CN108945921A - Cargo automatic allocates system and its operation method - Google Patents
Cargo automatic allocates system and its operation method Download PDFInfo
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- CN108945921A CN108945921A CN201810580697.2A CN201810580697A CN108945921A CN 108945921 A CN108945921 A CN 108945921A CN 201810580697 A CN201810580697 A CN 201810580697A CN 108945921 A CN108945921 A CN 108945921A
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- cargo
- unit
- handling unit
- control unit
- handling
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- 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
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
Abstract
The present invention provides a kind of cargo automatics to allocate system and its operation method, by setting transmission unit, recognition unit, handling unit and allocate control unit, it realizes that cargo allocates the automation of process, improves the speed and accuracy allocated, reduce cost of labor.In addition, idle handling unit can also be assigned in shortest queue be lined up picking in real time by the present invention according to field operation situation, or can allocate strategy according to the carrying quantity of each cargo to adjust, the speed that cargo is allocated is further improved.
Description
Technical field
The present invention relates to As/rs Techniques, and in particular to cargo automatic allocates system and its operation method.
Background technique
With the high speed development of the technologies such as e-commerce, Internet of Things, logistics plays very important effect wherein, and
And also there are more and more people to bound oneself to it.In the internal forwarding link of logistics transportation process, the logistics to receiving is needed
Product piled up, sorted, being allocated, being freighted, placement of unloading waits trafficking step, due to need freight it is many kinds of,
Destination is different, needs special personnel the processes such as sort, allocate, freighting, consumes a large amount of manpowers and efficiency
It is lower.
Summary of the invention
The purpose of the present invention is to provide a kind of cargo automatics to allocate system and its operation method, reduces cost of labor simultaneously
And it improves and allocates speed and accuracy.
In order to achieve the above object, embodiments of the present invention disclose a kind of cargo automatic and allocate system, comprising:
Transmission unit, for cargo to be sent to recognition unit；
Recognition unit allocates control for reading the shipment identifier of the cargo of transmission unit transmission and being sent to shipment identifier
Unit processed；
Handling unit；And
Control unit is allocated, for according to recognition unit shipment identifier lookup material frame corresponding with shipment identifier position
It sets, and controls handling unit and cargo is carried to material frame position, wherein allocating control unit is previously provided with shipment identifier and material
The corresponding relationship of frame position.
Embodiments of the present invention also disclose the operation method that a kind of cargo automatic allocates system, the cargo automatic
The system of allocating includes transmission unit, recognition unit, handling unit and allocates control unit, allocate control unit preset it is available in stock
Object mark and the corresponding relationship of material frame position, the operation method the following steps are included:
Cargo is sent to recognition unit by transmission unit；
The shipment identifier of recognition unit reading cargo；
Shipment identifier is sent to and allocates control unit by recognition unit；
It allocates control unit and material frame corresponding with shipment identifier position is searched according to shipment identifier；
It allocates control unit and cargo is carried to by material frame position according to material frame position control handling unit.
In one embodiment, Accreditation Waiting Area is provided with by each recognition unit, one or more handling unit are allocating control
Enter Accreditation Waiting Area queuing under the control of unit processed successively to transport goods.In one embodiment, allocating control unit includes scheduling sublayer
Unit, scheduling subelement obtain the queuing situation of each Accreditation Waiting Area, such as the quantity of handling unit in real time, and according to field operation
Idle handling unit is assigned in shortest queue and is lined up picking by situation, so that there is sufficient amount of remove by each recognition unit
Transportation unit is waited to transport goods in time.
In one embodiment, allocating control unit includes material frame subelement, and material frame subelement is periodically according to each cargo
The carrying quantity carrying quantity of freight all kinds (such as in one section of cycle time) adjustment shipment identifier it is corresponding with material frame position
Relationship, so as to shorten the transport distance for carrying the biggish cargo of quantity.
It, can be further by the way that handling unit scheduling strategy and material frame position adjustable strategies are arranged in allocating control unit
Improve the speed and accuracy allocated.
In one embodiment, when cargo barcode scanning fails or fails to obtain shipment identifier because of other any reasons, control is allocated
The handling unit that unit control processed carries cargo reenters Accreditation Waiting Area, to be handled manually by staff's intervention.One
It was found that cargo barcode scanning is unsuccessfully that instruction handling unit returns to waiting for area, so as to be handled in time abnormal cargo, so that
It is more smoothly entirely to allocate operation.
In the case of forming depopulated zone, when the failure of cargo barcode scanning or because other any reasons fail to obtain shipment identifier
When, allocating control unit can control position or artificial area that cargo is carried to abnormal cargo material frame by handling unit to subsequent
Processing.
In one embodiment, transmission unit is conveyer belt, and the cargo through reading is transferred directly to handling unit.?
In one embodiment, handling unit is AGV handling unit.In one embodiment, belt-type is set in AGV handling unit and transmits dress
It sets or convertible transmission device, AGV handling unit is unloaded automatically.By the way that transmission unit and handling unit is respectively set
It is automatic to pass goods and unloading, the automation allocated can be further strengthened, to really realize that nobody allocates.
In one embodiment, multiple charging piles are distributed in the centre that cargo allocates place, allocate control unit real-time detection
The battery capacity and reed time controll free time handling unit of each free time handling unit move to nearest idle charging pile and charge, with
Guarantee the continued operation of each handling unit.Charging pile concentrates on the centre that cargo allocates place, can be convenient handling unit charging,
To improve charge efficiency.
In one embodiment, when handling unit be not it is extremely busy, i.e., in the case that carrying task amount is not very much, allocate control
The idle handling unit that unit can control low battery goes to charge, to be at any time that busy operation is got ready.
Compared with prior art, the main distinction and its effect are embodiment of the present invention:
Cargo automatic of the invention allocates system and its operation method and passes through setting transmission unit, recognition unit, carrying
Unit and control unit is allocated to realize that cargo allocates the automation of process, improve the speed and accuracy allocated, and subtract
Cost of labor is lacked.
It should be understood that within the scope of the present invention, above-mentioned each technical characteristic of the invention and below (such as embodiment and implementation
Example) in specifically describe each technical characteristic between can be combined with each other, to form a new or preferred technical solution.It is limited to
Length, not repeated them here.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is that the cargo automatic of an example embodiment according to the present invention allocates the schematic block diagram of system.
Fig. 2A -2B is the arrangement signal that the cargo automatic of example embodiment according to the present invention allocates recognition unit in system
Figure.
Fig. 3 is the process signal that the cargo automatic of an example embodiment according to the present invention allocates the operation method of system
Figure.
Fig. 4 is the flow diagram of the abnormal cargo of processing of an example embodiment according to the present invention.
Fig. 5 is the flow diagram of the idle handling unit of scheduling of an example embodiment according to the present invention.
Fig. 6 is the flow diagram of the adjustment material frame position of an example embodiment according to the present invention.
Fig. 7 is the charging flow schematic diagram of an example embodiment according to the present invention.
Fig. 8 is the charging flow schematic diagram of another example embodiment according to the present invention.
Fig. 9 is the charging flow schematic diagram of another example embodiment according to the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description.Obviously, the described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, those of ordinary skill in the art are not making creativeness
Currently, AGV although (Automated Guided Vehicle, automated guided vehicle) transfer robot has been applied
Into some links of logistics transportation process, but the degree of automation of entire logistics transportation process is still limited.Hair of the invention
Bright people discovery, allocating link, there is no solve using by the way of automating, it is still desirable to which operator is manually from assembly line
On pick up goods, by being placed on material frame to be sent after barcode scanning.Need a large amount of labour by cargo according to purpose in this way
It is allocated on ground.
For above situation, the present invention provides a kind of cargo automatics to allocate system and its operation method, is removed by AGV
The application of robot is transported to reduce the cost of labor for allocating operation, improves the degree of automation of operations, and greatly promote and allocate operation
Speed and accuracy.
Fig. 1, which is shown, allocates system according to the cargo automatic of an example embodiment, cargo automatic subsystem setting
It is allocated among place in cargo.As shown in Figure 1, the cargo automatic system of allocating includes transmission unit 4, recognition unit 2, carries
Unit 3 and allocate control unit 1.
Cargo to be allocated is transmitted to recognition unit 2 by transmission unit 4.In one embodiment, transmission unit 4 can be adopted
Cargo to be allocated is transported, uninterruptedly with belt feeder and in a manner of closed loop cycle to improve transmission efficiency.In one embodiment
In, transmission unit 4 can use suspended structure.In another embodiment, transmission unit 4 is transported at certain intervals wait allocate
Cargo, to ensure that each cargo to be allocated is transported to recognition unit 2 in an orderly manner.In other embodiments, transmission unit 4
Other transfer structures and/or transmission mode can also be used according to physicals, as long as cargo is sent to recognition unit 2 i.e.
It can.
After cargo reaches at recognition unit 2, recognition unit 2 reads the shipment identifier for the cargo that transmission unit 4 transmits.?
In one embodiment, more recognition units 2 obtain the cargo of the transport of transmission unit 4 around 4 surrounding of transmission unit is set to.?
In one embodiment, the cargo that transmission unit 4 transmits can use the handling devices such as mechanical arm after reaching recognition unit 2,
Cargo is transported on the identification station of recognition unit 2 and is identified, to guarantee recognition accuracy.In another embodiment, know
The shipment identifier of the cargo on transmission unit 2 can be read directly in other unit 2, does not need to move cargo.
In one embodiment, a sensor and recognition unit 2 are electrically connected, and it is single which detects cargo arrival identification
The rear of member 2 sends electric signal to recognition unit 2, and 2 automatic running of recognition unit reads the shipment identifier of cargo.Sensor can be adopted
With but be not limited to infrared sensor, touch switch sensor, weight sensor or other kinds of sensor.In other realities
It applies in example, sensor can not also be used, as long as recognition unit 2 is arranged in the transmitting path of cargo and carries out continuous barcode scanning
?.
By Fig. 1, it can be seen that, recognition unit 2 is communicated to connect with control unit 1 is allocated, and the shipment identifier of reading is sent
To allocating control unit 1.In one embodiment, recognition unit 2 may include barcode scanning subelement, transmitting-receiving subelement and/or show
Show subelement.Above-mentioned barcode scanning subelement is used to after cargo reaches recognition unit 2 read the shipment identifier of the cargo.Corresponding to goods
The type of object mark, barcode scanning subelement can use but be not limited to QR code (Quick Response Code, two dimensional code) barcode scanning
Device, graphic code code reader, RFID (Radio Frequency Identification, radio frequency identification) label reader or
Other shipment identifier readers.
After barcode scanning subelement reads shipment identifier, transmitting-receiving subelement passes through wireless and/or cable network for the barcode scanning
The shipment identifier that subelement is read, which is sent to, allocates control unit 1.The goods can be searched according to shipment identifier by allocating control unit 1
5 position of material frame that object is launched, and/or obtain the information such as model, specification, order or logistics of cargo.
In one embodiment, which receives the query result for allocating control unit 1.It shows subelement and receives
Subelement connection is sent out, is shown from 5 position of material frame and/or cargo model, specification, order or logistics for allocating the acquisition of control unit 1
Etc. information, for operator reference.In another embodiment, recognition unit 2 can not also be obtained from control unit 1 is allocated
Above- mentioned information are to be shown.
Fig. 1 shows that recognition unit 2 has corresponding Accreditation Waiting Area 6.In one embodiment, each 2 side of recognition unit is equal
It is provided with an Accreditation Waiting Area 6, Accreditation Waiting Area 6 is to accommodate multiple handling unit 3 to be lined up the goods for obtaining and identifying by recognition unit 2
Object.In another embodiment, an Accreditation Waiting Area can be set between two or more adjacent recognition units 2, i.e., two or
Unit 2 identified above shares an Accreditation Waiting Area, such as Fig. 2A and 2B schematically show three and four recognition units 2
Around Accreditation Waiting Area 6 to share the Accreditation Waiting Area 6.In the case where sharing Accreditation Waiting Area, each recognition unit 2 can be generally arranged at transmission
The inside of unit 4.In other embodiments, Accreditation Waiting Area 6 can also be otherwise set according to the actual situation, as long as making every
There is Accreditation Waiting Area 6 can be used by a recognition unit.Multiple handling unit 3 are waiting under the control for allocating control unit 1
It successively transports goods in area 6.
As an embodiment, transmission unit 4 includes conveyer belt and transmission control module.Cargo is transmitted to via the conveyer belt
Recognition unit 2 read shipment identifier, when conveyer belt transmit cargo when, transmission control module to allocate control unit 1 send it is available in stock
Signal.It allocates control unit 1 and controls handling unit 3 after receiving signal available in stock and moved to by conveyer belt by Accreditation Waiting Area 6, then
Instruction, which is sent, to transmission control module is automatically sent to the handling unit to control conveyer belt for the cargo that identified unit 2 is read
On 3.That is, when conveyer belt automatically delivers cargo, the planes align of handling unit 3 and conveyer belt or slightly less than conveyer belt
Plane, transmit tape starting to drive cargo thereon to move in handling unit 3.Whole process is fully automated, does not need any
Manpower intervention.In other embodiments, cargo can also be automatically moved into carrying from transmission unit 4 by devices such as mechanical arms
On unit 3 or by manually moving.
In one embodiment, handling unit 3 may include freight detection device to cooperate cargo directly to be sent by conveyer belt
Upper handling unit 3, freight detection device are, for example, infrared tube, gravity sensor etc..It is moved to by conveyer belt in handling unit 3
Afterwards, which detects whether the handling unit 3 receives cargo, and to allocating control unit after receiving cargo
1 sends received signal.Control unit 1 is allocated after receiving received signal, the handling unit 3 is controlled and is carried to cargo
Corresponding 5 position of material frame.In one embodiment, it is single that control is allocated within the second predetermined time that handling unit 3 reaches conveyer belt
Member 1 does not receive received signal, then allocates control unit 1 and give a warning or instruct conveyer belt or handling unit 3 etc. to carry out certain
A little operations.By the way that freight detection device is arranged in handling unit 3, it can be ensured that cargo is arrived really in handling unit 3.At it
In his embodiment, freight detection device can not also be arranged to handling unit 3, as long as ensuring before operation conveyer belt transmission cargo
Handling unit 3 reaches conveyer belt side.
Handling unit 3 can be AGV handling unit, or can be realized any other class for each function that the application is previously mentioned
The handling unit of type.In one embodiment, AGV handling unit includes AGV car body and the transmission being set on AGV car body dress
It sets.The transmission device can use belt conveyor, convertible transmission device or other transmission devices.Actually carrying
Cheng Zhong, cargo are placed on the transmission device of AGV handling unit, when AGV handling unit reaches 5 position of material frame in starting
Transmission device is stated so that cargo to be automatically sent within material frame 5, to realize automatic unloading.In other embodiments, AGV is carried
Unit can also be not provided with transmission device, as long as cargo can be carried to material frame position.
In one embodiment, AGV car body can also include navigation device, and inertial navigation device, QR can be used in navigation device
Code omniselector, laser avoidance omniselector or SLAM (positioning and map structuring immediately) visual navigator.Inertial navigation device can lead to
It crosses the sensor built in it and detects its acceleration, its coordinate and speed are obtained by operation, and then to the moving line of AGV car body
It guides.QR code omniselector is installed on the bottom of AGV car body, reads the QR code image pasted on the ground by camera,
It obtains present position and corner posture, and then the moving line of AGV car body is guided.Laser avoidance omniselector is installed on
On AGV car body, by emitting laser signal in the route to car body, the barrier feedback letter in action path is obtained
Breath, and then guide AGV car body avoiding obstacles.SLAM visual navigator passes through the deep vision camera that is installed on AGV car body
Scene image data is obtained, and synchronous building scene map completes the planning to AGV car body movement routine.
The corresponding relationship that control unit 1 is previously provided with shipment identifier Yu material frame position is allocated, is received from recognition unit 2
After shipment identifier, control unit 1 is allocated according to 2 shipment identifier lookup of recognition unit material frame 5 corresponding with shipment identifier
Position.After finding corresponding 5 position of material frame, control unit 1 is allocated to handling unit 3 and issues instruction to control handling unit
Cargo is carried to 5 position of material frame by 3.Material frame 5 is arranged in 4 surrounding of transmission unit, to receive the cargo of the transmission of handling unit 3.
In the case where the mark in maloperation or cargo falls off, damages, recognition unit 2 can not read the cargo mark of cargo
Know, so that be unable to complete the cargo allocates operation.For the situation, in one embodiment, the setting of control unit 1 one is allocated
A first predetermined time, when receiving the of cargo in the first predetermined time that cargo reaches recognition unit 2 or in handling unit 3
The shipment identifier that control unit 1 does not receive cargo is allocated in one predetermined time, then it represents that the shipment identifier of the cargo reads failure.
It is appreciated that incude cargo arrival recognition unit 2 or carrying can be placed in such as above-mentioned setting sensor or freight detection device
On unit 3, calculated for the first predetermined time to start.
If the shipment identifier of cargo reads failure, allocates the control of control unit 1 and carry the handling unit 3 of the cargo again
It is lined up into Accreditation Waiting Area.When carrying cargo in the handling unit 3 that staff's discovery on the side of recognition unit 2 enters Accreditation Waiting Area,
Then it is handled manually, such as it is correctly put to be read out again by recognition unit 2, or directly delivery manually
Deng.Area is returned to waiting for when shipment identifier reads failure, abnormal cargo can be handled in time.In other embodiments,
When it is depopulated zone that whole system, which is formed by region, it can control the carrying cargo of handling unit 3 and set to artificial area or in advance
The position for the abnormal cargo material frame set is to subsequent processing.
Optionally, allocating control unit 1 may include scheduling subelement, enter Accreditation Waiting Area to dispatch idle handling unit 3.
In one embodiment, scheduling subelement is used to obtain the quantity for the handling unit 3 being lined up in each Accreditation Waiting Area 6, example in real time
Can such as be carried out when each handling unit 3 passes in and out Accreditation Waiting Area 6 real-time counting or according to the position of each handling unit 3 whether
To carry out counting in area 6 etc., and control the waiting that idle handling unit 3 enters 3 minimum number of handling unit being lined up
Area 6 is lined up.In one embodiment, scheduling subelement enters nearest waiting for controlling idle handling unit 3
Area is lined up.In another embodiment, scheduling subelement can be also used for considering the bed load function of each recognition unit 2 (i.e.
Handle the speed of cargo) and multiple recognition units 2 share other situations such as Accreditation Waiting Area to control idle handling unit 3 into phase
Accreditation Waiting Area is answered to be lined up.For example, scheduling subelement can be scheduled idle handling unit 3, so that bed load function is opposite
The quantity for the handling unit 3 being lined up in the Accreditation Waiting Area 6 on faster 2 side of recognition unit is relatively more.Alternatively, scheduling subelement
Can dispatch idle handling unit 3 according to shared 2 quantitative proportion of recognition unit in each Accreditation Waiting Area 6, for example, to Fig. 2A and
The scheduling ratio of the handling unit 3 of Accreditation Waiting Area 6 is 3:4 in Fig. 2 B.In other embodiments, above-mentioned each feelings can also be comprehensively considered
It is two or more in condition, to realize the optimal scheduling to handling unit 3.Idle handling unit typically refers to not transport goods,
It is not lined up in Accreditation Waiting Area, or is not carried out the handling unit of other tasks, can be configured according to the actual situation.
Optionally, allocating control unit 1 can also include material frame subelement, allocate strategy to optimize cargo.In a reality
It applies in example, material frame subelement periodically counts the carrying quantity of each cargo.That is, whithin a period of time to freight all kinds
The quantity being handled upside down is counted, such as conveying equipment has cargo X, the conveying equipment of shipment identifier A available in stock within certain a period of time
Object identifies cargo Y of B ..., that reflects market at certain for a period of time to the demand of freight all kinds.Periodically can by week,
Monthly, it quarterly, can according to need and be configured.
In one embodiment, the carrying quantity of each cargo can read in recognition unit 2 and send the cargo of each cargo
Added up when mark, and is periodically counted by material frame subelement.In other embodiments, it can also otherwise count
The carrying quantity of each cargo, such as when clearing up each material frame, shipment identifier and respective numbers are sent to and allocate control unit 1
Material frame subelement is accumulative etc. to carry out.
Material frame subelement adjusts the corresponding relationship of shipment identifier and material frame position according to the carrying quantity of each cargo, so that removing
The bigger cargo of destiny amount is carried to the material frame position closer from transmission unit 4.For example, adjusting cargo mark when X is greater than Y
Know with the corresponding relationship of material frame position so that and the corresponding material frame position shipment identifier A relative to material corresponding with shipment identifier B
Frame position is closer from transmission unit 4.
In embodiments, shipment identifier can be directly linked with material frame position, (such as can also be expected by other information
Frame number) indirect association.In the case where shipment identifier and material frame position are directly linked, shipment identifier and material frame position are directly adjusted
The corresponding relationship set.It, can in the case where shipment identifier and material frame position indirect association, such as through material frame number indirect association
To adjust the corresponding relationship of shipment identifier and material frame number (material frame number is fixed with the corresponding relationship of material frame position), or can be with
The corresponding relationship of adjustment material frame number and material frame position (shipment identifier and the corresponding relationship of material frame number are fixed), carrys out Indirect method
The corresponding relationship of shipment identifier and material frame position.Which kind of either above-mentioned situation, can be by adjusting shipment identifier and material frame
The corresponding relationship of position, so that carrying the bigger cargo of quantity is carried to the material frame position closer from transmission unit.At other
In embodiment, such as when the market demand is relatively stable, shipment identifier and the corresponding relationship of material frame position can not also be carried out
Adjustment.
It is allocated in place in general, multiple charging piles are distributed in cargo.In one embodiment, multiple charging pile integrated distributions
The centre in place is allocated in cargo, can be convenient and charge for handling unit 3.In other embodiments, multiple charging piles can
To be distributed in 4 surrounding of transmission unit, or otherwise it is distributed.
The battery capacity for allocating control unit 1 and/or idle handling unit 3 itself real-time detection free time handling unit 3 is
It is no to be lower than the second preset threshold.Confirm the battery capacity of idle handling unit 3 lower than the second default threshold if allocating control unit 1
Value allocates control unit and controls idle handling unit 3 and move to and charges from the nearest idle charging pile 6 of idle handling unit 3.
If idle handling unit 3 itself confirmation battery capacity is lower than the second preset threshold, issued to control unit 1 is allocated
Charge request.It allocates control unit 1 and controls idle handling unit 3 after receiving charge request and move to from idle handling unit 3 most
Close idle charging pile 6 charges.
In some cases, just handling unit 3 can not also be filled when battery capacity is lower than the second preset threshold
Electricity.In one embodiment, control unit 1 is allocated to be used for the total quantity of the carrying task amount and handling unit 3 of current system
It is compared.The carrying task amount of current system refers to the car loading for currently handling unit 3 being needed to be carried.If carried single
The carrying task amount that the total quantity of member 3 is greater than current system is more than the first preset threshold, that is, indicates the busy extent of current system
It is not very big.The idle handling unit for allocating minimum electricity in the control handling unit 3 of control system 1, which is moved to, carries list from the free time
First nearest idle charging pile charges, to keep the whole charge volume of each handling unit 3 sufficient, at any time for busy operation
It gets ready.In other embodiments, other charging strategies also can be set, such as between handling unit 3 operates certain time
Every primary charging of rear progress etc..
It should be noted that each unit and/or module mentioned in each system embodiment of the present invention be all logic unit and/
Or module, physically, a logic unit and/or module can be a physical unit and/or module, be also possible to one
A part of physical unit and/or module can also be realized, these logic lists with the combination of multiple physical units and/or module
The Physical realization of member and/or module itself is not function most important, that these logic units and/or module are realized
Combination be only the key for solving technical problem proposed by the invention.In addition, in order to protrude innovative part of the invention, this hair
Bright above-mentioned each system embodiment there is no by the unit less close with technical problem relationship proposed by the invention is solved and/or
Module introduces, this does not indicate the above system embodiment and there is no other units and/or modules.
It should be noted that in the claim and specification of this patent, such as first and second or the like relationship
Term is only used to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying
There are any actual relationship or orders between these entities or operation.Moreover, the terms "include", "comprise" or its
Any other variant is intended to non-exclusive inclusion so that include the process, methods of a series of elements, article or
Equipment not only includes those elements, but also including other elements that are not explicitly listed, or further include for this process,
Method, article or the intrinsic element of equipment.In the absence of more restrictions, being wanted by what sentence " including one " limited
Element, it is not excluded that there is also other identical elements in the process, method, article or apparatus that includes the element
Fig. 3 shows the operation method that system is allocated according to the cargo automatic of an example embodiment.In an example reality
It applies in example, the method for Fig. 3 can allocate system with the cargo automatic of Fig. 1 to implement, therefore can be described about Fig. 1.
As shown in Fig. 3 and Fig. 1, the operation method the following steps are included:
In step sl, cargo is sent to recognition unit 2 by transmission unit 4.In one embodiment, transmission unit 4 wraps
Conveyer belt and transmission control module are included, cargo is automatically delivered to handling unit 3 by conveyer belt.In this embodiment, transmission control
Module sends signal available in stock to control unit 1 is allocated, and allocates control unit 1 and controls handling unit after receiving the signal available in stock
3 move to conveyer belt.It is noted that cargo can be sent to recognition unit, by identification in conveyer belt by transmission control module
Any time that unit is transmitted to the side of conveyer belt sends signal available in stock to control unit 1 is allocated, and can according to need progress
Setting.
Then into step S2, recognition unit 2 reads the shipment identifier of cargo.It is moved in S2 step and handling unit 3
After conveyer belt, allocating control unit 1 and sending instruction to transmission control module will be read through the recognition unit 2 with controlling conveyer belt
Cargo is automatically sent in handling unit 3, does not need any manpower intervention.In other embodiments, mechanical arm can also be passed through
Even cargo is automatically moved into handling unit 3 from transmission unit 4 by manually moving by equal devices.
Then into step S3, shipment identifier is sent to by recognition unit 2 allocates control unit 1.
Then into step S4, control unit 1 is allocated according to shipment identifier and searches material frame 5 corresponding with shipment identifier
It sets.
Then into step S5, control unit 1 is allocated according to 5 position control handling unit 3 of material frame, cargo is carried to material
5 position of frame.In the example for automatically delivering cargo using conveyer belt, can be set handling unit 3 with freight detection device with
Detection handling unit 3 whether receive the cargo, and after confirmation receives cargo to allocate control unit 1 transmission received letter
Number, to ensure that cargo reaches in handling unit 3.Then in step s 5, if allocating control unit 1 receives received signal,
It allocates the control handling unit 3 of control unit 1 and cargo is carried to 5 position of material frame.In one embodiment, if in handling unit
Control unit 1 is allocated in second predetermined time of 3 arrival conveyer belts and does not receive received signal, then may be broken down, point
Control unit 1 is dialled to give a warning.In other embodiments, freight detection device can not also be arranged to handling unit 3.
Handling unit 3 can be AGV handling unit.In one embodiment, AGV handling unit includes car body and is set to
Transmission device on car body.The transmission device can be using belt conveyor, convertible transmission device or other transmission dresses
It sets.After step S5, which is transmitted to material frame for cargo automatically by transmission device after reaching material frame position
In, to realize automatic unloading.In other embodiments, AGV handling unit can also be not provided with transmission device, as long as can be by goods
Object is carried to material frame position.
Fig. 4 shows the exemplary flow for handling abnormal cargo.As shown in figure 4, the operation method can also include following step
It is rapid:
In step 401, control unit 1 is allocated within the first predetermined time that cargo reaches recognition unit 2 or is being carried
Unit 3, which received in the first predetermined time of cargo, judges whether the shipment identifier for receiving cargo from recognition unit 2.If not
The shipment identifier for receiving cargo, enters step 402；If receiving the shipment identifier of cargo, 403 are entered step.
In step 402, allocate control unit 1 control carry cargo handling unit 3 reenter Accreditation Waiting Area queuing,
To be handled manually after reaching recognition unit 2 by staff.In step 402, it allocates control unit 1 also and can control carrying
The cargo is carried to the position of abnormal cargo material frame by unit 3, and the situation in depopulated zone is formed suitable for whole system.
In step 403, the operation that control unit 1 continues S4 step is allocated.
Fig. 5 and Fig. 6, which is respectively illustrated, allocates the signal that control unit 1 dispatches idle handling unit 3 and adjustment material frame position
Process allocates speed to further increase.
The cargo automatic system of allocating includes multiple recognition units 2, is provided with Accreditation Waiting Area 6 by each recognition unit 2, point
It dials 1 Real-Time Scheduling free time of control unit handling unit 3 and enters Accreditation Waiting Area 6.Specifically, as shown in figure 5, the operation method can be with
The following steps are included:
In step 501, the quantity that control unit 1 obtains the handling unit being lined up in each Accreditation Waiting Area 6 is allocated.
Then into step 502, allocates control unit 1 and control idle handling unit into the handling unit number being lined up
Least Accreditation Waiting Area is measured to be lined up.
In other embodiments, allocate control unit 1 can also according to about scheduling subelement description other parameters come
Idle handling unit is dispatched, other parameters are, for example, the bed load function of the Accreditation Waiting Area nearest from idle handling unit, recognition unit 2
And the quantity etc. of the recognition unit 2 of shared Accreditation Waiting Area.
As shown in fig. 6, this operation method can with the following steps are included:
In step 601, the carrying quantity that control unit 1 periodically counts each cargo is allocated.
Then into step 602, control unit 1 is allocated according to the carrying quantity of each cargo and adjusts shipment identifier and material frame position
The corresponding relationship set, so that carrying the bigger cargo of quantity is carried to the material frame position closer from transmission unit.In a reality
It applies in example, when market changes and is adjusted by a relatively large margin to type of merchandize, can be directly arranged according to market situation
The corresponding relationship of shipment identifier and material frame position.
Fig. 7-Fig. 9 respectively illustrates the exemplary flow to charge to handling unit 3.Multiple charging piles 6 are distributed in cargo
Allocate in place, as shown in fig. 7, the operation method can with the following steps are included:
In step 701, allocates control unit 1 and detect the battery capacity of idle handling unit 3 whether to be lower than second default
Threshold value.If confirming, the battery capacity of idle handling unit 3 is lower than the second preset threshold, enters step 702；If pre- not less than second
If threshold value enters step 703.
In a step 702, it allocates control unit 1 and controls idle handling unit 3 and move to the sky nearest from idle handling unit 3
Not busy charging pile 6 charges.
In step 703, operated into 502 steps.
As shown in figure 8, the operation method can with the following steps are included:
In step 801, whether the battery capacity that idle handling unit 3 detects itself is lower than the second preset threshold.If low
In the second preset threshold, 802 are entered step；If being not less than the second preset threshold, 803 are entered step.
In step 802, idle handling unit 3 issues charge request to control unit 1 is allocated.
Then into step 804, allocates control unit 1 and control idle handling unit 3 and move to from idle handling unit 3 recently
Idle charging pile 6 charge.
In step 803, operated into 502 steps.
As shown in figure 9, the operation method can with the following steps are included:
In step 901, allocate control unit 1 by the total quantity for carrying task amount and handling unit 3 of current system into
Row compares, and judges that the whether big carrying task amount of the total quantity of handling unit 3 is more than the first preset threshold.If it exceeds first is pre-
If threshold value enters step 902；If being no more than the first preset threshold, 903 are entered step.
In step 902, allocate control unit 1 control handling unit 3 in minimum electricity idle handling unit move to from
The nearest idle charging pile of the free time handling unit charges.
In step 903, it is operated into 502 steps.
Above-mentioned each process can be applied in combination as shown above, it is to be understood that, above-mentioned each process also can be used alone.
Each method embodiment of the invention can be realized in a manner of software, hardware, firmware etc..Regardless of the present invention is with soft
Part, hardware or firmware mode realize that instruction code may be stored in any kind of computer-accessible memory
(such as permanent perhaps revisable volatibility perhaps non-volatile solid perhaps non-solid fixed or
Replaceable medium etc.).Equally, memory may, for example, be programmable logic array (Programmable Array
Logic, referred to as " PAL "), random access memory (Random Access Memory, referred to as " RAM "), it may be programmed read-only deposit
Reservoir (Programmable Read Only Memory, referred to as " PROM "), read-only memory (Read-Only Memory, letter
Claim " ROM "), electrically erasable programmable read-only memory (Electrically Erasable Programmable ROM, referred to as
" EEPROM "), disk, CD, digital versatile disc (Digital Versatile Disc, referred to as " DVD ") etc..
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (20)
1. a kind of cargo automatic allocates system characterized by comprising
Transmission unit, for cargo to be sent to recognition unit；
Recognition unit, for reading the shipment identifier of the cargo of the transmission unit transmission and sending the shipment identifier
To allocating control unit；
Handling unit；And
Control unit is allocated, for according to recognition unit shipment identifier lookup material corresponding with the shipment identifier
Frame position, and control the handling unit and the cargo is carried to the material frame position, wherein described, to allocate control unit pre-
First it is provided with the corresponding relationship of the shipment identifier Yu the material frame position.
2. cargo automatic according to claim 1 allocates system, which is characterized in that the cargo automatic allocates system
Including multiple recognition units, Accreditation Waiting Area is provided with by each recognition unit；
The control unit of allocating includes scheduling subelement, and the scheduling subelement for obtaining in each Accreditation Waiting Area in real time
The quantity for the handling unit being lined up, and control idle handling unit enter the handling unit minimum number being lined up etc.
It is lined up to area.
3. cargo automatic according to claim 1 allocates system, which is characterized in that the control unit of allocating is also used to
The of the cargo is received within the first predetermined time that the cargo reaches the recognition unit or in the handling unit
Judge whether the shipment identifier for receiving the cargo from the recognition unit in one predetermined time, if not receiving the cargo
Shipment identifier, then it is described allocate control unit control and carry the handling unit of the cargo reenter the waiting
Area is lined up, to be handled manually after reaching the recognition unit by staff.
4. cargo automatic according to claim 1 allocates system, which is characterized in that the control unit of allocating is also used to
The of the cargo is received within the first predetermined time that the cargo reaches the recognition unit or in the handling unit
Judge whether the shipment identifier for receiving the cargo from the recognition unit in one predetermined time, if not receiving the cargo
Shipment identifier, then it is described allocate control unit and control the handling unit cargo is directly carried to abnormal cargo material frame
Position.
5. cargo automatic according to claim 1 allocates system, which is characterized in that the transmission unit includes conveyer belt
With transmission control module, the transmission control module is used to allocate control list to described when the conveyer belt transmits the cargo
Member sends signal available in stock；
The handling unit includes freight detection device, and the freight detection device is for detecting whether the handling unit receives
Received signal is sent to the control unit of allocating to the cargo, and after confirmation receives the cargo；
It is described to allocate control unit and move to the conveyer belt for controlling the handling unit after receiving the signal available in stock,
Instruction is sent to the transmission control module to automatically deliver to control the conveyer belt for the cargo read through the recognition unit
To the handling unit, and the handling unit is controlled after receiving the received signal, the cargo is carried to institute
State material frame position.
6. cargo automatic according to claim 1 allocates system, which is characterized in that the control unit of allocating includes material
Frame unit, the material frame subelement are used to periodically count the carrying quantity of each cargo, and according to the carrying number of each cargo
Amount adjusts the corresponding relationship of the shipment identifier and the material frame position, is carried to so that carrying the bigger cargo of quantity from institute
State the closer material frame position of transmission unit.
7. cargo automatic according to any one of claim 1 to 6 allocates system, which is characterized in that the carrying is single
Member is AGV handling unit.
8. cargo automatic according to claim 7 allocates system, which is characterized in that the AGV handling unit includes vehicle
Body and the transmission device being set on the car body, the transmission device are belt conveyor or convertible transmission device；
The AGV handling unit is used to automatically transmit the cargo by the transmission device after reaching the material frame position
Into material frame.
9. cargo automatic according to any one of claim 1 to 6 allocates system, which is characterized in that the cargo is certainly
The dynamicization system of allocating is set to cargo and allocates place, and multiple charging piles are distributed in the cargo and allocate in place；
The control unit of allocating is also used to compare the carrying task amount and the total quantity of the handling unit of current system
Compared with, and when the total quantity for confirming the handling unit is greater than the carrying task amount and is more than the first preset threshold, described in control
The idle handling unit of minimum electricity moves to the idle charging pile nearest from the idle handling unit and is filled in handling unit
Electricity.
10. cargo automatic according to any one of claim 1 to 6 allocates system, which is characterized in that the cargo is certainly
The dynamicization system of allocating is set to cargo and allocates place, and multiple charging piles are distributed in the cargo and allocate in place；
Whether the battery capacity that idle handling unit detects itself is lower than the second preset threshold and is confirming that the battery capacity is low
Charge request is issued to the control unit of allocating when second preset threshold；
The control unit of allocating controls the idle handling unit shifting after the charge request for receiving the idle handling unit
It charges to the idle charging pile nearest from the idle handling unit.
11. the operation method that a kind of cargo automatic allocates system, which is characterized in that the cargo automatic system of allocating includes
Transmission unit, recognition unit, handling unit and allocate control unit, it is described allocate control unit be previously provided with shipment identifier with
The corresponding relationship of material frame position, the operation method the following steps are included:
Cargo is sent to the recognition unit by the transmission unit；
The recognition unit reads the shipment identifier of the cargo；
The shipment identifier is sent to and described allocates control unit by the recognition unit；
The control unit of allocating is according to shipment identifier lookup material frame corresponding with shipment identifier position；
It is described to allocate control unit handling unit according to the material frame position control cargo is carried to the material frame
Position.
12. operation method according to claim 11, which is characterized in that the cargo automatic system of allocating includes multiple
Recognition unit is provided with Accreditation Waiting Area by each recognition unit, and the operation method is further comprising the steps of:
The quantity allocated control unit and obtain the handling unit being lined up in each Accreditation Waiting Area in real time；
It is described allocate control unit control idle handling unit enter the Accreditation Waiting Area of the handling unit minimum number being lined up into
Row is lined up.
13. operation method according to claim 11, which is characterized in that the operation method is further comprising the steps of:
The control unit of allocating judges to remove within the first predetermined time that the cargo reaches the recognition unit or described
Transportation unit receives the cargo mark for whether having received the cargo in the first predetermined time of the cargo from the recognition unit
Know,
If not receiving the shipment identifier of the cargo, it is described allocate control unit control and carry the described of the cargo remove
Transportation unit reenters the Accreditation Waiting Area and is lined up, to be handled manually after reaching the recognition unit by staff.
14. operation method according to claim 11, which is characterized in that the operation method is further comprising the steps of:
The control unit of allocating judges to remove within the first predetermined time that the cargo reaches the recognition unit or described
Transportation unit receives the cargo mark for whether having received the cargo in the first predetermined time of the cargo from the recognition unit
Know,
If not receiving the shipment identifier of the cargo, the control unit of allocating controls the handling unit for the cargo
It is carried to the position of abnormal cargo material frame.
15. operation method according to claim 11, which is characterized in that the transmission unit includes conveyer belt and transmission control
Molding block, the handling unit include freight detection device；
The operation method is further comprising the steps of:
The transmission control module sends signal available in stock to the control unit of allocating, and the control unit of allocating is receiving
It states and controls the handling unit after signal available in stock and move to the conveyer belt；
It is allocated described in control unit control in the step of recognition unit reads the shipment identifier of the cargo and described
It is further comprising the steps of after handling unit moves to the step of conveyer belt:
It is described allocate control unit send instruction to the transmission control module will be through the identification singly to control the conveyer belt
The cargo that member is read is automatically sent to the handling unit；And
The freight detection device detects whether the handling unit receives the cargo, and receives the cargo in confirmation
Received signal is sent to the control unit of allocating afterwards；
It allocates control unit handling unit according to the material frame position control described the cargo is carried to the material
In the step of frame position, it is described allocate control unit the handling unit is controlled after receiving the received signal will be described
Cargo is carried to the material frame position.
16. operation method according to claim 11, which is characterized in that the operation method is further comprising the steps of:
The carrying quantity allocated control unit and periodically count each cargo；
It is described to allocate control unit according to the carrying quantity of each cargo to adjust the shipment identifier corresponding with the material frame position
Relationship, so that carrying the bigger cargo of quantity is carried to the material frame position closer from the transmission unit.
17. operation method described in any one of 1 to 16 according to claim 1, which is characterized in that the handling unit is AGV
Handling unit.
18. operation method according to claim 17, which is characterized in that the AGV handling unit includes car body and setting
Transmission device on the car body, the transmission device are belt conveyor or convertible transmission device；
It allocates control unit handling unit according to the material frame position control described the cargo is carried to the material
Further comprising the steps of after the step of frame position: the AGV handling unit passes through the transmission after reaching the material frame position
The cargo is sent in material frame by device automatically.
19. operation method described in any one of 1 to 16 according to claim 1, which is characterized in that the cargo automatic is allocated
System is set to cargo and allocates place, and multiple charging piles are distributed in the cargo and allocate in place, and the operation method further includes
Following steps:
The carrying task amount of current system is compared by the control unit of allocating with the total quantity of the handling unit；
If confirming that the total quantity of the handling unit is greater than the carrying task amount is more than the first preset threshold, described to allocate control
The idle handling unit that unit controls minimum electricity in the handling unit moves to the free time nearest from the idle handling unit
Charging pile charges.
20. operation method described in any one of 1 to 16 according to claim 1, which is characterized in that the cargo automatic is allocated
System is set to cargo and allocates place, and multiple charging piles are distributed in the cargo and allocate in place, and the operation method further includes
Following steps:
Whether the battery capacity that idle handling unit detects itself is lower than the second preset threshold；
If confirming the battery capacity lower than second preset threshold, the free time handling unit allocates control unit to described
Issue charge request, it is described allocate control unit controlled after receiving the charge request the idle handling unit move to from
The nearest idle charging pile of the free time handling unit charges.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810580697.2A CN108945921A (en) | 2018-06-07 | 2018-06-07 | Cargo automatic allocates system and its operation method |
| PCT/CN2019/090430 WO2019233486A1 (en) | 2018-06-07 | 2019-06-06 | Automated cargo distribution system and operation method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810580697.2A CN108945921A (en) | 2018-06-07 | 2018-06-07 | Cargo automatic allocates system and its operation method |
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| Publication Number | Publication Date |
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| CN108945921A true CN108945921A (en) | 2018-12-07 |
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| CN201810580697.2A Pending CN108945921A (en) | 2018-06-07 | 2018-06-07 | Cargo automatic allocates system and its operation method |
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| WO2019233486A1 (en) * | 2018-06-07 | 2019-12-12 | 锥能机器人（上海）有限公司 | Automated cargo distribution system and operation method thereof |
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| CN112520284A (en) * | 2019-09-19 | 2021-03-19 | 北京京东乾石科技有限公司 | Shelf storage position adjusting method and system |
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