CN115744000A - Warehouse goods handling system - Google Patents
Warehouse goods handling system Download PDFInfo
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- CN115744000A CN115744000A CN202211371677.7A CN202211371677A CN115744000A CN 115744000 A CN115744000 A CN 115744000A CN 202211371677 A CN202211371677 A CN 202211371677A CN 115744000 A CN115744000 A CN 115744000A
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The application discloses warehouse cargo handling system, this warehouse cargo handling system include first unmanned transport vechicle, second unmanned transport vechicle, center control system end, robot dispatch system end and warehouse control system end. The warehouse control system end is used for sending the warehouse-out task to the central control system end, the central control system end is used for dispatching the first unmanned transport vehicle, and the first unmanned transport vehicle is used for driving to a first warehouse location appointed by the warehouse-out task and carrying goods of the first warehouse location to the cross-connection area when the first warehouse location is identified to store the goods. After the first unmanned transport vehicle carries the goods to the cross-over area, the warehouse control system end is used for sending the ex-warehouse task to the robot scheduling system end, the robot scheduling system end is used for scheduling a second unmanned transport vehicle, and the second unmanned transport vehicle is used for carrying the goods to a first destination area appointed by the ex-warehouse task from the cross-over area to complete the ex-warehouse task. By the aid of the mode, the warehouse automation degree and the carrying efficiency can be improved.
Description
Technical Field
The application relates to the field of cargo handling, in particular to a warehouse cargo handling system.
Background
The traditional warehouse is usually operated by a manual forklift to complete the operations of storing, taking and carrying so as to carry goods, which not only consumes a great deal of manpower, but also has the problems of low automation and informatization degree.
With the increase of the degree of intellectualization, unmanned transport vehicles are widely used in warehouses nowadays to replace manual forklifts. However, with the continuous upgrading and updating of the warehouse, the single use of an unmanned transport vehicle often cannot give consideration to various types of transport tasks in the warehouse, and the problems of low transport efficiency and low channel requirements may occur.
Disclosure of Invention
The main technical problem who solves of this application provides warehouse goods handling system, can improve warehouse degree of automation and handling efficiency.
In order to solve the technical problem, the technical scheme adopted by the application is as follows: a warehouse cargo handling system is provided. The warehouse cargo handling system comprises a first unmanned transport vehicle and a second unmanned transport vehicle; the central control system end is used for scheduling the first unmanned transport vehicle to execute tasks; the robot scheduling system end is used for scheduling the second unmanned transport vehicle to execute tasks; and the warehouse control system end is coupled with the central control system end and the robot scheduling system end and is used for receiving the ex-warehouse tasks. The warehouse control system end is used for sending the ex-warehouse task to the central control system end; the central control system end is used for scheduling a first unmanned transport vehicle for executing the ex-warehouse task; the first unmanned transport vehicle is used for driving to a first storage position designated by the ex-warehouse task and identifying whether goods are stored in the first storage position, and if so, the goods in the first storage position are transported to the cross-connection area from the first storage position. After the first unmanned transport vehicle carries the goods to the cross-over area, the warehouse control system end is used for further sending the ex-warehouse task to the robot scheduling system end; the robot scheduling system end is used for scheduling a second unmanned transport vehicle for executing the ex-warehouse task; the second unmanned transport vehicle is used for transporting the goods to a first target area designated by the ex-warehouse task from the transfer area, and the ex-warehouse task is completed.
The beneficial effect of this application is: different from the prior art, the warehouse control system end dispatches the first unmanned transport vehicle to execute the task through the warehouse-out task distribution central control system end, and dispatches the second unmanned transport vehicle to execute the task through the distribution robot dispatching system end, and then the first unmanned transport vehicle and the second unmanned transport vehicle are utilized for carrying and matching, the purpose that goods carrying is realized between the shelf area warehouse location and the cross-connection area by using the first unmanned transport vehicle can be realized, and goods carrying is realized between the cross-connection area and the first target area by using the second unmanned transport vehicle, so that the common carrying tasks of the goods can be completed by selecting the unmanned transport vehicles of different types in different areas, the carrying efficiency can be effectively improved through the cooperation, the system can complete various types of carrying tasks, adapt to more types of warehouses and adapt to more application scenes, in addition, the first unmanned transport vehicle can identify whether goods exist in the warehouse location when carrying the goods, the goods carrying is carried out more intelligently, and the accuracy and the efficiency of executing the task are improved.
Drawings
FIG. 1 is a block diagram schematic of the structure of an embodiment of a warehouse goods handling system of the present application;
FIG. 2 is a schematic structural diagram of an embodiment of the warehouse of the present application;
FIG. 3 is a schematic illustration of the construction of a first embodiment of the unmanned transport vehicle of the present application;
FIG. 4 is a schematic illustration of the construction of a second embodiment of an unmanned transport vehicle according to the present application;
FIG. 5 is a schematic diagram of the structure of an embodiment of a pallet of the present application;
FIG. 6 is a schematic flow chart diagram illustrating a first embodiment of the cargo handling method according to the present application, which is based on a warehouse cargo handling system;
fig. 7 is a schematic flowchart of a second embodiment of the cargo handling method according to the present application, which is mainly implemented by a warehouse control system;
fig. 8 is a schematic flow chart of a cargo handling method according to a third embodiment of the present application, which is mainly implemented by a first unmanned transportation vehicle;
fig. 9 is a block diagram illustrating the structure of a first embodiment of the unmanned transport vehicle of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.
The conventional warehouse generally needs a lot of manpower to access and transport goods, and has the problem of low automation and informatization degree. With the increase of the degree of intellectualization, the warehouse nowadays widely uses an automatic logistics system and an unmanned transport vehicle, however, a single unmanned transport vehicle often cannot efficiently complete various transport tasks in a warehouse, so that the transport efficiency is low, and the channel requirement is low.
In order to improve the solution of the above technical problem, at least the following embodiments are proposed in the present application.
As shown in fig. 1, the warehouse cargo handling system 100 according to the embodiment of the present disclosure includes a first unmanned transport vehicle 10, a second unmanned transport vehicle 20, a central control system end 30, a robot dispatching system end 40, a warehouse control system end 50, and a warehouse management system end 60. The first unmanned transport vehicle 10 may be, for example, an unmanned forklift, and the second unmanned transport vehicle 20 may be, for example, an E-type automated guided transport vehicle.
The first and second unmanned vehicles 10 and 20 are automated guided vehicles, and may be used to advance and carry goods according to a set route when unmanned. The first and second unmanned vehicles 10, 20 may be, for example, unmanned forklifts, stackers, and different types of automated guided vehicles, etc. The central control system end 30 is used for operating a central control system, and further used for controlling the first unmanned transport vehicle 10. The robot scheduling system terminal 40 is used to operate the robot scheduling system, and is further used to control the second unmanned transport vehicle 20. The warehouse control system side 50 is used to operate the warehouse control system. The central control system end 30, the robot scheduling system end 40, and the warehouse control system end 50 may be servers, computers, notebook computers, and the like, or may be other electronic devices having processing capability.
As shown in fig. 2, the warehouse 200 to which the warehouse goods handling system 100 is applied may include, for example, an elevated shelf area 210, an interface area 220, a destination area 230, and a warehouse doorway 240. The high-level shelf area 210 includes a plurality of high-level shelves, and each high-level shelf is provided with a plurality of storage locations distributed vertically and horizontally for storing various goods. For example, the high-level shelf area 210 may include a first storage location 211 corresponding to an ex-warehouse task and may further include a second storage location 212 corresponding to an in-warehouse task. The interface area 220 is used to place the transferred goods, such as goods that are transported from the elevated shelf area 210 or goods that need to be transported into the elevated shelf area 210. Of course, the interface area 220 may include a first interface area for outbound and a second interface area for inbound. The destination area 230 is a destination or a departure point of each task, the destination area 230 may be a destination of the outbound task, such as a first destination area 231, and the destination area 230 may also be a departure point of the inbound task, such as a second destination area 232. The warehouse doorway 240 is a doorway for the supply of goods to and from the warehouse 200. The warehouse 200 is divided into a plurality of areas, so that a plurality of tasks can be simultaneously performed in the warehouse, and the operating efficiency of the warehouse is improved.
As shown in fig. 2, the first unmanned vehicle 10 may be, for example, an unmanned forklift, and the first unmanned vehicle 10 may be used to transfer goods between the elevated shelf area 210 and the interface area 220. The second unmanned transport vehicle 20 may be, for example, an E-type automated guided transport vehicle, and the second unmanned transport vehicle 20 may be used to transfer goods between the interface area 220 and the destination area 230. The central control system end 30 is used for controlling the first unmanned transport vehicle 10 to travel between the high-level shelf area 210 and the transfer area 220 and transfer goods, for example, the central control system end 30 is used for controlling the unmanned forklift to travel between the high-level shelf area 210 and the transfer area 220 and transfer goods. The robot dispatching system end 40 is used for controlling the second unmanned transport vehicle 20 to travel between the cross-over area 220 and the destination area 230 and to transport the goods, for example, the robot dispatching system end 40 is used for controlling the E-type automated guided transport vehicle to travel between the cross-over area 220 and the destination area 230 and to transport the goods.
The warehouse management system end 60 stores the position information corresponding to the goods, and can manage warehouse entry and exit and order management. The warehouse management system terminal 60 may control the first and second unmanned transportation vehicles 10 and 20 to transport the goods by transmitting the position information to the central control system terminal 30 and the robot scheduling system terminal 40, so as to manage the stock condition and the position of the goods. By calling different unmanned transport vehicles in different areas under the cooperation of various systems, not only can the common carrying task of goods be completed, but also the goods storage, taking and carrying of the high-level shelf area 210 can be considered, so that the warehouse goods carrying system 100 can complete various types of carrying tasks, can be adapted to more types of warehouses 200 and can adapt to more application scenes.
As shown in fig. 3, the first unmanned transport vehicle 10 may be, for example, an unmanned forklift, and the first unmanned transport vehicle 10 may include a movable vehicle body 11, a controller 12 provided in the movable vehicle body 11, forks 13 provided in the movable vehicle body 11 and capable of being lifted at least in a height direction, a lift driving mechanism 14 provided in the movable vehicle body 11 and configured to drive the forks 13, and a sensing module 15 provided in the movable vehicle body 11 and configured to perform cargo recognition. The lifting drive mechanism 14 is used for driving the fork 13 to lift at least in the height direction of the movable vehicle body 11. The controller 12 is used for controlling the movable vehicle body 11 to move after receiving a task, and the controller 12 is electrically connected with the lifting driving mechanism 14 and the sensing module 15, so that the fork 13 can be lifted when carrying goods on the high-level shelf area 210, and the goods can be identified when carrying the goods. The forks 13 are used to fork the pallet 70 on which the goods are placed, so that the pallet 70 and the goods on the pallet 70 can be carried. And the pallet 70 and the goods on the pallet 70 can be transported in the elevated shelf area 210 by the lifting drive mechanism 14. By using the first unmanned transport vehicle 10, the handling of goods in the elevated shelf area 210 may be achieved such that the warehouse goods handling system 100 may better adapt to a stereoscopic warehouse that may be used to store more goods. The sensing module 15 is used for identifying and detecting the cargo, and may be a camera and a laser sensor, for example.
As shown in fig. 4, the second unmanned transport vehicle 20 may be, for example, an automated guided transport vehicle, and the second unmanned transport vehicle 20 may include a transport vehicle body 21, a transport vehicle controller 22 provided in the transport vehicle body 21, and a carriage 23 provided in the transport vehicle body 21. The conveyance vehicle controller 22 controls the conveyance vehicle body 21 to move after receiving a task. The carriage 23 is used to hold the pallet 70 for the purpose of carrying goods. Alternatively, the carriage 23 may be independently disposed outside the second unmanned transport vehicle 20, i.e., may be detachably disposed on the second unmanned transport vehicle 20, or may be a part of the second unmanned transport vehicle 20. Further, the second unmanned transport vehicle 20 may be an E-type automated guided transport vehicle having an E-shaped carriage 23, and the E-shaped carriage 23 is disposed on the second unmanned transport vehicle 20, and the second unmanned transport vehicle 20 is configured to contact and support a pallet of goods through the E-shaped carriage 23, and then transport the goods. Can directly carry the goods through using E type automated guided transporting vehicle, need not arrange again and bear the frame, improve the convenience to make it can be applied to more scenes. Optionally, the second unmanned transport vehicle 20 may also be provided with means for identifying the cargo, such as a laser sensor or a camera, etc.
The pallet 70 may be used with the first and second unmanned vehicles 10 and 20, with the top of the pallet 70 being used to carry goods. For example, pallet 70 may be used with an unmanned forklift and an E-style automated guided vehicle. As shown in fig. 5, the bottom of the pallet 70 is provided with a hollow groove 71. The empty slots 71 can be used for the forks 13 of the first unmanned transport vehicle 10 to fork, and can also be used for the insertion and the handling of the loading frame 23 of the second unmanned transport vehicle 20. Optionally, the empty slot 71 may be disposed in an E shape, for example, the empty slot 71 may include six sub slots, wherein three sub slots are vertically and horizontally disposed and extend through to the side wall, that is, the three sub slots are disposed in parallel and perpendicular to the other two sub slots, and each sub slot extends through two opposite side surfaces of the pallet 70, so that a direction for carrying the pallet 70 is increased, and carrying efficiency is improved. The distances between the hollow grooves 71 may be constant and equal, or may not be equal. Optionally, the pallet 70 may also be provided with a lifting module (not shown) so that the height of the pallet 70 from the ground may be adjusted so that the pallet 70 may be fitted with a first unmanned vehicle 10 having forks 13 of different heights and a second unmanned vehicle 20 having a carriage 23 of different heights.
The above warehouse cargo handling system 100 uses at least two kinds of unmanned vehicles, i.e., the first unmanned vehicle 10 and the second unmanned vehicle 20. The first unmanned transport vehicle 10 is primarily used for handling and accessing goods in the high-bay area 210, such as an unmanned forklift. Of course, the unmanned stacker may also be considered as one of the first unmanned transport vehicles 10. The second unmanned transport vehicle 20 is mainly used for carrying and accessing the goods in the ground stacking storage area, such as an E-type automated guided transport vehicle. The first unmanned vehicle 10 is primarily intended for use in the high-bay area 210 and the second unmanned vehicle 20 is primarily intended for use in a ground storage area, such as the destination area 230. The use of at least two kinds of unmanned transport vechicles can distribute different tasks to the unmanned transport vechicles of different grade type for the unmanned transport vechicles of different grade type work in more suitable position, thereby can improve the transportation efficiency in warehouse.
The first unmanned transport vehicle 10 is mainly used for transporting goods in the high-level shelf area 210, for example, the first unmanned transport vehicle 10 is used for traveling to the first storage location 211 of the high-level shelf area 210 according to a point-to-point task when completing an outbound task, and transporting the goods in the first storage location 211 from the first storage location 211 to the cross-over area 220. The first unmanned transport vehicle 10 may also be used to transfer the cargo at the interface area 220 from the interface area 220 to the second storage location 212 of the high-order shelf area 210 designated by the warehousing task when the warehousing task is completed. The first storage location 211 may be a storage location where goods to be taken out in the warehouse-out task are correspondingly placed in the high-level shelf area 210, and the second storage location 212 may be a storage location where goods to be placed in the warehouse-in task are correspondingly placed in the high-level shelf area 210. The first unmanned transport vehicle 10 can transport the goods in the high-bay 210 of the warehouse 200 while reducing the use of manpower.
Further, the traveling path of the first unmanned transportation vehicle 10 may be preset or planned according to an actual warehousing task or an ex-warehousing task, for example, the first unmanned transportation vehicle 10 may be configured to travel from the current position to the first depot 211 according to the planned first traveling path, and travel from the first depot 211 to the cross-connecting area 220 after transporting goods. The current position of the first unmanned vehicle 10 may be a charging station of the first unmanned vehicle 10, or may be a position where the first unmanned vehicle 10 is located after completing a previous task. The first travel path is a designated travel path of the planned first unmanned transport vehicle 10 from the current position to the intersection 220 via the first depot 211. The first unmanned transport vehicle 10 travels according to the designated travel path, so that the time taken can be reduced, and the problems of collision and the like can be avoided, thereby improving the warehouse transfer efficiency.
In addition to being used for transporting goods, the first unmanned transport vehicle 10 may also be used for identifying whether goods are stored at a position corresponding to the goods to be picked up, for example, the first unmanned transport vehicle 10 may be used for traveling to the first storage location 211 designated by the delivery task and identifying whether the first storage location 211 stores goods, and if so, transporting the goods at the first storage location 211 from the first storage location 211 of the high-level shelf area 210 to the cross-connecting area 220. The manner of identifying the goods may include, for example, setting a sensor, scanning a two-dimensional code, and the like.
A sensing module 15 provided on the first unmanned vehicle 10 may be used to identify the cargo. For example, the first unmanned vehicle 10 may use the perception module 15 to identify the cargo in the warehouse 200 during an outbound task. When the first unmanned vehicle 10 is to fork cargo from the high bay 210, the first unmanned vehicle 10 is configured to identify whether the first storage area 211 stores cargo via the sensing module 15. If so, the first unmanned transport vehicle 10 may fork the cargo for outbound tasks. The first unmanned vehicle 10 may also use the perception module 15 to identify the cargo in the interface area 220 during the warehousing task. When the first unmanned transport vehicle 10 is used to travel to the transfer area 220, the first unmanned transport vehicle 10 may identify whether goods are stored in the transfer area 220 through the sensing module 15, and if so, the first unmanned transport vehicle 10 may transport the goods in the transfer area 220 from the transfer area 220 to the second storage location 212 designated by the storage task to complete the storage task. Alternatively, when the sensing module 15 of the first unmanned transportation vehicle 10 does not recognize the cargo, a signal indicating that the cargo is not present is fed back to the central control system 30 to report an error. Through setting up perception module 15, first unmanned transport vechicle 10 can discern the feedback to the actual conditions of goods in real time when accomplishing tasks such as warehouse entry, leaving warehouse for first unmanned transport vechicle 10 can judge whether the task has the mistake when accomplishing the task, and can update the actual stock condition of goods in real time.
Further, first unmanned transport vechicle 10 can also be through the locating position of perception module 15 discernment goods, when the locating position of goods appeared the deviation, first unmanned transport vechicle 10 can also be used for discerning the locating deviation of the goods that joins in marriage the district 220 through perception module 15 discernment after joining in marriage the district 220 storage and having the goods to carry out and put deviation assorted adjustment to self operation gesture, and then cross the goods of joining in marriage the district 220 and get. Set up perception module 15 and can also make first unmanned transport vechicle 10 discern the locating position of goods, and can adjust when the locating position deviation appears, reduce improper problem and the safety problem are put to the goods that leads to because the position when fork was got is improper, can effectively improve fork and get efficiency, reduce the potential safety hazard.
The second unmanned transport vehicle 20 functions to mainly carry goods in the ground stockyard area. For example, the second unmanned transport vehicle 20 is used to transfer the goods from the transfer area 220 to the first destination area 231 designated by the outbound task when the outbound task is completed. The second unmanned transport vehicle 20 may also be used to transport goods from the second destination area 232 designated by the warehousing task to the interface area 220 upon completion of the warehousing task. The first destination area 231 may be a destination of the outbound task, and may be, for example, an outbound scratch pad, a to-be-verified area, or the like. The second destination area 232 may be a starting point of the warehousing task, and may be, for example, an unloading area, a warehousing buffer area, etc. The second unmanned transport vehicle 20 can carry the goods in the warehouse 200 while reducing the use of manpower.
Further, the traveling path of the second unmanned transport vehicle 20 may be preset or planned according to an actual warehousing task or ex-warehousing task. The second unmanned transport vehicle 20 is generally equipped with an automatic navigation device such as an electromagnetic or optical navigation device, and can be operated according to a route which the computer specifies. For example, the second unmanned transport vehicle 20 may be configured to travel from the current location to the interface area 220 according to the planned second travel path, and to travel from the interface area 220 to the first destination area 231 after transporting the cargo. The current position of the second unmanned transport vehicle 20 may be a charging station of the second unmanned transport vehicle 20, or may be a position where the second unmanned transport vehicle 20 is located after completing a previous task. The second travel route is a designated travel route of the planned second unmanned transport vehicle 20 from the current position to the first destination area 231 via the intersection area 220. Optionally, the second unmanned transport vehicle 20 may also be used for identifying the goods, for example the second unmanned transport vehicle 20 may be provided with a sensor for identifying the goods. The second unmanned transport vehicle 20 travels according to a designated travel route, so that the time taken can be reduced, and the problems of collision and the like can be avoided, thereby improving the warehouse transfer efficiency.
The central control system end 30 is used for scheduling the first unmanned transport vehicle 10 to execute tasks. Alternatively, the central system end 30 may simultaneously schedule a plurality of first unmanned vehicles 10 to accomplish different tasks. The central control system end 30 may be used to schedule the first unmanned vehicle 10 to perform warehousing tasks. The central control system end 30 may also be used to schedule the first unmanned vehicle 10 to perform outbound tasks. For example, the central control system 30 is configured to generate an ad hoc transfer task for designating the first storage location 211 and the transfer area 220 of the high-bay area 210 after receiving the outbound task, and schedule the first unmanned transport vehicle 10 that performs the ad hoc transfer task. The peer-to-peer transfer task is a direct transfer task between the first pool 211 and the interface 220, wherein the path may not include other stations. The point-to-point carrying task is set, so that the time spent on task completion can be reduced, and the problems caused by too complex tasks, such as cargo loss and the like, can be avoided. The middle control system end 30 can manage the first unmanned transport vehicle 10, so that the first unmanned transport vehicle 10 can efficiently complete tasks in the fastest time, and the task completion efficiency is improved.
Further, the outbound task received by the central control system end 30 may include the bank bit information corresponding to the first bank bit 211 and the interface area information corresponding to the interface area 220. The central control system 30 may be configured to plan a first travel path from the current position to the cross-connect area 220 through the first storage location 211 of the high shelf area 210 according to the current position of the first unmanned transport vehicle 10, the storage location information, and the cross-connect area information, so as to generate a point-to-point transportation task. The library bit information may be, for example, coordinates corresponding to the first library bit 211, and the cross-connection area information may be, for example, coordinates corresponding to the cross-connection area 220. The coordinates may be coordinates located by a positioning system such as a GPS, or may be coordinates of a warehouse space that is set by the user. By planning the first driving path of the first unmanned transportation vehicle 10, obstacles, such as a driving vehicle or placed goods, can be effectively avoided, and blocking or collision caused by repeated driving vehicle paths can be avoided, and efficient planning can be performed, so that the vehicles can operate orderly.
After the travel path is determined, the central control system end 30 may be used to select the optimal first unmanned vehicle 10 for completing the task. Alternatively, the selection of the optimal first unmanned vehicle 10 may be made by comparing the time required for all of the first unmanned vehicles 10 to complete the mission, such as by comparing the distance required for all of the first unmanned vehicles 10 to travel to complete the mission, and thereby determining the time required to complete the mission. For example, the central control system 30 is configured to calculate distances between all the first unmanned vehicles 10 in the warehouse 200 and the first storage location 211 before the first unmanned vehicle 10 for performing the peer-to-peer transfer task is scheduled, and select the first unmanned vehicle 10 with the shortest distance to the first storage location 211 for performing the peer-to-peer transfer task. Thus, the optimal first unmanned transport vehicle 10 is selected by comparing the distance between the first unmanned transport vehicle 10 and the storage space in advance, so that the time spent in carrying can be reduced, and the carrying speed and the task completion efficiency can be effectively improved.
Optionally, when selecting the optimal first unmanned vehicle 10, the first unmanned vehicle 10 with the task may be excluded, or the time required for the first unmanned vehicle 10 to complete the remaining tasks may be calculated, so as to select the first unmanned vehicle 10 that can complete the task most quickly. After the first unmanned transport vehicle 10 completes the delivery task, the central control system 30 is configured to send a delivery completion signal of the first unmanned transport vehicle 10 to the warehouse control system 50 when the first unmanned transport vehicle 10 transports the goods from the first warehouse location 211 of the high-level shelf area 210 to the transfer area 220. The task completion progress is updated in real time by feeding back the task completion signal, and the follow-up task is performed after the signal is received, so that the task completion degree can be ensured, and the task completion efficiency can be improved.
The robot scheduling system end 40 is used to schedule the second unmanned transport vehicle 20 to perform tasks. Alternatively, the robot scheduling system side 40 may simultaneously schedule a plurality of second unmanned transport vehicles 20 to accomplish different tasks. The robot scheduling system end 40 may be used to schedule the second unmanned transport vehicle 20 to perform warehousing tasks. The robotic dispatch system end 40 may also be used to dispatch the second unmanned transport vehicle 20 to perform outbound tasks. For example, after the first unmanned vehicle 10 transports the goods to the transfer area 220, the robot scheduling system terminal 40 is used to schedule the second unmanned vehicle 20 for performing the outbound task. The second unmanned transport vehicle 20 can be managed by using the robot scheduling system terminal 40, so that the task of the second unmanned transport vehicle 20 can be efficiently completed in the fastest time, and the task completion efficiency is improved.
Further, the outbound task received by the robot scheduling system terminal 40 may include the interface area information corresponding to the interface area 220 and the destination area information corresponding to the first destination area 231. The robot scheduling system terminal 40 may be configured to plan a second travel path from the current position to the first destination area 231 through the interface 220 according to the current position of the second unmanned transport vehicle 20, the interface area information, and the destination area information. The cross-connection area information may be, for example, coordinates corresponding to the cross-connection area 220, and the destination area information may be, for example, coordinates corresponding to the first destination area 231. The coordinates may be coordinates located by a positioning system such as a GPS, or may be coordinates of a warehouse space that is set by the user. By planning the second driving path of the second unmanned transportation vehicle 20, obstacles, such as a driving vehicle or placed goods, can be effectively avoided, blocking or collision caused by repeated driving vehicle paths can be avoided, and efficient planning can be performed, so that the vehicles can be operated orderly.
After the travel path is determined, the robotic dispatch system end 40 may be used to select the optimal second unmanned vehicle 20 for completing the task. Alternatively, the selection of the optimal second unmanned vehicle 20 may be by comparing the time required for all second unmanned vehicles 20 to complete the task, for example by comparing the distance required for all second unmanned vehicles 20 to complete the task, thereby determining the time required to complete the task. For example, the robot scheduling system 40 is configured to calculate distances between all the second unmanned vehicles 20 in the warehouse 200 and the interface area 220, and schedule the second unmanned vehicle 20 with the shortest distance to the interface area 220 to perform the outbound task. The optimal second unmanned transport vehicle 20 is selected by calculating the distance between the second unmanned transport vehicle 20 and the depot in advance, and the carrying speed and the task completion efficiency can be effectively improved.
Optionally, when the optimal second unmanned transport vehicle 20 is selected, the second unmanned transport vehicle 20 with a task may be excluded, or the time required for the second unmanned transport vehicle 20 to complete the remaining tasks may be calculated, so as to select the second unmanned transport vehicle 20 that can complete the task most quickly. After the second unmanned transport vehicle 20 completes the outbound task, the robot scheduling system terminal 40 is configured to send an outbound completion signal to the warehouse control system terminal 50 after the second unmanned transport vehicle 20 completes the outbound task. The task completion progress is updated in real time by feeding back the task completion signal, so that the task completion degree can be ensured, and the task completion efficiency is improved.
The warehouse control system terminal 50 is coupled to the central control system terminal 30 and the robot dispatching system terminal 40, and is used for receiving tasks to instruct the first unmanned transportation vehicle 10 and the second unmanned transportation vehicle 20 to carry goods. For example, the warehouse control system side 50 may be configured to receive an outbound task instructing the first unmanned vehicle 10 and the second unmanned vehicle 20 to carry the cargo. The warehouse control system end 50 may divide a complete warehousing task into a plurality of subtasks, and distribute the subtasks to the central control system end 30 and the robot scheduling system end 40. For example, the warehouse control system side 50 may be configured to receive warehousing tasks and to send the warehousing tasks to the central control system side 30. The warehouse control system side 50 may also be used to send warehousing tasks to the robot scheduling system side 40. The warehouse control system end 50 may divide a complete ex-warehouse task into a plurality of subtasks, and distribute the subtasks to the central control system end 30 and the robot scheduling system end 40. For example, the warehouse control system end 50 may also be used to send out-warehouse tasks to the central control system end 30. After the first unmanned transport vehicle 10 transports the goods to the transfer area 220, the warehouse control system side 50 is further used to further send the outbound task to the robot dispatching system side 40. The feedback signals may be from the first and second unmanned vehicles 10 and 20, or may be from the central control system terminal 30 that schedules the first unmanned vehicle 10 and the robot scheduling system terminal 40 that schedules the second unmanned vehicle 20. By using the warehouse control system end 50 to distribute tasks to the central control system end 30 and the robot scheduling system end 40, the tasks can be performed in order, and therefore the task completion efficiency is improved.
Further, the warehouse control system side 50 may be configured to receive the feedback signal and perform subsequent operations after receiving the feedback signal. For example, the warehouse control system side 50 may be configured to send the outbound task to the robot scheduling system side 40 upon receiving the outbound complete signal from the first unmanned transport vehicle 10. For example, after the task is completed, the warehouse control system side 50 may be configured to feed back a task completion signal to the system receiving the goods order, such as the warehouse management system side. For example, after the warehouse task is completed, the warehouse control system side 50 is used to further send a warehouse complete signal to the warehouse management system side 60. The feedback after the task is completed can feedback the task completion progress, so that the warehouse management system end 60 can know the update condition of the inventory to update the inventory condition.
Optionally, the warehouse cargo handling system 100 also includes a system that may be used to receive cargo in and out orders. The system for receiving orders for goods to and from the warehouse may vary depending on the specific role of the warehouse. For example, where the warehouse is primarily intended for a manufacturing facility, the source of the order may be the manufacturing enterprise's manufacturing process execution system side. The warehouse goods handling system 100 also includes a warehouse management system side 60 when the warehouse is primarily used for warehouse management. The warehouse management system end 60 is configured to generate a warehouse-out task according to the warehouse-out order requirement, and send the warehouse-out task to the warehouse control system end 50. For example, when the goods requested by the delivery order are drug A, 10 boxes in quantity and 20 boxes in stock, the corresponding first storage position 211 is 1-1-1. The corresponding ex-warehouse task is to take the drug a10 case with the warehouse location 1-1-1. The warehouse management system end can enable the warehouse-out task to directly butt joint the goods orders, reduce errors easily caused by manual butt joint links, and accordingly improve task completion efficiency.
The warehouse management system side 60 is also used for receiving the warehouse-out completion signal and updating the inventory status of the goods. When the warehouse-out task is completed, the warehouse management system side 60 may receive a signal sent by the warehouse control system side 50, so that the warehouse management system side 60 changes the stock from the original 20 boxes to 10 boxes, thereby updating the stock state of the goods. The warehouse goods handling system 100 is matched with the warehouse management system end 60 for use, so that a handling task can be carried out based on order requirements, the actual stock state of goods can be updated and changed according to real-time conditions, the manual checking tedious work is reduced, and the task completion efficiency can be effectively improved.
The following first embodiment of the cargo handling method of the present application, which is mainly a warehouse cargo handling system, can be implemented by using the above warehouse cargo handling system 100. As shown in fig. 6, the first embodiment of the cargo handling method of the present application at least comprises the following steps.
S110: and the warehouse control system end receives the ex-warehouse tasks and sends the ex-warehouse tasks to the central control system end.
After receiving the delivery order, the warehouse management system correspondingly generates a delivery task according to information such as names and quantities of goods included in the delivery order demand, wherein the delivery task includes the storage position information corresponding to the demand goods, the information of a cross connection area of a path to be carried and the information of a first target area to be carried. And the warehouse management system end sends the generated warehouse-out task to the warehouse control system end in the subsequent process. The warehouse control system side may divide the ex-warehouse task received from the warehouse management system side into a plurality of sub-tasks, for example, a first sub-task may be set to instruct a first unmanned transport vehicle, such as an unmanned forklift, to transport goods from the high-bay area to the interface area, and a second sub-task may be set to instruct a second unmanned transport vehicle, such as an E-type automated guided transport vehicle, to transport goods from the interface area to the first destination area. Wherein the first subtask is assigned to the central control system side for controlling the first unmanned transport vehicle and the second subtask is assigned to the robot scheduling system side for controlling the second unmanned transport vehicle. Because the first subtask and the second subtask have a sequence, the warehouse control system end will send the first subtask to the central control system end.
S120: the central control system end is used for scheduling a first unmanned transport vehicle for executing the ex-warehouse task.
The first subtask is to instruct a first unmanned vehicle, such as an unmanned forklift, to transport goods from the high bay to the interface area, and thus to control the first unmanned vehicle to transport the goods at the high bay. And the warehouse control system end sends a first sub-task to the central control system end, wherein the first sub-task comprises the information of the warehouse position corresponding to the first warehouse position and the information of the cross-connection area corresponding to the cross-connection area. And the central control system end dispatches a first unmanned transport vehicle capable of completing the task, such as an unmanned forklift, according to the storage position information and the cross-connection area information in the first subtask. The storage position information and the cross-connection area information comprise coordinates of the storage position and the cross-connection area, the central control system end can calculate the distance between the first unmanned transport vehicle and the storage position according to the coordinates so as to select the optimal first unmanned transport vehicle which is the shortest in route and most suitable for completing the task, and the central control system end can plan the first running path of the first unmanned transport vehicle in advance according to the position of the selected first unmanned transport vehicle, the storage position and the coordinates of the cross-connection area.
S130: the first unmanned transport vehicle drives to a first storage position designated by the ex-warehouse task and identifies whether goods are stored in the storage position.
And the first unmanned transport vehicle such as an unmanned forklift which is dispatched by the central control system end drives to the first storage position where the goods are placed and designated by the ex-warehouse task according to the first driving path to carry the goods. Before carrying the goods, first unmanned transport vechicle can use the perception module to whether first storehouse position stores the goods and discern to judge whether the task normally goes on.
S140: and if so, carrying the goods in the first storage position to the cross-connecting area from the first storage position.
When the first unmanned transport vehicle identifies that goods are stored in the first storage position through the sensing module, it can be determined that the task can be normally performed, and then the first unmanned transport vehicle can carry the goods in the first storage position to the cross-connecting area from the first storage position according to the first driving path.
S150: after the first unmanned transport vehicle carries the goods to the cross-over area, the warehouse control system end further sends the ex-warehouse task to the robot scheduling system end.
After a first unmanned transport vehicle such as an unmanned forklift carries goods to the cross-connection area according to the first traveling path, the first subtask can be considered to be completed, and at the moment, the central control system end sends an ex-warehouse completion signal indicating that the first subtask is completed to the warehouse control system end so as to feed back the completion progress of the first subtask. And when the warehouse control system end receives a signal of completing the first subtask sent by the central control system end, the second subtask is sent to the robot scheduling system end.
S160: and the robot scheduling system end schedules the second unmanned transport vehicle for executing the ex-warehouse task.
The robot dispatching system receives a second subtask sent by the warehouse control system, and the second subtask instructs a second unmanned transport vehicle, such as an E-type automated guided transport vehicle, to transport the goods from the transfer area to the first destination area, so that the second unmanned transport vehicle is controlled to transport the goods at the transfer area. And the warehouse control system end sends a second subtask to the robot scheduling system end, wherein the second subtask comprises cross connection area information corresponding to the cross connection area and target area information corresponding to the first target area. And the robot dispatching system end dispatches a second unmanned transport vehicle capable of completing the task, such as an E-type automatic guided transport vehicle, according to the information of the cross-connection area and the information of the target area in the second subtask. The information of the cross-connection area and the information of the target area comprise coordinates of the cross-connection area and the target area, the robot dispatching system end can calculate the distance between the second unmanned transport vehicle and the cross-connection area according to the coordinates so as to select the optimal second unmanned transport vehicle which is the shortest in route and is most suitable for completing tasks, and the robot dispatching system end can plan the second running path of the second unmanned transport vehicle in advance according to the position of the selected second unmanned transport vehicle, the coordinates of the cross-connection area and the first target area.
S170: and the second unmanned transport vehicle carries the goods to a first destination area specified by the ex-warehouse task from the cross-connection area, and the ex-warehouse task is completed.
And the second unmanned transport vehicle such as the E-type automatic guided transport vehicle subjected to the dispatching by the robot dispatching system end drives to the cross-over area according to the second running path to carry the goods carried by the first unmanned transport vehicle. And the second unmanned transport vehicle transports the goods from the transfer area to the first destination area designated by the ex-warehouse task according to the second traveling path. After the second unmanned transport vehicle transports the goods to the first target area, the second subtask can be considered to be completed, and at the moment, the robot scheduling system end sends an ex-warehouse completion signal indicating that the second subtask is completed to the warehouse control system end so as to feed back the completion progress of the second subtask. After the two subtasks are completed, the warehouse-out task can be considered to be completed, the warehouse control system end sends a signal of completion of the warehouse-out task to the warehouse management system end, and the warehouse management system end updates the stock condition according to the warehouse-out task after receiving the signal of completion of the warehouse-out task.
Through the scheme described in the first embodiment of the cargo handling method, various unmanned transport vehicles can cooperate with each other and can coordinate with each other in the task performing process, so that the handling tasks of the warehouse can be completed efficiently and orderly.
The following second embodiment of the cargo handling method of the present application, which is mainly implemented by the warehouse control system side, can also be implemented by using the above warehouse cargo handling system 100. As shown in fig. 7, the second embodiment of the cargo handling method of the present application at least comprises the following steps.
S210: and receiving the delivery task corresponding to the goods order.
S220: and sending the ex-warehouse task to the central control system end so that the central control system end dispatches the first unmanned transport vehicle to execute the ex-warehouse task, and the first unmanned transport vehicle can drive to a first warehouse position specified by the ex-warehouse task.
S230: and identifying whether the first storage position stores goods.
S240: and if so, carrying the goods in the first storage position to the cross-connecting area from the first storage position.
The following third embodiment of the cargo handling method of the present application, which is mainly implemented by the first unmanned transportation vehicle, can also be implemented by using the warehouse cargo handling system 100 described above. As shown in fig. 8, the third embodiment of the cargo handling method of the present application at least comprises the following steps.
S310: and receiving a dispatching instruction of the central control system.
S320: and after receiving the scheduling command, driving to a first storage position specified by the ex-warehouse task.
S330: and identifying whether goods are stored in the first storage position.
S340: if so, the goods in the first storage position are transported to the cross connection area from the first storage position, so that the second unmanned transport vehicle can transport the goods to a first target area designated by the ex-warehouse task from the cross connection area, and the ex-warehouse task is completed.
For the contents of the second embodiment and the third embodiment of the cargo handling method of the present application, reference may be made to the description of the first embodiment of the cargo handling method of the present application, and details are not repeated herein.
To implement the method of the above embodiment, as shown in fig. 9, a first unmanned vehicle 10 as described in the first unmanned vehicle embodiment of the present application includes: sensor 101, memory 102, processor 103, and communication circuitry 104. The sensor 101, the memory 102 and the communication circuit 104 are respectively coupled to the processor 103.
The sensor 101 is used to identify the cargo, for example, whether the cargo is stored in the storage location corresponding to the cargo. The sensor 101 can also be used for identifying the placing position of the goods, when the placing position of the goods deviates, the sensor 101 can also be used for identifying the placing deviation of the goods, and sends a signal to the first unmanned transport vehicle 10 to enable the first unmanned transport vehicle 10 to adjust the running posture of the first unmanned transport vehicle 10 to match the placing deviation.
The memory 102 stores computer programs, which may be RAM, ROM, or other types of storage devices. In particular, the memory may include one or more computer-readable storage media, which may be non-transitory. The memory may also include high speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in a memory is used to store at least one program code.
The processor 103 is used for executing computer programs, and the processor 103 may also be referred to as a Central Processing Unit (CPU). The processor 103 may be an integrated circuit chip having signal processing capabilities. The processor 103 may also be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. A general purpose processor may be a microprocessor or the processor 103 may be any conventional processor or the like.
The processor 103 is configured to execute the computer program stored in the memory 102 to implement the cargo handling method according to the second embodiment of the cargo handling method of the present application.
In the several embodiments provided in the present application, it should be understood that the disclosed warehouse cargo handling system, first unmanned transportation vehicle, and cargo handling method may be implemented in other manners. For example, the various embodiments described above are merely illustrative, and for example, a division of a module or a unit is merely one type of division of logical functions, 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, devices or units, and may be in an electrical, mechanical or other form.
The 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 position, 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 embodiment.
In addition, functional units in the embodiments of the present application 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 above description is only an example of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings, or which are directly or indirectly applied to other related technical fields, are intended to be included within the scope of the present application.
Claims (10)
1. A warehouse cargo handling system, comprising:
a first unmanned transport vehicle and a second unmanned transport vehicle;
the central control system end is used for scheduling the first unmanned transport vehicle to execute tasks;
the robot scheduling system end is used for scheduling the second unmanned transport vehicle to execute tasks;
the warehouse control system end is coupled with the central control system end and the robot scheduling system end and used for receiving warehouse-out tasks;
the warehouse control system end is used for sending the ex-warehouse task to the central control system end; the central control system end is used for scheduling the first unmanned transport vehicle for executing the ex-warehouse task; the first unmanned transport vehicle is used for driving to a first storage position appointed by the ex-warehouse task and identifying whether goods are stored in the first storage position, and if so, the goods in the first storage position are transported to a cross-connection area from the first storage position;
after the first unmanned transport vehicle transports the goods to the transfer area, the warehouse control system end is used for sending the ex-warehouse task to the robot scheduling system end; the robot scheduling system end is used for scheduling the second unmanned transport vehicle for executing the ex-warehouse task; the second unmanned transport vehicle is used for transporting the goods to a first destination area designated by the ex-warehouse task from the cross-connecting area, and the ex-warehouse task is completed.
2. The warehouse cargo handling system of claim 1,
the first unmanned transport vehicle is provided with a sensing module; the first unmanned transport vehicle is used for identifying whether the goods are stored in the first storage space or not through the sensing module.
3. The warehouse cargo handling system of claim 2,
the warehouse control system end is also used for receiving warehousing tasks and sending the warehousing tasks to the central control system end; the central control system end is used for scheduling the first unmanned transport vehicle for executing the warehousing task; the first unmanned transport vehicle is used for driving to the cross connection area, identifying whether goods are stored in the cross connection area or not through the sensing module, and if so, transporting the goods in the cross connection area from the cross connection area to a second storage position appointed by the warehousing task to complete the warehousing task.
4. The warehouse cargo handling system of claim 3,
the first unmanned transport vehicle is used for identifying the placing deviation of the goods in the transfer area through the sensing module after identifying that the goods are stored in the transfer area, adjusting the operation posture of the first unmanned transport vehicle to be matched with the placing deviation, and further forking the goods in the transfer area.
5. The warehouse cargo handling system of claim 3,
the warehouse control system end is used for sending the warehousing tasks to the robot scheduling system end; the robot scheduling system end is used for scheduling the second unmanned transport vehicle for executing the warehousing task; the second unmanned transport vehicle is used for transporting the goods to the transfer area from a second destination area specified by the warehousing task.
6. The warehouse cargo handling system of any of claims 1-5,
the central control system end is used for generating a point-to-point carrying task after receiving the ex-warehouse task and scheduling the first unmanned transport vehicle for executing the point-to-point carrying task; the point-to-point carrying task is used for appointing the first storage position and the cross connection area; the first unmanned transport vehicle is used for driving to the first storage position according to the point-to-point task and transporting goods of the first storage position to the cross connection area from the first storage position.
7. The warehouse cargo handling system of claim 1,
the central control system end is used for sending a first unmanned transport vehicle warehouse-out completion signal to the warehouse control system end when the first unmanned transport vehicle carries the goods from the first warehouse location to the handover area; and the warehouse control system end is used for sending the ex-warehouse task to the robot scheduling system end when receiving the ex-warehouse completion signal of the first unmanned transport vehicle.
8. The warehouse cargo handling system of claim 1,
the warehouse goods handling system also comprises a warehouse management system end, and the warehouse management system end is used for generating the ex-warehouse tasks according to the out-warehouse order demands and sending the out-warehouse tasks to the warehouse control system end.
9. The warehouse cargo handling system of claim 1,
the robot scheduling system end is used for sending an ex-warehouse completion signal to the warehouse control system end after the second unmanned transport vehicle completes the ex-warehouse task, and the warehouse control system end is used for sending the ex-warehouse completion signal to the warehouse management system end; and the warehouse management system end is used for receiving the ex-warehouse completion signal and updating the stock state of the goods.
10. The warehouse cargo handling system of claim 1,
the second unmanned transport vehicle is an E-shaped automatic guided transport vehicle and is provided with an E-shaped bearing frame; the E-shaped automatic guided vehicle is used for contacting and supporting a pallet of goods through the E-shaped bearing frame so as to carry the goods.
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| CN117273606A (en) * | 2023-09-19 | 2023-12-22 | 中油管道物资装备有限公司 | Unmanned carrier scheduling method and system based on intelligent warehouse |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117273606A (en) * | 2023-09-19 | 2023-12-22 | 中油管道物资装备有限公司 | Unmanned carrier scheduling method and system based on intelligent warehouse |
| CN117273606B (en) * | 2023-09-19 | 2024-04-12 | 中油管道物资装备有限公司 | Unmanned carrier scheduling method and system based on intelligent warehouse |
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