CN111966064A - AGV forklift scheduling system, material transportation system and transportation method - Google Patents
AGV forklift scheduling system, material transportation system and transportation method Download PDFInfo
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Abstract
The invention discloses an AGV fork truck dispatching system, a material transporting system and a transporting method, wherein the AGV fork truck dispatching system comprises: the AGV control system is configured to respond to a task instruction of a user to generate task information and route information; the AGV forklift is configured to transport materials according to the task information and the route information; AGV fork truck includes: a vehicle body; the positioning navigation unit is configured on the vehicle body and used for driving the AGV forklift to move according to the route information and generating forklift position information; the identification unit is configured on the vehicle body and is used for acquiring first material information of the material to be transported according to the task information; the adjusting unit is configured to generate an action instruction for carrying the materials to be transported according to the first material information and the forklift position information; and the transportation unit is configured on the vehicle body and is used for carrying the materials to be transported according to the action command.
Description
Technical Field
The invention relates to the field of logistics transportation. And more particularly, to an AGV forklift dispatching system, a material transport system, and a transport method.
Background
Different from the warehousing management of land express transportation industry, the goods that daily land transportation industry faces usually specification, size difference are through unified packing, and the difference is not obvious, the standardized management of the warehouse of being convenient for, and aviation freight transportation has great difference with it, and it embodies:
(1) the size and specification are not uniform: the size and specification of goods transported by air freight transport are not uniform, and the standardization and standardization management of the common express industry cannot be easily realized;
(2) the weight difference of the goods is big: different from goods transported in the common express industry, the goods related to air freight generally have larger weight difference;
(3) waybill logic is complex: the freight note in the air freight transportation has the distinction of the main freight note and the branch freight note, and the logic association of the main freight note and the branch freight note has a plurality of conditions, some have the main freight note but not the branch freight note, some have the main freight note and the branch freight note, and the number of the branch freight notes also has difference;
(4) the goods extraction conditions are more: based on the condition expression in the step (3), some goods extractors extract goods integrally according to the main freight note, and some goods extractors extract goods successively according to the branch freight notes, so that the ordered management of the warehouse cannot be realized;
(5) the standardized management is difficult: based on the four-point comprehensive expression, the aviation and freight transportation industry is difficult to realize standardized and automatic cargo storage management easily like the conventional express delivery industry. However, with the increasing development of the industry trend of standardization, automation and intellectualization, the realization of the standardized, automated and intellectualized warehousing management is imperative.
Therefore, a new AGV fork truck dispatching system, material transporting system and transporting method are needed.
Disclosure of Invention
The invention aims to provide an AGV forklift dispatching system, a material transportation system and a transportation method, which aim to solve at least one of the problems in the prior art;
in order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides an AGV fork truck dispatching system in a first aspect, which comprises: an AGV control system and at least one AGV fork truck,
the AGV control system is configured to respond to a task instruction of a user to generate task information and route information;
the AGV forklift is configured to transport materials according to the task information and the route information;
AGV fork truck includes:
a vehicle body;
the positioning navigation unit is configured on the vehicle body and used for driving the AGV forklift to move according to the route information and generating forklift position information;
the identification unit is configured on the vehicle body and is used for acquiring first material information of the material to be transported according to the task information;
the adjusting unit is configured to generate an action instruction for carrying the materials to be transported according to the first material information and the forklift position information;
and the transportation unit is configured on the vehicle body and is used for carrying the materials to be transported according to the action command.
Further, the positioning navigation unit is configured to emit path laser and acquire reflected laser generated by a reflecting plate installed in the forklift working environment according to the path laser so as to generate forklift position information of the forklift;
the identification unit is further configured to acquire second material information of the material to be transported after the material to be transported is placed by the transportation unit according to the action instruction;
the adjusting unit is further configured to generate an adjusting instruction for adjusting the position of the material to be transported according to the second material information and the forklift position information;
the transportation unit is further configured to adjust the position of the material to be transported according to the adjustment instruction.
Further, the AGV forklift further comprises a safety unit which is configured to give out an audible and visual alarm and acquire the characteristics of the obstacle within the preset alarm distance, and generate a protection instruction when the obstacle is within the distance range, so that the AGV forklift changes the advancing state.
Further, the positioning navigation unit comprises:
the laser scanner is arranged on the top of the vehicle body and is configured to circumferentially rotate to emit path laser light and acquire the reflected laser light;
the trigger controller is configured on the top of the vehicle body and is used for determining the forklift position information according to the rotating angle of the laser scanner when the reflected laser is obtained and the installation position of the reflecting plate;
the identification unit includes:
the visual sensor is arranged on a forklift body on one side facing the materials to be transported and is configured to identify first material information and second material information of the materials to be transported;
the transport unit includes:
the lifting device is configured on the forklift frame and is used for responding to the action command and the adjustment command of the adjustment unit to adjust the position of the material to be transported in the vertical direction;
and the side shifting device is configured to respond to the action command of the adjusting unit and the adjusting command to adjust the position of the material to be transported in the horizontal direction perpendicular to the advancing direction.
Further, the security unit includes:
the laser sensor is configured on one side of the vehicle body, which is far away from the material to be transported, and is configured to acquire and identify the characteristics of the obstacles within a preset alarm distance;
the warning lamp is configured to give out sound and light alarm when the AGV forklift works and give out prompt alarm according to the characteristics of the obstacle when the obstacle is within a preset alarm distance;
and a protective touch unit arranged at the bottom of the vehicle body and used for stopping the AGV forklift when the obstacle collides with the forklift.
Further, the AGV control system includes:
the monitoring unit is configured to acquire the working states of the positioning navigation unit, the recognition unit, the adjustment unit and the vehicle body in real time, output the working information of the AGV forklift and send an abnormal alarm when any one of the working states is abnormal;
the scheduling unit is configured to respond to a task instruction of a user and generate task information corresponding to the working state according to the working information of the AGV forklift;
the path planning unit plans the route information of the AGV fork truck corresponding to the task information according to the task information;
and the interaction unit is configured to respond to the interaction instruction of the user and output the task information of the AGV fork truck and the task progress of the AGV fork truck.
A second aspect of the invention provides a material transport system comprising: a material binding system, a storage management system and the AGV forklift dispatching system,
the material binding system is configured to bind the materials to be transported and bearing devices for bearing the materials to be transported according to the waybill information of the materials to be transported, generate binding information and generate a transfer instruction to enable the AGV forklift scheduling system to transfer the bound bearing devices bearing the materials to be transported to a material transfer area of a warehouse;
the storage management system is configured to acquire third material information of the materials to be transported in the material transfer area, and generate storage information of the materials to be transported according to the binding information and the third material information, so that the AGV forklift scheduling system can transport the materials to be transported to the storage area according to the storage information.
Further, the warehousing management system is also configured to respond to a warehousing-out instruction of a user and enable the AGV forklift scheduling system to carry the materials to be transported to a warehousing-out area according to the warehousing information and the binding information.
Furthermore, the material transportation system further comprises an instruction system, wherein the instruction system is configured to monitor the working state of the material binding system, the warehouse management system and the AGV forklift scheduling system in real time, and respond to a task instruction of a user to output instruction information to the material binding system, the warehouse management system and the AGV forklift scheduling system.
The third aspect of the present invention provides a transportation method for transporting materials by using the material transportation system, including:
binding the materials to be transported and a bearing device for bearing the materials to be transported according to the waybill information of the materials to be transported, and generating binding information and a transfer instruction;
transporting the bound bearing device bearing the materials to be transported to a material transfer area of a warehouse;
acquiring third material information of the material to be transported in the material unloading area, and generating storage information of the material to be transported according to the binding information and the third material information;
and carrying the materials to be transported to a warehousing area according to the storage information.
The invention has the following beneficial effects:
according to the invention, the AGV fork truck automatically carries the materials to be transported according to the task information and the route information generated by the AGV control system responding to the task instruction of the user, and when carrying tasks are executed, the AGV fork truck intelligently carries and places the materials to be transported corresponding to the task information according to the fork truck position information generated by the positioning navigation unit and the material information of the materials to be transported, so that the automatic and intelligent automatic conveying system has the characteristics of automation and intellectualization.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of an AGV fork truck dispatching system according to one embodiment of the present invention;
FIGS. 2a and 2b are schematic diagrams of an AGV according to one embodiment of the present invention;
FIG. 3 is a schematic diagram of an AGV control system according to one embodiment of the present invention;
FIG. 4 shows an architectural schematic of an AGV fork truck according to one embodiment of the present invention;
FIG. 5 shows an architectural diagram of a material transport system according to an embodiment of the invention;
fig. 6 shows a flow chart of a transportation method according to an embodiment of the invention.
Detailed Description
In order to more clearly illustrate the invention, the invention is further described below with reference to preferred embodiments and the accompanying drawings. Similar parts in the figures are denoted by the same reference numerals. It is to be understood by persons skilled in the art that the following detailed description is illustrative and not restrictive, and is not to be taken as limiting the scope of the invention.
In view of the limitation of standardized and automated cargo warehousing management in the air freight industry in the prior art, as shown in fig. 1, an embodiment of the present invention discloses an AGV forklift scheduling system, which includes:
the AGV control system is configured to respond to a task instruction of a user to generate task information and route information;
the AGV forklift is configured to transport materials according to the task information and the route information;
AGV fork truck includes:
a vehicle body;
the positioning navigation unit is configured on the vehicle body and used for driving the AGV forklift to move according to the route information and generating forklift position information;
the identification unit is configured on the vehicle body and is used for acquiring first material information of the material to be transported according to the task information;
the adjusting unit is configured to generate an action instruction for carrying the materials to be transported according to the first material information and the forklift position information;
and the transportation unit is configured on the vehicle body and is used for carrying the materials to be transported according to the action command.
According to the embodiment of the invention, the AGV fork truck carries the materials to be transported according to the task information and the route information generated by the AGV control system responding to the task instruction of the user, and in the carrying process, the AGV fork truck carries and places the materials to be transported corresponding to the task information according to the fork truck position information generated by the positioning navigation unit and the first material information acquired by the identification unit.
In a specific example, the vehicle body of the embodiment of the invention adopts a resultant forklift, the vehicle body is of an existing structure, the resultant forklift is used for carrying out simple advancing and steering by using a motor of the resultant forklift, and the vehicle body comprises a driving motor, a corner motor and an electromagnetic braking device.
In a specific example, goods to be transported are transferred from the airport to the airport freight area for tallying, then transferred to the warehouse after tallying is finished, unloading, stacking and checking are carried out manually, after the operation is finished, the materials to be transported are temporarily stored in the to-be-bound area of the warehouse, and an AGV forklift is waited to transfer the materials to be transported to the bound area according to task information to bind the order information and the materials. The user sends a task instruction of the material to be transported to the AGV control system, and the AGV control system generates task information for transferring the AGV forklift to execute the transport task and route information for moving to a transport place and a destination according to the task instruction. In the working state that the AGV forklift carries out a carrying task, positioning navigation unit root route information to move, and monitoring the current position of the forklift in the moving process to generate forklift position information; when the AGV fork truck arrives at a carrying place of the materials to be transported, the identification unit acquires first material information of the materials to be transported according to the task information; the adjusting unit generates an action instruction for carrying the materials to be transported according to the first material information and the forklift position information; and the transport unit carries the materials to be transported according to the action instruction, and the AGV forklift carries the materials to be transported from the regions to be bound to the binding regions.
In some optional implementations of this embodiment, the positioning navigation unit is further configured to emit a path laser and obtain a reflected laser generated by a reflection plate installed in the forklift working environment according to the path laser to generate forklift position information of the forklift;
the identification unit is further configured to acquire second material information of the material to be transported after the material to be transported is placed by the transportation unit according to the action instruction;
the adjusting unit is further configured to generate an adjusting instruction for adjusting the position of the material to be transported according to the second material information and the forklift position information;
the transportation unit is further configured to adjust the position of the material to be transported according to the adjustment instruction.
In some optional implementations of this embodiment, as shown in fig. 2a, the positioning navigation unit includes:
a laser scanner 11 arranged on the vehicle body roof and configured to circumferentially rotate to emit path laser light and to acquire the reflected laser light;
and a trigger controller 12 arranged on the top of the vehicle body and configured to determine the forklift position information according to the rotation angle of the laser scanner when the reflected laser is acquired and the installation position of the reflecting plate.
In a specific example, laser reflecting plates with accurate positions are installed around the AGV traveling path, and a plurality of laser reflecting plates are arranged in the working range of the AGV forklift needing to be customized, so that the laser scanner 11 can sweep 4 laser reflecting plates simultaneously, and a reflecting target point is arranged on each reflecting plate and can reflect path laser output by the laser scanner. The laser reflecting plate can be a wall-mounted type or a column type, and the height of the laser reflecting plate can be about 2 meters from the ground. The trigger controller 12 performs control based on information transmitted from the sensing part.
Laser scanner circumference rotation sends out route laser, gathers this route laser by the reflecting plate reflection simultaneously, and trigger control ware is according to acquireing during the reflection laser the reflecting plate target point and laser scanner's distance is confirmed to laser scanner's rotation angle, and then confirms AGV fork truck current position and direction to calculate AGV's absolute coordinate in order to realize AGV's navigation through continuous triangle geometric operation. In a specific example, the laser scanner may adopt a SICK series laser scanner as a positioning navigation device, which has a very strong anti-interference capability, and simultaneously has functions of profile identification and target point identification, and can invoke different modes to operate in different environments.
The navigation coverage of the positioning navigation unit is wide, and the navigation precision is high. The method comprises the steps of obtaining landmark data of the environment through a laser scanner, fitting the running environment of the AGV forklift into basic data of a navigation map in the same proportion, and enabling the precision of navigation data to reach +/-4mm, so that the AGV forklift can achieve accurate positioning and running when running according to route information. The positioning navigation unit is simple in daily maintenance, and the main data source of laser navigation is data acquired by the laser scanner, so that maintenance is carried out without adding other facilities.
In this embodiment, the identification unit is configured to obtain first material information of the material to be transported according to the task information, and obtain second material information of the material to be transported after the material to be transported is placed by the transportation unit according to the action instruction.
The first material information, the second material information and the third material information of the materials to be transported can be characterized by the weight and the appearance of the materials to be transported, the serial number of a bearing device bearing the materials to be transported and the distance from the AGV forklift.
When the AGV forklift reaches the to-be-bound region according to the task information output by the AGV dispatching system, the to-be-transported materials are extracted, and the to-be-transported materials are transported to the bound region from the to-be-bound region. The binding is carried out by the material binding system, and the binding information is uploaded to the database and is used as one of the material information for the identification unit to identify.
In some optional implementations of this embodiment, the identifying unit includes: the vision sensor 21, which is disposed on the forklift body on the side facing the material to be transported, is configured to recognize the first material information and the second material information of the material to be transported.
The vision sensor 21 can be respectively arranged at different positions of the forklift body facing one side of the material to be transported, as shown in fig. 2b, the vision sensor 21 is arranged at the end part of the fork tooth facing one side of the material to be transported, a plurality of material information such as the shape, distance, speed and the like of the material to be transported can be obtained through a certain algorithm, or the distance and the speed of an object in an image are calculated by utilizing a plurality of collected sequence images; and the relative displacement of the AGV forklift and the material to be transported can be calculated according to the collected motion image of one shot by adopting an SSD algorithm. The recognition unit can further determine the specific placing position or the specific picking position of the materials to be transported, and automatic transportation of the AGV fork truck is further achieved.
In another specific example, the identification unit further includes: goods arrival detection devices 22 on two sides of the visual sensor 21 are respectively configured, and the goods arrival detection devices detect the distance between the materials to be transported and the reference coordinates of the forklift, so that the extraction positions of the materials to be transported are determined more accurately.
In some optional implementations of this embodiment, the transportation unit is further configured to adjust a position of the material to be transported according to the adjustment instruction.
As shown in fig. 2a, the transport unit includes:
the lifting device is configured on the forklift frame and is used for responding to the action command and the adjustment command of the adjustment unit to adjust the position of the material to be transported in the vertical direction;
the side shifting device is configured on the fork teeth of the forklift and is used for responding to the action command of the adjusting unit and the adjusting command to adjust the position of the material to be transported in the horizontal direction perpendicular to the advancing direction; in a specific example, as shown in fig. 2a, the lifting device is a lifting sensor 32 mounted on the forklift frame and a lifting reflector 35 disposed opposite to the lifting sensor 32, and the lifting device adjusts the position of the material to be transported in the vertical direction Z according to the action command and the adjustment command. The side shifting device is a moving-back device 33 arranged on the upper sides of the fork teeth of the forklift and a side shifting trigger plate 36 for judging the side shifting distance, and the position of the material to be transported in the vertical direction X is adjusted according to an action command and an adjusting command.
In another specific example, the transporting unit may not only adjust the position of the material to be transported by responding to the adjustment instruction of the adjusting unit, but the transporting unit may further include a control host 34 of the transporting unit provided on the forklift frame, the control host first generating further control instructions for controlling the lifting device, the side shifting device and the front-rear detecting device in response to the adjustment instruction to cause the forklift to perform position adjustment of the material to be transported in three directions of X, Y and Z.
Based on the foregoing, when the AGV fork truck arrives at the destination and the to-be-transported material needs to be placed on the designated shelf, in order to ensure accurate placement, the adjusting unit generates an action instruction for moving the fork teeth of the AGV fork truck according to the second material information obtained by the identifying unit after the first pre-placement and the current position information of the AGV fork truck, and the transporting unit adjusts the position of the to-be-transported material in the transporting process according to the action instruction. AGV fork truck gets goods with reason, the adjustment unit all can carry out the secondary according to actual goods size characteristic output action instruction so that the transportation unit moves the location of moving of side of correcting, guarantees AGV fork truck's repetition and gets the goods precision of putting, when avoiding many AGV fork truck linkages simultaneously, gets between the AGV fork truck and gets goods precision difference.
In a specific example, the side shifter allows goods on the fork teeth to laterally shift by 100mm or 150mm from side to side, so that the insertion and stacking of the goods are facilitated, the flexibility and the carrying efficiency of the AGV forklift are greatly improved, and the AGV forklift is suitable for various working occasions of forklift carrying and stacking.
In another specific example, if the field carrying tray has multiple specifications, the AGV forklift product can be matched with a distance adjusting function for automatically adjusting the difference, and the technical requirement for simultaneously forking multiple carrying trays in the field can be met. Zero transformation and full compatibility of the AGV forklift and the existing pallet are achieved.
In some optional implementations of this embodiment, the AGV further includes a safety unit configured to issue an audible and visual alarm and to obtain characteristics of an obstacle within a preset alarm distance, and to generate a protection instruction to cause the AGV to change a traveling state when the obstacle is within the distance range.
In order to ensure the safety of the running environment and the working environment of workers when the AGV forklift works, the AGV forklift always sends sound and light alarms to the surroundings when working to warn the surrounding workers to avoid in time; safety alarm distance is preset by the safety unit, the AGV forklift acquires barrier characteristics in different alarm distances in real time, and when the forklift acquires the barrier in the alarm distance, the safety unit controls the traveling speed of the AGV forklift to enable the AGV forklift to change the traveling state.
In some optional implementations of this embodiment, as shown in fig. 2a, the security unit includes:
the laser sensor 41 is arranged on one side, away from the material to be transported, of the vehicle body and is configured to acquire and recognize the characteristics of the obstacles within a preset alarm distance;
a warning lamp (not shown in the figure) arranged on the top of the vehicle body and configured to give out an audible and visual alarm when the AGV forklift works and give out a prompt alarm according to the characteristics of the obstacle when the obstacle is within a preset alarm distance;
and a protective touch unit 42 arranged at the bottom body edge of the body and configured to stop the AGV forklift when the obstacle collides with the forklift.
In one particular example, the laser sensor 41 may function in multiple calling modes, and different modes may be used at different alert distances to achieve the associated obstacle protection. For example, the laser sensor has a right-side cornering mode in which the shape of the warning distance of the forklift changes according to the cornering angle, a straight mode, and a left-side cornering mode. In another embodiment, the laser sensors may be disposed on both sides of the AGV and the fork tines may be aligned with the material to achieve all-directional safety.
In a specific example, the alarm distance is divided into a first-level distance, a second-level distance and a third-level distance according to the distance between the AGV and the obstacle, the sound volume of the sound-light alarm of the safety unit is larger and the tone is higher as the distance level is higher, the laser sensor acquires and identifies the characteristics of the obstacle within the preset alarm distance, for example, human body characteristics such as palm, arm and body can be identified, and the AGV stops moving when the obstacle is within the third-level distance or the travel speed of the AGV is controlled to be slowed down as the distance is closer. This setting mode can realize protecting 32 warning areas and warning in the AGV fork truck warning distance range.
In one specific example, the identification data of the laser sensor is stored in a memory integrated in the system plug, and the switching of the warning area is done by an attachable incremental encoder.
In one specific example, as shown in fig. 2a, the protection touch unit 42 is a protection touch edge of an AGV body edge in a safety contact type, when the AGV fork touches an obstacle, the AGV automatically stops to ensure safety of both the AGV fork and the obstacle.
In other optional implementations of this embodiment, an emergency stop switch may be added to the AGV body at a significant location to provide for emergency stop of the AGV body in case of an emergency. In other optional implementations of this embodiment, the AGV control system includes:
the monitoring unit is configured to acquire the working states of the positioning navigation unit, the recognition unit, the adjustment unit and the vehicle body in real time, output the working information of the AGV forklift and send an abnormal alarm when any one of the working states is abnormal;
the dispatching unit is configured to respond to a task instruction of a user and generate task information corresponding to the working state according to the working state of the AGV forklift;
the path planning unit plans the route information of the AGV fork truck corresponding to the task information according to the task information;
and the interaction unit is configured to respond to the interaction instruction of the user and output the task information of the AGV fork truck and the task progress of the AGV fork truck.
The AGV control system realizes data interaction with the AGV fork truck through a wireless network, is responsible for task allocation, path planning, system butt joint and real-time monitoring of the AGV fork truck, and can simultaneously schedule and monitor the operation of the AGV fork truck.
The monitoring unit can acquire the task state of the AGV fork truck and the equipment state of the AGV fork truck in real time, monitor the working environment of the AGV fork truck in real time and output the working information of the AGV fork truck. The monitoring unit also acquires the working states of the positioning navigation unit, the identification unit and the adjustment unit in real time, and sends an abnormal alarm to inform a worker to repair when any one of the units or the AGV forklift is abnormal.
And the scheduling unit determines a better AGV fork truck and task allocation relation according to the physical position of the task pickup station and the real-time working state of the AGV fork truck acquired by the monitoring unit so as to generate task information. The scheduling unit can group the tasks according to the characteristics of the starting point and the end point, and different time priority strategies are formulated aiming at the groups. And the path planning unit makes a route according to the task information distributed by the scheduling unit and the corresponding task progress of the AGV forklift. The scheduling unit may also query historical task execution, manually issue tasks to the AGV fork truck in response to user input operations, or cancel tasks in response to user input operations, and reorder task information.
The path planning unit is used for dividing traffic areas according to the working environment distribution of the warehouse, planning the route information of the AGV fork truck corresponding to the task information according to the task information, and editing the advancing route of the AGV fork truck; and sending the route information data to the AGV fork truck to execute the task.
The interaction unit can respond to the interaction instruction of the user to output the task information of the AGV forklift and the task progress of the AGV forklift, can also be in butt joint with the warehousing management system to interact data, and receives the carrying task suggestion feedback task execution condition issued by the warehousing management system. The interaction unit can realize the butt joint with the warehousing management system in a mode of a middle table, a WEB server, TCP/IP or a customized interface.
The AGV forklift scheduling system provided by the embodiment of the invention can generate and issue the task information according to the priority, and the AGV forklift can only schedule so as to realize automatic warehousing of the materials to be transported. The AGV fork truck adopts light, heat source and the barrier in the place ahead of the effective discernment of visual identification technique at the automobile body, uses laser detection technique real-time detection AGV fork truck rear whether have the barrier, uses the anticollision to detect the timely stopping when realizing meetting the barrier in the left and right sides, and then realizes the safe operation of unmanned fork truck of AGV at the operation in-process. The AGV fork truck uses a laser navigation mode to realize whole-course accurate navigation under the conditions that the reflecting laser plate is arranged at the tail end and the reflecting laser plate is not arranged in the middle section according to the reflecting plate arranged in the working environment.
Another embodiment of the present invention discloses a material transport system, comprising: a material binding system, a storage management system and the AGV forklift dispatching system,
the material binding system is configured to bind the materials to be transported and bearing devices for bearing the materials to be transported according to the waybill information of the materials to be transported, generate binding information and generate a transfer instruction to enable the AGV forklift scheduling system to transfer the bound bearing devices bearing the materials to be transported to a material transfer area of a warehouse;
the storage management system is configured to acquire third material information of the materials to be transported in the material transfer area, and generate storage information of the materials to be transported according to the binding information and the third material information, so that the AGV forklift scheduling system can transport the materials to be transported to the storage area according to the storage information.
The warehouse is internally provided with an area to be bound, a binding area, a material transfer area, a warehousing area and a warehousing area.
In a specific example, the goods to be transported are transferred from the airport to the airport freight area for tallying, then transferred to the warehouse after the tallying is finished, and then manually unloaded, stacked and verified, and after the operations are finished, the materials to be transported are temporarily stored in the to-be-bound area of the warehouse. The materials to be transported are transported to the binding area from the binding area and can be transported manually by workers, and task information can also be issued to an AGV forklift and the AGV forklift is used for transporting the materials to be transported.
In a specific example, the carrying device can be a Sichuan-shaped four-way-inlet single-side tray, a fixed position for attaching a bar code is arranged on the tray, the tray has a function of protecting the bar code, the bar code is used for realizing information binding between the tray and a material carried by the tray, and the bar code can be a one-dimensional bar code, a two-dimensional bar code or an RFID radio frequency tag. The material binding system binds the main freight note or the sub freight note number of the material to be transported with the tray, and the information is automatically sent to the warehousing management system after being bound. After the materials to be transported and the trays are bound, the workers can manually use the forklift or generate task information to send the trays bearing the materials to be transported to the material unloading area by using the AGV forklift.
The warehousing management system acquires third material information of the materials to be transported in the material unloading area, the third material information is consistent with the first material information and the second material information, and the third material information can be characterized by the weight, the size and the appearance of the materials to be transported, the serial number of a bearing device for bearing the materials to be transported, the distance between the bearing device and an AGV forklift and the like. The warehousing management system detects the materials to be transported in the material unloading area by using the shape detection device, and generates storage information of the materials to be transported to wait for warehousing if the materials are qualified.
In one specific example, the contour detection means is set based on the stored length, width and height data according to the allowable error. And then carrying out infrared photoelectric scanning on the size of the material to be transported in the material transfer area, judging whether the size exceeds the threshold range, and if the size is qualified, generating storage information and allowing the storage information to be stored in a warehouse. If the size exceeds the threshold range, the size is considered to be unqualified, the size needs to be rearranged, and the report of the out-of-tolerance condition (such as over-height, over-width or over-length) is displayed on an LED screen.
And the storage management system generates storage information and a warehousing instruction of the materials to be transported which are qualified in detection according to the binding information and the third material information, and the AGV forklift scheduling system executes a carrying task according to the storage information and the warehousing instruction and sends the materials to be transported to a warehousing area.
In other optional implementation manners of this embodiment, the warehousing management system is further configured to respond to a warehousing-out instruction of a user and enable the AGV forklift scheduling system to transport the to-be-transported material to a warehousing-out area according to the warehousing information and the binding information.
And when the materials are delivered out of the warehouse, the warehouse management system locks the storage information and the storage position of the materials to be transported according to the target main freight note and the target sub freight note and the customer goods delivery requirements by combining the main freight note and the sub freight note of the air transportation goods according to the material information of the materials to be transported, so that a delivery instruction is formed. And the AGV forklift dispatching system generates task information dispatching according to the warehouse-out instruction, and conveys the trays which are required to be warehouse-out and bear the materials to be conveyed from the warehouse-in area to the warehouse-out area.
In other optional implementation manners of this embodiment, the material transportation system further includes an instruction system (not shown in fig. 5) configured to monitor the working states of the material binding system, the warehousing management system and the AGV forklift scheduling system in real time, and output instruction information to the material binding system, the warehousing management system and the AGV forklift scheduling system in response to a task instruction of a user. In a specific example, the instruction system may be hardware or software to realize visual viewing of material information and storage information, and realize real-time dynamic visual monitoring of materials to be transported in the warehouse.
When the instruction system is hardware, it can be various electronic devices having a display screen and supporting image recognition, including but not limited to smart phones, tablet computers, laptop portable computers, handheld PDAs, desktop computers, and the like. When the instruction system is software, it can be installed in the electronic devices listed above. It may be implemented as multiple pieces of software or software modules (e.g., to provide distributed services) or as a single piece of software or software module.
The material transportation system provided by the embodiment of the invention effectively improves the warehouse entry and exit efficiency of the materials to be transported, an AGV forklift can transport the materials one ton in one minute, 1440 torr of the materials can be transported one day, the transportation weight can reach 2160 tons, the transportation efficiency is greatly improved, and the labor cost is reduced; the management of warehouse goods is completely systematized, the goods information can be checked and tracked in real time, and the intelligent management reduces the error rate of the warehouse: the warehouse is unmanned, and the field injury is reduced.
Another embodiment of the present invention discloses a transportation method for transporting materials by using the material transportation system, which includes:
the material binding system binds the materials to be transported and a bearing device for bearing the materials to be transported according to the waybill information of the materials to be transported, and generates binding information and a transfer instruction;
the AGV forklift dispatching system dispatches the AGV forklift to transport the bound bearing device bearing the materials to be transported to a material transfer area of the warehouse;
the warehousing management system acquires third material information of the materials to be transported in the material unloading area, and generates storage information of the materials to be transported according to the binding information and the third material information;
and the AGV forklift dispatching system dispatches the AGV forklift to carry the materials to be transported to the warehousing area according to the storage information.
The warehousing management system responds to a warehousing-out instruction of a user and determines the storage position of the material to be transported according to the warehousing information and the binding information;
and the AGV forklift dispatching system carries the materials to be transported to the ex-warehouse area according to the warehousing information, the binding information and the storage position.
It should be noted that the workflow of the transportation method provided in this embodiment is similar to that of the material transportation system, and reference may be made to the above description for relevant points, which is not described herein again.
It is further noted that, in the description of the present application, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
It should be understood that the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention, and it will be obvious to those skilled in the art that other variations or modifications may be made on the basis of the above description, and all embodiments may not be exhaustive, and all obvious variations or modifications may be included within the scope of the present invention.
Claims (10)
1. An AGV fork truck dispatch system, comprising: an AGV control system and at least one AGV fork truck,
the AGV control system is configured to respond to a task instruction of a user to generate task information and route information;
the AGV forklift is configured to transport materials according to the task information and the route information;
AGV fork truck includes:
a vehicle body;
the positioning navigation unit is configured on the vehicle body and used for driving the AGV forklift to move according to the route information and generating forklift position information;
the identification unit is configured on the vehicle body and is used for acquiring first material information of the material to be transported according to the task information;
the adjusting unit is configured to generate an action instruction for carrying the materials to be transported according to the first material information and the forklift position information;
and the transportation unit is configured on the vehicle body and is used for carrying the materials to be transported according to the action command.
2. The system of claim 1,
the positioning navigation unit is further configured to emit path laser and acquire reflected laser generated by a reflecting plate installed in the forklift working environment according to the path laser so as to generate forklift position information of the forklift;
the identification unit is further configured to acquire second material information of the material to be transported after the material to be transported is placed by the transportation unit according to the action instruction;
the adjusting unit is further configured to generate an adjusting instruction for adjusting the position of the material to be transported according to the second material information and the forklift position information;
the transportation unit is further configured to adjust the position of the material to be transported according to the adjustment instruction.
3. The system of claim 1,
the AGV forklift further comprises a safety unit which is configured to give out an acousto-optic alarm and obtain the characteristics of the obstacle within the preset alarm distance, and when the obstacle is within the distance range, a protection instruction is generated to enable the AGV forklift to change the advancing state.
4. The system of claim 2,
the positioning navigation unit comprises:
the laser scanner is arranged on the top of the vehicle body and is configured to circumferentially rotate to emit path laser light and acquire the reflected laser light;
the trigger controller is configured on the top of the vehicle body and is used for determining the forklift position information according to the rotating angle of the laser scanner when the reflected laser is obtained and the installation position of the reflecting plate;
the identification unit includes:
the visual sensor is arranged on a forklift body on one side facing the materials to be transported and is configured to identify first material information and second material information of the materials to be transported;
the transport unit includes:
the lifting device is configured on the forklift frame and is used for responding to the action command and the adjustment command of the adjustment unit to adjust the position of the material to be transported in the vertical direction;
and the side shifting device is configured to respond to the action command of the adjusting unit and the adjusting command to adjust the position of the material to be transported in the horizontal direction perpendicular to the advancing direction.
5. The system of claim 3, wherein the security unit comprises:
the laser sensor is configured on one side of the vehicle body, which is far away from the material to be transported, and is configured to acquire and identify the characteristics of the obstacles within a preset alarm distance;
the warning lamp is configured to give out sound and light alarm when the AGV forklift works and give out prompt alarm according to the characteristics of the obstacle when the obstacle is within a preset alarm distance;
and a protective touch unit arranged at the bottom of the vehicle body and used for stopping the AGV forklift when the obstacle collides with the forklift.
6. The system of claim 1, wherein said AGV control system comprises:
the monitoring unit is configured to acquire the working states of the positioning navigation unit, the recognition unit, the adjustment unit and the vehicle body in real time, output the working information of the AGV forklift and send an abnormal alarm when any one of the working states is abnormal;
the scheduling unit is configured to respond to a task instruction of a user and generate task information corresponding to the working state according to the working information of the AGV forklift;
the path planning unit plans the route information of the AGV fork truck corresponding to the task information according to the task information;
and the interaction unit is configured to respond to the interaction instruction of the user and output the task information of the AGV fork truck and the task progress of the AGV fork truck.
7. A material transport system, comprising: a material binding system, a warehouse management system and an AGV forklift dispatching system according to any of claims 1-6,
the material binding system is configured to bind the materials to be transported and bearing devices for bearing the materials to be transported according to the waybill information of the materials to be transported, generate binding information and generate a transfer instruction to enable the AGV forklift scheduling system to transfer the bound bearing devices bearing the materials to be transported to a material transfer area of a warehouse;
the storage management system is configured to acquire third material information of the materials to be transported in the material transfer area, and generate storage information of the materials to be transported according to the binding information and the third material information, so that the AGV forklift scheduling system can transport the materials to be transported to the storage area according to the storage information.
8. The material transport system of claim 7,
and the warehousing management system is also configured to respond to a warehousing-out instruction of a user and enable the AGV forklift scheduling system to carry the materials to be transported to a warehousing-out area according to the warehousing information and the binding information.
9. The material transport system of claim 7, further comprising an instruction system configured to monitor the operating status of the material binding system, the warehouse management system, and the AGV forklift dispatch system in real time and output instruction information to the material binding system, the warehouse management system, and the AGV forklift dispatch system in response to a user's task instruction.
10. A method of transporting material using a material transport system according to any one of claims 7-9, comprising:
binding the materials to be transported and a bearing device for bearing the materials to be transported according to the waybill information of the materials to be transported, and generating binding information and a transfer instruction;
transporting the bound bearing device bearing the materials to be transported to a material transfer area of a warehouse;
acquiring third material information of the material to be transported in the material unloading area, and generating storage information of the material to be transported according to the binding information and the third material information;
and carrying the materials to be transported to a warehousing area according to the storage information.
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