CN117455328A - Automatic loading and unloading flow model based on unmanned forklift - Google Patents

Abstract

The invention discloses an automatic loading and unloading flow model based on an unmanned forklift, and belongs to the field of logistics, wherein the automatic loading and unloading flow model comprises the steps of establishing an automatic loading and unloading flow of a truck, planning a real-time path of the unmanned forklift, establishing a pallet recovery flow, establishing an in-out warehouse operation flow and establishing a quality inspection operation flow; the invention reduces the number of staff; the running operation of the vehicle can simultaneously have manual driving and automatic unmanned driving, the whole process from goods identification to fixed-point unloading can be accurately completed, and the loading and unloading operation can be easily completed; the operation efficiency is improved; in the traditional operation mode, each vehicle needs to spend a great deal of time on manual transportation, and an automatic loading and unloading platform adopts automatic loading and unloading and can finish loading and unloading operation in a short time.

Description

Automatic loading and unloading flow model based on unmanned forklift

Technical Field

The invention belongs to the field of logistics, and particularly relates to an automatic loading and unloading flow model based on an unmanned forklift.

Background

Most of the traditional common loading and unloading vehicle operation is finished outdoors, and is often subjected to severe weather such as heat, cold and the like, so that the operation environment is poor, and the labor intensity in the loading process is high. With the development of company scale, more loading and unloading flows are required to be realized in a limited shipping space, namely, the loading efficiency is improved. There are many kinds of bagged product loading and unloading equipment in the market at present, such as BEUMER, FLSMIDTH, HAVER abroad, brightness in China, sea swallow, etc. The bagging product can realize the loading efficiency of 3000 bags/h at the fastest speed, and the adaptability of vehicles is also higher and higher. But the automatic loading products aiming at the packaged products are rare and have low efficiency.

At present, the rise of manpower cost, the shortage of labor force and the shortage of logistics storage space in large cities make enterprises more and more attach importance to improving the automation level of a storage logistics system, so that the efficiency is improved while the manpower is reduced. With the rapid development of automation systems and intelligent equipment, the traditional manual loading and unloading operation and forklift loading and unloading operation reduce the operation efficiency of a loading and unloading platform, and meanwhile, the traditional loading and unloading process consumes larger logistics cost. Research and development of a unitized pallet type automatic loading and unloading device for logistics has just started, and related mechanical lifting steering systems are relatively rarely researched in China.

Disclosure of Invention

The automatic loading and unloading flow model suitable for carrying the logistics is very necessary, can reduce unnecessary labor cost, and has important significance for mechanized propulsion and automatic propulsion of related loading and unloading flows and improvement of loading and unloading level in China.

In order to achieve the above purpose, the present invention is realized by adopting the following technical scheme:

the model comprises;

establishing an automatic loading and unloading process of the flying wing truck;

in the process of automatic loading and unloading, the idle goods space on the truck is detected in an auxiliary way through the goods space detection system, and the unmanned forklift automatically adjusts the path by using the self-adaptive function, so that the tray is placed on the idle goods space to finish automatic loading;

in the unloading process, the position of a pallet on a truck is detected in an auxiliary manner through a cargo space detection system, an unmanned forklift automatically adjusts a path to accurately position the pallet and fork the pallet, after the pallet is forked, the pallet is lifted up after the pallet is transversely moved according to the transverse movement function of a fork arm of the unmanned forklift, so that the scattering of the cargoes caused by the close contact between the pallets is avoided, and the automatic unloading operation is completed; planning a real-time path of the unmanned forklift;

real-time path planning based on global and vehicle-mounted self-adaptive sensing is combined with a multi-level intelligent real-time scheduling system, so that the driving route is automatically adjusted by using a self-adaptive function according to the offset distance of the vehicle, and goods taking and placing are completed;

a tray recovery flow is established and a tray recovery process is carried out,

the empty trays generated during loading of the van are automatically recovered, stacked and put in storage by an unmanned forklift;

establishing an in-out warehouse operation flow; the method comprises the operations of flat warehouse entry and the operations of goods shelves warehouse entry and warehouse entry;

establishing a quality inspection operation flow; the quality inspection method comprises the steps of flat warehouse quality inspection and shelf warehouse quality inspection;

establishing an inventory flow; including flat warehouse inventory and shelf inventory.

Further, the method for specifically planning the real-time path of the unmanned forklift comprises the following steps: the path planning algorithm of the unmanned forklift adopts a classical Multi-robot path planning algorithm MAPF (Multi-Agent Path Finding), and the mathematics of the algorithm are described as follows:

input < G, s, t >, wherein: undirected graph g= (V, E), V being the vertex of graph G, E being the edge of graph G;

mapping s, [1, ], k ] - > V maps one unmanned forklift to one vertex, describing the origin (source) node of each unmanned forklift (agent);

mapping t, [1, ], k ] - > V an unmanned forklift maps to a vertex, describing a target node for each unmanned forklift (agent);

in the classical MAPF algorithm, the continuous time is discretized into time steps (which is also the origin of the time step in many MAPF algorithms), at each time step (time step) the unmanned forklift can do an Action;

action: a- > V, i.e., a (V) =o ', indicating that the unmanned forklift moves from the vertex V to the vertex V' after executing Action a; in the classical MAPF algorithm, each unmanned forklift has two actions: wait (v) =v, move: move to the next adjacent vertex, move (v) =v ', (v, v')eE;

let pi= (a) ₁ ,…,a _n ) For an unmanned forklift i, pi is set _i [x]For unmanned forklift i, pi= (a) is performed starting from starting point s (i) ₁ ,…,a _n ) The positions reached after the first x actions (actions), i.e. pi _i [x]＝a _x (a _x-1 (…a ₁ (s (i))); if the unmanned forklift i starts from the starting point s (i), the unmanned forklift i reaches the target point t (i) after complete execution of pi, namely pi _i [π]Let t (i), referred to as pi, single-agent plan (path defined in CBS) for unmanned forklift i;

and (3) outputting: solution, namely a single machine planning path set (a set of k single-agent places) of k unmanned forklifts;

the conflicts are defined in the algorithm because since multiple machines are involved, the intersection or overlap between each single machine planning path is difficult to avoid, which necessarily results in a collision for the robot, and the intersections between paths are defined as conflicts in order to solve the problem at the algorithm level; if there is a rectangular conflict between two agents, the following equation is satisfied:

|S ₁ ×x-G ₁ ×x|+|S ₁ ×y-G ₁ ×x|＝G ₁ ×t-S ₁ ×t>0 (1)

|S ₂ ×x-G ₂ ×x|+|S ₂ ×y-G ₂ ×x|＝G ₂ ×t-G ₂ ×t>0 (2)

(S ₁ ×x-G ₁ ×x)(S ₂ ×x-G ₂ ×x)≥0 (3)

(S ₁ ×y-G ₁ ×y)(S ₂ ×y-G ₂ ×y)≥0 (4)。

further, the operation flow of establishing the warehouse-in and warehouse-out is as follows:

flat warehouse out operation flow

The method can be divided into a whole tray finished product delivery and a scattered tray finished product delivery, and the flow is as follows:

1) The tray type unmanned forklift carries the whole tray finished product to the transfer area in the flat warehouse from the designated goods space of the flat warehouse according to the dispatching instruction;

2) When the van truck is loaded, the finished products of the whole trays are delivered out of the warehouse, and if the number of the whole trays in the order is more than or equal to 12 trays according to the WMS order situation, the finished products of the whole trays are transported to a flat warehouse transfer area from a whole tray storage area by a tray type unmanned forklift; if the number of the whole trays in the order is smaller than 12 trays, carrying the whole tray finished products to a flat warehouse transfer area from a mantissa disc area by a tray type unmanned forklift; then the empty tray is conveyed to the tail part of the van by the balanced unmanned forklift, and the empty tray is conveyed to the empty tray for returning by the balanced unmanned forklift after manual stack disassembly;

3) When loading the van, if the order contains scattered discs for delivery, delivering the whole tray out of the warehouse, and finally delivering the scattered discs out of the warehouse; according to the WMS order situation, when the number of scattered discs in the order is smaller than the number of scattered discs of the same article in a Yu Pingku scattered disc area, carrying the scattered discs from the scattered disc area to a flat warehouse middle transfer area by a tray type unmanned forklift, carrying the scattered discs to the tail part of a van truck by a balancing weight unmanned forklift, carrying the remaining scattered discs to the flat warehouse middle transfer area by the balancing weight unmanned forklift after manual unstacking, and carrying the remaining scattered discs to the flat warehouse scattered disc area by the tray type unmanned forklift;

when the number of scattered trays in an order is equal to the number of scattered trays of the same product in a scattered tray area of a flat warehouse, carrying the scattered trays to a transfer area in the flat warehouse from the scattered tray area by a tray type unmanned forklift, carrying the scattered trays to the tail part of a van truck by a balancing weight unmanned forklift, carrying an empty tray to an empty tray recovery area by the balancing weight unmanned forklift after manual unstacking, and carrying out stacking;

when the number of scattered discs in an order is larger than the number of scattered discs of the same product in a Yu Pingku scattered disc area, carrying a whole pallet finished product to a flat warehouse middle transfer area by a pallet type unmanned forklift, carrying the whole pallet finished product to a van truck tail part by a balancing weight unmanned forklift, carrying newly generated scattered discs to the flat warehouse middle transfer area by the balancing weight unmanned forklift after manual unstacking, carrying the newly generated scattered discs to the flat warehouse scattered disc area by the pallet type unmanned forklift, and carrying out disc assembly with the same product scattered discs;

4) When the flying wing vehicle is loaded, the finished products of the whole trays are delivered out of the warehouse, and according to the WMS order situation, if the number of the whole trays in the order is more than or equal to 12 trays, the finished products of the whole trays are transported to a flat warehouse transfer area from a whole tray storage area by a tray type unmanned forklift; if the number of the whole trays in the order is smaller than 12 trays, carrying the whole tray finished products to a flat warehouse transfer area from a mantissa disc area by a tray type unmanned forklift; carrying the whole tray finished product to the flying wing vehicle by using a balancing weight unmanned forklift to finish the loading operation of the flying wing vehicle;

5) After the flat warehouse leaving operation is completed, the tray type unmanned forklift automatically runs to an unmanned forklift parking spot;

goods shelf warehouse-out operation

The shelf warehouse-out operation is a whole tray warehouse-out mode,

the process is as follows: 1) The front-moving type unmanned forklift moves the cigarette tray to the front end of the tunnel in advance according to the scheduling command from the front end of the tunnel (the shuttle plate moves the cigarette tray to the front end of the tunnel in advance according to scheduling) and carries the whole tray of cigarettes to a transfer area in a goods shelf warehouse;

2) When the van is loaded, the transfer area in the goods shelf warehouse is transported to the tail of the van by the balancing weight unmanned forklift, the empty trays generated by manual unstacking are transported to the empty tray recovery area by the balancing weight unmanned forklift for stacking; the generated scattered discs are conveyed to a transfer area in the flat warehouse by a balancing weight unmanned forklift, and are conveyed to a scattered disc area in the flat warehouse by a tray type unmanned forklift;

3) When the flying wing vehicle is loaded, the flying wing vehicle is transported to the flying wing vehicle in a transfer area in the goods shelf warehouse by a balancing weight unmanned forklift, and the loading operation of the flying wing vehicle is completed;

4) After the goods shelf warehouse leaving operation is completed, the unmanned forklift automatically runs to an unmanned forklift stopping point;

warehouse entry work flow design

Warehouse entry operation of flat warehouse

The flat warehouse-in operation comprises warehouse-in of finished products of a whole tray, scattered discs, scattered disc warehouse-in generated by manual unstacking when a van truck is loaded, and the flow is as follows:

1) The tray type unmanned forklift carries the whole tray (the balance weight unmanned forklift is unloaded to the whole tray of the transfer area) or the scattered tray from the transfer area of the flat warehouse according to the dispatching instruction;

2) If the number of the trays with the same standard is more than or equal to 12 trays, carrying the trays to a whole tray area for storage by a tray type unmanned forklift; if the number of the whole trays in the transfer area of the flat warehouse is increased by 12 trays or more, carrying the whole trays of the mantissa trays and the whole trays in the transfer area of the flat warehouse to the whole tray area for storage by a tray type unmanned forklift; if the number of the trays in the transfer area of the flat warehouse is increased, and the number of the same product rule number trays is smaller than 12, carrying the trays in the transfer area of the flat warehouse to the number of the trays in the transfer area of the flat warehouse by a tray type unmanned forklift for storage;

3) If the scattered discs are stored in the warehouse, carrying the scattered discs to a scattered disc area by a tray type unmanned forklift, and assembling the scattered discs with the same product standard scattered discs;

4) The warehouse-in operation of the flat warehouse is completed, and the tray type unmanned forklift automatically runs to an unmanned forklift parking spot;

warehouse-in operation of goods shelf warehouse

The shelf warehouse-in operation is a whole tray warehouse-in mode, and the process is as follows: 1) The front-moving unmanned forklift carries the whole tray of cigarettes from a transfer area of the goods shelf warehouse according to the dispatching instruction, and the balance weight unmanned forklift is unloaded to the transfer area before entering the goods shelf warehouse;

2) The front-moving unmanned forklift carries the whole tray of cigarettes to a specified roadway receiving section, and the cigarettes are transported to a specified cargo space by a shuttle plate;

3) And (3) finishing the warehouse-in operation of the goods shelf warehouse, and automatically driving the forward unmanned forklift to a parking spot of the unmanned forklift.

The invention has the beneficial effects that:

(1) The number of staff is reduced. The running operation of the vehicle can simultaneously have manual driving and automatic unmanned driving, and the whole process from goods identification to fixed-point unloading can be accurately completed, so that the loading and unloading operation can be easily completed.

(2) The working efficiency is improved. In the traditional operation mode, each vehicle needs to spend a great deal of time on manual transportation, and an automatic loading and unloading platform adopts automatic loading and unloading and can finish loading and unloading operation in a short time.

(3) And the use of a forklift is reduced. The loading and unloading mechanisms used from positioning recognition to unloading of cargoes are all vehicle-mounted devices, and automation is realized from loading to unloading of a container.

(4) Saving working space. Work is carried out based on the vehicle-mounted platform, and the work is assisted by a forklift, so that the sites of factories and warehouses are directly saved.

Drawings

FIG. 1 is a flow diagram of a loading and unloading process according to the present invention;

FIG. 2 is a schematic illustration of an aircraft auto-unloading process;

FIG. 3 is a schematic illustration of an automatic loading process for an aircraft;

FIG. 4 is a schematic diagram of a visual inspection parking space and inspection profile;

FIG. 5 is a real-time path planning diagram for an unmanned forklift;

FIG. 6 is a schematic diagram of a truck loading format;

FIG. 7 is a semi-automatic loading flow of a van;

FIG. 8 is a schematic diagram of a flat warehouse-out process;

FIG. 9 is a schematic diagram of an automated warehouse-out process for a shelf warehouse;

FIG. 10 is a schematic diagram of a flat warehouse entry process;

FIG. 11 is a schematic diagram of an automated warehouse entry process for a pallet library;

FIG. 12 is a schematic diagram of a flat warehouse quality inspection process;

FIG. 13 is a schematic diagram of a shelf library quality inspection project;

FIG. 14 is a schematic diagram of a flat library inventory project;

FIG. 15 is a schematic diagram of a shelf inventory process;

fig. 16 is a rectangular conflict.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments, and that all other embodiments obtained by persons of ordinary skill in the art without making creative efforts based on the embodiments in the present invention are within the protection scope of the present invention.

In the description of the present invention, it should be noted that the positional or positional relationship indicated by the terms such as "upper", "lower", "inner", "outer", "top/bottom", etc. are based on the positional or positional relationship shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

Equipment requirements in the reservoir area support automatic/manual driving mode switching; the truck is required to be carried between the ground and lifted to be loaded and unloaded by the truck. The unmanned forklift VGV employs an automated trolley based on visual guidance. The balanced unmanned forklift is mainly used for outdoor loading, unloading and carrying, supports a certain gradient, can run across a working surface and supports automatic/manual driving mode switching; the forward unmanned forklift is mainly used for taking and placing cigarette trays in a goods shelf warehouse, and the lifting height of fork arms is more than or equal to 5300mm, so that automatic/manual driving mode switching is supported. When the vehicle reaches a loading and unloading operation point, the unmanned forklift can automatically plan a path according to the parking position of the vehicle, and the finished product of the whole tray is conveyed to a finished product warehouse corresponding to a warehouse-in and warehouse-out operation point from the side surface of the flying-wing vehicle; when the vehicle reaches a loading and unloading operation point, the unmanned forklift can automatically plan a path according to the parking position of the vehicle, and carry the finished products of the whole tray in the finished product warehouse corresponding to the in-out operation point to the flying vehicle from the side surface of the flying vehicle.

As shown in fig. 1, the model includes; 1. visual detection parking space and detection contour

And cargo space detection cameras are respectively arranged on two sides of the working surfaces 1 and 2 of the test point warehouse area and are used for detecting the parking position of the truck and positioning the cargo loading and unloading starting point.

Establishing an automatic loading and unloading process of the flying wing truck;

in the process of automatic loading and unloading, the idle goods space on the truck is detected in an auxiliary way through the goods space detection system, and the unmanned forklift automatically adjusts the path by using the self-adaptive function, so that the tray is placed on the idle goods space to finish automatic loading;

in the unloading process, the position of a pallet on a truck is detected in an auxiliary manner through a cargo space detection system, an unmanned forklift automatically adjusts a path to accurately position the pallet and fork the pallet, after the pallet is forked, the pallet is lifted up after the pallet is transversely moved according to the transverse movement function of a fork arm of the unmanned forklift, so that the scattering of the cargoes caused by the close contact between the pallets is avoided, and the automatic unloading operation is completed; planning a real-time path of the unmanned forklift;

1. automatic unloading process of flying wing vehicle

The whole tray transport vehicle adopts a truck with openable carriage sides, and generally adopts a truck with openable carriage sides turned upwards, and the shape of the truck is like opened wings, commonly called as an all-wing vehicle. The process is as follows: 1) The flying wing vehicle reaches a specified unloading parking point of the truck; 2) The balanced unmanned forklift is unloaded from two sides of the tail of the flying wing to a flat warehouse transfer area or a goods shelf warehouse transfer area; 3) And unloading is sequentially carried out to the appointed positions in the middle and the front of the carriage, and the truck is driven away from the working surface after unloading is finished. As shown in fig. 2.

2. Automatic loading process of flying wing vehicle

The process is as follows: 1) The truck reaches a designated loading parking spot; 2) The unmanned forklift carries the finished product trays to be transported to designated positions on two sides of a front carriage of the forklift from a flat warehouse transfer area or a goods shelf warehouse transfer area for loading; 3) Loading is carried out to the appointed positions of the middle part and the tail part of the carriage in sequence, and the truck is driven away from the working surface after loading is finished. As shown in fig. 3.

Real-time path planning based on global and vehicle-mounted self-adaptive perception is combined with a multi-level intelligent real-time scheduling system, so that the driving route is automatically adjusted by using a self-adaptive function according to the offset distance of the vehicle, and goods taking and placing are completed. As shown in fig. 5 (when the pallet has two placement positions, namely, purple and blue, the corresponding path planning corresponds to red and green), each time the pallet is at a different position, the forklift can plan the path in real time according to the position to pick up goods.

The path planning algorithm of the unmanned forklift adopts a classical Multi-robot path planning algorithm MAPF (Multi-AgentPath Finding), and the mathematics of the algorithm are described as follows:

input < G, s, t >, wherein: undirected graph g= (V, E), V is the vertex of graph G, and E is the edge of graph G.

Mapping s, [1, ], k ] - > V maps one unmanned forklift to one vertex, describing the source node of each unmanned forklift (agent).

Mapping t, [1, ], k ] - > V an unmanned forklift maps to a vertex, describing the target node of each unmanned forklift (agent)

In the classical MAPF algorithm, the continuous time is discretized into time steps (which is also the origin of the time step in many MAPF algorithms), at each time step (time step) an Action can be taken by an unmanned forklift.

Action: a- > V, i.e., a (V) =o ', means that the unmanned forklift moves from the vertex V to the vertex V' after performing Action a. In the classical MAPF algorithm, each unmanned forklift has two actions, wait: wait in place, wait (v) =v, move: move to the next adjacent vertex, move (v) =v ', (v, v')eE

Let pi= (a) ₁ ,…,a _n ) For an unmanned forklift i, pi is set _i [x]For unmanned forklift i, pi= (a) is performed starting from starting point s (i) ₁ ,…,a _n ) The positions reached after the first x actions (actions), i.e. pi _i [x]＝a _x (a _x-1 (…a ₁ (s (i))). If the unmanned forklift i starts from the starting point s (i), the unmanned forklift i reaches the target point t (i) after complete execution of pi, namely pi _i [π]Let t (i), referred to as pi, is a single-agent plan (path defined in CBS) of unmanned forklift i.

And (3) outputting: solution, i.e. single machine planning path set of k unmanned forklifts (a set of k single-agent plants)

The conflict is defined in the algorithm because since multiple machines are involved, the intersection or overlap between each single machine planning path is difficult to avoid, which necessarily results in a collision for the robot, and the intersection between paths is defined as a conflict in order to solve the problem at the algorithm level. Taking a rectangular conflict as an example in fig. 16, if there is a rectangular conflict between two agents, the following equation is satisfied:

|S ₁ ×x-G ₁ ×x|+|S ₁ ×y-G ₁ ×x|＝G ₁ ×t-S ₁ ×t>0 (1)

|S ₂ ×x-G ₂ ×x|+|S ₂ ×y-G ₂ ×x|＝G ₂ ×t-G ₂ ×t>0 (2)

(S ₁ ×x-G ₁ ×x)(S ₂ ×x-G ₂ ×x)≥0 (3)

(S ₁ ×y-G ₁ ×y)(S ₂ ×y-G ₂ ×y)≥0 (4)。

3. truck loading form

The two sides are transversely placed, the space between the front, the back, the left and the right of the flying wing vehicle tray is ensured to be 100mm at minimum, and the space between the edge of the tray and the edge of a truck is less than 100mm. As shown in fig. 5.

(1) Semi-automatic loading and empty tray recovery flow design for van

The van carries out semi-automatic loading operation in test point storehouse area 1, no. 2 working face, carries the finished product tray to van afterbody by unmanned fork truck, carries out a cigarette loading by the manual work after destacking, and empty tray that produces after the loading is retrieved by unmanned fork truck is automatic.

1. Semi-automatic loading of van

The semi-automatic loading process of the van comprises the following steps: 1) The van reaches a specified loading parking point of the van; 2) The balancing weight unmanned forklift can simultaneously transport the whole tray finished products to the tail of the van truck from the flat warehouse transfer area and the goods shelf warehouse transfer area to carry out loading operation (see the design of the warehousing operation flow for details); 3) Manually unstacking the tail part of the van to finish loading operation; 4) Empty trays generated by unstacking are carried to an empty tray recycling area by an unmanned forklift to carry out empty tray stacking operation. As shown in fig. 6.

2. Empty tray recovery

Empty trays generated during semi-automatic loading of van trucks are automatically recovered, stacked and warehoused by unmanned forklifts, and the process is as follows: 1) After loading of the van truck is completed, taking the empty tray away from the tail of the truck by a balancing weight unmanned forklift, placing the empty tray in an empty tray recycling area, stacking the empty tray, and stacking 10 trays into an empty tray group; 2) Each time an empty tray group is formed, namely, a dispatching task is automatically initiated, and the empty tray group is transported back to a goods shelf warehouse by a forward unmanned forklift; 3) And after the warehouse entry is completed, the unmanned forklift returns to the standby parking point.

(2) Van-type semiautomatic loading application technology

1. Vehicle-mounted sensing system

The method is used for positioning the carriage, identifying and classifying the specification of the tray, and judging the position (width/thickness) of the goods by using the classification result. As shown in fig. 7.

2. Stroke encoder

The method is used for checking the walking distance of the forklift.

(3) Design of ex-warehouse operation flow

1. Warehouse-out operation of flat warehouse

As shown in fig. 8.

The flat warehouse-out operation flow can be divided into a whole tray finished product warehouse-out operation flow and a scattered tray finished product warehouse-out operation flow, and the flow is as follows:

1) The tray type unmanned forklift carries the whole tray finished product to the transfer area in the flat warehouse from the designated goods space of the flat warehouse according to the dispatching instruction;

2) When the van truck is loaded, the finished products of the whole trays are delivered out of the warehouse, and if the number of the whole trays in the order is more than or equal to 12 trays according to the WMS order situation, the finished products of the whole trays are transported to a flat warehouse transfer area from a whole tray storage area by a tray type unmanned forklift; if the number of the whole trays in the order is smaller than 12 trays, carrying the whole tray finished products to a flat warehouse transfer area from a mantissa disc area by a tray type unmanned forklift; then the empty tray is conveyed to the tail part of the van by the balanced unmanned forklift, and the empty tray is conveyed to the empty tray for returning by the balanced unmanned forklift after manual stack disassembly;

3) When loading the van, if the order contains the scattered disc, the whole tray is delivered out of the warehouse, and finally the scattered disc is delivered out of the warehouse. According to the WMS order situation, when the number of scattered discs in the order is smaller than the number of scattered discs of the same article in a Yu Pingku scattered disc area, carrying the scattered discs from the scattered disc area to a flat warehouse middle transfer area by a tray type unmanned forklift, carrying the scattered discs to the tail part of a van truck by a balancing weight unmanned forklift, carrying the remaining scattered discs to the flat warehouse middle transfer area by the balancing weight unmanned forklift after manual unstacking, and carrying the remaining scattered discs to the flat warehouse scattered disc area by the tray type unmanned forklift;

when the number of scattered trays in an order is equal to the number of scattered trays of the same product in a scattered tray area of a flat warehouse, carrying the scattered trays to a transfer area in the flat warehouse from the scattered tray area by a tray type unmanned forklift, carrying the scattered trays to the tail part of a van truck by a balancing weight unmanned forklift, carrying an empty tray to an empty tray recovery area by the balancing weight unmanned forklift after manual unstacking, and carrying out stacking;

when the number of scattered discs in an order is larger than the number of scattered discs of the same product in a Yu Pingku scattered disc area, carrying a whole pallet finished product to a flat warehouse middle transfer area by a pallet type unmanned forklift, carrying the whole pallet finished product to a van truck tail part by a balancing weight unmanned forklift, carrying newly generated scattered discs to the flat warehouse middle transfer area by the balancing weight unmanned forklift after manual unstacking, carrying the newly generated scattered discs to the flat warehouse scattered disc area by the pallet type unmanned forklift, and carrying out disc assembly with the same product scattered discs;

4) When the flying wing vehicle is loaded, the finished products of the whole trays are delivered out of the warehouse, and according to the WMS order situation, if the number of the whole trays in the order is more than or equal to 12 trays, the finished products of the whole trays are transported to a flat warehouse transfer area from a whole tray storage area by a tray type unmanned forklift; if the number of the whole trays in the order is smaller than 12 trays, carrying the whole tray finished products to a flat warehouse transfer area from a mantissa disc area by a tray type unmanned forklift; carrying the whole tray finished product to the flying wing vehicle by using a balancing weight unmanned forklift to finish the loading operation of the flying wing vehicle;

5) After the flat warehouse-out operation is completed, the tray type unmanned forklift automatically runs to an unmanned forklift parking spot.

2. Goods shelf warehouse-out operation

The shelf warehouse-out operation is a whole tray warehouse-out mode, and the process is as follows: 1) The front-moving type unmanned forklift moves the cigarette tray to the front end of the tunnel in advance according to the scheduling command from the front end of the tunnel (the shuttle plate moves the cigarette tray to the front end of the tunnel in advance according to scheduling) and carries the whole tray of cigarettes to a transfer area in a goods shelf warehouse; 2) When the van is loaded, the transfer area in the goods shelf warehouse is transported to the tail of the van by the balancing weight unmanned forklift, the empty trays generated by manual unstacking are transported to the empty tray recovery area by the balancing weight unmanned forklift for stacking; the generated scattered discs are conveyed to a transfer area in the flat warehouse by a balancing weight unmanned forklift, and are conveyed to a scattered disc area in the flat warehouse by a tray type unmanned forklift; 3) When the flying wing vehicle is loaded, the flying wing vehicle is transported to the flying wing vehicle in a transfer area in the goods shelf warehouse by a balancing weight unmanned forklift, and the loading operation of the flying wing vehicle is completed; 4) After the goods shelf warehouse-out operation is completed, the unmanned forklift automatically runs to the parking spot of the unmanned forklift. As shown in fig. 9.

(4) Warehouse entry work flow design

1. Warehouse entry operation of flat warehouse

As shown in fig. 10.

The warehouse-in operation of the flat warehouse-in comprises warehouse-in of finished products of the whole pallet and warehouse-in of scattered discs (scattered discs generated by manual unstacking when loading a van), and the flow is as follows:

1) The tray type unmanned forklift carries the whole tray (the balance weight unmanned forklift is unloaded to the whole tray of the transfer area) or the scattered tray from the transfer area of the flat warehouse according to the dispatching instruction;

2) If the number of the trays with the same standard is more than or equal to 12 trays, carrying the trays to a whole tray area for storage by a tray type unmanned forklift; if the number of the whole trays in the transfer area of the flat warehouse is increased by 12 trays or more, carrying the whole trays of the mantissa trays and the whole trays in the transfer area of the flat warehouse to the whole tray area for storage by a tray type unmanned forklift; if the number of the trays in the transfer area of the flat warehouse is increased, and the number of the same product rule number trays is smaller than 12, carrying the trays in the transfer area of the flat warehouse to the number of the trays in the transfer area of the flat warehouse by a tray type unmanned forklift for storage;

3) If the scattered discs are stored in the warehouse, carrying the scattered discs to a scattered disc area by a tray type unmanned forklift, and assembling the scattered discs with the same product standard scattered discs;

4) And (3) finishing the warehouse-in operation of the flat warehouse, and automatically driving the tray type unmanned forklift to a parking spot of the unmanned forklift.

2. Warehouse-in operation of goods shelf warehouse

The shelf warehouse-in operation is a whole tray warehouse-in mode, and the process is as follows: 1) The front-moving unmanned forklift carries the whole tray of cigarettes from a transfer area of the goods shelf warehouse according to the dispatching instruction (before the balancing weight unmanned forklift is unloaded to the transfer area), and enters the goods shelf warehouse; 2) The front-moving unmanned forklift carries the whole tray of cigarettes to a specified roadway receiving section, and the cigarettes are transported to a specified cargo space by a shuttle plate; 3) And (3) finishing the warehouse-in operation of the goods shelf warehouse, and automatically driving the forward unmanned forklift to a parking spot of the unmanned forklift. As shown in fig. 11.

(5) Quality inspection flow design

And after warehousing, carrying out spot check, realizing inventory searching of the appointed whole tray, and automatically taking the whole tray out of the warehouse to a spot check position. After the whole tray reaches the spot check position, the spot check tray is bound with information again, and the spot check tray is automatically operated in a scattered disc area, so that unqualified cigarettes for spot check can be taken out of the warehouse in a single piece, and can be taken out of the warehouse in a whole batch.

1. Quality inspection of flat warehouse

The flat warehouse quality inspection is manually sent out by a delivery mobile terminal, if a certain tray in the 1 st position is selected, the tray type unmanned forklift firstly conveys the tray in front of the 1 st position to the 2 nd position for temporary storage, then conveys the tray in need of quality inspection in the 1 st position to a tray area in the 3 rd position, and the quality inspection tray is processed according to scattered trays after the manual spot inspection is finished; and the unmanned forklift is used for transporting the No. 2 tray back to the No. 1 storage. As shown in fig. 12.

2. Quality inspection of goods shelf warehouse

The quality inspection of the goods shelf warehouse is instructed manually through a delivery mobile terminal, for example, a certain tray in the middle of the No. 1 position is selected, a forward-moving type unmanned forklift and a shuttle plate transport the tray in front of the No. 1 position to the No. 2 position (empty warehouse position) for temporary storage, then the tray in need of quality inspection of the No. 1 position is transported to a middle transfer area of the No. 3 position, the tray is transported to a tray area of the No. 4 group by a balancing weight unmanned forklift, and the quality inspection tray is processed according to scattered trays after manual spot inspection; and the forward unmanned forklift and the shuttle plate transport the No. 2 trays back to the No. 1 tunnel for storage. As shown in fig. 13.

(6) Inventory flow design

The warehouse checking adopts an unmanned forklift and a shuttle plate to combine with the WMS to check, the checking time (idle checking) is manually set, the unmanned forklift and the shuttle plate are scheduled on time by the WMS, the code scanning of the unmanned forklift is used for confirming objects, and the object information is checked.

1. Flat stock inventory

When checking starts, the WMS judges an empty warehouse location area (area 1) of the warehouse, the dispatching tray type unmanned forklift carries an object in area 2 to area 1 (one-dimensional code is scanned to confirm the object when each tray is carried), after checking is completed in area 2, materials in area 3 are transported to area 2, and the operations are sequentially carried out to complete checking of the whole warehouse. As shown in fig. 14.

2. Goods shelf warehouse inventory

When inventory starts, the WMS judges the position of a warehouse object, the unmanned forklift is scheduled to place the shuttle plate at the position of a lane 1, and the pallet RFID is scanned by running in the shuttle plate lane to check the object; and after the verification of the 1 roadway is finished, replacing the shuttle plate with the 2 roadway for verification by using the unmanned forklift until the checking verification of the whole warehouse is finished. As shown in fig. 15.

Those skilled in the art will appreciate that implementing all or part of the above-described methods in accordance with the embodiments may be accomplished by way of a computer program stored on a computer readable storage medium, which when executed may comprise the steps of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a read-only memory (ReadOnlyMemory, ROM) or a random access memory (RandomABBessMemory, RAM).

It should be understood that the detailed description of the technical solution of the present invention, given by way of preferred embodiments, is illustrative and not restrictive. Modifications of the technical solutions described in the embodiments or equivalent substitutions of some technical features thereof may be performed by those skilled in the art on the basis of the present description; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (3)

1. An automatic loading and unloading flow model based on unmanned fork truck, its characterized in that: the model comprises;

establishing an automatic loading and unloading process of the flying wing truck;

in the process of automatic loading and unloading, the idle goods space on the truck is detected in an auxiliary way through the goods space detection system, and the unmanned forklift automatically adjusts the path by using the self-adaptive function, so that the tray is placed on the idle goods space to finish automatic loading;

in the unloading process, the position of a pallet on a truck is detected in an auxiliary manner through a cargo space detection system, an unmanned forklift automatically adjusts a path to accurately position the pallet and fork the pallet, after the pallet is forked, the pallet is lifted up after the pallet is transversely moved according to the transverse movement function of a fork arm of the unmanned forklift, so that the scattering of the cargoes caused by the close contact between the pallets is avoided, and the automatic unloading operation is completed;

planning a real-time path of the unmanned forklift;

real-time path planning based on global and vehicle-mounted self-adaptive sensing is combined with a multi-level intelligent real-time scheduling system, so that the driving route is automatically adjusted by using a self-adaptive function according to the offset distance of the vehicle, and goods taking and placing are completed;

a tray recovery flow is established and a tray recovery process is carried out,

the empty trays generated during loading of the van are automatically recovered, stacked and put in storage by an unmanned forklift;

establishing an in-out warehouse operation flow; the method comprises the operations of flat warehouse entry and the operations of goods shelves warehouse entry and warehouse entry;

establishing a quality inspection operation flow; the quality inspection method comprises the steps of flat warehouse quality inspection and shelf warehouse quality inspection;

establishing an inventory flow; including flat warehouse inventory and shelf inventory.

2. An automated handling flow model based on an unmanned forklift as claimed in claim 1, wherein: the method for planning the real-time path of the unmanned forklift specifically comprises the following steps: the path planning algorithm of the unmanned forklift adopts a classical Multi-robot path planning algorithm MAPF (Multi-Agent Path Finding), and the mathematics of the algorithm are described as follows:

input < G, s, t >, wherein: undirected graph g= (V, E), V being the vertex of graph G, E being the edge of graph G;

mapping s, [1, ], k ] - > V maps one unmanned forklift to one vertex, describing the origin (source) node of each unmanned forklift (agent);

mapping t, [1, ], k ] - > V an unmanned forklift maps to a vertex, describing a target node for each unmanned forklift (agent);

in the classical MAPF algorithm, the continuous time is discretized into time steps (which is also the origin of the time step in many MAPF algorithms), at each time step (time step) the unmanned forklift can do an Action;

action: a- > V, i.e., a (V) =o ', indicating that the unmanned forklift moves from the vertex V to the vertex V' after executing Action a; in the classical MAPF algorithm, each unmanned forklift has two actions: wait (v) =v, move: move to the next adjacent vertex, move (v) =v ', (v, v')eE;

let pi= (a) ₁ ,…,a _n ) For an unmanned forklift i, pi is set _i [x]For unmanned forklift i, pi= (a) is performed starting from starting point s (i) ₁ ,…,a _n ) The positions reached after the first x actions (actions), i.e. pi _i [x]＝a _x (a _x-1 (…a ₁ (s (i))); if the unmanned forklift i starts from the starting point s (i), the unmanned forklift i reaches the target point t (i) after complete execution of pi, namely pi _i [π]Let t (i), referred to as pi, single-agent plan (path defined in CBS) for unmanned forklift i;

and (3) outputting: solution, namely a single machine planning path set (a set of k single-agent places) of k unmanned forklifts;

the conflicts are defined in the algorithm because since multiple machines are involved, the intersection or overlap between each single machine planning path is difficult to avoid, which necessarily results in a collision for the robot, and the intersections between paths are defined as conflicts in order to solve the problem at the algorithm level; if there is a rectangular conflict between two agents, the following equation is satisfied:

|S ₁ ×x-G ₁ ×x|+|S ₁ ×y-G ₁ ×x|＝G ₁ ×t-S ₁ ×t>0 (1)

|S ₂ ×x-G ₂ ×x|+|S ₂ ×y-G ₂ ×x|＝G ₂ ×t-G ₂ ×t>0 (2)

(S ₁ ×x-G ₁ ×x)(S ₂ ×x-G ₂ ×x)≥0 (3)

(S ₁ ×y-G ₁ ×y)(S ₂ ×y-G ₂ ×y)≥0 (4)。

3. an automated handling flow model based on an unmanned forklift as claimed in claim 1, wherein: the operation flow of establishing the warehouse-in and warehouse-out is as follows:

flat warehouse out operation flow

The method can be divided into a whole tray finished product delivery and a scattered tray finished product delivery, and the flow is as follows:

1) The tray type unmanned forklift carries the whole tray finished product to the transfer area in the flat warehouse from the designated goods space of the flat warehouse according to the dispatching instruction;

2) When the van truck is loaded, the finished products of the whole trays are delivered out of the warehouse, and if the number of the whole trays in the order is more than or equal to 12 trays according to the WMS order situation, the finished products of the whole trays are transported to a flat warehouse transfer area from a whole tray storage area by a tray type unmanned forklift; if the number of the whole trays in the order is smaller than 12 trays, carrying the whole tray finished products to a flat warehouse transfer area from a mantissa disc area by a tray type unmanned forklift; then the empty tray is conveyed to the tail part of the van by the balanced unmanned forklift, and the empty tray is conveyed to the empty tray for returning by the balanced unmanned forklift after manual stack disassembly;

3) When loading the van, if the order contains scattered discs for delivery, delivering the whole tray out of the warehouse, and finally delivering the scattered discs out of the warehouse; according to the WMS order situation, when the number of scattered discs in the order is smaller than the number of scattered discs of the same article in a Yu Pingku scattered disc area, carrying the scattered discs from the scattered disc area to a flat warehouse middle transfer area by a tray type unmanned forklift, carrying the scattered discs to the tail part of a van truck by a balancing weight unmanned forklift, carrying the remaining scattered discs to the flat warehouse middle transfer area by the balancing weight unmanned forklift after manual unstacking, and carrying the remaining scattered discs to the flat warehouse scattered disc area by the tray type unmanned forklift;

when the number of scattered trays in an order is equal to the number of scattered trays of the same product in a scattered tray area of a flat warehouse, carrying the scattered trays to a transfer area in the flat warehouse from the scattered tray area by a tray type unmanned forklift, carrying the scattered trays to the tail part of a van truck by a balancing weight unmanned forklift, carrying an empty tray to an empty tray recovery area by the balancing weight unmanned forklift after manual unstacking, and carrying out stacking;

when the number of scattered discs in an order is larger than the number of scattered discs of the same product in a Yu Pingku scattered disc area, carrying a whole pallet finished product to a flat warehouse middle transfer area by a pallet type unmanned forklift, carrying the whole pallet finished product to a van truck tail part by a balancing weight unmanned forklift, carrying newly generated scattered discs to the flat warehouse middle transfer area by the balancing weight unmanned forklift after manual unstacking, carrying the newly generated scattered discs to the flat warehouse scattered disc area by the pallet type unmanned forklift, and carrying out disc assembly with the same product scattered discs;

4) When the flying wing vehicle is loaded, the finished products of the whole trays are delivered out of the warehouse, and according to the WMS order situation, if the number of the whole trays in the order is more than or equal to 12 trays, the finished products of the whole trays are transported to a flat warehouse transfer area from a whole tray storage area by a tray type unmanned forklift; if the number of the whole trays in the order is smaller than 12 trays, carrying the whole tray finished products to a flat warehouse transfer area from a mantissa disc area by a tray type unmanned forklift; carrying the whole tray finished product to the flying wing vehicle by using a balancing weight unmanned forklift to finish the loading operation of the flying wing vehicle;

5) After the flat warehouse leaving operation is completed, the tray type unmanned forklift automatically runs to an unmanned forklift parking spot;

goods shelf warehouse-out operation

The shelf warehouse-out operation is a whole tray warehouse-out mode,

the process is as follows: 1) The front-moving type unmanned forklift moves the cigarette tray to the front end of the tunnel in advance according to the scheduling command from the front end of the tunnel (the shuttle plate moves the cigarette tray to the front end of the tunnel in advance according to scheduling) and carries the whole tray of cigarettes to a transfer area in a goods shelf warehouse;

2) When the van is loaded, the transfer area in the goods shelf warehouse is transported to the tail of the van by the balancing weight unmanned forklift, the empty trays generated by manual unstacking are transported to the empty tray recovery area by the balancing weight unmanned forklift for stacking; the generated scattered discs are conveyed to a transfer area in the flat warehouse by a balancing weight unmanned forklift, and are conveyed to a scattered disc area in the flat warehouse by a tray type unmanned forklift;

3) When the flying wing vehicle is loaded, the flying wing vehicle is transported to the flying wing vehicle in a transfer area in the goods shelf warehouse by a balancing weight unmanned forklift, and the loading operation of the flying wing vehicle is completed;

4) After the goods shelf warehouse leaving operation is completed, the unmanned forklift automatically runs to an unmanned forklift stopping point;

warehouse entry work flow design

Warehouse entry operation of flat warehouse

The flat warehouse-in operation comprises warehouse-in of finished products of a whole tray, scattered discs, scattered disc warehouse-in generated by manual unstacking when a van truck is loaded, and the flow is as follows:

1) The tray type unmanned forklift carries the whole tray (the balance weight unmanned forklift is unloaded to the whole tray of the transfer area) or the scattered tray from the transfer area of the flat warehouse according to the dispatching instruction;

2) If the number of the trays with the same standard is more than or equal to 12 trays, carrying the trays to a whole tray area for storage by a tray type unmanned forklift; if the number of the whole trays in the transfer area of the flat warehouse is increased by 12 trays or more, carrying the whole trays of the mantissa trays and the whole trays in the transfer area of the flat warehouse to the whole tray area for storage by a tray type unmanned forklift; if the number of the trays in the transfer area of the flat warehouse is increased, and the number of the same product rule number trays is smaller than 12, carrying the trays in the transfer area of the flat warehouse to the number of the trays in the transfer area of the flat warehouse by a tray type unmanned forklift for storage;

3) If the scattered discs are stored in the warehouse, carrying the scattered discs to a scattered disc area by a tray type unmanned forklift, and assembling the scattered discs with the same product standard scattered discs;

4) The warehouse-in operation of the flat warehouse is completed, and the tray type unmanned forklift automatically runs to an unmanned forklift parking spot;

warehouse-in operation of goods shelf warehouse

The shelf warehouse-in operation is a whole tray warehouse-in mode, and the process is as follows: 1) The front-moving unmanned forklift carries the whole tray of cigarettes from a transfer area of the goods shelf warehouse according to the dispatching instruction, and the balance weight unmanned forklift is unloaded to the transfer area before entering the goods shelf warehouse;

2) The front-moving unmanned forklift carries the whole tray of cigarettes to a specified roadway receiving section, and the cigarettes are transported to a specified cargo space by a shuttle plate;

3) And (3) finishing the warehouse-in operation of the goods shelf warehouse, and automatically driving the forward unmanned forklift to a parking spot of the unmanned forklift.