, still should be subject to the scope of the claims as defined in the appended claims.
Claims (10)
1. a kind of method confirming article position using automatic vehicle, which is characterized in that this method includes at least the following steps：
Automatic vehicle loads area data corresponding with working region, and selection target shelf；
The automatic vehicle is moved to the target shelf, and measures mobile data when movement；
After the automatic vehicle is moved to the target shelf, the item identification data of the article on the target shelf is obtained；
The automatic vehicle transmits the mobile data and the item identification data to server；
The server reads the precalculated position of the article according to the item identification data；
The server judges whether the physical location of the article is consistent with the precalculated position according to the mobile data.
2. the method for article position is confirmed using automatic vehicle as described in claim 1, which is characterized in that the automatic vehicle is to the mesh
The step for marking shelf movement is that the automatic vehicle uses indoor positioning skill according to the position data of the target shelf in the area data
Art moves, and senses pre-set place when movement and identify data, to be correctly moved to the target shelf.
3. the method for article position is confirmed using automatic vehicle as described in claim 1, which is characterized in that this method is also contained in
When the server judges that the physical location of the article is not consistent with the precalculated position according to the mobile data, more by the precalculated position
The step of being newly the physical location of the article or the automatic vehicle notified to move the article to the precalculated position.
4. the method for article position is confirmed using automatic vehicle as described in claim 1, which is characterized in that the automatic vehicle obtains should
The step of item identification data of the article on target shelf, grips the article to obtain article knowledge comprising the automatic vehicle
The step of other data.
5. the method for article position is confirmed using automatic vehicle as described in claim 1, which is characterized in that this method is automatic in this
After vehicle obtains the step of item identification data of the article on the target shelf, also comprising the automatic vehicle by the target shelf
It is upper to read the commodity data of the article, and transmit the commodity data to server and the server and judge that the commodity data is
No the step of being consistent with the article.
6. a kind of system confirming article position using automatic vehicle, which is characterized in that the system includes at least：
Automatic vehicle, wherein including：
Processing module, to load area data corresponding with working region, and selection target shelf；
Drive module, to drive the automatic vehicle to be moved to the target shelf；
Measurement module is shifted, to measure mobile data when the automatic vehicle moves；
Data acquisition module, to obtain the item identification data of the article on the target shelf；And communication module, to transmit
The mobile data and the item identification data；And
Server, to receive the mobile data and the item identification data, and should to be read according to the item identification data
The precalculated position of article, and according to the mobile data judge the physical location of the article whether the precalculated position is identical.
7. the system of article position is confirmed using automatic vehicle as claimed in claim 6, which is characterized in that the automatic vehicle also includes
Locating module and data sensing module, the locating module make the drive module drive this automatic to provide indoor positioning technologies
Vehicle is moved to the target shelf, which identifies number to sense pre-set place when the automatic vehicle moves
According to making the drive module correctly drive the automatic vehicle to the target shelf.
8. as claimed in claim 6 using automatic vehicle confirm article position system, which is characterized in that the server also to
When judging that the article physical location is not consistent with the precalculated position according to the mobile data, which is updated to the object
The physical location of product notifies the automatic vehicle to move the article to the precalculated position.
9. the system of article position is confirmed using automatic vehicle as claimed in claim 6, which is characterized in that the automatic vehicle also includes
Article grips module, by gripping the article on the target shelf, to make the data acquisition module according to the article gripped
Obtain the item identification data.
10. the system of article position is confirmed using automatic vehicle as claimed in claim 6, which is characterized in that the data acquisition module
Block is also to by the commodity data for obtaining the article on the target shelf, and the communication module is also transmitting the commodity data extremely
The server, the server is also judging whether the commodity data is consistent with the article.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810260540.1A CN108596295A (en) | 2018-03-27 | 2018-03-27 | The system and method for article position is confirmed using automatic vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810260540.1A CN108596295A (en) | 2018-03-27 | 2018-03-27 | The system and method for article position is confirmed using automatic vehicle |
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| CN108596295A true CN108596295A (en) | 2018-09-28 |
Family
ID=63623714
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810260540.1A Withdrawn CN108596295A (en) | 2018-03-27 | 2018-03-27 | The system and method for article position is confirmed using automatic vehicle |
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| CN (1) | CN108596295A (en) |
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| CN109784323A (en) * | 2019-01-21 | 2019-05-21 | 北京旷视科技有限公司 | Method, apparatus, electronic equipment and the computer storage medium of image recognition |
| CN110428301A (en) * | 2019-07-26 | 2019-11-08 | 郝验峰 | Peripheral equipment assists interactive electronic business system |
| CN111325080A (en) * | 2018-12-17 | 2020-06-23 | 上海博泰悦臻电子设备制造有限公司 | Vehicle and article information identification display method and system thereof |
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