CN112801582A

CN112801582A - Unmanned archive storehouse system

Info

Publication number: CN112801582A
Application number: CN202110089703.6A
Authority: CN
Inventors: 蒋运涛; 张建; 张昆; 何龙; 柳青
Original assignee: Beijing Roit Intelligent Technology Co ltd
Current assignee: Beijing Roit Intelligent Technology Co ltd
Priority date: 2021-01-22
Filing date: 2021-01-22
Publication date: 2021-05-14

Abstract

The invention discloses an unmanned archive storehouse system, which comprises: the archive storehouse management system is suitable for sending a channel preparation request to the intelligent compact shelf and sending a mobile operation request to the robot system according to an archive operation request initiated by a user; the file operation request carries information of files to be operated and position information of the compact shelving of the file box to be operated; the intelligent compact shelf is suitable for opening the corresponding channel of the compact shelf according to the received channel preparation request; the robot system is suitable for issuing a moving operation instruction carrying moving initial position information and moving target position information to the robot according to the received moving operation request; and the robot is suitable for executing the received moving operation instruction, moving to a moving initial position, utilizing the holding arm to hold the file box to be operated, then moving to a moving target position and placing the file box to be operated. The system can improve the efficiency, safety and standard of file management, and realizes unmanned file storehouse management.

Description

Unmanned archive storehouse system

Technical Field

The invention relates to the technical field of unmanned warehouses, in particular to an unmanned archive storehouse system.

Background

With the progress of robotics in recent years, more and more robots are used in the storage, logistics and other industries. The fact proves that the application of the robot in the scenes not only saves the labor cost, but also brings the advantages of efficiency improvement, error rate reduction and the like. Although the archive storehouse is a special storage place, most of the archive storehouses have the application characteristics of high density and low frequency, the archive storehouse has the characteristics of being orderly and regular in stacking, high in requirements on access safety and accuracy and the like, and the characteristics are important conditions for realizing the unmanned archive storehouse by using the support robot.

The unmanned warehousing technology brings great benefits to warehousing management of various industries, and the modern unmanned archival repository construction is also provided with schedules. The unmanned archive storehouse is built, so that the workload of manual archive access can be reduced, the efficiency is improved, and the danger of an archive administrator during the process of accessing the archives in the high storage positions can be reduced. Simultaneously, replace artifically with the robot, can fix a position archives through software more accurately, access archives according to the archives position strictly for the archives storage is more standard. In a word, the development of the unmanned archive storehouse brings innovation to archive storehouse management, and the efficiency, safety and specification of archive management are improved.

In the prior art, the solution of the unmanned storehouse mainly comprises: one is a combination scheme of a fixed frame and a robot of a physical storehouse, and the second is a combination scheme of a mechanical arm and a conveying belt. However, the inventor finds out in the process of implementing the invention that: the scheme in the prior art occupies a large space for the archive storehouse, has high transformation cost, and is not suitable for the high-capacity and low-frequency use requirement of the archive storehouse.

Disclosure of Invention

In view of the above, the present invention has been developed to provide an unmanned archive storage system that overcomes, or at least partially solves, the above-mentioned problems.

According to an aspect of the present invention, there is provided an unmanned archive storehouse system including: the system comprises a file storeroom management system, an intelligent compact shelf, a robot system and a robot;

the archive storehouse management system is suitable for sending a channel preparation request to the intelligent compact shelf and sending a mobile operation request to the robot system according to an archive operation request initiated by a user;

the file operation request carries information of files to be operated and position information of the compact shelving of the file box to be operated;

the intelligent compact shelf is suitable for opening the corresponding channel of the compact shelf according to the received channel preparation request;

the robot system is suitable for issuing a moving operation instruction carrying moving initial position information and moving target position information to the robot according to the received moving operation request;

and the robot is suitable for executing the received moving operation instruction, moving to a moving initial position, utilizing the holding arm to hold the file box to be operated, then moving to a moving target position and placing the file box to be operated.

Optionally, the archive storehouse management system includes: the system comprises a file storehouse system and a storehouse rack cooperation system;

the file storehouse system is suitable for receiving a file operation request initiated by a user and sending a file box operation request to the storehouse rack cooperation system according to the file operation request;

and the storehouse rack cooperation system is suitable for sending a moving operation request to the robot system and sending a channel preparation instruction to the intelligent compact shelf according to the received archive box operation request.

Optionally, the system further comprises: a cache area shelf workstation;

the archival repository system is further adapted to: receiving a file shelving request initiated by a user, and sending a file box shelving request to be operated to a storehouse rack cooperation system according to the file shelving request;

the file racking request carries file information to be operated and position information to be racked of the file box to be operated;

the warehouse rack collaboration system is further adapted to: according to a received archive box shelving request to be operated, sending a first mobile operation request to a robot system, and sending a channel preparation instruction to an intelligent compact shelf;

the robotic system is further adapted to: issuing a first mobile operation instruction to the robot according to the received first mobile operation request;

the robot is further adapted to: executing a first moving operation instruction, moving to an intelligent compact shelf, holding a to-be-operated file box from a to-be-shelved position, then moving to a cache area shelf workstation, and placing the to-be-operated file box on the cache area shelf workstation, so that a user can place a file with a label in the to-be-operated file box;

the cache area shelf workstation is suitable for responding to shelf-up triggering operation of a user, generating a shelf-up request of a file box to be shelved and sending the shelf-up request to the storeroom rack cooperation system;

the warehouse rack collaboration system is further adapted to: according to the received shelving request of the archive box to be shelved, sending a channel preparation request to the intelligent compact shelf and sending a second mobile operation request to the robot system;

the robotic system is further adapted to: issuing a second moving operation instruction to the robot according to the received second moving operation request;

the robot is further adapted to: and executing a second moving operation instruction, moving to a cache area shelf workstation, holding the file box to be operated, then moving to the intelligent compact shelf, and placing the file box to be operated at a position to be placed on the shelf in the intelligent compact shelf.

Optionally, the archive storage system is further adapted to: receiving a file off-shelf request initiated by a user, and sending a file box off-shelf request to be operated to a storehouse rack cooperation system according to the file off-shelf request;

the file off-shelf request carries file information to be operated and off-shelf position information of file box information to be operated;

the warehouse rack collaboration system is further adapted to: according to the received archive box unloading request to be operated, a third mobile operation request is sent to the robot system, and a channel preparation instruction is sent to the intelligent compact shelf;

the robotic system is further adapted to: issuing a third moving operation instruction to the robot according to the received third moving operation request;

the robot is further adapted to: and executing a third moving operation instruction, moving to the intelligent compact shelf corresponding to the position information of the to-be-off shelf to embrace and take the to-be-operated file box, and then moving to the cache area shelf workstation and placing the to-be-operated file box.

Optionally, a tag reader-writer is mounted on the arm of the robot;

the archival repository system is further adapted to: sending a compact shelving inventory request and archive information corresponding to the position to be inventoried to a library rack cooperation system according to an archive inventory request which is initiated by a user and carries information of the position to be inventoried;

the warehouse rack collaboration system is further adapted to: according to the received compact shelf inventory request, sending a channel preparation request to the intelligent compact shelf, and sending a fourth mobile operation request carrying position information of the compact shelf to be inventory to the robot system;

the robotic system is further adapted to: according to the received fourth moving operation request, a fourth moving operation instruction carrying position information of the point to be set is issued to the robot;

the robot is further adapted to: executing a fourth moving operation instruction, moving to a position to be checked, and aligning the arm with the intelligent compact shelf at the position to be checked;

the warehouse rack collaboration system is further adapted to: issuing a tag reading instruction to a tag reader-writer;

the tag reader is adapted to: reading labels pasted on files in the intelligent compact shelf at the position to be checked, and returning the read label information to the storeroom rack cooperation system;

the warehouse rack collaboration system is further adapted to: and comparing the received label information with the file information corresponding to the position to be checked to obtain a file checking result.

Optionally, the tag is an ultrahigh frequency RFID tag, and the tag reader is: ultrahigh frequency RFID label reader-writer.

Optionally, the smart dense rack is further adapted to: after the channel opening action or the rack folding action is finished, returning a response that the compact shelving is operated in place to the library rack cooperation system;

the robot is further adapted to: after the moving operation instruction is executed and the robot system moves to the designated position, a response that the robot system has moved in place is returned to the robot system, so that the robot system returns a response that the robot system has moved in place to the storehouse rack cooperation system; and after the moving operation instruction is executed to place the to-be-operated file box, returning a response that the to-be-operated file box is placed in place to the robot system, so that the robot system returns a response that the to-be-operated file box is placed in place to the storehouse rack cooperation system.

Optionally, the robotic system is further adapted to: returning a response that the file box to be operated is placed at the appointed position of the cache area shelf workstation to the storehouse rack cooperation system, and informing the cache area shelf workstation that the file box to be operated is placed at the appointed position of the cache area shelf workstation;

the warehouse rack collaboration system is further adapted to: returning the position information of the file box to be operated, which is placed on the shelf workstation in the cache area, to the file storehouse system;

the cache shelf workstation is further adapted to: and displaying the position information of the file box to be operated placed on the shelf workstation in the cache area.

Optionally, the warehouse rack collaboration system is further adapted to: sending a folding request to the intelligent compact shelf; the intelligent compact shelf is further adapted to: and folding the compact shelving according to the received folding request.

The unmanned archive storehouse system according to the present invention comprises: the system comprises a file storeroom management system, an intelligent compact shelf, a robot system and a robot; the archive storehouse management system is suitable for sending a channel preparation request to the intelligent compact shelf and sending a mobile operation request to the robot system according to an archive operation request initiated by a user; the file operation request carries information of files to be operated and position information of the compact shelving of the file box to be operated; the intelligent compact shelf is suitable for opening the corresponding channel of the compact shelf according to the received channel preparation request; the robot system is suitable for issuing a moving operation instruction carrying moving initial position information and moving target position information to the robot according to the received moving operation request; and the robot is suitable for executing the received moving operation instruction, moving to a moving initial position, utilizing the holding arm to hold the file box to be operated, then moving to a moving target position and placing the file box to be operated. The system can coordinate intelligent compact shelves and robots in the archive storehouse to perform businesses such as archive operation, can improve the efficiency, safety and specification of archive management, and really realizes unmanned archive storehouse management.

The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:

fig. 1 is a schematic structural diagram of an unmanned archive storehouse system provided by an embodiment of the invention;

FIG. 2 is a schematic diagram illustrating an architecture of an unmanned archive system provided by another embodiment of the invention;

FIG. 3 is a schematic diagram illustrating the logical operation of an unattended archive system in another embodiment of the invention;

FIG. 4a is an interactive view of a file racking process (first part) according to another embodiment of the present invention;

FIG. 4b is an interactive view of a file racking process (second part) according to another embodiment of the present invention;

FIG. 5 is an interactive illustration of a file off-shelf process provided by another embodiment of the invention;

fig. 6 is an interaction diagram illustrating an archive accounting process according to another embodiment of the present invention.

Detailed Description

Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

Fig. 1 is a schematic structural diagram of an unmanned archive system provided in an embodiment of the present invention, and as shown in fig. 1, the system includes: archival repository management system 11, intelligent compact shelf 12, robotic system 13, and robot 14.

The archive storehouse management system 11 is suitable for sending a channel preparation request to the intelligent compact shelf and sending a mobile operation request to the robot system according to an archive operation request initiated by a user; the file operation request carries information of files to be operated and position information of the compact shelving of the file box to be operated.

The archive storehouse management system is responsible for managing storehouse archive services, such as executing the services for receiving, managing and storing archives, maintaining and managing equipment of the archive storehouse, monitoring environmental information of the archive storehouse and the like.

The function of the archive repository management system is mainly described in terms of repository archive operation processing in the embodiment. The user may request to perform archive shelving operation, archive shelving operation or archive checking operation, for example, the user triggers an archive operation request through a front-end display interface or a physical button, where the archive operation request carries information of the archive to be operated, such as a number and an identifier of the archive to be operated, and also carries position information of the compact shelf of the archive box to be operated, that is, shelf location information of the archive box to be operated, including a section level of the compact shelf where the archive box to be operated is located, and a number of the archive box to be operated, and the like.

The archive storehouse management system requests the intelligent compact shelving to prepare a corresponding compact shelving channel according to an archive operation request initiated by a user so that the robot can move to the channel. Meanwhile, a moving operation request is sent to the robot system according to a file operation request initiated by a user, so that the robot system can control the robot to perform moving operation.

The intelligent compact shelving 12 is suitable for opening the corresponding channel of the compact shelving according to the received channel preparation request.

The intelligent compact shelf is a standard in modern file storehouse construction, is used for storing file boxes, has an independent control system, can realize the operations of opening, moving, stopping and the like of local and remote control intelligent compact shelves, and has the functions of self-checking of equipment, abnormal alarm, clamping prevention and the like.

And when the intelligent compact shelf receives the channel preparation request, opening a corresponding compact shelf channel, wherein the corresponding compact shelf channel is the compact shelf channel corresponding to the position information of the compact shelf of the archive box to be operated.

And the robot system 13 is adapted to issue a moving operation instruction carrying the moving initial position information and the moving target position information to the robot according to the received moving operation request.

The robot system is used for managing a plurality of robots in the archival repository, for example, managing operation data of the robots, issuing operation instructions to the robots, receiving data returned by the robots, and the like, and the robot system and the robots perform information interaction through a wireless gateway.

After receiving the moving operation request, the robot system generates a moving operation instruction, wherein the moving operation instruction carries moving initial position information and moving target position information so as to indicate that the robot firstly moves to the moving initial position to hold the archive box to be operated and then moves to the moving target position to place the archive box to be operated.

And the robot 14 is suitable for executing the received moving operation command, moving to a moving initial position, holding the file box to be operated by using the holding arm, and then moving to a moving target position and placing the file box to be operated.

The main function of the robot is to carry the file box and complete the file operation requested by the user. The robot directly executes the received moving operation instruction, moves to the moving initial position firstly, uses the mechanical arm to hold the to-be-operated file box, then moves to the moving target position and places the to-be-operated file box which is held. For example, if the user requests the file shelving operation, the robot needs to move to the intelligent compact shelf and hold the file box to be operated, and then move to the designated placement position to place the file box to be operated, so as to complete the file shelving operation.

To sum up, unmanned archives storehouse system of this embodiment can coordinate intelligent intensive and robot in the archives storehouse to carry out businesses such as archives operation, can promote archives management's efficiency, security and standard, has really realized unmanned archives storehouse management.

Fig. 2 is a schematic structural diagram of an unattended archive storage system according to another embodiment of the present invention, and as shown in fig. 2, the system includes: archives storehouse management system 21, intelligent intensive 22, robotic system 23, robot 24, buffer storage shelf workstation 25, wherein, archives storehouse management system 21 includes again: archival repository system 211 and repository rack collaboration system 212.

The archive storehouse system 211 is adapted to receive an archive operation request initiated by a user and send an archive box operation request to the storehouse rack cooperation system 212 according to the archive operation request. The file operation request carries information of files to be operated and position information of the compact shelving of the file box to be operated. The archive storehouse system is directly oriented to the user and receives an archive operation request initiated by the user.

A repository rack collaboration system 212 adapted to send a mobile operation request to the robotic system based on the received archive box operation request; and sending a channel preparation instruction to the intelligent compact shelf corresponding to the file box to be operated according to the received file box operation request.

The main function of the storehouse rack cooperation system is to coordinate the actions of the intelligent compact shelves and the robot and avoid the occurrence of collision problems such as clamping and the like. On one hand, a moving operation request is sent to the robot system so that the robot system can control the robot to perform moving operation, and on the other hand, a channel preparation instruction is sent to the compact shelving corresponding to the archive box to be operated so that the intelligent compact shelving opens the corresponding channel.

The functions of the intelligent compact shelf 22 and the robot system 23 are described with specific reference to the above embodiments, and will not be described herein.

And the robot 24 is suitable for executing the received moving operation instruction, moving to the moving initial position and holding the file box to be operated, and then moving to the moving target position and placing the file box to be operated. For example, if the file operation is a file shelving operation, the initial moving position is a cache area shelf workstation, and the target moving position is an intelligent compact shelf. The file operation is file off-shelf operation, then the initial moving position is an intelligent compact shelf, and the moving target position is a cache area shelf workstation.

Fig. 3 is a schematic diagram illustrating the logical operation of the unattended archive system according to another embodiment of the invention. As shown in fig. 3, the warehouse archive platform (also called a warehouse archive system), the warehouse rack cooperation system, the robot system, the intelligent compact shelf, the cache shelf workstation, and the warehouse management user terminal are connected through a wired network, and the robot is connected wirelessly. The file storehouse system sends the service request to storehouse frame cooperative system, and storehouse frame cooperative system coordinates intelligent intensive and robot normal operating, and the robot moves and carries the file box between intelligent intensive and buffer storage area goods shelves workstation, accomplishes work such as archives put on the shelf, put off the shelf and check, and storehouse staff does not get into robot work area, only need take out or return archives at buffer storage area goods shelves workstation.

In the first aspect, the unattended archive storehouse system of the embodiment can complete the archive shelving service, the archive box to be operated, which is provided for the user to package the archive, in the shelving service is taken from the intelligent compact shelf, the archive box to be operated needs to be firstly shelved from the intelligent compact shelf, and then the archive box to be operated is shelved to the same position after the user puts the archive into the archive box to be operated. The following is described in detail:

the archival repository system is further adapted to: receiving a file shelving request initiated by a user, and sending a file box shelving request to be operated to a storehouse rack cooperation system according to the file shelving request; the file racking request carries file information to be operated and position information to be racked of the file box to be operated; the archives of waiting to operate also wait to put on shelf archives, wait to operate the file box and also wait to put on shelf the file box promptly, wait to put on shelf the archives and place in waiting to put on shelf the file box. The information of the archive to be operated can be the name, number or identification of the archive, and the information of the position to be shelved includes: the position of the intelligent compact shelf (namely the section layer of the compact shelf on which the archive box is to be shelved), and the number of the archive box (namely the position number of the archive box to be operated in the intelligent compact shelf).

the robotic system is further adapted to: issuing a first mobile operation instruction to the robot according to the received first mobile operation request; wherein, the first move operation instruction is used for making the robot go up and down the shelf file box from the intelligent compact shelf.

The robot is further adapted to: and executing the first mobile operation instruction, moving to the intelligent compact shelf, holding the archive box to be operated from the position to be shelved, then moving to the cache area shelf workstation, and placing the archive box to be operated at the cache area shelf workstation so that a user can place the archive adhered with the label into the archive box to be operated.

So far, then accomplished from the intensive subrack appointed filing cabinet of intelligence, later, the user can paste the label with archives and place in the filing cabinet that takes off, perhaps paste the label and place in the filing cabinet that takes off after will archives dress the box, triggers the entity button on the buffer storage area goods shelves workstation, carries out the trigger operation of putting on the shelf promptly to the request is put on the shelf again with the filing cabinet.

the user will wait to put on shelf archives in waiting to put on shelf archive box to wait to put on shelf archive box places on buffer zone goods shelves workstation, and then carries out the trigger operation of putting on shelf, buffer zone goods shelves workstation responds to user's trigger operation of putting on shelf, generates the request of putting on shelf of waiting to put on shelf archive box and sends it to storehouse frame cooperative system.

The warehouse rack collaboration system is further adapted to: and sending a channel preparation request to the intelligent compact shelf and sending a second mobile operation request to the robot system according to the received shelving request of the archive box to be shelved. After receiving the request sent by the operation buffer table, the storehouse rack cooperation system coordinates the intelligent compact shelf and the robot to execute corresponding actions, specifically, on one hand, a channel preparation request is sent to the intelligent compact shelf so that the intelligent compact shelf can open a corresponding channel, and on the other hand, a moving operation request is sent to the robot system so that the robot system can control the robot to put the archive box to be put on the shelf.

Correspondingly, the intelligent compact shelf opens the corresponding channel of the compact shelf according to the received channel preparation request.

And the robot system issues a second moving operation instruction to the robot according to the received second moving operation request. The second movement instruction is used for enabling the robot to rack the file box on the cache area shelf workstation to the intelligent dense box. And the robot executes a second moving operation instruction, moves to the cache area shelf workstation and embraces the file box to be operated, then moves to the intelligent compact shelf and places the file box to be operated at the position of the shelf to be operated in the intelligent compact shelf.

After executing the moving operation instruction and moving to the designated position, the robot returns a response of moving in place to the robot system, so that the robot system returns the response of the robot in place to the storehouse rack cooperation system;

and after the robot executes the moving operation instruction to place the to-be-operated file box, returning a response that the to-be-operated file box is placed in place to the robot system, so that the robot system returns a response that the to-be-operated file box is placed in place to the storehouse rack cooperation system.

After receiving a response that the to-be-operated file box is placed in place and returned by the robot, the robot system returns a response that the to-be-operated file box is placed at the specified position of the cache area shelf workstation to the storehouse rack cooperation system, and notifies the cache area shelf workstation of a message that the to-be-operated file box is placed at the specified position of the cache area shelf workstation. After receiving a response that the file box to be operated and returned by the robot system is placed at the specified position of the cache area shelf workstation, the storehouse rack cooperation system returns position information that the file box to be operated and placed at the cache area shelf workstation to the file storehouse system; after receiving the information that the file box to be operated is placed at the appointed position of the cache area shelf workstation and notified by the robot system, the cache area shelf workstation displays the position information that the file box to be operated is placed at the cache area shelf workstation.

That is, the archive box that will wait to operate is put off shelves from intelligent intensive to place behind buffer storage shelf workstation by the robot, on the one hand, to storehouse frame cooperative system and archival repository system return corresponding response and wait to operate the position of placing of archive box on buffer storage shelf workstation, on the other hand, inform buffer storage shelf workstation, buffer storage shelf workstation shows the position of treating to operate the archive box on buffer storage shelf workstation through the display interface, so that the user can know.

The storehouse rack cooperation system is also suitable for sending a folding request to the intelligent compact shelving, and the intelligent compact shelving folds the compact shelving according to the received folding request. Similarly, when the intelligent compact shelf completes the channel opening action or the channel closing action according to the channel preparation request or the closing request sent by the storeroom rack cooperation system, the response information that the intelligent compact shelf is in place is returned to the storeroom rack cooperation system, so that the storeroom rack cooperation system can perform the next cooperation operation.

Therefore, in the unmanned archive storehouse system of the embodiment, the archive storehouse system directly interacts with the storehouse rack cooperation system, the storehouse rack cooperation system coordinates the intelligent compact shelf and the robot system, after the intelligent compact shelf and the robot system feed back response information to the storehouse rack cooperation system, the storehouse rack cooperation system feeds back the response information to the archive storehouse system, and the robot system and the intelligent compact shelf cannot directly perform information interaction with the archive storehouse system.

The robot embraces from intelligent intensive frame earlier and gets appointed archive box of treating operation in the mode of putting on shelf, then, moves to buffer memory goods shelves workstation, will treat that the archive box of operating is placed in buffer memory goods shelves workstation, after the archives management personnel will treat that the archives of putting on shelf put into treat the archive box of operating, the robot embraces from buffer memory goods shelves workstation again and gets the archive box of treating operation, then, moves to intelligent intensive case, will treat that the archive box of operating is placed in appointed position department in the intelligent intensive case.

Fig. 4a is an interactive schematic diagram of archive shelving processing (first part) provided by another embodiment of the invention, the first part of archive shelving operation refers to that a robot shelves archive boxes to be operated from an intelligent compact shelf and carries the archive boxes to be operated to a cache area shelf workstation, and specifically includes the following interactive steps:

(1) the archives staff label the archives and box the archives. The archives staff will arrange the archives file binding into the book promptly, paste the go-on label, the label can be the hyperfrequency RFID label, perhaps also can adorn the case back with hyperfrequency RFID label paste on the archives box. This step is not shown in fig. 4 a.

(2) The file staff sends a request for putting on shelf. Namely, the file staff sends a file racking request in the file storehouse system. The file shelving request comprises file information to be shelved and a designated position to be shelved, namely a position to be shelved of the file box to be operated, and comprises a specific shelf position on the compact shelf where the file box to be operated is located, wherein the shelf position comprises information of a section layer, left and right sides of the compact shelf where the file box to be operated is located, and specific position information such as a serial number of the file box to be operated.

(3) And the file storehouse system requests the storehouse rack cooperation system to take out the file box to be operated. The archive storehouse system calls an interface of a storehouse rack cooperation system for taking out the archive box with the appointed rack position, and the robot and the compact shelving are coordinated to take out the archive box and carry the archive box to an idle position of a shelf workstation in the cache area. And finally, returning the position information of the shelf workstation of the file box in the cache area by the interface.

(4) The storehouse rack cooperation system is responsible for dispatching the whole process that the robot takes out the file box to be operated from the compact shelf and puts the file box to the cache area shelf workstation, and the concrete steps are as follows:

1) the warehouse rack collaboration system requests the robot system to move to a specified location. Since it is not possible to determine whether the corresponding aisle of the compact shelf is already open, the library rack cooperation system waits before the robot moves to the aisle to be opened. And after receiving the request, the robot system sends an instruction to the robot, the robot moves to a specified position according to the instruction and returns the information that the robot is moved in place to the robot system, and the robot system returns the information that the robot is in place to the warehouse rack cooperation system.

2) And the storehouse rack cooperation system executes the step 1), and simultaneously sends a request for opening the corresponding rack channel to the intelligent compact rack. The intelligent compact shelf opens a channel of the compact shelf according to the information of the position of the file box to be operated on the shelf, and returns the information that the compact shelf is in place after the channel is opened.

3) After confirming that the robot and the compact shelf are in place, the storehouse rack cooperation system sends a request to the robot system to command the robot to move the archive box to be operated on the designated shelf position from the compact shelf and convey the archive box to an idle position on a shelf workstation in a cache area. This process is performed in three steps in the robotic system. Firstly, the robot system sends an instruction of setting down the file box from the position to be set up, and commands the robot to hold the file box out of the target frame position through the holding arm before reaching the target frame position, so as to set down the file box. And secondly, the robot system sends an instruction of moving to the target position, and the robot is instructed to convey the file box to a certain position in front of the shelf workstation of the cache area. And finally, the robot system sends an instruction for placing the file box at the designated position of the shelf workstation in the cache area, and commands the robot to place the file box at the designated position on the shelf workstation in the cache area. After the step is finished, the robot system returns the position information of the file box in the buffer area to the storehouse rack cooperation system.

(5) After receiving the position information of the file box in the buffer area, returned by the robot system, of the storeroom rack cooperation system, the fact that the robot leaves the currently opened compact shelf channel is confirmed, and therefore the closing of the compact shelf is requested to the intelligent electric compact shelf. After the intelligent electric compact shelf obtains the shelf closing instruction, the shelf body is closed, and the information of the shelf closing in place is returned under the condition of closing in place.

Fig. 4b is an interactive schematic diagram of archive shelving processing (second part) provided by another embodiment of the invention, and the second part of archive shelving operation refers to carrying an archive box to be operated from a buffering operation platform shelving to an intelligent compact shelf for shelving, and specifically includes the following interactive steps:

(1) the storehouse staff puts archives into the file box of the buffer storage goods shelf workstation. In addition, before the file is put on shelf again, according to the fine requirement of file management, the robot can start the ultrahigh frequency RFID reader-writer to read the file label in the file box while holding the file box, and the file label is returned to the file storehouse system to be compared with the label in the database, so that whether the newly put-on file is matched or not is determined.

(2) The warehouse staff presses a return button on the shelf workstation in the cache area to inform the warehouse rack cooperation system to reload the archive box. Because the archive box on the shelf again needs to coordinate the simultaneous operation of the intelligent compact shelf and the robot, the specific steps are as follows:

1) and the storehouse rack cooperation system requests the intelligent compact shelf to open a channel at a shelf-waiting position. And the intelligent compact shelf opens the corresponding channel according to the instruction, and returns the information of opening the channel in place to the library rack cooperation system after the channel is in place.

2) And the storehouse rack cooperation system executes 1) and simultaneously requests the robot system to convey the file box to be operated at the designated position on the buffer storage shelf workstation to the designated position for waiting. After receiving the instruction, the robot firstly moves to the designated position of the shelf workstation of the cache area to hold the file box, and then conveys the file box to the waiting position in front of the corresponding channel of the intelligent compact shelf to wait.

3) After receiving the information that the intelligent compact shelf is in place when opening the channel and the robot reaches the waiting position, the storehouse rack cooperation system sends a request for putting the archive box to be operated to the designated rack position to the robot system. And after receiving the request, the robot system moves to the specified position in the channel opened by the intelligent compact shelf and puts the file box on the specified shelf position through the holding arm. And then the robot system returns the position information of the shelving to the warehouse rack cooperation system, and the shelving position information is returned to the archival warehouse system through the system.

(3) The warehouse rack collaboration system requests the robot system to move the robot to the waiting area. And the robot system sends an instruction for moving to the corresponding position of the waiting area to the robot, so that the robot is moved out of the compact shelving channel and returns to the waiting area. And after the robot returns to the waiting area, the information that the robot has moved to the designated position is returned to the robot system, and the robot system sends the information that the robot has moved to the waiting area to the storehouse rack cooperation system.

(4) And after receiving the information that the robot has moved to the waiting area, the storehouse rack cooperation system sends a rack combination request to the intelligent compact rack. And the intelligent compact shelving executes shelf combination, and sends the information that the shelves are combined in place to the storehouse rack cooperation system after the shelves are combined in place.

In a second aspect, the unmanned archive storehouse system of the embodiment can complete the off-shelf business of archives, and the off-shelf file refers to the process that a robot takes down an archive box from an appointed position of an intelligent compact shelf and puts the archive box on a buffer workbench after a storehouse worker sends an off-shelf file box request to be operated in the archive storehouse system, and the following description is specifically given:

the file storehouse system receives a file off-shelf request initiated by a user and sends a file box off-shelf request to be operated to the storehouse rack cooperation system according to the file off-shelf request; the file off-shelf request carries file information to be operated and off-shelf position information of file box information to be operated;

and the storehouse rack cooperation system sends a third mobile operation request to the robot system and sends a channel preparation instruction to the intelligent compact shelf according to the received file box unloading request to be operated.

When a user needs to put down archives, an archives putting request is initiated through the archives storehouse system, the archives putting request carries information of archives to be operated and position information of the archives to be put down of the archives to be operated, the position information of the archives to be put down comprises the position information of the intelligent compact shelf where the archives to be operated are located, and the position information comprises the section layer, the left side information, the right side information and the number of the archives of the intelligent compact shelf where the archives to be operated are located.

Then, the archive storehouse system receives an archive off-shelf request initiated by a user and sends an archive box off-shelf request to the storehouse rack cooperation system. The storehouse rack cooperation system sends a channel preparation request to the intelligent compact shelf according to a file box shelving request so that the intelligent compact shelf can open a corresponding channel, and sends a third moving operation request to the robot system so that the robot system can generate a third moving operation instruction, wherein the third moving operation instruction is used for indicating the robot to complete shelving of a file box to be operated.

Specifically, the robot executes a third moving operation instruction, moves to the intelligent compact shelf, takes the file box to be operated from the position of the shelf to be lowered, and then moves to the storage rack workstation in the cache area and places the file box to be operated.

Fig. 5 is an interactive schematic diagram of archive shelf-leaving processing provided by another embodiment of the present invention, the process is substantially similar to the steps of the first part of the shelf-leaving service, and specifically includes the following interactive steps:

(1) and sending a file shelving command in the file warehouse system by a warehouse worker, and providing the position information of the file shelving.

(2) And after receiving the file shelving request, the file storehouse system sends a file request of the shelf-released appointed compact shelf position to the storehouse rack cooperation system. The request comprises archive information needing to be off-shelved and storage position information of the archives, including information of the archive box on the section layer and the left and right sides of the compact shelf, and specific position information such as the serial number of the archive box.

(3) The storehouse rack cooperation system divides the file racking request into several steps, coordinates the robot and the intelligent compact shelving to complete the racking operation, and specifically comprises the following steps:

1) the storeroom rack cooperation system firstly sends a waiting position request to the robot system before the robot is moved to the corresponding channel of the compact shelving. And sending a command to the robot by the robot system, and enabling the robot to move to a waiting position in front of the corresponding channel for standby.

2) And the storeroom rack cooperation system simultaneously sends a channel request for opening the corresponding rack position to the intelligent compact rack. The intelligent compact shelf opens corresponding channels according to the storage shelf positions of the file box, and the compact shelf opens the channels.

3) After the warehouse rack cooperation system waits for the robot in the step 1) to be in place and the compact shelves in the step 2) to be moved in place, a request for moving the archive box to the designated position of the shelf workstation in the cache area is sent to the robot system. The robot system sends an instruction to enable the robot to take down the file box from the designated rack position, then move to the designated position in front of the cache area shelf workstation, and finally place the file box at the corresponding position of the cache area shelf workstation. After all the operations are completed, the robot returns the position information of the shelf work station where the file box is placed in the cache area to the storehouse rack cooperation system, and then the storehouse rack cooperation system returns the information to the file storehouse system.

4) When the file box is placed at the cache area shelf workstation, the robot system informs the cache area shelf workstation to display the file information of the file box on the cache area shelf workstation terminal.

(3) And after receiving the information that the archive box is conveyed to the shelf workstation of the cache area, the storehouse rack cooperation system sends a frame body folding request to the intelligent electric compact shelf. And after receiving the request, the compact shelving executes the operation of closing the shelf body, and feeds back the final result to the storeroom rack cooperation system.

(4) After the warehouse rack cooperation system finishes conveying the file box to the cache area shelf workstation, a request is sent to the robot system, and the robot returns to the waiting area to wait.

In a third aspect, the unmanned archive storehouse system of the embodiment can complete archive checking service, and the archive checking service refers to that storehouse workers use the robot and the compact shelf to cooperatively work, and check the archives, the archive boxes or the archives on the compact shelf through the ultrahigh frequency RFID radio frequency technology to know the difference between the shelf archives and the database. The archive checking service is realized through an ultrahigh frequency RFID label adhered to the archive and an ultrahigh frequency RFID reader-writer arranged on an arm of the robot. The following is described in detail:

the archival repository system is further adapted to: and sending the intensive inventory request and the archive information corresponding to the to-be-inventoried position to the library rack cooperation system according to the archive inventory request which is initiated by the user and carries the to-be-inventoried position information.

The checking object can take the area of the compact shelf as an object and can also take a storehouse as an object, and the position to be checked can be the position of the compact shelf to be checked or the position of the storehouse to be checked. The archive storehouse system is stored with archive information, including archive box information, archive label information and the like, so that comparison is convenient during checking, the archive information is pre-entered and is associated with the position of the intelligent compact shelf, for example, the corresponding relation between the identification of the pre-entered archive and the shelf column and archive box number where the pre-entered archive is located. The archive storehouse system responds to a request of the storehouse rack cooperation system and sends archive information corresponding to the position to be checked to the storehouse rack cooperation system so as to be used for checking in the subsequent process.

Accordingly, the warehouse rack collaboration system is further adapted to: according to the received compact shelf inventory request, sending a channel preparation request to the corresponding intelligent compact shelf so that the intelligent compact shelf opens a channel, and sending a fourth mobile operation request carrying information of the position of the compact shelf to be inventory to the robot system;

the robotic system is further adapted to: according to the received fourth moving operation request, a fourth moving operation instruction carrying position information of the point to be set is issued to the robot; the robot is further adapted to: executing a fourth moving operation instruction, moving to a position to be checked, and aligning the arm with the intelligent compact shelf at the position to be checked;

the tag reader is adapted to: reading a label adhered to a file in the intelligent compact shelf at the position to be checked according to the received label reading instruction, and returning the read label information to the storeroom rack cooperation system;

the warehouse rack collaboration system is further adapted to: and comparing the received label information with the file information corresponding to the position to be checked to obtain a file checking result. Wherein, use the archives storehouse system to send the archives information that waits to check the position correspondence for storehouse frame cooperative system as the benchmark in the time of comparing, use the archives information that prestores in the system as the benchmark promptly, the label information that can match is regarded as normal, and the label information that lacks is regarded as the dish and lacks, and unnecessary label is ignored.

Fig. 6 shows an interaction diagram of archive inventory processing according to another embodiment of the present invention, which specifically includes the following interaction steps:

(1) and the warehouse staff request to check the area appointed by the warehouse through the archival warehouse system. Note that the inventory area may be targeted at a region of the compact shelf, or may be targeted at a warehouse.

(2) The file storehouse system sends the checking request to the storehouse rack cooperation system according to the checking request, and the storehouse rack cooperation system is responsible for coordinating and completing the whole checking process.

(3) The storehouse rack cooperation system firstly requests the archive storehouse system to acquire the position archive information of the checking, including the label information of the archive box, the archive box and the archive, so that the comparison is convenient in the checking process. And the archive storehouse system returns corresponding archive information according to the request.

(4) The warehouse rack collaboration system then begins performing inventory. The checking mode is that the channel is opened row by row, and then the checking is carried out on the shelves one by one. The inventory process for each bay is as follows:

1) the storehouse rack cooperation system requests the robot system to move the robot to a specified channel to be opened for waiting. And the robot moves to a specified position after receiving an instruction sent by the robot system, and returns the in-place state to the warehouse rack cooperation system.

2) And the warehouse rack cooperation system requests the intelligent compact shelving to open a corresponding channel according to the checking position, and the intelligent compact shelving returns the information that the compact shelving is operated in place after opening the corresponding channel.

3) The warehouse rack cooperation system requests the robot system to move the robot to the front of the rack to be checked. And after receiving the command of the robot system, the robot moves into a channel opened by the intelligent compact shelf to reach the designated shelf position and returns the information of the in-place state.

4) The house rack cooperation system requests the robot system to execute the function of aligning the designated rack position, and the checking of all the vertical rack positions at the position is conveniently carried out layer by layer from bottom to top. After the robot executes the instructions of the robot system, the arm is aligned to the designated frame position, and then the information that the arm is in place is returned.

5) And the storehouse rack cooperation system requests the ultrahigh frequency RFID reader-writer to read and write the label, and after the ultrahigh frequency RFID reader-writer reads the label, all the obtained label information is returned to the storehouse rack cooperation system.

6) And comparing the obtained label result with the file box, the file box and the file label in the current checking rack by the storehouse rack cooperation system to generate a comparison result. During comparison, the label information stored in the database is used as a main body, the ultrahigh frequency RFID reader-writer reads the returned label to compare with the returned label, the matched label is considered to be normal, the lacked label is considered to be disc-lacked, and redundant labels are ignored (because other labels at adjacent positions are possibly read). If all the labels on a certain shelf are matched, performing next shelf inventory; if the certain shelf label has the defect of the disc, the label is repeatedly read once again, and the label collection read twice is compared with the stock label again to form a final checking result.

(5) And the warehouse rack cooperation system collects all the inventory results to generate a final inventory report and detailed information, and returns the final inventory report and the detailed information to the archive warehouse system.

(6) And after all the checking operations are completed, the storehouse rack cooperation system requests the robot system to move the robot back to the waiting area. And the robot returns in-place information after moving to the waiting area according to the instruction of the robot system.

(7) And the storehouse rack system requests the intelligent electric compact shelf to fold the rack body after the robot returns to the waiting area. And the intelligent electric dense frame returns the closing in-place information after the frame body is closed.

In summary, the unmanned archive storehouse system of the embodiment can coordinate the intelligent compact shelves and the robots in the archive storehouse to perform daily main services such as shelf loading, shelf unloading and checking. The intelligent electric compact shelf is standard in modern archive storehouse construction, is provided with an independent control system, can realize the operation of opening, moving, stopping and the like of the local and remote control electric compact shelf, and has the functions of self-checking of equipment, abnormal alarm, clamping prevention and the like. The robot can take the container down from the designated position of the goods shelf through the arm and carry the container to the designated position; or a function of transporting a container at a specified position to a specific position on the pallet. The radio frequency technology adopts the mutual cooperation of an ultrahigh frequency RFID reader-writer and an ultrahigh frequency RFID label to realize non-contact article identification, thereby executing operations such as retrieval, positioning, checking and the like.

During specific implementation, the unmanned archive storehouse system in the embodiment can be realized by transforming the original intelligent compact shelving storehouse, only a series of equipment facilities such as two-dimensional code path identification, security fence, wireless gateway, buffer cabinet and charging area related to the robot need to be set up, and the logic of cooperation between the robot and the compact shelving is increased, so that the operability is strong. By the system, the file box can be accurately placed at the corresponding position of the compact shelf by the robot; the robot can also accurately take out the file box from the corresponding position of the compact shelf; and even the robot can carry out the file checking one by one. Therefore, the system has lower implementation and modification cost, can ensure the storage space, and can also achieve the efficient and safe implementation effect. In addition, after the wireless RFID radio frequency technology is added, files can be accurately checked, and the accuracy of the files in the warehouse and the files borrowed and returned is fully ensured.

The algorithms or displays presented herein are not inherently related to any particular computer, virtual system, or other apparatus. Various general purpose systems may also be used with the teachings herein. The required structure for constructing such a system will be apparent from the description above. In addition, embodiments of the present invention are not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best mode of the invention.

In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the embodiments of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the invention and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.

Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will appreciate that while some embodiments herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.

The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functionality of some or all of the components according to embodiments of the present invention. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form. It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names. The steps in the above embodiments should not be construed as limiting the order of execution unless specified otherwise.

Claims

1. An unmanned archive storage system comprising: the system comprises a file storeroom management system, an intelligent compact shelf, a robot system and a robot;

the robot is suitable for executing the received moving operation instruction, moves to the moving initial position, uses the holding arm to hold the archive box to be operated, then moves to the moving target position and places the archive box to be operated.

2. The system of claim 1, wherein the archive repository management system comprises: the system comprises a file storehouse system and a storehouse rack cooperation system;

the archive storehouse system is suitable for receiving an archive operation request initiated by a user and sending an archive box operation request to the storehouse rack cooperation system according to the archive operation request;

and the storehouse rack cooperation system is suitable for sending a mobile operation request to the robot system and sending a channel preparation instruction to the intelligent compact shelf according to the received archive box operation request.

3. The system of claim 2, wherein the system further comprises: a cache area shelf workstation;

the archival repository system is further adapted to: receiving a file shelving request initiated by a user, and sending a file box shelving request to be operated to a library rack cooperation system according to the file shelving request;

the file racking request carries file information to be operated and position information to be racked of a file box to be operated;

the warehouse rack collaboration system is further adapted to: according to a received archive box shelving request to be operated, sending a first mobile operation request to the robot system, and sending a channel preparation instruction to the intelligent compact shelving;

the robot is further adapted to: executing the first moving operation instruction, moving to an intelligent compact shelf, holding a file box to be operated from a position to be shelved, then moving to a cache area shelf workstation, and placing the file box to be operated at the cache area shelf workstation, so that a user can place files with labels in the file box to be operated;

the warehouse rack collaboration system is further adapted to: according to a received shelving request of a to-be-shelved file box, sending a channel preparation request to the intelligent compact shelf and sending a second mobile operation request to the robot system;

the robot is further adapted to: and executing the second moving operation instruction, moving to a cache area shelf workstation, holding the archive box to be operated, then moving to the intelligent compact shelf, and placing the archive box to be operated at the position of the intelligent compact shelf to be put on the shelf.

4. The system of claim 3, wherein the archival repository system is further adapted to: receiving a file off-shelf request initiated by a user, and sending a file box off-shelf request to be operated to a library rack cooperation system according to the file off-shelf request;

the warehouse rack collaboration system is further adapted to: according to the received archive box unloading request to be operated, sending a third mobile operation request to the robot system and sending a channel preparation instruction to the intelligent compact shelf;

the robot is further adapted to: and executing the third moving operation instruction, moving to the intelligent compact shelf corresponding to the position information of the to-be-off shelf to embrace and take the to-be-operated file box, and then moving to the cache area shelf workstation and placing the to-be-operated file box.

5. The system of claim 2, wherein a tag reader is mounted on the boom of the robot;

the warehouse rack collaboration system is further adapted to: according to the received compact shelf inventory request, sending a channel preparation request to the intelligent compact shelf, and sending a fourth mobile operation request carrying information of the position of the compact shelf to be inventory to the robot system;

the robot is further adapted to: executing the fourth moving operation instruction, moving to the position to be checked, and aligning the arm to the intelligent compact shelf at the position to be checked;

the warehouse rack collaboration system is further adapted to: issuing a tag reading instruction to the tag reader-writer;

the tag reader is adapted to: reading the label pasted on the file in the intelligent compact shelf at the position to be checked, and returning the read label information to the library rack cooperation system;

6. The system of claim 5, the tag being an ultra high frequency RFID tag, the tag reader being: ultrahigh frequency RFID label reader-writer.

7. The system of claim 3, wherein the smart dense rack is further adapted to: after the channel opening action or the rack folding action is finished, returning a response that the compact shelving is operated in place to the storeroom rack cooperation system;

the robot is further adapted to: after the moving operation instruction is executed and the robot system moves to the designated position, returning a response that the robot system has moved in place to the robot system so that the robot system returns a response that the robot system has moved in place to the warehouse rack cooperation system; and after the moving operation instruction is executed to place the to-be-operated file box, returning a response that the to-be-operated file box is placed in place to the robot system, so that the robot system returns a response that the to-be-operated file box is placed in place to the storehouse rack cooperation system.

8. The system of claim 3, wherein the robotic system is further adapted to: returning a response that the file box to be operated is placed at the appointed position of the cache area shelf workstation to the storehouse rack cooperation system, and informing the cache area shelf workstation that the file box to be operated is placed at the appointed position of the cache area shelf workstation;

9. The system of claim 2, wherein the warehouse rack collaboration system is further adapted to: sending a folding request to the intelligent compact shelf; the intelligent compact shelf is further adapted to: and folding the compact shelving according to the received folding request.