An intelligent receiving and shipping system for warehousing

Abstract

The present invention relates to the field of warehousing technology, and in particular to an intelligent receiving and shipping system for warehousing, comprising a mobile client, an information external network service end, a database and an information intranet operation management end, wherein the mobile client is connected to the information external network service end through a secure interactive platform; the system in the present invention uses the mobile client, the information external network service end, the database and the information intranet operation management end as information connection media, thereby breaking through time and space limitations in the process of receiving and shipping, expanding the warehousing operation space of grassroots users, and largely avoiding the occurrence of situations such as untimely information entry, ensuring the consistency of logistics and information flow, and changing the concept and method of material warehousing management work, and by constructing a Kalman filtering algorithm and a point cloud matching algorithm, realizing the intelligent scheduling of logistics robots, optimizing the routes of robots, and avoiding the occurrence of situations such as empty loads or mutual obstructions.

Description

Technical Field

[0001] The present invention relates to the field of warehousing technology, and in particular to an intelligent goods receiving and shipping system for warehousing. Background Art

[0002] Logistics warehouse is an important part of modern logistics, plays a vital role in logistics equipment, and is the focus of manufacturers' research and planning. Efficient and reasonable logistics warehouse can help manufacturers speed up the flow of materials, reduce costs, ensure the smooth progress of production, and achieve effective control and management of resources. The development of logistics warehouse has gone through different historical periods and stages, from the original manual logistics warehouse to the current intelligent logistics warehouse. Through the support of various high-tech logistics warehouses, the efficiency of logistics warehouses has been greatly improved.

[0003] In logistics management, the goods receiving and shipping system is a system based on intelligent technology, which aims to improve the efficiency, accuracy and traceability of warehousing and logistics operations. However, the current goods receiving and shipping system has the following shortcomings: 1. The system operation is complex, time-consuming and labor-intensive. Whether it is a desktop computer or a PDA terminal operation, multiple steps must be performed to complete a task, which is cumbersome; 2. Business data entry is not timely. The business data of goods shipped to the construction site or warehousing in non-warehouse indoor areas cannot be entered into the ERP system in time. The on-site operation results cannot be guaranteed to be consistent with the data in the system in real time, which may affect the timely development of subsequent work; 3. The routes of logistics transportation robots have not been optimized, which may easily lead to situations such as robots obstructing each other and robots being empty. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent receiving and shipping system for warehousing, which can ensure the consistency of logistics and information flow, and realize the intelligent scheduling of logistics robots by constructing a Kalman filter algorithm and a point cloud matching algorithm.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an intelligent receiving and shipping system for warehousing, comprising a mobile client, an information external network server, a database and an information intranet operation and management terminal, wherein the mobile client is connected to the information external network server through a secure interactive platform, and the information external network server is connected to the database and the information intranet operation and management terminal through a secure isolation device, and the mobile client comprises a client basic functional unit, a public component and a material storage unit, and the client basic functional unit is composed of a mobile portal module, a mobile store module and an enterprise credit module, and the public component is composed of an identity authentication module, a mobile access module, a camera function module, a message push interface module, a geographic location positioning module, a QR code recognition module, a local file storage module, a card reading module and a control module.

[0006] Preferably, the material storage unit includes an on-site delivery and receiving module, an IM warehouse operation module, a WM warehouse operation module and an intelligent system management module, and the information external network service end is composed of a mobile access gateway module, a platform operation module and a material storage module.

[0007] Preferably, the database is composed of an extranet mobile interactive platform database and a material storage extranet interactive database.

[0008] Preferably, the information intranet operation management terminal is composed of a platform management module, a platform intranet support service and a material warehousing ERP data interface service. The platform management module has mobile portal management, mobile application management, message management, monitoring and analysis, mobile device management, enterprise information background management and system configuration functions. The platform management module also includes a SLAM algorithm structure framework.

[0009] Preferably, the SLAM algorithm structural framework is composed of a sensor information module, a detection module, a space accumulation module, a map module and a backend module.

[0010] Preferably, the card reader module adopts a XN-K02 series 125KHz contactless short-range ID card module.

[0011] An intelligent goods receiving and shipping system for warehousing, wherein the goods receiving and shipping method comprises the following steps:

[0012] Step S1, the on-site operator logs in to the information extranet server, and downloads the on-site business documents that need to be operated by the ERP system to the handheld terminal in real time, the database of the M warehouse operation module application project, the data submitted by the mobile portal module APP in the mobile client, and the data pushed by the ERP system, which is the database for the data displayed and submitted by the mobile client APP and the data interacting with the ERP system;

[0013] Step S2: Before the mobile operation starts, the ERP system regularly calls the interface for data to be processed and pushes the data to the transit server. After the grassroots user completes the business processing, he confirms and submits the data to the APP server on the APP. The background program inserts the data into the transit database. The background transit server polls and monitors the data changes in the transit database, obtains the executed business data, and sends it to the material storage ERP data interface service system;

[0014] Step S3, at the same time, the SLAM algorithm structure framework performs path allocation for logistics goods, and the storage equipment management module performs equipment calls. The map module establishes an incremental map of the surrounding environment based on the known coordinates or positions of the equipment robot to achieve the purpose of map construction and positioning. The sensor information module on the equipment robot mainly collects video images, laser scanning data, point cloud information, etc. The detection module performs visual mileage tracking, and directly aligns the algorithm design and feature matching design;

[0015] Step S4, the platform operation module sends the changed data to the server of the ERP system, inserts the data for display by the mobile client APP into the transit database, and the intelligent system management module detects the change of database data by background polling, enables the Servlet listener, and sends the changed data to the ERP system. For handover, acceptance and delivery, the material storage external network interactive database transit server listens to the insertion of new data and captures the new data, and calls WebService to push the data to the material storage ERP data interface service system;

[0016] Step S5, after the delivery and receipt business is completed, the data is confirmed and submitted to the database server on the information intranet operation management terminal. The background transit server polls and monitors the data changes in the transit database, obtains the executed business data, and sends it to the information extranet server. After receiving the data, the information extranet server system automatically processes it and returns it to the mobile portal module in the mobile client, prompting the user that the business system operation has been completed.

[0017] Preferably, in step S1, the mobile portal module APP server in the mobile client uses the SSM framework, the mobile terminal page of the mobile client APP application is written in HTML, and the front-end framework uses Ionic and AngularJS.

[0018] Preferably, the SLAM algorithm structure framework in step S3 adopts the extended Kalman filter algorithm, and the basic formula of the EKF-SLAM algorithm is:

[0019] X k =F k X k-1 +W k-1

[0020] Y k =h k X k +V k

[0021] In the above formula, in the above expression, X k represents the estimated value of the algorithm structure framework for the next moment at the k-1 moment, and Y krepresents the observation vector obtained by the detection module, F k is called the state transfer matrix, W k-1 is the noise at time k-1, V k-1 is the speed at time k-1, h k is the measurement matrix.

[0022] Preferably, in step S4, the server backend of the ERP system connects to the database using JDBC.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] The system in the present invention uses mobile clients, information external network service terminals, databases and information internal network operation management terminals as information connection media, thereby breaking through time and space limitations in the process of receiving and delivering goods, expanding the warehousing operation space of grassroots users, and largely avoiding the occurrence of untimely information entry and the like, ensuring the consistency of logistics and information flow, and changing the concept and method of material warehousing management. In addition, by constructing a Kalman filter algorithm and a point cloud matching algorithm, the intelligent scheduling of logistics robots is realized, the routes of robots are optimized, and the occurrence of empty loads or mutual obstructions is avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a system principle block diagram of the present invention;

[0026] Figure 2 This is a schematic diagram of the process of receiving and shipping goods in the present invention;

[0027] Figure 3 It is a schematic diagram of the structural framework of the SLAM algorithm in the present invention. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] See also Figure 1-3, an intelligent receiving and shipping system for warehousing, including a mobile client, an information extranet server, a database and an information intranet operation and management terminal. The mobile client is connected to the information extranet server through a secure interaction platform. The secure interaction platform is an online platform for promoting security information sharing, collaboration and communication. It provides a secure environment for security professionals, researchers, practitioners and organizations to share information on security threats, vulnerabilities, attack techniques, defense strategies, etc. The information extranet server is connected to the database and the information intranet operation and management terminal through a secure isolation device. An isolation device is a device used to create physical or logical isolation, designed to protect sensitive information, network resources or systems from unauthorized access and attacks. These devices can be used in various environments, including computer networks, industrial control systems, data centers, etc., to provide an additional layer of security, including isolation firewalls, isolation gateways, air isolation devices, virtual isolation devices, etc. Isolation Devices) and security gateways (Security Gateways), the mobile client includes a client basic function unit, a public component and a material storage unit, the client basic function unit is composed of a mobile portal module, a mobile store module and an enterprise letter module, the mobile portal module: user authentication and login: provide user authentication and login functions to ensure that only legitimate users can access the mobile application, mobile store module: product display and search, display the list of purchasable products, and provide search and filtering functions to facilitate users to find the required products, enterprise letter module: provide real-time point-to-point or group chat function, allowing users to send text, pictures, files and other messages, the public component is composed of an identity authentication module, a mobile access module, a camera function module, a message push interface module, a geographic location module, a QR code recognition module, a file local storage module, a card reader module and a control module, to achieve customer identity authentication, mobile access, message push, geographic location and other functions, and to achieve camera photography, QR code recognition and other functions, and the file local storage module and the card reader module, the card reader module adopts the XN-K02 series 125KHz contactless short-range ID card module, and its effective detection distance is about 1m 3 , that is, use Wiegand26 port to read the ID card and connect it to PB1 and PB0 of the control module.

[0030] The material storage unit includes the on-site receiving and delivery module, the IM warehouse operation module, the WM warehouse operation module and the intelligent system management module. The on-site receiving and delivery module realizes the inbound management, outbound management and inventory management. The IM warehouse operation module (Inbound Management) realizes the supplier management, purchase order management, goods reception and acceptance. The WM warehouse operation module (Warehouse Management) realizes the shelf management, inventory adjustment and movement and inbound and outbound task management. The intelligent system management module has data analysis and reporting, storage equipment management and system configuration and parameter setting: the storage equipment management module can manage the storage in the warehouse. Equipment and mechanical equipment, such as stackers, conveyor belts, etc., and carry out maintenance and fault management. The information external network service end is composed of a mobile access gateway module, a platform operation module, and a material storage module. The platform operation module includes a mobile portal module, a mobile store module, a corporate credit module and a material storage module. The mobile portal module realizes functions such as unread emails, company news and announcement messages. The mobile store module realizes application browsing, application evaluation, application installation and local application management functions. The corporate credit module has friend relationship management, instant messaging and real-time audio and video communication functions. The material storage module realizes material storage APP application services.

[0031] The database is composed of an external network mobile interaction platform database and a material warehousing external network interaction database, which are respectively used to support data interaction between the external network mobile interaction platform and the material warehousing system and the external network. The information intranet operation management end is composed of a platform management module, a platform intranet support service and a material warehousing ERP data interface service. The platform management module has mobile portal management, mobile application management, message management, monitoring and analysis, mobile device management, enterprise information background management and system configuration functions. The platform management module also includes a SLAM algorithm structure framework, which is composed of a sensor information module, a detection module, a space accumulation module, a map module and a back-end module.

[0032] An intelligent goods receiving and shipping system for warehousing, wherein the goods receiving and shipping method comprises the following steps:

[0033] Step S1, the on-site operator logs in to the information extranet server, and according to his authority, downloads the on-site business documents that need to be operated by the ERP system to the handheld terminal in real time. The database of the M warehouse operation module application project processes the information initiated by the mobile client that needs to interact securely with the intranet, including business processing data that interacts with the logistics and transportation safety management system, etc. The data submitted by the mobile portal module APP in the mobile client and the data pushed by the ERP system are the transit database, that is, the database that transits the data displayed and submitted by the mobile client APP and the data interacting with the ERP system. From the perspective of information security, the database server is deployed on the information intranet operation management end. The mobile portal module APP server in the mobile client uses the SSM framework to reduce the code coupling degree, making the system easy to maintain and expand business. The mobile client APP application's mobile terminal page is written in HTML, and the front-end framework uses Ionic and AngularJS. The page obtains data from the server and submits data to the server using Ajax technology, and Ajax sends a request to the Controller class of the server in the background intelligent system management module;

[0034] Step S2, before the mobile operation starts, the ERP system regularly calls the interface for data to be processed and pushes data to the transit server. The grassroots user queries the data through the APP on the mobile client, that is, the mobile client APP sends a request to the external network server, and then passes through the transit database, and obtains the data from the external network mobile interactive platform database and the material warehouse external network interactive database and displays it on the application page. After the grassroots user completes the business processing, he confirms and submits the data to the APP server on the APP. The background program inserts the data into the transit database. The background transit server polls and monitors the data changes in the transit database, obtains the executed business data, and sends it to the material warehouse ERP data interface service system. After receiving the data, the material warehouse ERP data interface service system automatically processes it and returns it;

[0035] Step S3, at the same time, the SLAM algorithm structure framework performs path allocation for logistics goods, and the storage equipment management module performs equipment calls. The map module establishes an incremental map of the surrounding environment based on the known coordinates or positions of the equipment robot to achieve the purpose of map construction and positioning. The sensor information module on the equipment robot mainly collects video images, laser scanning data, point cloud information, etc. They are real data and original data occurring in the environment. The detection module performs visual mileage tracking, and directly aligns the algorithm design and feature matching design to estimate the relative position of the target observation object at different times. The back-end module usually adopts algorithms such as graph optimization to eliminate the cumulative errors generated during the operation of the spatial accumulation module. The SLAM algorithm structure framework adopts the extended Kalman filter algorithm. The basic formula of the EKF-SLAM algorithm is:

[0036] X k =F k X k-1 +W k-1

[0037] Y k =h k X k +V k

[0038] In the above formula, in the above expression, X k represents the estimated value of the algorithm structure framework for the next moment at the k-1 moment, and Y k represents the observation vector obtained by the detection module, F k is called the state transfer matrix, W k-1 is the noise at time k-1, V k-1 is the speed at time k-1, h k is the measurement matrix;

[0039] The EM-SLAM algorithm takes into account the characteristics of the environment and the nature of the observed data. The data correlation between these information is highly accurate. By transforming the map construction problem into the maximum similarity estimation problem under the probability constraints of the observation model and the motion model, the EM model is used to enhance the positioning and creation performance of the three-dimensional map and improve the convergence of the algorithm. The EM-SLAM algorithm has two basic steps. The first is to estimate the posterior probability density function of the device robot. Using the prior environmental feature map and the Bayesian estimation algorithm, two positive and negative posteriors are carried out. Assume that the estimated time is t, and the time interval is a certain time in (1, 2, 3..., t). The algorithm formula for the optimal estimated time t is:

[0040] P(sxlm[i], dt)=ηP(s, slm[i], d0,...dx)P(s, lm[i], dx+1,...dt);

[0041] In the above formula, P represents probability, sxlm[i] is the joint distribution of scene, state or map features, and dt represents the state at time t. P(s, slm[i], d0, ... dx) represents forward estimation data, which reflects the forward estimation value under the conditions before time t. Relatively speaking, P(s, lm[i], dx+1, ..., dxt) represents reverse estimation data, and d represents the collection of observations and system control quantities. The map module adopts the grid map method proposed by Moravec et al. to construct an environmental map around the work of the logistics robot, that is, to reasonably define the movement space of the equipment robot, and design the space into different cells according to the operation requirements. The cells are of fixed size. Then, the back-end module is used to initialize the grid probability. The probability of occupation of each initialized cell is the same. Assuming that the environment is divided into m×n equal parts, the basic expression is:

[0042] Pi(j0)=0.5, then i=1, 2, 3…, m, and j=1.2…, n;

[0043] Where: P represents the probability value of each grid; P = 1 means the grid is fully occupied, P = 0 means the grid is completely idle; P = 0.5 represents the probability of each grid being occupied;

[0044] At this time, the spatial accumulation module adopts the ICP-based point cloud matching algorithm to solve the positioning problem of the logistics robot. The initial point set Pi0 is selected from the point set P, and the point set closest to the target point set Q is found. The storage equipment management module adopts the Euclidean distance threshold method to remove noise points to obtain the point set Qi0. The point sets Pi0 and Qi0 constitute the corresponding point set. The direction vector threshold method is applied to the point sets Pi0 and Qi0, and the initial value point sets Pi1 and Qi1 are selected. The SVD method is used to obtain the rotation matrix R and translation vector Tα between the point sets Pi1 and Qi1. Repeat the above steps until the conditions are met. After the matching is completed, the map is fused and updated to generate data changes. The storage equipment management module controls the transport robot according to the algorithm to complete the corresponding transportation operation to avoid the situation where the transport robot is empty or blocks each other's routes. The algorithm allocation is more reasonable, which improves the intelligence of warehouse management.

[0045] Step S4, the platform operation module sends the changed data to the server of the ERP system, and also provides a WebService interface for the ERP system, inserts data for display by the mobile client APP into the transit database, and considers that the database monitoring needs to quickly and efficiently connect to the database and query data. The server backend uses JDBC to connect to the database, and does not use the persistence layer framework. The intelligent system management module uses background polling to detect database data changes, enables the Servlet listener, and starts the timer in the listener. Every 1 minute, the data of the transfer database, such as the handover table, acceptance table, and storage table, are verified, and the changed data is sent to the ERP system. For handover, acceptance, and outbound delivery, the APP submits the data and stores it in the transit database. The material storage external network interactive database transit server grabs the new data after monitoring the insertion of new data, and calls WebService to push the data to the material storage ERP data interface service system;

[0046] Step S5, after the delivery and receipt business is completed, the data is confirmed and submitted to the database server on the information intranet operation management terminal. The background transit server polls and monitors the data changes in the transit database, obtains the executed business data, and sends it to the information extranet server. After receiving the data, the information extranet server system automatically processes it and returns it to the mobile portal module in the mobile client, prompting the user that the business system operation has been completed.

[0047] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent receiving and shipping system for warehousing, characterized in that: An intelligent receiving and shipping system for warehousing includes a mobile client, an information external network service end, a database and an information intranet operation management end, characterized in that the mobile client is connected to the information external network service end through a secure interactive platform, the information external network service end is connected to the database and the information intranet operation management end through a secure isolation device, the mobile client includes a client basic function unit, a public component and a material storage unit, the client basic function unit is composed of a mobile portal module, a mobile store module and an enterprise credit module, and the public component is composed of an identity authentication module, a mobile access module, a camera function module, a message push interface module, a geographic location positioning module, a QR code recognition module, a file local storage module, a card reading module and a control module; The delivery method includes the following steps: Step S1, the on-site operator logs in to the information extranet server, and according to his authority, downloads the on-site business documents that need to be operated by the ERP system to the handheld terminal in real time. The database of the M warehouse operation module application project is a transit database, which processes the information initiated from the mobile client that needs to interact securely with the intranet. The information includes business processing data that interacts with the logistics and transportation safety management system, data submitted by the mobile portal module APP in the mobile client, and data pushed by the ERP system; the mobile client APP application's mobile page, the page is written in HTML, the front-end framework uses Ionic and Angular JS, the page obtains data from the server and submits data to the server using Ajax technology, and Ajax sends requests to the Controller class of the server in the background intelligent system management module; Step S2, before the mobile operation starts, the ERP system regularly calls the interface for data to be processed to push data to the transit server, and the grassroots user queries the data through the APP on the mobile client, that is, the mobile client APP sends a request to the external network server, passes through the transit database, and obtains data from the external network mobile interactive platform database and the material warehouse external network interactive database and displays it on the application page; after the grassroots user completes the business processing, he confirms and submits the data to the APP server on the APP, and the background program inserts the data into the transit database; the background transit server polls and monitors the data changes in the transit database, obtains the executed business data, and sends it to the material warehouse ERP data interface service system; the material warehouse ERP data interface service system automatically processes the data after receiving it and returns it; Step S3, at the same time, the SLAM algorithm structure framework performs path allocation for logistics goods, and the storage equipment management module performs equipment calls; the map module establishes an incremental map of the surrounding environment based on the known coordinates or positions of the equipment robot to achieve the purpose of map construction and positioning; the sensor information module on the equipment robot collects video images, laser scanning data, and point cloud information; the detection module performs visual mileage tracking, and directly aligns the algorithm design and feature matching design to estimate the relative position of the target observation object at different times; the back-end module usually uses a graph optimization algorithm to eliminate the cumulative error generated during the operation of the spatial accumulation module; the SLAM algorithm structure framework uses the extended Kalman filter algorithm, and the basic formula of the EKF-SLAM algorithm is: X k =F k X k-1 +W k-1 Y k =h k X k +V k ; In the above formula, X k represents the estimated value of the algorithm structure framework for the next moment at the k-1 moment, and Y k represents the observation vector obtained by the detection module, F k is called the state transfer matrix, W k-1 is the noise at time k-1, V k-1 is the speed at time k-1, h k is the measurement matrix; The EM-SLAM algorithm has two steps. The first is to estimate the posterior probability density function of the device robot, and use the prior environmental feature map and Bayesian estimation algorithm to carry out two positive and negative posteriors; let the estimated time be t, and the time interval be a certain time in (1, 2, 3..., t), then the algorithm formula for the optimal estimated time t is: P(sxlm[i], dt)=ηP(s, slm[i], d0,...dx)P(s, lm[i], dx+1,...dt); In the above formula, P represents probability, sxlm[i] is the joint distribution of scene, state or map features, and dt represents the state at time t. P(s, slm[i], d0, ... dx) represents forward estimation data, which reflects the forward estimation value under the conditions before time t. In contrast, P(s, lm[i], dx+1, ..., dxt) represents reverse estimation data, which reflects the reverse estimation value under the conditions after time t. d represents the collection of observations and system control quantities. Second, the map module uses the grid map method to construct an environmental map around the logistics robot. That is, the movement space of the equipment robot is reasonably defined, and the space is designed into different cells according to the operation requirements. The cells are of fixed size, and then the back-end module is used to initialize the grid probability. The probability of occupation of each initialized cell is the same; assuming that the environment is divided into m×n equal parts, the basic expression is: Pi(j0)=0.5, then i=1, 2, 3…, m, and j=1.2…, n; Where: P represents the probability value of each grid; At this time, the spatial accumulation module adopts the ICP-based point cloud matching algorithm to solve the positioning problem of the logistics robot. The initial point set Pi0 is selected from the point set P, and the point set closest to the target point set Q is found. The storage equipment management module adopts the Euclidean distance threshold method to remove noise points to obtain the point set Qi0. The point sets Pi0 and Qi0 constitute the corresponding point set. The direction vector threshold method is applied to the point sets Pi0 and Qi0, and the initial value point sets Pi1 and Qi1 are selected. The SVD method is used to obtain the rotation matrix R and translation vector Tα between the point sets Pi1 and Qi1. Repeat the above steps until the conditions are met. After the matching is completed, the map fusion and update are performed to generate data changes. The storage equipment management module controls the transport robot according to the algorithm to complete the corresponding transport operation. Step S4, the platform operation module sends the changed data to the server of the ERP system, and provides a WebService interface for the ERP system, inserting data for display by the mobile client APP into the transit database; the server backend uses JDBC to connect to the database, and the intelligent system management module uses background polling to detect database data changes to enable the Servlet listener; start the timer in the listener, verify the handover table, acceptance table, and warehousing table data of the transit database every 1 minute, and send the changed data to the ERP system; the APP submits the handover, acceptance, and outbound data and stores them in the transit database. After the material storage external network interactive database transit server monitors the insertion of new data, it grabs the new data and calls WebService to push the data to the material storage ERP data interface service system; Step S5, after the delivery and receipt business is completed, the data is confirmed and submitted to the database server on the information intranet operation management terminal. The background transit server polls and monitors the data changes in the transit database, obtains the executed business data, and sends it to the information extranet server. After receiving the data, the information extranet server system automatically processes it and returns it to the mobile portal module in the mobile client, prompting the user that the business system operation has been completed.

2. The intelligent goods receiving and shipping system for warehousing according to claim 1, characterized in that: The material storage unit includes an on-site delivery and receiving module, an IM warehouse operation module, a WM warehouse operation module and an intelligent system management module, and the information external network service end is composed of a mobile access gateway module, a platform operation module and a material storage module.

3. The intelligent goods receiving and shipping system for warehousing according to claim 1 is characterized by: The database is composed of an external network mobile interactive platform database and a material storage external network interactive database.

4. The intelligent goods receiving and shipping system for warehousing according to claim 1, characterized in that: The information intranet operation management terminal is composed of a platform management module, a platform intranet support service and a material warehousing ERP data interface service. The platform management module has mobile portal management, mobile application management, message management, monitoring analysis, mobile device management, enterprise information background management and system configuration functions. The platform management module also includes a SLAM algorithm structure framework.

5. The intelligent goods receiving and shipping system for warehousing according to claim 4, characterized in that: The SLAM algorithm structure framework consists of a sensor information module, a detection module, a space accumulation module, a map module and a backend module.

6. The intelligent goods receiving and shipping system for warehousing according to claim 1, characterized in that: The card reader module adopts the XN-K02 series 125KHz contactless short-distance ID card module.

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