CN109911482A - A kind of Intelligent unattended warehouse system and its control method - Google Patents
A kind of Intelligent unattended warehouse system and its control method Download PDFInfo
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Abstract
The invention discloses a kind of Intelligent unattended warehouse system and its control methods, the present invention can really meet the operational requirements of unmanned warehouse, other than warehouse is stocked up and inputs cargo attribute information needs into database manually, when implementing, unmanned warehouse system from receive order to by cargo collect output to customer, all automatic operations.The present invention realizes optimal stacking of the cargo in collecting box by algorithm, and the pick-and-place of cargo is realized by the pallet of automation, is realized by automated mechanical hand and cargo is deposited in collecting box.The method of the present invention can be applied to the fields such as large-scale vending machine, unmanned shelf, Automatic Warehouse, saves manpower, improves working efficiency and make full use of the space of collection vessel.In conclusion the present invention has the advantages that above-mentioned many and use value, preferable using effect is produced, and there is extensive industrial value.
Description
Technical field
The present invention relates to warehousing system technical fields.
Background technique
With the development of society, and the improvement of people's living standards, be greatly facilitated the development of warehouse industry.Current
Warehouse generally provides the storage modes such as preparatory ready-portioned area, collecting box or shelf, and provides storage in long or short term
Time, therefore the turnover rate of warehouse entry is high, the operation of goods warehousing is required very high.
Artificial warehouse on duty at this stage, when carrying out cargo and going out to be put in storage, using manually being stacked and extracted to cargo,
It needs to determine the specific location that cargo is stacked according to the goods information of storage and collection tankage, just can go out to be put in storage, therefore
The efficiency being put in storage out is very low, is not enough to the warehouse storage service for supporting to be higher by storage rate now.Secondly, being put in storage to improve out
Efficiency, with support enough warehouse store business, it is necessary to increase participate in warehouse go out be put in storage staff, undoubtedly will increase industry
The cost of business.Using stacking and discharging of goods is manually gone, working efficiency is low, and is difficult to make full use of the space of collecting box,
Cause the utilization rate of its goods warehousing low.
Summary of the invention
To solve the above problems, the purpose of the present invention is to provide a kind of Intelligent unattended warehouse system and its control method,
Optimal stacking of the cargo in collecting box can be achieved, the pick-and-place of cargo is realized using the cargo pallet of automation, using automatic
The manipulator of change, which realizes, is deposited in cargo in collecting box.Present invention can apply to large-scale vending machine, unmanned shelf, from
The fields such as dynamicization warehouse save manpower, improve working efficiency and make full use of the space of collecting box.
The present invention is that technical solution used by solving the problems, such as it is:
In a first aspect, the present invention provides a kind of Intelligent unattended warehouse system, including warehouse main body, the warehouse main body by
The control of scheduling system, the warehouse main body includes multiple shelf, apparatus for transporting freight, manipulator and collecting box,
The scheduling system receives user's order, and according to the cargo attribute in order and collects tankage to goods in order
Object carries out the planning of optimal stacking, the number that the output of all cargos is needed to collecting box is determined by calculation, and receive according to each
The cargo of header output point singly handle and is sorted to order；
The shelf are multilayered structures, and the extraction and transport of the cargo on the shelf are dependent on cargo transmission dress
It sets, each layer of the shelf is both provided with region to be taken；
The apparatus for transporting freight is provided with cargo pallet and transmission track, and the cargo pallet walking is in transmission track
On, the cargo pallet successively holds up cargo from cargo bottom according to the fixed cargo sequence of the scheduling system, and passes through
Transmission track is transported to region to be taken；
Visual identity device is provided on the manipulator, whenever there is cargo to reach the region to be taken, the manipulator becomes
It grabs cargo and identifies the form of cargo by visual identity device, and judge whether need to rotate before putting in collecting box,
This is because the direction of cargo when manipulator grabs cargo is deposited in the court in collecting box with the cargo determined by scheduling system
To not necessarily identical, therefore manipulator needs to rotate cargo, to choose Optimal orientation.
Output is extracted until the cargo in collecting box all exports to customer after the collecting box is filled.
Further, the cargo of corresponding number is pushed out to cargo support according to the quantity of every kind of cargo in order by the shelf
On disk, cargo is held up and is moved to region to be taken by subsequent cargo pallet.
Further, face-up and by cargo attribute is manually inputted storehouse when the cargo is by manually putting on shelf
In the system database of library, the cargo attribute includes cargo shape, cargo pressure withstanding degree and puts coordinate on shelf.
Further, the apparatus for transporting freight is equipped with a cargo pallet, and the cargo pallet can be along track in shelf
Each layer between moved.
Further, there are three the shelf, be spaced apart from each other between three shelf and arranged in parallel, three shelf from a left side to
The right side is followed successively by the first shelf, the second shelf and third shelf, and the first shelf and third shelf are single side shelf, and the second shelf are double
Face shelf.
Further, the number of plies of the transmission track and the number of plies of shelf are identical, and the region setting to be taken is passed at every layer
Send one end on track towards manipulator.
Further, the region to be taken is provided with a collection basket, and the cargo pallet is by goods handling to area to be taken
Domain, the cargo pallet tilts so that the cargo on the cargo pallet falls into the crawl collected and wait manipulator in basket.
Further, the quantity of the manipulator is one, whenever there is cargo to be transported to when taking region, the machinery
Hand just grabs cargo and is placed in the corresponding position in collecting box.
Further, the joint of manipulator is arranged in the visual identity device, and the manipulator can 360 degree rotation.
Second aspect, the invention also provides a kind of control method based on Intelligent unattended warehouse system as described above,
Include the following steps,
Scheduling system handles the order for goods received, and according to cargo attribute specific in order to having in order
Body cargo carries out the planning of optimal stacking, the number that the output of all cargos is needed to collecting box is determined by calculation, and according to every
The cargo of secondary collecting box output point singly handle and is sorted to order；
Pallet on transmission device is according to the order to have sorted, successively by the area to be taken of the goods handling in order to shelf
Domain；
Whenever there is cargo to reach region to be taken, manipulator becomes crawl cargo and identifies the shape of cargo by visual identity device
State, and judge whether need to rotate when putting in collecting box；
Collecting box is often filled one case and is just exported to customer's extraction until all cargos all export.
The beneficial effects of the present invention are: a kind of Intelligent unattended warehouse system and its control method that the present invention uses, intelligence
Unmanned warehouse system includes multiple shelf, apparatus for transporting freight, manipulator and collecting box, entire Intelligent unattended warehouse scheduled system
System control, scheduling system handles the order for goods received, and according to cargo attribute specific in order to having in order
Body cargo carries out the planning of optimal stacking, the number that the output of all cargos is needed to collecting box is determined by calculation, and according to every
The cargo of secondary collecting box output point singly handle and is sorted to order；The goods that point singly prevents collecting box of the scheduling system to order
Object overflows；Apparatus for transporting freight receives the instruction of scheduling system, according to the order of rearrangement, and according to cargo on shelf
Coordinate is collected the region to be taken for being transmitted to every layer of shelf to target goods；Manipulator crawl is located at every layer of shelf area to be taken
The cargo in domain, manipulator are provided with visual identity device, identify to the cargo state of crawl, and current cargo is put receipts
The suitable position of header, to reach the optimal utilization rate of collecting box and prevent cargo damage.The present invention can be achieved cargo and collect
Optimal stacking in case, the pick-and-place of cargo is realized by the pallet of automation, is realized using automated mechanical hand by goods
Object is deposited in collecting box.Present invention could apply to the fields such as large-scale vending machine, unmanned shelf, Automatic Warehouse, sections
Human-saving improves working efficiency and makes full use of the space of collection vessel.
Detailed description of the invention
Fig. 1 is the flow chart of Intelligent unattended warehouse system control method provided by one embodiment of the invention；
Specific embodiment
With the development of society, and the improvement of people's living standards, be greatly facilitated the development of warehouse industry.Current
Warehouse generally provides the storage modes such as preparatory ready-portioned area, collecting box or shelf, and provides storage in long or short term
Time, therefore the turnover rate of warehouse entry is high, the operation of goods warehousing is required very high.
Artificial warehouse on duty at this stage, when carrying out cargo and going out to be put in storage, using manually being stacked and extracted to cargo,
It needs to determine the specific location that cargo is stacked according to the goods information of storage and collection tankage, just can go out to be put in storage, therefore
The efficiency being put in storage out is very low, is not enough to the warehouse storage service for supporting to be higher by storage rate now.Secondly, being put in storage to improve out
Efficiency, with support enough warehouse store business, it is necessary to increase participate in warehouse go out be put in storage staff, undoubtedly will increase industry
The cost of business.Using stacking and discharging of goods is manually gone, working efficiency is low, and is difficult to make full use of the space of collecting box,
Cause the utilization rate of its goods warehousing low.
It solves the above problems based on the above, inventor is considered as unmanned warehouse, due to the entire workflow of unmanned warehouse
Journey is no manually-operated, and selected kinds of goods type, quantity are all different when different customer's point lists, at this moment warehouse
System order will be carried out handle and kinds of goods are extracted and are collected (such as in order kinds of goods by it is optimal stack still meeting
Beyond tankage is collected, at this moment just need to carry out order a point single processing；Then determine that the collection of kinds of goods in the order divided is suitable
Sequence keeps the picking pallet travel distance in unmanned shelf most short).
Unmanned warehouse is using manipulator picking and is put into collecting box, in order to make the space in collecting box be fully used just
It needs to optimize the stacking layout in collecting box.
There is the attribute of every kinds of goods in the order that warehouse system receives, three side lengths, pressure withstanding degree, frangible degree including kinds of goods etc.
(these attributes are after kinds of goods lay out shelf with regard to manual entry commodity shelf system database), system is according to the kinds of goods category in order
Property, optimal stacking layout in collecting box and stacking sequence are obtained according to algorithm, final manipulator according to stacking sequence successively
Crawl kinds of goods are simultaneously placed into its position planned.
Such unmanned warehouse requires the specification progress scope limitation to kinds of goods, and (kinds of goods not in range can be transformed
Place into shelf), so that the size of collection tray and manipulator is suitable for all kinds of goods in warehouse.
Based on this, the purpose of the present invention is to provide a kind of Intelligent unattended warehouse system, entire Intelligent unattended warehouse is modulated
The control of degree system；Intelligent unattended warehouse includes multiple shelf, apparatus for transporting freight, picking manipulator and cargo collecting box；Scheduling
System receives user's order, and according to the cargo attribute in the order and collects what tankage stacked cargo in order
Optimum programming realizes the utilization rate highest for collecting tankage, and carries out a point single and sequence；Shelf are multilayered structure, shelf
Be all placed with cargo each time, the extraction of the cargo on shelf and transport depend on apparatus for transporting freight, and every layer of shelf is all
There is the region to be taken set；Apparatus for transporting freight is provided with cargo pallet, and cargo pallet is walked in multilayer track, the cargo
Pallet successively holds up cargo from cargo bottom according to the fixed cargo sequence of scheduling system, and is transported to institute by transmission track
The region to be taken stated；Cargo is grabbed in region to be taken by manipulator；Visual identity device is provided on manipulator, to the goods grabbed
Object form is identified whether judgement needs to rotate cargo before placing goods onto the position arranged properly again.Based on above-mentioned intelligence
The control method of unmanned warehouse system the following steps are included: scheduling system handles the order for goods received, and according to
Specific cargo attribute carries out the planning of optimal stacking to cargo specific in order in order, is determined by calculation all cargos are defeated
It needs the number of collecting box out, and order point singly handle and sorted according to the cargo of each collecting box output, cargo category
Property includes cargo shape (three side lengths), pressure withstanding degree, puts coordinate etc. on shelf；Being determined by calculation to export all cargos needs
It wants the number of collecting box, and order point singly handle and sorted according to the cargo of each collecting box output；On transmission device
Pallet according to the order to have sorted, successively by the region to be taken of the goods handling in order to shelf；Whenever there is cargo arrival
Region to be taken, manipulator becomes crawl cargo and identifies the form of cargo by visual identity device, and judges putting collecting box
Whether need to rotate when interior；One case is often filled just to export the collecting box to customer's extraction until all cargos all export.
With reference to the accompanying drawing, the embodiment of the present invention is further elaborated.
An embodiment provides a kind of Intelligent unattended warehouse system, including warehouse main body, warehouse main body by
The control of scheduling system, warehouse main body includes multiple shelf, apparatus for transporting freight, manipulator and collecting box,
Scheduling system receive user's order, and according in order cargo attribute and collect tankage to cargo in order into
The number that the output of all cargos is needed to collecting box is determined by calculation in the planning of the optimal stacking of row, and according to each collecting box
The cargo of output point singly handle and is sorted to order；
Shelf are multilayered structures, and the extraction of the cargo on shelf and transport depend on apparatus for transporting freight, shelf it is each
Layer is both provided with region to be taken；
Apparatus for transporting freight is provided with cargo pallet and transmission track, and cargo pallet is walked on transmission track, cargo support
Packing successively holds up cargo from cargo bottom according to the fixed cargo sequence of the scheduling system, and is transported to by transmission track
Region to be taken；
Visual identity device is provided on manipulator, whenever there is cargo to reach region to be taken, the manipulator becomes crawl cargo
And the form of cargo is identified by visual identity device, and judge whether need to rotate before putting in collecting box, this is because
The direction of cargo when manipulator grabs cargo is deposited in the direction in collecting box with the cargo determined by scheduling system not necessarily
It is identical, therefore the manipulator needs to rotate cargo, to choose Optimal orientation.
Output is extracted until the cargo in collecting box all exports to customer after collecting box is filled.
Another embodiment of the present invention additionally provides a kind of Intelligent unattended warehouse system, wherein shelf are according to every in order
The quantity of kind cargo, the cargo of corresponding number is pushed out on delivery tray, cargo is held up and be moved to by subsequent delivery tray
Region to be taken.
Another embodiment of the present invention additionally provides a kind of Intelligent unattended warehouse system, wherein cargo is by manually putting
Face-up and by manually inputting cargo attribute in warehouse system database when on shelf, cargo attribute includes cargo shape
(three side lengths), cargo pressure withstanding degree and coordinate etc. is put on shelf.
Another embodiment of the present invention additionally provides a kind of Intelligent unattended warehouse system, wherein apparatus for transporting freight is equipped with
One cargo pallet, the cargo pallet can be moved between each layer of shelf along track.
Another embodiment of the present invention additionally provides a kind of Intelligent unattended warehouse system, wherein there are three shelf, three goods
Frame is arranged in parallel vertically, and three shelf are followed successively by the first shelf, the second shelf and third shelf, the first shelf and from left to right
Three shelf are single side shelf, and the second shelf are two-sided shelf, and three shelf numbers of plies are identical, and have certain distance between shelf, wherein
It is provided with apparatus for transporting freight.
Another embodiment of the present invention additionally provides a kind of Intelligent unattended warehouse system, wherein the number of plies of transmission track with
The number of plies of shelf is identical, and one end on every layer of transmission track towards manipulator is arranged in region to be taken.
Another embodiment of the present invention additionally provides a kind of Intelligent unattended warehouse system, wherein region to be taken is provided with one
A collection basket, the cargo pallet is by goods handling to region to be taken, and the cargo pallet inclination is so that on the cargo pallet
Cargo fall into collect basket in wait manipulator crawl.
Another embodiment of the present invention additionally provides a kind of Intelligent unattended warehouse system, wherein the quantity of manipulator is one
A, whenever there is cargo to be transported to when taking region, manipulator just grabs cargo and is placed in corresponding in collecting box
Position.
Another embodiment of the present invention additionally provides a kind of Intelligent unattended warehouse system, wherein the setting of visual identity device exists
The joint of manipulator, manipulator can 360 degree rotations.
As shown in Figure 1, the present invention also provides a kind of control methods based on above-mentioned Intelligent unattended warehouse system, including such as
Lower step:
1) scheduling system handles the order for goods received, and according to cargo attribute specific in order in order
Specific cargo carries out the planning of optimal stacking, and cargo attribute includes cargo shape (three side lengths), pressure withstanding degree, puts seat on shelf
Mark etc., the number that the output of all cargos is needed to collecting box is determined by calculation in scheduling system, and exports according to each collecting box
Cargo order point singly handle and is sorted；
2) pallet on transmission device is according to the order to have sorted, successively by the goods handling in order to shelf wait take
Region；
3) whenever there is cargo to reach region to be taken, manipulator becomes crawl cargo and identifies the shape of cargo by visual identity device
State simultaneously judges whether need to rotate when putting in collecting box；
4) one case is often filled just to export collecting box to customer's extraction until all cargos all export.
When it is implemented, first by being manually well placed cargo on shelf, and by cargo attribute input system database.System
After system receives the order of customer, order is ranked up by algorithm and is divided single.Pallet is then transported on according to the cargo in order
Sequentially, it is run to along transmission track by the position of corresponding cargo, shelf release the cargo of respective numbers in order to cargo
On pallet, subsequent cargo pallet continues on transmission track will be in the collection basket of goods handling to region to be taken.Subsequent manipulator
Cargo is grabbed to the region to be taken of corresponding existing cargo, the visual identity device on manipulator identifies cargo form, root
Form when layout and cargo in exhausted current collection case are crawled judges whether to be rotated.
The present invention can really meet the operational requirements of unmanned warehouse, stock up in addition to warehouse and input cargo into database
Attribute information need it is artificial except, when implementing, unmanned warehouse system collects output to customer to by cargo from receiving order,
All automatic operations.The present invention realizes optimal stacking of the cargo in collecting box by algorithm, passes through the pallet of automation
The pick-and-place for realizing cargo is realized by automated mechanical hand and cargo is deposited in collecting box.The method of the present invention can be with
Applied to fields such as large-scale vending machine, unmanned shelf, Automatic Warehouses, manpower is saved, working efficiency is improved and is sufficiently sharp
With the space of collection vessel.In conclusion the present invention has the advantages that above-mentioned many and use value, preferable use is produced
Effect, and there is extensive industrial value.
It is to be illustrated to preferable implementation of the invention, but the invention is not limited to above-mentioned embodiment party above
Formula, those skilled in the art can also make various equivalent variations on the premise of without prejudice to spirit of the invention or replace
It changes, these equivalent deformations or replacement are all included in the scope defined by the claims of the present application.
Claims (10)
1. a kind of Intelligent unattended warehouse system, it is characterised in that: including warehouse main body, the warehouse main body is by scheduling system control
System, the warehouse main body include multiple shelf, apparatus for transporting freight, manipulator and collecting box,
The scheduling system receives user's order, and according to the cargo attribute in order and collect tankage to cargo in order into
The number that the output of all cargos is needed to collecting box is determined by calculation in the planning of the optimal stacking of row, and according to each collecting box
The cargo of output point singly handle and is sorted to order；
The shelf are multilayered structures, and the extraction and transport of the cargo on the shelf depend on the apparatus for transporting freight, institute
The each layer for stating shelf is both provided with region to be taken；
The apparatus for transporting freight is provided with cargo pallet and transmission track, and the cargo pallet walking is on transmission track, institute
It states cargo pallet and cargo is successively held up from cargo bottom according to the fixed cargo sequence of the scheduling system, and pass through transmission rail
Road is transported to region to be taken；
Visual identity device is provided on the manipulator, whenever there is cargo to reach the region to be taken, the manipulator becomes crawl
Cargo and the form that cargo is identified by visual identity device, and judge whether need to rotate before putting in collecting box；
Output is extracted until the cargo in collecting box all exports to customer after the collecting box is filled.
2. a kind of Intelligent unattended warehouse system according to claim 1, it is characterised in that: the shelf are according to every in order
The cargo of corresponding number is pushed out on cargo pallet by the quantity of kind of cargo, subsequent cargo pallet cargo is held up and be moved to
Take region.
3. a kind of Intelligent unattended warehouse system according to claim 1, it is characterised in that: the cargo is by manually putting
Face-up and by manually inputting cargo attribute in warehouse system database when on shelf, the cargo attribute includes cargo shape
Shape, cargo pressure withstanding degree and coordinate is put on shelf.
4. a kind of Intelligent unattended warehouse system according to claim 1, it is characterised in that: the apparatus for transporting freight is equipped with
One cargo pallet, the cargo pallet can be moved between each layer of shelf along track.
5. a kind of Intelligent unattended warehouse system according to claim 1, it is characterised in that: there are three the shelf, and three
It being spaced apart from each other between shelf and arranged in parallel, three shelf are followed successively by the first shelf, the second shelf and third shelf from left to right,
First shelf and third shelf are single side shelf, and the second shelf are two-sided shelf.
6. a kind of Intelligent unattended warehouse system according to claim 1, it is characterised in that: the number of plies of the transmission track with
The number of plies of shelf is identical, and one end on every layer of transmission track towards manipulator is arranged in the region to be taken.
7. a kind of Intelligent unattended warehouse system according to claim 1, it is characterised in that: the region to be taken is provided with one
A collection basket, the cargo pallet is by goods handling to region to be taken, and the cargo pallet inclination is so that on the cargo pallet
Cargo fall into collect basket in wait manipulator crawl.
8. a kind of Intelligent unattended warehouse system according to claim 1, it is characterised in that: the quantity of the manipulator is one
A, whenever there is cargo to be transported to when taking region, the manipulator just grabs cargo and is placed in collecting box
Corresponding position.
9. a kind of Intelligent unattended warehouse system according to claim 1, it is characterised in that: the visual identity device setting exists
The joint of manipulator, the manipulator can 360 degree rotations.
10. a kind of control method based on any Intelligent unattended warehouse system of the claims 1-9, feature exist
In: include the following steps,
Scheduling system handles the order for goods received, is carried out according to cargo attribute in order to cargo in order optimal
The number that the output of all cargos is needed to collecting box is determined by calculation in the planning of stacking, and according to the output of each collecting box
Cargo point singly handle and is sorted to order；
Pallet on transmission device is according to the order to have sorted, successively by the region to be taken of the goods handling in order to shelf；
Whenever there is cargo to reach region to be taken, manipulator becomes crawl cargo and identifies the form of cargo by visual identity device, and
Judge whether need to rotate when putting in collecting box；
Collecting box is often filled one case and is just exported to customer's extraction until all cargos all export.
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| CN111369191A (en) * | 2020-03-03 | 2020-07-03 | 刘琴 | Unattended warehouse management system based on Internet of things |
| CN111806940A (en) * | 2020-05-29 | 2020-10-23 | 上海史必诺物流设备有限公司 | Automatic stacking control method |
| CN113469626A (en) * | 2021-07-26 | 2021-10-01 | 深圳市坤同智能仓储科技有限公司 | Unmanned warehouse management method, system, medium, and electronic device |
| CN113469626B (en) * | 2021-07-26 | 2022-03-04 | 深圳市坤同智能仓储科技有限公司 | Unmanned warehouse management method, system, medium, and electronic device |
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