CN110589342B

CN110589342B - Intelligent warehousing control method and system based on Internet of things

Info

Publication number: CN110589342B
Application number: CN201910803207.5A
Authority: CN
Inventors: 余东
Original assignee: Shenzhen Dexinchang Industrial Co ltd
Current assignee: SHENZHEN DEXINCHANG INDUSTRIAL Co.,Ltd.
Priority date: 2019-08-28
Filing date: 2019-08-28
Publication date: 2020-11-13
Anticipated expiration: 2039-08-28
Also published as: CN110589342A

Abstract

An intelligent warehousing control method and system based on the Internet of things comprise the following steps: controlling a scanning device to scan the information of the transported articles contained in the loading list code, controlling a laser printing device to print the list two-dimensional code, controlling a transport crawler to transport the loading frame to the position of the goods shelf and controlling a two-dimensional code scanning mechanical arm to scan the list two-dimensional code, and with the controller of information introduction to goods shelves in, whether the controller discernment transportation article place goods shelves correspond the position and the analysis have article to be in the state of piling up, if have then control buckle telescopic machanism stretch out article fixed and control parcel telescopic machanism stretch out the fixed middle transportation article that remain the matching quantity with article, controller control propelling movement mechanism from last to delivering in to the dress frame with middle transportation article propelling movement in proper order down, control transportation track transports the dress frame in proper order to the goods shelves position of matching and transport the area and transport the delivery of article and deliver in to the dress frame, and after the completion, control transportation track transports the dress frame to the packing region.

Description

Intelligent warehousing control method and system based on Internet of things

Technical Field

The invention relates to the field of warehouse transportation, in particular to an intelligent warehousing control method and system based on the Internet of things.

Background

With the rapid development of national economy in China, the problem of shortage of land resources in cities is increasingly developed, and a three-dimensional logistics warehouse, also called a goods shelf 2 automatic three-dimensional warehouse, is mostly adopted in a modern logistics system for solving the problem of land utilization. Generally, the warehouse stores unit articles by using a plurality of layers, more than ten layers or even dozens of layers of shelves 2, and uses corresponding material handling equipment to carry out warehousing and ex-warehouse operation on the articles. Such warehouses are often referred to visually as "stereoscopic warehouses" because they take full advantage of space to store items. The high-rise rationalization, automatic access and simple and convenient operation of the warehouse can be realized by utilizing the stereoscopic warehouse equipment in the logistics warehouse. The main body of the automatic stereoscopic warehouse consists of a goods shelf 2, a roadway type stacking crane, a warehouse entering (exiting) workbench and an automatic transporting, entering (exiting) and operating control system. The goods shelf 2 is a building or a structural body with a steel structure or a reinforced concrete structure, a goods space with a standard size is arranged in the goods shelf 2, and a tunnel stacking crane passes through a tunnel between the goods shelf 2 to finish the work of storing and taking goods.

With the vigorous development of electronic commerce, the increasing development of logistics industry and the rapid development of logistics work, the modern requirements of people are higher and higher, but most of the existing logistics enterprises are still original manual carrying, the efficiency is low, and the demand for rapidly developing logistics in cities is lagged behind.

However, how to combine together warehouse article transportation and thing networking, after discerning the article that wait to transport, the article of matching quantity is put in to the dress frame to intelligence, then packs article intelligence transportation to packing region to save a large amount of manpower resources is the problem that needs to solve at present urgently.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the defects in the background art, the embodiment of the invention provides an intelligent warehousing control method and system based on the internet of things, which can effectively solve the problems in the background art.

The technical scheme is as follows:

an intelligent warehousing control method based on the Internet of things comprises the following steps:

s1, controlling a scanning device to scan the information of the transported goods contained in the loaded list codes and controlling a laser printing device to laser print the list two-dimensional codes containing the information of the transported goods in a printing area arranged at the side position of a loading frame with the capacity matched with the transported goods according to the scanned information of the transported goods;

s2, controlling a conveying crawler to convey the loading frame to a goods shelf position, controlling a two-dimensional code scanning mechanical arm arranged at the loading frame position to scan the two-dimensional code of the list of the loading frame, and guiding information scanned by the scanning mechanical arm into a controller of the goods shelf;

s3, the controller identifies the corresponding position of the shelf where the transported item is located according to the information scanned by the scanning mechanical arm and analyzes whether the item is in a stacking state according to the identified shelf position where the transported item is located;

s4, if yes, the controller controls a buckle telescopic mechanism arranged at the position of a conveyer belt below the goods in the stacking state to extend out to fix the goods contacted with the conveyer belt and controls a package telescopic mechanism arranged at the position of a shelf above the goods in the stacking state to extend out to fix the goods above the conveyer belt so as to keep middle transported goods with the same quantity as the needed transported goods;

s5, the controller controls a pushing and moving mechanism arranged at the position of the frame behind the stacked articles to sequentially push and release the reserved middle transported articles with the same quantity as the needed transported articles into a loading frame at the side of the goods shelf from top to bottom;

s6, controlling the transportation crawler to sequentially transport the loading frames to the shelf positions of the goods consistent with the information of the transported goods, and controlling the transportation crawler at the shelf position reached by the loading frames to deliver the transported goods to the loading frames, wherein the transportation crawler is matched with the transported goods;

and S7, controlling the transportation crawler where the loaded frame is located to transport the loaded frame to the packing area.

As a preferable mode of the present invention, in S5, the method further includes the steps of:

s50, the controller controls a monitoring camera arranged in a shelf area at the top of the stacked article to start to capture shelf images in real time, and controls a pushing moving mechanism arranged at the position of a pushing moving track of a frame behind the stacked article to move to a position corresponding to the reserved uppermost middle transported article according to the shelf images;

and S51, the controller controls the pushing moving mechanism to push and place the corresponding middle transported articles into a loading frame at the side of the goods shelf according to the goods shelf image, controls the pushing moving mechanism to move downwards at the position of the pushing moving track for a preset distance according to the goods shelf image, and controls the pushing moving mechanism to push and place the corresponding middle transported articles into the loading frame again according to the goods shelf image.

As a preferred mode of the present invention, after S51, the method further includes the steps of:

s52, the controller controls the pushing moving mechanisms which finish pushing all the intermediate transported articles to reset at the pushing moving track position and controls the package stretching mechanism to stretch out to enable the front end to be abutted against the articles at the lower transport belt position according to the shelf image;

s53, the controller controls the package telescopic mechanism to release the fixation with the article and controls the buckle telescopic mechanism to release the fixation with the article;

and S54, the controller controls the package telescoping mechanism to be completely contracted and reset and controls the buckle telescoping mechanism to be completely contracted and reset.

As a preferred mode of the present invention, after S7, the method further includes the steps of:

s70, controlling a packaging camera arranged in a packaging area to start to capture a packaging image, controlling a turnover mechanism arranged at the bottom of a loading frame to stretch out and incline the upper area of the loading frame according to the packaging image, and pouring transported articles into article grids of a packaging platform in the packaging area;

s71, controlling the turnover mechanism to reset the upper part of the loading frame and controlling the conveying crawler belt to convey and reset the loading frame, and controlling a packaging mechanical arm arranged at the side position of the packaging platform to extend to grab the conveyed article at the position of the packaging platform according to the packaging image;

and S72, identifying the size information of the transported article grabbed by the mechanical packing arm according to the packing image, and controlling the mechanical packing arm to place the grabbed transported article in an article grid of the packing platform with the matched size according to the packing image and the size information.

As a preferred mode of the present invention, after S72, the method further includes the steps of:

s73, controlling a moving platform arranged at a position below a packing platform according to the packing image to enable the placed packing boxes to sequentially correspond to the article grids with the packed articles on the packing platform according to a preset rule, and controlling a switch mechanism inside the article grids corresponding to the packing boxes to be opened according to the packing image;

s74, controlling a mobile camera arranged at the external position of the mobile platform to start to shoot a mobile image in real time and controlling the mobile platform to transport the packing box with the stored transported articles to a transportation area according to the mobile image.

An intelligent warehousing control system based on the internet of things, which uses the intelligent warehousing control method based on the internet of things as claimed in any one of claims 1 to 5, and comprises a transportation device, a goods shelf, a packaging device and a control center;

the conveying device comprises a scanning mechanical arm, scanning equipment, laser printing equipment, a first driving motor, a conveying crawler, a two-dimensional code scanning mechanical arm, a two-dimensional code scanner and a loading frame, wherein the scanning mechanical arm is arranged in an initial area in the warehouse, is connected with the scanning equipment and is used for controlling the scanning equipment to scan loading list codes; the scanning equipment is arranged at the front end of the scanning mechanical arm and is used for scanning the information of the transported articles contained in the loading list code; the laser printing equipment is arranged in an initial area in the warehouse and is used for laser printing a corresponding list two-dimensional code in a printing area on the side of the loading frame; the first driving motor is arranged in the article transportation area, is connected with the transportation crawler and is used for driving the connected transportation crawler to run; the transportation crawler is arranged in the article transportation area, is adjacent to the goods shelf and is used for transporting the goods containing frame; the two-dimensional code scanning mechanical arm is arranged at the position of the goods shelf, is connected with the two-dimensional code scanner and is used for controlling the connected two-dimensional code scanner to scan the two-dimensional code in the printing area of the goods loading frame; the two-dimensional code scanner is arranged at the front end of the two-dimensional code scanning mechanical arm and is used for scanning information of articles to be transported contained in the two-dimensional code in the printing area of the loading frame; the loading frame is placed on the upper surface of the conveying track and used for loading and storing conveyed articles;

the goods shelf is provided with a second driving motor, a conveying belt, a buckle telescopic mechanism, a package telescopic mechanism, a pushing moving track, a pushing moving mechanism, a monitoring camera and a controller, and is divided into a plurality of spaces for storing goods; the second driving motor is arranged in the space for storing articles divided by the goods shelf, is connected with the conveying belt and is used for driving the connected conveying belt to run; the conveyer belt is arranged in the goods storage space divided by the goods shelf and used for conveying the placed goods; the buckle telescopic mechanism comprises a first telescopic motor, a telescopic plate, a second telescopic motor and a first telescopic block and is used for fixing an article which is butted against the conveying belt; the package telescopic mechanism comprises a third telescopic motor, a telescopic frame, a fourth telescopic motor and a second telescopic block and is used for fixing a specified number of articles on the conveyor belt from top to bottom; the pushing moving track is arranged on the bottom surface of the space for storing articles divided by the goods shelf and used for providing the pushing moving mechanism to move up and down; the pushing and moving mechanism comprises a pushing shell, a moving motor, a track roller, a first hydraulic pump, a first hydraulic rod and a pushing block and is used for pushing the designated articles stored and stacked in the conveying belt; the monitoring camera is arranged at the top end of the space of the goods stored in the shelf partition and is used for shooting the space environment image of the goods stored in the shelf partition; the controller is arranged in the position inside the goods shelf, is used for being connected with the second driving motor, the first telescopic motor, the second telescopic motor, the third telescopic motor, the fourth telescopic motor, the moving motor, the first hydraulic pump and the monitoring camera respectively, and is in wireless connection with the control center;

the packaging device comprises a packaging camera, a packaging platform, an article grid, a packaging mechanical arm, a turnover mechanism, a switch mechanism, a mobile platform and a mobile camera, wherein the packaging camera is arranged in a packaging area of the warehouse and used for shooting an environment image of the packaging area; the packing platform is arranged in a packing area of the warehouse and is adjacent to the tail end of the conveying crawler; the article grids are provided with a plurality of dimension specifications and used for placing transport articles with matched dimensions; the packaging mechanical arm is a telescopic mechanical arm with a grabbing module arranged at the front end, is arranged in a packaging area of a warehouse and is used for grabbing and transporting articles; the turnover mechanism comprises a first rotating shaft, a second hydraulic pump and a second hydraulic rod, and is used for lifting and inclining the upper area of the loading frame; the switch mechanism comprises a second rotating shaft and a switch door body and is used for switching the article grids; the mobile platform is arranged at the bottom of the packing platform and is provided with a packing box, and the mobile platform is used for moving the packing box to correspond to the specified article grids; the mobile camera is arranged at the external position of the mobile platform and is used for shooting the environmental image around the mobile platform;

the control center is arranged in a placement control center area planned by the warehouse management department and is respectively in wireless connection with the scanning mechanical arm, the scanning equipment, the laser printing equipment, the first driving motor, the two-dimensional code scanning mechanical arm, the two-dimensional code scanner, the second driving motor, the packaging camera, the packaging mechanical arm, the turnover mechanism, the switching mechanism, the mobile platform, the mobile camera, the warehouse management department external equipment and the controller; the control center includes:

the scanning control module is used for controlling the scanning mechanical arm to execute a set function and controlling the scanning equipment to start or close;

the laser printing module is used for controlling the laser printing equipment to print the corresponding list two-dimensional code for the printing area of the loading frame in a laser mode according to the specified information;

the track control module is used for controlling the transportation track in driving connection with the first driving motor to operate;

the two-dimensional code module is used for controlling the two-dimensional code scanning mechanical arm to execute a set function and controlling the two-dimensional code scanner to be started or closed;

the information transmission module is used for transmitting the specified information to the specified object;

the throwing control module is used for controlling a conveyor belt in driving connection with the second driving motor to convey the placed non-stacked articles;

the controller includes:

the article identification module is used for identifying the corresponding position of the goods shelf where the transported articles are located according to the information scanned by the scanning mechanical arm;

the information analysis module is used for processing and analyzing the information according to the specified information;

the bottom fixing module is used for controlling the first telescopic motor and the second telescopic motor to execute a set function according to a set step;

the top fixing module is used for controlling the third telescopic motor and the fourth telescopic motor to execute set functions according to set steps;

and the pushing and moving module is used for controlling the moving motor and the first hydraulic pump to cooperate with each other to push the specified articles in the stacked articles according to the set steps.

As a preferred aspect of the present invention, the controller further includes:

and the monitoring shooting module is used for controlling the starting or closing of the monitoring camera.

As a preferable aspect of the present invention, the control center further includes:

the packaging shooting module is used for controlling the packaging camera to start or close;

the turnover control module is used for controlling the first rotating shaft and the first hydraulic pump to work in a matched mode so as to lift and incline the upper portion of the loading frame and throw articles to the packing platform;

the packaging control module is used for controlling the packaging mechanical arm and the packaging camera to work in a matched mode, and grabbing and placing the transported articles at the position of the packaging platform into article grids of the packaging platform with matched sizes;

and the size identification module is used for identifying the size information of the transported articles grabbed by the mechanical arm of the packing machine according to the packing image.

the storage corresponding module is used for controlling the mobile platform and the packaging camera to work in a matched mode, and enabling the packaging boxes placed on the mobile platform to sequentially correspond to the article grids with packaged articles on the packaging platform according to a preset rule;

the storage and delivery module is used for controlling the second rotating shaft to drive the connected door opening and closing object grids;

the mobile shooting module is used for controlling the mobile camera to be started or closed;

and the movement control module is used for controlling the movement of the mobile platform between the packing area and the transportation area.

The invention realizes the following beneficial effects:

1. after the intelligent warehousing control system is started, the intelligent scanning is carried out on the information of the transported articles contained in the loading list code, and the laser printing equipment is controlled to carry out laser printing on the two-dimensional code of the list containing the information of the transported articles in the printing area corresponding to the loading frame, then the loading frames are transported to the corresponding shelf positions through the transportation crawler belts and preferentially store the transportation items in the stack, after the loading frame reaches the corresponding shelf position for stacking the transported articles, the buckle telescopic mechanism, the package telescopic mechanism and the pushing moving mechanism are controlled to push and release the transported articles with corresponding quantity into the loading frame, after the storage of the stacked transported articles is finished, the loading frame is transported to the positions of the goods shelves corresponding to the residual transported articles through the transport crawler belts, the transport belts are controlled to transport and release the transported articles with corresponding quantity into the loading frame, and after the loading of all the transported articles is finished, the loading frame is transported to a packing area through the transport crawler belts; thereby saving a great deal of manpower resources.

2. When the conveying is put in to the dress goods frame, earlier control the fixed transport of buckle telescopic machanism and take bottom article, then control the article that the fixed top of parcel telescopic machanism corresponds quantity to keep the transport article unanimous with demand quantity, then the rethread propelling movement moving mechanism will correspond the transport article propelling movement of quantity and put in to the dress goods frame.

3. After the loading frame reaches the packing area, the upper portion area of the loading frame is lifted and inclined by the control turnover mechanism to dump the transported articles to the packing platform, then the packing mechanical arm is controlled to sort and place the transported articles in the article grids with matched sizes, then the moving platform is controlled to sequentially store the transported articles in the article grids from large to small and transport the transported articles to the transport area of the warehouse after all the transported articles are stored, and the transported articles are waited for transport.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

Fig. 1 is a flowchart of a smart warehouse control method according to an example of the present invention;

FIG. 2 is a flow chart of a method for controlling pushing of shelf items according to an exemplary embodiment of the present invention;

FIG. 3 is a flowchart of a reset control method for pushing the shelf item according to an exemplary embodiment of the present invention;

FIG. 4 is a flow chart of an item transport packaging control method according to an exemplary embodiment of the present invention;

FIG. 5 is a flow chart of a method for controlling the transportation of packaged goods according to an exemplary embodiment of the present invention;

FIG. 6 is a connection diagram of a smart warehouse control system according to an example of the present invention;

FIG. 7 is a schematic view, partially in section, of a warehouse home area with transport tracks according to one example of the present invention;

FIG. 8 is a schematic partially cut-away view of a shelf area provided by one example of the present invention;

FIG. 9 is a schematic view, partially in section, of an area within a shelf partitioned into storage spaces according to one example of the present invention;

FIG. 10 is a schematic view, partially in section, of the area where the bottom of the article is secured, according to one example of the present invention;

FIG. 11 is a schematic partially cut-away view of an article being dumped onto a packing platform according to one example of the present invention;

fig. 12 is a partially cut-away schematic view of a packaging platform and a mobile platform according to an example of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Example one

Referring to fig. 1, shown in fig. 6-10.

Specifically, the embodiment provides an intelligent warehousing control method based on the internet of things, which is characterized by comprising the following steps:

and S1, controlling the scanning device 11 to scan the information of the transported goods contained in the loading list code and controlling the laser printing device 12 to laser print the two-dimensional code of the list containing the information of the transported goods in the printing area arranged at the side position of the loading frame 17 with the capacity matched with the transported goods according to the scanned information of the transported goods.

And S2, controlling the transportation crawler 14 to transport the goods loading frame 17 to the position of the goods shelf 2, controlling the two-dimensional code scanning mechanical arm 15 arranged at the position of the goods loading frame 17 to scan the list two-dimensional code of the goods loading frame 17, and leading the information scanned by the scanning mechanical arm 10 into the controller 27 of the goods shelf 2.

S3, the controller 27 identifies the corresponding position of the shelf 2 on which the transported item is located according to the information scanned by the scanning mechanical arm 10 and analyzes whether any item is in a stacked state according to the identified position of the shelf 2 on which the transported item is located.

And S4, if yes, the controller 27 controls the buckle telescopic mechanism 22 arranged at the position of the conveyer belt 21 below the goods in the stacking state to extend to fix the goods contacted with the conveyer belt 21 and controls the package telescopic mechanism 23 arranged at the position of the shelf 2 above the goods in the stacking state to extend to fix the goods above the conveyer belt 21 so as to reserve the intermediate transported goods with the quantity consistent with the quantity of the needed transported goods.

S5, the controller 27 controls the pushing and moving mechanism 25 installed at the frame position behind the stacked articles to sequentially push and drop the retained intermediate transported articles, the number of which is consistent with the required number of transported articles, from top to bottom into the loading frame 17 on the side of the shelf 2.

And S6, controlling the transportation crawler 14 to sequentially transport the loading frame 17 to the position of the goods shelf 2 for transporting goods according to the information of the transported goods and controlling the transportation belt 21 matched with the transported goods at the position of the goods shelf 2 reached by the loading frame 17 to deliver the transported goods into the loading frame 17.

And S7, controlling the transportation crawler 14 where the loading frame 17 is loaded to transport the loading frame 17 to the packing area.

In S1, specifically, after the article is taken out from the shelf 2 of the warehouse and transported and packaged, the scanning control module 40 included in the control center 4 controls the scanning robot arm 10 provided in the initial area of the warehouse to correspond the scanning device 11 at the front end to the loading list code, meanwhile, the scanning control module 40 controls the scanning device 11 to start scanning the information of the transported goods contained in the loading list code, after the scanning of the scanning device 11 is completed, the scanning control module 40 controls the scanning mechanical arm 10 to reset, then the laser printing module 41 included in the control center 4 controls the laser printing device 12 in the initial area to start to control the laser printing device 12 to laser print the two-dimensional code of the list including the information of the transported article in the printing area arranged at the side position of the loading frame 17 with the capacity matched with the transported article according to the scanned information of the transported article; the printing area is pasted with a plurality of layers of laser printing stickers for laser printing of the laser printing equipment 12; the printing of the two-dimensional code can be realized by arranging a camera to control the mechanism printing equipment to print the two-dimensional code to the printing area of the loading frame 17.

In S2, specifically, after the laser printing of the two-dimensional code list is completed, the track control module 42 included in the control center 4 controls the transportation track 14 driven and connected by the first driving motor 13 corresponding to the loading frame 17 to transport the loading frame 17 to the area of the two-dimensional code scanning mechanical arm 15 at the position of the shelf 2, so as to wait for scanning the two-dimensional code, when the loading frame 17 is transported to the area of the two-dimensional code scanning mechanical arm 15, the two-dimensional code module 43 included in the control center 4 controls the two-dimensional code scanning mechanical arm 15 arranged in the area to correspond the two-dimensional code scanner 16 at the front end to the printing area of the loading frame 17, meanwhile, the two-dimension code module 43 controls the two-dimension code scanner 16 to start scanning the list two-dimension code of the printing area, after the two-dimensional code scanner 16 finishes scanning, the information transmission module 44 included in the control center 4 imports the information that the two-dimensional code scanner 16 finishes scanning into the controller 27 of the shelf 2; scanning of the two-dimensional code can be achieved by arranging a camera to control the mechanical arm to enable the two-dimensional code scanner 16 to correspond to the list two-dimensional code.

In S3, specifically, after the controller 27 receives the scanned information of the items to be transported, the item identification module 270 included in the controller 27 identifies the corresponding position of the shelf 2 where the corresponding transported item is located according to the information of the items to be transported scanned by the scanning mechanical arm 10, and then the information analysis module 271 included in the controller 27 analyzes whether the items to be transported are in the stacked state according to the position of the shelf 2 where the transported item is located identified by the item identification module 270.

In S4, specifically after the information analysis module 271 analyzes that the items to be transported are in the stacked state, the controller 27 transmits the positions of the items to be transported to the control center 4, and the track control module 42 included in the control center 4 controls the first driving motor 13 to drive the connected transportation tracks 14 to transport the loading frames 17 to the positions near the shelves 2 where the items to be transported are located; meanwhile, the bottom fixing module 273272 included in the controller 27 controls the extension plate 221, which is driven and connected by the first extension motor 220 and is arranged inside the lower portion of the transport belt 21 below the articles in the stacked state, to extend out, and then the bottom fixing module 273272 controls the first extension block 223, which is driven and connected by the second extension motor 222 and is arranged inside the side portion of the extended extension plate 221 to extend out and fix the articles abutted against the transport belt 21; meanwhile, the top fixing module of the controller 27 controls the telescopic frame 231 driven and connected by the third telescopic motor 230 to extend out to correspond to a specified number of articles above the conveyor belt 21, and then the top fixing module controls the second telescopic block 233 driven and connected by the fourth telescopic motor 232 to extend out to fix the corresponding articles so as to retain the intermediate transported articles with the same number as the articles to be transported.

For example, if it is recognized that the number of the a articles to be transported needs 3, and the number of the a articles in the stacked state is 6, the telescopic plate 221 corresponds to the lowermost 1 a article, the first telescopic block 223 is fixed to the a article corresponding to the telescopic plate 221, the telescopic frame 231 extends out to correspond to the uppermost 2 a articles, and the second telescopic block 233 is fixed to the a article corresponding to the telescopic frame 231, so as to keep the middle 3 a articles to be pushed to the loading frame 17; the correspondence is that the center of the first expansion block 223 of the expansion plate 221 is perpendicular to the center of the article, and the center of the second expansion block 233 of the expansion frame 231 is perpendicular to the center of the article.

At S5, after the first telescopic block 223 and the second telescopic block 233 are completely extended, the pushing and moving module 274 included in the controller 27 controls the pushing housing 250 disposed at the frame position behind the stacked articles to sequentially correspond to the intermediate transported articles from top to bottom, and while the pushing housing 250 corresponds to the intermediate transported articles, the pushing and moving module 274 controls the first hydraulic pump 253 to drive the connected first hydraulic rod 254 to drive the pushing block 255 to extend to push the corresponding transported articles from the position of the transport belt 21 to the loading frame 17 adjacent to the transport track 14, and so on until all the remaining intermediate transported articles are pushed into the loading frame 17; the correspondence is that the center of the pusher block 255 of the pusher housing 250 remains perpendicular to the center of the intermediate transported item.

At S6, specifically, after the pushing block 255 finishes pushing the to-be-transported items, the track control module 42 in the control center 4 controls the first driving motor 13 to drive the transportation tracks 14 to sequentially transport the loaded frames 17 to the positions of the shelves 2 transporting the items in accordance with the transportation item information, after the loading frames 17 reach the adjacent positions of the matched shelves 2 through the transportation tracks 14, the drop control module 45 included in the control center 4 controls the transportation belts 21 in the positions of the shelves 2 reached by the loading frames 17 and in driving connection with the second driving motor 20 in the space matched with the transportation items to drop the to-be-transported items in accordance with the to-be-transported number into the adjacent loading frames 17, and so on until the loading frames 17 finish storing the to-be-transported items corresponding to the loading list codes.

In S7, after the goods to be transported corresponding to the goods list code is stored in the goods loading frame 17, the track control module 42 controls the transport tracks 14 connected to the first driving motor 13 corresponding to the goods loading frame 17 to transport the goods loading frame 17 to the packing area.

Wherein, in this application, transportation article, middle transportation article, the article of waiting to transport are the article that the clear list sign indicating number of loading that waits to transport to the packing area contains.

Example two

Referring to fig. 2-3, 6, and 9-10.

Specifically, this embodiment is substantially the same as the first embodiment, except that in S5, the method further includes the following steps:

s50, the controller 27 controls the monitoring camera 26 arranged in the area of the goods shelf 2 on the top of the goods in the stacking state to start to capture the images of the goods shelf 2 in real time and controls the pushing moving mechanism 25 arranged at the position of the frame pushing moving track 24 behind the goods in the stacking state to move to the position corresponding to the middle transported goods which is the same as the quantity of the reserved uppermost transported goods according to the images of the goods shelf 2.

Specifically, when the pushing and moving mechanism 25 pushes the article to be transported, the monitoring and capturing module 275 included in the controller 27 controls the monitoring camera 26 disposed in the area of the shelf 2 on the top of the article in the stacked state to start to capture the image of the shelf 2 in the area in which the article is located in real time, and then the pushing and moving module 274 included in the controller 27 controls the moving motor 251 disposed in the pushing and moving housing 250 at the position of the pushing and moving track 24 of the rear frame of the article in the stacked state to move the pushing housing 250 to correspond to the middle transported article retained at the top according to the image of the shelf 2, that is, the center of the pushing block 255 of the pushing housing 250 is perpendicular to the center of the middle transported article retained at the top; for example, 3 a items remain, the pusher housing 250 moves to correspond to the center of the uppermost a item remaining.

And S51, the controller 27 controls the pushing and moving mechanism 25 to push and place the corresponding middle transported articles into the loading frame 17 at the side of the shelf 2 according to the shelf 2 image, controls the pushing and moving mechanism 25 to move downwards at the position of the pushing and moving track 24 by a preset distance according to the shelf 2 image, and controls the pushing and moving mechanism 25 to push and place the corresponding middle transported articles into the loading frame 17 again according to the shelf 2 image.

Specifically, after the pushing block 255 finishes corresponding to the intermediate article, the pushing and moving module 274 controls the first hydraulic rod 254 connected to the first hydraulic pump 253 inside the pushing housing 250 in a driving manner to drive the pushing block 255 connected to the first hydraulic rod 254 according to the image of the shelf 2 to push the corresponding intermediate article to the loading frame 17 adjacent to the transportation crawler 14 on the side of the shelf 2, after the first hydraulic rod 254 connected to the first hydraulic pump 253 in a driving manner is completely extended, the pushing and moving module 274 controls the first hydraulic rod 254 connected to the first hydraulic pump 253 in a driving manner to be completely retracted, and then the pushing and moving module 274 controls the track roller 252 connected to the moving motor 251 to move the pushing housing 250 downward at the position of the pushing and moving track 24 by a preset distance, where the preset distance is a height value of the article to be transported in the area.

For example, if the height of the product a is 10 cm, the preset distance is 10 cm, so that the center of the pushing block 255 of the pushing housing 250 corresponds to the center of the middle transported article retained below, after the pushing housing 250 is lowered, the pushing and moving module 274 controls the first hydraulic pump 253 to drive the first hydraulic rod 254 connected to the first hydraulic pump 253 to drive the pushing block 255 connected to the first hydraulic rod 254 to push the corresponding middle article into the loading frame 17 adjacent to the transportation crawler 14 on the side of the shelf 2 according to the image of the shelf 2, after the first hydraulic rod 254 connected to the first hydraulic pump 253 to drive the first hydraulic pump 253 is completely extended, the pushing and moving module 274 controls the first hydraulic rod 254 connected to the first hydraulic pump 253 to completely retract, and so on until the retained middle transported article is completely pushed.

s52, the controller 27 controls the pushing moving mechanism 25 which finishes pushing all the intermediate transported articles to reset at the position of the pushing moving track 24 and controls the package stretching mechanism 23 to stretch out to enable the front end to be abutted against the articles at the position of the lower transport belt 21 according to the image of the shelf 2.

Specifically, after the pushing moving mechanism 25 finishes pushing all the remaining intermediate transportation articles, the pushing moving module 274 controls the rail roller 252 connected to the moving motor 251 inside the pushing housing 250 finished pushing all the intermediate transportation articles to drive the pushing housing 250 to reset the pushing housing 250 at the position of the pushing moving rail 24, and meanwhile, the top fixing module controls the telescopic frame 231 connected to the third telescopic motor 230 to drive the front end to extend out to collide with the upper surface of the article of the lower transportation crawler 14 according to the image of the shelf 2, that is, the remaining articles stacked on the shelf 2 are stacked downward.

S53, the controller 27 controls the pack stretching mechanism 23 to release the fixing with the article and controls the buckle stretching mechanism 22 to release the fixing with the article.

Specifically, after the top fixing module controls the telescopic frame 231 which is driven and connected by the third telescopic motor 230 to extend, the second telescopic block 233 which is driven and connected by the fourth telescopic motor 232 is controlled to completely contract, and meanwhile, the bottom fixing module 273272 controls the first telescopic block 223 which is driven and connected by the second telescopic motor 222 to completely contract.

And S54, the controller 27 controls the package telescoping mechanism 23 to be completely contracted and reset and controls the buckle telescoping mechanism 22 to be completely contracted and reset.

Specifically, after the second telescopic block 233 is completely contracted, the top fixing module controls the telescopic frame 231 which is driven and connected by the third telescopic motor 230 to be completely contracted and reset; after the first expansion block 223 is completely contracted, the bottom fixing module 273272 controls the expansion plate 221 to be driven and connected by the first expansion motor 220 to be completely contracted and reset.

EXAMPLE III

Referring to fig. 4-6, shown in fig. 11-12.

Specifically, this embodiment is substantially the same as the first embodiment, except that in this embodiment, after S7, the method further includes the following steps:

s70, controlling the packaging camera 30 arranged in the packaging area to start and capture a packaging image, controlling the turnover mechanism 34 arranged at the bottom of the packaging frame 17 to stretch out and incline the upper area of the packaging frame 17 according to the packaging image, and pouring the transported goods into the goods grid 32 of the packaging area packaging platform 31.

Specifically, after the transportation crawler 14 transports the loading frame 17 to the packing area, the packing shooting module 46 included in the control center 4 controls the packing camera 30 disposed in the packing area to start shooting the environmental image of the packing area, and then the overturning control module 47 included in the control center 4 controls the first rotating shaft 341 disposed at the bottom of the loading frame 17 to cooperate with the second hydraulic pump 342 to extend and incline the upper area of the loading frame 17, so as to dump the transported object stored in the loading frame 17 to the packing platform 31 position of the packing area, that is, while controlling the second hydraulic rod 343 connected to the second hydraulic pump 342 to extend the upper area of the loading frame 17, the first rotating shaft 341 is controlled to drive the second hydraulic pump 342 to rotate to incline the upper area of the loading frame 17; the tail end of the loading frame 17 is provided with a tail door rotating shaft, the tail door rotating shaft is connected with a door body at the tail part of the loading frame 17 and used for driving the connected door body to open the tail end of the loading frame 17, and when the rotating shaft and the second hydraulic pump 342 work in a matched mode, the overturning control module 47 controls the door body in driving connection with the tail door rotating shaft to open the tail end of the loading frame 17.

And S71, controlling the turnover mechanism 34 to reset the upper part of the loading frame 17, controlling the conveying crawler 14 to reset the loading frame 17 in a conveying manner, and controlling the mechanical packing arm 33 arranged at the side position of the packing platform 31 to extend to grab the conveyed article at the position of the packing platform 31 according to the packing image.

Specifically, after the control center 4 analyzes that all transported articles inside the loading frame 17 are thrown into the packing platform 31 according to the packing image, the turnover control module 47 controls the first rotating shaft 341 arranged at the bottom of the loading frame 17 to cooperate with the second hydraulic pump 342 so as to lower and reset the upper area of the loading frame 17, and meanwhile, the track control module 42 controls the transport tracks 14 connected with the first driving motor 13 corresponding to the loading frame 17 to transport and reset the loading frame 17 to the initial area; meanwhile, the packing control module 48 included in the control center 4 controls the packing mechanical arm 33 arranged at the side position of the packing platform 31 to extend according to the packing image, and grips the transported object at the position of the packing platform 31 by using the front gripping mechanical arm, and grips the transported object according to the size of the transported object, that is, preferentially grips the transported object with a large size.

Wherein, after the dress frame 17 resets, by staff or set up the arm will print the surperficial laser printing sticker tear-off that has the two-dimensional code, perhaps, arrange staff or set up the arm and tear-off and paste the surface course laser printing sticker that has the two-dimensional code on the packing region and the surface of the packing case of 36 tops of moving platform.

And S72, identifying the size information of the transported article grabbed by the packing mechanical arm 33 according to the packing image, and controlling the packing mechanical arm 33 to place the grabbed transported article in the article grid 32 of the packing platform 31 with the matched size according to the packing image and the size information.

Specifically, after the packaging mechanical arm 33 finishes grabbing the transported object by using the grabbing mechanical arm at the front end, the size recognition module 49 included in the control center 4 recognizes the size information of the transported object grabbed by the packaging mechanical arm 33 according to the packaging image, meanwhile, the size recognition module 49 identifies the transported object and the packaging platform 31 with the size matched with the size of the object grid 32 according to the size recognized, and then the packaging control module 48 controls the packaging mechanical arm 33 to place the grabbed transported object in the object grid 32 of the packaging platform 31 with the size matched with the size by using the grabbing mechanical arm at the front end according to the packaging image and the size information recognized by the size recognition module 49; and the like until all the transported articles of the packing platform 31 are placed in the article grids 32 with matched sizes.

s73, controlling the moving platform 36 arranged at the lower position of the packing platform 31 according to the packing image to enable the placed packing box to sequentially correspond to the article grids 32 with the packed articles on the packing platform 31 according to a preset rule, and controlling the opening and closing mechanism 35 contained in the article grids 32 corresponding to the packing box to be opened according to the packing image.

Specifically, after all the transported articles located at the position of the packing platform 31 are placed in the article grid 32, the storage corresponding module 50 included in the control center 4 controls the mobile platform 36 arranged at the position below the packing platform 31 according to the packing image to enable the packing box placed above to correspond to the article grid 32 with the largest packed article on the packing platform 31, after the packing box and the article grid 32 are completely corresponding, the storage releasing module 51 included in the control center 4 controls the switch door body 352 in driving connection with the second rotating shaft 351 included in the article grid 32 corresponding to the packing box according to the packing image to open the article grid 32 so that the largest transported article falls to the bottom area of the packing box, and then the storage corresponding module 50 controls the mobile platform 36 to enable the packing box to correspond to the article grid 32 with the packed article of the next level size, then the storage and release module 51 controls the second rotating shaft 351 contained in the article lattice 32 corresponding to the packing box to drive the connected switch door body 352 to open the article lattice 32, so that the transport articles with the next level of size fall above the transport articles with the largest size in the packing box, and so on, and the transport articles placed in the article lattice 32 fall into the packing box according to the size of the transport articles.

And S74, controlling the mobile camera 37 arranged at the external position of the mobile platform 36 to start to capture the mobile image in real time and controlling the mobile platform 36 to transport the packed box with the stored transported articles to the transportation area according to the mobile image.

Specifically, after all the transported articles placed inside the article lattice 32 are stored in the packing box, the mobile camera 37 arranged at the position outside the mobile platform 36 is controlled by the mobile shooting module 52 included in the control center 4 to start shooting the environmental image around the mobile platform 36 in real time, and then the mobile control module 53 included in the control center 4 controls the mobile platform 36 to transport the packing box with the stored transported articles to the transportation area according to the mobile image to wait for packaging and transportation.

One top end corresponds to one-time packing storage, and a plurality of orders are packed and stored according to the order sequence of the orders.

Example four

As shown with reference to fig. 6-12.

Specifically, the embodiment provides an intelligent warehousing control system based on the internet of things, which uses the intelligent warehousing control method based on the internet of things as claimed in any one of claims 1 to 5, and comprises a transportation device 1, a shelf 2, a packing device 3 and a control center 4.

The conveying device 1 comprises a scanning mechanical arm 10, a scanning device 11, a laser printing device 12, a first driving motor 13, a conveying crawler 14, a two-dimensional code scanning mechanical arm 15, a two-dimensional code scanner 16 and a loading frame 17, wherein the scanning mechanical arm 10 is arranged in an initial area in the warehouse, is connected with the scanning device 11 and is used for controlling the scanning device 11 to scan a loading list code; the scanning equipment 11 is arranged at the front end of the scanning mechanical arm 10 and is used for scanning the information of the transported articles contained in the loading list codes; the laser printing device 12 is arranged in an initial area inside the warehouse and is used for laser printing a corresponding list two-dimensional code in a printing area on the side of the loading frame 17; the first driving motor 13 is arranged in the article transportation area and connected with the transportation crawler 14, and is used for driving the connected transportation crawler 14 to run; the transport tracks 14 are arranged in the goods transport area and adjacent to the shelves 2 for transporting the loading frames 17; the two-dimensional code scanning mechanical arm 15 is arranged at the position of the goods shelf 2, is connected with the two-dimensional code scanner 16 and is used for controlling the two-dimensional code scanner 16 in connection to scan the two-dimensional code in the printing area of the goods loading frame 17; the two-dimensional code scanner 16 is arranged at the front end of the two-dimensional code scanning mechanical arm 15 and is used for scanning information of articles to be transported contained in the two-dimensional code in the printing area of the loading frame 17; the loading frame 17 is disposed on the upper surface of the transport crawler 14 for storing the transported articles.

The goods shelf 2 is provided with a second driving motor 20, a conveying belt 21, a buckle telescopic mechanism 22, a package telescopic mechanism 23, a pushing moving track 24, a pushing moving mechanism 25, a monitoring camera 26 and a controller 27, and the goods shelf 2 is divided into a plurality of spaces for storing goods; the second driving motor 20 is arranged in the space for storing the goods divided by the shelf 2, is connected with the conveyer belt 21 and is used for driving the connected conveyer belt 21 to run; the conveyer belt 21 is arranged in the space for storing the articles divided by the shelf 2 and is used for conveying the placed articles; the buckle telescopic mechanism 22 comprises a first telescopic motor 220, a telescopic plate 221, a second telescopic motor 222 and a first telescopic block 223, and is used for fixing an article which is abutted against the conveying belt 21; the package telescoping mechanism 23 comprises a third telescoping motor 230, a telescoping frame 231, a fourth telescoping motor 232 and a second telescoping block 233, and is used for fixing a specified number of articles on the conveyor belt 21 from top to bottom; the pushing moving track 24 is arranged on the bottom surface of the space for storing the goods divided by the shelf 2 and is used for providing the pushing moving mechanism 25 to move up and down; the pushing and moving mechanism 25 includes a pushing housing 250, a moving motor 251, a rail roller 252, a first hydraulic pump 253, a first hydraulic lever 254, and a pushing block 255 for pushing the conveyor belt 21 to store the stacked designated articles; the monitoring camera 26 is arranged at the top position of the space of the storage articles divided by the shelf 2 and is used for shooting the space environment image of the storage articles divided by the shelf 2; the controller 27 is disposed at an inner position of the shelf 2, and is configured to be connected to the second driving motor 20, the first telescopic motor 220, the second telescopic motor 222, the third telescopic motor 230, the fourth telescopic motor 232, the moving motor 251, the first hydraulic pump 253, and the monitoring camera 26, and is wirelessly connected to the control center 4.

The packaging device 3 comprises a packaging camera 30, a packaging platform 31, article grids 32, a packaging mechanical arm 33, a turnover mechanism 34, a switch mechanism 35, a moving platform 36 and a moving camera 37, wherein the packaging camera 30 is arranged in a packaging area of the warehouse and used for shooting an environment image of the packaging area; the packing platform 31 is arranged in the packing area of the warehouse and adjacent to the end of the transportation crawler 14; the article grids 32 are provided with a plurality of dimensional specifications for placing the transport articles of matching dimensions; the packaging mechanical arm 33 is a telescopic mechanical arm with a grabbing module at the front end, is arranged in a packaging area of a warehouse and is used for grabbing transported articles; the turnover mechanism 34 includes a first rotating shaft 341, a second hydraulic pump 342, and a second hydraulic lever 343 for raising and tilting the upper area of the loading frame 17; the opening and closing mechanism 35 includes a second rotating shaft 351 and an opening and closing door 352 for opening and closing the article compartment 32; the moving platform 36 is arranged at the bottom of the packing platform 31 and is used for placing a packing box, and the packing box is used for moving to correspond to the specified article lattice 32; the mobile camera 37 is disposed at an outer position of the mobile platform 36, and is configured to capture an image of an environment around the mobile platform 36.

The control center 4 is arranged in a placement control center 4 area planned by the warehouse management department and is respectively in wireless connection with the scanning mechanical arm 10, the scanning equipment 11, the laser printing equipment 12, the first driving motor 13, the two-dimensional code scanning mechanical arm 15, the two-dimensional code scanner 16, the second driving motor 20, the packaging camera 30, the packaging mechanical arm 33, the turnover mechanism 34, the switch mechanism 35, the mobile platform 36, the mobile camera 37, the external equipment of the warehouse management department and the controller 27; the control center 4 includes:

and the scanning control module 40 is used for controlling the scanning mechanical arm 10 to execute the set function and controlling the scanning equipment 11 to be started or closed.

And the laser printing module 41 is used for controlling the laser printing device 12 to print the corresponding list two-dimensional code for the printing area of the loading frame 17 in a laser mode according to the specified information.

And a track control module 42 for controlling the operation of the transport tracks 14 which are driven and connected by the first driving motor 13.

And the two-dimensional code module 43 is used for controlling the two-dimensional code scanning mechanical arm 15 to execute the set function and controlling the two-dimensional code scanner 16 to start or stop.

And an information transmission module 44 for transmitting the designation information to the designated object.

And a drop control module 45 for controlling the second driving motor 20 to drive the connected conveyor belt 21 to transport the placed unstacked articles.

The controller 27 includes:

and an item identification module 270, configured to identify a corresponding position of the shelf 2 where the transported item is located according to the information scanned by the scanning mechanical arm 10.

And the information analysis module 271 is used for processing and analyzing the information according to the specified information.

And a bottom fixing module 273272 for controlling the first and second stretching motors 220 and 222 to perform a set function according to the set steps.

And a top fixing module for controlling the third and fourth stretching

motors

230 and 232 to perform a set function according to the set steps.

And a pushing and moving module 274 for controlling the moving motor 251 and the first hydraulic pump 253 to cooperate with each other to push a designated article among the stacked articles according to the set steps.

As a preferred aspect of the present invention, the controller 27 further includes:

and the monitoring shooting module 275 is used for controlling the monitoring camera 26 to be started or closed.

As a preferred embodiment of the present invention, the control center 4 further includes:

and the packaging shooting module 46 is used for controlling the packaging camera 30 to be started or closed.

And the overturning control module 47 is used for controlling the first rotating shaft 341 to cooperate with the first hydraulic pump 253 to lift and incline the upper part of the loading frame 17, and throwing the articles to the packing platform 31.

And the packing control module 48 is used for controlling the packing mechanical arm 33 to work in cooperation with the packing camera 30, and grabbing and placing the transported articles at the position of the packing platform 31 into the article grids 32 of the packing platform 31 with matched size.

And the size identification module 49 is used for identifying the size information of the transported article grabbed by the packing mechanical arm 33 according to the packing image.

and the storage corresponding module 50 is used for controlling the mobile platform 36 and the packaging camera 30 to work cooperatively, and sequentially corresponding the packaging boxes placed by the mobile platform 36 to the article grids 32 with packaged articles on the packaging platform 31 according to a preset rule.

And the storage and delivery module 51 is used for controlling the opening and closing door body 352 connected with the second rotating shaft 351 in a driving manner to open and close the object grid 32.

And the mobile shooting module 52 is used for controlling the mobile camera 37 to be started or closed.

And a movement control module 53 for controlling the movement of the moving platform 36 between the packing area and the transportation area.

The first telescopic motor 220 is connected with the telescopic plate 221 and used for driving the connected telescopic plate 221 to extend and retract; the second telescopic motor 222 is arranged at the inner position of the front end of the telescopic plate 221, is connected with the first telescopic block 223 and is used for driving the connected first telescopic block 223 to stretch; the third telescopic motor 230 is connected with the telescopic frame 231 and is used for driving the connected telescopic frame 231 to extend and retract; the fourth telescopic motor 232 is arranged at the inner position of the front end of the telescopic frame 231, is connected with the second telescopic block 233 and is used for driving the connected second telescopic block 233 to extend and retract; the moving motor 251 is arranged at an internal position of the pushing shell 250 and connected with the track roller 252, and is used for driving the connected track roller 252 to run; the first hydraulic pump 253 is disposed inside the push housing 250, connected to the first hydraulic rod 254, and configured to drive the connected first hydraulic rod 254 to extend and retract.

The first rotating shaft 341 is connected to the second hydraulic pump 342, and is configured to drive the connected second hydraulic pump 342 to rotate; the second hydraulic pump 342 is connected with a second hydraulic rod 343 and is used for driving the connected second hydraulic rod 343 to extend and retract; the second rotating shaft 351 is connected with the opening and closing door body 352 and is used for driving the connected opening and closing door body 352 to rotate; the tilting mechanism 34 drives the upper region of the loading frame 17 up and down, the specific structure required referring to the structure of the tilting device of the dump truck.

It should be understood that, in the fourth embodiment, the specific implementation process of each module described above may correspond to the description of the above method embodiments (the first to the third embodiments), and is not described in detail here.

The system provided in the fourth embodiment is only illustrated by dividing the functional modules, and in practical applications, the above-mentioned functions may be distributed by different functional modules according to needs, that is, the internal structure of the system is divided into different functional modules to complete all or part of the functions described above.

The above embodiments are merely illustrative of the technical ideas and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.

Claims

1. An intelligent warehousing control method based on the Internet of things is characterized by comprising the following steps:

2. The method for controlling smart warehousing based on internet of things of claim 1, wherein in S5, the method further comprises the following steps:

3. The internet of things-based smart warehouse control method according to claim 2, wherein after S51, the method further comprises the steps of:

4. The method for controlling smart warehousing based on internet of things of claim 1, wherein after S7, the method further comprises the following steps:

5. The method for controlling smart warehousing based on internet of things of claim 1, wherein after S72, the method further comprises the following steps:

6. An intelligent warehousing control system based on the internet of things, which uses the intelligent warehousing control method based on the internet of things as claimed in any one of claims 1 to 5, and comprises a transportation device, a goods shelf, a packaging device and a control center, and is characterized in that:

the controller includes:

7. The internet of things-based smart warehouse control system as claimed in claim 6, wherein the controller further comprises:

8. The IOT-based smart warehouse control system as claimed in claim 6, wherein the control center further comprises:

9. The IOT-based smart warehouse control system as claimed in claim 6, wherein the control center further comprises: