CN109911482B - Intelligent unmanned warehouse system and control method thereof - Google Patents
Intelligent unmanned warehouse system and control method thereof Download PDFInfo
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Abstract
The invention discloses an intelligent unmanned warehouse system and a control method thereof, which can really meet the operation requirements of an unmanned warehouse, and the unmanned warehouse system is operated automatically from the time of receiving orders to the time of collecting and outputting goods to customers except for manual work required for warehouse goods feeding and goods attribute information input into a database. The invention realizes the optimal stacking of the goods in the collecting box through an algorithm, realizes the picking and placing of the goods through the automatic tray, and realizes the stacking of the goods in the collecting box through the automatic manipulator. The method can be applied to the fields of large-scale vending machines, unmanned goods shelves, automatic warehouses and the like, saves manpower, improves the working efficiency and fully utilizes the space of the collecting container. In conclusion, the invention has the advantages and the use value, produces better use effect and has wide industrial value.
Description
Technical Field
The invention relates to the technical field of automatic warehouse systems.
Background
With the development of society and the improvement of living standard of people, the development of warehouse industry is greatly promoted. The current warehouse generally provides storage modes such as pre-divided areas, collecting boxes or shelves and the like, and provides long-term or short-term storage time, so the warehouse warehousing flow rate is high, and the operation requirement on warehousing goods is very high.
In the manual on-duty warehouse at the present stage, when goods are delivered to and stored in the warehouse, the goods are stacked and extracted manually, and the specific position of the goods stacking is determined according to the information of the goods to be stored and the capacity of the collecting box, so that the goods can be delivered to and stored in the warehouse, and therefore, the efficiency of delivering the goods to and storing the goods is very low, and the warehouse storage service with high delivery and storage rate is not sufficient. Secondly, in order to improve the warehouse-in/out efficiency and sufficiently support the business of warehouse storage, the number of workers involved in warehouse-in/out needs to be increased, which undoubtedly increases the cost of the business. The goods are stacked and extracted manually, the working efficiency is low, and the space of the collecting box is difficult to be fully utilized, so that the utilization rate of warehousing the goods is low.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide an intelligent unmanned warehouse system and a control method thereof, which can achieve optimal stacking of goods in a collection box, achieve picking and placing of goods by using an automated goods pallet, and achieve stacking of goods in the collection box by using an automated manipulator. The invention can be applied to the fields of large-scale vending machines, unmanned goods shelves, automatic warehouses and the like, saves manpower, improves the working efficiency and fully utilizes the space of the collecting box.
The technical scheme adopted by the invention for solving the problems is as follows:
in a first aspect, the present invention provides an intelligent unmanned warehouse system, comprising a warehouse body controlled by a scheduling system, the warehouse body comprising a plurality of shelves, a goods conveying device, a manipulator, and a collection box,
the dispatching system receives a user order, plans the optimal stacking of the goods in the order according to the goods attributes in the order and the capacity of the collecting box, determines the times of outputting all the goods to the required collecting box through calculation, and performs order separation processing and sequencing on the order according to the goods output by the collecting box each time;
the goods shelf is of a multi-layer structure, the goods on the goods shelf are taken out and transported by the goods conveying device, and each layer of the goods shelf is provided with an area to be taken;
the goods conveying device is provided with goods trays and a conveying track, the goods trays walk on the conveying track, the goods trays sequentially lift the goods from the bottom of the goods according to the goods sequence determined by the dispatching system, and the goods trays are conveyed to an area to be taken through the conveying track;
the manipulator is provided with a visual identifier, and when goods arrive at the area to be taken, the manipulator grabs the goods and identifies the form of the goods through the visual identifier, and judges whether the goods need to rotate before being placed in the collecting box.
The collecting box is filled and then output to a customer for extraction until all goods in the collecting box are output.
Further, the goods shelves push out the corresponding quantity of goods to the goods tray according to the quantity of each kind of goods in the order, and then the goods tray holds up the goods and moves the goods to the area to be taken.
Further, when the goods are placed on the goods shelf manually, the front faces of the goods face upwards, and goods attributes are manually input into a warehouse system database, wherein the goods attributes comprise goods shapes, goods pressure resistance and placing coordinates on the goods shelf.
Further, the goods conveying device is provided with a goods tray which can move between each layer of the goods shelf along the conveying track.
Furthermore, the number of the goods shelves is three, the three goods shelves are arranged in parallel at intervals, the three goods shelves are sequentially a first goods shelf, a second goods shelf and a third goods shelf from left to right, the first goods shelf and the third goods shelf are single-side goods shelves, and the second goods shelf is a double-side goods shelf.
Further, the number of layers of the conveying rails is the same as that of the shelves, and the area to be taken is arranged at one end, facing the manipulator, of each layer of the conveying rails.
Further, the area to be taken is provided with a collecting basket, the goods tray conveys the goods to the area to be taken, and the goods on the goods tray falls into the collecting basket by the inclination of the goods tray and waits for the grabbing of the manipulator.
Furthermore, the number of the mechanical arms is one, and when goods are conveyed to an area to be taken, the mechanical arms grab the goods and place the goods at corresponding positions in the collecting box.
Further, the visual recognizer is disposed at a joint of a robot arm, which can rotate 360 degrees.
In a second aspect, the present invention also provides a control method based on the intelligent unmanned warehouse system, comprising the following steps,
the scheduling system processes the received user order, plans the optimal stacking of the specific goods in the order according to the attributes of the specific goods in the order, determines the times of outputting all the goods to a required collecting box through calculation, and performs order separation processing and sequencing on the order according to the goods output by the collecting box each time;
the goods trays on the goods conveying device convey goods in the order to the to-be-taken area of the goods shelf in sequence according to the ordered orders;
when goods arrive at the area to be taken, the manipulator grabs the goods, identifies the shapes of the goods through the visual identifier, and judges whether the goods need to rotate when being placed in the collection box;
the collection box is output to the customer for pick-up each time the box is filled until all the goods are output.
The invention has the beneficial effects that: the invention adopts an intelligent unmanned warehouse system and a control method thereof, wherein the intelligent unmanned warehouse system comprises a plurality of goods shelves, a goods conveying device, a mechanical arm and a collecting box, the whole intelligent unmanned warehouse is controlled by a scheduling system, the scheduling system processes a received user order, plans the optimal stacking of specific goods in the order according to the specific goods attributes in the order, determines the times of outputting all goods to the collecting box by calculation, and performs the order separation processing and the sequencing according to the goods output by the collecting box each time; the dispatching system divides the order to prevent the goods of the collecting box from overflowing; the goods conveying device receives the instructions of the scheduling system, collects and conveys target goods to the to-be-taken area of each layer of goods shelf according to the reordered orders and the coordinates of the goods on the goods shelf; the manipulator snatchs and is located every layer goods shelves and treat the goods in the region of getting, and the manipulator is provided with the visual identification ware, discerns the goods state of snatching to put the current goods to the suitable position of collection box, in order to reach the optimal utilization ratio of collection box and prevent that the goods from damaging. The invention can realize the optimal stacking of the goods in the collecting box, realize the picking and placing of the goods through the automatic tray, and realize the stacking of the goods in the collecting box by adopting the automatic manipulator. The invention can be applied to the fields of large-scale vending machines, unmanned goods shelves, automatic warehouses and the like, saves manpower, improves the working efficiency and fully utilizes the space of the collecting container.
Drawings
Fig. 1 is a flowchart of a method for controlling an intelligent unmanned warehouse system according to an embodiment of the present invention.
Detailed Description
With the development of society and the improvement of living standard of people, the development of warehouse industry is greatly promoted. The current warehouse generally provides storage modes such as pre-divided areas, collecting boxes or shelves and the like, and provides long-term or short-term storage time, so the warehouse warehousing flow rate is high, and the operation requirement on warehousing goods is very high.
In the manual on-duty warehouse at the present stage, when goods are delivered to and stored in the warehouse, the goods are stacked and extracted manually, and the specific position of the goods stacking is determined according to the information of the goods to be stored and the capacity of the collecting box, so that the goods can be delivered to and stored in the warehouse, and therefore, the efficiency of delivering the goods to and storing the goods is very low, and the warehouse storage service with high delivery and storage rate is not sufficient. Secondly, in order to improve the warehouse-in/out efficiency and sufficiently support the business of warehouse storage, the number of workers involved in warehouse-in/out needs to be increased, which undoubtedly increases the cost of the business. The goods are stacked and extracted manually, the working efficiency is low, and the space of the collecting box is difficult to be fully utilized, so that the utilization rate of warehousing the goods is low.
Based on the above, the inventor considers that the unmanned warehouse is adopted to solve the problems, because the whole work flow of the unmanned warehouse is not manually operated, and the types and the quantities of the goods selected by different customers for ordering are different, the warehouse system processes the orders and extracts and collects the goods (for example, the goods in the orders are optimally stacked or exceed the capacity of a collecting box, the orders are required to be sorted, and then the collecting sequence of the goods in the sorted orders is determined, so that the travel distance of a goods taking tray in the unmanned goods shelf is shortest).
Unmanned warehouse uses the manipulator to get goods and puts into the collecting box, just needs to optimize the overall arrangement of stacking in the collecting box for the space in the collecting box obtains make full use of.
The warehouse system receives orders which contain the attributes of each article, including the three side lengths, the pressure resistance, the frangibility degree and the like of the articles (the attributes are manually input into a shelf system database after the articles are placed on a shelf), the system obtains the optimal stacking layout and the stacking sequence in the collecting box according to the article attributes in the orders and an algorithm, and finally the manipulator sequentially grabs the articles according to the stacking sequence and places the articles to the planned positions.
Such unmanned warehouses require a range limitation on the specifications of the goods (goods that are not within range can be modified and put on shelves) so that the size of the collection tray and the manipulator is suitable for all the goods in the warehouse.
Based on the above, the invention aims to provide an intelligent unmanned warehouse system, wherein the whole intelligent unmanned warehouse is controlled by a scheduling system; the intelligent unmanned warehouse comprises a plurality of goods shelves, a goods conveying device, a goods taking manipulator and a goods collecting box; the dispatching system receives a user order, optimally plans the stacking of the goods in the order according to the goods attributes in the order and the capacity of the collecting box, achieves the highest utilization rate of the capacity of the collecting box, and performs order sorting and sequencing; the goods shelf is of a multilayer structure, goods are placed on the goods shelf each time, the goods on the goods shelf are extracted and transported by the goods conveying device, and each layer of the goods shelf is provided with a well-arranged region to be extracted; the goods conveying device is provided with goods trays, the goods trays travel on the multi-layer conveying rails, and the goods trays sequentially lift goods from the bottom of the goods according to the goods sequence determined by the dispatching system and convey the goods to the area to be taken through the conveying rails; the goods are grabbed by the manipulator in the area to be fetched; the manipulator is provided with a visual identifier, the shape of the grabbed goods is identified, and whether the goods need to be rotated before the goods are placed at the arranged position is judged. The control method based on the intelligent unmanned warehouse system comprises the following steps: the scheduling system processes the received user order, plans the optimal stacking of specific goods in the order according to the attributes of the specific goods in the order, determines the times of outputting all the goods to a required collecting box through calculation, and performs order splitting processing and sequencing on the order according to the goods output by the collecting box each time, wherein the attributes of the goods comprise the shape (three side lengths), the pressure resistance, the placing coordinates on a shelf and the like of the goods; determining the times of outputting all goods to a required collecting box through calculation, and performing order sorting processing and sequencing on orders according to the goods output by the collecting box each time; the pallets on the goods conveying device convey goods in the orders to the to-be-taken area of the goods shelf in sequence according to the ordered orders; when goods arrive at the area to be taken, the manipulator grabs the goods, identifies the shapes of the goods through the visual identifier, and judges whether the goods need to rotate when being placed in the collection box; the collection box is output to the customer for pick-up each full box until all the goods are output.
The embodiments of the present invention will be further explained with reference to the drawings.
One embodiment of the present invention provides an intelligent unmanned warehouse system, which includes a warehouse body controlled by a scheduling system, the warehouse body including a plurality of shelves, a goods conveying device, a manipulator, and a collection box,
the dispatching system receives a user order, plans the optimal stacking of the goods in the order according to the goods attributes in the order and the capacity of the collecting box, determines the times of outputting all the goods to the required collecting box through calculation, and performs order separation processing and sequencing on the order according to the goods output by the collecting box each time;
the goods shelf is of a multilayer structure, the goods on the goods shelf are extracted and transported by depending on the goods conveying device, and each layer of the goods shelf is provided with an area to be extracted;
the goods conveying device is provided with goods trays and a conveying track, the goods trays walk on the conveying track, the goods trays sequentially lift the goods from the bottom of the goods according to the goods sequence determined by the dispatching system and convey the goods to the area to be taken through the conveying track;
the manipulator is provided with a visual identifier, and when goods arrive at a to-be-picked area, the manipulator picks the goods and identifies the form of the goods through the visual identifier, and judges whether the goods need to rotate before being placed in the collecting box.
After the collecting box is full, the goods are output to a customer for extraction until all the goods in the collecting box are output.
Another embodiment of the present invention also provides an intelligent unmanned warehouse system, wherein the goods shelves push out a corresponding number of goods onto the transfer trays according to the number of each kind of goods in the order, and then the transfer trays lift up and move the goods to the area to be taken.
Another embodiment of the present invention further provides an intelligent unmanned warehouse system, wherein the goods are manually placed on the shelf with their front faces facing upwards, and the goods attributes are manually entered into the warehouse system database, and the goods attributes include the shape (three side lengths), the pressure resistance of the goods, and the placement coordinates on the shelf, etc.
Another embodiment of the present invention also provides an intelligent unmanned warehouse system, wherein the goods conveyor is provided with a goods tray which can move between each layer of the goods shelf along the conveying track.
Another embodiment of the present invention further provides an intelligent unmanned warehouse system, wherein three shelves are provided, the three shelves are vertically arranged in parallel, the three shelves are sequentially a first shelf, a second shelf and a third shelf from left to right, the first shelf and the third shelf are single-sided shelves, the second shelf is a double-sided shelf, the number of the three shelves is the same, and a certain distance is provided between the shelves, wherein a goods conveying device is provided.
Another embodiment of the present invention also provides an intelligent unmanned warehouse system, wherein the number of layers of the transfer rail is the same as the number of layers of the racks, and the region to be taken is disposed at an end of each layer of the transfer rail facing the robot.
Another embodiment of the present invention further provides an intelligent unmanned warehouse system, wherein a collection basket is disposed in a to-be-taken area, the goods trays convey goods to the to-be-taken area, and the goods trays are inclined such that the goods on the goods trays fall into the collection basket and wait for being grabbed by the manipulator.
Another embodiment of the present invention further provides an intelligent unmanned warehouse system, wherein the number of the manipulator is one, and when goods are conveyed to an area to be taken, the manipulator grabs the goods and places the goods at a corresponding position in the collection box.
Another embodiment of the present invention also provides an intelligent unmanned warehouse system, wherein the vision recognizer is disposed at a joint of the robot arm, and the robot arm can rotate 360 degrees.
As shown in fig. 1, the present invention further provides a control method based on the intelligent unmanned warehouse system, including the following steps:
1) the scheduling system processes the received user order and plans the optimal stacking of specific goods in the order according to the attributes of the specific goods in the order, wherein the attributes of the goods comprise the shape (three side length), the pressure resistance, the placing coordinates on a goods shelf and the like, the scheduling system determines the times of outputting all the goods to a required collecting box through calculation, and performs order dividing processing and sequencing on the order according to the goods output by the collecting box each time;
2) the goods trays on the goods conveying device convey goods in the order to the to-be-taken area of the goods shelf in sequence according to the ordered orders;
3) when goods arrive at the area to be taken, the manipulator grabs the goods, identifies the form of the goods through the visual identifier and judges whether the goods need to rotate when being placed in the collecting box;
4) the collection box is output to the customer for pick-up each time a box is filled until all the goods are output.
When the system is implemented specifically, firstly, goods are placed on the goods shelf manually, and the goods attributes are input into the system database. After the system receives the order of the customer, the order is sorted and divided by an algorithm. The goods in the order are then moved along the conveying rail to the position of the corresponding goods by the conveying tray, the goods shelves push out the corresponding quantity of goods in the order onto the goods tray, and then the goods tray continues to convey the goods along the conveying rail into the collecting basket of the area to be taken. The manipulator snatchs the goods to the regional area of waiting to get of corresponding existing goods afterwards, and the vision recognizer on the manipulator discerns the goods form, and the form when the overall arrangement in the present collecting box and goods are snatched judges whether need rotate.
The invention can really meet the operation requirements of the unmanned warehouse, and besides the manual work required for warehouse goods feeding and goods attribute information input into the database, the unmanned warehouse system is all automatic operation from receiving orders to collecting and outputting goods to customers during implementation. The invention realizes the optimal stacking of the goods in the collecting box through an algorithm, realizes the picking and placing of the goods through the automatic tray, and realizes the stacking of the goods in the collecting box through the automatic manipulator. The method can be applied to the fields of large-scale vending machines, unmanned goods shelves, automatic warehouses and the like, saves manpower, improves the working efficiency and fully utilizes the space of the collecting container. In conclusion, the invention has the advantages and the use value, produces better use effect and has wide industrial value.
While the preferred embodiments of the present invention have been described in detail, it will be understood by those skilled in the art that the foregoing and various other changes, omissions and deviations in the form and detail thereof may be made without departing from the scope of this invention.
Claims (10)
1. An intelligent unmanned warehouse system, which is characterized in that: comprises a warehouse main body, the warehouse main body is controlled by a scheduling system, the warehouse main body comprises a plurality of goods shelves, a goods conveying device, a mechanical arm and a collecting box,
the dispatching system receives a user order, plans the optimal stacking of the goods in the order according to the goods attributes in the order and the capacity of the collecting box, determines the times of outputting all the goods to the required collecting box through calculation, and performs order separation processing and sequencing on the order according to the goods output by the collecting box each time;
the goods shelf is of a multi-layer structure, the goods on the goods shelf are taken out and transported by the goods conveying device, and each layer of the goods shelf is provided with an area to be taken;
the goods conveying device is provided with goods trays and a conveying track, the goods trays walk on the conveying track, the goods trays sequentially lift the goods from the bottom of the goods according to the goods sequence determined by the dispatching system, and the goods trays are conveyed to an area to be taken through the conveying track;
the manipulator is provided with a visual identifier, and when goods arrive at the area to be taken, the manipulator grabs the goods and identifies the form of the goods through the visual identifier, and judges whether the goods need to rotate before being placed in the collection box;
the collecting box is filled and then output to a customer for extraction until all goods in the collecting box are output.
2. The intelligent unmanned warehouse system of claim 1, wherein: the goods shelf pushes out the corresponding number of goods to the goods tray according to the number of each kind of goods in the order, and then the goods tray holds up the goods and moves the goods to the area to be taken.
3. The intelligent unmanned warehouse system of claim 1, wherein: when the goods are manually placed on the goods shelf, the front faces of the goods face upwards, and goods attributes are manually input into a warehouse system database, wherein the goods attributes comprise goods shapes, goods pressure resistance and placing coordinates on the goods shelf.
4. The intelligent unmanned warehouse system of claim 1, wherein: the goods conveyor is provided with a goods tray which can move between each layer of the goods shelf along the conveying track.
5. The intelligent unmanned warehouse system of claim 1, wherein: the three goods shelves are arranged in parallel at intervals, the three goods shelves are sequentially a first goods shelf, a second goods shelf and a third goods shelf from left to right, the first goods shelf and the third goods shelf are single-face goods shelves, and the second goods shelf is a double-face goods shelf.
6. The intelligent unmanned warehouse system of claim 1, wherein: the number of layers of the conveying rails is the same as that of the shelves, and the area to be taken is arranged at one end, facing the manipulator, of each layer of the conveying rails.
7. The intelligent unmanned warehouse system of claim 1, wherein: the goods tray is characterized in that a collecting basket is arranged in the region to be taken, the goods tray conveys goods to the region to be taken, and the goods on the goods tray fall into the collecting basket through the inclination of the goods tray to wait for grabbing of a manipulator.
8. The intelligent unmanned warehouse system of claim 1, wherein: the number of the mechanical arms is one, and when goods are conveyed to an area to be taken, the mechanical arms grab the goods and place the goods at corresponding positions in the collecting box.
9. The intelligent unmanned warehouse system of claim 1, wherein: the visual recognizer is arranged at a joint of the manipulator, and the manipulator can rotate by 360 degrees.
10. A control method based on the intelligent unmanned warehouse system of any one of claims 1 to 9, characterized in that: comprises the following steps of (a) carrying out,
the scheduling system processes the received user order, plans the optimal stacking of the goods in the order according to the properties of the goods in the order, determines the times of outputting all the goods to a required collecting box through calculation, and performs order separation processing and sequencing on the order according to the goods output by the collecting box each time;
the goods trays on the goods conveying device convey goods in the order to the to-be-taken area of the goods shelf in sequence according to the ordered orders;
when goods arrive at the area to be taken, the manipulator grabs the goods, identifies the shapes of the goods through the visual identifier, and judges whether the goods need to rotate when being placed in the collection box;
the collection box is output to the customer for pick-up each time the box is filled until all the goods are output.
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| CN110525983B (en) * | 2019-08-30 | 2021-03-16 | 嘉兴锦鸿包装有限公司 | Self-adaptive stacking method for packing boxes |
| CN112907171A (en) * | 2020-03-03 | 2021-06-04 | 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 |
| 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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| JPH0243120A (en) * | 1988-08-03 | 1990-02-13 | Yoshida Kogyo Kk <Ykk> | Method for conveying load |
| GB201310784D0 (en) * | 2013-06-17 | 2013-07-31 | Ocado Ltd | Systems and Methods for Order Processing |
| CN204675204U (en) * | 2015-04-15 | 2015-09-30 | 天津工业大学 | A kind of cheese apparatus for temporary storage |
| CN105836356B (en) * | 2016-05-27 | 2017-12-05 | 陕西科技大学 | A kind of intensive warehousing system hybrid optimization dispatching method |
| CN106672521B (en) * | 2017-03-30 | 2019-03-26 | 北京京东尚科信息技术有限公司 | Method and apparatus for determining storage position for article |
| CN108564713A (en) * | 2018-03-23 | 2018-09-21 | 刘婧 | A kind of commodity identification of the unattended retail based on composite measurement mode and anti-cheating system and its method |
| CN108921327B (en) * | 2018-06-06 | 2021-10-08 | 北京极智嘉科技股份有限公司 | Goods shelf transporting method, device and system applied to goods-to-person system |
| CN108584268A (en) * | 2018-06-21 | 2018-09-28 | 上海托华机器人有限公司 | One kind plucking fruit formula sorting system and sorting AGV, sorting goods shelf |
| CN109191677A (en) * | 2018-09-06 | 2019-01-11 | 北京翰宁智能科技有限责任公司 | A kind of unmanned automatic vending shop and its peddle method |
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