Self-service warehouse-out system and method

Abstract

The invention relates to the technical field of mine warehouse management, in particular to a self-service warehouse-out system and method, and the system comprises a sensing and interaction module, a data processing and storage module, an automatic carrying and storage module, and a safety and monitoring module. The sensing and interaction module realizes functions such as cargo identification and identification; the data processing and storage module manages inventory, user and task data and analyzes and processes the data; equipment of the automatic carrying and storage module carries goods according to instructions, and the intelligent goods shelf can be automatically adjusted; and the safety and monitoring module ensures accurate cargo quantity, monitors the warehouse and controls personnel to enter and exit. The method comprises the steps that a user initiates an ex-warehouse request, a system checks an inventory and calculates an equipment scheduling priority, then cargo carrying and ex-warehouse operation including equipment scheduling, path planning, carrying detail determination and the like is carried out, and meanwhile weight monitoring, image monitoring and the like are carried out. The warehouse-out efficiency, the inventory management accuracy and the cargo handling safety are improved, and the intelligent level of warehouse management is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of mine warehouse management, and in particular to a system and method for self-service warehouse delivery. Background Art

[0002] Mine warehouses are unique and complex in management.

[0003] In terms of outbound efficiency, mine warehouses store a wide variety of materials, including equipment parts, blasting materials, etc. These materials have various specifications and some have special requirements, such as strict management specifications for blasting materials, which makes outbound operations complex and time-consuming. Manual outbound delivery is difficult to meet the rapid production needs of mines, and it is inefficient to find materials in large and complex warehouses.

[0004] Inventory management accuracy is crucial. Mining production relies on a stable supply of materials, and inventory shortages will cause production interruptions. However, the diversity and frequent flow of materials increase the difficulty of management. Parts with similar appearances are easily misrecorded and misdelivered, and frequent entry and exit of the warehouse can easily lead to untimely or inaccurate data updates.

[0005] Cargo handling safety is a core issue. Mining materials include heavy and dangerous goods, such as large equipment parts and blasting materials. Manual handling is not only inefficient but also risky. A mistake may cause casualties and property losses. At the same time, complex warehouse environments, such as narrow passages and unstable ground, increase the difficulty of handling.

[0006] The current situation is that the level of intelligence is low. The lack of real-time monitoring and intelligent analysis capabilities makes it difficult to obtain the location, status and inventory information of materials. It is difficult to identify materials without labels or damaged labels. Traditional shelves cannot adjust their carrying capacity according to the weight of the goods, which may cause damage to the shelves.

[0007] The existing technology applied to mine warehouses has the following shortcomings:

[0008] The automation equipment has poor adaptability, the mine warehouse layout is irregular, the passages are complex, the automatic guided vehicles may have difficulty turning, and the stacker cranes have difficulty reaching the high-level shelves accurately. The equipment coordination scheduling is imperfect, and the special characteristics of materials are not fully considered, resulting in waste of resources and no substantial improvement in outbound efficiency;

[0009] Insufficient data management integration and utilization. The complex attributes of mining materials make the relationship between inventory, user and task data complex. The existing system cannot effectively integrate and conduct in-depth analysis, and cannot accurately predict inventory demand.

[0010] There are obvious security monitoring loopholes. The weight sensor does not conduct in-depth comparison and analysis of data. The high-definition camera lacks recognition and analysis capabilities. The access control system has security loopholes and cannot guarantee the safety of the mine warehouse.

[0011] Therefore, in order to solve the above problems, a system and method for self-service warehouse outbound delivery are proposed. Summary of the invention

[0012] The object of the present invention is to provide a system and method for self-service warehouse delivery to solve the problems raised in the above background technology.

[0013] To achieve the above object, the present invention provides the following technical solutions:

[0014] A warehouse self-service outbound system, comprising:

[0015] Perception and interaction module: integrated with barcode scanner, QR code scanner and RFID reader / writer, used to identify barcode, QR code and RFID tag on the package of goods, obtain goods identification information and output it to the data processing unit; equipped with touch screen to display goods information, inventory status, outbound process guidance and operation prompts transmitted by the data processing unit, receive outbound instructions and query requests input by users and transmit them to the data processing unit; equipped with voice interaction unit, receive user voice instructions and convert them into text information and transmit them to the data processing unit, and receive system information and operation results from the data processing unit and feedback them to the user in the form of voice; contains image acquisition device, takes pictures of goods, extracts goods feature information through image recognition technology and transmits it to the data processing unit to assist in identifying goods without labels or damaged labels;

[0016] Data processing and storage module: build an inventory database to store the name, specification, model, quantity, storage location, warehousing time, and supplier information data of the goods, receive inventory update instructions from the data processing unit to update the inventory data, and provide inventory data query services to the data processing unit; set up a user database to record user name, work number, authority level, password, fingerprint or facial feature information data, receive identity authentication requests from the data processing unit and feedback verification results; have a task database to store outbound task details, which include task number, creation time, goods list, target location, and task status data, receive task creation and update instructions from the data processing unit and store data, and provide task data query services to the data processing unit; use a data processing unit to receive the goods information, user information, and operation data from the perception and interaction module, analyze, process, and integrate them, generate equipment scheduling instructions based on the inventory status in the inventory database and the outbound tasks in the task database, and output them to the automated handling and storage module, generate inventory update instructions, and output them to the inventory database;

[0017] Automated handling and storage module: includes automated equipment, including automatic guided vehicles, stackers, shuttles and robot arms. It receives equipment scheduling instructions from the data processing unit, and controls the automatic guided vehicles, stackers, shuttles and robot arms to perform cargo handling tasks according to the equipment scheduling instructions. The automated equipment has an automatic obstacle avoidance function, which uses laser radar and ultrasonic sensors to perceive the surrounding environment and adjusts the operation path in real time to avoid collisions. It is equipped with an intelligent shelf system, which receives cargo storage location information and entry and exit instructions from the data processing unit, automatically records the cargo storage location and entry and exit information and transmits it to the data processing unit, and can automatically adjust the shelf structure and carrying capacity according to the weight distribution of the cargo.

[0018] As a preferred solution, the image recognition technology of the image acquisition device adopts a deep learning algorithm. Through learning and training of a large number of cargo images, a cargo feature model is established. The image recognition algorithm includes:

[0019] Assume the collected image is ,Will Input to the convolutional neural network CNN, and extract features through CNN to obtain feature maps ,Bundle Input the fully connected layer for classification prediction, set the training sample set ,in, Indicates cargo images for training, is the corresponding cargo category label, is the total number of training samples, and the cross entropy loss function is used Measures the difference between the predicted result and the true label, where is the total number of cargo categories, For the The true label of the sample is The value of the category, if the sample belongs to Classification , otherwise 0, The model predicts The samples belong to The probability of the class; with the help of the back propagation algorithm, the parameters of the CNN are continuously adjusted to minimize the loss function and obtain the trained cargo feature model.

[0020] As a preferred solution, the data processing unit generates equipment dispatch instructions based on the weight of the goods. ,volume , Transportation distance and load conditions of automation equipment , running speed , Energy consumption , the following algorithm is used to calculate the device scheduling priority : ;in, Indicates the relative importance of cargo weight in the equipment scheduling priority calculation. Indicates the relative importance of cargo volume factors, Indicates the relative importance of the transport distance factor, Indicates the relative importance of the equipment load condition factors, Indicates the relative importance of the equipment operating speed factor. Indicates the relative importance of the factors affecting equipment energy consumption, and ;

[0021] Scheduling by device priority Filter out the most suitable automated equipment for outbound tasks and send equipment scheduling instructions to the automated equipment.

[0022] As a preferred solution, when generating the path planning instructions for the equipment, the data processing unit generates the operation path planning instructions for the automated equipment assigned to the task according to the warehouse layout information and the storage location and the outbound location of the goods. The generation of the operation path planning instructions includes:

[0023] Assume that the warehouse layout is a two-dimensional coordinate plane, and the coordinates of the cargo storage location are , the coordinates of the outbound location are The straight-line distance between two points is At the same time, consider the obstacle coordinate set in the warehouse , using the detection data and warehouse map information collected by the automatic obstacle avoidance function of the automation equipment itself, the actual operation path is planned through the path planning algorithm, and the path planning instructions of the equipment are generated.

[0024] As a preferred solution, the data processing unit generates the operation instructions for the robot arm when grabbing the goods according to the shape of the goods. , Surface material and fragility , adjust the grasping strength through the following algorithm With grab angle : ; ;

[0025] in, Indicates the relative importance of shape factors in gripping force and angle adjustment, Indicates the relative importance of surface material factors. Indicates the relative importance of fragility factors, Indicates the relative importance of the shape factor in grip angle adjustment, Indicates the relative importance of surface material factors in adjusting the grab angle. Indicates the relative importance of the fragility factor in the adjustment of the grip angle.

[0026] As a preferred solution, the algorithm for the intelligent shelf system to automatically adjust the shelf structure and load capacity according to the weight distribution of the goods is as follows:

[0027] Assume that the initial load capacity of each shelf layer is , the cargo weight distribution vector is ,in, Indicates The weight of the goods on the shelf unit, , the number of shelves is ; Calculate the average weight of each layer ,in, is the number of shelf units per layer, , Indicates The average weight of the goods on the shelf, if , The value range is , then the shelf structure of this layer should be reinforced or the distribution of goods should be adjusted so that the adjusted average weight meets the safety requirements. The specific algorithm is as follows:

[0028] If reinforcement is required, the reinforcement coefficient is , the load-bearing capacity after reinforcement ;

[0029] If you choose to adjust the distribution of goods, use the greedy algorithm to gradually transfer the goods from the shelf unit with the largest weight to the layer with the lower average weight; let the weight of the transferred goods be , from Transfer to the first Layer, after transfer Average weight of layer , No. Average weight of layer ,This process is repeated until the average weight of all layers meets the safety requirements, where and Respectively represent the source layer and target layer of goods transfer, The target layer The average weight of the goods before receipt.

[0030] As a preferred solution, it also includes a safety and monitoring module:

[0031] Deploy weight sensors on handling equipment and outbound channels to measure the actual weight of goods and output weight data to the data processing unit, which is compared with the theoretical weight data of goods stored in the data processing unit to ensure the accuracy of the quantity of goods;

[0032] Install high-definition cameras in the warehouse area to capture image data of cargo handling and storage status and transmit it to the monitoring center for storage and analysis;

[0033] Establish an access control system to collect personnel's fingerprints, facial features or card information and transmit it to the data processing unit, receive the identity verification results from the data processing unit, and only allow authorized personnel to enter specific areas of the warehouse;

[0034] It has an abnormal alarm function. When there are abnormal cargo weight, equipment failure, illegal intrusion, etc., it will automatically trigger the sound and light alarm and send an alarm signal to the data processing unit. After receiving the alarm signal, the data processing unit will send the alarm information to the terminal device of the designated manager. The terminal device will display the alarm type, location, and related cargo or personnel information.

[0035] A method for self-service warehouse outbound delivery is implemented by using a system for self-service warehouse outbound delivery.

[0036] It can be seen from the technical solution provided by the present invention that the system and method for self-service warehouse delivery provided by the present invention have the following beneficial effects:

[0037] 1. The data processing unit calculates the equipment scheduling priority based on multiple factors such as cargo weight, volume, handling distance, load conditions, operating speed and energy consumption of the automation equipment, and can reasonably select the most suitable automation equipment for outbound tasks; this precise equipment scheduling method avoids the waste of equipment resources and improves the utilization rate of equipment, thereby speeding up the overall speed of cargo outbound. During the cargo handling process, the automation equipment plans the path according to the warehouse layout information and the storage and outbound locations of the cargo; by considering the obstacles and its own motion constraints, the advanced path planning algorithm is used to plan the optimal path, which reduces the moving time of the equipment in the warehouse and improves the handling efficiency;

[0038] 2. During or after the goods are shipped out of the warehouse, the data processing unit will generate inventory update instructions based on the actual information of the goods shipped out of the warehouse, and timely update the quantity of goods and related information in the inventory database (such as storage location, etc., if there are changes); this ensures that the data in the inventory database is always consistent with the actual inventory status of the warehouse, avoiding the problem of goods backlog or shortage caused by inaccurate inventory data, and improving the accuracy and reliability of inventory management. The weight sensors deployed on the handling equipment and the outbound channel can measure the actual weight of the goods in real time and compare it with the theoretical weight data of the goods stored in the inventory database; this precise weight monitoring mechanism can timely detect whether the quantity of goods is accurate, which plays an important role in preventing the loss and misdelivery of goods, and further improves the accuracy of inventory management;

[0039] 3. Automated handling equipment (such as automatic guided vehicles, stackers, shuttle vehicles and robot arms) has automatic obstacle avoidance function, using laser radar, ultrasonic sensors and other sensors to perceive the surrounding environment and adjust the operation path in real time to avoid collisions; during the cargo handling process, the equipment can automatically avoid obstacles such as other equipment, shelves and staff, reducing the risk of damage to cargo due to collisions, while also ensuring the safety of equipment and personnel. When grabbing cargo, the robot arm will adjust the grabbing force and grabbing angle according to factors such as the shape, surface material and fragility of the cargo; this fine operation method based on the characteristics of the cargo reduces the possibility of damage to the cargo due to improper operation during handling and improves the safety of cargo handling. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 The present invention is a schematic diagram of the overall structure of a warehouse self-service outbound system. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0042] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0043] like Figure 1 As shown, an embodiment of the present invention provides a system for self-service warehouse outbound delivery, including a perception and interaction module, a data processing and storage module, an automated handling and storage module, and a safety and supervision module.

[0044] In this embodiment, the perception and interaction module includes:

[0045] Integrated barcode scanner, QR code scanner and RFID reader / writer, used to identify barcodes, QR codes and RFID tags on cargo packaging, obtain cargo identification information and output it to the data processing unit;

[0046] Equipped with a touch screen to display the cargo information, inventory status, outbound process guidance and operation prompts transmitted by the data processing unit, receive outbound instructions and query requests input by users and transmit them to the data processing unit;

[0047] A voice interaction unit is provided to receive user voice commands and convert them into text information for transmission to the data processing unit. At the same time, it receives system information and operation results from the data processing unit and feeds them back to the user in the form of voice;

[0048] It includes an image acquisition device, which takes images of goods, extracts characteristic information of the goods through image recognition technology, and transmits it to a data processing unit to assist in identifying goods without labels or with damaged labels;

[0049] The perception and interaction module, when running, includes:

[0050] Cargo identification:

[0051] Scan cargo packaging using integrated barcode scanner, QR code scanner and RFID reader / writer;

[0052] Identify barcodes, QR codes and RFID tags on cargo packaging to obtain cargo identification information;

[0053] Outputting the acquired cargo identification information to a data processing unit;

[0054] Information display and command reception:

[0055] The touch screen displays the cargo information, inventory status, outbound process guidance and operation prompts transmitted from the data processing unit;

[0056] Receive the outbound instructions and query requests input by the user and transmit them to the data processing unit;

[0057] Voice interaction:

[0058] The voice interaction unit receives the user's voice command, converts it into text information and transmits it to the data processing unit;

[0059] At the same time, it receives system information and operation results from the data processing unit and feeds them back to the user in the form of voice;

[0060] Image acquisition and auxiliary recognition:

[0061] The image acquisition device captures the image of the cargo;

[0062] Through image recognition technology (using deep learning algorithm, specifically: assuming the collected image is ,Will Input to the convolutional neural network CNN, and extract features through CNN to obtain feature maps ,Bundle Input the fully connected layer for classification prediction, set the training sample set ,in, Indicates cargo images for training, is the corresponding cargo category label, is the total number of training samples, and the cross entropy loss function is used Measures the difference between the predicted result and the true label, where is the total number of cargo categories, For the The true label of the sample is The value of the category, if the sample belongs to Classification , otherwise 0, The model predicts The samples belong to The probability of the class; the back propagation algorithm is used to continuously adjust the parameters of the CNN to minimize the loss function and obtain the trained cargo feature model) to extract cargo feature information;

[0063] The extracted cargo characteristic information is transmitted to a data processing unit to assist in identifying cargo without labels or with damaged labels.

[0064] In this embodiment, the data processing and storage module includes:

[0065] Build an inventory database to store the name, specification, model, quantity, storage location, warehousing time, and supplier information of goods, receive inventory update instructions from the data processing unit to update inventory data, and provide inventory data query services to the data processing unit;

[0066] Establish a user database to record user names, work numbers, authority levels, passwords, fingerprints or facial feature information data, receive identity authentication requests from data processing units and provide feedback on verification results;

[0067] It has a task database to store outbound task details, including task number, creation time, cargo list, target location, and task status data. It receives task creation and update instructions from the data processing unit and stores data, and provides task data query services to the data processing unit.

[0068] The data processing unit is used to receive the cargo information, user information and operation data transmitted by the perception and interaction module, analyze, process and integrate them, generate equipment scheduling instructions based on the inventory status in the inventory database and the outbound tasks in the task database and output them to the automated handling and storage module, generate inventory update instructions and output them to the inventory database;

[0069] Furthermore, the operation of the data processing and storage module includes:

[0070] 1. Inventory database operation:

[0071] 1. Data storage:

[0072] First, when the system is initialized or new goods are put into storage, the name, specification, model, quantity, storage location, storage time, supplier information and other data of the goods are stored in the inventory database according to certain data structures and rules; for example, each kind of goods may have a unique identifier, and other related information is stored as the attributes corresponding to the identifier;

[0073] 2. Inventory update:

[0074] When goods are shipped out or received, or when other changes occur in inventory information, the data processing unit will generate an inventory update instruction; after receiving the instruction, the inventory database will update the information of the corresponding goods according to the specific content of the instruction; for example, if goods are shipped out, the quantity field will be reduced accordingly; if new goods are received, the quantity will increase, and the storage location and other information may be updated at the same time;

[0075] 3. Data query service:

[0076] When the data processing unit needs to query inventory-related information, such as the current inventory quantity or storage location of a certain product, the inventory database will search and return the corresponding data in the database according to the query request;

[0077] 2. User database operation:

[0078] 1. Data Recording:

[0079] When a user registers or the system adds a user, the user's name, work number, permission level, password, fingerprint or facial features and other information are recorded in the user database; this information is used to identify and verify the user's identity and determine the user's operating authority in the system;

[0080] 2. Identity verification:

[0081] When a user logs into the system or performs certain operations that require identity authentication, the data processing unit will send an identity authentication request to the user database; the user database will search for the corresponding user record based on the user identification information (such as work number or user name) provided in the request, and compare the provided password, fingerprint or facial features and other information with the information stored in the database to see if they are consistent; if they are consistent, the result of verification passing will be fed back; if they are inconsistent, the result of verification failure will be fed back;

[0082] 3. Task database operation:

[0083] Task storage:

[0084] When an outbound task is created, the detailed information of the outbound task, including task number, creation time, cargo list, target location, task status and other data, is stored in the task database; the task number is a unique identifier for each task, which is used to distinguish different outbound tasks;

[0085] Mission Update:

[0086] As the outbound task is executed, the task status may change, such as from "created" to "executing" and then to "completed". The data processing unit will send task update instructions according to the execution progress of the task. After receiving the instructions, the task database will update the status information of the corresponding task and other information that may change, such as the mark of the outbound goods in the cargo list.

[0087] Data query service:

[0088] When the data processing unit schedules the device to perform a task or needs to know the task-related information, it will send a query request to the task database; the task database will search and return the detailed information of the corresponding task so that the data processing unit can perform subsequent processing and decision-making;

[0089] 3. Data processing unit operation:

[0090] 1. Data reception and preliminary processing:

[0091] Receive data from the perception and interaction module:

[0092] Goods identification information: Receives goods identification information obtained by barcode scanners, QR code scanners and RFID readers, and performs format verification and preliminary analysis to ensure the accuracy and completeness of the information;

[0093] User instructions and requests:

[0094] Outbound instruction: Receive outbound instructions input by the user from the touch screen, including detailed information such as the type, quantity, and destination of goods; perform semantic analysis on the outbound instructions and extract key information, such as whether the instructions are complete and whether the goods information is clear;

[0095] Query request: Receive user query requests for goods information, inventory status, etc., and also perform semantic analysis to determine the specific content that the user needs to query;

[0096] Voice command text: Receives the user's voice command text information converted by the voice interaction unit, performs grammar and semantic checks to ensure that the user's intention can be correctly understood;

[0097] Cargo feature information: receiving cargo feature information extracted by the image acquisition device, and performing feature vector standardization processing (if necessary) on the cargo feature information so as to compare it with the feature information in the database later;

[0098] Interact with the database of the data processing and storage module:

[0099] Inventory database query: Send a query request to the inventory database to obtain detailed inventory data of goods, such as the name, specification, model, quantity, storage location, warehousing time, supplier information, etc.; based on the obtained inventory data, establish an inventory data cache (if necessary) for subsequent quick access and processing;

[0100] User database verification: Send an identity authentication request to the user database to verify the operation or query the user's identity information, including name, work number, permission level, password, fingerprint or facial feature information, etc.; receive the verification result fed back by the user database. If the verification fails, reject the user's operation request and record the relevant information;

[0101] Task database interaction: interact with the task database to obtain outbound task details, such as task number, creation time, cargo list, target location, task status and other data; at the same time, send task update instructions to the task database according to the task execution status (such as task start, in progress, completion and other status updates);

[0102] 2. Core data processing and analysis:

[0103] Stock availability check and processing:

[0104] Compare inventory and demand: Set the goods in the outbound order The demand quantity is (in, Indicates the quantity of goods required in the outbound order), the goods in the inventory database The actual inventory quantity is (in, Represents goods in the inventory database The actual inventory quantity) is checked one by one for all the required goods. , then the goods are marked as available for outbound operation; if there is If there is a problem, a prompt message about insufficient inventory is generated;

[0105] Insufficient inventory handling: When the inventory is insufficient, a corresponding prompt message is generated according to the type and quantity of the insufficient goods; the prompt message may include the name of the goods, the shortage quantity and possible replenishment suggestions (if there is relevant algorithm support); the prompt message is sent to the perception and interaction module so that it can be fed back to the user through the touch display or voice interaction unit;

[0106] 3. Equipment scheduling priority calculation:

[0107] Factor Standardization:

[0108] Cargo weight standardization: based on cargo weight (in, represents the actual weight of the goods themselves, in kilograms) to calculate the standardized value; let the total weight of all goods in the warehouse be (in, represents the sum of the weight of all goods in the warehouse), and the total quantity of goods is (in, represents the total quantity of goods in the warehouse), then the average weight of the goods (in, Indicates the average weight of goods in the warehouse, used to calculate the weight of goods Standardization, so as to make a comprehensive comparison with other factors), the standardized cargo weight value is ;

[0109] Cargo volume standardization: For cargo volume (in, represents the space occupied by the goods, in cubic meters), and the total volume of all goods in the warehouse is (in, represents the sum of the volumes of all goods in the warehouse), then the average volume of goods (in, Indicates the average volume of goods in the warehouse, used to calculate the volume of goods The standardized cargo volume is ;

[0110] Standardization of transport distance: according to the transport distance (in, represents the distance that the goods travel from the current storage location to the outbound location, in meters) for standardization; the minimum common transportation distance in the warehouse is set to (in, represents the minimum value of the common handling distance in the warehouse), and the maximum value is (in, represents the maximum value of the common handling distance in the warehouse), then the typical handling distance (in, Indicates the typical range of transport distances in a warehouse, used to convert the transport distance The standardized transport distance is ;

[0111] Equipment load condition standardization: for the load condition of automation equipment (in, represents the ratio of the current task load of the automation equipment to its maximum load capacity). Assume that the average load of the automation equipment during the normal working cycle is (in, Indicates the average load of the automation equipment during the normal working cycle), the maximum load is (in, represents the maximum load of the automation equipment), then the average load capacity (in, Indicates the average load capacity of automation equipment and is used to display the load conditions of the equipment. Standardized), the standardized equipment load condition value is ;

[0112] Running speed standardization: for running speed (in, It represents the distance that the automation equipment can move in unit time, in meters per second). Assume that the average speed of the automation equipment is (in, represents the average running speed of the automation equipment), then the normalized running speed value is ;

[0113] Energy consumption standardization: For energy consumption (in, represents the energy consumed by the automation equipment to complete a unit handling task), assuming that the average total energy consumption of the automation equipment to complete a unit task is (in, represents the sum of the average energy consumption of the automation equipment to complete a unit task), the total number of parallel tasks completed is (in, represents the total number of tasks completed by the automation equipment), then the average energy consumption (in, Indicates the average energy consumption level of automation equipment in the warehouse, used to convert equipment energy consumption The standardized energy consumption is ;

[0114] Calculate device scheduling priority: according to the pre-set weight coefficient (in, Indicates the relative importance of cargo weight in equipment scheduling priority calculation), (in, Indicates the relative importance of cargo volume factor), (in, Indicates the relative importance of the transport distance factor), (in, Indicates the relative importance of equipment load factors), (in, Indicates the relative importance of the equipment running speed factor), (in, Indicates the relative importance of equipment energy consumption factors) (and ) Calculate device scheduling priority ; The weight coefficient is set according to the actual needs and key considerations of warehouse operations. For example, if the warehouse focuses on energy conservation, then the weight corresponding to the energy consumption factor is May be relatively high; if fast delivery is required, the weight of the running speed factor may be larger, etc.

[0115] 4. Instruction generation and output:

[0116] Generate device scheduling instructions:

[0117] Device selection: Based on the calculated device scheduling priority , select the most suitable equipment for the current outbound task from the equipment in the automated handling and storage module (such as automatic guided vehicles, stackers, shuttles and robot arms, etc.);

[0118] Path planning instruction generation:

[0119] Determine the starting and ending coordinates: Assume that the warehouse layout is a two-dimensional coordinate plane, and the coordinates of the cargo storage location are (in, Represents the horizontal coordinate of the cargo storage location in the two-dimensional coordinate plane, represents the vertical coordinate of the cargo storage location in the two-dimensional coordinate plane), the coordinate of the outbound location is (in, Represents the horizontal coordinate of the outbound location in the two-dimensional coordinate plane, Indicates the ordinate of the outbound location in the two-dimensional coordinate plane), determines the starting and ending coordinates of the cargo handling;

[0120] Calculating straight-line distance and accounting for obstacles: Calculating the straight-line distance between two points (in, represents the straight-line distance between the storage location and the outbound location of the goods), while taking into account the coordinate set of obstacles in the warehouse (in, , , ··· represents the coordinates of the first obstacle in the warehouse, , , ··· represents the coordinates of the second obstacle in the warehouse, and so on);

[0121] Application of path planning algorithm: Using the detection data and warehouse map information collected by the automatic obstacle avoidance function of the automation equipment itself, the actual operation path is planned through path planning algorithms such as the A* algorithm, and instructions for the equipment to run along the path are generated;

[0122] Operation details instruction generation:

[0123] Robot arm operation instructions: When the robot arm is carrying goods, according to the shape of the goods (in, Indicates the geometric complexity of the cargo's shape, measured by specific shape quantitative indicators), surface material (in, Indicates the material texture characteristics of the cargo surface, such as smoothness, roughness, etc., which are reflected by parameters such as surface friction coefficient) and fragility (in, Indicates the degree to which the goods are susceptible to damage when subjected to external forces. It is expressed by setting a fragility level and converting it into a numerical value) and other factors to generate the gripping force (in, Indicates the relative importance of shape factors in gripping force and angle adjustment, Indicates the relative importance of surface material factors. indicates the relative importance of the fragility factor) and the grip angle (in, Indicates the relative importance of the shape factor in grip angle adjustment, The relative importance of surface material factors in adjusting the gripping angle is shown. indicates the relative importance of the fragility factor in the adjustment of the grip angle); among them, the shape irregularity is expressed as represents (where, It is obtained by calculating the geometric features such as the degree of concavity and convexity of the cargo contour, and is used to quantify the irregularity of the cargo shape). Suppose the average shape irregularity of the cargo in the warehouse is (in, For cargo form factor Standardization), then ; If the surface friction coefficient is (in, Reflects the effect of the roughness of the goods surface on the grasping), assuming that the average surface friction coefficient of the goods in the warehouse is (in, Used to factor in the surface material of the cargo Standardization), then ; If the degree of fragility is represents (where, The fragility level is set according to the material, structure and other factors of the goods, and converted into a numerical value). Suppose the average fragility of the goods in the warehouse is (in, Used to factor in the fragility of goods Standardization), then ;

[0124] Other equipment operation instructions: For equipment such as stackers and shuttles, generate precise operation instructions during cargo loading and unloading and handling, such as control instructions for lifting height and translation speed, to ensure the stability and efficiency of cargo during handling;

[0125] Generate inventory update instructions:

[0126] Inventory quantity update: During or after the goods are shipped out, an inventory update instruction is generated based on the actual goods shipped out information; let the goods shipped out collection be (in, Indicates the type of goods shipped out of the warehouse. Indicates the number of goods shipped out of the warehouse, n=1, 2, ···, n), for the goods in the inventory database The inventory quantity of (in, Represents goods in the inventory database The original inventory quantity, Indicates the updated inventory quantity);

[0127] Storage location update (if necessary): If the shelf storage layout is snapshotted after the goods are shipped out, update the goods storage location information and other operations to ensure that the data in the inventory database is always consistent with the actual inventory status of the warehouse;

[0128] Command output and feedback:

[0129] Output equipment scheduling instructions: Output the generated equipment scheduling instructions to the automated handling and storage module to drive related equipment to perform tasks;

[0130] Output inventory update instructions: Output the inventory update instructions to the inventory database to complete the update operation of the inventory data;

[0131] Feedback information to the perception and interaction module: Feedback relevant information in the processing process (such as task execution progress, inventory changes, etc.) to the perception and interaction module so that it can be displayed to the user on the touch screen or announced through the voice interaction unit, so that the user can timely understand the operating status and operation results of the outbound system.

[0132] In this embodiment, the automated handling and storage module includes:

[0133] Automation equipment, including automatic guided vehicles, stackers, shuttles and robot arms, receives equipment dispatching instructions from the data processing unit, and controls the automatic guided vehicles, stackers, shuttles and robot arms to perform cargo handling tasks according to the equipment dispatching instructions;

[0134] The automated equipment has an automatic obstacle avoidance function, using laser radar and ultrasonic sensors to sense the surrounding environment and adjust the running path in real time to avoid collisions;

[0135] An intelligent shelf system is provided to receive the cargo storage location information and in-and-out instructions from the data processing unit, automatically record the cargo storage location and in-and-out information and transmit it to the data processing unit, and automatically adjust the shelf structure and carrying capacity according to the cargo weight distribution;

[0136] Furthermore, when the automated handling and storage module is running:

[0137] Device startup and command reception:

[0138] Automation equipment preparation:

[0139] When automated guided vehicles, stackers, shuttles, and robot arms are in system startup or standby mode, they are initialized. This includes power-on self-tests of each subsystem of the equipment. For example, the motor driver checks whether it can drive the motor normally, the sensor system checks whether various sensors (such as lidar, ultrasonic sensors, etc.) can collect data normally, and the controller checks whether its internal programs and communication modules can work normally.

[0140] The control system of the equipment will initialize its key parameters, such as setting the default motion speed range, maximum load capacity and other parameters, which will serve as the basis for subsequent operations;

[0141] At the same time, the equipment will establish a stable communication connection with the data processing unit to ensure that it can receive equipment scheduling instructions in a timely manner; the communication connection can be wired (such as Ethernet) or wireless (such as Wi-Fi, Bluetooth, etc.), depending on the network layout of the warehouse and the design requirements of the equipment;

[0142] Receiving device dispatch instructions:

[0143] The automation equipment receives the equipment dispatching instructions from the data processing unit through the communication interface; the instructions are encoded in a specific data format and contain rich information;

[0144] The device first decodes the instruction and extracts key information from it; this information includes the type of task the device needs to perform, such as moving goods from a storage location to a delivery location, or transferring goods within the warehouse; information about the goods, such as the unique identifier of the goods (which may be a barcode, QR code, or code corresponding to an RFID tag) used to accurately identify the goods, as well as physical characteristics of the goods, such as weight, volume, shape, etc., which are critical to the operation of the device; path planning information, if the instruction already contains preliminary path planning suggestions (for example, based on the overall layout of the warehouse and the current and environmental perception of the goods and path planning);

[0145] Environmental perception and path planning:

[0146] Environmental Awareness:

[0147] After receiving the command, the automated equipment immediately starts the environmental perception system. The laser radar emits a laser beam at a certain frequency. The laser beam is reflected back after encountering surrounding objects. The laser radar measures the time difference between laser emission and reception and combines the propagation speed of the laser to calculate the distance between the surrounding objects and the equipment. At the same time, the laser radar can obtain the distance information of surrounding objects at different angles by changing the scanning angle, thereby constructing a two-dimensional or three-dimensional point cloud map of the surrounding environment. This point cloud map can depict the position and shape information of surrounding objects in detail, providing accurate environmental data for path planning.

[0148] Ultrasonic sensors periodically emit ultrasonic signals. When the ultrasonic waves encounter obstacles, they are reflected back. The sensor measures the time interval between the emission and reception of ultrasonic waves and calculates the distance between the obstacle and the sensor based on the propagation speed of ultrasonic waves in the air. Although the accuracy of ultrasonic sensors is lower than that of lidar, they have the advantages of low cost and high sensitivity to close-range object detection. They can be used as a supplement to lidar to detect close-range obstacles around the equipment.

[0149] The device fuses the environmental data obtained by the lidar and ultrasonic sensors, combining the advantages of the two sensors to improve the accuracy and reliability of environmental perception; the fused environmental data will be used for subsequent path planning and obstacle avoidance operations;

[0150] Path planning:

[0151] Based on the target location information in the received equipment scheduling instruction (such as the coordinate value of the outbound location in the warehouse two-dimensional coordinate plane ) and the fused environmental perception data, the path planning module of the automation equipment starts working;

[0152] The device first determines its current position on the map (assuming that ) and the approximate direction between the target location;

[0153] Then, considering the obstacles in the surrounding environment, a path planning algorithm (such as the A* algorithm) is used to search for a path. The A* algorithm evaluates the cost of each possible path from the current location to the target location based on a heuristic function. This cost usually includes factors such as the length of the path (i.e., the distance cost) and the risk cost of passing through the obstacle area. The algorithm selects the path with the minimum cost as the optimal path.

[0154] During the path planning process, the device will fully consider its own motion constraints, such as the maximum driving speed and minimum turning radius of the automated guided vehicle, the joint movement speed and angle limit of the robot arm, etc. These constraints will affect the feasibility and optimality of the path, so they must be considered when planning the path;

[0155] Once the optimal path is determined, the device will convert the path information into a specific sequence of motion instructions, such as forward, backward, turn, etc., so that the cargo handling task can be carried out according to the path later;

[0156] Cargo handling operations:

[0157] Access to cargo:

[0158] The automated equipment starts to move along the planned path. During the movement, the equipment will continue to make real-time adjustments based on the environmental information fed back by the sensors. For example, if a new obstacle is found in front of it (perhaps other equipment is moving on the path), the equipment will re-plan the local path based on the location of the obstacle and its own motion status, bypass the obstacle and continue to move forward.

[0159] When the device approaches the location of the goods, it will gradually reduce its moving speed to ensure that it can accurately stop next to the goods and prepare for grabbing or loading operations. At the same time, the device will use sensors to scan the environment around the goods in detail again to obtain the precise location and posture information of the goods, providing more accurate data support for subsequent grabbing or loading operations.

[0160] Grasping or loading goods (for robot arms and related equipment):

[0161] For the robot arm, before grabbing the goods, it will be based on the shape of the goods ( )、Surface material( ) and fragility ( ) and other factors to accurately adjust the gripping force ( ) and the grip angle ( );

[0162] Specifically, for the shape factor, the shape irregularity is expressed as It is obtained by calculating the geometric characteristics of the goods contour such as the degree of concavity and convexity; let the average shape irregularity of the goods in the warehouse be ,but ;if A larger value indicates that the shape of the cargo is highly irregular, and the robot arm needs to adjust the gripping angle and strength to ensure that it can grip the cargo stably;

[0163] For the surface material factor, if the surface friction coefficient is , assuming that the average surface friction coefficient of the goods in the warehouse is ,but ;if If the value is large, it means that the surface friction of the goods is large and it is relatively easy to grasp. The robot arm can appropriately reduce the grasping force. On the contrary, if A smaller value indicates that the surface of the cargo is smooth and a greater gripping force is required to prevent the cargo from slipping;

[0164] For the fragility factor, if the fragility is expressed as It means that the fragility level is set according to the material, structure and other factors of the goods, and converted into a numerical value. Suppose the average fragility of the goods in the warehouse is ,but ;if A larger value indicates that the cargo is more fragile and the robot arm needs to reduce the gripping force to avoid damaging the cargo;

[0165] Other equipment with loading functions (such as stackers, shuttles, etc.) will adjust the position and movement of the loading mechanism according to the size and weight of the goods when loading;

[0166] Cargo handling:

[0167] Automated equipment carries goods and moves along a planned path. During the handling process, the equipment will adjust the speed and direction of movement in real time according to its own load conditions (such as the weight of the goods already carried, the remaining load capacity of the equipment, etc.) and movement status (such as the current driving speed, acceleration, etc.). If the load is heavy, the equipment may reduce the driving speed to ensure that the goods can be carried safely and stably. If there are turns or narrow passages during the handling process, the equipment will reasonably adjust the direction according to its own kinematic model and path planning information to ensure that the goods will not fall or collide with the surrounding environment.

[0168] At the same time, the device will continue to use sensors to sense the surrounding environment and monitor in real time whether there are new obstacles to break through. If an obstacle is found approaching, the device will take corresponding obstacle avoidance measures according to the location of the obstacle and its own motion state, such as slowing down, stopping or replanning the local path, to ensure the safety and efficiency of cargo handling.

[0169] Smart shelf system operation:

[0170] Receiving instructions and information records:

[0171] The intelligent shelf system maintains a connection with the data processing unit through a communication interface, and receives the goods storage location information and in-and-out instructions from the data processing unit in real time;

[0172] When goods enter the warehouse, the smart shelf system will first parse the entry instruction and obtain relevant information about the goods, including the identification, weight, volume, etc. of the goods; then, according to the shelf storage strategy (for example, classified storage according to the type, weight, volume, etc. of goods), determine the storage location of the goods (such as the number of shelf layers, unit location, etc.); at the same time, record the relevant information such as the entry time of the goods, and package and transmit this information to the data processing unit to update the inventory database;

[0173] When the goods are shipped out of the warehouse, the smart shelf system will also parse the outbound instruction, obtain the identification information of the goods, and then find the corresponding goods according to the storage location information; after the goods are taken out, the outbound time and the corresponding storage location information of the goods are recorded, and this information is transmitted to the data processing unit for updating the inventory status information in the inventory database to ensure the accuracy of the inventory data;

[0174] Shelf structure adjustment (according to cargo weight distribution):

[0175] Assume that the initial load capacity of each shelf layer is , the cargo weight distribution vector is ,in, Indicates The weight of the goods on the shelf unit, , the number of shelves is ; Calculate the average weight of each layer ,in, is the number of shelf units per layer, , Indicates The average weight of the goods on the shelf, if , The value range is , then the structure of the shelf on that layer should be reinforced or the distribution of goods should be adjusted;

[0176] Structural reinforcement algorithm: If reinforcement is required, set the reinforcement coefficient to , the load-bearing capacity after reinforcement ;

[0177] Goods distribution adjustment algorithm: If you choose to adjust the distribution of goods, use the greedy algorithm, starting from the shelf unit with the heaviest weight, and gradually transfer the goods to the layer with lower average weight; let the weight of the transferred goods be , from Transfer to the first Layer, after transfer Average weight of layer , No. Average weight of layer ,This process is repeated until the average weight of all layers meets the safety requirements, where and Respectively represent the source layer and target layer of goods transfer, The target layer The average weight of the goods before receipt.

[0178] In this embodiment, the data processing unit generates the equipment dispatch instruction based on the weight of the cargo. ,volume , Transportation distance and load conditions of automation equipment , running speed , Energy consumption , the following algorithm is used to calculate the device scheduling priority : ;in, Indicates the relative importance of cargo weight in the equipment scheduling priority calculation. Indicates the relative importance of cargo volume factors, Indicates the relative importance of the transport distance factor, Indicates the relative importance of the equipment load condition factors, Indicates the relative importance of the equipment operating speed factor. Indicates the relative importance of the factors affecting equipment energy consumption, and ;

[0179] Scheduling by device priority Filter out the most suitable automated equipment for outbound tasks and send equipment scheduling instructions to the automated equipment.

[0180] In this embodiment, when the data processing unit generates the path planning instruction of the device, for the automated device assigned to the task, according to the warehouse layout information and the storage location and the outbound location of the goods, the operation path planning instruction is generated. The generation of the operation path planning instruction includes:

[0181] Assume that the warehouse layout is a two-dimensional coordinate plane, and the coordinates of the cargo storage location are , the coordinates of the outbound location are The straight-line distance between two points is At the same time, consider the obstacle coordinate set in the warehouse , using the detection data and warehouse map information collected by the automatic obstacle avoidance function of the automation equipment itself, the actual operation path is planned through the path planning algorithm, and the path planning instructions of the equipment are generated.

[0182] In this embodiment, a safety and monitoring module is also included:

[0183] Deploy weight sensors on handling equipment and outbound channels to measure the actual weight of goods and output weight data to the data processing unit, which is compared with the theoretical weight data of goods stored in the data processing unit to ensure the accuracy of the quantity of goods;

[0184] Install high-definition cameras in the warehouse area to capture image data of cargo handling and storage status and transmit it to the monitoring center for storage and analysis;

[0185] Establish an access control system to collect personnel's fingerprints, facial features or card information and transmit it to the data processing unit, receive the identity verification results from the data processing unit, and only allow authorized personnel to enter specific areas of the warehouse;

[0186] It has an abnormal alarm function. When there is abnormal cargo weight, equipment failure, illegal intrusion, etc., it automatically triggers the sound and light alarm and sends an alarm signal to the data processing unit. After receiving the alarm signal, the data processing unit sends the alarm information to the terminal device of the designated manager. The terminal device displays the alarm type, location, and related cargo or personnel information;

[0187] Furthermore, when the security and monitoring module is running:

[0188] Weight monitoring:

[0189] Weight data collection:

[0190] Weight sensors are deployed on handling equipment (such as automatic guided vehicles, stackers, etc.) and outbound channels. During the cargo handling process, the weight sensors measure the actual weight of the cargo in real time.

[0191] The weight sensor converts the measured weight data into a digital signal and outputs the weight data to the data processing unit according to a predetermined data format;

[0192] Weight data comparison and processing:

[0193] The data processing unit receives the actual weight data from the weight sensor and obtains the theoretical weight data of the corresponding goods from the inventory database;

[0194] Compare the actual weight data with the theoretical weight data; assume the actual weight is The theoretical weight is Calculate weight deviation ;

[0195] if If the quantity is within the allowable error range (set according to the warehouse's accuracy requirements), the quantity of goods is considered accurate and no additional operations are performed;

[0196] if If the weight exceeds the allowable error range, the cargo weight is considered abnormal, triggering the abnormal alarm function and recording relevant information, such as cargo identification, actual weight, theoretical weight, deviation value, occurrence time, etc., for subsequent analysis and tracing;

[0197] Image monitoring:

[0198] Image data acquisition:

[0199] High-definition cameras are installed in key areas of the warehouse, including cargo storage areas, handling channels, and outbound areas, to ensure that the cargo handling and storage process can be fully covered;

[0200] The high-definition camera continuously captures image data of the cargo handling and storage status at the preset frame rate and resolution;

[0201] Image data is transmitted to the monitoring center via wired or wireless network;

[0202] Image data storage and analysis:

[0203] In the monitoring center, the received image data is classified and stored according to information such as time and location (the camera’s area identification);

[0204] Assume the number of storage nodes is , the storage capacity of each storage node is , the image data generation speed is byte Seconds, according to the formula Calculate storage time and configure it reasonably and , ensure that storage time meets regulatory or management requirements;

[0205] At the same time, image recognition technology is used to analyze the stored image data; for example, to analyze whether the goods are neatly arranged, whether there are signs of damage, whether there are any abnormal items, etc. If an abnormal situation is found, the abnormal alarm function is triggered and relevant information, such as the time, location, and abnormal description of the abnormal image, is recorded for subsequent review and processing;

[0206] Access Control:

[0207] Personnel information collection:

[0208] Access control systems are installed at the entrances of warehouses and specific areas, equipped with fingerprint readers, facial recognition devices or card readers;

[0209] When a person attempts to enter a warehouse or a specific area, the access control system collects the person's fingerprint, facial features, or card information, converts it into a digital signal, and transmits it to the data processing unit in a predetermined data format;

[0210] Authentication and access control:

[0211] The data processing unit receives the personnel information from the access control system and compares it with the authorized personnel information in the user database;

[0212] If the personnel information matches the authorized personnel information and the person has the authority to enter the corresponding area, the data processing unit sends an instruction to open the door to the access control system to allow the person to enter;

[0213] If the personnel information does not match the authorized personnel information, or the person does not have the authority to enter the corresponding area, the data processing unit sends a prohibition instruction to the access control system and triggers the abnormal alarm function, while recording relevant information, such as the time, area, and personnel information of the person's attempt to enter, for security management and traceability;

[0214] Abnormal alarm:

[0215] Anomaly detection and signal triggering:

[0216] During the weight monitoring, image monitoring and access control process, if there are abnormal cargo weight, equipment failure (such as weight sensor failure, HD camera failure, etc.), illegal intrusion (unauthorized personnel entering a specific area of ​​the warehouse), etc., the corresponding monitoring equipment or system will automatically trigger an abnormal alarm signal;

[0217] The abnormal alarm signal is sent to the data processing unit in the form of a digital signal;

[0218] Alarm information processing and sending:

[0219] After receiving the abnormal alarm signal, the data processing unit generates corresponding alarm information according to the abnormal type (such as abnormal cargo weight, illegal intrusion, etc.);

[0220] The alarm information includes the alarm type, the location of the alarm (such as the shelf where the goods are located, the warehouse entrance location, etc.), and the relevant goods or personnel information (such as the goods identification, personnel name, etc.);

[0221] The data processing unit sends the alarm information to the terminal device of the designated manager; the terminal device can be a mobile phone, computer, etc. The manager can learn about the alarm situation in time through the terminal device and take corresponding measures.

[0222] A method for self-service warehouse delivery. The method for self-service warehouse delivery is executed by using a system for self-service warehouse delivery. The specific steps are as follows:

[0223] S1: User initiates a request for outbound delivery:

[0224] User Authentication:

[0225] The user initiates a request for delivery through the touch screen, voice interaction unit or other authorization methods (such as swiping a card, etc.);

[0226] The system verifies the user's identity through the user database, including name, work number, permission level, password, fingerprint or facial feature information, etc. If the identity verification fails, the system rejects the outbound request and prompts the user to re-verify;

[0227] Enter outbound instructions:

[0228] After the identity verification is passed, the user enters the outbound instruction through the touch screen, including detailed information such as the name, specification, quantity, and destination of the goods; or enters the voice instruction through the voice interaction unit, and the system converts the voice instruction into text information for processing;

[0229] S2: The system processes the outbound request:

[0230] Inventory Check:

[0231] After receiving the user's outbound instruction, the data processing unit interacts with the inventory database to check whether the inventory quantity of the required goods meets the requirements;

[0232] If the inventory quantity meets the requirement, the subsequent process will continue; if the inventory quantity is insufficient, an insufficient inventory prompt message will be generated and fed back to the user through the touch display or voice interaction unit;

[0233] Device scheduling priority calculation:

[0234] If the inventory meets the requirements, the data processing unit calculates the equipment scheduling priority based on factors such as cargo weight, volume, handling distance, and load conditions, operating speed, and energy consumption of the automation equipment;

[0235] First, standardize the factors, including calculating the average weight of goods, average volume, typical handling distance, average load capacity of equipment, average operating speed of equipment, average energy consumption of equipment, etc.;

[0236] Then, the equipment scheduling priority is calculated based on the pre-set weight coefficients (the relative importance of cargo weight, cargo volume, handling distance, equipment load, equipment speed, and equipment energy consumption, and the sum of these weight coefficients is 1);

[0237] S3: Cargo handling and outbound delivery:

[0238] Equipment scheduling and path planning:

[0239] According to the calculated equipment scheduling priority, the data processing unit selects the most suitable equipment for executing the current outbound task from the equipment in the automated handling and storage module (such as automated guided vehicles, stackers, shuttles, and robot arms, etc.);

[0240] For the automated equipment assigned to the task, generate operation path planning instructions based on the warehouse layout information (such as shelf location, channel location, etc.) and the storage location and outbound location of the goods;

[0241] Cargo handling operation details confirmed:

[0242] When a robot arm or other equipment is handling goods, the gripping force and gripping angle and other operational details are determined based on the shape, surface material, and fragility of the goods.

[0243] For other equipment (such as stackers, shuttles, etc.), determine the precise operating instructions during cargo loading, unloading and handling, such as lifting height, translation speed, etc.;

[0244] Cargo handling execution:

[0245] The automated equipment begins to move the goods according to the planned path and operation details;

[0246] During the handling process, the equipment continuously uses its own sensors to sense the surrounding environment and adjusts the movement speed and direction in real time to avoid collisions and ensure the stability of the goods and the efficiency of handling;

[0247] Smart Shelf System Operation:

[0248] The intelligent shelf system receives the goods storage location information and in-and-out instructions from the data processing unit;

[0249] When goods leave the warehouse, the smart shelf system records the departure time and corresponding storage location information of the goods, and updates the inventory status information; at the same time, according to the weight distribution of the goods, the smart shelf system may automatically adjust the shelf structure and load capacity (if necessary);

[0250] Weight Monitoring and Verification:

[0251] Weight sensors are deployed on handling equipment and outbound channels to measure the actual weight of goods and output weight data to the data processing unit;

[0252] The data processing unit compares the actual weight data with the theoretical weight data of the goods stored in the inventory database to ensure the accuracy of the goods quantity; if the weight deviation exceeds the allowable range, the abnormal alarm function is triggered and the relevant information is recorded;

[0253] Image monitoring and recording:

[0254] High-definition cameras are installed in key areas of the warehouse to capture image data of cargo handling and total storage status and transmit them to the monitoring center for storage and analysis;

[0255] Use image recognition technology to analyze the stored image data to check whether the goods are neatly placed and whether there are signs of damage. If any abnormality is found, the abnormal alarm function is triggered and relevant information is recorded.

[0256] Confirmation and feedback of delivery completion:

[0257] When the goods are moved to the outbound location and all related operations (such as weight verification, image monitoring, etc.) are completed normally, the system confirms that the outbound task is completed;

[0258] The system provides users with information on the completion of the outbound task through a touch screen or voice interaction unit, including a list of outbound goods, outbound time, etc. At the same time, the data processing unit updates the inventory quantity and related information in the inventory database.

[0259] 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. A self-service warehouse outbound system, characterized by: include: Perception and interaction module: integrated with barcode scanner, QR code scanner and RFID reader / writer, used to identify barcode, QR code and RFID tag on the package of goods, obtain goods identification information and output it to the data processing unit; Equipped with a touch screen to display the cargo information, inventory status, outbound process guidance and operation prompts transmitted by the data processing unit, receive outbound instructions and query requests input by users and transmit them to the data processing unit; It is equipped with a voice interaction unit, which receives user voice commands and converts them into text information and transmits them to the data processing unit. It also receives system information and operation results from the data processing unit and feeds them back to the user in the form of voice. It also includes an image acquisition device, which takes images of goods, extracts feature information of the goods through image recognition technology, and transmits it to the data processing unit to assist in identifying goods without labels or with damaged labels. Data processing and storage module: builds an inventory database to store the name, specification, model, quantity, storage location, warehousing time, and supplier information of goods, receives inventory update instructions from the data processing unit to update inventory data, and provides inventory data query services to the data processing unit; Establish a user database to record user name, work number, authority level, password, fingerprint or facial feature information data, receive identity authentication requests from the data processing unit and feedback verification results; have a task database to store outbound task details, including task number, creation time, cargo list, target location, task status data, receive task creation and update instructions from the data processing unit and store data, and provide task data query services to the data processing unit; use the data processing unit to receive cargo information, user information and operation data from the perception and interaction module, analyze, process and integrate them, generate equipment scheduling instructions based on the inventory status in the inventory database and the outbound tasks in the task database and output them to the automated handling and storage module, generate inventory update instructions and output them to the inventory database; Automated handling and storage module: includes automated equipment, including automatic guided vehicles, stackers, shuttles and robot arms. It receives equipment scheduling instructions from the data processing unit, and controls the automatic guided vehicles, stackers, shuttles and robot arms to perform cargo handling tasks according to the equipment scheduling instructions. The automated equipment has an automatic obstacle avoidance function, which uses laser radar and ultrasonic sensors to perceive the surrounding environment and adjusts the operation path in real time to avoid collisions. It is equipped with an intelligent shelf system, which receives cargo storage location information and entry and exit instructions from the data processing unit, automatically records the cargo storage location and entry and exit information and transmits it to the data processing unit, and can automatically adjust the shelf structure and carrying capacity according to the weight distribution of the cargo.

2. A warehouse self-service outbound system according to claim 1, characterized in that: The image recognition technology of the image acquisition device adopts a deep learning algorithm, and establishes a cargo feature model by learning and training a large number of cargo images. The image recognition algorithm includes: Assume the collected image is ,Will Input to the convolutional neural network CNN, and extract features through CNN to obtain feature maps ,Bundle Input the fully connected layer for classification prediction, set the training sample set ,in, Indicates cargo images for training, is the corresponding cargo category label, is the total number of training samples, and the cross entropy loss function is used Measures the difference between the predicted result and the true label, where is the total number of cargo categories, For the The true label of the sample is The value of the category, if the sample belongs to Classification , otherwise 0, The model predicts The samples belong to The probability of the class; with the help of the back propagation algorithm, the parameters of the CNN are continuously adjusted to minimize the loss function and obtain the trained cargo feature model.

3. The self-service warehouse outbound system according to claim 1, characterized in that: The data processing unit generates equipment dispatch instructions based on the weight of the cargo. ,volume , Transportation distance And the load of automation equipment , running speed , Energy consumption , the following algorithm is used to calculate the device scheduling priority : ;in, Indicates the relative importance of cargo weight in the equipment scheduling priority calculation. Indicates the relative importance of cargo volume factors, Indicates the relative importance of the transport distance factor, Indicates the relative importance of the equipment load condition factors, Indicates the relative importance of the equipment operating speed factor. Indicates the relative importance of the factors affecting equipment energy consumption, and ; Scheduling by device priority Filter out the most suitable automated equipment for outbound tasks and send equipment scheduling instructions to the automated equipment.

4. A warehouse self-service outbound system according to claim 3, characterized in that: When generating the path planning instructions for the equipment, the data processing unit generates the operation path planning instructions for the automation equipment assigned to the task according to the warehouse layout information and the storage location and the outbound location of the goods. The generation of the operation path planning instructions includes: Assume that the warehouse layout is a two-dimensional coordinate plane, and the coordinates of the cargo storage location are , the coordinates of the outbound location are The straight-line distance between two points is At the same time, consider the obstacle coordinate set in the warehouse , using the detection data and warehouse map information collected by the automatic obstacle avoidance function of the automation equipment itself, the actual operation path is planned through the path planning algorithm, and the path planning instructions of the equipment are generated.

5. A warehouse self-service outbound system according to claim 4, characterized in that: The data processing unit generates the operation instructions of the robot arm when grabbing the goods according to the shape of the goods. , Surface material and fragility , adjust the grasping strength through the following algorithm With grab angle : ； ； in, Indicates the relative importance of shape factors in gripping force and angle adjustment, Indicates the relative importance of surface material factors. Indicates the relative importance of fragility factors, Indicates the relative importance of the shape factor in grip angle adjustment, Indicates the relative importance of surface material factors in adjusting the grab angle. Indicates the relative importance of the fragility factor in the adjustment of the grip angle.

6. The self-service warehouse outbound system according to claim 1, characterized in that: The algorithm for the intelligent shelf system to automatically adjust the shelf structure and load capacity according to the weight distribution of the goods is as follows: Assume that the initial load capacity of each shelf layer is , the cargo weight distribution vector is ,in, Indicates The weight of the goods on the shelf unit, , the number of shelves is ; Calculate the average weight of each layer ,in, is the number of shelf units per layer, , Indicates The average weight of the goods on the shelf, if , The value range is , then the shelf structure of this layer should be reinforced or the distribution of goods should be adjusted so that the adjusted average weight meets the safety requirements. The specific algorithm is as follows: If reinforcement is required, the reinforcement coefficient is , the load-bearing capacity after reinforcement ; If you choose to adjust the distribution of goods, use the greedy algorithm to gradually transfer the goods from the shelf unit with the largest weight to the layer with the lower average weight; let the weight of the transferred goods be , from Transfer to the first Layer, after transfer Average weight of layer , No. Average weight of layer ,This process is repeated until the average weight of all layers meets the safety requirements, where and Respectively represent the source layer and target layer of goods transfer, The target layer The average weight of the goods before receipt.

7. The self-service warehouse outbound system according to claim 1, characterized in that: Also includes security and monitoring modules: Deploy weight sensors on handling equipment and outbound channels to measure the actual weight of goods and output weight data to the data processing unit, which is compared with the theoretical weight data of goods stored in the data processing unit to ensure the accuracy of the quantity of goods; Install high-definition cameras in the warehouse area to capture image data of cargo handling and storage status and transmit it to the monitoring center for storage and analysis; Establish an access control system to collect personnel's fingerprints, facial features or card information and transmit it to the data processing unit, receive the identity verification results from the data processing unit, and only allow authorized personnel to enter specific areas of the warehouse; It has an abnormal alarm function. When there are abnormal cargo weight, equipment failure, illegal intrusion, etc., it will automatically trigger the sound and light alarm and send an alarm signal to the data processing unit. After receiving the alarm signal, the data processing unit will send the alarm information to the terminal device of the designated manager. The terminal device will display the alarm type, location, and related cargo or personnel information.

8. A method for self-service warehouse delivery, characterized in that: The method for self-service warehouse retrieval is executed using the system for self-service warehouse retrieval as described in any one of claims 1-7.

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