CN113148515B

CN113148515B - Intelligent logistics warehouse storage shelf control system and method

Info

Publication number: CN113148515B
Application number: CN202110525190.9A
Authority: CN
Inventors: 李明根
Original assignee: Guangzhou Technician College Guangzhou Senior Technician School Guangzhou Senior Vocational And Technical Training College Guangzhou Agricultural Cadre School
Current assignee: Guangzhou Technician College Guangzhou Senior Technician School Guangzhou Senior Vocational And Technical Training College Guangzhou Agricultural Cadre School
Priority date: 2021-05-14
Filing date: 2021-05-14
Publication date: 2022-03-25
Anticipated expiration: 2041-05-14
Also published as: CN113148515A

Abstract

The invention discloses an intelligent logistics storage shelf control system and method, wherein the system comprises the following components: each logistics storage shelf, each mechanical arm, each AGV trolley and each remote control terminal; the mechanical arms are movably arranged on each logistics storage shelf; and the remote control terminal is respectively connected with the mechanical arm and the AGV. The AGV sends a bearing signal to a remote control terminal; the method comprises the steps that a remote control terminal obtains article information borne by an AGV and determines a target logistics storage shelf matched with the article information; the AGV transports the carried articles to an appointed position, and returns a delivery signal to the remote control terminal after the transport is finished; the remote control terminal determines the shelf type corresponding to the target logistics storage shelf; sending an article placing instruction to the mechanical arm based on the shelf type; the mechanical arm carries out corresponding laying operation on the articles carried by the AGV trolley. The invention can enlarge the application range of the intelligent logistics storage shelf control system.

Description

Intelligent logistics warehouse storage shelf control system and method

Technical Field

The invention relates to the field of intelligent warehousing, in particular to a system and a method for controlling storage racks of an intelligent logistics warehouse.

Background

At present, intelligent warehousing is a link in a logistics process, and can ensure the data input efficiency and accuracy of each link of warehousing control.

In practice, it has been found that, due to the complexity and variety of the items currently required to be warehoused, different types of shelves are required to store these items. However, the warehouse control system which is often adopted at present is often set for a specific type of shelf and is not suitable for different types of shelves. Therefore, an intelligent logistics storage shelf control system with a wider application range is needed.

In view of the above problems, no effective solution has been proposed.

Disclosure of Invention

The embodiment of the invention provides an intelligent logistics storage shelf control system and method, which at least expand the application range of the intelligent logistics storage shelf control system.

According to one aspect of the embodiment of the invention, an intelligent logistics storage shelf control system is provided, and comprises logistics storage shelves, a mechanical arm, an AGV and a remote control terminal; the mechanical arms are movably arranged on the logistics storage shelves; the remote control terminal is respectively connected with the mechanical arm and the AGV trolley; the AGV trolley is used for responding to the condition that the weight of the loaded articles is larger than a preset threshold value and sending a loading signal to the remote control terminal; the remote control terminal is used for responding to the bearing signal, acquiring the article information borne by the AGV trolley, determining a target logistics storage shelf matched with the article information, and sending a control signal to the AGV trolley; the AGV trolley is also used for responding to the control signal, transporting the carried articles to a specified position, and returning a delivery signal to the remote control terminal after the transportation is finished; the remote control terminal is also used for responding to the delivery signal and determining the shelf type corresponding to the target logistics storage shelf; sending an article placement instruction to the mechanical arm based on the shelf type; the mechanical arm is used for executing corresponding placing operation on the articles borne by the AGV according to the article placing instruction, so that the articles borne by the AGV are placed to the target logistics storage rack.

As an alternative embodiment, the loading plate corresponding to each cargo space of the target logistics storage rack with the rack category being drawer type rack has a motor structure; the switches of the motor structure are positioned on the side edges of the cargo carrying plates; the mechanical arm is specifically used for moving to the side edge of a loading plate of a target goods position of the target logistics storage shelf under the condition that the shelf type is the drawer-type shelf, and controlling the mechanical arm to trigger a switch of a corresponding motor structure; and then moving to the AGV trolley based on the article placing instruction, and controlling the manipulator to grab the articles borne by the manipulator and move to the loading plate of the target cargo space for placing.

As an optional implementation manner, the mechanical arm is further configured to move to a side edge of the cargo-carrying plate of the target cargo space after the mechanical arm is controlled to grasp the carried articles and move the articles to the cargo-carrying plate of the target cargo space for placement, and control the mechanical arm to trigger a switch of a corresponding motor structure, so that the cargo-carrying plate of the target cargo space is reset.

As an optional embodiment, the mechanical arm is further configured to follow the AGV to move based on the article placement command if the rack category is a shuttle rack; and responding to the fact that the obstacle exists when the AGV trolley runs on the track corresponding to the shuttle goods shelf, and controlling the manipulator to grab the obstacle and lift the obstacle so that the AGV trolley passes through the track section corresponding to the obstacle.

As an optional implementation manner, the remote control terminal stores the article types stored corresponding to the logistics storage shelves in advance; the remote control terminal is specifically used for responding to the bearing signal, acquiring article information borne by the AGV, and determining the article type based on the article information; and determining the target logistics storage shelf corresponding to the item category.

According to another aspect of the embodiments of the present invention, there is also provided an intelligent logistics storage shelf control method applied to the intelligent logistics storage shelf control system, including: responding to a detected bearing signal sent by an AGV, acquiring article information borne by the AGV, determining a target logistics storage shelf matched with the article information, and sending a control signal to the AGV; the bearing signal is a signal sent by the AGV responding to the condition that the weight of the articles borne by the AGV is larger than a preset threshold value; determining a shelf type corresponding to the target logistics storage shelf in response to the detection of a delivery signal sent by the AGV; sending an article placing instruction to a mechanical arm based on the type of the goods shelf, so that the mechanical arm performs corresponding placing operation on the articles borne by the AGV so as to place the articles borne by the AGV to the target logistics storage goods shelf; the delivery signal is a signal which is sent back to the remote control terminal after the AGV trolley transports the carried articles to the designated position based on the carrying signal and the transport is completed.

As an alternative embodiment, the sending an item placement command to a robotic arm based on the shelf category to cause the robotic arm to perform a corresponding placement operation on the items carried by the AGV cart includes: and responding to the situation that the shelf type is determined to be a drawer type shelf, sending an article placing instruction to the mechanical arm to control the mechanical arm to move to the side edge of the loading plate of the target goods position of the target logistics storage shelf, triggering a switch of a corresponding motor structure, and controlling the mechanical arm to move to the AGV trolley to grab the loaded articles and move to the loading plate of the target goods position to place the articles.

As an optional implementation, the method further comprises: and controlling the mechanical arm to move to the side edge of the loading plate of the target cargo space to trigger a switch of a corresponding motor structure so as to reset the loading plate of the target cargo space.

As an alternative embodiment, the sending an item placement command to a robotic arm based on the shelf category to cause the robotic arm to perform a corresponding placement operation on the items carried by the AGV cart includes: responding to the determination that the goods shelf type is shuttle goods shelf, sending article to the arm and laying the instruction, in order to control the arm follows the AGV dolly removes and when there is the barrier when the AGV dolly is in when moving on the track that shuttle goods shelf corresponds the barrier control the arm snatchs the barrier is raised, so that the AGV dolly passes through the track highway section that the barrier corresponds.

As an alternative embodiment, the determining the target logistics storage shelf matched with the item information comprises: determining an item category based on the item information; and determining the target logistics storage shelf corresponding to the item category.

According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to execute the above-mentioned intelligent logistics storage shelf control method when running.

According to another aspect of the embodiments of the present invention, there is also provided an electronic apparatus, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the method for controlling the intelligent logistics storage shelf through the computer program.

In the embodiment of the invention, the intelligent logistics storage shelf control system can identify the category of each logistics storage shelf, and send different article placing instructions to the mechanical arm based on the different categories so as to control the mechanical arm to perform different placing operations aiming at different shelf categories, so that the system is suitable for storage control of various shelves, and has a wider application range.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:

FIG. 1 is a schematic diagram of an alternative intelligent logistics warehouse storage shelf control system, in accordance with an embodiment of the present invention;

FIG. 2 is a flow chart of an alternative intelligent logistics warehouse shelf control method in accordance with an embodiment of the present invention;

fig. 3 is a schematic structural diagram of an alternative electronic device according to an embodiment of the invention.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

The embodiment of the invention provides an optional intelligent logistics storage shelf 101 control system, which comprises logistics storage shelves 101, a mechanical arm 102, an AGV trolley 103 and a remote control terminal 104, as shown in FIG. 1; the mechanical arm 102 is movably arranged on each logistics storage shelf 101; the remote control terminal 104 is respectively connected with the mechanical arm 102 and the AGV trolley 103; the mechanical arm 102 is movably arranged on each logistics storage shelf 101; the remote control terminal 104 is respectively connected with the mechanical arm 102 and the AGV trolley 103; the AGV trolley 103 is used for responding to the fact that the weight of the loaded articles is larger than a preset threshold value and sending a loading signal to the remote control terminal 104; and the remote control terminal 104 is used for responding to the bearing signal and acquiring the information of the articles borne by the AGV trolley 103. The carrying signal is used to indicate that the current AGV cart 103 carries the specific article, and at this time, the article information carried by the AGV cart 103 may be further determined in the remote control terminal 104. Further, the remote control terminal 104 may also determine a target logistics storage rack 101 matched with the article information, and send a control signal to the AGV cart 103; the AGV trolley 103 is also used for responding to the control signal, transporting the carried articles to a specified position, and returning a delivery signal to the remote control terminal 104 after the transportation is finished; the remote control terminal 104 is further configured to determine a shelf type corresponding to the target logistics storage shelf 101 in response to the delivery signal; and based on the shelf type, send an item placement instruction to the robotic arm 102; and the mechanical arm 102 is used for performing corresponding placing operation on the articles borne by the AGV trolley 103 based on the article placing instruction so as to place the articles borne by the AGV trolley 103 to the target logistics storage rack 101.

In the embodiment of the present invention, each logistics storage rack 101 may include different types of racks, such as drawer racks, shelf racks, shuttle racks, and the like, which is not limited in the embodiment. For each logistics storage shelf 101, a mechanical arm 102 may be movably disposed on each logistics storage shelf 101, or the mechanical arms 102 may be disposed at intervals of a preset number of logistics storage shelves 101. Regardless of the manner in which the robotic arms 102 are arranged, the robotic arms 102 may be selected to meet the requirements of each cargo space that can be flexibly moved to each of the warehousing racks 101. Further, the AGV cart 103 is responsible for transporting the cargo. And the remote control terminal 104 can establish wireless connection with the mechanical arm 102 and the AGV cart 103, and control the mechanical arm 102 or the AGV cart 103 to execute corresponding operations so as to realize the placement of the goods. Wherein, the AGV trolley 103 can be provided with a weight sensing device for detecting the weight of the articles borne by the AGV trolley 103. For example, the AGV cart 103 may preset the weight of the articles to be loaded in each round of transportation, detect whether the current weight of the articles to be loaded reaches the preset percentage of the weight threshold value to be loaded in the round of transportation, and if so, determine that the weight of the articles to be loaded is greater than the preset threshold value, and send a load signal to the remote control terminal 104. The remote control terminal 104 may then respond to the carrier signal to obtain the item information carried by the AGV cart 103, which may include, but is not limited to, item type, item quantity, etc. The remote control terminal 104 may store the corresponding relationship between the item information and the logistics storage rack 101 that needs to be stored in advance, and determine the target logistics storage rack 101 based on the corresponding relationship, for example, store the specific item type to the closed drawer type rack for dust prevention. Thereafter, the remote control terminal 104 may generate a control signal for controlling the AGV cart 103 to move from the current position to the target logistics storage rack 101 based on the position of the AGV cart 103 and the position of the target logistics storage rack 101 that it needs to store. The remote control terminal 104 may pre-establish a warehouse map, where the warehouse map may be a map constructed based on a three-dimensional coordinate system, and each position in the warehouse corresponds to each three-dimensional coordinate in the warehouse map. The location of the target logistics storage rack 101 may be determined by determining the three-dimensional coordinates of the target logistics storage rack 101 in the warehouse map. Furthermore, a positioning device can be preset on the AGV cart 103, and based on the positioning device and a preset warehouse map, the three-dimensional coordinates of the AGV cart 103 in the warehouse map can be determined. The remote control terminal 104 may generate control signals based on the three-dimensional coordinates of the AGV cart 103 and the three-dimensional coordinates of the target logistics storage rack 101. Then, the AGV cart 103 may move to the designated position corresponding to the target logistics storage rack 101 according to the control signal, and then return a delivery signal to the remote control terminal 104. The remote control terminal 104 may further determine a rack type corresponding to the target logistics storage rack 101 in response to the delivery signal, and determine an item placement instruction matching with the rack type, so that the mechanical arm 102 performs a placement operation according to the item placement instruction corresponding to the rack type, so as to place the items carried by the AGV cart 103 to the target logistics storage rack 101. Thereafter, the remote control terminal 104 may update the storage status of the target logistics storage rack 101 for storage again. The placing operation may include, but is not limited to, any combination of operations such as a grabbing operation, a lifting operation, a front-back translation operation, a left-right translation operation, and the like, which is not limited in this embodiment. The process can realize different placing operations on different shelf categories, so that the embodiment of the invention can be applied to various shelf categories and has wider application range.

As an alternative embodiment, the loading plate corresponding to each cargo space of the target logistics storage rack 101 with the rack category of drawer-type rack has a motor structure; the switches of the motor structure are positioned on the side edges of the cargo carrying plates; the mechanical arm 102 is specifically used for moving to the side edge of a loading plate of a target goods position of the target logistics storage shelf 101 under the condition that the shelf type is a drawer type shelf, and controlling the mechanical arm to trigger a switch of a corresponding motor structure; and then, based on the article placing instruction, the manipulator is controlled to move to the AGV trolley 103, and the manipulator is controlled to grab the articles borne by the manipulator and move to the loading plate of the target cargo space for placing.

In the embodiment of the present invention, if the rack category is a drawer-type rack, the loading plate corresponding to each cargo space of the logistics storage rack 101 has a motor structure, and the loading plate can be pulled out and pushed in through the motor structure. And the switch of the motor structure of the cargo carrying plate is positioned at the side edge of the cargo carrying plate. By triggering the switch, the pulling out and pushing in of the cargo carrying plate can be realized. Further, the robot arm 102 has one end connected to the fixing member and the other end connected to the robot arm. The remote control terminal 104 may control the robot arm 102 to move to a corresponding position based on the position coordinates of the robot arm 102 and the position coordinates of the switch, and then control the robot arm connected to the robot arm 102 to trigger the switch of the corresponding motor structure. Specifically, the manipulator may be configured to move a predetermined distance in the direction of the switch to trigger the switch. After the trigger switch, the pallet can be transferred from the pushed-in state into the pulled-out state. At this time, the mechanical arm 102 may move to a position corresponding to the AGV cart 103, control the mechanical arm to grab the article, and then move the article to the pallet of the pulled-out target cargo space to place the article, thereby implementing the process of placing the article.

As an optional implementation manner, the mechanical arm 102 is further configured to move to a side of the cargo board of the target cargo space after controlling the mechanical arm to grab the cargo board of the target cargo space and move the object to the cargo board of the target cargo space, and control the mechanical arm to trigger a switch of a corresponding motor structure, so as to reset the cargo board of the target cargo space.

In the embodiment of the present invention, after the mechanical arm 102 controls the mechanical arm to grasp the goods and move the goods loading plate to the target cargo space for placement, the same switch triggering operation may be performed to reset the goods loading plate of the pulled-out target cargo space, that is, to restore the pushed-in state.

As an alternative embodiment, the robotic arm 102 is also used to follow the AGV cart 103 for movement based on item placement instructions in the case of shuttle racks; in response to determining that an obstacle exists when the AGV car 103 travels on the track corresponding to the shuttle rack, the manipulator is controlled to grab the obstacle and lift the obstacle so that the AGV car 103 passes through the track section corresponding to the obstacle.

In an embodiment of the present invention, if the rack category is shuttle rack, the remote control terminal 104 may control the AGV cart 103 to move according to the shuttle track to transport the carried items onto the rack. In this process, the remote control terminal 104 may control the robotic arm 102 to follow the AGV cart 103. Meanwhile, the remote control terminal 104 can also acquire a monitoring image corresponding to the shelf, and determine whether an obstacle exists when the AGV 103 runs on a track corresponding to the shelf of the shuttle car based on image analysis, if so, the manipulator connected with the manipulator 102 is controlled to grab and lift the obstacle, and the lifting refers to only converting the height coordinate and not converting the length coordinate and the width coordinate. So that the AGV cart 103 can smoothly pass through the track section corresponding to the obstacle. Optionally, the remote control terminal 104 may further control the manipulator to move to a specified obstacle recovery position, and place the obstacle in a recovery box of the obstacle recovery position.

As an optional implementation manner, the remote control terminal 104 stores in advance the categories of the items stored in the logistics storage shelves 101; the remote control terminal 104 is specifically configured to respond to the carrying signal, acquire article information carried by the AGV, and determine an article type based on the article information; and determining a target logistics storage shelf 101 corresponding to the item category.

In this embodiment, the remote control terminal 104 may store the article types stored in each logistics storage shelf 101 in advance, and then determine the corresponding target logistics storage shelf 101 based on the article types in the article information.

In the embodiment of the invention, the intelligent logistics storage shelf 101 control system can identify the category of each logistics storage shelf 101, and send different article placing instructions to the mechanical arm 102 based on the different categories, so as to control the mechanical arm 102 to perform different placing operations according to different shelf categories, and the system is suitable for storage control of various shelves and has a wider application range.

According to another aspect of the embodiment of the invention, an intelligent logistics storage shelf control method applied to the intelligent logistics storage shelf control system is further provided. As shown in fig. 2, the method includes:

s201, in response to the detection of a bearing signal sent by the AGV, acquiring the information of the articles borne by the AGV; the load signal is a signal sent by the AGV in response to the load being greater than a preset threshold.

S202, determining a target logistics storage shelf matched with the article information, and sending a control signal to the AGV.

S203, determining a shelf type corresponding to the target logistics storage shelf in response to the detection of the delivery signal sent by the AGV; the delivery signal is a signal which is sent back to the remote control terminal after the AGV trolley transports the carried articles to the designated position based on the control signal and the transport is finished.

And S204, sending an article placing instruction to the mechanical arm based on the type of the shelf, so that the mechanical arm performs corresponding placing operation on the articles borne by the AGV, and placing the articles borne by the AGV to the target logistics storage shelf.

As an alternative embodiment, based on the shelf category, an item placement command is sent to the robotic arm to cause the robotic arm to perform a corresponding placement operation on the items carried by the AGV cart, including: and responding to the fact that the type of the goods shelf is determined to be a drawer type goods shelf, sending an article placing instruction to the mechanical arm, controlling the mechanical arm to move to the side edge of the goods carrying plate of the target goods position of the target logistics storage goods shelf to trigger a switch of a corresponding motor structure, and controlling the mechanical arm to move to an AGV trolley to grab the carried articles and move to the goods carrying plate of the target goods position to place the articles.

As an optional implementation, the method further comprises: and controlling the mechanical arm to move to the side edge of the loading plate of the target cargo space to trigger the switch of the corresponding motor structure so as to reset the loading plate of the target cargo space.

As an alternative embodiment, based on the shelf category, an item placement command is sent to the robotic arm to cause the robotic arm to perform a corresponding placement operation on the items carried by the AGV cart, including: and responding to the fact that the goods shelf type is determined to be the shuttle goods shelf, sending an article placing instruction to the mechanical arm, controlling the mechanical arm to move along with the AGV, and controlling the mechanical arm to grab and lift the obstacle when the obstacle exists when the AGV runs on the track corresponding to the shuttle goods shelf, so that the AGV passes through the track section corresponding to the obstacle.

As an alternative embodiment, determining a target logistics storage shelf matching with the item information comprises: determining an item category based on the item information; and determining a target logistics storage shelf corresponding to the article category.

It should be noted that, for the foregoing method embodiments, the method embodiments may be applied to a remote control terminal of an intelligent logistics storage shelf control system, and the specific implementation details of the method embodiments correspond to the intelligent logistics storage shelf control system, which are not described herein again.

It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the invention. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required by the invention.

According to another aspect of the embodiment of the present invention, there is also provided an electronic device for implementing the intelligent logistics storage shelf control method, as shown in fig. 3, the electronic device includes a memory 302 and a processor 304, the memory 302 stores a computer program, and the processor 304 is configured to execute the steps in any one of the method embodiments through the computer program.

Optionally, in this embodiment, the electronic device may be located in at least one network device of a plurality of network devices of a computer network.

Optionally, in this embodiment, the processor may be configured to execute the following steps by a computer program:

s1, responding to the detected bearing signal sent by the AGV, and acquiring the information of the articles borne by the AGV; the load signal is a signal sent by the AGV in response to the load being greater than a preset threshold.

And S2, determining a target logistics storage rack matched with the article information, and sending a control signal to the AGV.

S3, determining the shelf type corresponding to the target logistics storage shelf in response to the detection of the delivery signal sent by the AGV; the delivery signal is a signal which is sent back to the remote control terminal after the AGV trolley transports the carried articles to the designated position based on the control signal and the transport is finished.

And S4, sending an article placing instruction to the mechanical arm based on the shelf type, so that the mechanical arm performs corresponding placing operation on the articles borne by the AGV to place the articles borne by the AGV to the target logistics storage shelf.

Alternatively, it can be understood by those skilled in the art that the structure shown in fig. 3 is only an illustration, and the electronic device may also be a terminal device such as a smart phone (e.g., an Android phone, an iOS phone, etc.), a tablet computer, a palm computer, a Mobile Internet Device (MID), a PAD, and the like. Fig. 3 is a diagram illustrating a structure of the electronic device. For example, the electronic device may also include more or fewer components (e.g., network interfaces, etc.) than shown in FIG. 3, or have a different configuration than shown in FIG. 3.

The memory 302 may be used to store software programs and modules, such as program instructions/modules corresponding to the method and apparatus for controlling a smart logistics storage shelf in the embodiment of the present invention, and the processor 304 executes various functional applications and data processing by running the software programs and modules stored in the memory 302, so as to implement the above-mentioned method for controlling a smart logistics storage shelf. The memory 302 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 302 can further include memory located remotely from the processor 304, which can be connected to the terminal over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof. The memory 302 may be, but not limited to, specifically configured to store information such as operation instructions. Optionally, the transmission device 306 is used for receiving or sending data via a network. Examples of the network may include a wired network and a wireless network. In one example, the transmission device 306 includes a Network adapter (NIC) that can be connected to a router via a Network cable and other Network devices to communicate with the internet or a local area Network. In one example, the transmission device 306 is a Radio Frequency (RF) module, which is used for communicating with the internet in a wireless manner.

In addition, the electronic device further includes: a display 308 for displaying the display content; and a connection bus 310 for connecting the respective module components in the above-described electronic apparatus.

According to a further aspect of embodiments of the present invention, there is also provided a storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the above-mentioned method embodiments when executed.

Alternatively, in the present embodiment, the storage medium may be configured to store a computer program for executing the steps of:

Alternatively, in this embodiment, a person skilled in the art may understand that all or part of the steps in the methods of the foregoing embodiments may be implemented by a program instructing hardware associated with the terminal device, where the program may be stored in a computer-readable storage medium, and the storage medium may include: flash disks, Read-Only memories (ROMs), Random Access Memories (RAMs), magnetic or optical disks, and the like.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

The integrated unit in the above embodiments, if implemented in the form of a software functional unit and sold or used as a separate product, may be stored in the above computer-readable storage medium. Based on such understanding, the technical solution of the present invention may be substantially or partially implemented in the prior art, or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium, and including instructions for causing one or more computer devices (which may be personal computers, servers, or network devices) to execute all or part of the steps of the method according to the embodiments of the present invention.

In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In the several embodiments provided in the present application, it should be understood that the disclosed client may be implemented in other manners. The above-described embodiments of the apparatus are merely illustrative, and for example, a division of a unit is merely a division of a logic function, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.

Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that it is obvious to those skilled in the art that various modifications and improvements can be made without departing from the principle of the present invention, and these modifications and improvements should also be considered as the protection scope of the present invention.

Claims

1. An intelligent logistics storage shelf control system is characterized by comprising logistics storage shelves, a mechanical arm, an AGV and a remote control terminal; the mechanical arms are movably arranged on the logistics storage shelves; the remote control terminal is respectively connected with the mechanical arm and the AGV trolley;

the AGV trolley is used for responding to the condition that the weight of the loaded articles is larger than a preset threshold value and sending a loading signal to the remote control terminal;

the remote control terminal is used for responding to the bearing signal, acquiring the article information borne by the AGV trolley, determining a target logistics storage shelf matched with the article information, and sending a control signal to the AGV trolley;

the AGV trolley is also used for responding to the control signal, transporting the carried articles to a specified position, and returning a delivery signal to the remote control terminal after the transportation is finished;

the remote control terminal is also used for responding to the delivery signal and determining the shelf type corresponding to the target logistics storage shelf; sending an article placement instruction to the mechanical arm based on the shelf type;

the mechanical arm is used for executing corresponding placing operation on the articles borne by the AGV according to the article placing instruction, so that the articles borne by the AGV are placed to the target logistics storage rack.

2. The system of claim 1, wherein the loading plate corresponding to each cargo space of the target logistics storage rack of the rack category of drawer type rack has a motor structure; the switches of the motor structure are positioned on the side edges of the cargo carrying plates;

the mechanical arm is specifically used for moving to the side edge of a loading plate of a target goods position of the target logistics storage shelf under the condition that the shelf type is the drawer-type shelf, and controlling the mechanical arm to trigger a switch of a corresponding motor structure; and then moving to the AGV trolley based on the article placing instruction, and controlling the manipulator to grab the articles borne by the manipulator and move to the loading plate of the target cargo space for placing.

3. The system of claim 2, wherein the robotic arm is further configured to move to a side of the pallet of the target cargo space after the robotic arm is controlled to grasp the loaded articles and move the articles to the pallet of the target cargo space for placement, and control the robotic arm to trigger the switch of the corresponding motor structure to reset the pallet of the target cargo space.

4. The system of claim 1 wherein said robotic arm is further configured to follow said AGV cart based on said item placement instructions if said rack category is a shuttle rack; and responding to the fact that the obstacle exists when the AGV trolley runs on the track corresponding to the shuttle goods shelf, and controlling the manipulator to grab the obstacle and lift the obstacle so that the AGV trolley passes through the track section corresponding to the obstacle.

5. The system according to claim 1, wherein the remote control terminal prestores the article categories stored corresponding to the logistics storage shelves;

the remote control terminal is specifically used for responding to the bearing signal, acquiring article information borne by the AGV trolley, and determining the article type based on the article information; and determining the target logistics storage shelf corresponding to the item category.

6. An intelligent logistics storage shelf control method applied to the intelligent logistics storage shelf control system of any one of claims 1-5, comprising:

responding to a detected bearing signal sent by an AGV, acquiring article information borne by the AGV, determining a target logistics storage shelf matched with the article information, and sending a control signal to the AGV; the bearing signal is a signal sent by the AGV responding to the condition that the weight of the articles borne by the AGV is larger than a preset threshold value;

determining a shelf type corresponding to the target logistics storage shelf in response to the detection of a delivery signal sent by the AGV; sending an article placing instruction to a mechanical arm based on the type of the goods shelf, so that the mechanical arm performs corresponding placing operation on the articles borne by the AGV so as to place the articles borne by the AGV to the target logistics storage goods shelf; the delivery signal is a signal which is sent back to the remote control terminal after the AGV trolley transports the carried articles to the designated position based on the control signal and the transport is completed.

7. The method of claim 6, wherein said sending item placement instructions to a robotic arm based on said shelf categories to cause said robotic arm to perform respective placement operations on items carried by said AGV cart comprises:

and responding to the situation that the shelf type is determined to be a drawer type shelf, sending an article placing instruction to the mechanical arm to control the mechanical arm to move to the side edge of the loading plate of the target goods position of the target logistics storage shelf, triggering a switch of a corresponding motor structure, and controlling the mechanical arm to move to the AGV trolley to grab the loaded articles and move to the loading plate of the target goods position to place the articles.

8. The method of claim 7, further comprising:

and controlling the mechanical arm to move to the side edge of the loading plate of the target cargo space to trigger a switch of a corresponding motor structure so as to reset the loading plate of the target cargo space.

9. The method of claim 6, wherein said sending item placement instructions to a robotic arm based on said shelf categories to cause said robotic arm to perform respective placement operations on items carried by said AGV cart comprises:

responding to the determination that the goods shelf type is shuttle goods shelf, sending article to the arm and laying the instruction, in order to control the arm follows the AGV dolly removes and when there is the barrier when the AGV dolly is in when moving on the track that shuttle goods shelf corresponds the barrier control the arm snatchs the barrier is raised, so that the AGV dolly passes through the track highway section that the barrier corresponds.

10. The method of claim 6, wherein the determining the target logistics storage shelf that matches the item information comprises:

determining an item category based on the item information;

and determining the target logistics storage shelf corresponding to the item category.