CN109550697A - A kind of AGV intelligent sorting system and its flow and method - Google Patents
A kind of AGV intelligent sorting system and its flow and method Download PDFInfo
- Publication number
- CN109550697A CN109550697A CN201811157627.2A CN201811157627A CN109550697A CN 109550697 A CN109550697 A CN 109550697A CN 201811157627 A CN201811157627 A CN 201811157627A CN 109550697 A CN109550697 A CN 109550697A
- Authority
- CN
- China
- Prior art keywords
- agv
- sorting equipment
- master control
- control device
- sorting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/02—Apparatus characterised by the means used for distribution
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/10—Apparatus characterised by the means used for detection ofthe destination
Abstract
The present invention provides a kind of AGV intelligent sorting system, including master control device, barcode scanning device, AGV sorting equipment and positioning device；Barcode scanning device, AGV sorting equipment and positioning device are wirelessly connected with master control device；Barcode scanning device obtains the identification information of object and reaches master control device, and master control device selects optimal path to feed back to AGV sorting equipment according to identification information, and AGV sorting equipment to target is travelled by optimal path；The position coordinates of positioning device Recognition feedback AGV sorting equipment are to master control device.Using AGV intelligent sorting system of the invention and its flow and method, error rate is extremely low, and required operating personnel is few, and unmanned operation is done step-by-step, and high production efficiency effectively reduces enterprise's production cost.Whole process computer monitor of the invention, can accurately find out any careless mistake in production, entire work flow is obtained continuous perfect, the source being out of order with problem can be preferably analyzed, so that operating efficiency is higher and higher.
Description
Technical field
The invention belongs to automated manufacturing technical fields, and in particular to a kind of AGV intelligent sorting system and its flow and method.
Background technique
The development of express delivery industry and the economic development of regions of the world are inseparable, and delivery industry is ceased with people's lives
The region-by-region sorting of correlation, express delivery also becomes particularly important.The big portion of delivery industry sortation hubs is conveyed using conventional belt at present
Line, the sorting of middle part matrix and smallclothes halved belt sorting (or smallclothes express delivery cabinet manual sorting) mode carry out packages, robot
Using less.Its exemplary operational flows are as follows: railway platform is unloaded, and petiolarea point is super to advise part/middle part/smallclothes, surpasses rule part manual sorting and organizes card
Plate forklift transport, smallclothes pack Ji Bao into automatic halved belt sorting (or express delivery cabinet manual sorting) by pipeline afterwards and enter back into
Middle part matrix manual sorting, middle part are directly entered matrix pipeline manual sorting to purpose flow direction.Existing express delivery sorting, big portion
Divide and manually sorted, need to put into a large amount of manpower and material resources, and low efficiency, error rate is high, it is often necessary to which secondary classification increases
The cost for having added express delivery to sort.Change existing sortation hubs matrix pipeline sort mode, reduce sortation hubs human input with
Manual sorting's error rate reduces equipment investment scale, shortens the sortation hubs construction period, improves equipment recycling rate of waterused, becomes
The most important thing of each express delivery mechanism research.
Summary of the invention
In view of this, the present invention provides, a kind of operating personnel is few, realizes object by expectation rule using intelligent device
Sorting, high production rate, high detection rate, a kind of AGV intelligent sorting system of low error rate and its flow and method.
The present invention provides a kind of AGV intelligent sorting system, including master control device, barcode scanning device, AGV sorting equipment and fixed
Position device；Barcode scanning device, AGV sorting equipment and positioning device are wirelessly connected with master control device；Master control device includes point
Scheduling system and path planning system are picked, sorting scheduling system is used for the location management of AGV sorting equipment, task management, error correction
Management, fault detection, forewarning management and self-charging management；Path planning system for AGV sorting equipment path planning with
Optimization；Barcode scanning device obtains the identification information of object and reaches master control device, and master control device selects most according to identification information
Shortest path feeds back to AGV sorting equipment, and AGV sorting equipment to target is travelled by optimal path；Positioning device Recognition feedback AGV
The position coordinates of sorting equipment are to master control device.
Preferably, AGV sorting equipment include communication module, selftest module, management module, transfer module, anticollision module and
Automatic charging module；Communication module is for receiving and feeding back the information between AGV sorting equipment and master control device；For detecting
The selftest module of AGV sorting equipment each department function is connected with communication module reaches master control device for self-detection result；Management
Module is used for preservation, importing and the export of AGV sorting equipment various parameters, and classification of the transfer module for object is transported；Anticollision
Module is provided with ultrasonic sensor or infrared sensor, is incuded by ultrasonic sensor or infrared sensor, in advance
Evade the AGV sorting equipment that other are walked on path；The electricity of automatic charging module automatic identification AGV sorting equipment, then certainly
Dynamic charging；Communication module is electrically connected with selftest module, management module, transfer module, anticollision module and automatic charging module respectively
Or it is wirelessly connected；AGV sorting equipment is provided with tray, and tray is detachably connected with AGV sorting equipment；Tray
It can be rolled by overturning or belt and cargo is offloaded to designated position.
It preferably, further include that dress easing gear and cargo keep in piece supplying device；Easing gear is filled to freight for the object
Or unloading, cargo keep in piece supplying device for the temporary of object；Object transports to cargo from dress easing gear and keeps in piece supplying device.
Preferably, it is arranged on the gantry for obtaining the barcode scanning device of item identification information, portal frame falls in concave character type
If three faces on the ground, on the inside of portal frame are provided with barcode scanning device；Barcode scanning device is additionally provided with online complement code function,
Line complement code function is used to handle the bar code read less than information；Barcode scanning device includes the first barcode scanning device and the second barcode scanning device,
Portal frame includes the first portal frame and the second portal frame；First barcode scanning device be arranged in cargo keep at piece supplying device shipment
On one portal frame；Mobile finger ring scanner is additionally provided on first portal frame, mobile finger ring scanner is removably mounted at first
On portal frame；On the second portal frame at second barcode scanning device arrival target is set.
A kind of flow and method of AGV intelligent sorting system, comprising the following steps:
Step A: manually or mechanically cargo to be sorted is kept in piece supplying device from cargo automatically and is carried to AGV sorting dress by hand
It sets, object is kept in piece supplying device from cargo and is transported to the progress barcode scanning identification of barcode scanning device by AGV sorting equipment, and identification information is uploaded to
Master control device；
Step B: master control device analysis meter calculates optimal path and feeds back to AGV sorting equipment, and AGV sorting equipment is by most
Shortest path to target travels；
Step C:AGV sorting equipment passes through positioning device on the way, and the position of positioning device Recognition feedback AGV sorting equipment is sat
It marks to master control device.
Preferably, before step A0:AGV sorting equipment carrying object is specifically included before step A, self-checking unit is first passed through
Self-test is carried out, judges whether AGV sorting equipment electricity is sufficient, and electricity abundance then continues to travel, not enough power supply then passes through fills automatically
Electric module charges；
AGV sorting equipment is carried on the way, and self-checking unit is detected, and judges AGV sorting equipment with the presence or absence of overload or speed
Degree is abnormal, and detection information, which is uploaded to master control device and saves, to be continued to data storage mechanism if AGV sorting equipment is normal
Traveling sounds an alarm if AGV sorting equipment has exception, after abnormality processing, carries out " fault clearance " operation, is
System operates normally.
Preferably, step A specifically includes step A1: dress easing gear stores compartment for institute from the object by telescopic machine
It states object and is delivered to the temporary piece supplying device of cargo, cargo is kept in automatically by the object stored in piece supplying device by artificial or robot
Part takes out, and is provided with bar code on object, the bar code of object is placed on upward on AGV sorting equipment；
AGV sorting equipment delivery package passes through the first portal frame for being provided with barcode scanning device, and the scanning of the first barcode scanning device obtains
Take the bar code information on object, bar code information wireless transmission to master control device；
Master control device includes data storage mechanism and data analysis processing mechanism；Data for data storage store machine
Structure is connected with the Data Analysis Services mechanism for Data Analysis Services.
Preferably, step B specifically includes step B1: bar code information is sent to Data Analysis Services machine by data storage mechanism
Structure carries out destination analysis, and calculates and select optimal path, and Data Analysis Services mechanism is carried out wireless communication with communication module,
Matching compares bar code information, and master control device control AGV sorting equipment to target is travelled by optimal path after successful match.
Preferably, step C specifically includes step C1:AGV sorting equipment and travels by the optimal path, on the way by positioning
Device, the position coordinates of positioning device Recognition feedback AGV sorting equipment judge AGV points by master control device to master control device
Pick whether device deviates optimal path, if AGV sorting equipment deviates optimal path, by master control device and communication module without
Line communication control AGV sorting equipment turns to, and returns to optimal path；If AGV sorting equipment continues on optimal path
Target；Entire sorting system can run most AGV sorting equipments, the optimal operation road of different AGV sorting equipments simultaneously
Diameter has repetition, and master control device judges preferentially passing through sequentially for AGV sorting equipment according to certain logic.
Preferably, step C specifically further includes step C2:AGV sorting equipment delivery object by the second portal frame, and second sweeps
Code device is scanned object, and identification identifies whether the object belongs to one's respective area object, if belonging to one's respective area object, people
Work or robot remove object automatically and are placed on corresponding region；If being not belonging to one's respective area object, it is uploaded to by communication module
Master control device, master control device with matching object respective objects again, and calculate new optimal path, control AGV sorting
Device is travelled by new optimal path to new target；Or the selftest module of AGV sorting equipment issues abnormal alarm, to people
Work processing.
Using a kind of AGV intelligent sorting system of the invention and its flow and method, error rate is extremely low, required operating personnel
Few, high production efficiency effectively reduces enterprise's production cost, to realize that unmanned automated job strides forward major step.Using this
It invents and expects to reduce sortation hubs human input nearly 50%, within manual sorting's lower error rate to 0.1%, equipment is thrown
Money reduces by 30%, and the place construction period was shorten within 2 months by 3~6 months, and replaces equipment recycling rate of waterused behind place
70% or more.
Detailed description of the invention
Fig. 1 is flow chart provided by present pre-ferred embodiments.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Referring to Fig. 1, the present invention provides a kind of AGV intelligent sorting system, including master control device, barcode scanning device, AGV points
Pick device and positioning device；Barcode scanning device, AGV sorting equipment and positioning device are wirelessly connected with master control device；Master control
Device includes sorting scheduling system and path planning system, and sorting scheduling system is used for the location management of AGV sorting equipment, task
Management, error correction management, fault detection, forewarning management and self-charging management；Path planning system is used for the road of AGV sorting equipment
Diameter planning and optimization；Barcode scanning device obtains the identification information of object and reaches master control device, and master control device is believed according to identification
Breath selection optimal path feeds back to AGV sorting equipment, and AGV sorting equipment to target is travelled by optimal path；Positioning device is known
Not Fan Kui AGV sorting equipment position coordinates to master control device.
Master control device includes data storage mechanism and data analysis processing mechanism；Data for data storage store machine
Structure is connected with the Data Analysis Services mechanism for Data Analysis Services；Master control device has been provided with display screen, can transfer
Related data is checked.
General control system includes transport control system, sorting control system, and transport control system and sorting control system are adopted
With PLC technology mode, real-time control has automatic identification bar code, automatic detection, data acquisition, operation monitoring, accuses
The functions such as police, safeguard protection, system diagnostics and maintenance.
(1) function is sorted
1) bar code information of recognition is correctly matched with physical goods；
2) real-time tracking is carried out to commodity, and the commodity routing iinformation passed back according to editing equipment management system and sorting are determined
Plan carries out automatic sorting to commodity, commodity is sent to corresponding addressee platform.
(2) addressee platform function
1) addressee platform has the function of automatic and manual lockout, deblocking etc.；
2) addressee platform receive exception when block automatically, after manual cleaning, confirmed by operator and unsealed, allow new commodity
Into addressee platform；
3) correctly sorting commodity are not picked out in abnormal addressee platform, or by the correct purpose of addressee platform manual operation cargo destined
Ground addressee platform；
4) all addressee platforms can be assigned to special addressee platform；
5) special addressee platform can be allocated for one or more error reasons；
6) special addressee platform can be allocated or change during operation；
(3) safety protection function
1) current state (normal operation, maintenance, the failure, emergency stop of AGV sorting equipment control cabinet instruction AGV sorting equipment
Deng)；
2) have the function of addressee platform occlusion detection, when addressee platform obstruction, have indicator light alarm, while blocking the receipts automatically
Part platform；
3) there is system trolley lock-out facility can block the trolley automatically, and phase information is sent out when trolley breaks down
It send to editing equipment management system；
4) when device fails, the necessary protection of automatic implementation issues fault warning sound and optic signal in time, shows simultaneously
Show trouble location, saves fault message；
5) it is solving failure and after confirming failure, system can restarted or by cipher key switch (from scene or from equipment
Control management level) failure solution confirmation signal is provided；
6) during alerting, normal data statistics and processing are not influenced；
7) when power supply interrupts suddenly or device fails are shut down, control system can automatically save data in machine and believe
It ceases, after power up or troubleshooting, system can connect state before stop and continue to run；
8) control system has strong electromagnetism interference, anti-light interference and power-supply fluctuation ability.
(4) system diagnostics and maintenance
1) equipment has service mode, in the maintenance mode, can be safeguarded, be detected to system；
2) module of function opposite independent can be individually switched to service mode, not influence the operation of host；
3) equipment has carries out the function of self-test or detection, and shows to various crucial execution units, main output control point
Show, record check result；
4) system be furnished with various conventional funcs dedicated test program, and show, record check is as a result, for operator
Detection positioning is carried out to hardware fault with maintenance personnel；Program is detected using easy, reliable, it is diagnosable for most common failure to arrive portion
Part, it is diagnosable to arrive functional module for complex fault；
5) system can carry out simulation test under service mode, and can show, record test result；
6) system has remote diagnosis and maintenance function；
7) system has the function of that artificial data resets and resets.
The data storage mechanism of master control device: 1) it stores the related system of master control device and AGV sorting equipment, set
The status informations such as operation, sorting, failure, the mistake of standby, controller, module etc. and related parameter.
2) history of the inquiry commodity in AGV sorting equipment system travels trace.
3) record AGV sorting equipment transportation commodity information: commodity amount, summarizes at the time.
4) all kinds of commodity are recorded and (distinguish abnormal reach and reach addressee Tianwan businessman product with normal) sorting packet number, abnormal commodity bundle number
And reason statistics.
5) record sorting addressee platform commodity bundle number.
6) record it is each for packet platform for packet number, for packet efficiency.
7) each addressee platform workload is recorded.
8) production efficiency of equipment is counted.
9) each barcode scanning device bar code reading amount, rejection amount, reading theory are recorded.
10) record and statistics of equipment operation information: operation hours, the downtime, is set the orderly closedown time
Standby utilization rate etc..
11) record and statistics of device fault information: the time of device fails, position, fault type；Troubleshooting
Time；The failure rate of equipment, all types of failure rates etc..
12) record of equipment self-inspection: the information such as position, time, result of detection.
13) Party B thinks the other information needed；It is required that saving the local goods data in 7 days；Equipment operation maintenance day
Will will save half a year, and specific preservation number of days, which can according to need, to be configured.
The Data Analysis Services mechanism of master control device: 1) it executes the instruction of master control device and controls AGV sorting equipment；
2) operating terminal is arranged in field control cabinet, provides the machine monitoring interface.
3) it provides and is based on patterned monitoring interface, convenient for failure is quickly identified and is isolated, and pass through user friend
Good browser interface quickly and efficiently runs the maintenance program of phase.
4) patterned monitoring the level of detail is to component grade.
5) it configures and modifies in PLC or the control of other cores to user's open system parameter, with side by user interface
Just system call interception and maintenance are determined user's open system parameter by the user demand file that Party A and Party B propose.
6) it configures and modifies certain parameters, with opening, forbid, switch specific system function, to the configuration modification of system
Data upload storage.
7) significant data is backed up；Software can restore with data after removal of faults on system；Furthermore it is possible to establish
With maintenance basic data, user data etc..
8) system above parameter can be saved, imports and be exported, and support importing from turn-key system, export (swf) command.
Master control device is additionally provided with subscriber management function, and the user information implementation downloaded by system is grading authorized, only
There is authorized operation and maintenance personnel just and can enter phase function.Save operation process recording (operation to system, the change of half a year
Mode, configuration parameter etc.), the specific number of days that saves can configure；Operation process recording sends storage and arrives data storage mechanism.Equipment
Control management system has online help, illustrates including major function introduction, operating method, to the explanation of menu, dialog box
Illustrate.
The control of total system major part element is divided into several different control sections by master control device by function, unified to manage
Reason realizes the final control to each equipment.Execution level control section only undertakes single control task, the execution level of each section of equipment it
Between not only connected each other, but also relatively independent, when equipment needs to increase and decrease, each control section need to only make the modification of very little to equipment execution level
It can be completed, not influence system-wide structure and operation.
Preferably, AGV sorting equipment is provided with tray, and tray is detachably connected with AGV sorting equipment；Loading
Pallet can be rolled by overturning or belt cargo being offloaded to designated position.In the present embodiment, the body contour of AGV sorting equipment
Having a size of 600*600*200mm, body dimensions can change according to practical delivery demand；The bus body strength of AGV sorting equipment can
To bear the impact in the case of cargo is normally carried within 30kg；The overall dimensions of tray are 750*750mm, tray
It can be according to goods sorting size and body dimensions disassembling, assembling and replacing；For operational safety, the walking of AGV sorting equipment in the present embodiment
Speed maximum speed is 2m/s, and can velocity amplitude be arranged according to actual needs in the speed of AGV sorting equipment；Entire AGV sorting
The supporting power of device can also be improved according to needs of production.
Preferably, AGV sorting equipment include communication module, selftest module, management module, transfer module, anticollision module and
Automatic charging module；Communication module is for receiving and feeding back the information between AGV sorting equipment and master control device；For detecting
The selftest module of AGV sorting equipment various aspects function is connected with communication module reaches master control device for self-detection result；Pipe
Preservation, importing and export that module is used for AGV sorting equipment various parameters are managed, classification of the transfer module for object is transported；It is anti-
It hits module and is provided with ultrasonic sensor or infrared sensor, incuded by ultrasonic sensor or infrared sensor, mentioned
Before evade on path other AGV sorting equipments walked；The electricity of automatic charging module automatic identification AGV sorting equipment, then
Automatic charging；Communication module is electrically connected with selftest module, management module, transfer module, anticollision module and automatic charging module respectively
It connects or is wirelessly connected.
Communication module: for receiving and feeding back the information between AGV sorting equipment and master control device, AGV sorting is served as
Liaison man between device and master control device.1) instruction of master control device is received, and implementing result feedback master control is filled
It sets；2) information such as sorting routing, the user right of master control device are received；3) uploading device status information, commodity sorting information,
Safeguard information, all device fault informations etc. to master control device；4) AGV sorting equipment occurs when commodity unload can not
With or addressee platform block situations such as, report master control device by communication module.
Selftest module: 1) when equipment occurs abnormal, monitoring system can capture fault message and record, and break down simultaneously
When, selftest module will do it self detection, and then trouble location can give a warning on window and obviously prompt；At scene
After reason, " fault clearance " operation is carried out, system operates normally；
2) testing result of selftest module by communication upload master control device, system automatically record simultaneously trouble location,
Failure mode and time of origin；
3) to the certain exceptions that will likely occur in operation, carry out pre- alarm prompt, as AGV motor overload, velocity anomaly,
Reject rate is excessively high；
4) detection content of display system self-test, time, result；
5) institute is faulty, alert, self-test all prompts corresponding solution extremely；
6) all diagnostic alarms information upload master control device.
Management module: for the preservation, importing and export of AGV sorting equipment various parameters, to the data of AGV sorting equipment
It arranged, filed, master control device is uploaded to by communication module.
Transfer module: classification of the transfer module for object is transported.
Anticollision module: anticollision module is provided with ultrasonic sensor or infrared sensor, by ultrasonic sensor or
Infrared sensor induction, evades the AGV sorting equipment that other are walked on path in advance, securely and reliably, avoids because of collision etc.
Caused by trouble and loss.
Automatic charging module: the electricity of automatic charging module automatic identification AGV sorting equipment, then automatic charging, charging 5
Minute operation 4 hours, in the present embodiment, using lithium battery automatic charging.
In addition, AGV sorting equipment can flexibly left and right turn travels forwards, backwards；In driving process, by identifying two dimensional code mark
It simultaneously navigates signing position；Channel radio between AGV sorting equipment and master control device, between AGV sorting equipment and AGV sorting equipment
Distance: 50~100m is interrogated, subsequent to sort needs according to practical, wireless communication distance can be more long-range.
Preferably, it is arranged on the gantry for obtaining the barcode scanning device of item identification information, portal frame falls in concave character type
If three faces on the ground, on the inside of portal frame are provided with barcode scanning device；Barcode scanning device is additionally provided with online complement code function,
Line complement code function is used to handle the bar code read less than information；Barcode scanning device includes the first barcode scanning device and the second barcode scanning device,
Portal frame includes the first portal frame and the second portal frame；First barcode scanning device be arranged in cargo keep at piece supplying device shipment
On one portal frame；Mobile finger ring scanner is additionally provided on first portal frame, mobile finger ring scanner is removably mounted at first
On portal frame；On the second portal frame at second barcode scanning device arrival target is set.
The face of inside three of portal frame is provided with barcode scanning device and can increase the successful probability of reading code.Simultaneously at first gantry
Light-duty finger ring scanning is configured on frame, mobile finger ring scanner can be used for handling bulky and bar code by scanning constant instrument
Scan less than cargo.
Online complement code function, has bar code damaged or other reasons are read less than bar code information, is taken pictures by barcode scanning device
After upload master control device, personnel identify information on label on the computer of master control device, believe to keyboard input goods target
Breath；With finding target after information, optimal path is matched, corresponding AGV sorting equipment is specified with going to target according to shortest path.
It preferably, further include that dress easing gear and cargo keep in piece supplying device；Easing gear is filled to freight for the object
Or unloading, cargo keep in piece supplying device for the temporary of object；Object transports to cargo from dress easing gear and keeps in piece supplying device.
Package is delivered to cargo from boxcar by telescopic machine and keeps in piece supplying device by dress easing gear, and personnel stand in piece supplying table position
It sets, cargo is kept in the package stored in piece supplying device and is taken out, or is automatically taken out package by robot；Package is arranged and is
It posts two dimensional code to be placed on up on the pallet of AGV sorting equipment, AGV sorting equipment delivery package is filled by band bar code scan
The portal frame set.
Referring to Fig. 1, a kind of flow and method of AGV intelligent sorting system, comprising the following steps:
Step A: manually or mechanically cargo to be sorted is kept in piece supplying device from cargo automatically and is carried to AGV sorting dress by hand
It sets；Object is kept in piece supplying device from cargo and is transported to the progress barcode scanning identification of barcode scanning device by AGV sorting equipment, and identification information is uploaded to
Master control device；
Step B: master control device analysis meter calculates optimal path and feeds back to AGV sorting equipment, and AGV sorting equipment is by most
Shortest path to target travels；
Step C:AGV sorting equipment passes through positioning device on the way, and the position of positioning device Recognition feedback AGV sorting equipment is sat
It marks to master control device.
Preferably, before step A0:AGV sorting equipment carrying object is specifically included before step A, self-checking unit is first passed through
Self-test is carried out, judges whether AGV sorting equipment electricity is sufficient, and electricity abundance then continues to travel, not enough power supply then passes through fills automatically
Electric module charges；AGV sorting equipment is carried on the way, and self-checking unit is detected, and judges that AGV sorting equipment whether there is
It carrying or velocity anomaly, detection information is uploaded to master control device and saves to data storage mechanism, if AGV sorting equipment is normal,
Then continue to travel, if AGV sorting equipment has exception, sound an alarm, after abnormality processing, carries out " fault clearance " behaviour
Make, system operates normally.
Preferably, step A specifically includes step A1: dress easing gear stores compartment for institute from the object by telescopic machine
It states object and is delivered to the temporary piece supplying device of cargo, cargo is kept in automatically by the object stored in piece supplying device by artificial or robot
Part takes out, and is provided with bar code on object, the bar code of object is placed on upward on AGV sorting equipment；The delivery of AGV sorting equipment
Package passes through the first portal frame for being provided with barcode scanning device, and the scanning of the first barcode scanning device obtains the bar code information on object, bar code
Information wireless transmission to master control device data storage mechanism.
Preferably, step B specifically includes step B1: bar code information is sent to Data Analysis Services machine by data storage mechanism
Structure carries out destination analysis, and calculates and select optimal path, and then Data Analysis Services mechanism and communication module carry out wireless
Communication, matching compare bar code information, and master control device control AGV sorting equipment is to target capable by optimal path after successful match
It sails, if matching is unsuccessful, the selftest module of AGV sorting equipment issues abnormal alarm, and barcode scanning selects mesh to artificial treatment or again
Ground.
Preferably, step C specifically includes step C1:AGV sorting equipment and travels by the optimal path, on the way by positioning
Device, positioning device are arranged in the way in entire path by preset interval, and AGV sorting equipment passes through multiple positioning devices on the way,
The position coordinates of positioning device Recognition feedback AGV sorting equipment judge AGV sorting equipment by master control device to master control device
Whether optimal path is deviateed.If AGV sorting equipment deviates optimal path, wirelessly communicated by master control device and communication module
Control AGV sorting equipment turns to forward, to the left or to the right, returns to optimal path；If AGV sorting equipment on optimal path,
With continuing to target；Entire sorting system can run most AGV sorting equipments simultaneously, different AGV sorting equipments
Optimal operation path has repetition, and master control device judges preferentially passing through sequentially for AGV sorting equipment according to certain logic.
Preferably, step C specifically further includes step C2:AGV sorting equipment delivery object by the second portal frame, and second sweeps
Code device is scanned object, and identification identifies whether the object belongs to one's respective area object, if belonging to one's respective area object, people
Work or robot remove object automatically and are placed on corresponding region；If being not belonging to one's respective area object, it is uploaded to by communication module
Master control device, master control device with matching object respective objects again, and calculate new optimal path, control AGV sorting
Device is travelled by new optimal path to new target；Or the selftest module of AGV sorting equipment issues abnormal alarm, to people
Work processing.
The present invention is spare using two-shipper, when a server appearance exception (system can not start), certainly by backup server
Dynamic adapter tube, and relevant service is opened, sorting is continued to execute, realizes the automatic switchover of server.
In the present embodiment, AGV intelligent sorting system of the invention and its flow and method are suitable for delivery industry for purpose
The sorting on ground is also applied for large enterprises' storage intelligent classification etc.；Be particularly suitable for the sorting of middle smallclothes express delivery, sorting it is main
Article includes: clothes general merchandise, books, phonotapes and videotapes, food mother and baby, small household appliances, a shield makeup, nutrition and health care, pet life, automobile
The package of the categories such as product.The maximum weight that maximum sorting is carried at present having a size of 700*700*1000mm, AGV sorting equipment at present
For 30kg.It is applicable in sorting goods packing: carton, soft bag, irregularly shaped object (bar code face can singly stablize upward when AGV walks) packaging
Material mainly has carton, polybag, Yuan Bao, mail etc..
Product of the present invention is the AGV intelligent sorting system of the general package of middle smallclothes towards Express Logistics industry, using collection
Formula control mode is dissipated, based on search engine hit algorithm, wireless network clustered control and the technologies such as vision and inertial navigation, exploitation
It is inexpensive out to sort dedicated sorting machine people (AGV sorting equipment) towards smallclothes in delivery industry, while being developed based on association
With the multirobot work compound of job scheduling algorithm and the intelligent scheduling software systems of sorting, each level sortation of express company is realized
Center is final to realize that having no way of be automatic, intelligent sorting to medium and small quick despatch automatic sorting and processing, realizes to tradition based on intersecting
Change and substitution with sorting system.
1) lightweight sorting machine people (AGV sorting equipment): for core the most of the invention, for express delivery sorting
Robot (AGV sorting equipment) requires low cost, multi-quantity, high efficiency, control simple, meets above some requirements, and
AGV sorting equipment is set to complete the task of logistics sorting, when materials-sorting system is started to work, master control device passes through logical
News module sends a command to master board, master board according to the signal that master control device issues control AGV sorting equipment along
Corresponding track movement, pauses a period of time after moving to destination.Within the time of pause, tray overturning is completed to unload
Goods, subsequent AGV sorting equipment are returned along corresponding track.
2) path planning algorithm and navigation design:, will also be to every AGV points after AGV sorting equipment is assigned with sorting task
The motion path for picking device is planned.This requires being planned using algorithm appropriate the path of AGV, in this project,
Using the path planning of row AGV sorting equipment when search A* algorithm；Navigation is using vision and inertial navigation skill based on two dimensional code
The positioning of AGV sorting equipment and navigation are realized in art, the control of combining wireless network cluster.
3) sort and scheduling general control system: specific requirement and feature based on the sorting of electric business warehouse logistics are established virtual
Storehouse model, work out be suitable for the virtual warehouse AGV sorting equipment operation rule.Logistics is sorted into Task-decomposing, it will
Different logistics sorting tasks distribute to different AGV sorting equipments.The dispatching method of AGV sorting equipment is to worry manhattan path
Cost and waiting time cost are comprehensively considered；The A* algorithm of cooperation is realized in complicated road conditions and limited fortune
Path planning under dynamic space constraint；The three-dimensional space-time operation map that timing is added is established, and to more on the basis of the map
A AGV sorting equipment is scheduled and path planning.
The design of path planning and navigation algorithm includes that environment grating map is established and target position searching algorithm.Grating map
It is a kind of product to map digital raster true in reality；Environment is resolved into the grid of series of discrete, each grid by it
Lattice have a value, grid contain coordinate, whether two class essential information of obstacle, the probability value being occupied with each grid is come table
Show environmental information, is identified generally as whether being barrier.Each map grid and a pocket pair in actual environment
It should be positioning device, reflect the information of environment, be easy to the storage that robot carries out cartographic information.Grating map can be in detail
Environmental information is described, and is easy to create and safeguard, but is seemed in the case where the grid negligible amounts divided to environment
Precision is not high, when needing high-precision grating map, due to the increase of the quantity of grid, maintenance of the robot to grating map
With the processing time can growth exponentially, therefore be extremely difficult to real-time effect.
It is practical to sort place grid amount due to relatively appropriate to required precision in the present invention in grating map building process
In 5000 or so (500MM*500MM), target puts into AGV sorting equipment 180 or so (each to configure 30 for load bed) and passes through
Configure special purpose computer (server) carry out real-time route planning and optimization, ensure sorting it is efficient with it is flexible.
In conjunction with grating map building mode, in project proposed adoption search A* algorithm carry out AGV sorting equipment path planning with
Optimization.A* (A-Star) algorithm is a kind of solution highly effective direct search method of shortest path, calculation in static road network
Method can be effectively solved many search problems.It should be noted that A* algorithm is most effective Direct search algorithm.
The ability that A* changes own behavior is based on heuristic cost function, is only meeting * h (n)≤h (n) condition
Under, A* algorithm just can guarantee with optimality and completeness.Under normal circumstances, the heuristic function of selection is all that can satisfy * h
(n)≤h (n).Suitable cost function f (n) is only chosen, optimal solution can be just found out, that is, search out shortest path.
Referring to Fig. 1, error rate is extremely low using AGV intelligent sorting system of the invention and its flow and method, required operation
Personnel are few, and unmanned operation is done step-by-step, and high production efficiency effectively reduces enterprise's production cost.Whole process computer prison of the invention
Control can accurately find out any careless mistake in production, entire work flow is obtained continuous perfect, can preferably analyze
The source being out of order with problem, so that operating efficiency is higher and higher.Use the process side of AGV intelligent sorting system of the invention
Method creates more values so that the efficiency of enterprise is higher and higher for enterprise.Using present invention contemplates that can reduce in sorting
Heart human input nearly 50%, within manual sorting's lower error rate to 0.1%, equipment investment reduces by 30%, place construction week
Phase was shorten within 2 months by 3~6 months, and replaced 70% or more equipment recycling rate of waterused behind place.
As described herein is only to use one embodiment of the present of invention, is not intended to limit the scope of the invention, all
It is to be applied directly or indirectly in it using equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content
His relevant technical field, is included within the scope of the present invention.
Claims (10)
1. a kind of AGV intelligent sorting system, which is characterized in that including master control device, barcode scanning device, AGV sorting equipment and determine
Position device；The barcode scanning device, the AGV sorting equipment and the positioning device are wirelessly connected with the master control device；
The master control device includes sorting scheduling system and path planning system, and the sorting scheduling system is used for the AGV
Location management, task management, error correction management, fault detection, forewarning management and the self-charging management of sorting equipment；The path
Path planning and optimization of the planning system for the AGV sorting equipment；
The barcode scanning device obtains the identification information of object and reaches the master control device, and the master control device is according to
Identification information selection optimal path feeds back to the AGV sorting equipment, and the AGV sorting equipment presses the optimal path to target
Ground traveling；The position coordinates of AGV sorting equipment described in the positioning device Recognition feedback are to the master control device.
2. a kind of AGV intelligent sorting system as described in claim 1, it is characterised in that: the AGV sorting equipment includes communication
Module, selftest module, management module, transfer module, anticollision module and automatic charging module；
The communication module is for receiving and feeding back the information between the AGV sorting equipment and the master control device；
The selftest module for detecting AGV sorting equipment each department function is connected with the communication module by self-detection result
Reach the master control device；
The management module is used for preservation, importing and the export of the AGV sorting equipment various parameters；
Classification of the transfer module for the object is transported；
The anticollision module is provided with ultrasonic sensor or infrared sensor, by the ultrasonic sensor or described red
Outside line sensor sensing evades the AGV sorting equipment that other are walked on path in advance；
The electricity of AGV sorting equipment described in the automatic charging module automatic identification, then automatic charging；
The communication module respectively with the selftest module, the management module, the transfer module, the anticollision module and institute
It states automatic charging module electrical connection or is wirelessly connected；
The AGV sorting equipment is provided with tray, and the tray is detachably connected with the AGV sorting equipment；Institute
Designated position can be offloaded to for cargo by overturning or belt rolling by stating tray.
3. a kind of AGV intelligent sorting system as described in claim 1, it is characterised in that: further include dress easing gear and cargo
Temporary piece supplying device；The dress easing gear is used for the object loading or unloading, and the cargo is kept in piece supplying device and used
In the temporary and piece supplying of cargo to be sorted；The object transports to the cargo from the dress easing gear and keeps in piece supplying device.
4. a kind of AGV intelligent sorting system as claimed in claim 3, it is characterised in that: for obtaining item identification information
On the gantry, the portal frame is set on the ground in concave character type, three on the inside of the portal frame for the barcode scanning device setting
A face is provided with the barcode scanning device；The barcode scanning device is additionally provided with online complement code function, and the online complement code function is used
The bar code less than information is read in processing；
The barcode scanning device includes the first barcode scanning device and the second barcode scanning device, and the portal frame includes the first portal frame and second
Portal frame；The first barcode scanning device is arranged on first portal frame that the cargo is kept at the shipment of piece supplying device；Institute
It states and is additionally provided with mobile finger ring scanner on the first portal frame, the mobile finger ring scanner is removably mounted at first dragon
On door frame.
On second portal frame at second barcode scanning device arrival target is set.
5. a kind of flow and method of AGV intelligent sorting system as described in claim 1-4 is any, which is characterized in that including with
Lower step:
Step A: manually or mechanically cargo to be sorted is kept in piece supplying device from the cargo automatically and is carried to the AGV sorting by hand
The object is kept in piece supplying device from the cargo and is transported to the barcode scanning device progress barcode scanning by device, the AGV sorting equipment
Identification, identification information are uploaded to the master control device；
Step B: the master control device analysis meter calculates optimal path and feeds back to the AGV sorting equipment, the AGV sorting
Device to target is travelled by the optimal path；
Step C: the AGV sorting equipment passes through the positioning device, the sorting of AGV described in the positioning device Recognition feedback on the way
The position coordinates of device are to the master control device.
6. a kind of flow and method of AGV intelligent sorting system as claimed in claim 5, which is characterized in that before the step A
It specifically includes step A0: before the AGV sorting equipment carries object, first passing through the self-checking unit and carry out self-test, judge institute
State whether AGV sorting equipment electricity sufficient, and electricity abundance then continues to travel, not enough power supply then pass through the automatic charging module into
Row charging；
The AGV sorting equipment is carried on the way, and the self-checking unit is detected, and judges that the AGV sorting equipment whether there is
Overload or velocity anomaly, detection information are uploaded to the master control device and save to the data storage mechanism, if the AGV
Sorting equipment is normal, then continues to travel, if the AGV sorting equipment has exception, sounds an alarm, finishes to abnormality processing
Afterwards, " fault clearance " operation is carried out, system operates normally.
7. a kind of flow and method of AGV intelligent sorting system as claimed in claim 5, which is characterized in that the step A is specific
Including step A1: the dress easing gear stores compartment from the object by telescopic machine and the object is delivered to the cargo
The cargo is kept in the object stored in piece supplying device by artificial or robot automatically and taken out by temporary piece supplying device, described
Bar code is provided on object, the bar code of the object is placed on upward on the AGV sorting equipment；
The AGV sorting equipment delivery package passes through first portal frame, and the first barcode scanning device scanning obtains the object
Bar code information on part, the bar code information wireless transmission to the master control device；
The master control device includes data storage mechanism and data analysis processing mechanism；The data for data storage are deposited
Storage mechanism is connected with the Data Analysis Services mechanism for Data Analysis Services.
8. a kind of flow and method of AGV intelligent sorting system as claimed in claim 7, which is characterized in that the step B is specific
Including step B1: the bar code information is sent to the Data Analysis Services mechanism and carries out destination by the data storage mechanism
Analysis, and calculate and select optimal path, the Data Analysis Services mechanism is carried out wireless communication with the communication module, matching
Bar code information is compared, the master control device controls the AGV sorting equipment and presses the optimal path to target after successful match
Ground traveling.
9. a kind of flow and method of AGV intelligent sorting system as claimed in claim 8, which is characterized in that the step C is specific
Including step C1: the AGV sorting equipment is travelled by the optimal path, passes through the positioning device, the positioning dress on the way
The position coordinates of AGV sorting equipment described in Recognition feedback are set to the master control device, the master control device is according to institute's rheme
It sets coordinate and judges whether the AGV sorting equipment deviates the optimal path, if the AGV sorting equipment deviates the optimal road
Diameter then controls the AGV sorting equipment by the master control device and communication module wireless communication and turns to, returns to described
Optimal path；If the AGV sorting equipment is on the optimal path, with continuing to the target；
Entire sorting system can run most AGV sorting equipments, the optimal operation road of different AGV sorting equipments simultaneously
Diameter has repetition, and the master control device judges preferentially passing through sequentially for AGV sorting equipment according to certain logic.
10. a kind of flow and method of AGV intelligent sorting system as claimed in claim 9, which is characterized in that the step C tool
Body further includes step C2: the AGV sorting equipment delivers the object and passes through second portal frame, the second barcode scanning device
The object is scanned, identification identifies whether the object belongs to one's respective area object, if belonging to one's respective area object, manually
Or robot removes the object automatically and is placed on corresponding region；If being not belonging to one's respective area object, pass through the communication module
Be uploaded to the master control device, the master control device with matching the object respective objects again, and calculate it is new most
Shortest path controls the AGV sorting equipment and travels by new optimal path to new target；Or the AGV sorting equipment
The selftest module issue abnormal alarm, to artificial treatment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811157627.2A CN109550697A (en) | 2018-09-30 | 2018-09-30 | A kind of AGV intelligent sorting system and its flow and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811157627.2A CN109550697A (en) | 2018-09-30 | 2018-09-30 | A kind of AGV intelligent sorting system and its flow and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109550697A true CN109550697A (en) | 2019-04-02 |
Family
ID=65864804
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811157627.2A Pending CN109550697A (en) | 2018-09-30 | 2018-09-30 | A kind of AGV intelligent sorting system and its flow and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109550697A (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110334979A (en) * | 2019-05-24 | 2019-10-15 | 北京国华卓越文化发展有限公司 | A kind of storage logistics management system |
| CN110523645A (en) * | 2019-09-17 | 2019-12-03 | 郑州佳和新供应链管理有限公司 | A kind of materials-sorting system and sorting platform |
| CN111211983A (en) * | 2019-12-20 | 2020-05-29 | 湖北九州通达科技开发有限公司 | Material box route control method on annular material box line conveying line |
| CN111722880A (en) * | 2020-05-11 | 2020-09-29 | 深圳市共进电子股份有限公司 | Equipment production method, device, terminal equipment and medium |
| CN111913465A (en) * | 2020-06-19 | 2020-11-10 | 广东工业大学 | Fault real-time monitoring method and device for multi-intelligent-trolley system |
| CN112198880A (en) * | 2020-10-20 | 2021-01-08 | 浙江迈睿机器人有限公司 | AGV task allocation method, logistics sorting method and system |
| WO2021031563A1 (en) * | 2019-08-19 | 2021-02-25 | 北京极智嘉科技有限公司 | Sorting system and method |
| CN112462762A (en) * | 2020-11-16 | 2021-03-09 | 浙江大学 | Robot outdoor autonomous moving system and method based on roadside two-dimensional code unit |
| CN112508481A (en) * | 2020-12-03 | 2021-03-16 | 重庆邮智机器人研究院有限公司 | Intelligent storage multi-AGV scheduling method |
| CN113231319A (en) * | 2021-03-16 | 2021-08-10 | 哈尔滨理工大学 | Intelligent sorting system based on AGV dolly |
| CN113689096A (en) * | 2021-08-11 | 2021-11-23 | 深圳市佳康捷科技有限公司 | Storage sorting method and system for full two-dimensional code real-time positioning |
| CN113751330A (en) * | 2021-01-18 | 2021-12-07 | 北京京东乾石科技有限公司 | Method, system, device and storage medium for sorting articles |
| CN114042640A (en) * | 2021-10-28 | 2022-02-15 | 上海电子信息职业技术学院 | Express sorting system and method |
| CN114560145A (en) * | 2022-03-24 | 2022-05-31 | 深圳市深科达智能装备股份有限公司 | Automatic sorting and packaging system |
| CN117160877A (en) * | 2023-11-02 | 2023-12-05 | 启东亦大通自动化设备有限公司 | Article sorting method for logistics robot |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2005087633A1 (en) * | 2004-03-12 | 2005-09-22 | Mitsui Engineering & Shipbuilding Co., Ltd. | Method and system for inspecting and handling container |
| CN104555222A (en) * | 2014-12-25 | 2015-04-29 | 北京物资学院 | Storage and distribution integration system and method based on insert-type AGV |
| CN104809606A (en) * | 2015-04-29 | 2015-07-29 | 上海交通大学 | Warehouse management system with multi-guide-vehicle dispatching and distribution function |
| CN105903679A (en) * | 2016-04-14 | 2016-08-31 | 东华大学 | RFID based efficient logistics sorting system |
| CN106843223A (en) * | 2017-03-10 | 2017-06-13 | 武汉理工大学 | A kind of intelligent avoidance AGV cart systems and barrier-avoiding method |
| CN107350174A (en) * | 2017-08-09 | 2017-11-17 | 顺丰速运有限公司 | A kind of Automated Sorting System and its method of work |
| CN107670999A (en) * | 2017-09-25 | 2018-02-09 | 芜湖智久机器人有限公司 | The method of Automated Sorting System and its sorting transport goods based on AGV dollies |
| CN107844940A (en) * | 2017-11-30 | 2018-03-27 | 江苏丹毛纺织股份有限公司 | A kind of intelligent AGV wool spinnings material carries calling system |
| CN107885177A (en) * | 2017-11-17 | 2018-04-06 | 湖北神丹健康食品有限公司 | A kind of WMS and method of the AGV based on machine vision navigation |
| CN207188249U (en) * | 2017-08-09 | 2018-04-06 | 顺丰速运有限公司 | A kind of Automated Sorting System |
| CN107894757A (en) * | 2017-11-29 | 2018-04-10 | 深圳市亿兆互联技术有限公司 | A kind of express delivery supervisory control of robot dispatching method and system |
| CN107943051A (en) * | 2017-12-14 | 2018-04-20 | 华南理工大学 | Indoor AGV navigation methods and systems based on Quick Response Code guiding with visible light-seeking |
| CN108229881A (en) * | 2017-12-26 | 2018-06-29 | 天津市天地申通物流有限公司 | Intelligent logistics management device and system |
| CN108436907A (en) * | 2018-02-28 | 2018-08-24 | 佛山市南海区广工大数控装备协同创新研究院 | A kind of Intelligent transfer robot trolley and its management method |
-
2018
- 2018-09-30 CN CN201811157627.2A patent/CN109550697A/en active Pending
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2005087633A1 (en) * | 2004-03-12 | 2005-09-22 | Mitsui Engineering & Shipbuilding Co., Ltd. | Method and system for inspecting and handling container |
| CN104555222A (en) * | 2014-12-25 | 2015-04-29 | 北京物资学院 | Storage and distribution integration system and method based on insert-type AGV |
| CN104809606A (en) * | 2015-04-29 | 2015-07-29 | 上海交通大学 | Warehouse management system with multi-guide-vehicle dispatching and distribution function |
| CN105903679A (en) * | 2016-04-14 | 2016-08-31 | 东华大学 | RFID based efficient logistics sorting system |
| CN106843223A (en) * | 2017-03-10 | 2017-06-13 | 武汉理工大学 | A kind of intelligent avoidance AGV cart systems and barrier-avoiding method |
| CN207188249U (en) * | 2017-08-09 | 2018-04-06 | 顺丰速运有限公司 | A kind of Automated Sorting System |
| CN107350174A (en) * | 2017-08-09 | 2017-11-17 | 顺丰速运有限公司 | A kind of Automated Sorting System and its method of work |
| CN107670999A (en) * | 2017-09-25 | 2018-02-09 | 芜湖智久机器人有限公司 | The method of Automated Sorting System and its sorting transport goods based on AGV dollies |
| CN107885177A (en) * | 2017-11-17 | 2018-04-06 | 湖北神丹健康食品有限公司 | A kind of WMS and method of the AGV based on machine vision navigation |
| CN107894757A (en) * | 2017-11-29 | 2018-04-10 | 深圳市亿兆互联技术有限公司 | A kind of express delivery supervisory control of robot dispatching method and system |
| CN107844940A (en) * | 2017-11-30 | 2018-03-27 | 江苏丹毛纺织股份有限公司 | A kind of intelligent AGV wool spinnings material carries calling system |
| CN107943051A (en) * | 2017-12-14 | 2018-04-20 | 华南理工大学 | Indoor AGV navigation methods and systems based on Quick Response Code guiding with visible light-seeking |
| CN108229881A (en) * | 2017-12-26 | 2018-06-29 | 天津市天地申通物流有限公司 | Intelligent logistics management device and system |
| CN108436907A (en) * | 2018-02-28 | 2018-08-24 | 佛山市南海区广工大数控装备协同创新研究院 | A kind of Intelligent transfer robot trolley and its management method |
Non-Patent Citations (1)
| Title |
|---|
| 傅培华等: "《现代物流综合实验》", 30 June 2009, 浙江工商大学出版社 * |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110334979A (en) * | 2019-05-24 | 2019-10-15 | 北京国华卓越文化发展有限公司 | A kind of storage logistics management system |
| WO2021031563A1 (en) * | 2019-08-19 | 2021-02-25 | 北京极智嘉科技有限公司 | Sorting system and method |
| CN110523645A (en) * | 2019-09-17 | 2019-12-03 | 郑州佳和新供应链管理有限公司 | A kind of materials-sorting system and sorting platform |
| CN111211983A (en) * | 2019-12-20 | 2020-05-29 | 湖北九州通达科技开发有限公司 | Material box route control method on annular material box line conveying line |
| CN111722880A (en) * | 2020-05-11 | 2020-09-29 | 深圳市共进电子股份有限公司 | Equipment production method, device, terminal equipment and medium |
| CN111722880B (en) * | 2020-05-11 | 2024-02-09 | 深圳市共进电子股份有限公司 | Equipment production method and device, terminal equipment and medium |
| CN111913465A (en) * | 2020-06-19 | 2020-11-10 | 广东工业大学 | Fault real-time monitoring method and device for multi-intelligent-trolley system |
| CN112198880A (en) * | 2020-10-20 | 2021-01-08 | 浙江迈睿机器人有限公司 | AGV task allocation method, logistics sorting method and system |
| CN112462762B (en) * | 2020-11-16 | 2022-04-19 | 浙江大学 | Robot outdoor autonomous moving system and method based on roadside two-dimensional code unit |
| CN112462762A (en) * | 2020-11-16 | 2021-03-09 | 浙江大学 | Robot outdoor autonomous moving system and method based on roadside two-dimensional code unit |
| CN112508481A (en) * | 2020-12-03 | 2021-03-16 | 重庆邮智机器人研究院有限公司 | Intelligent storage multi-AGV scheduling method |
| CN113751330B (en) * | 2021-01-18 | 2023-06-23 | 北京京东乾石科技有限公司 | Article sorting method, system, apparatus and storage medium |
| CN113751330A (en) * | 2021-01-18 | 2021-12-07 | 北京京东乾石科技有限公司 | Method, system, device and storage medium for sorting articles |
| CN113231319A (en) * | 2021-03-16 | 2021-08-10 | 哈尔滨理工大学 | Intelligent sorting system based on AGV dolly |
| CN113689096A (en) * | 2021-08-11 | 2021-11-23 | 深圳市佳康捷科技有限公司 | Storage sorting method and system for full two-dimensional code real-time positioning |
| CN113689096B (en) * | 2021-08-11 | 2024-02-27 | 深圳市佳康捷科技有限公司 | Storage sorting method and system for full two-dimension code real-time positioning |
| CN114042640A (en) * | 2021-10-28 | 2022-02-15 | 上海电子信息职业技术学院 | Express sorting system and method |
| CN114560145A (en) * | 2022-03-24 | 2022-05-31 | 深圳市深科达智能装备股份有限公司 | Automatic sorting and packaging system |
| CN117160877A (en) * | 2023-11-02 | 2023-12-05 | 启东亦大通自动化设备有限公司 | Article sorting method for logistics robot |
| CN117160877B (en) * | 2023-11-02 | 2024-01-02 | 启东亦大通自动化设备有限公司 | Article sorting method for logistics robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109550697A (en) | A kind of AGV intelligent sorting system and its flow and method | |
| US8433437B1 (en) | Method and apparatus for sensing correct item placement for multi-destination picking | |
| US20180247257A1 (en) | Inventory management system and method | |
| CA2601375C (en) | Method and apparatus for multi-destination item selection using motes | |
| CN109070142A (en) | Utilize the equipment for treating materials and method of dynamically configurable sorting array segregating articles | |
| CN109533757B (en) | Robot capable of switching navigation modes, navigation mode switching method and medium | |
| CN104599102A (en) | Cold-chain logistics storage supervisory system and method | |
| CN107380990B (en) | A kind of intelligent storage sorting station and its method for sorting | |
| CN111523846A (en) | Electric power material storage and inspection integrated system and method | |
| MXPA04011397A (en) | Systems and methods for package sortation and delivery using radio frequency identification technology. | |
| CN110262355A (en) | Intelligent mine management system and method based on intelligent mine control platform | |
| CN111776557B (en) | Item picking system, related method, apparatus and readable storage medium | |
| CN107563708A (en) | Goods sorting system and method | |
| CN110817224A (en) | Storage sorting system and method | |
| Cho | A study on establishment of smart logistics center based on logistics 4.0 | |
| CN111382998B (en) | Airport luggage full-flow processing method and system and luggage processing system between unpacking | |
| JP2020169082A (en) | Unmanned delivery system by unmanned delivery vehicle | |
| US11534923B1 (en) | Robotic manipulation and frame sensor placement for in-motion object modeling and identification | |
| CN109107903A (en) | Automatic sorting method and system | |
| JP2020111471A (en) | Automatic commodity distribution sorting system and automatic commodity distribution sorting method | |
| CN108446746A (en) | A kind of intelligence Drug Flow supervisory systems | |
| CN108820665A (en) | Material intelligent handling system and its operation method | |
| CN108499886A (en) | A kind of goods sorting system and method | |
| JP2006232510A (en) | Sorting system | |
| CN212256364U (en) | Electric power material storage and inspection integrated system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190402 |