CN110827483B - Article storing and taking device, system and method, patch, storage rack and robot - Google Patents
Article storing and taking device, system and method, patch, storage rack and robot Download PDFInfo
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- CN110827483B CN110827483B CN201810893575.9A CN201810893575A CN110827483B CN 110827483 B CN110827483 B CN 110827483B CN 201810893575 A CN201810893575 A CN 201810893575A CN 110827483 B CN110827483 B CN 110827483B
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07G—REGISTERING THE RECEIPT OF CASH, VALUABLES, OR TOKENS
- G07G1/00—Cash registers
- G07G1/0036—Checkout procedures
- G07G1/0045—Checkout procedures with a code reader for reading of an identifying code of the article to be registered, e.g. barcode reader or radio-frequency identity [RFID] reader
- G07G1/009—Checkout procedures with a code reader for reading of an identifying code of the article to be registered, e.g. barcode reader or radio-frequency identity [RFID] reader the reader being an RFID reader
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
- A47B63/00—Cabinets, racks or shelf units, specially adapted for storing books, documents, forms, or the like
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Abstract
The disclosure relates to an article storing and taking device, system and method, a patch, a storage rack and a robot, and relates to the technical field of Internet of things. The patch of the present disclosure includes: the electronic tag comprises an electronic tag, a switching element, an electromagnet, a microprocessor and an electronic tag reader; the switching element is arranged on a power supply circuit of the electromagnet; the electronic tag is configured to generate induction current in response to a signal sent by the electronic tag reader-writer, and send stored article information to the electronic tag reader-writer; the induction current is used for supplying power to the switching element, the electromagnet, the microprocessor and the electronic tag reader; the electronic tag reader is configured to receive confirmation information sent by the electronic tag reader and send the confirmation information to the microprocessor; the microprocessor is configured to control the switch element to be opened under the condition that the article information to be searched is consistent with the article information stored in the electronic tag; the electromagnet is configured to obtain an induced current in response to the switching element being turned on, generating a magnetic field.
Description
Technical Field
The disclosure relates to the technical field of internet of things, in particular to an article storing and taking device, an article storing and taking system, an article storing and taking method, a patch, an article storage rack and a robot.
Background
With the development of the internet of things technology, the automatic storage technology is more and more common. For example, an intelligent library can automatically manage and search books, and provide convenient service for users.
The existing automatic book management can only aim at books with certain volume and heavier weight, but the small and light articles such as bills, files and books of thin paper cannot be automatically extracted and stored.
Disclosure of Invention
One technical problem to be solved by the present disclosure is: how to realize the automatic extraction and storage of small-size and light-weight articles.
According to some embodiments of the present disclosure, there is provided a patch including: the electronic tag comprises an electronic tag, a switching element, an electromagnet, a microprocessor and an electronic tag reader; the switching element is arranged on a power supply circuit of the electromagnet; the electronic tag is configured to generate induction current in response to a signal sent by the electronic tag reader-writer, and send stored article information to the electronic tag reader-writer; the induced current is used for supplying power to the switching element, the electromagnet, the microprocessor and the electronic tag reader; the electronic tag reader is configured to receive confirmation information sent by the electronic tag reader, the confirmation information comprises information of an article to be searched, and the confirmation information is sent to the microprocessor; the microprocessor is configured to control the switch element to be opened under the condition that the item information to be searched is consistent with the item information stored in the electronic tag; the electromagnet is configured to obtain induced current in response to the switching element being turned on, and generate a magnetic field so as to interact with an article access device to which the electronic tag reader/writer belongs, and move the article to which the patch is attached.
In some embodiments, the electronic tag comprises: a radio frequency identification, RFID, tag or a near field communication, NFC, tag.
In some embodiments, the switching element comprises an electromagnetic switch.
According to further embodiments of the present disclosure, there is provided an article storage and retrieval device including: an electronic tag reader, a microprocessor and an article extraction component; the microprocessor is configured to send a tag reading command to the electronic tag reader-writer, receive article information stored in the electronic tag returned by the electronic tag reader-writer, and send confirmation information to the electronic tag reader-writer when the article information stored in the electronic tag is identified as article information to be searched; the confirmation information comprises information of the article to be searched; the electronic tag reader-writer is configured to respond to a tag reading command, send a signal to the electronic tag, receive article information stored by the electronic tag, send the article information to the microprocessor, receive confirmation information sent by the microprocessor, and send the confirmation information to the electronic tag reader of the article to be searched so as to trigger the electromagnet of the article to be searched to generate a magnetic field; the article extraction member is configured to interact with the electromagnet of the article to be sought in order to move the article to be sought.
In some embodiments, the article extraction member comprises a switching element and an electromagnet; the microprocessor is also configured to control the switch element to be opened under the condition that the article information stored in the electronic tag is identified as the article information to be searched; the electromagnet is configured to obtain power in response to the switching element being turned on, and to generate a magnetic field that attracts or repels the electromagnet on the item to be searched, so as to move the item to be searched.
In some embodiments, in the case that the article extracting member and the article attract each other, the microprocessor is further configured to control the electronic tag reader to stop sending signals to the electronic tag on the article and control the switching element to be turned off, so that the induced current of the electronic tag on the article stops, the electromagnetic fields of the article and the article extracting member disappear, and the article extracting member is separated from the article; alternatively, the switching element is a multi-directional switching element, and in the event that the article retrieval member is attracted to the article, the microprocessor is further configured to control the switching element to commutate so that the current in the coil of the electromagnet is switched in the opposite direction so that the electromagnet is repelled from the article electromagnet and the article retrieval member is separated from the article.
In some embodiments, the article extraction member comprises a magnetically permeable material; in the case where the article extracting member and the article attract each other, the microprocessor is further configured to control the electronic tag reader/writer to stop sending a signal to the electronic tag on the article, so that the induced current of the electronic tag on the article stops, the magnetic field of the electromagnet disappears, and the article extracting member is separated from the article.
According to still other embodiments of the present disclosure, there is provided a storage shelf including: the article access device of any of the preceding embodiments.
In some embodiments, the storage shelf further comprises: a transmitter; the microprocessor is also configured to receive an article searching command, wherein the article searching command comprises article information to be searched, so as to send a tag reading command to the electronic tag reader-writer, and under the condition that the article information stored in the electronic tag is identified as the article information to be searched, the position of the article to be searched is sent to the robot for extracting the article to be searched through the transmitter.
According to still further embodiments of the present disclosure, there is provided a robot including: the article access device of any of the preceding embodiments.
In some embodiments, the robot further comprises: a receiver; the receiver is configured to receive the position information of the object to be searched and send the position information to the microprocessor; the microprocessor is also configured to identify the position of the object to be searched, control the robot to move to the position, and send confirmation information to the electronic tag reader-writer, so that the electronic tag reader-writer sends the confirmation information to the electronic tag reader of the object to be searched.
According to still further embodiments of the present disclosure, there is provided an article storage and retrieval system including: the patch and the article access device of any of the foregoing embodiments.
In some embodiments, the article access device is disposed on a robot, the robot further comprising: a receiver; the system further comprises: a storage shelf, the storage shelf comprising: the system comprises a microprocessor, an electronic tag reader-writer and a transmitter; the microprocessor of the storage rack is configured to receive an article searching command, the article searching command comprises information of an article to be searched, send a tag reading command to the electronic tag reader-writer, and send the position of the article to be searched to the robot through the transmitter under the condition that the article to be searched is identified; the robot is configured to receive the position information of the object to be searched and send the position information to the microprocessor of the robot; the microprocessor of the robot is also configured to identify the position of the article to be searched, control the robot to move to the position, and send confirmation information to the electronic tag reader-writer of the robot, so that the electronic tag reader-writer of the robot sends the confirmation information to the electronic tag reader-writer of the article to be searched.
In some embodiments, the article access device is disposed on the storage rack, or the article access device is disposed on the robot and the storage rack, respectively.
In some embodiments, the item access system further comprises: a controller configured to send an item lookup instruction to the item access device.
According to still further embodiments of the present disclosure, there is provided an article access method including: the electronic tag of the patch generates induction current in response to a signal sent by the electronic tag reader-writer, and sends stored article information to the electronic tag reader-writer; the patch is attached to an article, and the induced current is used for supplying power to the switching element, the electromagnet, the microprocessor and the electronic tag reader; the electronic tag reader of the patch receives confirmation information sent by the electronic tag reader, wherein the confirmation information comprises information of an article to be searched, and the confirmation information is sent to the microprocessor of the patch; the microprocessor of the patch controls the switch element of the patch to be turned on under the condition that the information of the article to be searched is consistent with the information of the article stored in the electronic tag; the electromagnet of the paster responds to the opening of the switch element to obtain induction current and generate a magnetic field so as to interact with the article access device to which the electronic tag reader-writer belongs and move the article pasted with the paster.
In some embodiments, the electronic tag comprises: a radio frequency identification, RFID, tag or a near field communication, NFC, tag.
According to still other embodiments of the present disclosure, there is provided an article access method including: a microprocessor of the article access device sends a tag reading command to an electronic tag reader of the article access device; the electronic tag reader-writer responds to the tag reading command, sends a signal to the electronic tag and receives the article information stored by the electronic tag; the microprocessor receives the article information stored in the electronic tag returned by the electronic tag reader-writer, and sends confirmation information to the electronic tag reader-writer under the condition that the article information stored in the electronic tag is identified as the article information to be searched; the confirmation information comprises information of the article to be searched; the electronic tag reader-writer sends the confirmation information to an electronic tag reader of the object to be searched so as to trigger an electromagnet of the object to be searched to generate a magnetic field; the article picking member of the article accessing device interacts with the electromagnet of the article to be searched so as to move the article to be searched.
In some embodiments, the microprocessor controls the opening and closing element of the article extracting component to be opened under the condition that the article information stored in the electronic tag is identified as the article information to be searched; the electromagnet of the article extracting member receives power in response to the switching element being turned on, and generates a magnetic field to attract or repel the electromagnet on the article to be searched, so as to move the article to be searched.
In some embodiments, the article accessing method further comprises: under the condition that the article extracting component and the article attract each other, the microprocessor controls the electronic tag reader-writer to stop sending signals to the electronic tag on the article and controls the switching element to be switched off, so that the induced current of the electronic tag on the article stops, the electromagnetic fields of the article and the article extracting component disappear, and the article extracting component is separated from the article; or the switch element is a multi-directional switch element, and under the condition that the article extracting component and the article are mutually attracted, the microprocessor controls the switch element to be switched, so that the current in the coil of the electromagnet is switched to the opposite direction, the electromagnet and the article electromagnet repel each other, and the article extracting component is separated from the article.
In some embodiments, the article extraction feature comprises a magnetically permeable material; the method further comprises the following steps: under the condition that the article extracting component and the article attract each other, the microprocessor also controls the electronic tag reader-writer to stop sending signals to the electronic tag on the article, so that the induced current of the electronic tag on the article stops, the magnetic field of the electromagnet disappears, and the article extracting component and the article are separated.
The utility model discloses a paster can be attached on article, including electronic tags, switch element, the electro-magnet, microprocessor and electronic tags reader, through electronic tags, electronic tags reader and the electronic tags reader on the article access arrangement are mutual, can confirm the article that article access arrangement waited to seek, and then under the attached article of paster and the article that waited to seek are same article's the condition, switch element on the paster is opened the electro-magnet and is obtained induced-current, produce magnetic field, make paster and article access arrangement interact, drive the attached article removal of paster, thereby realize the automatic extraction or the depositing of article. This disclosed paster is applicable to small light in weight's article, through attached this paster on article, can enough sign article can make article can with the cooperation of article access arrangement again, realize the automatic withdrawal or deposit of article, and the implementation is simple convenient, and is effectual.
Other features of the present disclosure and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 shows a schematic structural view of a patch of some embodiments of the present disclosure.
Fig. 2 illustrates a schematic structural view of an article access device of some embodiments of the present disclosure.
Figure 3 illustrates a schematic structural view of a storage shelf of some embodiments of the present disclosure.
Fig. 4 shows a schematic structural view of a robot of some embodiments of the present disclosure.
Fig. 5 illustrates a schematic structural view of an item access system of some embodiments of the present disclosure.
Fig. 6 shows a schematic structural view of an item access system of further embodiments of the present disclosure.
Fig. 7 shows a schematic structural diagram of an item access system according to further embodiments of the present disclosure.
Fig. 8 illustrates a flow diagram of an item access method of some embodiments of the present disclosure.
Fig. 9 shows a flow diagram of an item access method of further embodiments of the present disclosure.
Fig. 10 shows a flow diagram of an item access method of further embodiments of the present disclosure.
Fig. 11 shows a flow diagram of an item access method of still further embodiments of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the embodiments described are only some embodiments of the present disclosure, rather than all embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
The present disclosure provides a patch, described below in conjunction with fig. 1.
Fig. 1 is a block diagram of some embodiments of patches of the present disclosure. As shown in fig. 1, the patch 10 of this embodiment includes: the electronic tag comprises an electronic tag 102, an electronic tag reader 104, a Microprocessor (MCU)106, a switching element 108 and an electromagnet 110, wherein the switching element 108 is arranged on a power supply circuit of the electromagnet 110.
The electronic tag 102 may be a passive electronic tag, and can generate electromagnetic induction in a certain receiving range based on scanning of an electronic tag reader/writer, that is, transmission of a signal with a specific frequency, so as to generate an induced current and supply power to other elements. The electronic tag 102 is, for example, an RFID (Radio Frequency Identification) tag or an NFC (Near Field Communication) tag. NFC is evolved from the RFID technology, and because the transmission range of NFC is small, if an NFC tag is used, it is necessary that a corresponding article access device is configured to scan an electronic tag on a patch in a closer range, and the configuration may be performed according to an actual application scenario. The functions of the electronic tag reader 104 may also be integrated on the electronic tag 102 to form an electronic tag having functions of transceiving different signals.
Some examples of the function of the various elements in the patch are described below.
The electronic tag 102 is configured to generate an induced current in response to a signal from the electronic tag reader, and to transmit the stored article information to the electronic tag reader.
Specifically, the electronic tag 102 is configured to generate an induced current in response to a signal sent by the electronic tag reader, so as to supply power to the microprocessor 106, and the microprocessor 106 controls the electronic tag 102 to send out the stored article information. When the electronic tag 102 is, for example, an RFID tag, a controller or a microprocessor is configured in the tag, and it can be understood by those skilled in the art that the microprocessor in the present disclosure adds new functions on the basis of the functions of the microprocessor in the RFID tag, and the functions and processing logic of the electronic tag in the prior art can be applied in the present disclosure.
The electronic tag reader 104 is configured to receive the confirmation information sent by the electronic tag reader, the confirmation information including the information of the article to be searched, and send the confirmation information to the microprocessor 106.
The electronic tag reader/writer may send out information in the same form as the electronic tag as confirmation information, so that the electronic tag reader 104 can receive and process it.
The microprocessor 106 is configured to control the switching element 108 to open in case the item information to be looked up corresponds to the item information stored by the electronic tag.
The switching element 108 may comprise an electromagnetic switch. Through the interaction of the electronic tag 102, the electronic tag reader 104 and the electronic tag reader, and the recognition of the microprocessor 106, not only the switch element 108 can be triggered to be turned on, but also the accuracy rate of article searching can be further improved.
The electromagnet 110 is configured to obtain an induced current in response to the switching element 108 being turned on, and to generate a magnetic field to interact with an article accessing device to which the electronic tag reader/writer belongs, so as to move the article to which the patch is attached.
Through controllable electro-magnet conduct with article extraction element complex component, avoid using magnet etc. to lead to the condition that a plurality of paster adsorbs together, simultaneously, because the document of thin paper class, archives, the isovolumetric small light in weight's article of books, be difficult to adopt the mode of directly drawing such as snatching, can make things convenient for the drawing of these articles through the electro-magnet.
The paster in the above-mentioned embodiment can attach on article, including electronic tags, switch element, the electro-magnet, microprocessor and electronic tags reader, through electronic tags, electronic tags reader and the electronic tags reader on the article access arrangement interact, article access arrangement waits the article of looking for can confirming, and then under the attached article of paster and the article of waiting to look for the condition of same article, switch element on the paster is opened the electro-magnet and is obtained induced-current, produce magnetic field, make paster and article access arrangement interact, the attached article removal of drive paster, thereby realize the automatic extraction or the depositing of article. The patch is suitable for small and light objects, can mark the objects and enable the objects to be matched with the object storing and taking device through attaching the patch to the objects, and achieves automatic extraction or storage of the objects, and the implementation mode is simple, convenient and good in effect.
The present disclosure also provides an article access device that may be used in conjunction with the patch of the previous embodiments, some of which are described below in conjunction with fig. 2.
Fig. 2 is a block diagram of some embodiments of an article access device of the present disclosure. As shown in fig. 2, the apparatus 20 of this embodiment includes: a microprocessor 202, an electronic label reader 204, and an item extraction component 206.
The microprocessor 202 is configured to send a tag reading command to the electronic tag reader/writer 204, receive the article information stored in the electronic tag returned by the electronic tag reader/writer 204, and send confirmation information to the electronic tag reader/writer 204 when recognizing that the article information stored in the electronic tag is the article information to be searched.
The microprocessor 202 may be configured to send a tag read command to the electronic tag reader/writer 204 in response to the power switch being open. Alternatively, the microprocessor 202 may be configured to send a tag read command to the electronic tag reader 204 in response to the pressing of a corresponding button on the article access device. Alternatively, microprocessor 202 may be configured to send a tag read command to electronic tag reader 204 in response to receiving an item lookup instruction.
The confirmation information includes information of the item to be searched. The electronic tag may be the electronic tag in the patch of the previous embodiment.
The electronic tag reader-writer 204 is configured to respond to a tag reading command, send a signal to the electronic tag, receive information of an article stored in the electronic tag, send the information to the microprocessor, receive confirmation information sent by the microprocessor, and send the confirmation information to the electronic tag reader of the article to be searched, so as to trigger an electromagnet of the article to be searched to generate a magnetic field.
The item extraction component 206 is configured to interact with the electromagnets of the item to be sought in order to move the item to be sought.
In some embodiments, the article extraction feature 206 comprises a magnetically permeable material, such as iron, that enables an electromagnet on an article to be attracted to the article extraction feature 206.
In some embodiments, in the event that the item extraction component 206 and the item are attracted to each other, the microprocessor 202 is further configured to control the electronic tag reader/writer 204 to stop sending signals to the electronic tag on the item, so that the induced current of the electronic tag on the item stops, the electromagnet magnetic field disappears, and the item extraction component 206 is separated from the item.
The microprocessor 202 may be configured to control the process of detaching the item pickup assembly from the item in response to receiving an item deposit command, or in response to a press of a corresponding button on the item access device, or in response to the switching element 2061 being on for a preset period of time.
In some embodiments, the article extraction component 206 includes a switching element 2061 and an electromagnet 2062. Further, the microprocessor 202 is also configured to control the switch element 2061 to be turned on in case that the item information stored in the electronic tag is recognized as the item information to be searched. The electromagnet 2062 is configured to receive power in response to the switching element 2061 being turned on, and generate a magnetic field to attract or repel the electromagnet on the item to be searched, so as to move the item to be searched.
The electromagnet 2062 may attract an electromagnet on the article to be searched for, thereby sucking out the article, or may repel an electromagnet on the article to be searched for, thereby pushing out the article.
In some embodiments, in the case where the article extracting member 206 and the article attract each other, the microprocessor 202 is further configured to control the electronic tag reader/writer 204 to stop sending signals to the electronic tag on the article and control the switching element 2061 to be turned off, so that the induced current of the electronic tag on the article stops, the electromagnetic fields of the article and the article extracting member disappear, and the article extracting member 206 is separated from the article.
In some embodiments, the switching element 2061 is a multi-directional switching element, and in the event that the article retrieval component 206 is attracted to an article, the microprocessor 202 is further configured to control the switching element 2061 to commutate so that the current in the coil of the electromagnet 2062 is switched in the opposite direction so that the electromagnet repels the article electromagnet and the article retrieval component 206 is separated from the article.
The microprocessor 202 may be configured to control the process of separating the article retrieval component from the article in response to receiving a corresponding command, or in response to a corresponding button on the article accessing device being pressed, or in response to the switching element 2061 being on for a preset period of time.
In some embodiments, the item access device 20 may also include a receiver 208. The receiver 208 is configured to receive item finding instructions sent by the controller and send the item finding instructions to the microprocessor 202. The item search instruction includes information of an item to be searched. The controller may, for example, be configured to send an item search instruction to the item access device in response to user-entered search information, as will be described in a subsequent item access system.
The article access device may be designed as a handheld device for use by a user. The user can remove in article storage department through handheld article access arrangement to draw out the article that need, simple and convenient. In this application scenario, the article storage device may be provided with a switch button for turning on the power supply, and a function button for controlling turning on the electronic tag reader/writer, for example. Further, the article storage and retrieval device 20 may also include a power source.
The article access arrangement of above-mentioned embodiment can with this disclosed paster cooperation, realize the extraction and the depositing of the article of small light in weight, and is simple convenient, easy realization.
The present disclosure also provides a storage shelf, described below in conjunction with fig. 3.
Figure 3 is a block diagram of some embodiments of the storage shelf of the present disclosure. As shown in fig. 3, storage shelf 30 of this embodiment includes: the article access device 20 of any of the preceding embodiments.
In the event that an item is stored on the storage shelf 30, awaiting removal, and the item extraction element 206 is mutually attracted to the item, the receiver 208 is further configured to receive an item extraction message from a robot or pick device (e.g. a user-held device) for picking, for forwarding to the microprocessor 202, the microprocessor 202 being further configured to perform the step of separating the item extraction element 206 from the electromagnet of the item in response to the item extraction message. See in particular the preceding examples.
When the article storage device 30 is installed on a storage rack, a plurality of or even all of the electronic tags of the articles can be scanned by one electronic tag reader/writer 204 when the reading/writing range of the electronic tag reader/writer 204 is large. The storage rack is composed of a plurality of layers of baffles, the article extracting component 206 can be arranged at the rear of the articles on each layer of baffles, corresponds to the electromagnet on the articles, can adsorb or repel the articles, and enables the articles to be moved out of other articles, the article extracting component 206 can also be arranged above the articles on each layer of baffles and at other positions, corresponds to the electromagnet on the articles, and can achieve the purpose of screening the articles to be searched from a plurality of articles as long as the arrangement is reasonable.
In some embodiments, storage shelf 30 further comprises: a transmitter 32. The microprocessor 202 is further configured to send the location of the item to be searched to the robot, pick-up device or controller for extracting the item to be searched through the transmitter 32 in case that the item information stored in the electronic tag is recognized as the item information to be searched. The storage rack 30 can automatically send the articles to be searched to the robot, the picking device or the controller, so that the robot can pick the articles or a user can know the position of the articles to be searched, and the picking efficiency is improved.
In some embodiments, storage shelf 30 may further comprise: and the display device is configured to receive and display the position of the item to be searched sent by the microprocessor 202, so that a user can conveniently search the item.
The present disclosure also provides a robot, described below in conjunction with fig. 4.
Fig. 4 is a block diagram of some embodiments of the disclosed robot. As shown in fig. 4, the robot 40 of this embodiment includes: the article access device 20 of any of the preceding embodiments.
In some embodiments, the receiver 208 is further configured to receive location information of the item to be located and send to the microprocessor 202. The microprocessor 202 is further configured to identify the position of the item to be searched, control the robot to move to the position, and send confirmation information to the electronic tag reader/writer 204, so that the electronic tag reader/writer 204 sends the confirmation information to the electronic tag reader of the item to be searched. In this case, the process of sending a tag reading command to the electronic tag reader-writer by the microprocessor, receiving the article information stored in the electronic tag returned by the electronic tag reader-writer, and identifying the article information stored in the electronic tag can be omitted, and the microprocessor 202 in the robot can directly send confirmation information when controlling the robot to reach the position of the article to be searched, thereby completing the extraction of the article to be searched.
In some embodiments, the robot 40 further comprises: a transmitter 42. In the event that an item is stored on the storage shelf, waiting to be removed, and the storage shelf and item are attracted to each other, the microprocessor 202 is further configured to identify the location of the item to be sought and control the transmitter 42 to transmit an item retrieval message to the storage shelf so that the storage shelf is separated from the item to be sought.
The present disclosure also provides an item access system, described below in conjunction with fig. 5.
Fig. 5 is a block diagram of some embodiments of the article access system of the present disclosure. As shown in fig. 5, the article accessing system 5 of this embodiment includes: the patch 10, the article access device 20 of any of the foregoing embodiments.
In some embodiments, the item access system 5 further comprises: the controller 52 is configured to send item search instructions to the item access device 20. The controller 52 may be connected to a display and an input device for inputting information for searching for an item by a user, and then sending an item searching command to the item accessing device 20.
Fig. 6 is a block diagram of further embodiments of the article access system of the present disclosure. As shown in fig. 6, the article accessing system 6 of this embodiment includes: the article access device 20 may be disposed on the storage rack, that is, the article access system 6 may include: the patch 10 and the storage shelf 30 of any of the foregoing embodiments. Further, the article accessing system 6 may further include: the robot 40 and controller 62 of the previous embodiment are functionally identical or similar to the controller 52.
Fig. 7 is a block diagram of still further embodiments of the article access system of the present disclosure. As shown in fig. 7, the article accessing system 7 of this embodiment includes: the article accessing device 20 may be provided on the robot, i.e. the article accessing system 6 may comprise: the patch 10 and robot 40 of any of the foregoing embodiments. Further, the article accessing system 6 may further include: the controller 72 is functionally identical or similar to the controller 52, a storage shelf 74. The storage shelf 74 includes: a microprocessor 742, an electronic label reader/writer 744, and a transmitter 746.
The microprocessor 742 of the storage shelf is configured to receive item lookup commands including information about the item to be looked up, send tag read commands to the electronic tag reader 744, and, in case the item to be looked up is identified, send the location of the item to be looked up to the robot via the transmitter 746. I.e. the storage shelf may not be provided with article extraction means.
Further, the receiver 208 of the robot is configured to receive the position information of the item to be searched and send it to the microprocessor 202 of the robot; the microprocessor 202 of the robot is further configured to identify the position of the item to be looked up, control the robot to move to the position, and send confirmation information to the electronic tag reader 204 of the robot, so that the electronic tag reader 204 of the robot sends the confirmation information to the electronic tag reader of the item to be looked up.
The article access method of the present disclosure, i.e., the workflow of each device in the foregoing embodiments, is described below with reference to fig. 1 to 11.
(first embodiment)
Fig. 8 is a flow chart of some embodiments of an article accessing method of the present disclosure. As shown in fig. 8, the method of this embodiment includes: steps S802 to S820.
In step S802, the microprocessor 202 of the article storage apparatus 20 sends a tag read command to the electronic tag reader/writer 204 of the article storage apparatus 20.
In step S804, the electronic tag reader/writer 204 sends a signal to the electronic tag 102 of the patch 10 in response to the tag read command.
The patch 10 is attached to an article and the electronic tag 102 stores information of the corresponding article.
In step S806, the electronic tag 102 generates an induced current in response to the signal sent by the electronic tag reader/writer 204, and sends the stored article information to the electronic tag reader/writer 204.
The induced current may be used to power switching elements, electromagnets, microprocessors and electronic tag readers.
In step S808, the electronic tag reader/writer 204 sends the article information stored in the electronic tag 102 to the microprocessor 202.
In step S810, the microprocessor 202 receives the article information stored in the electronic tag 102 returned by the electronic tag reader/writer 204, and identifies the article information.
In step S812, the microprocessor 202 sends confirmation information to the electronic tag reader/writer 204 when recognizing that the item information stored in the electronic tag 102 is the item information to be searched.
In parallel with step S812, the method may further include: the microprocessor 202 controls the switching element 2061 of the article extracting section 206 to be turned on in the case where it recognizes that the article information stored in the electronic tag 102 is the article information to be searched for. The electromagnet 2062 of the article pickup section 206 receives power in response to the switching element 2061 being turned on, and generates a magnetic field.
In step S814, the electronic tag reader/writer 204 sends the confirmation information to the electronic tag reader 104 of the item to be searched. The confirmation information includes information of the item to be searched.
In step S816, the electronic tag reader 104 receives the confirmation information sent by the electronic tag reader 204 and sends the confirmation information to the microprocessor 106 of the patch 10.
In step S818, the microprocessor 106 controls the switch element 108 of the patch to be turned on when the item information to be searched is identical to the item information stored in the electronic tag 102.
In step S820, the electromagnet 110 of the patch 10 obtains an induced current in response to the switching element 108 being turned on, generates a magnetic field, and interacts with the article retrieving part 206 of the article accessing device 20 to move the article to which the patch is attached.
(second embodiment)
Fig. 9 is a flow chart of further embodiments of the article accessing method of the present disclosure. As shown in fig. 9, the method of this embodiment includes: steps S902 to S906.
In step S902, storage shelf 30 receives an item search command sent by controller 52/62.
In step S904, the storage rack 30 scans the information of the stored articles, if the articles to be searched are scanned, step S906 is executed, otherwise step S905 is executed.
In step S905, the storage shelf 30 sends a message to the controller 52/62 that the corresponding item is not found.
In step S906, the storage rack 30 moves the object to be searched out from other objects by cooperating with the patch 10.
Further, the storage shelf 30 may also display the items sought and the location of the items sought in a display on the storage shelf. Alternatively, storage shelf 30 may also transmit the location of the item to be located back to controller 52/62 and be displayed via a display connected to controller 52/62 so that the user knows the location of the item to be located to reach the corresponding location for immediate access.
The method for searching for the article to be searched by the storage rack may refer to the workflow of each module in the foregoing embodiment, and is not described herein again. The methods of the embodiments described above are equally applicable to robot 40, and robot 40 may receive item finding instructions from controller 52/62. The information of the items stored on each storage shelf is scanned one by one and if the item to be located is scanned, the item to be located is removed from the other items and retrieved by cooperation with the patch 10, otherwise the robot 40 sends a message to the controller 52/62 that the corresponding item is not located.
(third embodiment)
Fig. 10 is a flow chart of still further embodiments of the article accessing method of the present disclosure. As shown in fig. 10, the method of this embodiment includes: steps S1002 to S1008.
In step S1002, the storage rack 74 receives an item searching command sent by the controller 72.
In step S1004, the storage shelf 74 scans the information of the stored items, and if the items to be searched are scanned, step S1006 is executed, otherwise step S1005 is executed.
In step S1005, the storage shelf 74 sends a message to the controller 72 that the corresponding item is not found.
In step S1006, the storage shelf 74 sends the robot 40 the location of the item to be located.
The storage shelf 74 may also send the location of the item to be located to the controller 72 and the controller 52 may send a pick command to the robot 40.
In step S1008, the robot 40 reaches the position of the item to be searched, moves the item to be searched out from other items by cooperating with the patch 10, and retrieves the item to be searched out.
The robot 40 picks up the article to be searched and puts it back on the robot 40 by means of the electromagnet on the patch and its own article pickup means. In the process between taking up and putting down the article, the robot 40 needs to keep interacting with the patch on the article, but the time is generally short and only a few seconds, the microprocessor can control the electronic tag reader-writer to send a signal to the electronic tag all the time, the magnetic force of the electromagnet on the patch is kept, the preset time for sending the signal in response to the electronic tag reader-writer is further long, the electronic tag reader-writer is controlled to stop sending the signal, and if the article extracting component of the robot 40 is also provided with the electromagnet, the electromagnet power supply switch is turned off, and the taken-up article is put down.
The method for the storage rack to search for the item to be searched, and the method for the robot to acquire the item to be searched, refer to the working flows of the modules in the foregoing embodiments (e.g., steps S802 to S810 and steps S812 to S820), and are not described herein again. The storage shelf 74 in the above embodiment may be replaced by a storage shelf 30, with the only difference being that the storage shelf 30 may be provided with an article retrieval feature relative to the storage shelf 74 to enable removal of articles to be sought. In the case where the storage shelf 30 and the article are attracted to each other, in step S1008, the robot 40 may send an article pickup message to the storage shelf 30, and the storage shelf 30 controls the article to be searched to be separated from itself, so that the robot 40 may take the article away.
For example, in the case where the article extracting member 206 and the article are attracted to each other, the microprocessor of the storage rack 30 controls the electronic tag reader/writer of the storage rack 30 to stop sending signals to the electronic tag on the article and controls the switching element of the storage rack 30 to be turned off, so that the induced current of the electronic tag on the article stops, the electromagnetic fields of the article and the article extracting member disappear, and the article extracting member is separated from the article.
For another example, the switching element is a multi-directional switching element, and in case the article picking member of the storage rack 30 and the article are attracted to each other, the microprocessor of the storage rack 30 controls the switching element to be reversed such that the current in the coil of the electromagnet of the storage rack 30 is switched to an opposite direction, so that the electromagnet of the storage rack 30 and the article electromagnet repel each other and the article picking member is separated from the article.
For another example, when the article picking member of the storage rack 30 and the article are attracted to each other, the microprocessor of the storage rack 30 further controls the electronic tag reader/writer of the storage rack 30 to stop sending signals to the electronic tag on the article, so that the induced current of the electronic tag on the article stops, the electromagnetic field disappears, and the article picking member of the storage rack 30 is separated from the article.
(fourth embodiment)
Fig. 11 is a flow chart of still further embodiments of the article accessing method of the present disclosure. As shown in fig. 11, the method of this embodiment includes: steps S1102 to S1108.
In step S1102, the robot 40 receives the article storage command transmitted from the controller 52/62.
The article storage instruction comprises a position where the article to be stored is stored.
In step S1104, the robot 40 reaches the storage position with the article to be stored, and picks up and places the article to be stored in the storage position by cooperating with the patch 10.
The robot 40 may control the process of separating the article from the article extraction member to place the article in a storage position according to the microprocessor of the previous embodiment.
In step S1106, the storage shelf 30 scans information of the items to be stored and transmits item storage confirmation information to the controller 52/62.
Through the method of the above embodiments, the patch, the article storing and taking device or the robot and the storage rack in the disclosure are matched with each other, so that the article can be automatically stored and taken. Through the electromagnet and corresponding logic control, the article can be identified and extracted quickly, and the method is particularly suitable for small and light articles such as bills, files and books of thin paper. The realization mode is simple, convenient and fast, and the effect is good.
As will be appreciated by one skilled in the art, embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only exemplary of the present disclosure and is not intended to limit the present disclosure, so that any modification, equivalent replacement, or improvement made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.
Claims (21)
1. A patch configured to be affixed over an article, comprising: the electronic tag comprises an electronic tag, a switching element, an electromagnet, a microprocessor and an electronic tag reader; the switching element is arranged on a power supply circuit of the electromagnet;
the electronic tag is configured to generate induction current in response to a signal sent by an electronic tag reader-writer, and send stored article information to the electronic tag reader-writer; the induced current is used for supplying power to the switching element, the electromagnet, the microprocessor and the electronic tag reader;
the electronic tag reader is configured to receive confirmation information sent by the electronic tag reader, wherein the confirmation information comprises information of an article to be searched, and the confirmation information is sent to the microprocessor;
the microprocessor is configured to control the switch element to be opened when the item information to be searched is consistent with the item information stored in the electronic tag;
the electromagnet is configured to obtain induced current in response to the switching element being turned on, and generate a magnetic field so as to interact with an article access device to which the electronic tag reader/writer belongs, and move an article to which the patch is attached.
2. The patch of claim 1, wherein,
the electronic tag includes: a radio frequency identification, RFID, tag or a near field communication, NFC, tag.
3. The patch of claim 1,
the switching element comprises an electromagnetic switch.
4. An article access device for use with the patch of any one of claims 1 to 3, comprising: an electronic tag reader, a microprocessor and an article extraction component;
the microprocessor is configured to send a tag reading command to the electronic tag reader, receive article information stored in the electronic tag returned by the electronic tag reader, and send confirmation information to the electronic tag reader under the condition that the article information stored in the electronic tag is identified as article information to be searched; the confirmation information comprises information of the article to be searched;
the electronic tag reader-writer is configured to respond to the tag reading command, send a signal to an electronic tag, receive article information stored by the electronic tag, send the article information to the microprocessor, receive confirmation information sent by the microprocessor, and send the confirmation information to the electronic tag reader of the article to be searched so as to trigger an electromagnet of the article to be searched to generate a magnetic field;
the item extraction member is configured to interact with an electromagnet of the item to be sought so as to move the item to be sought.
5. The article accessing device of claim 4,
the article extraction member comprises a switching element and an electromagnet;
the microprocessor is further configured to control the switch element to be opened under the condition that the article information stored in the electronic tag is identified as the article information to be searched;
the electromagnet is configured to obtain power in response to the switching element being opened, and generate a magnetic field to attract or repel the electromagnet on the item to be searched so as to move the item to be searched.
6. The item access device of claim 5,
in the case that the article extracting component and the article attract each other, the microprocessor is further configured to control the electronic tag reader-writer to stop sending signals to the electronic tag on the article and control the switching element to be turned off, so that the induced current of the electronic tag on the article stops, the electromagnetic fields of the article and the article extracting component disappear, and the article extracting component and the article are separated;
alternatively, the switching element is a multi-directional switching element, and in the case that the article extracting member and the article are attracted to each other, the microprocessor is further configured to control the switching element to be reversed so that the current in the coil of the electromagnet is switched to the opposite direction so that the electromagnet and the article electromagnet repel each other and the article extracting member is separated from the article.
7. The item access device of claim 4,
the article extraction component comprises a magnetically permeable material;
in the case that the article extracting component and the article attract each other, the microprocessor is further configured to control the electronic tag reader-writer to stop sending signals to the electronic tag on the article, so that the induced current of the electronic tag on the article stops, the electromagnetic field of the electromagnet disappears, and the article extracting component and the article are separated.
8. A storage shelf, comprising: the article access device of any one of claims 4-7.
9. The storage shelf of claim 8 further comprising: a transmitter;
the microprocessor is further configured to receive an article searching command, wherein the article searching command comprises article information to be searched, so as to send a tag reading command to the electronic tag reader-writer, and send the position of the article to be searched to a robot for extracting the article to be searched through the transmitter under the condition that the article information stored in the electronic tag is identified as the article information to be searched.
10. A robot, comprising: the article access device of any one of claims 4-7.
11. The robot of claim 10, further comprising: a receiver;
the receiver is configured to receive position information of an item to be searched and send the position information to the microprocessor;
the microprocessor is further configured to identify a position of an article to be searched, control the robot to move to the position, and send confirmation information to the electronic tag reader-writer so that the electronic tag reader-writer sends the confirmation information to the electronic tag reader of the article to be searched.
12. An item access system comprising: the patch of any one of claims 1-3, and the article access device of any one of claims 4-7.
13. The item access system of claim 12,
article access arrangement sets up on the robot, the robot still includes: a receiver; the system further comprises: a storage shelf, the storage shelf comprising: the system comprises a microprocessor, an electronic tag reader-writer and a transmitter;
the microprocessor of the storage rack is configured to receive an article searching command, the article searching command comprises information of an article to be searched, send a tag reading command to the electronic tag reader-writer, and send the position of the article to be searched to the robot through the transmitter under the condition that the article to be searched is identified;
the robot is configured to receive position information of an article to be searched and send the position information to a microprocessor of the robot;
the microprocessor of the robot is also configured to identify the position of an article to be searched, control the robot to move to the position, and send confirmation information to the electronic tag reader-writer of the robot, so that the electronic tag reader-writer of the robot sends the confirmation information to the electronic tag reader-writer of the article to be searched.
14. The item access system of claim 12,
the article storing and taking device is arranged on the storage rack, or the article storing and taking device is respectively arranged on the robot and the storage rack.
15. The item access system of claim 12, further comprising:
a controller configured to send an item lookup instruction to the item access device.
16. An item access method comprising:
the electronic tag of the patch generates induction current in response to a signal sent by an electronic tag reader-writer, and sends stored article information to the electronic tag reader-writer; the patch is attached to an article, and the induced current is used for supplying power to the switching element, the electromagnet, the microprocessor and the electronic tag reader, wherein the patch is configured to be attached to the article;
the electronic tag reader of the patch receives confirmation information sent by the electronic tag reader, wherein the confirmation information comprises information of an article to be searched, and the confirmation information is sent to the microprocessor of the patch;
the microprocessor of the patch controls the switch element of the patch to be turned on under the condition that the information of the article to be searched is consistent with the information of the article stored in the electronic tag;
the electromagnet of the patch responds to the opening of the switch element to obtain induction current and generate a magnetic field so as to interact with an article access device to which the electronic tag reader-writer belongs and move an article to which the patch is attached.
17. The item access method of claim 16,
the electronic tag includes: a radio frequency identification, RFID, tag or a near field communication, NFC, tag.
18. An item access method comprising:
a microprocessor of the article access device sends a tag reading command to an electronic tag reader of the article access device; wherein the article access device is for use with a patch according to any one of claims 1 to 3;
the electronic tag reader-writer responds to the tag reading command, sends a signal to the electronic tag and receives the article information stored by the electronic tag;
the microprocessor receives the article information stored in the electronic tag returned by the electronic tag reader-writer, and sends confirmation information to the electronic tag reader-writer under the condition that the article information stored in the electronic tag is identified as the article information to be searched; the confirmation information comprises information of the article to be searched;
the electronic tag reader-writer sends the confirmation information to an electronic tag reader of the article to be searched so as to trigger an electromagnet of the article to be searched to generate a magnetic field;
the article extracting part of the article storing and taking device interacts with the electromagnet of the article to be searched so as to move the article to be searched.
19. The item access method of claim 18,
the microprocessor controls the opening of the switch element of the article extracting part under the condition that the article information stored in the electronic tag is identified as the article information to be searched;
the electromagnet of the article pickup section obtains power in response to the switching element being turned on, and generates a magnetic field that attracts or repels the electromagnet on the article to be searched, so as to move the article to be searched.
20. The item access method of claim 19, further comprising:
under the condition that the article extracting component and the article are mutually attracted, the microprocessor controls the electronic tag reader-writer to stop sending signals to the electronic tag on the article and controls the switching element to be closed, so that the induced current of the electronic tag on the article stops, the electromagnetic fields of the article and the article extracting component disappear, and the article extracting component is separated from the article;
or, the switch element is a multi-directional switch element, and under the condition that the article extracting component and the article are mutually attracted, the microprocessor controls the switch element to be reversed so that the current in the coil of the electromagnet is switched to the opposite direction, so that the electromagnet and the article electromagnet repel each other, and the article extracting component and the article are separated.
21. The item access method of claim 18, wherein the item extraction feature comprises a magnetically permeable material;
the method further comprises the following steps:
under the condition that the article extracting component and the article are mutually attracted, the microprocessor also controls the electronic tag reader-writer to stop sending signals to the electronic tag on the article, so that the induced current of the electronic tag on the article stops, the magnetic field of the electromagnet disappears, and the article extracting component is separated from the article.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810893575.9A CN110827483B (en) | 2018-08-08 | 2018-08-08 | Article storing and taking device, system and method, patch, storage rack and robot |
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| CN201810893575.9A CN110827483B (en) | 2018-08-08 | 2018-08-08 | Article storing and taking device, system and method, patch, storage rack and robot |
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