CN116986195A - Automatic warehouse control method and system based on Internet of things technology - Google Patents

Abstract

The embodiment of the specification provides an automatic warehouse control method and system based on the internet of things, which are applied to an internet of things warehouse comprising a plurality of storage boxes, wherein each storage box comprises a plurality of storage cabinets; the system comprises: the data acquisition module comprises a plurality of cabinet monitoring terminals and is used for acquiring cabinet information of the storage cabinet; the data acquisition module is also used for acquiring a cargo image in the target area; the warehouse management module is used for identifying the goods image, determining the type of the goods and determining a first transportation strategy; the first target locker is further used for determining the goods corresponding to the goods storage request from the plurality of storage boxes; the warehouse management module is also used for receiving the cargo taking-out request and determining a second cargo target locker corresponding to the cargo taking-out request; the method is also used for determining a second transportation strategy according to the type of the goods corresponding to the goods taking-out request, and has the advantages of centralized management of goods entering and exiting, and flexible adjustment of the transportation strategy according to the type of the goods.

Description

Automatic warehouse control method and system based on Internet of things technology

Technical Field

The specification relates to the field of control systems, in particular to an automatic warehouse control method and system based on the internet of things technology.

Background

The internet of things is an important component of a new generation of information technology and is also an important development stage of an 'informatization' age. The English name is: "Internet of things (IoT)". As the name implies, the internet of things is the internet to which things are connected. This has two layers of meaning: firstly, the core and the foundation of the Internet of things are still the Internet, and the Internet is an extended and expanded network based on the Internet; secondly, the user side extends and expands to any article to article, and information exchange and communication are carried out, namely, the article information is carried out. The internet of things is widely applied to the fusion of networks through communication sensing technologies such as intelligent sensing, recognition technologies, pervasive computing and the like, and is also called as the third wave of development of world information industry after a computer and the Internet.

The utility model discloses an electric power spare part intelligent warehouse based on thing networking, including a plurality of tray, dolly and server, dolly route and landmark are drawn on the ground of warehouse, a plurality of tray is arranged in dolly route both sides, the tray bottom is equipped with the overhead zone that is used for the dolly to pass through, warehouse ground is equipped with gets the goods district, the tray is equipped with the tray two-dimensional code, the spare part information in the tray two-dimensional code identification tray of tray, the dolly includes the main camera, vice camera, steering mechanism, the walking wheel, the chassis, the saddle, elevating system, communication module and controller, the main camera is installed at the chassis upper surface, be used for shooing the tray two-dimensional code, the saddle passes through elevating system and installs in chassis upper portion, walking wheel and steering mechanism are installed in the chassis lower part respectively, vice camera is installed in the chassis lower part, be used for shooing the landmark, main camera, vice camera, steering mechanism, walking wheel and elevating system all are connected with the controller through communication module and server communication connection; the tray two-dimensional code comprises a substrate, a locking device, a plurality of serial shafts, a plurality of spacers and a plurality of magnetic columns, wherein the plurality of magnetic columns and the spacers are all serial on the serial shafts, the magnetic columns are separated by the spacers, the plurality of serial shafts are arranged in parallel and are arranged on the substrate, the substrate is fixedly arranged on the tray, the magnetic pole directions of the magnetic columns are along the normal direction of the serial shafts, two magnetic poles of the magnetic columns are respectively coated with different colors, and the locking device is arranged on the substrate and is used for locking the rotation of the magnetic columns; the trolley is also provided with a tray two-dimension code modifying magnetic head, a driving circuit and a magnetic head moving device, the tray two-dimension code modifying magnetic head is arranged on the trolley through the magnetic head moving device, the magnetic head comprises electromagnets, the number and arrangement positions of the electromagnets are matched with those of the magnetic columns, the magnetic head moving device drives the tray two-dimension code modifying magnetic head to be aligned with the magnetic columns, the electromagnets are connected with the driving circuit, the driving circuit is provided with a current direction reversing control end, the current direction reversing control end is connected with a controller, the trolley is guided to move to the lower part of a tray corresponding to a spare part through a trolley path and a landmark, the tray is driven to lift the tray through a lifting mechanism, then the tray is moved to a goods taking area, and the required spare part is placed in the goods taking area through instructions of a rush-repair center before the rush-repair vehicle arrives.

Above-mentioned automatic warehouse control system relies on the owner of dolly to make a video recording to shoot tray two-dimensional code, according to the spare part information in the tray two-dimensional code sign tray, confirms the goods that need transport, and efficiency is lower, and in the transportation, the unable type according to the goods of transportation of dolly, flexible adjustment transportation route and transport speed, appear easily because of transportation route and transport speed are improper, lead to transport efficiency lower or the goods damages.

Disclosure of Invention

One of the embodiments of the present disclosure provides an automated warehouse control system based on the internet of things technology, which is applied to an internet of things warehouse, wherein the internet of things warehouse comprises a plurality of storage boxes, and each storage box comprises a plurality of lockers; the system comprises: the data acquisition module comprises a plurality of cabinet body monitoring terminals, at least one cabinet body monitoring terminal is arranged on each storage cabinet, the cabinet body monitoring terminals are used for acquiring cabinet body information of the storage cabinets, each cabinet body monitoring terminal at least comprises an infrared detection array, a first temperature sensor, a first humidity sensor and a first smoke sensor, the infrared detection array is used for detecting whether goods are stored in the storage cabinets or not, the infrared detection array comprises a plurality of infrared pair-pipe sensors, the first temperature sensor is used for acquiring temperature information in the storage cabinets, the first humidity sensor is used for acquiring humidity information in the storage cabinets, and the first smoke sensor is used for acquiring smoke concentration information in the storage cabinets, wherein the cabinet body information of the storage cabinets comprises whether goods are stored in the storage cabinets, temperature information in the storage cabinets, humidity information in the storage cabinets and smoke concentration information in the storage cabinets or not; the data acquisition module further comprises an image acquisition device, the image acquisition device comprises an image acquisition component, a cargo sensing component and a controller, the controller is used for starting the cargo sensing component after receiving a cargo storage request, the cargo sensing component is used for detecting whether cargo exists in a target area, the cargo sensing component is further used for sending a feedback signal to the controller when detecting that the cargo exists in the target area, the controller is further used for starting the image acquisition component when receiving the feedback signal, and the image acquisition component is used for acquiring a cargo image in the target area; the warehouse management module is used for identifying the goods image after receiving the goods storage request, determining the type of the goods and determining a first transportation strategy based on the type of the goods, wherein the first transportation strategy comprises a first transportation speed and a first transportation route; the first target storage cabinet is used for storing the goods corresponding to the goods storage request, and is also used for determining the first target storage cabinet from the plurality of storage cabinets based on the goods storage request, the type of the goods and cabinet information of the storage cabinet; the warehouse management module is also used for receiving a cargo taking-out request and determining a cargo second target locker corresponding to the cargo taking-out request from the storage boxes based on the cargo taking-out request; the method is also used for determining a second transportation strategy according to the type of the goods corresponding to the goods taking-out request, wherein the second transportation strategy comprises a second transportation speed and a second transportation route; the cargo transportation module comprises a plurality of transportation robots, and the transportation robots are further used for transporting cargos corresponding to the cargo storage requests to the first target storage cabinet for storage according to the first transportation strategy; the transport robot is further used for carrying the goods corresponding to the goods taking-out request to the outside of the internet of things warehouse according to the second transport strategy.

In some embodiments, the warehouse management module includes a central processor and a plurality of computing terminals, one of the computing terminals corresponds to at least one storage box, the computing terminal is configured to receive cabinet information of the storage cabinet from a cabinet monitoring terminal installed in the corresponding at least one storage box, and determine a cabinet state of the storage cabinet, where the cabinet state is one of an idle state, a storage state, and a fault state; the central processing unit is used for receiving the goods storage request, determining a first target storage box from the plurality of storage boxes based on the goods storage request and the cabinet body state of the storage cabinet, determining a first target storage cabinet from a plurality of storage cabinets included in the first target storage box, and determining a first target transport robot from the plurality of transport robots based on the state information of the transport robots; the central processing unit is further configured to receive the cargo retrieval request, determine a second target storage box from the plurality of storage boxes based on the cargo retrieval request, determine a second target storage box from a plurality of storage boxes included in the second target storage box, and determine a second target transport robot from the plurality of transport robots based on state information of the transport robots.

In some embodiments, the central processor is further configured to determine a state of the computing terminal, where the state of the computing terminal is one of a normal operating state and a failure state; the central processing unit is further configured to determine a target computing terminal from the plurality of computing terminals when determining that the state of the computing terminal is a failure state, where the target computing terminal is used to replace the computing terminal whose state is the failure state.

In some embodiments, the central processor determines a first target storage bin from the plurality of storage bins based on the cargo storage request and bin information of the locker, comprising: determining the type of the goods corresponding to the goods storage request based on the goods image; acquiring the type of the goods which are preset by each storage box and used for storage; matching the type of the goods corresponding to the goods storage request with the type of the goods preset for storage in each storage box, and determining at least one first target storage box from the plurality of storage boxes; determining at least one candidate locker in the at least one first target storage box, wherein the candidate locker is a locker with a cabinet body state of an idle state in the at least one first target storage box; determining the number of first target lockers for storing cargoes corresponding to the cargo storage request based on the cargo storage request; the first target locker is determined from the at least one candidate locker based on the spatial location information of each candidate locker and the number of first target lockers.

In some embodiments, the data acquisition module further comprises a plurality of robot monitoring terminals, each of the transportation robots is provided with at least one robot monitoring terminal, and the robot monitoring terminals are used for acquiring state information of the transportation robots; the warehouse management module is further used for receiving a cargo storage request, and determining a first target transport robot from the plurality of transport robots based on state information of the transport robots, wherein the first target transport robot is used for carrying cargoes corresponding to the cargo storage request to the first target locker for storage; the warehouse management module is further used for receiving a cargo taking request, determining a second target transport robot from the plurality of transport robots based on state information of the transport robots, wherein the second target transport robot is used for carrying cargos from the second target locker to the outside of the internet of things warehouse.

In some embodiments, the robot monitoring terminal at least comprises a second temperature sensor, a second humidity sensor, a second smoke sensor, a current sensor, a voltage sensor, a vibration sensor and a positioning device, wherein the second temperature sensor is used for acquiring the temperature of the transportation robot, the second humidity sensor is used for acquiring the humidity of the environment where the transportation robot is located, the second smoke sensor is used for acquiring the smoke concentration of the environment where the transportation robot is located, the current sensor is used for acquiring the current of the transportation robot, the voltage sensor is used for acquiring the voltage of the transportation robot, the vibration sensor is used for acquiring the vibration frequency and the vibration amplitude of the transportation robot, and the positioning device is used for acquiring the position information of the transportation robot.

In some embodiments, the warehouse management module determines a first target transport robot from the plurality of transport robots based on status information of the transport robots, comprising: determining a state of the transport robot based on the state information of the transport robot, wherein the state of the transport robot is one of an idle state, a transport state and a fault state; determining at least one candidate transport robot from the plurality of transport robots, wherein the candidate transport robot is a transport robot in an idle state; determining the number of first target transport robots for transporting the goods corresponding to the goods storage request based on the goods storage request; the first target transport robot is determined from the at least one candidate transport robot based on the location information of each of the candidate transport robots and the number of first target transport robots.

In some embodiments, the system further comprises a cargo validation module, wherein the cargo validation module comprises a weight acquisition device, an image acquisition device, and a controller; the weight acquisition device is used for acquiring weight information of goods; the image acquisition device is used for acquiring image information of goods; the controller is used for determining the size information and the package text information of the goods based on the image information of the goods; the controller is further used for judging whether the goods are matched with the goods corresponding to the goods storage request or not according to the goods storage request, the weight information of the goods, the size information of the goods and the packaging text information; the controller is also used for judging whether the goods are matched with the goods corresponding to the goods taking-out request or not according to the goods taking-out request, the weight information of the goods, the size information of the goods and the packaging text information.

In some embodiments, the warehouse management module identifies the cargo image, determines the type of the cargo, including: determining an RGB component and a contour shape of each pixel based on the cargo image; judging whether the goods image is a goods external packing image or not based on the RGB components and the outline shape of each pixel; if the goods image is judged to be a goods external package image, OCR recognition is carried out on the goods image, and the type of the goods is determined; if the goods image is judged not to be the goods outer package image, carrying out image recognition on the goods image through a goods recognition model, and determining the type of the goods.

One of the embodiments of the present disclosure provides an automated warehouse control method based on the internet of things technology, which is applied to an internet of things warehouse, wherein the internet of things warehouse comprises a plurality of storage boxes, and each storage box comprises a plurality of lockers; the method comprises the following steps: receiving a goods storage request, and acquiring cabinet information of a storage cabinet, wherein the cabinet information comprises whether goods are stored in the storage cabinet, temperature information in the storage cabinet, humidity information in the storage cabinet and smoke concentration information in the storage cabinet; detecting whether goods exist in a target area after receiving a goods storage request, and acquiring a goods image in the target area when the goods exist in the target area; identifying the goods image, determining the type of the goods, and determining a first transportation strategy based on the type of the goods, wherein the first transportation strategy comprises a first transportation speed and a first transportation route; the first target storage cabinet is used for storing the goods corresponding to the goods storage request, and is also used for determining the first target storage cabinet from the plurality of storage cabinets based on the goods storage request, the type of the goods and cabinet information of the storage cabinet; the transport robot transports the goods corresponding to the goods storage request to the first target locker for storage according to the first transport strategy; receiving a cargo taking-out request, and determining a second target storage cabinet storing cargo corresponding to the cargo taking-out request from the plurality of storage boxes; determining a second transportation strategy according to the type of the goods corresponding to the goods taking-out request, wherein the second transportation strategy comprises a second transportation speed and a second transportation route; and the transport robot carries the goods corresponding to the goods taking-out request out of the internet of things warehouse according to the second transport strategy.

The automatic warehouse control method and system based on the internet of things technology provided by the specification have the following beneficial effects:

the automatic warehouse control method and system based on the internet of things technology can be used for intelligently managing the storage and the taking out of goods, the locker for storing goods can be automatically determined according to the goods storage request and the cabinet information of the locker, the locker for storing goods corresponding to the goods taking out request can be automatically determined according to the goods taking out request, the goods are intensively managed in and out of the warehouse, the goods stored in the locker are not required to be identified and searched by a transportation robot, the storage efficiency of the warehouse is improved, further, the goods images in the target area are acquired through an image acquisition device, the types of the goods are identified, different transportation strategies are set according to different types of the goods, for example, the transportation speed corresponding to the transportation robot when transporting fragile goods is slower than the transportation speed corresponding to the transportation robot when transporting the fragile goods, the transportation route corresponding to the transportation robot when transporting the fragile goods is more stable than the transportation route corresponding to the transportation firm goods, and damage of the goods due to speed or route discomfort is effectively avoided in the transportation process.

Drawings

The present specification will be further elucidated by way of example embodiments, which will be described in detail by means of the accompanying drawings. The embodiments are not limiting, in which like numerals represent like structures, wherein:

FIG. 1 is a block diagram of an automated warehouse control system based on Internet of things technology, shown in accordance with some embodiments of the present description;

FIG. 2 is an exemplary flowchart of determining a first target storage compartment according to some embodiments of the present disclosure;

FIG. 3 is an exemplary flow chart for determining a first target transport robot according to some embodiments of the present disclosure;

FIG. 4a is an exemplary flow chart of an automated warehouse control method based on Internet of things technology, shown in accordance with some embodiments of the present description;

fig. 4b is an exemplary flow chart of an automated warehouse control method based on internet of things technology, according to some embodiments of the present description.

Detailed Description

In order to more clearly illustrate the technical solutions of the embodiments of the present specification, the drawings that are required to be used in the description of the embodiments will be briefly described below. It is apparent that the drawings in the following description are only some examples or embodiments of the present specification, and it is possible for those of ordinary skill in the art to apply the present specification to other similar situations according to the drawings without inventive effort. Unless otherwise apparent from the context of the language or otherwise specified, like reference numerals in the figures refer to like structures or operations.

It will be appreciated that "system," "apparatus," "unit" and/or "module" as used herein is one method for distinguishing between different components, elements, parts, portions or assemblies at different levels. However, if other words can achieve the same purpose, the words can be replaced by other expressions.

As used in this specification and the claims, the terms "a," "an," "the," and/or "the" are not specific to a singular, but may include a plurality, unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that the steps and elements are explicitly identified, and they do not constitute an exclusive list, as other steps or elements may be included in a method or apparatus.

A flowchart is used in this specification to describe the operations performed by the system according to embodiments of the present specification. It should be appreciated that the preceding or following operations are not necessarily performed in order precisely. Rather, the steps may be processed in reverse order or simultaneously. Also, other operations may be added to or removed from these processes.

Fig. 1 is a block diagram of an automated warehouse control system based on internet of things technology, according to some embodiments of the present description. Automatic warehouse control system based on internet of things is applied to internet of things warehouse, and internet of things warehouse includes a plurality of storage tanks, and the storage tank includes a plurality of lockers. As shown in fig. 1, the automated warehouse control system based on the internet of things technology may include a data acquisition module, a cargo transportation module, a warehouse management module, and a cargo confirmation module.

The data acquisition module can comprise a plurality of cabinet body monitoring terminals, at least one cabinet body monitoring terminal is installed on each storage cabinet, and the cabinet body monitoring terminals are used for acquiring cabinet body information of the storage cabinets.

In some embodiments, the cabinet monitoring terminal at least comprises an infrared detection array, a first temperature sensor, a first humidity sensor and a first smoke sensor, wherein the infrared detection array is used for detecting whether goods are stored in the storage cabinet, the infrared detection array comprises a plurality of infrared pair pipe sensors, the first temperature sensor is used for acquiring temperature information in the storage cabinet, the first humidity sensor is used for acquiring humidity information in the storage cabinet, and the first smoke sensor is used for acquiring smoke concentration information in the storage cabinet.

The infrared pair tube sensor can comprise an infrared transmitting tube and a photosensitive receiving tube, and when goods are stored in the storage cabinet, the photosensitive receiving tube of the infrared pair tube sensor can not receive infrared rays transmitted by the infrared transmitting tube.

The cargo transportation module may include a plurality of transportation robots for carrying cargo to the locker for storage or from the locker to outside the internet of things warehouse.

The data acquisition module can also comprise a plurality of robot monitoring terminals, each transport robot is provided with at least one robot monitoring terminal, and the robot monitoring terminals are used for acquiring state information of the transport robots.

In some embodiments, the robot monitoring terminal may include at least a second temperature sensor, a second humidity sensor, a second smoke sensor, a current sensor, a voltage sensor, a vibration sensor, and a positioning device, where the second temperature sensor is used for obtaining a temperature of the transportation robot, the second humidity sensor is used for obtaining a humidity of an environment where the transportation robot is located, the second smoke sensor is used for obtaining a smoke concentration of the environment where the transportation robot is located, the current sensor is used for obtaining a current of the transportation robot, the voltage sensor is used for obtaining a voltage of the transportation robot, the vibration sensor is used for obtaining a vibration frequency and a vibration amplitude of the transportation robot, and the positioning device is used for obtaining position information of the transportation robot.

In some embodiments, the data acquisition module further comprises an image acquisition device, the image acquisition device comprises an image acquisition component, a cargo sensing component and a controller, the controller is used for starting the cargo sensing component after receiving the cargo storage request, the cargo sensing component is used for detecting whether cargo exists in the target area, the cargo sensing component is further used for sending a feedback signal to the controller when detecting that cargo exists in the target area, the controller is further used for starting the image acquisition component when receiving the feedback signal, and the image acquisition component is used for acquiring the cargo image in the target area. In some embodiments, the cargo sensing assembly may be an ultrasonic sensor, radar, infrared pair-tube sensor, or a load cell.

The warehouse management module can be used for identifying the goods image after receiving the goods storage request, determining the type of the goods, and determining a first transportation strategy based on the type of the goods, wherein the first transportation strategy comprises a first transportation speed and a first transportation route; the system comprises a plurality of storage boxes, a first target storage cabinet and a first target transport robot, wherein the storage boxes are used for storing goods corresponding to the goods storage requests, the types of the goods and cabinet information of the storage boxes are used for determining the first target storage cabinets used for storing the goods corresponding to the goods storage requests from the plurality of storage boxes based on the goods storage requests, the first target transport robot is used for determining the first target transport robot from the plurality of transport robots based on state information of the transport robots, and the first target transport robot is used for carrying the goods corresponding to the goods storage requests to the first target storage cabinets for storage.

In some embodiments, the warehouse management module identifies the cargo image, determines the type of cargo, including:

determining an RGB component and a contour shape of each pixel based on the cargo image;

judging whether the goods image is a goods outer package image or not based on RGB components and outline shapes of each pixel;

if the goods image is judged to be the goods outer package image, OCR recognition is carried out on the goods image, and the type of the goods is determined;

if the goods image is judged not to be the goods outer package image, the goods image is subjected to image recognition through the goods recognition model, and the type of the goods is determined.

In some embodiments, if the RGB components of each pixel of the cargo image are similar and the contour shape is a regular shape (e.g., rectangular, cylindrical, etc.), and the cargo may be determined to be placed in the outer package, i.e., the cargo image is a cargo outer package image, the warehouse management module may identify OCR (optical character recognition) the text on the outer package, and determine the type of cargo.

In some embodiments, the cargo identification model may include, but is not limited to, a visual geometry swarm network (VisualGeometry Group Network, VGG) model, an acceptance net model, a full convolutional neural network (FullyConvolutional Networks, FCN) model, a segmentation network (Segmentation Networks, segNet) model, a Mask-convolutional neural network (Mask-Region Convolutional NeuralNetworks, mask-RCNN) model, and the like.

In some embodiments, the warehouse management module includes a central processing unit and a plurality of computing terminals, one computing terminal corresponds to at least one storage box, the computing terminal is configured to receive cabinet information of a locker from a cabinet monitoring terminal installed in the corresponding at least one storage box, and determine a cabinet state of the locker, where the cabinet state is one of an idle state, a storage state, and a failure state. By way of example only, when the light sensitive receiving tube of the infrared pair tube sensor does not receive the infrared light emitted by the infrared emitting tube, the cabinet state is a storage state; when the photosensitive receiving tube of the infrared pair tube sensor receives the infrared rays emitted by the infrared emitting tube, the cabinet body is in an idle state; when the temperature in the storage cabinet is greater than a preset storage cabinet temperature threshold, the cabinet body state is a fault state; when the humidity in the storage cabinet is greater than a preset storage cabinet humidity threshold value, the cabinet body state is a fault state; when the smoke concentration in the storage cabinet is larger than a preset storage cabinet smoke concentration threshold value, the cabinet body state is a fault state. The preset locker temperature threshold and the preset locker humidity threshold can be determined according to the types of cargoes stored in the locker, and the preset locker temperature threshold and the preset locker humidity threshold corresponding to different types of cargoes can be different.

In some embodiments, the central processor may also be configured to determine a state of the computing terminal, wherein the state of the computing terminal is one of a normal operating state and a fault state. The central processing unit is further configured to determine, when determining that the state of the computing terminal is a failure state, a target computing terminal from the plurality of computing terminals, where the target computing terminal is used to replace the computing terminal whose state is the failure state.

In some embodiments, the central processor may be configured to receive a cargo storage request, determine a first target storage compartment from a plurality of storage compartments based on the cargo storage request and a cabinet status of the storage compartment, and determine a first target storage compartment from a plurality of storage compartments included in the first target storage compartment.

FIG. 2 is an exemplary flow chart of determining a first target storage compartment according to some embodiments of the present disclosure, as shown in FIG. 2, in some embodiments, to improve efficiency and accuracy of determining the first target storage compartment, a CPU determines the first target storage compartment from a plurality of storage compartments based on a cargo storage request and cabinet information of the locker, including:

determining the type of the goods corresponding to the goods storage request based on the goods image;

Acquiring the type of the goods which are preset for storage in each storage box;

matching the type of the goods corresponding to the goods storage request with the type of the goods preset for storage in each storage box, and determining at least one first target storage box from the plurality of storage boxes;

determining at least one candidate locker in the at least one first target storage box, wherein the candidate locker is a locker with a locker body state in the at least one first target storage box in an idle state;

determining the number of first target lockers for storing cargoes corresponding to the cargo storage request based on the cargo storage request;

a first target locker is determined from the at least one candidate locker based on the spatial location information for each candidate locker and the number of first target lockers.

In some embodiments, the central processor may take a candidate locker located closer to the entry port of the internet of things warehouse as the first target locker.

The central processor may also be configured to determine a first target transport robot from the plurality of transport robots based on the state information of the transport robots.

In some embodiments, the central processor may further determine the first target locker according to the type of the cargo, for example, when the cargo is fragile, the locker at the lower position may be used as the first target locker, so as to avoid the situation that the cargo slides and falls when the transport robot places the cargo in the higher locker when the height of the first target locker is higher.

FIG. 3 is an exemplary flow diagram of determining a first target transport robot, as shown in FIG. 3, according to some embodiments of the present disclosure, in which, to improve the efficiency and accuracy of determining the first target transport robot, a warehouse management module determines the first target transport robot from a plurality of transport robots based on state information of the transport robots, including:

determining a state of the transport robot based on state information of the transport robot, wherein the state of the transport robot is one of an idle state, a transport state and a fault state;

determining at least one candidate transport robot from a plurality of transport robots, wherein the candidate transport robot is a transport robot with an idle state;

determining, based on the cargo storage request, a number of first target transport robots for transporting the cargo corresponding to the cargo storage request;

the first target transport robot is determined from the at least one candidate transport robot based on the location information of each candidate transport robot and the number of first target transport robots.

In some embodiments, the central processor may treat the candidate transport robots located closer to the first target locker as the first target transport robot.

The warehouse management module may be further configured to receive a cargo retrieval request, determine a second target storage box from among the plurality of storage boxes based on the cargo retrieval request, and determine a second target storage box from among a plurality of storage boxes included in the second target storage box, where the second target storage box is configured to store cargo corresponding to the cargo retrieval request.

The central processing unit is also used for receiving the goods taking-out request, determining a second target storage box from the plurality of storage boxes based on the goods taking-out request, and determining a second target storage box from the plurality of storage boxes included in the second target storage box.

In some embodiments, the central processing unit may match the type of the cargo corresponding to the cargo taking out request with the type of the cargo preset for storage in each storage box, take the storage box with the type of the stored cargo identical to the type of the cargo corresponding to the cargo taking out request as the second target storage box, and take the storage box in the storage state in the second target storage box as the second target storage box.

The warehouse management module may be further configured to determine a second target transport robot from the plurality of transport robots based on the status information of the transport robots, wherein the second target transport robot is configured to carry goods from the second target locker out of the internet of things warehouse.

In some embodiments, the warehouse management module determining the second target transport robot from the plurality of transport robots based on the state information of the transport robots may include:

determining a state of the transport robot based on state information of the transport robot, wherein the state of the transport robot is one of an idle state, a transport state and a fault state;

determining at least one candidate transport robot from a plurality of transport robots, wherein the candidate transport robot is a transport robot with an idle state;

determining the number of second target transport robots for transporting the goods corresponding to the goods retrieval request based on the goods retrieval request;

the second target transport robot is determined from the at least one candidate transport robot based on the location information of each candidate transport robot and the number of second target transport robots.

In some embodiments, the warehouse management module may treat the candidate transportation robots that are closer to the second target locker as the second target transportation robot.

The central processor may also be configured to determine a second target transport robot from the plurality of transport robots based on the status information of the transport robots.

In some embodiments, the first target transport robot is configured to determine a first transport strategy according to a type of cargo corresponding to the cargo storage request.

Wherein the first transportation strategy may include a transportation speed, a route, etc. of the first target transportation robot. The first shipping strategy for different types of cargo may be different. By way of example only, the transport speed of the first target transport robot corresponding to the liquid cargo is slower than the transport speed of the first target transport robot corresponding to the solid cargo, and the route of the first target transport robot corresponding to the liquid cargo is smoother than the route of the first target transport robot corresponding to the solid cargo. As another example, the first target transport robot corresponding to the fragile cargo has a transport speed slower than that of the first target transport robot corresponding to the firm cargo, and the first target transport robot corresponding to the fragile cargo has a route smoother than that of the first target transport robot corresponding to the firm cargo.

In some embodiments, the second target transport robot is configured to determine a second transport strategy according to a type of cargo corresponding to the cargo retrieval request.

Wherein the second transportation strategy may include a transportation speed, a route, etc. of the second target transportation robot. The second shipping strategy for different types of cargo may be different. By way of example only, the transport speed of the second target transport robot corresponding to the liquid cargo is slower than the transport speed of the second target transport robot corresponding to the solid cargo, and the route of the second target transport robot corresponding to the liquid cargo is smoother than the route of the second target transport robot corresponding to the solid cargo. As another example, the transport speed of the second target transport robot corresponding to the fragile cargo is slower than the transport speed of the second target transport robot corresponding to the firm cargo, and the route of the second target transport robot corresponding to the fragile cargo is smoother than the route of the second target transport robot corresponding to the firm cargo.

The cargo verification module may include a weight acquisition device, an image acquisition device, and a controller.

The weight acquisition device can be used for acquiring weight information of goods, and the image acquisition device can be used for acquiring image information of goods. The controller can carry out image recognition on the image information of the goods to determine the size information and the package text information of the goods. The controller is also used for judging whether the goods are matched with the goods corresponding to the goods storage request according to the goods storage request, the size information of the weight information of the goods and the packaging text information, and judging whether the goods are matched with the goods corresponding to the goods taking-out request according to the goods taking-out request, the size information of the weight information of the goods and the packaging text information.

After receiving the cargo storage request, the controller judges that the cargo to be stored is matched with the cargo corresponding to the cargo storage request according to the cargo taking out request, the weight information of the cargo to be stored, the size information of the cargo to be stored and the packing text information, and then the central processing unit determines a first target storage box from a plurality of storage boxes based on the cargo storage request and the cabinet body state of the storage boxes, determines the first target storage box from a plurality of storage boxes comprising the first target storage box, and is also used for determining the first target transport robot from a plurality of transport robots based on the state information of the transport robots.

After receiving the cargo taking-out request, the central processing unit determines a second target storage box from the plurality of storage boxes based on the cargo taking-out request, determines a second target storage box from the plurality of storage boxes included in the second target storage box, determines a second target transportation robot from the plurality of transportation robots based on state information of the transportation robots, and after the second target transportation robot takes out the cargo from the second target storage box, the controller can judge that the cargo taken out by the second target transportation robot is matched with the cargo corresponding to the cargo taking-out request according to weight information, size information and packing text information of the cargo taken out by the second target transportation robot, and then the second target transportation robot transports the taken-out cargo out of the internet of things warehouse.

It should be noted that the above description of the automated warehouse control system and the modules thereof based on the internet of things technology is for convenience of description only, and the present disclosure should not be limited to the scope of the illustrated embodiments. It will be appreciated by those skilled in the art that, given the principles of the system, various modules may be combined arbitrarily or a subsystem may be constructed in connection with other modules without departing from such principles. In some embodiments, the data acquisition module, the cargo transportation module, the warehouse management module, and the cargo verification module disclosed in fig. 1 may be different modules in one system, or may be one module to implement the functions of two or more modules. For example, each module may share one memory module, or each module may have a respective memory module. Such variations are within the scope of the present description.

Fig. 4a is an exemplary flowchart of an automated warehouse control method based on internet of things according to some embodiments of the present disclosure, and fig. 4b is an exemplary flowchart of an automated warehouse control method based on internet of things according to some embodiments of the present disclosure. The automatic warehouse control method based on the internet of things technology can be applied to an internet of things warehouse, wherein the internet of things warehouse comprises a plurality of storage boxes, and each storage box comprises a plurality of lockers. In some embodiments, the automated warehouse control method based on the internet of things technology may be performed by the automated warehouse control system based on the internet of things technology shown in fig. 1.

As shown in fig. 4a, the automated warehouse control method based on the internet of things technology includes the following steps.

In step 411, a cargo storage request is received,

step 412, obtaining cabinet information of the cabinet;

the cabinet information comprises whether goods are stored in the storage cabinet, temperature information in the storage cabinet, humidity information in the storage cabinet and smoke concentration information in the storage cabinet;

step 413, detecting whether the goods exist in the target area after receiving the goods storage request, and acquiring a goods image in the target area when the goods exist in the target area;

step 414, identifying the cargo image, determining the type of the cargo, and determining a first transportation strategy based on the type of the cargo;

the first transportation strategy comprises a first transportation speed and a first transportation route;

step 415, determining a first target locker for storing the goods corresponding to the goods storage request from a plurality of storage bins based on the goods storage request, the type of the goods and the cabinet information of the locker;

and step 416, the transportation robot transports the goods corresponding to the goods storage request to the first target locker for storage according to the first transportation strategy.

As shown in fig. 4b, the automated warehouse control method based on the internet of things technology includes the following steps.

Step 421, receiving a cargo retrieval request;

step 422, determining a second target locker for storing the goods corresponding to the goods taking-out request from the plurality of storage boxes;

step 423, determining a second transportation strategy according to the type of the goods corresponding to the goods taking-out request;

the second transportation strategy comprises a second transportation speed and a second transportation route;

in step 424, the transportation robot carries the goods corresponding to the goods taking-out request out of the internet of things warehouse according to the second transportation strategy.

It should be noted that the above description of a public equipment operation management method based on health diagnosis is for illustration and description only, and does not limit the scope of applicability of the present specification. Various modifications and variations of a method of management of utility operation based on health diagnostics will be apparent to those skilled in the art in light of the present description. However, such modifications and variations are still within the scope of the present description.

While the basic concepts have been described above, it will be apparent to those skilled in the art that the foregoing detailed disclosure is by way of example only and is not intended to be limiting. Although not explicitly described herein, various modifications, improvements, and adaptations to the present disclosure may occur to one skilled in the art. Such modifications, improvements, and modifications are intended to be suggested within this specification, and therefore, such modifications, improvements, and modifications are intended to be included within the spirit and scope of the exemplary embodiments of the present invention.

Meanwhile, the specification uses specific words to describe the embodiments of the specification. Reference to "one embodiment," "an embodiment," and/or "some embodiments" means that a particular feature, structure, or characteristic is associated with at least one embodiment of the present description. Thus, it should be emphasized and should be appreciated that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various positions in this specification are not necessarily referring to the same embodiment. Furthermore, certain features, structures, or characteristics of one or more embodiments of the present description may be combined as suitable.

Furthermore, the order in which the elements and sequences are processed, the use of numerical letters, or other designations in the description are not intended to limit the order in which the processes and methods of the description are performed unless explicitly recited in the claims. While certain presently useful inventive embodiments have been discussed in the foregoing disclosure, by way of various examples, it is to be understood that such details are merely illustrative and that the appended claims are not limited to the disclosed embodiments, but, on the contrary, are intended to cover all modifications and equivalent arrangements included within the spirit and scope of the embodiments of the present disclosure. For example, while the system components described above may be implemented by hardware devices, they may also be implemented solely by software solutions, such as installing the described system on an existing server or mobile device.

Likewise, it should be noted that in order to simplify the presentation disclosed in this specification and thereby aid in understanding one or more inventive embodiments, various features are sometimes grouped together in a single embodiment, figure, or description thereof. This method of disclosure, however, is not intended to imply that more features than are presented in the claims are required for the present description. Indeed, less than all of the features of a single embodiment disclosed above.

Each patent, patent application publication, and other material, such as articles, books, specifications, publications, documents, etc., referred to in this specification is incorporated herein by reference in its entirety. Except for application history documents that are inconsistent or conflicting with the content of this specification, documents that are currently or later attached to this specification in which the broadest scope of the claims to this specification is limited are also. It is noted that, if the description, definition, and/or use of a term in an attached material in this specification does not conform to or conflict with what is described in this specification, the description, definition, and/or use of the term in this specification controls.

Finally, it should be understood that the embodiments described in this specification are merely illustrative of the principles of the embodiments of this specification. Other variations are possible within the scope of this description. Thus, by way of example, and not limitation, alternative configurations of embodiments of the present specification may be considered as consistent with the teachings of the present specification. Accordingly, the embodiments of the present specification are not limited to only the embodiments explicitly described and depicted in the present specification.

Claims (10)

1. An automatic warehouse control system based on the internet of things technology is applied to an internet of things warehouse, and is characterized in that the internet of things warehouse comprises a plurality of storage boxes, and each storage box comprises a plurality of storage cabinets;

the system comprises:

the data acquisition module comprises a plurality of cabinet body monitoring terminals, at least one cabinet body monitoring terminal is arranged on each storage cabinet, the cabinet body monitoring terminals are used for acquiring cabinet body information of the storage cabinets, each cabinet body monitoring terminal at least comprises an infrared detection array, a first temperature sensor, a first humidity sensor and a first smoke sensor, the infrared detection array is used for detecting whether goods are stored in the storage cabinets or not, the infrared detection array comprises a plurality of infrared pair-pipe sensors, the first temperature sensor is used for acquiring temperature information in the storage cabinets, the first humidity sensor is used for acquiring humidity information in the storage cabinets, and the first smoke sensor is used for acquiring smoke concentration information in the storage cabinets, wherein the cabinet body information of the storage cabinets comprises whether goods are stored in the storage cabinets, temperature information in the storage cabinets, humidity information in the storage cabinets and smoke concentration information in the storage cabinets or not;

The data acquisition module further comprises an image acquisition device, the image acquisition device comprises an image acquisition component, a cargo sensing component and a controller, the controller is used for starting the cargo sensing component after receiving a cargo storage request, the cargo sensing component is used for detecting whether cargo exists in a target area, the cargo sensing component is further used for sending a feedback signal to the controller when detecting that the cargo exists in the target area, the controller is further used for starting the image acquisition component when receiving the feedback signal, and the image acquisition component is used for acquiring a cargo image in the target area;

the warehouse management module is used for identifying the goods image after receiving the goods storage request, determining the type of the goods and determining a first transportation strategy based on the type of the goods, wherein the first transportation strategy comprises a first transportation speed and a first transportation route; the first target storage cabinet is used for storing the goods corresponding to the goods storage request, and is also used for determining the first target storage cabinet from the plurality of storage cabinets based on the goods storage request, the type of the goods and cabinet information of the storage cabinet;

The warehouse management module is also used for receiving a cargo taking-out request and determining a cargo second target locker corresponding to the cargo taking-out request from the storage boxes based on the cargo taking-out request; the method is also used for determining a second transportation strategy according to the type of the goods corresponding to the goods taking-out request, wherein the second transportation strategy comprises a second transportation speed and a second transportation route;

the cargo transportation module comprises a plurality of transportation robots, and the transportation robots are further used for transporting cargos corresponding to the cargo storage requests to the first target storage cabinet for storage according to the first transportation strategy; the transport robot is further used for carrying the goods corresponding to the goods taking-out request to the outside of the internet of things warehouse according to the second transport strategy.

2. The automated warehouse control system based on internet of things as claimed in claim 1, wherein the warehouse management module includes a central processor and a plurality of computing terminals, one of the computing terminals corresponding to at least one storage box, the computing terminal configured to receive cabinet information of the storage cabinet from a corresponding cabinet monitoring terminal installed in the at least one storage box, determine a cabinet status of the storage cabinet, wherein the cabinet status is one of an idle status, a storage status, and a fault status;

The central processing unit is used for receiving the goods storage request, determining a first target storage box from the plurality of storage boxes based on the goods storage request and the cabinet body state of the storage cabinet, determining a first target storage cabinet from a plurality of storage cabinets included in the first target storage box, and determining a first target transport robot from the plurality of transport robots based on the state information of the transport robots;

the central processing unit is further configured to receive the cargo retrieval request, determine a second target storage box from the plurality of storage boxes based on the cargo retrieval request, determine a second target storage box from a plurality of storage boxes included in the second target storage box, and determine a second target transport robot from the plurality of transport robots based on state information of the transport robots.

3. The automated warehouse control system based on internet of things as claimed in claim 2, wherein the central processor is further configured to determine a status of the computing terminal, wherein the status of the computing terminal is one of a normal operating status and a fault status;

the central processing unit is further configured to determine a target computing terminal from the plurality of computing terminals when determining that the state of the computing terminal is a failure state, where the target computing terminal is used to replace the computing terminal whose state is the failure state.

4. The automated warehouse control system based on internet of things as set forth in claim 3, wherein the central processor determining a first target storage compartment from the plurality of storage compartments based on the cargo storage request and the locker information of the locker comprises:

determining the type of the goods corresponding to the goods storage request based on the goods image;

acquiring the type of the goods which are preset by each storage box and used for storage;

matching the type of the goods corresponding to the goods storage request with the type of the goods preset for storage in each storage box, and determining at least one first target storage box from the plurality of storage boxes;

determining at least one candidate locker in the at least one first target storage box, wherein the candidate locker is a locker with a cabinet body state of an idle state in the at least one first target storage box;

determining the number of first target lockers for storing cargoes corresponding to the cargo storage request based on the cargo storage request;

the first target locker is determined from the at least one candidate locker based on the spatial location information of each candidate locker and the number of first target lockers.

5. An automated warehouse control system based on internet of things as claimed in any one of claims 1-4, wherein the data collection module further includes a plurality of robot monitoring terminals, each of the transport robots having at least one of the robot monitoring terminals mounted thereon, the robot monitoring terminals configured to collect status information of the transport robots;

the warehouse management module is further used for receiving a cargo storage request, and determining a first target transport robot from the plurality of transport robots based on state information of the transport robots, wherein the first target transport robot is used for carrying cargoes corresponding to the cargo storage request to the first target locker for storage;

the warehouse management module is further used for receiving a cargo taking request, determining a second target transport robot from the plurality of transport robots based on state information of the transport robots, wherein the second target transport robot is used for carrying cargos from the second target locker to the outside of the internet of things warehouse.

6. The automated warehouse control system based on internet of things of claim 5, wherein the robot monitor terminal comprises at least a second temperature sensor, a second humidity sensor, a second smoke sensor, a current sensor, a voltage sensor, a vibration sensor and a positioning device, wherein the second temperature sensor is used for acquiring the temperature of the transportation robot, the second humidity sensor is used for acquiring the humidity of the environment in which the transportation robot is located, the second smoke sensor is used for acquiring the smoke concentration of the environment in which the transportation robot is located, the current sensor is used for acquiring the current of the transportation robot, the voltage sensor is used for acquiring the voltage of the transportation robot, the vibration sensor is used for acquiring the vibration frequency and the vibration amplitude of the transportation robot, and the positioning device is used for acquiring the position information of the transportation robot.

7. The automated warehouse control system based on internet of things as claimed in claim 6, wherein the warehouse management module determines a first target transport robot from the plurality of transport robots based on the status information of the transport robots, comprising:

determining a state of the transport robot based on the state information of the transport robot, wherein the state of the transport robot is one of an idle state, a transport state and a fault state;

determining at least one candidate transport robot from the plurality of transport robots, wherein the candidate transport robot is a transport robot in an idle state;

determining the number of first target transport robots for transporting the goods corresponding to the goods storage request based on the goods storage request;

the first target transport robot is determined from the at least one candidate transport robot based on the location information of each of the candidate transport robots and the number of first target transport robots.

8. The automated warehouse control system based on internet of things as claimed in claim 7, further comprising a cargo validation module, wherein the cargo validation module includes a weight acquisition device, an image acquisition device, and a controller;

The weight acquisition device is used for acquiring weight information of goods;

the image acquisition device is used for acquiring image information of goods;

the controller is used for determining the size information and the package text information of the goods based on the image information of the goods;

the controller is further used for judging whether the goods are matched with the goods corresponding to the goods storage request or not according to the goods storage request, the weight information of the goods, the size information of the goods and the packaging text information;

the controller is also used for judging whether the goods are matched with the goods corresponding to the goods taking-out request or not according to the goods taking-out request, the weight information of the goods, the size information of the goods and the packaging text information.

9. The automated warehouse control system based on internet of things as claimed in any of claims 1-4, wherein the warehouse management module identifies the cargo image, determines the type of the cargo, including:

determining an RGB component and a contour shape of each pixel based on the cargo image;

judging whether the goods image is a goods external packing image or not based on the RGB components and the outline shape of each pixel;

If the goods image is judged to be a goods external package image, OCR recognition is carried out on the goods image, and the type of the goods is determined;

if the goods image is judged not to be the goods outer package image, carrying out image recognition on the goods image through a goods recognition model, and determining the type of the goods.

10. An automatic warehouse control method based on the internet of things technology is applied to an internet of things warehouse, and is characterized in that the internet of things warehouse comprises a plurality of storage boxes, and each storage box comprises a plurality of storage cabinets;

the method comprises the following steps:

a request for the storage of goods is received,

acquiring cabinet information of a storage cabinet, wherein the cabinet information comprises whether goods are stored in the storage cabinet, temperature information in the storage cabinet, humidity information in the storage cabinet and smoke concentration information in the storage cabinet;

detecting whether goods exist in a target area after receiving a goods storage request, and acquiring a goods image in the target area when the goods exist in the target area;

identifying the goods image, determining the type of the goods, and determining a first transportation strategy based on the type of the goods, wherein the first transportation strategy comprises a first transportation speed and a first transportation route;

Determining a first target locker for storing the goods corresponding to the goods storage request from the plurality of storage boxes based on the goods storage request, the type of the goods and the cabinet information of the locker;

the transport robot transports the goods corresponding to the goods storage request to the first target locker for storage according to the first transport strategy;

a request for the removal of the goods is received,

determining a second object locker for storing the goods corresponding to the goods taking-out request from the plurality of storage boxes;

determining a second transportation strategy according to the type of the goods corresponding to the goods taking-out request, wherein the second transportation strategy comprises a second transportation speed and a second transportation route;

and the transport robot carries the goods corresponding to the goods taking-out request out of the internet of things warehouse according to the second transport strategy.