CN111942798A - High-density warehousing system with high automation degree - Google Patents
High-density warehousing system with high automation degree Download PDFInfo
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- CN111942798A CN111942798A CN202010879773.7A CN202010879773A CN111942798A CN 111942798 A CN111942798 A CN 111942798A CN 202010879773 A CN202010879773 A CN 202010879773A CN 111942798 A CN111942798 A CN 111942798A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention belongs to the technical field of warehousing, and particularly relates to a high-density warehousing system with high automation degree, which comprises a warehousing subsystem and a data center, wherein the warehousing subsystem is in communication connection with the data center, and the warehousing subsystem and the data center are both in communication connection with a mobile terminal; the warehousing subsystem comprises a warehouse, a bionic robot, a storage rack, a storage platform, a goods placing and taking port, a client interface terminal and an edge computing gateway. The invention solves the problem of large cost investment caused by large consumption of manpower and space in the prior art.
Description
Technical Field
The invention belongs to the technical field of warehousing, and particularly relates to a high-density warehousing system with high automation degree.
Background
In the new retail trade, the storage is a very important key cost link, and current storage system relies on the manpower mostly to get puts the piece, and is inefficient to because the manual mode is handled, lead to the storage space can't obtain effectual utilization, consequently, prior art's storage system is when accomplishing the storage task, consumes a large amount of manpowers and spaces, leads to the cost input in manpower and space to be big.
Disclosure of Invention
The present invention aims to solve at least one of the above technical problems to a certain extent.
Therefore, the invention aims to provide a high-automation high-density warehousing system which is used for solving the problem of high cost investment caused by large consumption of manpower and space in the prior art.
The technical scheme adopted by the invention is as follows:
a high-density warehousing system with high automation degree comprises a warehousing subsystem and a data center, wherein the warehousing subsystem is in communication connection with the data center, and the warehousing subsystem and the data center are both in communication connection with a mobile terminal;
the storage subsystem comprises a warehouse, a bionic robot, a storage rack, a storage platform, a goods placing and taking port, a client interface terminal and an edge computing gateway;
bionic robot, the supporter, put thing platform and edge calculation gateway and all set up in the inside of warehouse, it sets up in the warehouse inboard that is close to the current door to put the thing platform, and put the position of thing platform and put the position of getting the goods mouth and keep unanimous, it sets up in the outside of warehouse to put goods mouth and customer interface terminal, put the inside and the outside of getting goods mouth intercommunication warehouse, edge calculation gateway respectively with data center, customer interface terminal and bionic robot communication connection, customer interface terminal communication connection has mobile terminal.
Further, the edge computing gateway comprises a computing unit, a communication unit and a vision unit;
the computing unit is respectively in communication connection with the communication unit and the vision unit;
the communication unit is respectively in communication connection with the bionic robot, the client interface terminal and the data center.
Further, the vision unit comprises a plurality of first ranging sensors and a plurality of first cameras, and the plurality of first ranging sensors and the plurality of first cameras are in communication connection with the computing unit.
Furthermore, the communication unit comprises a first communication module, a second communication module and a third communication module which are all in communication connection with the computing unit, the first communication module is in communication connection with the data center, the second communication module is in communication connection with the client interface terminal, and the third communication module is in communication connection with the bionic robot.
Furthermore, the bionic robot comprises a movable base, three sections of supports, a mechanical arm, a smart vision module and a motion vision module, wherein the motion vision module is arranged at the position of the movable base, the top end of the movable base is fixedly connected with the bottoms of the three sections of supports, and the mechanical arm and the smart vision module are arranged at the tops of the three sections of supports.
Furthermore, the mobile base comprises a frame, a first three-section bracket connector, a motion wheel set, a fourth communication module, a control module, a TSN switch and a power supply module, wherein the fourth communication module, the control module, the TSN switch and the power supply module are arranged at the frame, the motion wheel set is arranged at the bottom end of the frame, the motion wheel set is in communication connection with the TSN switch, the first three-section bracket connector is arranged at the top end of the frame, and the top end of the first three-section support connector is fixedly connected with the bottom of the three-section support, the movement vision module is arranged at the position of the vehicle frame, the control module is respectively in communication connection with the fourth communication module, the TSN switch, the movement vision module and the intelligent vision module, the fourth communication module is in communication connection with the third communication module, and the power supply module is respectively in electric connection with the movement wheel set, the fourth communication module, the control module, the movement vision module and the intelligent vision module.
Further, the motion wheelset includes a plurality of drive wheels and a plurality of driving motor, and a plurality of drive wheels are even sets up in the bottom of frame, every driving motor one-to-one with the driving wheel bearing be connected, a plurality of driving motor all with TSN switch communication connection and all with power module electric connection.
Further, the three-section support includes fixed connection's removal base connector in proper order, three-section support body and manipulator connector, remove base connector and removal base fixed connection, manipulator connector and manipulator fixed connection, wisdom vision module sets up in manipulator connector department, three-section department of three-section support body is provided with first rotary joint and second rotary joint respectively, first rotary joint is provided with first rotating electrical machines, second rotary joint is provided with the second rotating electrical machines, first rotating electrical machines and second rotating electrical machines all with TSN switch communication connection and all with power module electric connection.
Furthermore, the motion vision module comprises a second camera and a plurality of second distance measuring sensors, wherein the second camera and the plurality of second distance measuring sensors are both in communication connection with the control module and are both electrically connected with the power supply module;
the wisdom vision module includes all with control module communication connection and all with power module electric connection's third camera and third range sensor, third camera and third range sensor all set up in manipulator connector department.
Further, the manipulator comprises a second three-section support connector, at least two mechanical supports and clamping and grabbing supports arranged at the top ends of the mechanical supports in a one-to-one correspondence mode, the bottom end of the second three-section support connector is fixedly connected with the top ends of the three sections of supports, the bottom end of each mechanical support is connected with a top end bearing of the second three-section support connector through a split gear, a third rotating node is arranged in the middle of each mechanical support, and the connecting part of each mechanical support and the corresponding clamping support is provided with a fourth rotating node, the third rotating node is provided with a third rotating motor, the fourth rotating node is provided with a fourth rotating motor, the bisection gear is provided with a fifth rotating motor, the third rotating motor, the fourth rotating motor and the fifth rotating motor are all in communication connection with the TSN switch and are all electrically connected with the power supply module, and an air bag sucker is arranged on one side, close to the adjacent clamping and grabbing support, of each clamping and grabbing support.
The invention has the beneficial effects that:
1) the highly-automated high-density warehousing system realizes high automation, only one maintenance worker is needed for the high-density warehousing system with multiple highly-automated functions when the worker only deals with the abnormal condition which can not be handled by a machine, the workload is quite small, and the labor cost input is reduced;
2) the traditional warehousing vending system must consider the movement space and operable space of manpower in warehousing, must reserve enough space for people or equipment to use, and has limited high limit, but the system has no limit, the space utilization rate is quite high, and can reach more than three times of the traditional warehousing;
3) in the whole high-density storage system with high automation degree, the shelf cost is low, the cost of the bionic robot is very low, the operation and maintenance personnel are very few, the scale cost is low, and the operation and maintenance cost is low.
Other advantageous effects of the present invention will be described in detail in the detailed description.
Drawings
In order to more clearly illustrate the embodiments of the present invention 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 invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a block diagram of a highly automated high density warehousing system;
FIG. 2 is a top view of the internal structure of the warehousing subsystem;
FIG. 3 is a front view of a warehousing subsystem;
FIG. 4 is a block diagram of an edge computing gateway architecture;
FIG. 5 is a bottom view of the mobile base;
FIG. 6 is a side view of the mobile base;
FIG. 7 is a front view of the mobile base;
FIG. 8 is a schematic diagram of a three-piece stent structure;
fig. 9 is a schematic view of the robot structure.
In the figure, 1, warehouse; 2. a biomimetic robot; 3. a rack; 4. a placing table; 5. placing and taking the goods port; 6. a customer interface terminal; 7. an edge computing gateway; 8. moving the base; 81. a frame; 82. a first three-section stent connector; 83. a motion wheel set; 84. a control module; 85. a power supply module; 9. three sections of stents; 91. moving the base connector; 92. three sections of stent bodies; 93. a manipulator connector; 10. a manipulator; 101. a second three-section stent connector; 102. a mechanical support; 103. a clamping and grabbing bracket; 11. an intelligent vision module; 12. and a motion vision module.
Detailed Description
The invention is further described with reference to the following figures and specific embodiments. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. Functional details disclosed herein are merely illustrative of example embodiments of the invention. This invention may, however, be embodied in many alternate forms and should not be construed as limited to the embodiments set forth herein.
It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments of the invention. When the terms "comprises," "comprising," "includes," and/or "including" are used herein, they specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, numbers, steps, operations, elements, components, and/or groups thereof.
It should also be noted that, in some alternative implementations, the functions/acts noted may occur out of the order noted in the figures. For example, two figures shown in succession may, in fact, be executed substantially concurrently, or the figures may sometimes be executed in the reverse order, depending upon the functionality/acts involved.
It should be understood that specific details are provided in the following description to facilitate a thorough understanding of example embodiments. However, it will be understood by those of ordinary skill in the art that the example embodiments may be practiced without these specific details. For example, systems may be shown in block diagrams in order not to obscure the examples in unnecessary detail. In other instances, well-known processes, structures and techniques may be shown without unnecessary detail in order to avoid obscuring example embodiments.
Example 1
As shown in fig. 1, the embodiment provides a high-density warehousing system with high automation degree, which includes a warehousing subsystem and a data center, wherein the warehousing subsystem is in communication connection with the data center, and both the warehousing subsystem and the data center are in communication connection with a mobile terminal;
as shown in fig. 2 and fig. 3, the warehousing subsystem includes a warehouse 1, a bionic robot 2, a rack 3, a storage table 4, a goods placing and taking port 5, a client interface terminal 6 and an edge computing gateway 7;
the outside of the warehouse 1 is provided with a pass-through door for the operation and maintenance personnel to enter the warehouse 1, the bionic robot 2, the article placing frames 3, the article placing platforms 4 and the edge computing gateway 7 are all arranged inside the warehouse 1, the article placing frames 3 are uniformly arranged inside the warehouse 1, the spacing between the adjacent article placing frames 3 is provided with a track matched with the bionic robot 2, the article placing platforms 4 are arranged inside the warehouse 1 close to the pass-through door, the positions of the article placing platforms 4 are consistent with the positions of the article placing and taking ports 5, the article placing and taking ports 5 and the customer interface terminal 6 are arranged outside the warehouse 1, the article placing and taking ports 5 are communicated with the inside and the outside of the warehouse 1, the article placing and taking ports 5 are provided with port doors, the edge computing gateway 7 is respectively communicated with the data center, the customer interface terminal 6 and the bionic robot 2, the customer interface terminal 6 is communicated with a mobile terminal, and the user uses the, or the bionic robot 2 finds the corresponding commodity shelf 3 according to the target commodity information sent by the edge calculation gateway 7, moves and places the commodity shelf to the commodity placing table 4 after taking the commodity, and a user carries out commodity taking operation through the corresponding commodity placing and taking port 5; a user directly connects the data center by using a mobile terminal or connects the data center through a client interface terminal 6 to place goods on the goods placing and taking port 5, the bionic robot 2 moves and places the goods to the corresponding goods shelf 3 after taking the goods according to the information of the target goods placing and taking port 5 sent by the edge computing gateway 7, and the goods placing operation is realized;
the system structure for controlling the bionic robot 2 by using the data center, the client interface terminal 6 and the edge computing gateway 7 realizes high automation, the working personnel only deal with abnormal conditions which can not be handled by machines, only one maintenance personnel is needed by a plurality of high-density storage systems with high automation, the workload is quite small, the labor cost investment is reduced, the space utilization rate of the warehouse 1 is improved, more than three times of the traditional storage can be achieved, the cost of a goods shelf is low in the whole high-density storage system with high automation, the cost of the bionic robot 2 is also very low, the operation and maintenance personnel are very few, the scale cost is low, and the operation and maintenance cost is low.
Preferably, as shown in fig. 4, the edge computing gateway 7 includes a computing unit, a communication unit, and a vision unit;
the calculation unit is respectively in communication connection with the communication unit and the visual unit, and has the main functions of commanding the motion of the bionic robot 2 based on the OPC unified architecture UA data of the time sensitive network TSN/power line communication PLC, optimizing the goods position of the warehousing subsystem, and optimizing the goods of the warehousing subsystem according to the artificial intelligence of the data center so as to provide better user experience, including but not limited to position management and optimized storage, buffer area optimized position management, heavy and large optimized position management, goods management position management according to sales volume and mark management of goods;
the communication unit is respectively in communication connection with the bionic robot 2, the client interface terminal 6 and the data center.
Preferably, the vision unit comprises a plurality of first ranging sensors and a plurality of first cameras, and the plurality of first ranging sensors and the plurality of first cameras are in communication connection with the computing unit.
Preferably, the communication unit comprises a first communication module, a second communication module and a third communication module which are all in communication connection with the computing unit, the first communication module is a Passive Optical Network (PON) communication module and is in communication connection with the data center, the second communication module is an industrial switch and is in communication connection with the client interface terminal 6, and the third communication module is a wireless fidelity (WIFI) module and is used for providing TSN/PLC service support and is in communication connection with the bionic robot 2.
Preferably, the bionic robot 2 comprises a moving base 8, a three-section support 9, a manipulator 10, a smart vision module 11 and a motion vision module 12, the motion vision module 12 is arranged at the moving base 8 and used for carrying out video shooting when the bionic robot 2 moves, the moving track and the distance of the bionic robot 2 are mastered, assistance is provided for movement, meanwhile, vision support is provided when charging equipment is searched for when the bionic robot 2 is autonomously charged, the top end of the moving base 8 is fixedly connected with the bottom of the three-section support 9, the manipulator 10 and the smart vision module 11 are both arranged at the top of the three-section support 9, the manipulator 10 is used for achieving grabbing operation of target goods, the smart vision module 11 is used as assistance for grabbing operation of the manipulator 10, and accuracy is improved.
Preferably, as shown in fig. 5 to 7, the mobile base 8 includes a frame 81, a first three-section bracket connector 82, a moving wheel group 83, a fourth communication module, a control module 84, a TSN switch and a power supply module 85, the fourth communication module, the control module 84, the TSN switch and the power supply module 85 are disposed at the frame 81, the moving wheel group 83 is disposed at the bottom end of the frame 81, the moving wheel group 83 is in communication connection with the TSN switch, the first three-section bracket connector 82 is disposed at the top end of the frame 81, the top end of the first three-section bracket connector 82 is fixedly connected with the bottom of the three-section bracket 9, the moving vision module 12 is disposed at the frame 81, the control module 84 is in communication connection with the fourth communication module, the TSN switch, the moving vision module 12 and the smart vision module 11, the fourth communication module is a WIFI module and is in communication connection with the third communication module, realized marginal calculation gateway 7 and bionic robot 2's data transmission, power module 85 respectively with motion wheelset 83, fourth communication module, control module 84, motion vision module 12 and 11 electric connection of wisdom vision module, power module 85 includes the high lithium iron phosphate battery of factor of safety and the port that charges of mutual electric connection, the port and the commercial power electric connection that charge for to bionic robot 2 the operation of charging, one side of frame 81 still is provided with supporter 3 and presses the platform, is used for when putting at bionic robot 2 and gets the heavy object, utilizes the weight that supporter 3 pressed the platform to provide stability.
As preferred, the motion wheelset 83 includes four drive wheels and four driving motor, four even settings in frame 81's bottom of drive wheel, every driving motor one-to-one with the driving wheel bearing be connected, a plurality of driving motor all with TSN switch communication connection and all with power module 85 electric connection, adopt every driving motor of TSN network independent control and drive wheel, realized bionic robot 2's nimble removal, improved the intelligent degree of system.
Preferably, as shown in fig. 8, the three-section bracket 9 includes a moving base connector 91 of a steel structure, a high-strength and ultra-light composite three-section bracket body 92 and a manipulator connector 93, which are fixedly connected in sequence, the moving base connector 91 is fixedly connected with the moving base 8, the manipulator connector 93 is fixedly connected with the manipulator 10, the smart vision module 11 is disposed at the manipulator connector 93, a first rotary joint and a second rotary joint are respectively disposed at three segments of the three-section bracket body 92, the first rotary joint is provided with a first rotary motor, the second rotary joint is provided with a second rotary motor, the first rotary motor and the second rotary motor are both in communication connection with the TSN switch and are both electrically connected with the power supply module 85, the rotating motor of each joint is controlled through the TSN network, so that the three sections of supports 9 can flexibly rotate and move conveniently, and the intelligence degree of the system is improved.
Preferably, the motion vision module 12 includes two second cameras and four second distance measuring sensors, both of which are in communication connection with the control module 84 and are electrically connected with the power supply module 85, the second cameras are disposed at the frame 81 and are respectively located at the front end and the rear end of the frame 81, and the second distance measuring sensors are correspondingly disposed at the bottom corners of the frame 81;
Preferably, as shown in fig. 9, the manipulator 10 includes a second three-section support connector 101, two mechanical supports 102, and a clamping and grabbing support 103 disposed at the top end of the mechanical support 102 in a one-to-one correspondence manner, the bottom end of the second three-section support connector 101 is fixedly connected to the top end of the three-section support 9, the bottom end of each mechanical support 102 is connected to a top end bearing of the second three-section support 9 connector through a split gear, a third rotation node is disposed at the middle position of each mechanical support 102, a fourth rotation node is disposed at the connection portion of each mechanical support 102 and the corresponding clamping and grabbing support 103, a third rotation motor is disposed at the third rotation node, a fourth rotation motor is disposed at the fourth rotation node, a fifth rotation motor is disposed at the split gear, the third rotation motor, the fourth rotation motor and the fifth rotation motor are all in communication connection with the TSN switch and are all electrically connected to the power supply module 85, one side of each clamping and grabbing support 103, which is close to the adjacent clamping and grabbing support 103, is provided with an air bag sucker, the rotating motor of each joint is controlled through a TSN network, the flexible rotation and the clamping and grabbing operation of the manipulator 10 are facilitated, the intelligence degree of the system is improved, the air bag sucker can protect the grabbed objects, the sucker is used for grabbing thin and light objects, the inflation of the middle air bag can be reduced, and the grabbing effect is achieved.
The highly automated high-density warehousing system provides a rapid goods taking function, a single goods taking or selling function, a single piece placing function and a multiple piece placing function;
the quick goods taking function is used for the user to purchase goods or take express delivery at the mobile terminal, and the user is about to operate when warehousing, so that goods can be quickly taken in the warehouse, and the quick goods taking method comprises the following specific steps:
a-1: the mobile terminal sends pickup information to the data center;
a-2: the data center sends corresponding cargo information to the edge computing gateway according to the pickup information;
a-3: the edge computing gateway processes the goods information to obtain a shelf number, a goods placing and taking port number and a bionic robot number;
a-4: the bionic robot with the corresponding number finds the goods on the shelf with the corresponding number and picks the goods to the goods placing and taking port with the corresponding number to realize quick goods taking;
a-5: and updating the cargo data of the data center according to the cargo information.
The method for picking or selling the single goods comprises the following specific steps:
b-1: the customer interface terminal receives the receiving code or commodity payment information and sends the receiving code or commodity payment information to the edge computing gateway;
b-2: verifying the pickup code or the commodity payment information by using the edge computing gateway, and obtaining goods information according to the pickup code or the commodity payment information after the verification is passed, wherein the goods information comprises a commodity shelf number, a goods placing and taking port number and a bionic robot number;
b-3: the bionic robot with the corresponding number finds the goods of the shelf with the corresponding number and picks the goods to the goods placing and taking port with the corresponding number to realize single goods taking or selling;
b-4: and updating the cargo data of the data center according to the cargo information.
The single piece placing method comprises the following specific steps:
c-1: the client interface terminal receives the single piece placement information, and after the existence of an idle commodity shelf and an idle commodity placing and taking port is verified, the single piece placement information is sent to the edge computing gateway;
c-2: the edge computing gateway verifies the single piece placing information, opens an idle placing and taking port after the verification is passed, and obtains the number of the placing and taking port;
c-3: the bionic robot finds the goods placing and taking port with the corresponding number, carries out goods grabbing operation and places the goods in an idle storage rack to finish single piece placing;
c-4: and updating the goods data of the data center according to the commodity shelf number.
The method for placing multiple workpieces comprises the following specific steps:
d-1: the client interface terminal receives a plurality of pieces of placing information, and after the plurality of idle article placing frames and a plurality of idle article placing and taking ports are verified to exist, the plurality of pieces of placing information are sent to the edge computing gateway;
d-2: the edge computing gateway verifies the information of a plurality of pieces of putting pieces, opens all idle putting and taking goods ports after the verification is passed, and acquires the serial numbers of all the putting and taking goods ports;
d-3: the bionic robot finds the goods placing and taking port corresponding to the serial number, carries out goods grabbing operation, places the goods on an idle goods shelf, obtains the serial number of the current goods shelf and finishes the current goods placing;
d-4: judging whether an unfinished piece is placed, if so, entering a step D-5, otherwise, entering a step D-6;
d-5, judging whether an idle article shelf exists or not, if so, returning to the step D-3, otherwise, entering the step D-6;
d-6: and D, closing all goods placing and taking ports, and updating the idle goods shelf data of the data center according to the goods shelf numbers in the step D-3.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and they may alternatively be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, or fabricated separately as individual integrated circuit modules, or fabricated as a single integrated circuit module from multiple modules or steps. Thus, the present invention is not limited to any specific combination of hardware and software.
The embodiments described above are merely illustrative, and may or may not be physically separate, if referring to units illustrated as separate components; if reference is made to a component displayed as a unit, it may or may not be a physical unit, and may be located in one place or distributed over a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: modifications of the technical solutions described in the embodiments or equivalent replacements of some technical features may still be made. And such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
The present invention is not limited to the above-described alternative embodiments, and various other forms of products can be obtained by anyone in light of the present invention. The above detailed description should not be taken as limiting the scope of the invention, which is defined in the claims, and which the description is intended to be interpreted accordingly.
Claims (10)
1. A high-density warehousing system with high automation degree is characterized in that: the system comprises a warehousing subsystem and a data center, wherein the warehousing subsystem is in communication connection with the data center, and the warehousing subsystem and the data center are both in communication connection with a mobile terminal;
the storage subsystem comprises a warehouse, a bionic robot, a storage rack, a storage platform, a goods placing and taking port, a client interface terminal and an edge computing gateway;
bionic robot, supporter, put thing platform and edge calculation gateway and all set up in the inside of warehouse, it sets up in the warehouse inboard that is close to current door to put the thing platform, and put the position of thing platform and put the position of getting the goods mouth and keep unanimous, put and get goods mouth and customer interface terminal and set up in the outside of warehouse, put the inside and the outside of getting goods mouth intercommunication warehouse, edge calculation gateway respectively with data center, customer interface terminal and bionic robot communication connection, customer interface terminal communication connection has mobile terminal.
2. The highly automated, high-density warehousing system of claim 1, wherein: the edge computing gateway comprises a computing unit, a communication unit and a visual unit;
the computing unit is respectively in communication connection with the communication unit and the vision unit;
the communication unit is respectively in communication connection with the bionic robot, the client interface terminal and the data center.
3. The highly automated, high-density warehousing system of claim 2, wherein: the vision unit comprises a plurality of first ranging sensors and a plurality of first cameras, and the first ranging sensors and the first cameras are in communication connection with the computing unit.
4. The highly automated, high-density warehousing system of claim 2, wherein: the communication unit comprises a first communication module, a second communication module and a third communication module which are all in communication connection with the computing unit, the first communication module is in communication connection with the data center, the second communication module is in communication connection with the client interface terminal, and the third communication module is in communication connection with the bionic robot.
5. The highly automated, high-density warehousing system of claim 1, wherein: the bionic robot comprises a moving base, three sections of supports, a mechanical arm, a smart vision module and a motion vision module, wherein the motion vision module is arranged at the position of the moving base, the top end of the moving base is fixedly connected with the bottoms of the three sections of supports, and the mechanical arm and the smart vision module are arranged at the tops of the three sections of supports.
6. The highly automated, high-density warehousing system of claim 5, wherein: the movable base comprises a frame, a first three-section bracket connector, a motion wheel set, a fourth communication module, a control module, a TSN switch and a power supply module, the fourth communication module, the control module, the TSN switch and the power supply module are arranged at the frame, the moving wheel set is arranged at the bottom end of the frame, the motion wheel set is in communication connection with the TSN switch, the first three-section bracket connector is arranged at the top end of the frame, the top end of the first three-section bracket connector is fixedly connected with the bottom of the three-section bracket, the movement vision module is arranged at the position of the frame, the control module is respectively in communication connection with the fourth communication module, the TSN switch, the motion vision module and the intelligent vision module, the fourth communication module is in communication connection with the third communication module, the power supply module is electrically connected with the motion wheel set, the fourth communication module, the control module, the motion vision module and the intelligent vision module respectively.
7. The highly automated, high-density warehousing system of claim 6, wherein: the motion wheelset includes a plurality of drive wheels and a plurality of driving motor, and a plurality of drive wheels are even sets up in the bottom of frame, every driving motor one-to-one is connected with the driving wheel bearing, a plurality of driving motor all with TSN switch communication connection and all with power module electric connection.
8. The highly automated, high-density warehousing system of claim 7, wherein: the three-section support comprises a moving base connector, a three-section support body and a manipulator connector which are fixedly connected in sequence, the moving base connector is fixedly connected with the moving base, the manipulator connector is fixedly connected with the manipulator, the intelligent vision module is arranged at the manipulator connector, a first rotary joint and a second rotary joint are respectively arranged at three sections of the three-section support body, the first rotary joint is provided with a first rotary motor, the second rotary joint is provided with a second rotary motor, and the first rotary motor and the second rotary motor are both in communication connection with the TSN switch and are both electrically connected with the power supply module.
9. The highly automated, high-density warehousing system of claim 8, wherein: the motion vision module comprises a second camera and a plurality of second distance measuring sensors, the second camera is in communication connection with the control module and is electrically connected with the power supply module, the second camera is arranged at the position of the frame, and the plurality of second distance measuring sensors are uniformly arranged at the bottom end of the frame;
wisdom vision module is including all with control module communication connection and all with power module electric connection's third camera and third range sensor, third camera and third range sensor all set up in manipulator connector department.
10. The highly automated, high-density warehousing system of claim 6, wherein: the manipulator comprises a second three-section bracket connector, at least two mechanical brackets and clamping brackets which are arranged at the top ends of the mechanical brackets in a one-to-one correspondence manner, the bottom end of the second three-section bracket connector is fixedly connected with the top end of the three-section bracket, the bottom end of each mechanical bracket is connected with a top end bearing of the second three-section bracket connector through a split gear, a third rotating node is arranged at the middle position of each mechanical bracket, and the connecting part of each mechanical support and the corresponding clamping and grabbing support is provided with a fourth rotating node which is provided with a third rotating motor, the fourth rotating node is provided with a fourth rotating motor, the split gear is provided with a fifth rotating motor, third rotating electrical machines, fourth rotating electrical machines and fifth rotating electrical machines all with TSN switch communication connection and all with power module electric connection, every press from both sides and grab the support and be close to the adjacent one side of pressing from both sides and grab the support and be provided with the gasbag sucking disc.
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