CN113619968A - Automatic unmanned automatic handling system of discernment - Google Patents
Automatic unmanned automatic handling system of discernment Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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Abstract
The invention relates to the technical field of logistics management, in particular to an automatic identification unmanned automatic loading and unloading system. The system comprises an infrastructure unit, a data management unit, an intelligent planning unit and an inventory management unit; the infrastructure unit is used for providing basic equipment and the like supporting the operation of the system; the data management unit is used for managing all data involved in the system operation process; the intelligent planning unit is used for planning and adjusting the system operation process; the inventory management unit is used for managing and distributing the goods in and out of the warehouse. The design of the invention can realize the full process of unmanned automatic cargo loading and unloading, reduce the labor cost and improve the operation efficiency; cargo information can be automatically identified and loading and unloading operations can be carried out, the error probability of manual operation is reduced, and the system operation accuracy is improved; the information acquisition, calculation and storage are carried out in real time in the whole operation process, the historical information can be backtracked and checked, the problems can be conveniently called and found, and the method can be used as a decision basis for logistics management.
Description
Technical Field
The invention relates to the technical field of logistics management, in particular to an automatic identification unmanned automatic loading and unloading system.
Background
Loading and unloading are one of the main operations of logistics, and are the key to determine whether logistics can be smoothly carried out. Handling refers to operations accompanying the transportation and storage of articles, and the most commonly involved equipment includes delivery vehicles, storage equipment, sorting mechanisms, and the like. At present, conventional goods handling, letter sorting work mainly rely on manual operation, also have the condition that partial work can be replaced by machinery, and manual operation speed is slow, inefficiency, and the cost of labor is high, and the mistake appears easily in the manual operation in-process simultaneously, and goods handling, the warehouse entry in-process do not have detailed accurate record in addition, and historical information can't go back to, is difficult to the discovery problem, and intelligence is lower.
Disclosure of Invention
The present invention is directed to an automatic identification unmanned automatic loading and unloading system to solve the above problems.
In order to solve the above technical problems, an object of the present invention is to provide an automatic identification unmanned automatic loading and unloading system, which comprises
The system comprises an infrastructure unit, a data management unit, an intelligent planning unit and an inventory management unit; the infrastructure unit, the data management unit, the intelligent planning unit and the inventory management unit are sequentially connected through Ethernet communication; the infrastructure unit is used for providing basic equipment, terminals, devices, sensors, intelligent technologies and the like for supporting the operation of the system; the data management unit is used for managing the data of all goods, bins, equipment and the like involved in the system operation process; the intelligent planning unit is used for planning and adjusting the operation and distribution system in the system operation process; the inventory management unit is used for managing, distributing and planning the goods warehousing and ex-warehouse condition of the automatic loading and unloading system;
the infrastructure unit comprises a cargo carrier module, a mobile loading and unloading module, an automatic sorting module, a state sensing module and a technical support module;
the data management unit comprises an information shooting and recording module, a goods management module, a bin management module and a mechanical distribution module;
the intelligent planning unit comprises a loading and unloading map module, a walking path module, an appearance planning module and a weight planning module;
the inventory management unit comprises a warehousing management module, a delivery management module, an inventory management module and a statistic report module.
As a further improvement of the technical solution, the cargo carrier module, the mobile loading and unloading module, the automatic sorting module, the state sensing module and the technical support module are sequentially connected through ethernet communication and operate in parallel; the cargo carrier module is used for managing and distributing a carrying or storage carrier of the cargo; the mobile loading and unloading module is used for managing and controlling the walkable cargo loading and unloading equipment; the automatic sorting module is used for providing and managing the operation process of the automatic sorting machine; the state sensing module is used for sensing and acquiring state values in real time through intelligent sensors arranged on all equipment of the system; the technical support module is used for loading various intelligent technologies to support smooth operation of the system.
The acquisition carrier includes, but is not limited to, a carrier vehicle, a stereo warehouse, a temporary storage warehouse, a mobile shelf, and the like.
Wherein, the walkable cargo handling equipment includes but is not limited to loading and unloading stacking robots, transfer robots, automated loading and unloading forklifts, unmanned aerial vehicles/unmanned vehicles, and the like.
The automatic sorting machine comprises a conveyor belt device, and an RFID radio frequency identification device and a weighing module are arranged on the conveyor belt device and used for realizing the automatic sorting process of goods.
The intelligent sensor includes, but is not limited to, a camera, a binocular camera, a distance sensor, an infrared detection device, and the like.
The intelligent technology includes, but is not limited to, image recognition technology, radio frequency identification technology, positioning technology, code scanning technology, and the like.
As a further improvement of the technical scheme, the information recording module, the goods management module, the bin management module and the mechanical distribution module are sequentially connected through Ethernet communication and run in parallel; the information shooting and recording module is used for shooting, recording, collecting and storing the related information of the goods through the information collecting device; the goods management module is used for performing operations such as inputting, calling, deleting and modifying on various information data of goods; the bin management module is used for managing and distributing bin information on the goods carrier; the mechanical distribution module is used for managing and calling information of various loading and unloading devices and distributing the information according to requirements.
The information of the goods includes, but is not limited to, a goods image, a goods name, a goods size, a goods content, a goods warehousing time and the like.
The bin information includes, but is not limited to, location, size capacity, bearing capacity, bin number, etc.
The machine information includes, but is not limited to, equipment type, equipment quantity, equipment size, equipment available goods size, equipment load capacity, equipment handling height, etc.
As a further improvement of the technical scheme, the information recording module comprises an image recording module, a size measuring and calculating module, a target reading and writing module and a unique coding module; the image recording module, the size measuring and calculating module, the target reading and writing module and the unique coding module are sequentially connected through Ethernet communication and operate in parallel; the image recording module is used for acquiring image picture information of goods through equipment such as a camera; the size measuring and calculating module is used for acquiring size data of the appearance of the goods through intelligent sensing measurement or calculation; the target read-write module is used for identifying and inputting the character information on the goods or goods labels through a radio frequency identification and reading technology; the unique coding module is used for setting a unique identity code for the goods through a coding and code scanning technology and correspondingly associating the code with the bin number.
As a further improvement of the technical solution, the calculation expression of the size measurement module is as follows:
S＝a*b；
V＝S*h；
wherein, S is the bottom surface area of goods, and a is the length of goods bottom surface, and b is the width of goods bottom surface, and V is the goods volume, and h is the height of goods.
Wherein, the appearance of the conventional goods is mainly in the regular shapes of cuboids, cubes and the like.
As a further improvement of the technical scheme, the loading and unloading map module, the walking path module, the appearance planning module and the weight planning module are sequentially connected through ethernet communication and run in parallel; the loading and unloading map module is used for acquiring the topographic condition of a loading and unloading site by importing or scanning and identifying the site and generating a corresponding map for planning and reference; the walking path module is used for automatically planning an optimal path for loading, unloading and carrying according to the starting and ending point positions of the cargos; the shape planning module is used for carrying out bin allocation or stacking planning according to the goods shape size obtained by scanning and calculation; the weight planning module is used for measuring the weight of the goods and carrying out the weight planning according to the weight, and planning and guiding the stacking operation of the goods according to the principle of the lower weight and the upper light.
As a further improvement of the technical solution, the walking path module adopts a manhattan distance algorithm, and a calculation expression thereof is as follows:
d＝|x1-x2|+|y1-y2|；
wherein (x)1，y1) As the starting point position coordinates for the cargo handling, (x)2，y2) And d is the distance between the starting point and the ending point of the cargo handling.
As a further improvement of the technical solution, in the weight planning module, an insertion sorting algorithm is used for sorting the goods by weight, and the algorithm steps are described as follows:
step1, starting with the first good, the weight of the good may be considered to have been ranked;
step2, acquiring the next cargo weight, and scanning from back to front in the ordered cargo weight sequence;
step3, if the weight of the cargo (sorted) is greater than the weight of the new cargo, moving the weight of the cargo to the next position;
step4, repeating Step3 until finding the position where the weight of the sorted goods is less than or equal to the weight of the new goods;
step5, inserting the weight of the new cargo into the position;
and Step6, repeating the steps 2-Step 5 until the weight of all cargos is sequenced.
The algorithm of the insertion ordering is as follows:
#include<stdio.h>
I/Classification- -internal comparison ordering
Data Structure- -cargo weight value
// worst temporal complexity- -the input sequence is sorted in descending order, where the temporal complexity is O (n ^2)
// optimal temporal complexity- -the input sequence is ordered in ascending order, where the temporal complexity is O (n)
// average time complexity- -O (n ^2)
Required auxiliary space- - - - - - - - - - - - (1)
Stability
As a further improvement of the technical scheme, the warehousing management module, the ex-warehouse management module, the inventory management module and the statistical report module are sequentially connected through ethernet communication and run in parallel; the warehousing management module is used for managing and regulating the whole processes of notification of warehousing goods, information input calculation, acceptance inspection, storage position assignment and the like; the delivery management module is used for managing and regulating the whole processes of notification, information calling, stock preparation, acceptance and the like of delivery of goods; the inventory management module is used for managing and monitoring the whole processes of notification, operation, result report and the like of inventory at regular intervals; the statistical report module is used for regularly counting the information of the operation process, the cargo loading and unloading condition, all data and the like of the system and forming a corresponding report for calling, backtracking and checking.
The invention also aims to provide an operation method of the automatic identification unmanned automatic loading and unloading system, which comprises the following steps:
s1, when the cargo carrying vehicle enters the range of the loading and unloading system, scanning the general information of the vehicle and the cargo by the camera or scanning device arranged at the entrance, and distributing the corresponding quantity and type of the walking loading and unloading device by the system according to the requirement by the image recognition technology;
s2, sequentially transferring the cargos on the carrying vehicle to a conveying belt of an automatic sorting machine by the aid of the traveling loading and unloading equipment, and respectively passing through a weighing module and a radio frequency identification device in the process that the cargos are transferred to the stereoscopic warehouse by the conveying belt, so that weight acquisition and sorting of the cargos and entry of various information of the cargos are realized;
s3, the automatic sorting machine transfers the goods to a stereoscopic warehouse end, and the system assigns a specific storage position to each goods according to the sorting result;
s4, the walking handling equipment at the stereoscopic warehouse end grabs the goods, automatically plans a walking path according to the starting and ending points of goods handling, conveys the goods to a specified position according to the planned path and plans stacking, and can automatically adjust a walking route according to actual conditions in the transferring process;
s5, when goods are delivered from the warehouse, the specified goods are firstly transferred to an automatic sorting machine which runs reversely by a walking handling device at the stereoscopic warehouse end, the goods are conveyed to a carrying vehicle end by the automatic sorting machine, the goods pass through the radio frequency identification device again in the conveying process, the detailed information of the goods is obtained by the system through code scanning, the delivery record is made, and the position information corresponding to the goods is adjusted to be vacant so that new goods can be stored;
s6, the traveling handling equipment at the end of the carrying vehicle transfers and stacks the delivered goods to the carrying vehicle;
s7, the system periodically checks and checks the information of the automatic warehouse entry and exit and checks the inventory, and makes detailed records, when the information of the check or the check is different, the system can backtrack by calling the history record;
and S8, the system periodically counts the working condition of a period of time, counts the full-type data such as the information of goods entering and leaving the warehouse, the working frequency of the system, the running time length, the fault condition and the like, and generates a corresponding report for reporting or consulting.
It is a further object of the present invention to provide an automatic identification device for an automated unmanned aerial vehicle, comprising a processor, a memory, and a computer program stored in the memory and running on the processor, wherein the processor is configured to implement any of the above automatic identification devices when executing the computer program.
It is a fourth object of the present invention to provide a computer-readable storage medium storing a computer program which, when executed by a processor, implements any of the above-described automated unmanned automatic handling systems with automatic identification.
Compared with the prior art, the invention has the beneficial effects that:
1. in the automatic identification unmanned automatic loading and unloading system, by arranging the operation system integrating loading, unloading, sorting, warehousing and checking, the whole unmanned automatic cargo loading and unloading process can be realized, the labor cost is reduced, and the operation efficiency is improved;
2. in the automatic identification unmanned automatic loading and unloading system, an intelligent technology mainly based on an automatic identification technology is used as a support, and the automatic loading and unloading equipment is used as a basis, so that cargo information can be automatically identified, loading, unloading, sorting and transferring operations can be carried out, the probability of errors possibly caused by manual operation is reduced, and the operation accuracy of the system is improved;
3. the automatic identification unmanned automatic loading and unloading system carries out information acquisition, data calculation and storage in real time in the whole operation process, and carries out statistics at regular time to generate a report, so that historical information can be traced and checked, the problem is convenient to call and find, and the automatic identification unmanned automatic loading and unloading system can be used as a decision basis for logistics management.
Drawings
FIG. 1 is a block diagram of an exemplary product architecture of the present invention;
FIG. 2 is a block diagram of the overall system apparatus of the present invention;
FIG. 3 is a diagram of one embodiment of a local system device architecture;
FIG. 4 is a second block diagram of a local system apparatus according to the present invention;
FIG. 5 is a third block diagram of a local system apparatus according to the present invention;
FIG. 6 is a fourth embodiment of the present invention;
FIG. 7 is a fifth embodiment of the present invention;
fig. 8 is a block diagram of an exemplary electronic computer product of the present invention.
The various reference numbers in the figures mean:
1. a carrier vehicle; 2. a first mobile loader-unloader; 3. an automatic sorting machine; 4. a cargo identification device; 5. a second mobile loader; 6. a stereoscopic warehouse; 7. a general industrial control machine;
100. an infrastructure unit; 101. a cargo carrier module; 102. moving the loading and unloading module; 103. an automatic sorting module; 104. a state sensing module; 105. a technical support module;
200. a data management unit; 201. an information shooting and recording module; 2011. an image recording module; 2012. a dimension measuring and calculating module; 2013. a target read-write module; 2014. a unique encoding module; 202. a goods management module; 203. a bin management module; 204. a mechanical distribution module;
300. an intelligent planning unit; 301. a map loading and unloading module; 302. a walking path module; 303. a shape planning module; 304. a weight planning module;
400. an inventory management unit; 401. a warehousing management module; 402. a delivery management module; 403. an inventory management module; 404. and a statistic report module.
Detailed Description
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.
Example 1
As shown in fig. 1 to 8, the present embodiment provides an automatic identification unmanned automatic loading and unloading system, which includes
An infrastructure unit 100, a data management unit 200, an intelligent planning unit 300, and an inventory management unit 400; the infrastructure unit 100, the data management unit 200, the intelligent planning unit 300 and the inventory management unit 400 are sequentially connected through Ethernet communication; the infrastructure unit 100 is used for providing basic equipment, terminals, devices, sensors, intelligent technologies and the like supporting the operation of the system; the data management unit 200 is used for managing data of all goods, bins, equipment and the like involved in the system operation process; the intelligent planning unit 300 is used for planning and adjusting the operation and distribution system in the system operation process; the inventory management unit 400 is used for managing, distributing and planning the goods warehousing and ex-warehouse conditions of the automatic loading and unloading system;
the infrastructure unit 100 comprises a cargo carrier module 101, a mobile handling module 102, an automatic sorting module 103, a state awareness module 104 and a technical support module 105;
the data management unit 200 comprises an information shooting module 201, a goods management module 202, a bin management module 203 and a mechanical distribution module 204;
the intelligent planning unit 300 comprises a loading and unloading map module 301, a walking path module 302, an appearance planning module 303 and a weight planning module 304;
the inventory management unit 400 includes an inventory management module 401, an inventory management module 402, an inventory management module 403, and a statistics reporting module 404.
In this embodiment, the cargo carrier module 101, the mobile loading and unloading module 102, the automatic sorting module 103, the state sensing module 104 and the technical support module 105 are sequentially connected through ethernet communication and operate in parallel; the cargo carrier module 101 is used for managing and distributing a carrying or storage carrier of the cargo; the mobile loading and unloading module 102 is used for managing and controlling the walkable cargo loading and unloading equipment; the automatic sorting module 103 is used for providing and managing the operation process of the automatic sorting machine; the state sensing module 104 is used for sensing and acquiring state values in real time through intelligent sensors arranged on various devices of the system; the technical support module 105 is used for loading various intelligent technologies to support smooth operation of the system.
The acquisition carrier includes, but is not limited to, a carrier vehicle, a stereo warehouse, a temporary storage warehouse, a mobile shelf, and the like.
Wherein, the walkable cargo handling equipment includes but is not limited to loading and unloading stacking robots, transfer robots, automated loading and unloading forklifts, unmanned aerial vehicles/unmanned vehicles, and the like.
The automatic sorting machine comprises a conveyor belt device, and an RFID radio frequency identification device and a weighing module are arranged on the conveyor belt device and used for realizing the automatic sorting process of goods.
The intelligent sensor includes, but is not limited to, a camera, a binocular camera, a distance sensor, an infrared detection device, and the like.
The intelligent technology includes, but is not limited to, image recognition technology, radio frequency identification technology, positioning technology, code scanning technology, and the like.
In this embodiment, the information recording module 201, the goods management module 202, the bin management module 203 and the mechanical distribution module 204 are sequentially connected through ethernet communication and operate in parallel; the information shooting and recording module 201 is used for shooting, recording, collecting and storing the related information of the goods through the information collecting device; the goods management module 202 is used for performing operations such as inputting, calling, deleting and modifying on various information data of goods; the bin management module 203 is used for managing and distributing bin information on the cargo carrier; the mechanical distribution module 204 is used for managing and calling information of various loading and unloading devices and distributing the information according to needs.
The information of the goods includes, but is not limited to, a goods image, a goods name, a goods size, a goods content, a goods warehousing time and the like.
The bin information includes, but is not limited to, location, size capacity, bearing capacity, bin number, etc.
The machine information includes, but is not limited to, equipment type, equipment quantity, equipment size, equipment available goods size, equipment load capacity, equipment handling height, etc.
Further, the information recording module 201 includes an image recording module 2011, a size measuring module 2012, a target reading and writing module 2013, and a unique encoding module 2014; the image recording module 2011, the size measuring and calculating module 2012, the target reading and writing module 2013 and the unique encoding module 2014 are sequentially connected through Ethernet communication and run in parallel; the image recording module 2011 is configured to obtain image picture information of the goods through a camera or other devices; the dimension calculating module 2012 is used for acquiring dimension data of the external shape of the cargo through intelligent sensing measurement or calculation; the target read-write module 2013 is used for identifying and inputting the character information on the goods or goods labels through a radio frequency identification technology; the unique coding module 2014 is used for setting a unique identity code for the goods through a coding and code scanning technology and correspondingly associating the code with the bin number.
Specifically, the calculation expression of the dimension calculating module 2012 is:
S＝a*b；
V＝S*h；
wherein, S is the bottom surface area of goods, and a is the length of goods bottom surface, and b is the width of goods bottom surface, and V is the goods volume, and h is the height of goods.
Wherein, the appearance of the conventional goods is mainly in the regular shapes of cuboids, cubes and the like.
In this embodiment, the loading and unloading map module 301, the walking path module 302, the shape planning module 303 and the weight planning module 304 are sequentially connected through ethernet communication and run in parallel; the loading and unloading map module 301 is used for acquiring the topographic conditions of the loading and unloading site by importing or scanning and identifying the site and generating a corresponding map for planning and reference; the walking path module 302 is used for automatically planning an optimal path for loading, unloading and carrying according to the starting and ending point positions of the cargos; the shape planning module 303 is used for carrying out bin allocation or stacking planning according to the goods shape size obtained by scanning and calculation; the weight planning module 304 is used for measuring the weight of the goods and performing the weight calculation according to the weight, and planning and guiding the stacking operation of the goods according to the principle of the lower weight and the upper weight.
Specifically, the walking path module 302 adopts a manhattan distance algorithm, and the calculation expression is as follows:
d＝|x1-x2|+|y1-y2|；
wherein (x)1，y1) As the starting point position coordinates for the cargo handling, (x)2，y2) And d is the distance between the starting point and the ending point of the cargo handling.
Specifically, in the weight planning module 304, an insertion sorting algorithm is used for sorting the goods by weight, and the algorithm steps are described as follows:
step1, starting with the first good, the weight of the good may be considered to have been ranked;
step2, acquiring the next cargo weight, and scanning from back to front in the ordered cargo weight sequence;
step3, if the weight of the cargo (sorted) is greater than the weight of the new cargo, moving the weight of the cargo to the next position;
step4, repeating Step3 until finding the position where the weight of the sorted goods is less than or equal to the weight of the new goods;
step5, inserting the weight of the new cargo into the position;
and Step6, repeating the steps 2-Step 5 until the weight of all cargos is sequenced.
The algorithm of the insertion ordering is as follows:
#include<stdio.h>
I/Classification- -internal comparison ordering
Data Structure- -cargo weight value
// worst temporal complexity- -the input sequence is sorted in descending order, where the temporal complexity is O (n ^2)
// optimal temporal complexity- -the input sequence is ordered in ascending order, where the temporal complexity is O (n)
// average time complexity- -O (n ^2)
Required auxiliary space- - - - - - - - - - - - (1)
Stability
In this embodiment, the warehousing management module 401, the ex-warehouse management module 402, the inventory management module 403, and the statistics report module 404 are sequentially connected through ethernet communication and run in parallel; the warehousing management module 401 is used for managing and regulating the whole processes of notification of warehousing goods, information input calculation, acceptance inspection, storage position assignment and the like; the ex-warehouse management module 402 is used for managing and regulating the whole processes of notification, information calling, stock preparation, acceptance and the like of goods ex-warehouse; the inventory management module 403 is used for managing and monitoring the whole processes of notification, operation and result reporting of inventory at regular intervals; the statistical report module 404 is used for periodically counting information such as the operation process of the system, cargo handling conditions, and all data, and forming a corresponding report for calling and backtracking inspection.
The embodiment also provides an operation method of the automatic identification unmanned automatic loading and unloading system, which comprises the following steps:
s1, when the cargo carrying vehicle enters the range of the loading and unloading system, scanning the general information of the vehicle and the cargo by the camera or scanning device arranged at the entrance, and distributing the corresponding quantity and type of the walking loading and unloading device by the system according to the requirement by the image recognition technology;
s2, sequentially transferring the cargos on the carrying vehicle to a conveying belt of an automatic sorting machine by the aid of the traveling loading and unloading equipment, and respectively passing through a weighing module and a radio frequency identification device in the process that the cargos are transferred to the stereoscopic warehouse by the conveying belt, so that weight acquisition and sorting of the cargos and entry of various information of the cargos are realized;
s3, the automatic sorting machine transfers the goods to a stereoscopic warehouse end, and the system assigns a specific storage position to each goods according to the sorting result;
s4, the walking handling equipment at the stereoscopic warehouse end grabs the goods, automatically plans a walking path according to the starting and ending points of goods handling, conveys the goods to a specified position according to the planned path and plans stacking, and can automatically adjust a walking route according to actual conditions in the transferring process;
s5, when goods are delivered from the warehouse, the specified goods are firstly transferred to an automatic sorting machine which runs reversely by a walking handling device at the stereoscopic warehouse end, the goods are conveyed to a carrying vehicle end by the automatic sorting machine, the goods pass through the radio frequency identification device again in the conveying process, the detailed information of the goods is obtained by the system through code scanning, the delivery record is made, and the position information corresponding to the goods is adjusted to be vacant so that new goods can be stored;
s6, the traveling handling equipment at the end of the carrying vehicle transfers and stacks the delivered goods to the carrying vehicle;
s7, the system periodically checks and checks the information of the automatic warehouse entry and exit and checks the inventory, and makes detailed records, when the information of the check or the check is different, the system can backtrack by calling the history record;
and S8, the system periodically counts the working condition of a period of time, counts the full-type data such as the information of goods entering and leaving the warehouse, the working frequency of the system, the running time length, the fault condition and the like, and generates a corresponding report for reporting or consulting.
As shown in fig. 1, the present embodiment further provides an exemplary product architecture of an automatic identification unmanned automated loading and unloading system, including a carrier vehicle 1, where the carrier vehicle 1 forms a cargo transfer passage through a first mobile loader 2 and an automatic sorting machine 3, the automatic sorting machine 3 is provided with a cargo identification device 4, the automatic sorting machine 3 forms a cargo transfer passage through a second mobile loader 5 and a stereoscopic warehouse 6, the automatic sorting machine 3 is further provided with a general work controller 7, and the general work controller 7 is in communication connection with each device through an ethernet.
As shown in fig. 8, the present embodiment further provides an automatic identification operating apparatus of an unmanned automatic handling system, which includes a processor, a memory, and a computer program stored in the memory and operating on the processor.
The processor comprises one or more processing cores, the processor is connected with the processor through a bus, the memory is used for storing program instructions, and the unmanned automatic handling system for realizing automatic identification is realized when the processor executes the program instructions in the memory.
Alternatively, the memory may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.
In addition, the invention also provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the automatic identification unmanned automatic loading and unloading system.
Optionally, the present invention also provides a computer program product containing instructions that, when executed on a computer, cause the computer to execute the above-described aspects of the automated unmanned automated handling system.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, and the program may be stored in a computer-readable storage medium, where the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the preferred embodiments of the present invention are described in the above embodiments and the description, and are not intended to limit the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides an automatic unmanned automatic handling system of discernment which characterized in that: comprises that
An infrastructure unit (100), a data management unit (200), an intelligent planning unit (300) and an inventory management unit (400); the infrastructure unit (100), the data management unit (200), the intelligent planning unit (300) and the inventory management unit (400) are sequentially connected through Ethernet communication; the infrastructure unit (100) is used for providing basic equipment, terminals, devices, sensors, intelligent technologies and the like for supporting system operation; the data management unit (200) is used for managing data of all goods, bins, equipment and the like involved in the system operation process; the intelligent planning unit (300) is used for planning and adjusting the operation and distribution system in the system operation process; the inventory management unit (400) is used for managing, distributing and planning the goods warehousing and ex-warehouse condition of the automatic loading and unloading system;
the infrastructure unit (100) comprises a cargo carrier module (101), a mobile loading and unloading module (102), an automatic sorting module (103), a state perception module (104) and a technical support module (105);
the data management unit (200) comprises an information shooting module (201), a goods management module (202), a bin management module (203) and a mechanical distribution module (204);
the intelligent planning unit (300) comprises a loading and unloading map module (301), a walking path module (302), an appearance planning module (303) and a weight planning module (304);
the inventory management unit (400) includes a warehousing management module (401), an ex-warehouse management module (402), an inventory management module (403), and a statistics reporting module (404).
2. The automated identified unmanned automated handling system of claim 1, wherein: the cargo carrier module (101), the mobile loading and unloading module (102), the automatic sorting module (103), the state sensing module (104) and the technical support module (105) are sequentially connected through Ethernet communication and run in parallel; the cargo carrier module (101) is used for managing and distributing the carrying or storage carrier of the cargo; the mobile loading and unloading module (102) is used for managing and controlling the movable cargo loading and unloading equipment; the automatic sorting module (103) is used for providing and managing the operation process of the automatic sorting machine; the state sensing module (104) is used for sensing and acquiring state values in real time through intelligent sensors arranged on all equipment of the system; the technical support module (105) is used for loading various intelligent technologies to support smooth operation of the system.
3. The automated identified unmanned automated handling system of claim 1, wherein: the information shooting module (201), the goods management module (202), the bin management module (203) and the mechanical distribution module (204) are sequentially in communication connection through the Ethernet and operate in parallel; the information shooting and recording module (201) is used for shooting, recording, collecting and storing the related information of the goods through the information collecting device; the goods management module (202) is used for performing operations such as inputting, calling, deleting and modifying on various information data of goods; the bin management module (203) is used for managing and distributing bin information on the goods carrier; the mechanical distribution module (204) is used for managing and calling information of various loading and unloading devices and distributing the information according to requirements.
4. The automated identified unmanned automated handling system of claim 3, wherein: the information recording module (201) comprises an image recording module (2011), a size measuring and calculating module (2012), a target reading and writing module (2013) and a unique coding module (2014); the image recording module (2011), the size measuring and calculating module (2012), the target reading and writing module (2013) and the unique coding module (2014) are sequentially connected through Ethernet communication and run in parallel; the image recording module (2011) is used for acquiring image picture information of goods through equipment such as a camera; the size measuring and calculating module (2012) is used for acquiring size data of the cargo outline through intelligent sensing measurement or calculation; the target read-write module (2013) is used for identifying and inputting the character information on the goods or goods labels through a radio frequency identification technology; the unique coding module (2014) is used for setting a unique identity code for the goods through a coding and code scanning technology and correspondingly associating the code with the bin number.
5. The automated identified unmanned automated handling system of claim 4, wherein: the calculation expression of the size measuring and calculating module (2012) is as follows:
S＝a*b；
V＝S*h；
wherein, S is the bottom surface area of goods, and a is the length of goods bottom surface, and b is the width of goods bottom surface, and V is the goods volume, and h is the height of goods.
6. The automated identified unmanned automated handling system of claim 1, wherein: the loading and unloading map module (301), the walking path module (302), the shape planning module (303) and the weight planning module (304) are sequentially connected through Ethernet communication and run in parallel; the loading and unloading map module (301) is used for acquiring the topographic condition of a loading and unloading site by importing or scanning and identifying the site and generating a corresponding map for planning reference; the walking path module (302) is used for automatically planning an optimal path for loading, unloading and carrying according to the starting and ending positions of the cargos; the shape planning module (303) is used for carrying out bin allocation or stacking planning according to the goods shape size obtained by scanning and calculation; the weight planning module (304) is used for measuring the weight of the goods, carrying out the weight planning according to the weight, and planning and guiding the stacking operation of the goods according to the principle of lower weight and upper weight.
7. The automated identified unmanned automated handling system of claim 6, wherein: the walking path module (302) adopts a Manhattan distance algorithm, and the calculation expression is as follows:
d＝|x1-x2|+|y1-y2|；
wherein (x)1，y1) As the starting point position coordinates for the cargo handling, (x)2，y2) And d is the distance between the starting point and the ending point of the cargo handling.
8. The automated identified unmanned automated handling system of claim 6, wherein: in the weight planning module (304), the goods are sorted according to weight by using an insertion sorting algorithm, and the algorithm steps are described as follows:
step1, starting with the first good, the weight of the good may be considered to have been ranked;
step2, acquiring the next cargo weight, and scanning from back to front in the ordered cargo weight sequence;
step3, if the weight of the cargo (sorted) is greater than the weight of the new cargo, moving the weight of the cargo to the next position;
step4, repeating Step3 until finding the position where the weight of the sorted goods is less than or equal to the weight of the new goods;
step5, inserting the weight of the new cargo into the position;
and Step6, repeating the steps 2-Step 5 until the weight of all cargos is sequenced.
9. The automated identified unmanned automated handling system of claim 1, wherein: the warehousing management module (401), the ex-warehouse management module (402), the inventory management module (403) and the statistical report module (404) are sequentially connected through Ethernet communication and run in parallel; the warehousing management module (401) is used for managing and regulating the whole processes of notification of warehousing goods, information input calculation, acceptance check, storage position assignment and the like; the delivery management module (402) is used for managing and regulating the whole processes of notification, information calling, stock preparation, acceptance and the like of delivery of goods; the inventory management module (403) is used for managing and monitoring the whole processes of notification, operation, result report and the like of inventory at regular intervals; the statistical report module (404) is used for periodically counting the information of the operation process, the cargo loading and unloading condition, all data and the like of the system and forming a corresponding report for calling and backtracking inspection.
10. The automated identified unmanned automated handling system of claim 1, wherein: the operation method of the system comprises the following steps:
s1, when the cargo carrying vehicle enters the range of the loading and unloading system, scanning the general information of the vehicle and the cargo by the camera or scanning device arranged at the entrance, and distributing the corresponding quantity and type of the walking loading and unloading device by the system according to the requirement by the image recognition technology;
s2, sequentially transferring the cargos on the carrying vehicle to a conveying belt of an automatic sorting machine by the aid of the traveling loading and unloading equipment, and respectively passing through a weighing module and a radio frequency identification device in the process that the cargos are transferred to the stereoscopic warehouse by the conveying belt, so that weight acquisition and sorting of the cargos and entry of various information of the cargos are realized;
s3, the automatic sorting machine transfers the goods to a stereoscopic warehouse end, and the system assigns a specific storage position to each goods according to the sorting result;
s4, the walking handling equipment at the stereoscopic warehouse end grabs the goods, automatically plans a walking path according to the starting and ending points of goods handling, conveys the goods to a specified position according to the planned path and plans stacking, and can automatically adjust a walking route according to actual conditions in the transferring process;
s5, when goods are delivered from the warehouse, the specified goods are firstly transferred to an automatic sorting machine which runs reversely by a walking handling device at the stereoscopic warehouse end, the goods are conveyed to a carrying vehicle end by the automatic sorting machine, the goods pass through the radio frequency identification device again in the conveying process, the detailed information of the goods is obtained by the system through code scanning, the delivery record is made, and the position information corresponding to the goods is adjusted to be vacant so that new goods can be stored;
s6, the traveling handling equipment at the end of the carrying vehicle transfers and stacks the delivered goods to the carrying vehicle;
s7, the system periodically checks and checks the information of the automatic warehouse entry and exit and checks the inventory, and makes detailed records, when the information of the check or the check is different, the system can backtrack by calling the history record;
and S8, the system periodically counts the working condition of a period of time, counts the full-type data such as the information of goods entering and leaving the warehouse, the working frequency of the system, the running time length, the fault condition and the like, and generates a corresponding report for reporting or consulting.
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