CN113869819A

CN113869819A - Intelligent warehouse system and intelligent warehouse management method

Info

Publication number: CN113869819A
Application number: CN202111053495.0A
Authority: CN
Inventors: 高跃峰; 王欢; 徐昊; 渠敬壁; 马茵; 王婉聪; 王丽娜; 陈博
Original assignee: Faw Logistics Co ltd
Current assignee: Faw Logistics Co ltd
Priority date: 2021-09-09
Filing date: 2021-09-09
Publication date: 2021-12-31

Abstract

The invention provides an intelligent storehouse system and an intelligent storehouse management method, and relates to the technical field of intelligent storehouses. The method comprises the following steps: after receiving a truck arrival instruction, unloading the cargos on the truck to the inspection area through the arrival unloading module; after a cargo scanning instruction sent by the inspection area is received, storing the cargo into a storage area corresponding to the type of the cargo through a manual-moving piece warehousing and transferring module or a forklift piece warehousing and transferring module according to the type of the scanned cargo; when a goods delivery instruction is received, transferring goods to be delivered to a sorting station through a delivery module according to the goods category to be delivered; when receiving the empty case storage instruction, transport the empty case to the scratch pad through empty utensil management module, when receiving the demand instruction of returning to the sky, go out the warehouse entry loading with the empty case of scratch pad through empty utensil management module. By adopting the invention, the capital construction structure of the old storehouse is not changed, the cost is controlled, and the automation degree is improved by applying the automation equipment.

Description

Intelligent warehouse system and intelligent warehouse management method

Technical Field

The invention relates to the technical field of intelligent storehouses, in particular to an intelligent storehouse system and an intelligent storehouse management method.

Background

In recent years, the main problems of complex operation flow, large proportion of traditional operation modes, low automation degree and the like exist in the automobile logistics industry. A large amount of automatic equipment can be selected in the existing automobile part warehouse storage and picking link, but a large amount of traditional operation modes are still reserved in the warehouse transferring link, and the old warehouse is influenced by objective warehouse conditions, so that a large amount of manual forklifts are used for loading and unloading and transporting. Meanwhile, due to the factors of standardization degree of automobile parts, excessive part types and the like, the warehousing link cannot be effectively optimized and technically upgraded. Traditional forklift operation workers need to be trained to perform post operation. Has the problems of long culture period, high separation rate, difficult supplement and the like. The whole process is complex and the number of the moving lines is large. The intermediate link is penetrated by a part of manual scanning, and a large amount of man-vehicle mixed flow conditions exist.

Disclosure of Invention

The embodiment of the invention provides an intelligent storehouse system and an intelligent storehouse management method, wherein the technical scheme is as follows:

in one aspect, an intelligent warehouse system is provided, which includes:

the system comprises a warehousing receiving station, an inspection area, a scanning device, an AGV (automatic guided vehicle) running vehicle, a central control system, a KTL (Karaoke television) support separating and stacking area, six mechanical arms, a conveying line, a three-dimensional warehouse, a KLT (Kelvin) ground storage area, a GLT (GLT) ground storage area, a GLT overhead storage area, a forklift, a vertical warehouse sorting station, a KLT ground sorting station, a GLT sequencing area and an empty box storage area;

the central control system is used for realizing the issuing of tasks, the management and control of equipment and the scheduling of an AGV running vehicle;

the intelligent storehouse system comprises a goods unloading module, a hand-moving part warehousing transferring module, a forklift part warehousing transferring module, a delivery module and an empty equipment management module.

Optionally, the scheduling the AGV running vehicle by the central control system includes:

the central control system distributes tasks to the AGV operation vehicles, determines the operation sequence of each AGV operation vehicle, selects each operation position of the tasks as a space node, discretizes time and constructs a position-time space-time network model;

based on a double-layer space-time network model and a topological model, the interference problem of multiple AGV running vehicles is described, and the path optimization problem of the multiple AGV running vehicles is solved from two aspects of time and space.

On one hand, the intelligent warehouse management method is realized by the intelligent warehouse system, and the method comprises the following steps:

after receiving a truck arrival instruction, unloading the cargos on the truck to the inspection area through the arrival unloading module;

after a cargo scanning instruction sent by the inspection area is received, storing the cargo into a storage area corresponding to the type of the cargo through a manual-moving piece warehousing and transferring module or a forklift piece warehousing and transferring module according to the type of the scanned cargo;

when a goods delivery instruction is received, the goods to be delivered out of the warehouse are transferred to the corresponding picking station through a delivery module according to the goods category to be delivered out of the warehouse;

when receiving the empty case storage instruction, transport the empty case to corresponding temporary storage area through empty utensil management module, when receiving the demand instruction of returning to the sky, go out the warehouse entry loading with the empty case of temporary storage area through empty utensil management module.

Optionally, the unloading the goods on the truck to the inspection area through the unloading module after receiving the truck-to-goods instruction comprises:

unloading and conveying the goods on the truck to an AGV connecting position through a forklift;

when an AGV carrying instruction is received, the goods are transferred to the inspection area from the AGV docking station through the AGV transferring vehicle.

Optionally, according to the kind of the goods that scans, through the hand put a warehouse entry transfer module or fork truck piece warehouse entry transfer module, with the storage area that the kind of goods corresponds, include:

when the type of the goods sent by the inspection area is a vertical warehouse part, triggering a carrying instruction to carry the goods to a vertical warehouse entrance in a whole supporting mode, determining the size of the vertical warehouse part after scanning by a scanning device, if the size of the vertical warehouse part is a standard size, detaching the support by a six-axis mechanical arm and placing the vertical warehouse part on a conveying line, if the size of the vertical warehouse part is a non-standard size, scanning and binding the vertical warehouse part with a master appliance, then placing the vertical warehouse part on the conveying line, storing the vertical warehouse part to a corresponding three-dimensional warehouse, and finishing warehousing operation;

when the type of the goods sent by the inspection area is the ground KLT piece, triggering a carrying task to be sent to a ground part workstation, dispatching an AGV (automated guided vehicle) to carry a tray to the workstation, placing the KLT piece on the tray, scanning and confirming, storing the KLT piece to a corresponding KLT ground storage area, and finishing warehousing operation;

when the type of the goods sent by the inspection area is the ground GLT piece, triggering a carrying task to carry the ground GLT piece to a corresponding GLT ground storage area through an AGV (automatic guided vehicle) to finish warehousing operation;

when the type of goods that receives the inspection area and send is overhead GLT piece, trigger the transport task and pass through AGV moving vehicle and transport overhead GLT piece to the overhead front connection position, connect the position fork transport to place the overhead storage area of corresponding GLT through fork truck from overhead front connection.

Optionally, the transferring the goods to be delivered from the warehouse to the corresponding picking station through the warehouse delivery module according to the goods category to be delivered from the warehouse includes:

when the goods to be delivered out of the warehouse are vertical warehouse pieces, the vertical warehouse pieces are placed on a conveying line through six mechanical arms, conveyed to a corresponding vertical warehouse sorting station, sorted to a designated position, scanned and confirmed, and delivered out of the warehouse is completed;

when the goods to be delivered from the warehouse are ground KLT pieces, the goods are conveyed to a corresponding KLT ground sorting station through an AGV transfer vehicle, sorted to an appointed position, scanned and confirmed, and delivered from the warehouse is completed;

when the goods to be delivered from the warehouse are ground GLT pieces, the goods are conveyed to a corresponding GLT sorting area through an AGV transfer vehicle, picked and placed at a designated position, and scanned and confirmed to finish the delivery operation;

when the goods to be delivered from the warehouse are the overhead GLT pieces, the overhead GLT pieces are placed at the AGV connection positions under the overhead fork through the forklift, are transported to the corresponding sorting stations through the AGV transfer trolley, are sorted to the designated positions, are scanned and confirmed, and delivery operation is completed.

Optionally, the transporting to the corresponding picking station by the AGV transfer vehicle, picking and placing to the designated position includes:

sorting the goods to be delivered out of the warehouse;

after receiving the train sequence information, the AGV transfer trolley transfers the sequenced cargos to a sequencing workstation, selects parts with corresponding quantity according to the warehouse-out indication and puts the parts at corresponding positions, and finishes the selecting operation after scanning confirmation.

Optionally, the transporting the empty boxes to the corresponding temporary storage area by the empty equipment management module includes:

when the empty box is a KLT type empty device, returning the empty device to the storehouse through a conveying line, placing the empty device on a corresponding tray according to different models of the empty device, and transferring the empty device to a corresponding temporary storage area;

when the empty box is an empty instrument of a GLT type, the empty instrument is transported to a delivery connection area, and the empty instrument in the delivery connection area is transported to a corresponding temporary storage area according to a corresponding model through a forklift;

optionally, when receiving the return empty demand instruction, go out the warehouse-in with the empty case of buffers through empty utensil management module and load, include:

when a return empty demand instruction of a KLT type is received, transporting empty devices corresponding to the demand type to a spare area through an AGV transfer vehicle, sorting according to the demand quantity, and then taking out of a warehouse for loading;

when a return empty demand instruction of a GLT type is received, empty devices corresponding to demand models are transported to a spare goods area through a forklift, and the empty devices are picked according to the demand quantity and then are taken out of a warehouse for loading.

Optionally, the AGV running vehicle is dispatched by a central control system, including:

The technical scheme provided by the embodiment of the invention has the beneficial effects that at least:

in the above-mentioned scheme, under the condition that current storehouse is not overhauld on a large scale, current situation conditions such as the height of considering traditional storehouse, ground, electric capacity arrange this intelligence storehouse system, under the basis of informationization, but with flexible arrangement, can high-efficient operation, the automation equipment that does not have the environment to reform transform introduce the storehouse full flow link to construct and to realize the intelligent commodity circulation that moves rapidly and deal with flexible production fast, and the cost is lower, can satisfy most storehouse application and reference. The AGV transfer mode is used for replacing the traditional process vehicle operation mode, the process vehicle running path is reduced, and the occurrence probability of mixed flow safety problems of people and vehicles is reduced. And an AGV random storage and goods-to-person selection mode is realized. Meanwhile, the AGV and the three-dimensional warehouse are linked, and the overall operation efficiency is improved. The front end of the three-dimensional warehouse is effectively connected with an operation AGV which selects the warehouse-out end.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a flowchart of an intelligent warehouse system according to an embodiment of the present invention;

fig. 2 is a flowchart of an intelligent warehouse management method according to an embodiment of the present invention;

fig. 3 is a flowchart of an empty tool management method according to an embodiment of the present invention;

FIG. 4 is a frame diagram of an AGV dispatch and AGV path according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a two-layer coupling model according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a topology network according to an embodiment of the present invention.

Detailed Description

In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.

The embodiment of the invention provides an intelligent storehouse system, which comprises a warehousing connection position, an inspection area, a scanning device, an AGV (automatic guided vehicle) running vehicle, a central control system, a KTL (Karaoke language) separate-support unstacking area, six mechanical arms, a conveying line, a three-dimensional storehouse, a KLT (karhunen-Loeve) ground storage area, a GLT (global positioning system) ground storage area, a GLT overhead storage area, a forklift, a vertical warehouse sorting station, a KLT ground sorting station, a GLT sequencing area and an empty box storage area, as shown in figure 1.

The central control system is used for realizing the issuing of tasks, the control of equipment and the dispatching of AGV running vehicles.

Optionally, the scheduling the AGV running vehicle by the central control system may include:

Preferably, the AGV transporting vehicle is in a hidden jacking type, the navigation mode is two-dimensional code navigation, the jacking height is 60mm, and the AGV transporting vehicle is in an electric lifting mode. Load 1000KG has front and back crashproof strip and detects and barrier function is kept away to laser. The rated no-load running speed can reach 1.8m/s, the rated full-load speed is 1.5m/s, and the position precision is +/-10 mm. The working time of full charge is 8h, and the charging time after full discharge is less than or equal to 1.5 h. The transfer mode can be upgraded by replacing the traditional process vehicle. Meanwhile, the flexibility and the adaptability are strong, and the method can adapt to different scene requirements. And the whole operation can be upgraded and optimized through algorithm development after the project is implemented.

In the embodiment of the invention, under the condition that the existing storehouse is not subjected to large-scale overhaul, the current conditions of height, ground, capacitance and the like of the traditional storehouse are considered, the intelligent storehouse system is arranged, and the automatic equipment which can be flexibly arranged, can be efficiently operated and is free of environmental improvement is introduced into the whole flow link of the storehouse on the basis of informatization, so that intelligent logistics which can realize rapid migration and rapid response to flexible production is constructed, the cost is low, and most of storehouse application reference can be met. The AGV transfer mode is used for replacing the traditional process vehicle operation mode, the process vehicle running path is reduced, and the occurrence probability of mixed flow safety problems of people and vehicles is reduced. And an AGV random storage and goods-to-person selection mode is realized. Meanwhile, the AGV and the three-dimensional warehouse are linked, and the overall operation efficiency is improved. The front end of the three-dimensional warehouse is effectively connected with an operation AGV which selects the warehouse-out end.

The embodiment of the invention provides an intelligent storehouse management method, which can be realized by the intelligent storehouse system. As shown in fig. 2, the processing flow of the method for intelligent warehouse management may include the following steps:

and step 201, after receiving the order of truck arrival, unloading the goods on the truck to the inspection area through the arrival unloading module.

In one possible embodiment, after the truck arrives, the load on the truck may be unloaded by a forklift and carried to the AGV docking station. When an AGV carrying instruction is received, the AGV transporting vehicle transports the goods from the AGV docking station to the inspection area, and inspectors inspect the packages, check the packages with a delivery list and perform warehousing scanning.

Step 202, after receiving a cargo scanning instruction sent by the inspection area, storing the cargo in a storage area corresponding to the type of the cargo by manually moving the cargo warehousing and transportation module or the forklift warehousing and transportation module according to the type of the scanned cargo.

In one possible embodiment, the cargo may be classified into vertical warehouse items, ground-based KLT items, ground-based GLT items, and overhead GLT items, wherein KLTs (Small load carriers) and GLTs (Large load carriers), generally less than 600x400x280, are referred to as KLTs, and may be handled by hand; and larger than this size may be GLT, which is a regular large packing box that meets certain modulus requirements.

When the type of the goods sent by the inspection area is received, a carrying instruction is triggered to carry the goods to an inlet of the vertical warehouse, the size of the vertical warehouse is determined after scanning by a scanning device, if the size of the vertical warehouse is standard, the six-axis mechanical arm is used for detaching the support and placing the goods on a conveying line, if the size of the vertical warehouse is nonstandard, the goods are placed on the conveying line after being scanned and bound with a master appliance and stored in the corresponding vertical warehouse, and warehousing operation is completed.

When the type of the goods sent by the inspection area is the ground KLT piece, the carrying task is triggered to be sent to the ground part workstation, the AGV is dispatched to operate the vehicle to carry the tray to the workstation after manual box-by-box scanning, the KLT piece is placed on the tray, scanning confirmation is carried out, the goods are stored to the corresponding KLT ground storage area, and warehousing operation is completed.

When the type of the goods sent by the inspection area is received is a ground GLT piece, the inspection area scans part identification, a carrying task is triggered to carry the ground GLT piece to a corresponding GLT ground storage area through an AGV (automatic guided vehicle), and warehousing operation is completed.

When the type of the goods that receive the inspection area and send is overhead GLT piece, inspection area scanning part sign triggers the transport task and connects position before transporting overhead GLT piece to the overhead through AGV moving vehicle, connects the position fork transport to place corresponding GLT overhead storage area before passing through the overhead through fork truck.

And 203, when the goods delivery instruction is received, transferring the goods to be delivered to the corresponding picking station through the delivery module according to the goods category to be delivered.

In a feasible implementation mode, when the goods to be delivered are vertical warehouse pieces, the vertical warehouse pieces are placed on a conveying line through six mechanical arms, conveyed to a corresponding vertical warehouse sorting station, sorted to a designated position, scanned and confirmed, and delivery operation is completed.

And when the goods to be delivered from the warehouse are ground KLT pieces, the goods are conveyed to a corresponding KLT ground sorting station through an AGV transfer vehicle, and are sorted and placed at an appointed position, and scanning confirmation is carried out to finish the delivery operation.

And when the goods to be delivered from the warehouse are ground GLT pieces, the goods are conveyed to the corresponding GLT sorting area through an AGV transfer trolley, picked and placed at the designated position, and scanned and confirmed to finish the delivery operation.

Optionally, the step of picking and placing to the designated position may include: the method comprises the steps of firstly sequencing goods to be delivered out of a warehouse, after receiving the sequence information, transferring the sequenced goods to a sequencing workstation by an AGV transfer vehicle, selecting parts with corresponding quantity according to delivery instructions, placing the parts at corresponding positions, and finishing the selecting operation after scanning confirmation.

And 204, when an empty box storage instruction is received, transporting the empty box to a corresponding temporary storage area through the empty tool management module.

In a possible embodiment, as shown in fig. 3, when the empty container is an empty container of KLT type, the empty container is returned to the warehouse through the conveying line, the empty container is manually taken down from the conveying line, placed on a corresponding tray according to different models of the empty container, the box code is scanned, the handling task is triggered, and the empty container is transferred to a corresponding temporary storage area.

When the empty box is an empty tool of a GLT type, manually triggering a carrying task, transporting the empty tool to a delivery connection area, and transferring the empty tool of the delivery connection area to a corresponding temporary storage area according to a corresponding model through a forklift.

And step 205, when a return empty demand instruction is received, taking out the empty boxes in the temporary storage area from the warehouse and loading the empty boxes in the temporary storage area through the empty tool management module.

In a feasible implementation mode, when a demand instruction of returning to the air of a KLT type is received, an empty device corresponding to the demand model is conveyed to a spare area through an AGV transfer vehicle, and the empty device is picked according to the demand quantity and then is taken out of a warehouse for loading.

It should be noted that, the core device of the system is the transportation of the intelligent AGV running vehicle, so how to further improve the efficiency of the device is also a problem to be considered. Through the whole analysis process link, the AGV operation optimization decision problem is divided into two sub-problems of AGV scheduling and AGV path decision. The relationship between the two is shown in FIG. 4.

The main technical difficulties are two aspects:

path conflict recognition: the key point of the project is that possible conflicts in the running paths of the AGVs need to be described from a time dimension and a space dimension in modeling, the conflicts are dynamically identified in the algorithm solving process, and the situation that a plurality of AGVs occupy a certain road section at the same time in the same time period is avoided.

And adjusting the association of the scheduling scheme and the path scheme: based on the path conflict recognition result, the problem needs to re-plan the mutually conflicting AGV traveling paths, determine the AGV traveling time under the new path scheme, and perform correlation adjustment on the AGV scheduling scheme based on the adjusted path scheme.

To solve the above problem, a double-layer coupling model is built using a double-layer space-time network structure for performing algorithm calculation, as shown in fig. 5.

The AGV scheduling in the invention is to distribute tasks to AGV vehicles, determine the operation sequence and not directly appoint a specific walking path, thereby effectively making a decision on the AGV scheduling scheme and ensuring to complete all operation tasks. Aiming at the AGV scheduling problem, each operation position of a task is selected as a space node, the time is discretized, and a position-time space-time network is constructed.

The AGV path optimization is to determine a specific walking path scheme in a warehouse when the AGV executes, and to solve the path conflict among the AGV paths. Road section interference, node interference and operation interference need to be considered. When determining the running road scheme of the AGV, the interference relationship between the AGV and the AGV needs to be identified and solved from two angles of time and space. The method quantitatively describes the multiple AGV path optimization problem by using a position-time spatio-temporal network on the basis of discretization of time and space. In this way, a topological network is constructed for algorithmic description, and a network model is shown in fig. 6.

The intelligent AGV running vehicle disclosed by the invention has the functions of path planning, task priority arrangement, obstacle avoidance and the like through the system. Meanwhile, the external connection device is connected with the forklift, so that the AGV relevant parameters need to meet the operation requirements of the turnover device. And can adapt to basic storehouse operation environment, possess the barrier function is kept away to the laser. Therefore, the central control system can fully restore the actual operation scene and describe the actual operation scene through the system and the algorithm language. Based on the double-layer space-time network model and the topological model, all nodes and difficult points of the operation flow can be accurately displayed. And through an algorithm, the dispatching and task assignment of the AGV are optimally guided.

In an exemplary embodiment, a computer-readable storage medium, such as a memory, including instructions executable by a processor in an intelligent library system to perform the method of intelligent library management is also provided. For example, the computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

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, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. The utility model provides an intelligence storehouse system which characterized in that, intelligence storehouse system includes:

2. The intelligent storehouse system of claim 1, wherein the central control system schedules the AGV running cars, comprising:

3. An intelligent warehouse management method is characterized in that the intelligent warehouse management method is realized by the intelligent warehouse system, and the method comprises the following steps:

4. The method of claim 3, wherein unloading the cargo on the truck to the inspection area via the truck-to-dump module after receiving the truck-to-cargo command comprises:

5. The method according to claim 3, wherein the step of storing the goods into the storage areas corresponding to the types of the goods by the manual piece warehousing and transportation module or the forklift piece warehousing and transportation module according to the scanned types of the goods comprises the following steps:

6. The method of claim 3, wherein the transferring the goods to be delivered to the corresponding picking station through the delivery module according to the goods category to be delivered comprises:

7. The method of claim 3, wherein said transporting to a corresponding picking station by an AGV transfer vehicle, picking to a designated location, comprises:

sorting the goods to be delivered out of the warehouse;

8. The method of claim 3, wherein the transporting the empty boxes to the corresponding staging areas by the empty equipment management modules comprises:

when the empty box is an empty tool of a GLT type, the empty tool is transported to the ex-warehouse connection area, and the empty tool in the ex-warehouse connection area is transported to the corresponding temporary storage area according to the corresponding model through a forklift.

9. The method according to claim 3, wherein when receiving the return empty demand instruction, the empty container in the buffer area is unloaded and loaded by the empty tool management module, and the method comprises the following steps:

10. The method of claim 3 wherein the AGV transport is dispatched by a central control system comprising: