CN116976792A - Method, device and system for realizing automatic goods delivery and storage based on forklift positioning - Google Patents
Method, device and system for realizing automatic goods delivery and storage based on forklift positioning Download PDFInfo
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Abstract
The invention relates to the technical field of warehouse management, and particularly discloses a method for realizing automatic goods delivery and warehousing based on forklift positioning, which comprises the following steps: acquiring binding information of goods and RFID tags; controlling the forklift to move to a designated position according to the dispatching task job ticket to fork current goods, and judging whether the current goods are goods needing to go out and go in the dispatching task job ticket; if yes, binding the current goods with a positioning label on the forklift, controlling the forklift to fork the current goods and transferring the current goods to an appointed warehousing station for putting down, and acquiring current position information of the forklift; judging whether the current warehouse-in and warehouse-out station is a designated warehouse-in and warehouse-out station in the dispatching task work sheet according to the current position information of the forklift, and if so, controlling the forklift to finish the warehouse-in and warehouse-out operation of the current goods. The invention also discloses a device and a system for realizing automatic goods delivery and storage based on forklift positioning. The invention can realize accurate and automatic goods delivery and storage, thereby saving labor and improving the management efficiency of flat warehouses.
Description
Technical Field
The invention relates to the technical field of warehouse management, in particular to a method, a device and a system for realizing automatic goods delivery and storage based on forklift positioning.
Background
The warehouse is generally divided into a flat warehouse and a three-dimensional warehouse, the flat warehouse is provided with an indoor warehouse and an outdoor warehouse, when large-volume cargoes are stored, cargoes are often transported by using a forklift, when the cargoes enter the warehouse, a tally person is required to confirm the cargoes in the warehouse one by one, and the mode is time-consuming and labor-consuming, and the efficiency is low; in order to save labor and time, the current mainstream practice is to use RFID induction, install RFID tags on goods, install RFID readers at entrances and exits of a warehouse area, and grasp corresponding RFID tags through the RFID readers when goods enter and exit, so that automatic entering and exiting of goods is realized. The method only records which warehouse area the goods enter, but not the specific warehouse position, is inconvenient to deliver and find goods, influences the delivery efficiency, and still needs to input a large amount of manpower warehouse for management.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides a method, a device and a system for realizing automatic goods delivery and storage based on forklift positioning, which can realize accurate automatic goods delivery and storage based on high-precision positioning of a forklift and combining an RFID (radio frequency identification) identification technology, thereby saving manpower and improving the management efficiency of a flat warehouse.
As a first aspect of the present invention, there is provided a method for implementing automatic goods loading and unloading based on forklift positioning, including:
step S1: acquiring binding information of goods and RFID tags; one or more RFID tags are arranged on each cargo so as to complete the binding between the cargo and the RFID tags;
step S2: dispatching a dispatching task job ticket to the forklift;
step S3: controlling a forklift to move to a designated position according to the dispatching task job ticket to fork the current goods, and when the current goods are forked, receiving the forklift reported by the photoelectric sensor to be in a full-load state, and judging whether the current goods are the goods needing to go out and go in the dispatching task job ticket or not according to the current goods information; when the forklift which is reported by the photoelectric sensor is in a full-load state, reading an RFID tag on the current goods through an RFID reader on the forklift, so as to acquire the current goods information; the method comprises the steps of sensing an empty and full loading state of a forklift through a photoelectric sensor on the forklift;
step S4: if the current goods are goods needing to be put in and out of the dispatching task work order, binding the current goods with a positioning tag on the forklift, and controlling the forklift to transfer the current goods to an appointed put-in station;
step S5: when the forklift moves to a designated warehouse-in and warehouse-out station and puts down the current goods, the forklift reported by the photoelectric sensor is in an empty load state, and the current position information of the forklift is obtained according to the positioning label on the forklift;
step S6: judging whether the current in-out and in-out station is the appointed in-out station in the dispatching task work sheet according to the current position information of the forklift, if so, controlling the forklift to finish in-out operation of the current goods, and finishing unbinding the goods and the positioning labels.
Further, the method further comprises the following steps:
binding the goods to be put in storage with the RFID tag on the goods to be put in storage;
dispatching a dispatching task job ticket to the forklift;
controlling a forklift to move to a designated position according to the dispatching task job ticket to fork the current goods, and when the current goods are forked, receiving the forklift reported by the photoelectric sensor to be in a full-load state, and judging whether the current goods are goods needing to be put in storage in the dispatching task job ticket according to the RFID tag on the current goods; if yes, controlling the forklift to transfer the current goods to a designated warehousing station; if not, sending out alarm information;
when the forklift moves to a designated warehouse-in station and puts down the current goods, receiving the empty load state of the forklift reported by the photoelectric sensor, and acquiring the current position information of the forklift;
judging whether the current warehousing station is a designated warehousing station in the dispatching task work sheet according to the current position information of the forklift, if so, controlling the forklift to finish the warehousing operation of the current goods, and finishing the unbinding of the goods and the positioning labels; if not, sending out alarm information.
Further, the method further comprises the following steps:
dispatching a dispatching task job ticket to the forklift;
controlling a forklift to move to a designated position according to the dispatching task job ticket to fork the current goods, and when the current goods are forked, receiving the forklift reported by the photoelectric sensor to be in a full-load state, and judging whether the current goods are the goods needing to be delivered out of the warehouse in the dispatching task job ticket according to the RFID tag on the current goods; if yes, controlling the forklift to transfer the current goods to a designated delivery station; if not, sending out alarm information;
when the forklift moves to a designated delivery station and puts down the current goods, receiving the empty load state of the forklift reported by the photoelectric sensor, and acquiring the current position information of the forklift;
judging whether the current delivery station is a designated delivery station in the dispatching task work sheet according to the current position information of the forklift, if so, controlling the forklift to finish delivery of the current goods and unbinding the goods and the positioning labels; if not, sending out alarm information.
Further, the method further comprises the following steps:
after the forklift completes the warehouse-in and warehouse-out operation of the current goods, the binding relation between the current goods and the positioning label is released, and meanwhile, the warehouse-in and warehouse-out information in the automatic warehouse-in and warehouse-out management system is updated.
As a second aspect of the present invention, there is provided a device for implementing automatic cargo in and out of a warehouse based on forklift positioning, for implementing the method for implementing automatic cargo in and out of a warehouse based on forklift positioning described above, the device for implementing automatic cargo in and out of a warehouse based on forklift positioning includes:
the first acquisition module is used for acquiring binding information of goods and the RFID tag; one or more RFID tags are installed on each cargo so as to complete the binding between the cargo and the RFID tags;
the dispatching module is used for dispatching the dispatching task job ticket to the forklift;
the first control module is used for controlling the forklift to move to a designated position to fork the current goods according to the dispatching task job ticket, and judging whether the current goods are the goods needing to go out and go in the dispatching task job ticket or not according to the current goods information when the current goods are ready to fork; when a forklift is ready to fork current goods, reading an RFID tag on the current goods through an RFID reader on the forklift, so as to acquire the current goods information;
the second control module is used for binding the current goods with the positioning tag on the forklift and controlling the forklift to fork the current goods and transfer the current goods to the appointed warehouse-in and warehouse-out station if the current goods are the goods needing to be put in and put out in the dispatching task work order;
the second acquisition module is used for acquiring the current position information of the forklift according to the positioning tag on the forklift when the forklift moves to the appointed warehouse-in and warehouse-out station and puts down the current goods;
and the third control module is used for judging whether the current ex-warehouse station is the appointed ex-warehouse station in the dispatching task work sheet according to the current position information of the forklift, and if so, controlling the forklift to finish the ex-warehouse operation of the current goods.
As a third aspect of the present invention, a system for implementing automatic cargo loading and unloading based on forklift positioning is provided, which includes a UWB positioning base station, a UWB positioning tag, an RTK positioning tag, a photoelectric sensor, an RFID reader, a vehicle-mounted panel, an RFID tag, a handheld terminal, a WIFI base station, and the foregoing device for implementing automatic cargo loading and unloading based on forklift positioning, where the UWB positioning tag, the RTK positioning tag, the photoelectric sensor, the RFID reader, and the vehicle-mounted panel are respectively disposed on a forklift, the RFID tag is disposed on a cargo to be loaded and unloaded, the UWB positioning tag and the RTK positioning tag are both connected with the UWB positioning base station, the RFID reader is used to read the RFID tag on the cargo to be loaded and unloaded, the vehicle-mounted panel and the handheld terminal are both connected with the WIFI base station, and the UWB positioning base station, the RFID reader, the RFID base station, the RFID reader, the WIFI base station, and the device for implementing automatic cargo loading and unloading based on forklift positioning are all connected with the UWB positioning device for implementing automatic cargo loading and unloading.
Further, the UWB positioning tag is used for indoor high-precision positioning, the RTK positioning tag is used for outdoor high-precision positioning, the photoelectric sensor is used for sensing the empty and full load state of the forklift, the RFID reader is used for identifying cargoes forked by the forklift, and the vehicle-mounted flat plate is used for receiving a dispatching task job ticket and goods space guidance issued by the system.
Further, when the warehouse-in and warehouse-out task exists, a warehouse manager uses a handheld terminal PDA to receive the warehouse-in and warehouse-out task, and checks and binds RFID labels on goods needing to be warehouse-in and warehouse-out; meanwhile, the system can issue a dispatching task job ticket to a forklift driver according to the warehouse-in task, send the dispatching task job ticket to the vehicle-mounted panel, fork goods from a designated position according to the dispatching task job ticket on the vehicle-mounted panel, place the goods into a designated warehouse-in station, and finish automatic warehouse-in operation according to RFID tag information and current position information read on the forklift.
Further, the system also comprises an audible and visual alarm for sending out alarm information.
The method for realizing automatic goods delivery and storage based on forklift positioning has the following advantages:
(1) The problem that the conventional RFID automatic in-out can not accurately position which warehouse the goods enter is solved;
(2) The problem of process tracking when the forklift transports goods is solved, and the process of transporting goods can be reduced through track analysis, so that the analysis is convenient;
(3) The work of the warehouse manager for tallying is reduced, and the warehouse management efficiency is improved;
(4) The problem that a forklift driver cannot find goods easily when goods are delivered out of a warehouse is solved, system route guidance is achieved, manual intervention of warehouse administrators is reduced, and labor is saved.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate the invention and together with the description serve to explain, without limitation, the invention.
Fig. 1 is an overall flowchart of a method for realizing automatic goods delivery and storage based on forklift positioning.
Fig. 2 is a flowchart of a method for realizing automatic warehouse entry of goods based on forklift positioning provided by the invention.
Fig. 3 is a flowchart of a method for realizing automatic delivery of goods based on forklift positioning provided by the invention.
Fig. 4 is a schematic structural diagram of a system for realizing automatic cargo loading and unloading based on forklift positioning.
Fig. 5 is an intelligent modification schematic diagram of the forklift provided by the invention.
Detailed Description
In order to further describe the technical means and effects adopted by the invention to achieve the preset aim, the following detailed description refers to specific implementation, structure, characteristics and effects of the method and system for realizing automatic goods warehouse-in and warehouse-out based on forklift positioning according to the invention, which are provided by the invention, with reference to the accompanying drawings and the preferred embodiment. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
In this embodiment, a method for implementing automatic goods delivering and warehousing based on forklift positioning is provided, as shown in fig. 1, including:
step S1: acquiring binding information of goods and RFID tags; one or more RFID tags are arranged on each cargo so as to complete the binding between the cargo and the RFID tags;
step S2: dispatching a dispatching task job ticket to the forklift;
step S3: controlling a forklift to move to a designated position according to the dispatching task job ticket to fork the current goods, and when the current goods are forked, receiving the forklift reported by the photoelectric sensor to be in a full-load state, and judging whether the current goods are the goods needing to go out and go in the dispatching task job ticket or not according to the current goods information; when the forklift which is reported by the photoelectric sensor is in a full-load state, reading an RFID tag on the current goods through an RFID reader on the forklift, so as to acquire the current goods information; the method comprises the steps of sensing an empty and full loading state of a forklift through a photoelectric sensor on the forklift;
step S4: if the current goods are goods needing to be put in and out of the dispatching task work order, binding the current goods with a positioning tag on the forklift, and controlling the forklift to transfer the current goods to an appointed put-in station;
step S5: when the forklift moves to a designated warehouse-in and warehouse-out station and puts down the current goods, the forklift reported by the photoelectric sensor is in an empty load state, and the current position information of the forklift is obtained according to the positioning label on the forklift;
step S6: judging whether the current in-out and in-out station is the appointed in-out station in the dispatching task work sheet according to the current position information of the forklift, if so, controlling the forklift to finish in-out operation of the current goods, and finishing unbinding the goods and the positioning labels.
Specifically, as shown in fig. 2, the method further includes:
binding the goods to be put in storage with the RFID tag on the goods to be put in storage; the method comprises the steps that before goods are put in storage, counting and binding work is carried out, if data of a system are supported, goods information can be obtained from the system, a PDA is used for completing scanning of RFID labels, and binding with goods or carriers is completed; if the system support is not available, the information can be manually input to complete the binding.
Dispatching a dispatching task job ticket to the forklift;
controlling a forklift to move to a designated position according to the dispatching task job ticket to fork the current goods, receiving the forklift reported by the photoelectric sensor to be in a full-load state when the current goods are forked, and reading RFID labels on the goods or the carrier by the RFID reader so as to acquire goods information, and judging whether the current goods are goods needing to be put in storage in the dispatching task job ticket according to the RFID labels on the current goods; if so, at the moment when the RFID tag is read, simultaneously acquiring the ID of the forklift positioning tag, and finishing binding between the RFID tag and the RFID tag, wherein the position of the forklift is the position of the goods, tracking the goods transferring process in real time, and controlling the forklift to transfer the current goods to a designated warehousing station according to the dispatching task work order; if not, sending out alarm information to remind a forklift driver to process;
when the forklift moves to a designated warehouse-in station and puts down the current goods, the forklift which is reported by the photoelectric sensor is in an empty load state, the RFID reader cannot read the RFID tag at the moment, and the current position information of the forklift is obtained;
judging whether the current warehousing station is a designated warehousing station in the dispatching task work sheet according to the current position information of the forklift, if so, controlling the forklift to finish the warehousing operation of the current goods and recording the completion of warehousing; if not, sending out alarm information, guiding a driver to adjust goods until warehousing is completed;
after the warehousing operation is completed, the binding relation between the positioning label and the RFID label is released, and meanwhile, the warehousing information is sent to a related system to complete updating.
Specifically, as shown in fig. 3, the method further includes:
dispatching a dispatching task job ticket to the forklift;
controlling a forklift to move to an appointed cargo space according to the dispatching task job ticket to fork the current cargo, and receiving the forklift reported by the photoelectric sensor to be in a full-load state when the current cargo is forked, wherein an RFID reader can read the RFID tag on the cargo or the carrier so as to acquire cargo information, and judging whether the current cargo is the cargo needing to be delivered out of the dispatching task job ticket according to the RFID tag on the current cargo; if yes, binding a vehicle positioning tag with a goods RFID tag, wherein the position of the forklift is the position of the goods, tracking the goods transferring process in real time, and controlling the forklift to transfer the current goods to a designated delivery station according to a dispatching task work order; if not, sending out alarm information to prompt the driver to confirm;
when the forklift moves to a designated delivery station and puts down the current goods, receiving the empty load state of the forklift reported by the photoelectric sensor, and acquiring the current position information of the forklift;
judging whether the current ex-warehouse station is a designated ex-warehouse station in the dispatching task work sheet according to the current position information of the forklift, if so, controlling the forklift to finish the ex-warehouse operation of the current goods and recording the ex-warehouse completion; if not, sending out alarm information, guiding a driver to adjust goods until the delivery is completed;
after the goods are delivered out of the warehouse, the binding relation between the goods RFID and the vehicle positioning tag is released, the relation between the goods RFID and the goods is released, meanwhile, the stock information is updated, and data are sent to a related system.
Preferably, the method further comprises:
after the forklift completes the warehouse-in and warehouse-out operation of the current goods, the binding relation between the current goods and the positioning label is released, and meanwhile, the warehouse-in and warehouse-out information in the automatic warehouse-in and warehouse-out management system is updated.
As another embodiment of the present invention, a device for implementing automatic cargo in and out of warehouse based on forklift positioning is provided, which is used for implementing the method for implementing automatic cargo in and out of warehouse based on forklift positioning described above, where the device for implementing automatic cargo in and out of warehouse based on forklift positioning includes:
the first acquisition module is used for acquiring binding information of goods and the RFID tag; one or more RFID tags are installed on each cargo so as to complete the binding between the cargo and the RFID tags;
the dispatching module is used for dispatching the dispatching task job ticket to the forklift;
the first control module is used for controlling the forklift to move to a designated position to fork the current goods according to the dispatching task job ticket, and judging whether the current goods are the goods needing to go out and go in the dispatching task job ticket or not according to the current goods information when the current goods are ready to fork; when a forklift is ready to fork current goods, reading an RFID tag on the current goods through an RFID reader on the forklift, so as to acquire the current goods information;
the second control module is used for binding the current goods with the positioning tag on the forklift and controlling the forklift to fork the current goods and transfer the current goods to the appointed warehouse-in and warehouse-out station if the current goods are the goods needing to be put in and put out in the dispatching task work order;
the second acquisition module is used for acquiring the current position information of the forklift according to the positioning tag on the forklift when the forklift moves to the appointed warehouse-in and warehouse-out station and puts down the current goods;
and the third control module is used for judging whether the current ex-warehouse station is the appointed ex-warehouse station in the dispatching task work sheet according to the current position information of the forklift, and if so, controlling the forklift to finish the ex-warehouse operation of the current goods.
As another embodiment of the present invention, as shown in fig. 4-5, a system for implementing automatic cargo loading and unloading based on forklift positioning is provided, which includes a UWB positioning base station, a UWB positioning tag, an RTK positioning tag, a photoelectric sensor, an RFID reader, a vehicle-mounted flat panel, an RFID tag, a handheld terminal, a WIFI base station, and the foregoing device for implementing automatic cargo loading and unloading based on forklift positioning, where the UWB positioning tag, the RTK positioning tag, the photoelectric sensor, the RFID reader, and the vehicle-mounted flat panel are respectively disposed on a forklift, the RFID tag is disposed on a cargo to be loaded and unloaded, the UWB positioning tag and the RTK positioning tag are both connected with the UWB positioning base station, the RFID reader is used for reading the RFID tag on the cargo to be loaded and unloaded, and the vehicle-mounted flat panel and the handheld terminal are both connected with the WIFI base station, and the UWB positioning base station, the device for implementing automatic cargo loading and unloading based on forklift positioning is used for implementing automatic cargo loading and unloading based on the UWB positioning base station, the RTK positioning tag, the optical reader, the RFID reader, the vehicle reader, and the RFID terminal are used for implementing automatic cargo loading and unloading operations based on the forklift.
Specifically, as shown in fig. 5, to complete the automatic warehouse-in and warehouse-out function of the system, the forklift needs to be intelligently modified, the UWB positioning tag, the RTK positioning tag, the RFID reader and the vehicle-mounted flat plate are installed on the forklift, the UWB positioning tag is used for indoor high-precision positioning, the RTK positioning tag is used for outdoor high-precision positioning, the photoelectric sensor is used for sensing the empty and full load state of the forklift, the RFID reader is used for identifying cargoes forked by the forklift, and the vehicle-mounted flat plate is used for receiving the dispatching task work order and the cargo position guide issued by the system.
Preferably, the system also comprises an audible and visual alarm which is matched with the warehouse-in and warehouse-out management system for sending out alarm information.
Specifically, when an ex-warehouse task exists, a warehouse manager uses a handheld terminal PDA to receive the ex-warehouse task, and counts goods needing to be ex-warehouse and binds RFID tags; meanwhile, the system can issue a dispatching task job ticket to a forklift driver according to the warehouse-in task, send the dispatching task job ticket to the vehicle-mounted panel, fork goods from a designated position according to the dispatching task job ticket on the vehicle-mounted panel, place the goods into a designated warehouse-in station, and finish automatic warehouse-in operation according to RFID tag information and current position information read on the forklift.
In the embodiment of the invention, a UWB high-precision positioning system is deployed in a warehouse area, and a warehouse area library position is divided for a warehouse; the forklift is reformed, and an RFID reader, a vehicle-mounted flat plate, an RTK positioning tag, a UWB positioning tag and a photoelectric sensor are installed; and the goods or the carriers are provided with RFID passive tags, and 2-4 RFID passive tags are optionally arranged. When a warehousing task exists, a warehouse manager uses a handheld terminal PDA to receive the task, and counts goods to be warehoused and binds RFID tags; meanwhile, the system gives a forklift driver a business breaking task according to the warehousing task, sends the business breaking task to the vehicle-mounted flat plate, the driver instructs the goods receiving area to fork and take goods according to the task on the vehicle-mounted flat plate, and places the goods in a designated warehouse, and the system completes automatic warehousing operation according to RFID information and position information read by the forklift. And similarly, when the system is in delivery, a delivery task is generated and delivered to a forklift driver, the driver takes goods according to the direction of the flat plate to the appointed goods space and delivers the goods to the appointed delivery area, and the system completes automatic delivery according to the working process of the forklift.
In the embodiment of the invention, equipment such as a code scanner, a station machine, a stopper and the like is provided to finish intelligent transformation of a warehouse entrance and exit for processing abnormality.
It should be noted that the RFID reader in the present invention may be replaced by other sensor devices, such as an infrared sensor, a weighing sensor, etc., according to different situations.
In the embodiment of the invention, the system for realizing automatic goods delivery and storage based on forklift positioning is deployed on a server and is used for performing the works of position display, system management, alarm management, report management and the like. The system is matched with a corresponding APP for the field processing work of operators.
The invention provides a method for realizing automatic goods delivery and storage based on forklift positioning, which can realize accurate and automatic goods delivery and storage based on high-precision positioning of a forklift and combining with an RFID (radio frequency identification) identification technology, thereby saving manpower and improving the management efficiency of a flat warehouse.
The present invention is not limited to the above-mentioned embodiments, but is intended to be limited to the following embodiments, and any modifications, equivalents and modifications can be made to the above-mentioned embodiments without departing from the scope of the invention.
Claims (9)
1. The method for realizing automatic goods delivery and storage based on forklift positioning is characterized by comprising the following steps:
step S1: acquiring binding information of goods and RFID tags; one or more RFID tags are arranged on each cargo so as to complete the binding between the cargo and the RFID tags;
step S2: dispatching a dispatching task job ticket to the forklift;
step S3: controlling a forklift to move to a designated position according to the dispatching task job ticket to fork the current goods, and when the current goods are forked, receiving the forklift reported by the photoelectric sensor to be in a full-load state, and judging whether the current goods are the goods needing to go out and go in the dispatching task job ticket or not according to the current goods information; when the forklift which is reported by the photoelectric sensor is in a full-load state, reading an RFID tag on the current goods through an RFID reader on the forklift, so as to acquire the current goods information; the method comprises the steps of sensing an empty and full loading state of a forklift through a photoelectric sensor on the forklift;
step S4: if the current goods are goods needing to be put in and out of the dispatching task work order, binding the current goods with a positioning tag on the forklift, and controlling the forklift to transfer the current goods to an appointed put-in station;
step S5: when the forklift moves to a designated warehouse-in and warehouse-out station and puts down the current goods, the forklift reported by the photoelectric sensor is in an empty load state, and the current position information of the forklift is obtained according to the positioning label on the forklift;
step S6: judging whether the current in-out and in-out station is the appointed in-out station in the dispatching task work sheet according to the current position information of the forklift, if so, controlling the forklift to finish in-out operation of the current goods, and finishing unbinding the goods and the positioning labels.
2. The method for realizing automatic cargo loading and unloading based on forklift positioning according to claim 1, further comprising:
binding the goods to be put in storage with the RFID tag on the goods to be put in storage;
dispatching a dispatching task job ticket to the forklift;
controlling a forklift to move to a designated position according to the dispatching task job ticket to fork the current goods, and when the current goods are forked, receiving the forklift reported by the photoelectric sensor to be in a full-load state, and judging whether the current goods are goods needing to be put in storage in the dispatching task job ticket according to the RFID tag on the current goods; if yes, controlling the forklift to transfer the current goods to a designated warehousing station; if not, sending out alarm information;
when the forklift moves to a designated warehouse-in station and puts down the current goods, receiving the empty load state of the forklift reported by the photoelectric sensor, and acquiring the current position information of the forklift;
judging whether the current warehousing station is a designated warehousing station in the dispatching task work sheet according to the current position information of the forklift, if so, controlling the forklift to finish the warehousing operation of the current goods, and finishing the unbinding of the goods and the positioning labels; if not, sending out alarm information.
3. The method for realizing automatic cargo loading and unloading based on forklift positioning according to claim 1, further comprising:
dispatching a dispatching task job ticket to the forklift;
controlling a forklift to move to a designated position according to the dispatching task job ticket to fork the current goods, and when the current goods are forked, receiving the forklift reported by the photoelectric sensor to be in a full-load state, and judging whether the current goods are the goods needing to be delivered out of the warehouse in the dispatching task job ticket according to the RFID tag on the current goods; if yes, controlling the forklift to transfer the current goods to a designated delivery station; if not, sending out alarm information;
when the forklift moves to a designated delivery station and puts down the current goods, receiving the empty load state of the forklift reported by the photoelectric sensor, and acquiring the current position information of the forklift;
judging whether the current delivery station is a designated delivery station in the dispatching task work sheet according to the current position information of the forklift, if so, controlling the forklift to finish delivery of the current goods and unbinding the goods and the positioning labels; if not, sending out alarm information.
4. The method for realizing automatic cargo loading and unloading based on forklift positioning according to claim 1, further comprising:
after the forklift completes the warehouse-in and warehouse-out operation of the current goods, the binding relation between the current goods and the positioning label is released, and meanwhile, the warehouse-in and warehouse-out information in the automatic warehouse-in and warehouse-out management system is updated.
5. A device for realizing automatic goods delivery and storage based on forklift positioning, which is used for realizing the method for realizing automatic goods delivery and storage based on forklift positioning according to any one of claims 1 to 4, the device for realizing automatic goods delivery and storage based on forklift positioning is characterized by comprising the following components:
the first acquisition module is used for acquiring binding information of goods and the RFID tag; one or more RFID tags are installed on each cargo so as to complete the binding between the cargo and the RFID tags;
the dispatching module is used for dispatching the dispatching task job ticket to the forklift;
the first control module is used for controlling the forklift to move to a designated position to fork the current goods according to the dispatching task job ticket, and judging whether the current goods are the goods needing to go out and go in the dispatching task job ticket or not according to the current goods information when the current goods are ready to fork; when a forklift is ready to fork current goods, reading an RFID tag on the current goods through an RFID reader on the forklift, so as to acquire the current goods information;
the second control module is used for binding the current goods with the positioning tag on the forklift and controlling the forklift to fork the current goods and transfer the current goods to the appointed warehouse-in and warehouse-out station if the current goods are the goods needing to be put in and put out in the dispatching task work order;
the second acquisition module is used for acquiring the current position information of the forklift according to the positioning tag on the forklift when the forklift moves to the appointed warehouse-in and warehouse-out station and puts down the current goods;
and the third control module is used for judging whether the current ex-warehouse station is the appointed ex-warehouse station in the dispatching task work sheet according to the current position information of the forklift, and if so, controlling the forklift to finish the ex-warehouse operation of the current goods.
6. The system for realizing automatic cargo warehouse-in and warehouse-out based on forklift positioning is characterized by comprising a UWB positioning base station, a UWB positioning tag, an RTK positioning tag, a photoelectric sensor, an RFID reader, a vehicle-mounted flat plate, an RFID tag, a handheld terminal, a WIFI base station and the device for realizing automatic cargo warehouse-in and warehouse-out based on forklift positioning, wherein the UWB positioning tag, the RTK positioning tag, the photoelectric sensor, the RFID reader and the vehicle-mounted flat plate are respectively arranged on a forklift, the RFID tag is arranged on cargo to be warehouse-in, the UWB positioning tag and the RTK positioning tag are connected with the UWB positioning base station, the RFID reader is used for reading the RFID tag on the cargo to be warehouse-in and warehouse-out, the vehicle-mounted flat plate and the handheld terminal are connected with the WIFI base station, and the UWB positioning base station, the photoelectric sensor, the RFID reader and the WIFI base station are in communication connection with the device for realizing automatic cargo warehouse-in and warehouse-out based on forklift positioning, and the device for realizing automatic cargo warehouse-in and warehouse-out based on forklift positioning is used for realizing automatic cargo warehouse-in and warehouse-out based on the UWB positioning base station, the UWB positioning tag, the RFID positioning tag, the photoelectric sensor, the RFID reader, the handheld terminal, the RFID base station and the device.
7. The system for realizing automatic goods delivering and warehousing based on forklift positioning according to claim 6, wherein the UWB positioning tag is used for indoor high-precision positioning, the RTK positioning tag is used for outdoor high-precision positioning, the photoelectric sensor is used for sensing the empty and full loading state of the forklift, the RFID reader is used for identifying goods forked by the forklift, and the vehicle-mounted flat plate is used for receiving a dispatching task work order and goods location guidance issued by the system.
8. The system for realizing automatic cargo in-out and in-into-storage based on forklift positioning according to claim 6, wherein when an in-out and in-storage task exists, a warehouse manager uses a handheld terminal PDA to receive the in-out and in-storage task, and performs counting and RFID label binding on cargoes needing in-out and in-storage; meanwhile, the system can issue a dispatching task job ticket to a forklift driver according to the warehouse-in task, send the dispatching task job ticket to the vehicle-mounted panel, fork goods from a designated position according to the dispatching task job ticket on the vehicle-mounted panel, place the goods into a designated warehouse-in station, and finish automatic warehouse-in operation according to RFID tag information and current position information read on the forklift.
9. The system for realizing automatic cargo loading and unloading based on forklift positioning of claim 6, further comprising an audible and visual alarm for sending out alarm information.
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| CN202311030433.7A CN116976792A (en) | 2023-08-15 | 2023-08-15 | Method, device and system for realizing automatic goods delivery and storage based on forklift positioning |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117592764A (en) * | 2024-01-18 | 2024-02-23 | 瑞熙(苏州)智能科技有限公司 | Method and device for processing dispatch of warehouse-in and warehouse-out, electronic equipment and readable storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117592764A (en) * | 2024-01-18 | 2024-02-23 | 瑞熙(苏州)智能科技有限公司 | Method and device for processing dispatch of warehouse-in and warehouse-out, electronic equipment and readable storage medium |
| CN117592764B (en) * | 2024-01-18 | 2024-04-09 | 瑞熙(苏州)智能科技有限公司 | Method and device for processing dispatch of warehouse-in and warehouse-out, electronic equipment and readable storage medium |
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