CN110046863A - Positioning system and intelligent storage method for intelligent warehousing system - Google Patents
Positioning system and intelligent storage method for intelligent warehousing system Download PDFInfo
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- CN110046863A CN110046863A CN201910340088.4A CN201910340088A CN110046863A CN 110046863 A CN110046863 A CN 110046863A CN 201910340088 A CN201910340088 A CN 201910340088A CN 110046863 A CN110046863 A CN 110046863A
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- label
- fork truck
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- 238000000034 method Methods 0.000 title claims abstract description 37
- 230000002123 temporal effect Effects 0.000 claims description 14
- 230000004807 localization Effects 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 2
- 238000004891 communication Methods 0.000 abstract description 5
- 239000000284 extract Substances 0.000 description 6
- 238000007726 management method Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- QIQXTHQIDYTFRH-UHFFFAOYSA-N octadecanoic acid Chemical group CCCCCCCCCCCCCCCCCC(O)=O QIQXTHQIDYTFRH-UHFFFAOYSA-N 0.000 description 3
- 238000000926 separation method Methods 0.000 description 3
- 238000012512 characterization method Methods 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000008188 pellet Substances 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 238000012163 sequencing technique Methods 0.000 description 1
- 230000004304 visual acuity Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
- G06K17/0029—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device the arrangement being specially adapted for wireless interrogation of grouped or bundled articles tagged with wireless record carriers
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/10009—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves
- G06K7/10366—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves the interrogation device being adapted for miscellaneous applications
- G06K7/10415—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves the interrogation device being adapted for miscellaneous applications the interrogation device being fixed in its position, such as an access control device for reading wireless access cards, or a wireless ATM
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
Abstract
The invention discloses a kind of positioning system for intelligent warehousing system and intelligent storage methods.Positioning system includes the locating base station being located in storage place and the positioning label being arranged on fork truck.Cargo, which positions, to be said to fork truck or just to positioning label by ultra wide band (UWB) wireless communication between locating base station and positioning label.Positioning system further includes the RFID receiver being arranged on fork truck and the RFID label tag that is arranged on cargo, and RFID receiver generates to contact with RFID label tag can know the goods information stored in RFID label tag.The storage position of cargo can be obtained with the position that RFID label tag disconnects the time contacted and positions label using RFID receiver.Positioning label is only placed on fork truck by the present invention, greatly reduces the quantity of positioning label, saves system cost, and without carrying out complicated management work to positioning label, has greatly saved human cost.
Description
Technical field
The present invention relates to wireless communication fields, and in particular to a kind of intelligent warehousing system and method.
Background technique
With the continuous improvement of scientific and technological level, more intelligently, convenient and fast warehousing system have become integrated mill, logistics company
Manage the new trend in warehouse.Traditional warehousing system relies primarily on labor management, and it is vacant that depositary management personnel need the moment to understand shelf
Position to store new putaway stock, while will also know the accurate location of each cargo, so that can be timely when discharging of goods
It seeks out.When articles from the storeroom is more, and goes out to be put in storage frequent, great manpower finished product can be expended, and is easy to happen and loses part, wrong part etc.
Depositary management accident.In addition, the warehouse of certain storage large cargos relies primarily on, fork truck carries out stock and picking, storage position need root
It is accurately distributed according to factors such as the estimated sequencing of delivery of cargo, types of merchandize, so that it is fast to move least cargo when picking
Fast picking improves fork truck picking efficiency to save time cost.Therefore, those skilled in the art be readily apparent that cargo into
Row positioning, so that cargo is quickly found out, however, there are problems during the realization positioned to cargo.
Firstly, storage repository is set to interior more, existing Global electrical circuiti GPS and Beidou etc. can not be wherein
It plays a role, and the cargo in warehouse arranges extremely closely in shelf, therefore, it is necessary to realize the positioning of degree of precision to cargo,
Numerous cargos could be distinguished.
Secondly, if in storage repository self-built high-precision positioning system, with to each cargo carry out high accuracy positioning when,
If using the mode for laying high accuracy positioning label on each cargo, since cargo is numerous, also need quantity crowd
More high accuracy positioning labels, this can make positioning system cost increase sharply.In addition it is also necessary to carry out complicated management to positioning label
Work, for example, recycling positions label, maintains the longer cargo of inventory time when placement positioning label, cargo outbound when goods warehousing
Positioning label electricity and positioning label and the matching of cargo etc., this can equally expend more human cost.
Therefore, how to provide it is a kind of intelligence, efficiently, low cost warehousing system become this field technology urgently to be resolved
Problem.
Summary of the invention
It is disclosed according to one aspect of the present invention for the positioning system in intelligent warehousing system, wherein intelligent storage
System for control fork truck storage cargo, positioning system includes: the locating base station of N number of known location, wherein N be more than or equal to
3 integer；Label is positioned, is installed on fork truck, positioning signal is received and dispatched between locating base station；RFID mark on cargo is set
The RFID receiver signed and be arranged on fork truck, wherein the goods information of the cargo, and RFID reception are stored in RFID label tag
Device can be generated when fork truck delivers the cargo with RFID label tag and be contacted to read the goods information of the cargo；And it calculates
Unit is positioned according to the position of the receiving time and locating base station of the sending time of positioning signal and/or positioning signal
The location information of label；And the location information and cargo of label are positioned when disconnecting and contacting according to RFID receiver and RFID label tag
The storage position information of information acquisition cargo.
A kind of storage position of acquisition fork truck storage cargo in storage place is disclosed according to another aspect of the invention
The intelligent storage method set, wherein it is provided with positioning label and RFID receiver on fork truck, is provided with RFID label tag on cargo,
It is provided with the locating base station of known location in storage place, and wherein, positions and receive and dispatch positioning signal between label and locating base station,
The goods information of the cargo is stored in RFID label tag and RFID receiver and the RFID label tag energy when fork truck delivers the cargo
It is enough to generate contact to read the goods information, which comprises according to the sending time and/or positioning signal of positioning signal
Receiving time and locating base station position obtain positioning label location information；It obtains RFID receiver and RFID label tag is disconnected
Open the temporal information of contact；And contacted using the location information and RFID receiver for positioning label with RFID label tag disconnection
Temporal information knows the storage position of cargo.
It according to another aspect of the invention discloses and a kind of to store cargo in storage place for obtaining fork truck and deposit
Put the intelligent storage method of position, wherein be provided with positioning label and RFID receiver on fork truck, RFID mark is provided on cargo
It signs, the locating base station of known location is provided in place of storing in a warehouse, and wherein, position transmitting-receiving positioning between label and locating base station and believe
Number, the goods information of the cargo is stored in RFID label tag and RFID receiver and RFID label tag are when fork truck delivers the cargo
Contact can be generated to read the goods information of the cargo, which comprises detecting RFID receiver with RFID label tag is
No disconnection contact；When detecting that RFID receiver and RFID label tag disconnection contact, according to the sending time of positioning signal and/or
The receiving time of positioning signal and the position of locating base station position positioning label to obtain the position of positioning label and believe
Breath；Using the location information and goods information of positioning label, the storage position of cargo is known.
The present invention gives a kind of positioning system for intelligent warehousing system and intelligent storage methods, by storage field
Self-built high-accuracy position system in ground lays positioning label on fork truck, can accurately know the location information of fork truck, and utilize
RFID receiver on fork truck obtains RFID receiver and disconnects the time letter contacted with the RFID label tag being placed on cargo
Breath, and then the location information of RFID receiver and the positioning label for the RFID label tag disconnection time of contact being placed on cargo is remembered
For the storage position of cargo, to obtain the storage position of all cargos.Positioning label is only placed on fork truck by the present invention, without
With the placement positioning label on each cargo, greatly reduce the quantity of positioning label, save system cost, and without pair
Positioning label carries out complicated management work, has greatly saved human cost.
Detailed description of the invention
Fig. 1 provides a kind of schematic diagram of the intelligent warehousing system 100 using fork truck access goods of embodiment according to the present invention；
Fig. 2 provides a kind of signal of the carriage type fork 200 for intelligent warehousing system 100 of embodiment according to the present invention
Figure；
Fig. 3 provides a kind of signal for holding formula fork truck 300 for intelligent warehousing system 100 of embodiment according to the present invention
Figure；
The acquisition fork truck that Fig. 4 provides a kind of embodiment according to the present invention stores the storage position of cargo in storage place
The flow chart of intelligent storage method 400.
The acquisition fork truck that Fig. 5 provides a kind of embodiment according to the present invention stores the storage position of cargo in storage place
The flow chart of intelligent storage method 500.
Specific embodiment
Specific embodiments of the present invention are described more fully below, it should be noted that the embodiments described herein is served only for illustrating
Illustrate, is not intended to restrict the invention.In the following description, in order to provide a thorough understanding of the present invention, a large amount of spies are elaborated
Determine details.It will be apparent, however, to one skilled in the art that: this hair need not be carried out using these specific details
It is bright.In other instances, in order to avoid obscuring the present invention, well known circuit, material or method are not specifically described.
Throughout the specification, meaning is referred to " one embodiment ", " embodiment ", " example " or " example "
: a particular feature, structure, or characteristic described in conjunction with this embodiment or example is comprised at least one embodiment of the invention.
Therefore, the phrase " in one embodiment ", " in embodiment ", " example " occurred in each place of the whole instruction
Or " example " is not necessarily all referring to the same embodiment or example.Furthermore, it is possible in any suitable combination and or sub-portfolio will be specific
Feature, structure or characteristic combine in one or more embodiment or examples.In addition, those of ordinary skill in the art should manage
Solution, diagram is provided to the purpose of explanation provided herein, and diagram is not necessarily drawn to scale.It should be appreciated that working as
Claim " element " " being connected to " or when ' attach ' to another element, it, which can be, is directly connected to or is connected to another element or can be with
There are intermediary elements.On the contrary, cental element is not present when claiming element " being directly connected to " or " being directly connected to " another element
Part.Identical appended drawing reference indicates identical element.Term "and/or" used herein includes that one or more correlations are listed
Any and all combinations of project.
Throughout the specification, it will be appreciated by those skilled in the art that when being related between RFID label tag and RFID receiver
Contact when, should " contact " can be the physical contact between label and receiver entity and/or be between label and receiver
The communication contact of wireless communication can be generated.
Fig. 1 provides a kind of signal of the intelligent warehousing system 100 of the control fork truck access cargo of embodiment according to the present invention
Figure.In one embodiment, intelligent warehousing system 100 includes cargo area to be deposited, memory block and delivery of cargo area.Intelligent warehousing system
It include multiple fork trucks in 100, cargo is transported to memory block from area to be deposited and stored by the fork truck, when needing to pick up goods, institute
It states fork truck and cargo is transported to delivery of cargo area from memory block taking-up again.It will be appreciated by those skilled in the art that in one embodiment,
Cargo area to be deposited in intelligent warehousing system may include cargo production district for producing cargo etc. for being temporarily placed with wait store
To the cargo of memory block.In another embodiment, the delivery of cargo area is lorry or container.
Intelligent warehousing system 100 includes positioning system, and positioning system includes positioning determining for label Tag and N number of known location
Position base station BS, wherein N is the integer more than or equal to 3, and N number of locating base station BS, which is set up in intelligent warehousing system 100, to be pitched
Vehicle region that may be present.The positioning label Tag is mounted on fork truck, and positioning label Tag and locating base station BS transmitting-receiving position
Signal, to obtain the high precision position information of fork truck.Positioning system further includes computing unit, which believes according to positioning
Number sending time and/or positioning signal receiving time and locating base station BS position obtain positioning label Tag position
Information.In one embodiment, being placed in positioning label Tag on fork truck is that ultra wide band positions label, the positioning label Tag to
Locating base station BS emits ultra wide band positioning signal, and locating base station BS receives the ultra wide band positioning signal and record location signal arrives
Up to the temporal information of itself.Again in one embodiment, the locating base station BS emits ultra wide band positioning signal, the positioning mark
Label Tag receives the ultra wide band positioning signal and record location signal reaches itself temporal information.Since ultra-broadband signal has
There is the time sense of superelevation, higher positioning accuracy may be implemented.In one embodiment, computing unit utilizes positioning signal
Receiving time, pass through TDOA (Time Difference of Arrival, reaching time-difference) location algorithm resolve positioning mark
The location information of Tag is signed, and then knows the location information of fork truck corresponding with the positioning label Tag.In one embodiment,
Computing unit utilizes the sending time and receiving time of positioning signal, fixed by TOA (Time of Arrival, arrival time)
Position algorithm resolves the location information of positioning label Tag, and then knows that the position of fork truck corresponding with the positioning label Tag is believed
Breath.It will be appreciated by those skilled in the art that positioning label and fork truck have known position since positioning label is placed on fork truck
Relationship, or even in some cases, due to the positional relationship between positioning label and fork truck compared to entire storage place for
Be it is inappreciable, can approximatively think position label it is identical as the position of fork truck, therefore, pass through to positioning label positioning
It can be obtained the location information of fork truck.
In one embodiment, the positioning system further includes RFID (radio frequency identification) label and RFID receiver, described
RFID label tag is arranged on cargo designated position, and the RFID receiver is arranged on fork truck, the RFID label tag and receiver
Placement location according to make fork truck in delivery (for example, lift or hold) cargo, RFID receiver can on cargo
RFID label tag generates contact and is arranged with reading goods information.In one embodiment, on RFID receiver and cargo
RFID label tag aligns.Again in one embodiment, the RFID receiver on cargo RFID label tag generate contact simultaneously
Non-physical contact, but RFID receiver can be enable to establish at a distance from communication connection with RFID.In one embodiment, goods
RFID label tag is arranged in its designated position before entering memory block in object, and RFID receiver is set up on the fork truck.At one
In embodiment, goods information is stored in RFID label tag.In one embodiment, the goods information includes characterization cargo identity
Identity information, such as Item Number.In another embodiment, the goods information further includes series of lot, the date of manufacture, enters
Library date, estimated picking date, cargo storage quotient, one or more information in Cargo Claim quotient or other information, depending on not
Depending on demand.
After fork truck extracts cargo, the RFID receiver being arranged on fork truck connects with the RFID label tag being arranged on cargo
Touching, to read the goods information in RFID label tag, to know goods information that fork truck extracts.When cargo is placed on storage
When in the storage position in area, fork truck and cargo separation, the RFID receiver being arranged on fork truck and the RFID being arranged on cargo
Label disconnects contact.Computing unit positions the location information of label Tag when disconnecting and contacting according to RFID receiver and RFID label tag
And the goods information of the cargo acquired resolves the storage position information of cargo.At this point, due to fork truck stop position with
The position of cargo storage be it is relatively-stationary, then by fork truck stop position (in other words, positioning the position of label) can obtain
Know the position of the cargo storage.
It in one embodiment, include lifting assembly on fork truck, for going up and down cargo placed thereon.Positioning
Label is set on the lifting assembly, and positioning system carries out three-dimensional localization to positioning label Tag, so that computing unit is according to RFID
The three dimensional local information that receiver and RFID label tag disconnect positioning label Tag when contacting obtains the storage position information of cargo.
It in another embodiment, include lifting assembly on fork truck, for going up and down cargo placed thereon.It is fixed
Position system further includes the height sensor being set on the fork truck lifting assembly, fixed for detecting the height of cargo on fork truck
Position system carries out two-dimensional localization to positioning label Tag, so that computing unit is contacted according to RFID receiver with RFID label tag disconnection
The height of the two-dimensional position information of Shi Dingwei label Tag and cargo obtains the storage position information of cargo.
Since in some cases, the tunnel in memory block is relatively narrow, and tunnel two sides all have shelf, when only utilize one
When positioning label positions fork truck, it can not know the direction information of fork truck, i.e., can not know that cargo is stored in tunnel by fork truck
The shelf in left side or right side.In one embodiment, positioning system further includes the auxiliary positioning label being set on fork truck,
Position is different from positioning label position, for example, there are distances along the direction that fork truck travels.Auxiliary positioning label and positioning base
Receive and dispatch auxiliary positioning signal between standing, computing unit is according to the sending time of auxiliary positioning signal and/or auxiliary positioning signal
The position of receiving time and locating base station obtains the location information of auxiliary positioning label, and according to positioning label and auxiliary positioning
The location information of label determines the direction information of fork truck, and then knows fork truck by the goods on the left of cargo deposit tunnel or right side
Frame.
Fig. 2 provides a kind of signal of the carriage type fork 200 for intelligent warehousing system 100 of embodiment according to the present invention
Figure.RFID receiver 201 is provided on the carriage type fork 200.In one embodiment, the RFID receiver 201 is set
It is placed on the pallet of carriage type fork 200, so that can be to the RFID on quasi-goods when 200 bearing goods of carriage type fork
Label.Again in one embodiment, the RFID receiver 201 is provided with multiple, to ensure that one or more can
In 200 bearing goods of carriage type fork to the RFID label tag on quasi-goods.The RFID receiver 201 is in contact cargo
On RFID label tag after, read the goods information that stores in RFID label tag, for example, Item Number, series of lot, the date of manufacture,
It is expected that one or more of picking date, cargo storage quotient, Cargo Claim quotient or other information.The RFID receiver 201
It monitors whether to contact with the RFID label tag disconnection on cargo, and records it and disconnect the temporal information contacted with RFID label tag.It is described
Goods information and RFID receiver disconnect the temporal information contacted with RFID label tag and are passed to computing unit, for computing unit
Know the actual stored position of cargo.
The carriage type fork 200 further includes positioning label 202, with the positioning base being laid in intelligent warehousing system 100
Group of standing interacts positioning signal, so that intelligent warehousing system 100 knows the location information of positioning label 202.In one embodiment,
Positioning label 202 is placed on the pallet of carriage type fork 200, and it is three-dimensional fixed that locating base station group can carry out positioning label 202
Position.In this way, positioning label 202 on pallet with moving down when carriage type fork 200 stores cargo and moves up and down pallet
It is dynamic.When RFID receiver and RFID label tag disconnection contact, i.e., at the time of cargo leaves fork truck and is put into shelf, from positioning mark
The three dimensional local information of label 202 is the storage position information that may know that cargo deposit shelf.Because locating base station group can be to fixed
Position label 202 carries out three-dimensional localization, so as to know the elevation information of positioning label 202, and then knows that cargo is stored in shelf
Elevation information, such as deposit shelf which layer.
Again in one embodiment, locating base station group carries out two-dimensional localization to positioning label 202, meanwhile, by the support
Height sensor 204 is set on disc type fork truck 200, for detecting the height of cargo on fork truck, in RFID receiver and RFID
When label disconnects contact, i.e., at the time of cargo leaves fork truck and is put into shelf, know the elevation information of cargo deposit shelf, in conjunction with
The two-dimensional position information of positioning label can know the three-dimensional position of cargo.In an embodiment as illustrated in figure 2, height sensor
204 can be set at the pallet lift bar of carriage type fork 200.
Again in one embodiment, described preferably to receive and dispatch positioning to enable to position label 202 with locating base station group
The positioning label 202 can be placed at roof by signal, i.e., as shown in positioning label 202 ' in Fig. 2.
In one embodiment, the carriage type fork 200 further includes auxiliary positioning label 202-1, with positioning label
202 or 202 ' positions are different, such as there are distances along the direction that fork truck travels.By to positioning label 202 or 202 ' with
And auxiliary positioning label 202-1 is positioned, and the direction information of fork truck can be determined according to the location information of the two, and then know
Cargo is stored on the left of tunnel the still shelf on right side by fork truck.
Fig. 3 provides a kind of signal for holding formula fork truck 300 for intelligent warehousing system 100 of embodiment according to the present invention
Figure.Difference due to holding formula fork truck 300 and carriage type fork 300 be only that the component of bearing goods for clamp arm or pallet,
The present embodiment illustrates only the clamp arm position for holding formula fork truck 300 to illustrate the difference with carriage type fork 300, and in pellet type
The description at 300 vehicle body position of fork truck is equally applicable to hold formula fork truck 300.It holds and is provided with RFID receiver on formula fork truck 300
301.In one embodiment, the RFID receiver 301 is set at the clamp arm center for holding formula fork truck 300, so that described
It can be to the RFID label tag on quasi-goods when holding formula 300 bearing goods of fork truck.In one embodiment, the RFID receiver
301 are set to inside the unilateral or bilateral clamp arm for holding formula fork truck 300, so that energy when holding formula 300 bearing goods of fork truck
Enough to the RFID label tag on quasi-goods.Again in one embodiment, the RFID receiver 301 is provided with multiple, to ensure it
One or more of can it is described hold formula 300 bearing goods of fork truck when to the RFID label tag on quasi-goods.It is described to hold
Formula fork truck 300 further includes positioning label 302, interacts positioning signal with the locating base station group being laid in intelligent warehousing system 100,
So that intelligent warehousing system 100 knows the location information of positioning label 302.In one embodiment, the positioning label 302 is put
It is placed at the clamp arm for holding formula fork truck 300, at clamp arm center or at roof.
The acquisition fork truck that Fig. 4 provides a kind of embodiment according to the present invention stores the storage position of cargo in storage place
The flow chart of intelligent storage method 400.Wherein, it is provided with positioning label and RFID receiver on fork truck, is provided on cargo
RFID label tag is provided with the locating base station of known location in place of storing in a warehouse.And wherein, it positions and is received and dispatched between label and locating base station
Positioning signal, the goods information of cargo is stored in RFID label tag and RFID receiver and RFID label tag in fork truck deliver the goods
Contact can be generated when object to read the goods information of the cargo.Intelligent storage method 400 includes the following steps 401~403.
In step 401: according to the receiving time and locating base station of the sending time of positioning signal and/or positioning signal
Position obtains the location information of positioning label.In one embodiment, the positioning label being placed on fork truck is ultra wide band positioning mark
Label, the positioning label emit ultra wide band positioning signal to locating base station, and locating base station receives the ultra wide band positioning signal simultaneously
Record location signal reaches the temporal information of itself.Again in one embodiment, the locating base station transmitting ultra wide band positioning letter
Number, the positioning label receives the ultra wide band positioning signal and record location signal reaches itself temporal information.Due to super
Broadband signal has the time sense of superelevation, and higher positioning accuracy may be implemented.In one embodiment, computing unit benefit
With the receiving time of positioning signal, pass through TDOA (Time Difference of Arrival, reaching time-difference) location algorithm
The location information of positioning label Tag is resolved, and then knows the location information of fork truck corresponding with the positioning label Tag.One
In a embodiment, computing unit utilize positioning signal sending time and receiving time, by TOA (Time of Arrival,
Arrival time) location algorithm resolves the location information of positioning label Tag, and then knows fork corresponding with the positioning label Tag
The location information of vehicle.It will be appreciated by those skilled in the art that positioning label has with fork truck since positioning label is placed on fork truck
Known positional relationship, or even in some cases, since the positional relationship between positioning label and fork truck is compared to entire storehouse
It is inappreciable for storing up for place, can approximatively think that positioning label is identical as the position of fork truck, therefore, by positioning
The positioning of label can be obtained the location information of fork truck.
In step 402: obtaining RFID receiver with RFID label tag and disconnect the temporal information contacted.In one embodiment,
The RFID label tag is arranged on cargo designated position, and the RFID receiver is arranged on fork truck, the RFID label tag and connects
Receive device placement location according to make fork truck in delivery (for example, lift or hold) cargo, RFID receiver can and cargo
On RFID label tag generate contact be arranged with reading goods information.In one embodiment, on RFID receiver and cargo
RFID label tag align.In one embodiment, RFID label tag is arranged in its designated position before entering memory block in cargo,
And RFID receiver is set up on the fork truck.In one embodiment, the goods information in RFID label tag includes characterization cargo body
The identity information of part, such as Item Number.In another embodiment, the goods information further include series of lot, the date of manufacture,
It is put in storage date, estimated picking date, cargo storage quotient, one or more information in Cargo Claim quotient or other information, depending on
Depending on different demands.
Step 403: disconnecting the time contacted with RFID label tag using the location information and RFID receiver of positioning label
Information knows the storage position of cargo.In one embodiment, intelligent storage method 400 also knows goods using goods information
The storage position of object, this is because cargo is one-to-one with storage position.
In this way, after fork truck extracts cargo, the RFID receiver being arranged on fork truck and the RFID being arranged on cargo
Label contact, to read the goods information in RFID label tag, to know goods information that fork truck extracts.When cargo is placed
When in the storage position of memory block, fork truck and cargo separation are arranged in the RFID receiver on fork truck and are arranged on cargo
RFID label tag disconnect contact, at this point, due to fork truck stop position and cargo storage position be it is relatively-stationary, then pass through
Fork truck stop position (in other words, positioning the position of label) you can learn that the cargo storage position.
In one embodiment, fork truck includes the lifting assembly for going up and down cargo placed thereon, positioning
Label is set on the lifting assembly of the fork truck, and intelligent storage method 400 further includes carrying out three-dimensional localization to positioning label.This
Sample, can obtain the elevation information of positioning label, and then obtain the elevation information of cargo, and then obtain the storage position of cargo,
This is particularly useful for the application scenarios in elevation dimension with multiple storage positions.
In one embodiment, fork truck includes lifting assembly, and fork truck includes for rising cargo placed thereon
The lifting assembly of drop is provided with height sensor on fork truck lifting assembly, for detecting the height of cargo on fork truck.Intelligent storage
Method 400 further includes carrying out two-dimensional localization to positioning label；And positioning when being contacted according to RFID receiver and RFID label tag disconnection
The height of the location information of label and cargo obtains the storage position information of cargo.
In one embodiment, auxiliary positioning label is additionally provided on fork truck, position is different from positioning label position, example
Such as, there are distances along the direction that fork truck travels.Auxiliary positioning signal, intelligence are received and dispatched between auxiliary positioning label and locating base station
Can storage method according to the sending time of auxiliary positioning signal and/or the receiving time of auxiliary positioning signal and locating base station
Position obtains the location information of auxiliary positioning label, and determines fork truck according to the location information of positioning label and auxiliary positioning label
Direction information, and then know fork truck by cargo deposit tunnel on the left of or right side shelf.
The acquisition fork truck that Fig. 5 provides a kind of embodiment according to the present invention stores the storage position of cargo in storage place
The flow chart of intelligent storage method 500.Wherein, it is provided with positioning label and RFID receiver on fork truck, is provided on cargo
RFID label tag is provided with the locating base station of known location in place of storing in a warehouse.And wherein, it positions and is received and dispatched between label and locating base station
Positioning signal, the goods information of cargo is stored in RFID label tag and RFID receiver and RFID label tag in fork truck deliver the goods
Contact can be generated when object to read the goods information of the cargo.In one embodiment, the RFID label tag is arranged in goods
On object designated position, the RFID receiver is arranged on fork truck, and the placement location of the RFID label tag and receiver is according to making
Fork truck is obtained in delivery (for example, lift or hold) cargo, RFID receiver can generate contact with the RFID label tag on cargo
It is arranged with reading goods information.In one embodiment, the RFID label tag on RFID receiver and cargo aligns.One
In a embodiment, RFID label tag is arranged in its designated position before entering memory block in cargo, and RFID is set up on the fork truck
Receiver.In one embodiment, the goods information in RFID label tag includes the identity information for characterizing cargo identity, such as cargo
Number.In another embodiment, the goods information further includes series of lot, date of manufacture, storage date, estimated picking day
Phase, cargo storage quotient, one or more information in Cargo Claim quotient or other information, depending on different demands.
Intelligent storage method 500 includes the following steps 501~503.
In step 501: detection RFID receiver is contacted with whether RFID label tag disconnects.
In step 502: when detecting that RFID receiver and RFID label tag disconnection contact, when according to the transmission of positioning signal
Between and/or the receiving time of positioning signal and the position of locating base station positioning label is positioned to obtain positioning label
Location information.In one embodiment, the positioning label being placed on fork truck is that ultra wide band positions label, and the positioning label is to calmly
Position Base Transmitter ultra wide band positioning signal, locating base station receives the ultra wide band positioning signal and record location signal reaches itself
Temporal information.Again in one embodiment, the locating base station emits ultra wide band positioning signal, and the positioning label receives institute
It states ultra wide band positioning signal and record location signal reaches itself temporal information.Since ultra-broadband signal has the time of superelevation
Higher positioning accuracy may be implemented in resolving power.In one embodiment, computing unit utilizes the receiving time of positioning signal,
The position of positioning label Tag is resolved by TDOA (Time Difference of Arrival, reaching time-difference) location algorithm
Information, and then know the location information of fork truck corresponding with the positioning label Tag.In one embodiment, computing unit benefit
With the sending time and receiving time of positioning signal, resolved by TOA (Time of Arrival, arrival time) location algorithm
The location information of label Tag is positioned, and then knows the location information of fork truck corresponding with the positioning label Tag.This field skill
Art personnel should be appreciated that since positioning label is placed on fork truck, position label and fork truck with known positional relationship, or even
In some cases, since the positional relationship between positioning label and fork truck is compared to being insignificant for entire storage place
, it can approximatively think that positioning label is identical as the position of fork truck, therefore, fork can be obtained by the positioning to positioning label
The location information of vehicle.
In step 503: using the location information and goods information of positioning label, knowing the storage position of cargo.
In this way, after fork truck extracts cargo, the RFID receiver being arranged on fork truck and the RFID being arranged on cargo
Label contact, to read the goods information in RFID label tag, to know goods information that fork truck extracts.When cargo is placed
When in the storage position of memory block, fork truck and cargo separation are arranged in the RFID receiver on fork truck and are arranged on cargo
RFID label tag disconnect contact, at this point, due to fork truck stop position and cargo storage position be it is relatively-stationary, then pass through
The position (in other words, positioning the position of label) stopped at this time to fork truck is positioned the position you can learn that the cargo storage.
In the embodiment shown in fig. 5, the positioning of positioning label can be marked knowing RFID receiver with the RFID being arranged on cargo
Label just carry out when disconnecting contact, strictly speaking, contact knowing that RFID receiver is disconnected with the RFID label tag being arranged on cargo
It carries out at once later, at the time of due to being positioned to positioning label and RFID receiver and the RFID label tag that is arranged on cargo
It is separated by shorter, and fork truck very small, the positioning obtained at this time that has little time mobile or mobile distance at the time of disconnecting contact
The position of label is also accurate for calculating the storage position of cargo.Moreover, in this method, since positioning need not be one straight
Row, more efficiently.
In one embodiment, fork truck includes the lifting assembly for going up and down cargo placed thereon, positioning
Label is set on the lifting assembly of the fork truck, and intelligent storage method 500 further includes carrying out three-dimensional localization to positioning label.This
Sample, can obtain the elevation information of positioning label, and then obtain the elevation information of cargo, and then obtain the storage position of cargo,
This is particularly useful for the application scenarios in elevation dimension with multiple storage positions.
In one embodiment, fork truck includes lifting assembly, and fork truck includes for rising cargo placed thereon
The lifting assembly of drop is provided with height sensor on fork truck lifting assembly, for detecting the height of cargo on fork truck.Intelligent storage
Method 500 further includes carrying out two-dimensional localization to positioning label；And positioning when being contacted according to RFID receiver and RFID label tag disconnection
The height of the location information of label and cargo obtains the storage position information of cargo.
In one embodiment, auxiliary positioning label is additionally provided on fork truck, position is different from positioning label position, example
Such as, there are distances along the direction that fork truck travels.Auxiliary positioning signal, intelligence are received and dispatched between auxiliary positioning label and locating base station
Can storage method according to the sending time of auxiliary positioning signal and/or the receiving time of auxiliary positioning signal and locating base station
Position obtains the location information of auxiliary positioning label, and determines fork truck according to the location information of positioning label and auxiliary positioning label
Direction information, and then know fork truck by cargo deposit tunnel on the left of or right side shelf.
The present invention gives a kind of intelligent warehousing system and methods, pass through the self-built high accuracy positioning system in storage place
System lays positioning label on fork truck, can accurately know the location information of fork truck, and utilize the RFID reception being located on fork truck
Device obtains RFID receiver and the RFID label tag that is placed on cargo and disconnects the temporal information contacted, so by RFID receiver and
The location information that the RFID label tag being placed on cargo disconnects the positioning label of time of contact is denoted as the storage position of cargo, to obtain
Obtain the storage position of all cargos.Positioning label is only placed on fork truck by the present invention, without being placed on each cargo
Label is positioned, the quantity of positioning label is greatly reduced, saves system cost, and without carrying out complicated pipe to positioning label
Science and engineering is made, and human cost has greatly been saved.
As the above mentioned, although having illustrated and described the preferred embodiment of the present invention, without departing substantially from this hair
In the case where bright spirit and scope, many changes can be carried out.The scope of the present invention is not by the open institute of preferred embodiment as a result,
Limitation.But the present invention should be determined entirely by reference to following claims.
Claims (13)
1. a kind of positioning system in intelligent warehousing system, wherein intelligent warehousing system stores cargo for controlling fork truck,
Positioning system includes:
The locating base station of N number of known location, wherein N is the integer more than or equal to 3；
Label is positioned, is installed on fork truck, positioning signal is received and dispatched between locating base station；
The RFID label tag being arranged on cargo and the RFID receiver being arranged on fork truck, wherein in RFID label tag described in storage
The goods information of cargo, and RFID receiver can be generated when fork truck delivers the cargo with RFID label tag and be contacted to read
State the goods information of cargo；And
Computing unit, according to the position of the receiving time and locating base station of the sending time of positioning signal and/or positioning signal
Obtain the location information of positioning label；And the location information of label is positioned when disconnecting and contacting according to RFID receiver and RFID label tag
And goods information obtains the storage position information of cargo.
2. positioning system as described in claim 1, wherein the positioning label is set on the lifting assembly of the fork truck,
And the positioning system carries out three-dimensional localization so that computing unit is according to RFID receiver and RFID label tag to the positioning label
The three dimensional local information of positioning label obtains the storage position information of cargo when disconnecting contact.
3. positioning system as described in claim 1, wherein the positioning system further includes being set to the fork truck lifting assembly
On height sensor, for detecting the height of cargo on fork truck, wherein the positioning system to the positioning label carry out two
When dimension positioning contacts so that computing unit is disconnected according to RFID receiver and RFID label tag the two-dimensional position information of positioning label with
And the height of cargo obtains the storage position information of cargo.
4. positioning system as claimed in claim 2 or claim 3, wherein the fork truck is carriage type fork and the lifting assembly is
Pallet or the fork truck are that hold formula fork truck and the lifting assembly be clamp arm.
5. positioning system as claimed in claim 4, wherein the RFID receiver is set to the clamp arm center for holding formula fork truck
And/or inside clamp arm, or it is set on the pallet of carriage type fork.
6. positioning system as described in claim 1 further includes auxiliary positioning label, it is arranged on fork truck and the positioning label
The different position in position, receives and dispatches auxiliary positioning signal between auxiliary positioning label and locating base station, computing unit is fixed according to auxiliary
The position of the sending time of position signal and/or the receiving time of auxiliary positioning signal and locating base station obtains auxiliary positioning label
Location information, and the direction information of fork truck is determined according to the location information of positioning label and auxiliary positioning label.
7. a kind of intelligent storage method for obtaining fork truck and storing the storage position of cargo in storage place, wherein set on fork truck
It is equipped with positioning label and RFID receiver, RFID label tag is provided on cargo, the positioning of known location is provided in place of storing in a warehouse
Base station, and wherein, it positions and receives and dispatches positioning signal between label and locating base station, the cargo letter of the cargo is stored in RFID label tag
Breath and RFID receiver, which can be generated with RFID label tag when fork truck delivers the cargo, to be contacted to read the goods information, institute
The method of stating includes:
Positioning mark is obtained according to the position of the receiving time and locating base station of the sending time of positioning signal and/or positioning signal
The location information of label；
It obtains RFID receiver and disconnects the temporal information contacted with RFID label tag；And
The temporal information contacted is disconnected with RFID label tag using the location information and RFID receiver of positioning label, knows cargo
Storage position.
8. intelligent storage method as claimed in claim 7, wherein the method also includes the identity informations using cargo to obtain
Know the storage position of cargo.
9. intelligent storage method as claimed in claim 7, wherein fork truck includes lifting assembly and the positioning label is set to
On the lifting assembly of the fork truck, the method also includes carrying out three-dimensional localization to the positioning label.
10. intelligent storage method as claimed in claim 7, wherein fork truck includes lifting assembly, and the fork truck lifting assembly
On be provided with height sensor, for detecting the height of cargo on fork truck, wherein the method also includes:
Two-dimensional localization is carried out to the positioning label；
The height of the location information of positioning label and cargo is disconnected when contacting according to RFID receiver and RFID label tag to obtain
The storage position information of cargo.
11. a kind of for obtaining the intelligent storage method of fork truck storage position of storage cargo in storage place, wherein fork truck
On be provided with positioning label and RFID receiver, be provided with RFID label tag on cargo, be provided with known location in place of storing in a warehouse
Locating base station, and wherein, it positions and receives and dispatches positioning signal between label and locating base station, the goods of the cargo is stored in RFID label tag
Object information and RFID receiver, which can be generated with RFID label tag when fork truck delivers the cargo, to be contacted to read the cargo
Goods information, which comprises
Detection RFID receiver is contacted with whether RFID label tag disconnects；
When detecting that RFID receiver and RFID label tag disconnection contact, believed according to the sending time of positioning signal and/or positioning
Number receiving time and locating base station position to positioning label positioned with obtain positioning label location information；
Using the location information and goods information of positioning label, the storage position of cargo is known.
12. intelligent storage method as claimed in claim 11, wherein fork truck includes lifting assembly and the positioning label is arranged
In on the lifting assembly of the fork truck, the method also includes carrying out three-dimensional localization to the positioning label.
13. intelligent storage method as claimed in claim 11, wherein fork truck includes lifting assembly, and the fork truck lifting group
Height sensor is provided on part, for detecting the height of cargo on fork truck, wherein the method also includes:
Two-dimensional localization is carried out to the positioning label；And
The height of the location information of positioning label and cargo is disconnected when contacting according to RFID receiver and RFID label tag to obtain
The storage position information of cargo.
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