CN110472916A - A kind of the transport control method and system of cargo - Google Patents
A kind of the transport control method and system of cargo Download PDFInfo
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- CN110472916A CN110472916A CN201910766246.2A CN201910766246A CN110472916A CN 110472916 A CN110472916 A CN 110472916A CN 201910766246 A CN201910766246 A CN 201910766246A CN 110472916 A CN110472916 A CN 110472916A
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- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
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Abstract
The present invention provides the transport control method and system of a kind of cargo, method includes: that intelligent commodity shelf carries out issuing delivery request after obtaining cargo to be dispensed with goods according to the enquiry application got from server；The robot being sent according to delivery request is placed in the warehousing region of robot after taking out cargo to be dispensed from corresponding intelligent commodity shelf, by goods handling to be dispensed and be offloaded to corresponding automatic transceiving platform；After cargo to be dispensed is placed on automatic transceiving platform, picking notice is issued.Automatic cargo allocation, delivery and unloading of the present invention, save labour turnover, and promote the conevying efficiency of cargo.
Description
Technical field
The present invention relates to logistics technology, the transport control method and system of espespecially a kind of cargo.
Background technique
With the development of science and technology, robot is widely used in logistic industry, it is most of in existing robot logistics
It is that robot looks for cargo or robot that certain class shelf is dragged to station sorting of receiving on shelf.
Certain class shelf is dragged to station of receiving for robot and sorts this kind of means of transportation, there is a problem of it is very big, such as
If certain class shelf is dragged to station of receiving by robot, if midway is needed by open area, it is difficult to ensure that article on shelf
Safety；And when have it is multiple receive stand when, if distance is farther out back and forth, this shelf is occupied, then other receive station just need to wait this
Ability picking, substantially reduces conevying efficiency after shelf are returned.Cargo is looked on shelf by robot, it is necessary to reserve beside shelf
Robot channel, this will lead to the storage density decline of shelf.In addition, need with goods there is still a need for artificial participation when matching goods
While spending a large amount of manpower, the transportation management efficiency of cargo is reduced.In addition, can not in existing robot logistics yet
Transit link and other links are decoupled, after robot is sent to cargo, it is necessary to artificial discharging, and need all cargo pickings complete
Cheng Hou, robot could return, and conevying efficiency is very low.
In summary, in the case where aging is on the rise, human cost is got higher increasingly, how to realize saving manually at
Originally, the conevying efficiency for promoting cargo is problem urgently to be resolved.
Summary of the invention
The object of the present invention is to provide the transport control methods and system of a kind of cargo, realize automatic cargo allocation, deliver and unload
Goods saves labour turnover, and promotes the conevying efficiency of cargo.
Technical solution provided by the invention is as follows:
The present invention provides a kind of transport control method of cargo, comprising steps of
Intelligent commodity shelf carries out issuing hair after obtaining cargo to be dispensed with goods according to the enquiry application got from server
Goods request；
The robot being sent according to the delivery request is put after taking out the cargo to be dispensed from corresponding intelligent commodity shelf
It is placed in the warehousing region of robot, by the goods handling to be dispensed and is offloaded to corresponding automatic transceiving platform；
After the cargo to be dispensed is placed on the automatic transceiving platform, picking notice is issued.
Further, the robot being sent according to the delivery request from corresponding intelligent commodity shelf take out it is described to
It is placed in the warehousing region of robot after dispatching cargo, by the goods handling to be dispensed and corresponding automatic transceiving is offloaded to and puts down
Platform specifically includes step:
The server obtains corresponding first working condition of each robot, according to the delivery request and the first work shape
State generates and sends cargo transport dispatch command to corresponding robot；
It is described to send the robot of cargo transport to be moved to corresponding intelligent commodity shelf according to the cargo transport dispatch command by server
Place, is placed in the warehousing region after taking out the cargo to be dispensed in the intelligent commodity shelf；
The robot is moved at corresponding automatic transceiving platform according to the cargo transport dispatch command, will be described to be dispensed
Cargo is put into from the warehousing region to the automatic transceiving platform；
Wherein, first working condition is the corresponding working condition of time of reception robot in the delivery request.
Further, the intelligent commodity shelf obtain with goods wait match according to the enquiry application got from server
Delivery request is issued after delivery object specifically includes step:
When receiving the enquiry application for the picking personnel that the server is sent, the intelligent commodity shelf is according to the enquiry
Corresponding cargo inventory is inquired in application and whether empty van inventory is enough；
If when cargo inventory and enough empty van inventories, the intelligent commodity shelf puts corresponding cargo according to the enquiry application
Enter in empty van, issues delivery request after obtaining corresponding cargo to be dispensed；
If cargo inventory is not enough or empty van inventory is inadequate, the intelligent commodity shelf issues the corresponding request that replenishes and is mended with reminding
Goods.
Further, the intelligent commodity shelf obtain with goods wait match according to the enquiry application got from server
After delivery object issue delivery request before comprising steps of
The server obtains the enquiry application of picking personnel, meets the enquiry application according to cargo storage record search
The intelligent commodity shelf of required cargo sends the enquiry application to corresponding intelligent commodity shelf.
Further, described after the cargo to be dispensed is placed on the automatic transceiving platform, issue picking notice
Later comprising steps of
When, there are when empty van, the automatic transceiving platform sends empty van to the server and returns on the automatic transceiving platform
Receive request；
When the server determines triggering empty van recovery process, corresponding second working condition of each robot is obtained, according to
The empty van recycling request and the second working condition generate and send recycling empty van dispatch command to corresponding robot；
The robot for being sent to recycle empty van is moved at the corresponding automatic transceiving platform of the recycling empty van dispatch command,
At least one empty van is taken out from the automatic transceiving platform and is put into the warehousing region of robot；
The robot is moved at corresponding intelligent commodity shelf, is taken out at least one empty van from the warehousing region and is put into
To the intelligent commodity shelf；
Wherein, second working condition is the corresponding working condition of triggering empty van recovery process moment robot.
The present invention also provides a kind of shipment control systems of cargo, comprising: server, several intelligent commodity shelfs, robot
With automatic transceiving platform；
The intelligent commodity shelf obtains goods to be dispensed with goods for carrying out according to the enquiry application got from server
Delivery request is issued after object；
The server, for sending robot to freight according to the delivery request；
The robot, for being placed in the warehousing of robot after taking out the cargo to be dispensed from corresponding intelligent commodity shelf
Region by the goods handling to be dispensed and is offloaded to corresponding automatic transceiving platform；
The automatic transceiving platform, for issuing after the cargo to be dispensed is placed on the automatic transceiving platform
Picking notice.
Further, the server includes: to obtain module, generation module and first communication module；The robot packet
Include warehousing region, second communication module, execution module and mobile module；
The acquisition module, for obtaining corresponding first working condition of each robot；
The generation module, for generating cargo transport dispatch command according to the delivery request and the first working condition；
The first communication module, for obtaining the delivery request of picking personnel, and the transmission cargo transport dispatch command
To corresponding robot；
The mobile module, the cargo transport dispatch command for being obtained according to the second communication module are moved to correspondence
Intelligent commodity shelf at, and, be moved at corresponding automatic transceiving platform according to the cargo transport dispatch command；
The execution module, for being placed in the warehousing area after taking out the cargo to be dispensed in the intelligent commodity shelf
Domain, and the cargo to be dispensed is put into from the warehousing region to the automatic transceiving platform；
Wherein, first working condition is the corresponding working condition of time of reception robot in the delivery request.
Further, the intelligent commodity shelf includes:
Enquiry module, for being wanted according to described when receiving the enquiry application for the picking personnel that the server is sent
Goods application, inquires corresponding cargo inventory and whether empty van inventory is enough；
With goods module, if be used for cargo inventory and enough empty van inventories, according to the enquiry application by corresponding cargo
It is put into empty van, obtains corresponding cargo to be dispensed；
Reminding module, if for cargo inventory not enough or empty van inventory it is inadequate when, issue it is corresponding replenish request to remind
It replenishes.
Further, the server further include: analysis module；
The first communication module is also used to send the intelligence of enquiry application cargo to needed for meeting the enquiry application
It can shelf；
Analysis module, the intelligent commodity shelf for cargo needed for meeting the enquiry application according to cargo storage record search.
Further, the automatic transceiving platform is also used to when itself is there are when empty van, and the automatic transceiving platform is to institute
It states server and sends empty van recycling request；
The server when being also used to determine triggering empty van recovery process, obtains the corresponding second work shape of each robot
State generates and sends recycling empty van dispatch command to corresponding machine according to empty van recycling request and the second working condition
People；
The robot is also used to be moved at the corresponding automatic transceiving platform of the recycling empty van dispatch command, from institute
It states and takes out at least one empty van in automatic transceiving platform and be put into the warehousing region of robot, and be moved to corresponding intelligence
At shelf, at least one empty van is taken out from the warehousing region and is put into the intelligent commodity shelf；
Wherein, second working condition is the corresponding working condition of triggering empty van recovery process moment robot.
The transport control method and system of a kind of cargo provided through the invention, can automatic cargo allocation, delivery and unloading,
It saves labour turnover, promotes the conevying efficiency of cargo.
Detailed description of the invention
Below by clearly understandable mode, preferred embodiment is described with reference to the drawings, a kind of transport of cargo is controlled
Above-mentioned characteristic, technical characteristic, advantage and its implementation of method and system are further described.
Fig. 1 is a kind of flow chart of one embodiment of the transport control method of cargo of the present invention；
Fig. 2 is a kind of flow chart of another embodiment of the transport control method of cargo of the present invention；
Fig. 3 is a kind of flow chart of another embodiment of the transport control method of cargo of the present invention；
Fig. 4 is a kind of schematic diagram of an example of the transport control method of cargo of the present invention；
Fig. 5 is a kind of structural schematic diagram of one embodiment of the shipment control system of cargo of the present invention.
Specific embodiment
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, Detailed description of the invention will be compareed below
A specific embodiment of the invention.It should be evident that drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing, and obtain other embodiments.
To make simplified form, part related to the present invention is only schematically shown in each figure, they are not represented
Its practical structures as product.In addition, there is identical structure or function in some figures so that simplified form is easy to understand
Component only symbolically depicts one of those, or has only marked one of those.Herein, "one" is not only indicated
" only this ", can also indicate the situation of " more than one ".
One embodiment of the present of invention, as shown in Figure 1, a kind of transport control method of cargo, comprising:
S100 intelligent commodity shelf send out after obtaining cargo to be dispensed with goods according to the enquiry application got from server
Delivery request out；
Specifically, enquiry application includes picking place and cargo demand information, cargo demand information includes but is not limited to
Cargo type required for picking personnel, Description of Goods and quantity of goods.Delivery region (delivery station) is provided with several intelligence
Shelf, each intelligent commodity shelf are provided with several the first goods yards, and intelligent commodity shelf can be non-enclosed, and certain intelligent commodity shelf can
To be arranged the first goods yard of isolation and extraneous cabinet door, and each intelligent commodity shelf is equipped with return of goods mouth and access section, certain access section and
Return of goods mouth can be the same import and export of goods of intelligent commodity shelf.Each intelligent commodity shelf is equipped with signal generator, so that intelligent goods
Frame obtains the enquiry application of picking personnel from server, and then, intelligent commodity shelf obtain at least with goods according to enquiry application
One cargo to be dispensed.After intelligent commodity shelf is once it is determined that obtain at least one cargo to be dispensed with goods, intelligent commodity shelf will be generated
For delivery request to server, the delivery request that intelligent commodity shelf issues includes picking place, and picking place includes that picking personnel are specified
Automatic transceiving platform position, further include specified region.
The robot that S200 is sent according to delivery request is placed in after taking out cargo to be dispensed from corresponding intelligent commodity shelf
The warehousing region of robot by goods handling to be dispensed and is offloaded to corresponding automatic transceiving platform；
Specifically, the warehousing region of robot includes non-enclosed robot goods yard and enclosed robot goods yard,
For non-enclosed goods yard, possible goods yard edge is provided with cabinet door in closed goods yard, is equipped with electronic lock at cabinet door.It receives
Region (station of receiving) is provided with several automatic transceiving platforms, and each automatic transceiving platform includes several second goods yards.It is sent
After the robot sent is moved to the intelligent commodity shelf position with delivery demand, the robot that is sent with there is delivery demand
Intelligent commodity shelf docked, to take out at least one cargo to be dispensed stored in intelligent commodity shelf, then robot will be taken
Each cargo to be dispensed out is put into the warehousing region to robot to realize automatic goods loading, and then robot loads to be dispensed
Cargo to be dispensed is taken out from warehousing region to corresponding automatic transceiving platform and is offloaded to corresponding automatic transceiving by goods movement
Platform is to realize automatic unloading.
S300 issues picking notice after cargo to be dispensed is placed on automatic transceiving platform.
Specifically, be sent the robot of delivery by each cargo to be transported be offloaded to after corresponding automatic transceiving platform from
It opens, once cargo to be dispensed, which is placed on automatic transceiving platform, issues picking notice, to notify picking personnel to go in time certainly
Dynamic transmit-receive platform position carries out picking.Picking advice method include be text, picture, vibration, light, appointing in sound
One or more of anticipating modes.The mode that automatic transceiving platform determines whether that at least one empty van is placed into itself includes still
Two kinds are not limited to, first is that automatic transceiving platform is equipped with operation panel and signal projector, is completed simultaneously when picking personnel take away with goods
When setting the container of physical tag, and empty van be put into automatic transceiving platform after cargo in container is taken out, picking
Personnel can input operation on the operation panel of automatic transceiving platform, to generate empty van recycling request and be emitted by signal
Device issues empty van recycling request.Second is that being provided with detection sensor at each second goods yard, made automatically by detection sensor
Whether transmit-receive platform can automatically detect has at least one empty van to be placed at the second goods yard of itself, such as each second goods yard
Place is provided with the detection sensors such as gravity sensor or pressure sensor and tag scan equipment, once detection sensor detects
The measured value arrived is greater than the first preset value (generally 0) and is less than or equal to the second preset value (generally manual measurement or empty van
Dispatch from the factory the empty weight value of measurement) and the result of tag scanner scanning only include the physical tag of container, do not include arriving
The physical tag of cargo then illustrates that empty van is placed into automatic transceiving platform, and automatic transceiving platform generates empty van recycling request at this time
And empty van recycling request is issued by signal projector.
S300 issues picking notice and specifically includes step after cargo to be dispensed is placed on automatic transceiving platform:
For S310 after cargo to be transported is placed on automatic transceiving platform, automatic transceiving platform issues picking notice；With/
Or,
For S320 after cargo to be transported is placed on automatic transceiving platform, robot issues picking notice；And/or
S330 is after cargo to be transported is placed on automatic transceiving platform, robot or the feedback unloading of automatic transceiving platform
Successful result is to server, and control user terminal issues picking notice after server receives unloading successful result.
Specifically, user terminal include mobile phone used in picking personnel or picking personnel region computer or
Person's broadcasting equipment.After each container is offloaded to corresponding automatic transceiving platform by the robot being sent, setting with informing function
Preparation goes out picking notice, to notify picking personnel that automatic transceiving platform position is gone to carry out picking in time.Sending takes
For goods notice there may be three kinds in a manner of reminding the timely picking of picking personnel, first way is when container is placed on automatically
After at any one second goods yard of transmit-receive platform, before automatic transceiving platform the first picking reminder announced picking personnel of sending are timely
Picking is carried out at toward corresponding automatic transceiving platform.The second way is when container is placed on any one of automatic transceiving platform
After at a second goods yard, robot issues the second picking reminder announced picking personnel and is gone at corresponding automatic transceiving platform in time
Carry out picking.After the third mode is at any one second goods yard that container is placed on automatic transceiving platform, robot
Or automatic transceiving platform feedback unloading successful result after server receives unloading successful result, generates concurrent to server
Send control instruction to corresponding the used user terminal of picking personnel of container, user terminal issues third picking according to control instruction
Reminder announced picking personnel go to progress picking at corresponding automatic transceiving platform in time.Advice method include be text, picture,
Vibration, light, any one or various ways in sound.
Through this embodiment, picking is carried out by multiple, various progress picking reminder announced picking personnel, conveniently taken
Goods personnel are quick, go at automatic transceiving platform picking of entering in time.In the present embodiment, robot issues picking notice, and will
After article to be transported is offloaded to automatic transceiving platform, other places is gone to continue to convey article to be transported, Ke Yiti at once
The picking personnel that wake up carry out picking.Article to be transported is offloaded to automatic transceiving platform, by automatic transceiving platform in a local straight hair
Picking notice carries out prompting picking out, until picking personnel carry out picking and just stop issuing picking notice, not only reduces picking
Personnel, which are leaked, takes or forgets the probability of picking, promotes the picking experience of picking personnel, it is not necessary to as the prior art until
Picking personnel, which take away, waits robot after pickup that other places can just be gone to continue to convey article to be transported, greatly improves
The conevying efficiency of robot, and then promote whole cargo transportation efficiency.In addition, when cargo to be transported is placed on automatic transceiving
After platform, to server, server is received to unload and successfully be tied for robot or automatic transceiving platform feedback unloading successful result
User terminal is controlled after fruit and issues picking notice, can be realized remote notification picking personnel and automatic transceiving platform is gone to carry out picking
Purpose, the picking personnel leakage of reduction takes or forgets the probability of picking, promote the picking experience of picking personnel.
The present invention is suitable for the application scenarios of the logistics transportations demand such as hospital, supermarket, bookstore, express delivery, by this implementation
Example, when having delivery demand, intelligent commodity shelf can be in the cargo demand order for getting picking personnel, by intelligent commodity shelf
Automatic cargo allocation is carried out according to cargo demand order, in such manner, it is possible to which goods can independently be matched by not needing configuration intelligent commodity shelf in delivery
And delivery, and cargo to be dispensed is offloaded to automatic transceiving platform by robot, in addition to needing picking personnel to carry out picking execution
Outside, whole match goods, delivery, cargo transport and unloading process are participated in without personnel, are promoted whole cargo transportation efficiency, are saved manpower
Material resources substantially reduce cost of labor.
One embodiment of the present of invention, as shown in Fig. 2, a kind of transport control method of cargo, comprising:
S110 when receiving the enquiry application of picking personnel of server transmission, inquire according to enquiry application by intelligent commodity shelf
Whether corresponding cargo inventory and empty van inventory are enough；
If S120 cargo inventory is not enough or empty van inventory is inadequate, intelligent commodity shelf issues the corresponding request that replenishes and is mended with reminding
Goods；
If when S130 cargo inventory and enough empty van inventories, corresponding cargo is put into sky according to enquiry application by intelligent commodity shelf
In case, delivery request is issued after obtaining corresponding cargo to be dispensed；
Specifically, inquiring the cargo and empty van of itself storage according to enquiry application after intelligent commodity shelf gets enquiry application
Whether inventory is enough.If when cargo inventory and enough empty van inventories, intelligent commodity shelf puts corresponding cargo according to enquiry application
Enter in empty van, obtain corresponding cargo to be dispensed and issue delivery request Concurrency go out delivery request.Certain whether cargo inventory
Or when any one of empty van inventory inventory is inadequate, intelligent commodity shelf issues the corresponding request that replenishes all in accordance with the inadequate type of inventory.
Such as cargo inventory it is inadequate when, intelligent commodity shelf issues cargo and replenishes request, and when empty van inventory is inadequate, intelligent commodity shelf issues empty van benefit
Goods request.
S210 server obtains corresponding first working condition of each robot, raw according to delivery request and the first working condition
At and send cargo transport dispatch command to corresponding robot；
Specifically, automatic transceiving server and each machine are able to carry out wireless communication per capita, so that server is supervised in real time
Control the working condition of each robot, after server gets the delivery request of picking personnel, server according to delivery request and
Corresponding first working condition of the delivery request time of reception each robot carries out robot scheduling and selects suitable machine
People generates cargo transport dispatch command and is sent to corresponding robot.The identification information and status information of robot, state letter
Breath includes but is not limited to whether remaining capacity, task list and the robot of robot are in the fault detection of malfunction
Report.
S220 sends the robot of cargo transport to be moved at corresponding intelligent commodity shelf according to cargo transport dispatch command by server, from
Warehousing region is placed in after taking out cargo to be dispensed in intelligent commodity shelf；
Specifically, sending the robot of delivery by server, to be moved to the mode of intelligent commodity shelf include but is not limited to two
Kind, first is that robot can be moved to where corresponding intelligent commodity shelf according to picking destination independent navigation in cargo transport dispatch command
Position.Second is that cargo transport dispatch command includes the picking Route Scheduling of the robot generated by server, the picking scheduling of robot
Route corresponds to picking destination with the intelligent commodity shelf for meeting enquiry application according to robot position and carries out Global motion planning generation,
So that robot is moved to the intelligent commodity shelf position for meeting enquiry application according to picking Route Scheduling.Robot passes through
After aforesaid way is moved to the intelligent commodity shelf for meeting enquiry application, due to intelligent commodity shelf be automatically performed meet enquiry application wait match
Delivery object, therefore robot takes out the goods to be dispensed for meeting enquiry application at the access section (or import and export of goods) of intelligent commodity shelf
Then cargo to be dispensed is launched (or being put into) into the warehousing region of robot itself by object.
After robot movement and arrival have the intelligent commodity shelf position of delivery demand, robot has two ways
The warehousing region that cargo to be transported is removed and placed in robot from intelligent commodity shelf is subjected to cargo loading (getting in stocks) to be transported.
It is loaded first is that robot actively takes out cargo to be transported, i.e., robot may be provided with manipulator, then machine
Device people can take out at least one cargo to be transported by manipulator from intelligent commodity shelf, and be placed on the warehousing area of robot
In domain.It is loaded second is that robot passively takes out cargo to be transported, i.e., is provided with transmission device at the goods yard of intelligent commodity shelf.Such as
Fruit robot goods yard is non-enclosed goods yard, then after robot is docked with intelligent commodity shelf, the biography at intelligent commodity shelf goods yard
Device is sent to drive cargo to be transported mobile towards the non-enclosed goods yard of robot, so that cargo to be transported is placed into
To the non-enclosed goods yard of robot.If robot goods yard is closed goods yard, intelligent commodity shelf is mutual with robot
After verifying other side's identities match, electronic lock automatically opens and opens cabinet door, to complete docking for robot and intelligent commodity shelf, so
Afterwards, the transmission device at intelligent commodity shelf goods yard drives cargo to be transported mobile towards the closed goods yard of robot, thus
So that cargo to be transported is placed into the closed goods yard of robot.
S230 robot is moved at corresponding automatic transceiving platform according to cargo transport dispatch command, by cargo to be dispensed from storage
Goods area domain is put into automatic transceiving platform；
Specifically, robot obtains at least one cargo to be dispensed from intelligent commodity shelf, and it is put into robot itself
Warehousing region after, the mode that robot is moved at corresponding automatic transceiving platform includes but is not limited to two kinds, first is that machine
Device people can be moved to corresponding automatic transceiving platform position according to unloading destination independent navigation in cargo transport dispatch command.
Second is that cargo transport dispatch command includes the delivery Route Scheduling of the robot generated by server, the delivery Route Scheduling root of robot
Global motion planning generation is carried out according to robot position and unloading destination, so that robot is moved according to delivery Route Scheduling
It moves to corresponding automatic transceiving platform position.After robot is moved to corresponding automatic transceiving platform through the above way,
Cargo to be dispensed is put into (or unloading) to automatic transceiving platform by robot.
Robot is mobile and arrives at the destination after the corresponding automatic transceiving platform of information after position, referring to above-mentioned intelligence
Can shelf dock the process so that robot picking with robot, robot docked with automatic transceiving platform so that cargo oneself
There are two types of the mode that dynamic completion is offloaded to automatic transceiving platform is same.
It is unloaded and (is unloaded) first is that robot actively takes out cargo to be transported, i.e., robot may be provided with machinery
Hand then robot can take out at least one cargo to be transported by manipulator from the warehousing region of itself, and is placed
In automatic transceiving platform.It is unloaded second is that robot passively takes out cargo to be transported, i.e. automatic transceiving platform is again provided with
Multilayer goods yard, and the goods yard of automatic transceiving platform is provided with transmission device.If robot goods yard is non-enclosed goods yard, that
Until the transmission device at automatic transceiving platform goods yard is towards robot after robot is docked with automatic transceiving platform
Non-enclosed goods yard is mobile, thus can take cargo to be transported away from the non-enclosed goods yard of robot, complete goods to be transported
Object is offloaded to automatic transceiving platform automatically.If robot goods yard is closed goods yard, automatic transceiving platform and robot
After other side's identities match is mutually authenticated, electronic lock automatically opens and opens cabinet door, to complete robot and automatic transceiving platform
Docking, then, transmission device at automatic transceiving platform goods yard is mobile towards the closed goods yard of robot, thus
Cargo to be transported can be taken away from the closed goods yard of robot, complete cargo to be transported and be offloaded to automatic transceiving platform automatically.
S300 issues picking notice after cargo to be dispensed is placed on automatic transceiving platform.
Wherein, the first working condition is the corresponding working condition of time of reception robot in delivery request.
Part same as the previously described embodiments is referring to above-described embodiment in the present embodiment, and this is no longer going to repeat them.Pass through
The present embodiment is carried out inventory's judgement by intelligent commodity shelf and reminded to replenish automatically, avoid by manually estimating whether need to replenish
The case where, guarantee that the inventory of empty van and cargo is sufficient.Also, it carries out inventory's judgement automatically by intelligent commodity shelf and reminds to replenish, drop
It is low that the dependence to replenish is judged whether to employee's personal experience's property, to reduce the shadow that labor turnover is had a holiday to the business demand that replenishes
It rings, greatly reduces business risk, improve the flexibility to replenish.
Intelligent commodity shelf of the present invention independently carries out delivering with goods, and robot carries out cargo transport transport and return shipment, and intelligence
Shelf independently carry out return of goods record, and due to use robot, intelligent commodity shelf and server assistance realization, nobody matches goods, delivers, send
Goods and return of goods environment can be serviced with 24 hours, to improve the conevying efficiency of cargo, substantially reduce cost of labor, and promoted
Usage experience.
Through this embodiment, other than being executed with flow of goods journey and the corresponding staff of picking requirements of process, by robot
It carries out instead of staff with goods, deliver, get in stocks, transport and unload, liberated the mechanical work of fatigue of staff, drop
The workload of low staff maximizes and improves man efficiency.And robot work in addition to charging or failure when, unlike work
Make time of having a rest that personnel need to grow very much like that (including lunch break, have a meal, is on and off duty and have a holiday or vacation), therefore, robot relative to
For staff, the time of delaying work is shorter, in addition, whole carried out by intelligent commodity shelf with goods and delivery, robot is got in stocks, transported
Goods and unloading, and cooperation is a small amount of artificial carries out picking, so that (including delivering, getting in stocks, freight and unloading with goods, picking, transport
Goods) concurrent working, it does not interfere with each other, this makes it possible to the whole Transporting efficiency for greatly promoting cargo, use manpower and material resources sparingly, drop significantly
Low cost of labor.
The present invention carries out actively or passively taking cargo to be transported away simultaneously from intelligent commodity shelf cargo to be transported by robot
It loads and the cargo to be transported of itself warehousing regional load is actively or passively offloaded to automatic transceiving platform, energy by robot
Enough so that not needing at least one intelligent commodity shelf in batching delivery and cargo being sequentially placed into the warehousing region of robot, from
And reduce the delivery waiting time of intelligent commodity shelf.In addition, not needing robot when batch is unloaded and picking personnel being waited to reach simultaneously
Other conveying tasks of execution can be just left after completing picking, when greatly reducing the waiting of robot waiting picking personnel picking
Between, further shorten the cargo transport time, greatly improves Dispatching efficiency and robotic conveyance efficiency, so that whole
Goods batches conevying efficiency greatly increases, and does not need intelligent commodity shelf and participates in cargo loading to be transported, does not also need picking personnel ginseng
Unloaded with cargo to be transported, manpower and material resources be greatly saved in this way, reduce high cost of labor, promoted user (including
Hospital, bookstore, supermarket etc.) experience.
One embodiment of the present of invention, as shown in figure 3, a kind of transport control method of cargo, comprising:
S010 server obtains the enquiry application of picking personnel, needed for meeting enquiry application according to cargo storage record search
The intelligent commodity shelf of cargo sends enquiry application to corresponding intelligent commodity shelf；
S100 intelligent commodity shelf send out after obtaining cargo to be dispensed with goods according to the enquiry application got from server
Delivery request out；
Specifically, cargo storage record includes but is not limited to shipment identifier, cargo type, goods corresponding to each cargo
The shelf for the intelligent commodity shelf that object is stored identify.Server and each intelligent commodity shelf are able to carry out wireless communication, so that service
Device monitors the cargo state that each intelligent commodity shelf is stored in real time, to obtain cargo storage record.Server is deposited according to cargo
The intelligent commodity shelf of cargo needed for record search meets enquiry application is put, enquiry application goods to needed for meeting enquiry application is then sent
The intelligent commodity shelf of object.
The robot that S200 is sent according to delivery request is placed in after taking out cargo to be dispensed from corresponding intelligent commodity shelf
The warehousing region of robot by goods handling to be dispensed and is offloaded to corresponding automatic transceiving platform；
S300 issues picking notice after cargo to be dispensed is placed on automatic transceiving platform；
S400 is when, there are when empty van, automatic transceiving platform sends empty van recycling request to server on automatic transceiving platform；
Specifically, empty van recycling request includes initiating position letter corresponding to the automatic transceiving platform of empty van recycling request
Breath.Wireless communication is able to carry out between each automatic transceiving platform and server to interact.When at least one empty van is placed into automatically
When transmit-receive platform, automatic transceiving platform can generate empty van recycling request, and issue empty van recycling request to server.
When S500 server determines triggering empty van recovery process, corresponding second working condition of each robot is obtained, according to
Empty van recycling request and the second working condition generate and send recycling empty van dispatch command to corresponding robot；
Specifically, server and each machine are able to carry out wireless communication per capita, so that each machine of server real-time monitoring
The second working condition of device people, after server receives the empty van recycling request of automatic transceiving platform sending, server is according to sky
Case recycling request the second working condition corresponding with triggering empty van recovery process moment robot carries out robot scheduling and selects
Suitable target robot simultaneously generates recycling empty van dispatch command, and recycling empty van dispatch command includes that there is empty van to recycle demand
Spatial positional information where automatic transceiving platform, then server is sent to corresponding machine for empty van dispatch command is recycled
People.The condition of triggering empty van recovery process includes: that server determines that arrival timing recovery time, server receive empty van recycling
In instruction any one or it is a variety of.The empty van recovery command that server receives is that picking personnel take goods in container away
Object, and put the empty van after cargo is removed to automatic transceiving platform, picking personnel are generated using user terminal input.With
Family terminal includes the computer of mobile phone used in picking personnel or picking personnel region.
The robot that S600 is sent to recycle empty van is moved at the corresponding automatic transceiving platform of recycling empty van dispatch command,
At least one empty van is taken out from automatic transceiving platform and is put into the warehousing region of robot；
Specifically, it includes but is not limited to two kinds that robot, which is moved to the mode of automatic transceiving platform 7, through the above way,
First is that robot can be moved to corresponding be placed at least according to the leading boat of recycling empty van dispatch command hollow box access locations
The automatic transceiving platform position of one empty van.Second is that being use state of the server according to all automatic transceiving platforms, machine
The empty van specification and quantity and robot that device people takes out at least one empty van from automatic transceiving platform are from automatic transceiving platform
Position carries out Global motion planning after middle at least one empty van of taking-up, generates empty van and recycles programme path, so that robot
Programme path, which is recycled, according to empty van is moved to suitable automatic transceiving platform.
S700 robot is moved at corresponding intelligent commodity shelf, is taken out at least one empty van from warehousing region and is put into intelligence
It can shelf.
Specifically, it includes but is not limited to three kinds that robot, which is moved to the mode of intelligent commodity shelf 7, through the above way, it is a kind of
It is that robot stores the corresponding spatial position of all intelligent commodity shelfs 7, robot takes out at least one from automatic transceiving platform
After empty van, a corresponding spatial position of intelligent commodity shelf 7 is arbitrarily selected, according to current time itself position and selected
The corresponding spatial position of intelligent commodity shelf 7 carries out independent navigation and is moved to corresponding intelligent commodity shelf 7.Another kind is robot storage
There is the corresponding spatial position of all intelligent commodity shelfs 7, robot is after taking out at least one empty van in automatic transceiving platform, from service
It is obtained at device and is matched with the current suitable Intelligent target shelf 7 for taking out empty van specification and quantity, according to current time itself institute
In position and the corresponding spatial position of Intelligent target shelf 7, carries out independent navigation and be moved to corresponding intelligent commodity shelf 7.It is another
Kind is use state of the server according to all intelligent commodity shelfs 7, and robot takes out at least one empty van from automatic transceiving platform
Empty van specification and quantity and the robot position after taking out at least one empty van in automatic transceiving platform carry out it is global
Planning generates empty van and recycles programme path, so that robot, which recycles programme path according to empty van, is moved to suitable intelligence
Shelf 7.
It is transported it is preferable to use latter two mode and unloads empty van to corresponding intelligent commodity shelf 7, because of latter two mode
Can precisely, high efficiency selected go out and dock unloading empty van with the robot for taking empty van away, reduction robot carries a greater number
Empty van when need repeatedly go to different intelligent shelf 7 carry out unloading empty van probability, greatly reduce empty van unloading wait when
Between, empty van recovery efficiency is greatly improved, empty van is needed to carry out the waiting time with goods when reducing intelligent commodity shelf batching delivery,
So that whole goods batches conevying efficiency greatly increases.
Part same as the previously described embodiments is referring to above-described embodiment in the present embodiment, and this is no longer going to repeat them.Pass through
The present embodiment, empty van recovery process are carried out by robot completely, are replaced staff to carry out empty van recycling by robot, are reduced work
Make the workload of personnel, maximizes and improve man efficiency.And robot work in addition to charging or failure when, unlike work people
Time of having a rest that member needs to grow very much like that (including lunch break, have a meal, is on and off duty and have a holiday or vacation), therefore, robot is relative to work
For personnel, the time of delaying work is shorter.In addition, carrying out empty van storage by intelligent commodity shelf, robot is not needed as the prior art,
Intelligent commodity shelf can just leave all empty vans unloading that robot loads after the completion, greatly reduce empty van unloading of robot etc.
To the time.Robot in the present embodiment only needs to carry out dress empty van, transport empty van and unload empty van in empty van recovery process, so that
With the recycling of goods, picking, transport (including deliver, get in stocks, freight and unload) and empty van (including fill empty van, transport empty van and unload empty van)
Concurrent working is not interfere with each other, and this makes it possible to the whole Transporting efficiency for greatly promoting cargo, is used manpower and material resources sparingly, is substantially reduced
Cost of labor.
In addition, server enquiry application is met according to cargo storage record search needed for cargo intelligent commodity shelf, dispatcher
Device people scheduling is gone at corresponding intelligent commodity shelf position, takes out corresponding cargo to be dispensed and the robot transported can meet
The transportation demand for the cargo to be dispensed placed in intelligent commodity shelf disperses in this way, reducing required cargo in enquiry application by difference
Intelligent commodity shelf carries out the probability with goods, and then is promoted with goods success rate and match goods efficiency, and dispersing the probability reduction with goods can subtract
Lack the probability that robot goes to multiple intelligent commodity shelfs to carry out docking picking, and then hoisting machine people transports the transport of cargo to be dispensed
Efficiency.
An example of the present invention, as shown in figure 4, comprising steps of
S1, operating room B nurse (picking personnel i.e. of the present invention) inputted by single device 4 under operating room required for it is sterile
Item Information sends enquiry application to server 1 to generate enquiry application according to aseptic material information；
Enquiry application is sent to intelligent commodity shelf 2 to notify the aseptic material in aseptic material storehouse A by S2, server 1
Three-dimensional cabinet (intelligent commodity shelf 2 i.e. of the present invention), aseptic material solid cabinet judges whether inventory is enough according to enquiry application, if inventory
It is inadequate then feed back to server 1 to notify to replenish, if inventory enough if cargo prepared according to enquiry application carry out with goods
Obtain the container (cargo to be dispensed i.e. of the invention) for being placed with aseptic material.Prepare in addition, 1 dispatch robot 3 of server reaches
Meet the aseptic material solid cabinet of enquiry application container well.
S3, the robot 3 for being sent delivery collect the container for being placed with aseptic material to certainly from aseptic material solid cabinet
The warehousing region of body transports the container for being placed with aseptic material to corresponding automatic transceiving platform 6.
The container that aseptic material is placed in the warehousing region of itself unloading is placed in corresponding automatic by S4, robot 3
Transmit-receive platform 6, robot 3 leave after issuing picking notice to operating room B, and the nurse of operating room B goes to after receiving picking notice
Picking.
S5, empty van recycling, can timing way of recycling recycling empty van or order way of recycling recycle empty van, robot arrive oneself
Dynamic transmit-receive platform recycles empty van up.When using order way of recycling recycling empty van, the triggering recycling order for recycling empty van can
It is assigned by the people (i.e. picking personnel in invention) at station of receiving, or by specifying recovery zone, it is automatic when there is empty van in recovery zone
Triggering recycling order.When using timing way of recycling recycling empty van, server timing judges whether to reach timing recovery time.
When receiving recycling order or reaching timing recovery time, server scheduling robot recycles empty van.Robot reception is sent
After go automatic transceiving platform or specified recovery zone to collect empty van, empty van is put into the warehousing region of robot.Robot
Multiple empty vans can be taken away every time.Empty van is put into corresponding intelligent commodity shelf from warehousing region by robot, and robot can be put into every time
Multiple empty vans.After robot is put into empty van, just go to execute next task.
Specifically, arrival notice equipment 5 includes mobile phone or the electricity of picking personnel region used in picking personnel
Brain or broadcasting equipment.It is sent the robot 3 of delivery for after each cargo transport to be dispensed to corresponding picking place, is sent
The robot 3 of delivery issues picking notice, or is sent the informing arrival notice equipment 5 of robot 3 of delivery, by arrival notice
Equipment 5 issues picking notice, to notify picking personnel that picking place position is gone to carry out picking in time.Advice method
Including being text, picture, vibration, light, any one or various ways in sound.Through this embodiment, by it is multiple,
Various progress picking reminder announced picking personnel carry out picking, and picking personnel is facilitated quickly, in time to go at picking place
Enter picking.In addition, prompting picking is carried out in the local picking notice that issues always by arrival notice equipment 5, until picking personnel
It carries out picking just to stop issuing picking notice, can be realized the mesh that remote notification picking personnel go to picking place to carry out picking
, the picking personnel leakage of reduction takes or forgets the probability of picking, promotes the picking experience of picking personnel.
Through this embodiment, it realizes that cargo goes out and is put in storage full-automation, and unmanned delivery, unmanned transport, whole process are unattended
Purpose, can be serviced with 24 hours, to improve the conevying efficiency of cargo, substantially reduce cost of labor, and promoted and use body
It tests.As shown in figure 4, above-mentioned process supports robot 3 to get in stocks, the aseptic material that robot 3 will pulled back from is put into aseptic material solid
Cabinet enters goods mouth, and the aseptic material that aseptic material solid cabinet will pulled back from is put into wherein.Aseptic material solid cabinet is supported artificial simultaneously
Picking, artificial picking need to carry out authentication (fingerprint, is swiped the card at password).In addition, intelligent commodity shelf automatic cargo allocation and delivery,
The manpower with goods, delivery is saved, when unloading, robot is first discharged at container on automatic transceiving platform, and it is logical to issue picking
Know, picking personnel carry out picking again after finishing, and the empty van for taking out cargo is placed on automatic transceiving platform and triggers recycling, machine
Empty van, to recycle empty van, then is put into corresponding intelligent commodity shelf according to order by people.It is whole unattended, save goods putting entrucking
Manpower, saves the manpower of transport, and saves the manpower of empty van recycling, matches goods, delivery, transport, recycling, and four lines are parallel
Work, does not interfere with each other, and maximizes and improves man efficiency, cargo transportation efficiency is greatly improved.
One embodiment of the present of invention, as shown in figure 5, a kind of shipment control system of cargo include: server 1, it is several
A intelligent commodity shelf 2, robot 3 and automatic transceiving platform 6；
Intelligent commodity shelf 2 obtains cargo to be dispensed with goods for carrying out according to the enquiry application got from server 1
After issue delivery request；
Server 1, for sending robot 3 to freight according to delivery request；
Robot 3, for being placed in the warehousing region of robot 3 after taking out cargo to be dispensed from corresponding intelligent commodity shelf 2,
By goods handling to be dispensed and it is offloaded to corresponding automatic transceiving platform 6；
Automatic transceiving platform 6, for after cargo to be dispensed is placed on automatic transceiving platform 6, issuing picking notice.
Based on previous embodiment, server 1 includes: to obtain module, generation module and first communication module；Robot 3 wraps
Include warehousing region, second communication module, execution module and mobile module；
Module is obtained, for obtaining corresponding first working condition of each robot 3；
Generation module, for generating cargo transport dispatch command according to delivery request and the first working condition；
First communication module for obtaining the delivery request of picking personnel, and sends cargo transport dispatch command to corresponding
Robot 3；
Mobile module, the cargo transport dispatch command for being obtained according to second communication module are moved to corresponding intelligent commodity shelf 2
Place, and, it is moved at corresponding automatic transceiving platform 6 according to cargo transport dispatch command；
Execution module, for being placed in warehousing region after taking out cargo to be dispensed in intelligent commodity shelf 2, and will be to be dispensed
Cargo is put into from warehousing region to automatic transceiving platform 6；
Wherein, the first working condition is the time of reception 3 corresponding working condition of robot in delivery request.
Based on previous embodiment, intelligent commodity shelf 2 includes:
Enquiry module, for when receiving the enquiry application of picking personnel of the transmission of server 1, according to enquiry application,
It inquires corresponding cargo inventory and whether empty van inventory is enough；
With goods module, if be used for cargo inventory and enough empty van inventories, corresponding cargo is put into according to enquiry application
In empty van, corresponding cargo to be dispensed is obtained；
Reminding module, if for cargo inventory not enough or empty van inventory it is inadequate when, issue it is corresponding replenish request to remind
It replenishes.
Based on previous embodiment, server 1 further include: analysis module；
First communication module is also used to send the intelligent commodity shelf 2 of enquiry application cargo to needed for meeting enquiry application；
Analysis module, the intelligent commodity shelf 2 for cargo needed for meeting enquiry application according to cargo storage record search.
Based on previous embodiment, automatic transceiving platform 6 is also used to when itself is there are when empty van, and automatic transceiving platform 6 is to clothes
Business device 1 sends empty van recycling request；
Server 1 obtains corresponding second working condition of each robot 3 when being also used to determine triggering empty van recovery process,
Recycling empty van dispatch command is generated and sent to corresponding robot 3 according to empty van recycling request and the second working condition；
Robot 3 is also used to be moved at the corresponding automatic transceiving platform 6 of recycling empty van dispatch command, from automatic transceiving
At least one empty van is taken out in platform 6 and is put into the warehousing region of robot 3, and is moved at corresponding intelligent commodity shelf 2,
At least one empty van is taken out from warehousing region and is put into intelligent commodity shelf 2；
Wherein, the second working condition is the triggering corresponding working condition of empty van recovery process moment robot 3.
Specifically, the present embodiment is the corresponding Installation practice of above method embodiment, specific effect is referring to above-mentioned correspondence
Embodiment of the method, this is no longer going to repeat them.
It should be noted that above-described embodiment can be freely combined as needed.The above is only preferred implementations of the invention
Mode, it is noted that for those skilled in the art, without departing from the principle of the present invention, also
Several improvements and modifications can be made, these modifications and embellishments should also be considered as the scope of protection of the present invention.
Claims (10)
1. a kind of transport control method of cargo, which is characterized in that comprising steps of
Intelligent commodity shelf is carried out according to the enquiry application got from server with goods, and sending delivery is asked after obtaining cargo to be dispensed
It asks；
The robot being sent according to the delivery request is placed in after taking out the cargo to be dispensed from corresponding intelligent commodity shelf
The warehousing region of robot by the goods handling to be dispensed and is offloaded to corresponding automatic transceiving platform；
After the cargo to be dispensed is placed on the automatic transceiving platform, picking notice is issued.
2. the transport control method of cargo according to claim 1, which is characterized in that described according to the delivery request quilt
The robot sent is placed in the warehousing region of robot after taking out the cargo to be dispensed from corresponding intelligent commodity shelf, will be described
Goods handling to be dispensed is simultaneously offloaded to corresponding automatic transceiving platform and specifically includes step:
The server obtains corresponding first working condition of each robot, raw according to the delivery request and the first working condition
At and send cargo transport dispatch command to corresponding robot；
It is described to send the robot of cargo transport to be moved at corresponding intelligent commodity shelf according to the cargo transport dispatch command by server, from
The warehousing region is placed in after taking out the cargo to be dispensed in the intelligent commodity shelf；
The robot is moved at corresponding automatic transceiving platform according to the cargo transport dispatch command, by the cargo to be dispensed
It is put into from the warehousing region to the automatic transceiving platform；
Wherein, first working condition is the corresponding working condition of time of reception robot in the delivery request.
3. the transport control method of cargo according to claim 1, which is characterized in that the intelligent commodity shelf is according to from service
The enquiry application got at device is carried out with goods, and sending delivery request specifically includes step after obtaining cargo to be dispensed:
When receiving the enquiry application for the picking personnel that the server is sent, the intelligent commodity shelf is according to the enquiry application
It inquires corresponding cargo inventory and whether empty van inventory is enough；
If when cargo inventory and enough empty van inventories, corresponding cargo is put into sky according to the enquiry application by the intelligent commodity shelf
In case, delivery request is issued after obtaining corresponding cargo to be dispensed；
If cargo inventory is not enough or empty van inventory is inadequate, the intelligent commodity shelf issues the corresponding request that replenishes and is replenished with reminding.
4. the transportation management method of cargo according to claim 1, which is characterized in that the intelligent commodity shelf is according to from service
The enquiry application got at device is carried out with goods, obtain issuing after cargo to be dispensed before delivery request comprising steps of
The server obtains the enquiry application of picking personnel, needed for meeting the enquiry application according to cargo storage record search
The intelligent commodity shelf of cargo sends the enquiry application to corresponding intelligent commodity shelf.
5. the transport control method of cargo according to claim 1-4, which is characterized in that it is described when described wait match
After delivery object is placed on the automatic transceiving platform, issue picking notice after comprising steps of
When, there are when empty van, the automatic transceiving platform sends empty van recycling to the server and asks on the automatic transceiving platform
It asks；
When the server determines triggering empty van recovery process, corresponding second working condition of each robot is obtained, according to described
Empty van recycling request and the second working condition generate and send recycling empty van dispatch command to corresponding robot；
The robot for being sent to recycle empty van is moved at the corresponding automatic transceiving platform of the recycling empty van dispatch command, from institute
It states and takes out at least one empty van in automatic transceiving platform and be put into the warehousing region of robot；
The robot is moved at corresponding intelligent commodity shelf, is taken out at least one empty van from the warehousing region and is put into institute
State intelligent commodity shelf；
Wherein, second working condition is the corresponding working condition of triggering empty van recovery process moment robot.
6. a kind of shipment control system of cargo characterized by comprising server, several intelligent commodity shelfs, robot and from
Dynamic transmit-receive platform；
The intelligent commodity shelf, for being carried out with goods, after obtaining cargo to be dispensed according to the enquiry application got from server
Issue delivery request；
The server, for sending robot to freight according to the delivery request；
The robot, for being placed in the warehousing area of robot after taking out the cargo to be dispensed from corresponding intelligent commodity shelf
Domain by the goods handling to be dispensed and is offloaded to corresponding automatic transceiving platform；
The automatic transceiving platform, for issuing picking after the cargo to be dispensed is placed on the automatic transceiving platform
Notice.
7. the shipment control system of cargo according to claim 6, which is characterized in that the server includes: acquisition mould
Block, generation module and first communication module；The robot includes warehousing region, second communication module, execution module and movement
Module；
The acquisition module, for obtaining corresponding first working condition of each robot；
The generation module, for generating cargo transport dispatch command according to the delivery request and the first working condition；
The first communication module for obtaining the delivery request of picking personnel, and sends the cargo transport dispatch command to right
The robot answered；
The mobile module, the cargo transport dispatch command for being obtained according to the second communication module are moved to corresponding intelligence
At energy shelf, and, it is moved at corresponding automatic transceiving platform according to the cargo transport dispatch command；
The execution module, for being placed in the warehousing region after taking out the cargo to be dispensed in the intelligent commodity shelf,
And the cargo to be dispensed is put into from the warehousing region to the automatic transceiving platform；
Wherein, first working condition is the corresponding working condition of time of reception robot in the delivery request.
8. the shipment control system of cargo according to claim 6, which is characterized in that the intelligent commodity shelf includes:
Enquiry module, for when receiving the enquiry application for the picking personnel that the server is sent, according to the enquiry Shen
Please, it inquires corresponding cargo inventory and whether empty van inventory is enough；
With goods module, if be used for cargo inventory and enough empty van inventories, corresponding cargo is put into according to the enquiry application
In empty van, corresponding cargo to be dispensed is obtained；
Reminding module, if for cargo inventory not enough or empty van inventory it is inadequate when, issue it is corresponding replenish request replenished with reminding.
9. the transportation management system of cargo according to claim 7, which is characterized in that the server further include: analysis
Module；
The first communication module is also used to send the intelligent goods of enquiry application cargo to needed for meeting the enquiry application
Frame；
Analysis module, the intelligent commodity shelf for cargo needed for meeting the enquiry application according to cargo storage record search.
10. according to the shipment control system of the described in any item cargos of claim 6-9, it is characterised in that:
The automatic transceiving platform is also used to when itself is there are when empty van, and the automatic transceiving platform is sent to the server
Empty van recycling request；
The server obtains corresponding second working condition of each robot, root when being also used to determine triggering empty van recovery process
Recycling empty van dispatch command is generated and sent to corresponding robot according to empty van recycling request and the second working condition；
The robot is also used to be moved at the corresponding automatic transceiving platform of the recycling empty van dispatch command, from it is described from
At least one empty van is taken out in dynamic transmit-receive platform and is put into the warehousing region of robot, and is moved to corresponding intelligent commodity shelf
Place, takes out at least one empty van from the warehousing region and is put into the intelligent commodity shelf；
Wherein, second working condition is the corresponding working condition of triggering empty van recovery process moment robot.
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Application publication date: 20191119 |