Intelligent transfer robot with RFID scanning function

Abstract

The invention discloses an intelligent transfer robot with an RFID scanning function, and belongs to the technical field of intelligent warehouse management. An ultrahigh frequency RFID reader is arranged on an intelligent transfer robot, so that the intelligent transfer robot has a function of reading RFID tags on goods, and the ultrahigh frequency RFID reader on each intelligent transfer robot in a sorting scene is prevented from reading RFID tags on goods on other intelligent transfer robots; according to the invention, an antenna scheme is designed, so that the reading direction is limited to be right above the intelligent transfer robot, and meanwhile, a corresponding reading algorithm is provided to solve the misreading problem, so that the logistics sorting system can randomly adjust the positions and the number of goods throwing ports and / or unloading points, other solutions are provided for the congestion problem in the sorting process, and the sorting efficiency is improved. The overall sorting efficiency is improved by more than two times; and the corresponding logistics sorting system can well cope with the conditions of sharp increase and sharp decrease of orders on the premise of reducing the cost.

Description

Technical Field

[0001] This invention relates to an intelligent handling robot with RFID scanning function, belonging to the field of intelligent warehouse management technology. Background Technology

[0002] Due to the development of e-commerce technology and the continuous improvement of logistics systems, online shopping has become the main way of shopping for most people. Conversely, the rapid development of online shopping has led to an explosive growth in the number of orders, which has also posed a huge challenge to the processing capacity of logistics sorting systems. Moreover, as consumers demand more and more timeliness in online shopping, merchants are also placing higher demands on the sorting efficiency of logistics sorting systems.

[0003] To meet the demand for higher sorting efficiency, existing logistics sorting systems can achieve fast and accurate sorting by leveraging RFID technology and magnetic navigation robots. The sorting system quickly identifies package information by scanning RFID tags on parcels or goods. A host computer then plans the sorting path and sends the path information to the sorting robot responsible for sorting the corresponding parcel. The sorting robot then transports the parcel to the appropriate cargo box, where it is packaged and shipped. In the above process, since RFID technology uses radio frequency signals to transmit and identify information, as long as the information is within the coverage area of ​​the radio frequency signal, it is possible to read and identify the information. Therefore, the interference between signals needs to be considered. Existing sorting systems usually set up RFID reading devices at fixed locations, and corresponding signal shielding devices are set up at these locations to ensure that the RFID reading devices only read the RFID tags on the current packages and avoid misreading. For example, the utility model patent with announcement number CN 221987268 U provides an intelligent three-dimensional warehouse workstation with a connecting platform and a work rack. The reader for reading RFID tags is set on the work rack. Each robot carrying a box needs to read the package information here. The workstation control console (which can be understood as the host computer) uses the RFID reader to read the information and plans the path from the connecting platform to the target address, and then sends it to the robot. The robot transports the box it carries to the destination according to the path planned by the workstation control console.

[0004] The aforementioned practice of setting up a dedicated RFID reader has many inconveniences in practical applications. For example, when the volume of goods to be sorted is large, all robots carrying goods need to have their information read at this location, which can cause congestion. This RFID reader becomes a bottleneck that limits sorting efficiency. Moreover, since the robots can only be read at fixed locations, the host computer can only plan the routes for the robots at the very beginning. If congestion occurs during subsequent transportation, the usual solution is to trade time for space, that is, to resolve the congestion by scheduling the robots in the congestion to take detours. This further limits the further improvement of sorting efficiency. Summary of the Invention

[0005] To further improve the sorting efficiency of sorting systems, this invention provides an intelligent handling robot with RFID scanning function. The intelligent handling robot is used to handle goods attached with RFID tags and includes a robot body and a cargo-carrying component. The cargo-carrying component is located on top of the robot body and is used to place the goods to be handled. The robot body internally includes a controller, an UHF RFID reader positioning module, and a communication module. The UHF RFID reader is used to read the information of the RFID tags on the goods placed on the cargo-carrying component. The positioning module is used to determine the current position information of the intelligent handling robot, and the communication module is used to communicate with an external processor.

[0006] Optionally, the UHF RFID reader, positioning module, and communication module are all connected to the controller; the reading direction of the UHF RFID reader is limited to directly above the intelligent handling robot to avoid the UHF RFID reader reading information from RFID tags on other goods besides the cargo-carrying components of the intelligent handling robot.

[0007] Optionally, the antenna of the UHF RFID reader is an array of linearly polarized antennas, an array of circularly polarized antennas, or an array combination of linearly polarized and circularly polarized antennas.

[0008] Optionally, the intelligent handling robot uses an external processor to continuously determine N times whether the RSSI value of the RFID radio frequency signal read by the UHF RFID reader is maximum or stable to ensure that it can read the RFID tag information of the goods on the current intelligent handling robot.

[0009] Optionally, when the intelligent handling robot continuously determines whether the RSSI value of the RFID radio frequency signal read by the UHF RFID reader is maximum or stable through an external processor N times, the position of the intelligent handling robot differs by a predetermined distance or the interval between two consecutive reads is a predetermined time.

[0010] Optionally, the positioning module uses a high-frequency RFID reader or a UWB tag.

[0011] Optionally, the intelligent handling robot is an AGV (Automated Guided Vehicle) or an AMR (Autonomous Mobile Robot).

[0012] Optionally, when the intelligent handling robot is an AGV (Automated Guided Vehicle), the AGV is also equipped with a magnetic sensor.

[0013] Optionally, when the intelligent handling robot is an AMR robot, the robot further includes a processor.

[0014] Optionally, the cargo-carrying component is a flip-over pallet or a roller assembly.

[0015] The present invention also provides a logistics sorting method, which is based on the above-mentioned intelligent handling robot with RFID scanning function to sort packages. During the sorting process, the method determines the target signal by continuously judging whether the RSSI value of the RFID radio frequency signal read by the ultra-high frequency RFID reader is maximum or stable N times, and then determines the target sorting address, thereby realizing sorting.

[0016] Optionally, when the method continuously determines whether the RFID radio frequency signal read by the UHF RFID reader is stable N times, it includes: determining the magnitude of the RSSI value of the RFID radio frequency signal and / or the direction of the RFID radio frequency signal.

[0017] Optionally, when the intelligent handling robot with RFID scanning function is an AGV equipped with an UHF RFID reader, the method includes:

[0018] Step S1: Place the packages to be sorted into the cargo-carrying component of the AGV vehicle;

[0019] Step S2: The AGV controller uses an ultra-high frequency RFID reader to read each RFID radio frequency signal and sends each RFID radio frequency signal to an external processor. At the same time, it sends the current position information of the AGV to the external processor.

[0020] Step S3: The external processor compares the RSSI values ​​of each RFID radio frequency signal acquired by the UHF RFID reader at the same time. The RFID radio frequency signal contains the address information and / or cargo information of the goods in the package.

[0021] Step S4: The external processor selects the RFID radio frequency signal with the largest or most stable RSSI value as the target signal, and parses it to determine the target sorting address corresponding to its address information or cargo information.

[0022] Step S5: The external processor plans a path for the AGV based on the parsed target sorting address and sends the planned path information to the AGV controller.

[0023] Step S6: After the AGV controller travels a predetermined distance or at a predetermined interval according to the planned path information, it uses an ultra-high frequency RFID reader to read each RFID radio frequency signal again and sends each RFID radio frequency signal to an external processor.

[0024] Step S7: The external processor checks whether the target signal selected in step S3 is the same signal as the RFID radio frequency signal with the largest or most stable RSSI value at present.

[0025] Step S8: If the target signal selected in step S3 is the same as the RFID radio frequency signal with the largest or most stable RSSI value, the AGV continues to travel according to the planned path information; otherwise, proceed to step S9.

[0026] In step S9, the AGV controller uses the positioning module to obtain the current position information of the AGV and sends it to the external processor, repeating steps S4 to S8.

[0027] Optionally, when the intelligent handling robot with RFID scanning function is an AMR robot equipped with an UHF RFID reader, the method includes:

[0028] Step 1: Place the packages to be sorted into the cargo-carrying component of the AMR robot;

[0029] Step 2: The AMR robot uses an UHF RFID reader to read each RFID radio frequency signal and sends each RFID radio frequency signal to an external processor so that the external processor can determine the RFID radio frequency signal with the largest or most stable RSSI value and send it to the AMR robot as the target signal.

[0030] Step 3: The AMR robot analyzes the target signal to determine the target sorting address corresponding to its address information or cargo information;

[0031] Step 4: The AMR robot uses the positioning module to determine its current location information and plans a sorting path based on the current location information and the parsed target sorting address.

[0032] Step 5: After traveling a predetermined distance or at predetermined intervals along the planned sorting path, the AMR robot uses an UHF RFID reader to read each RFID radio frequency signal again. It then interacts with an external processor to determine whether the target signal is the same as the RFID radio frequency signal with the largest or most stable RSSI value. If the verification result is "yes", the AMR robot continues to travel along the planned sorting path; otherwise, it jumps to Step 6.

[0033] Step 6: The AMR robot analyzes the RFID radio frequency signal with the highest or most stable RSSI value as the target signal, and repeats Steps 4 to 5.

[0034] Optionally, when the AMR robot encounters congestion, the AMR robot replans its path based on its current location information.

[0035] Optional, N is greater than or equal to 2.

[0036] The beneficial effects of this invention are:

[0037] This invention limits the reading direction of the antenna to directly above the intelligent handling robot by setting its shape and type, and designs a corresponding reading algorithm to further avoid misreading. This allows the UHF RFID reader to be installed on the intelligent handling robot, enabling the robot to read RFID tags on goods. When applied to a logistics sorting system, this allows the system to arbitrarily adjust the location and number of loading and / or unloading points, and provides alternative solutions for congestion on intelligent handling robots, improving overall sorting efficiency by more than 2 times. The corresponding logistics sorting system can also effectively cope with surges and sharp declines in orders while reducing costs. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 This is an overall schematic diagram of an intelligent handling robot with RFID scanning function;

[0040] Figure 2 This is a schematic diagram of one possible antenna arrangement for an RFID reader;

[0041] Figure 3 This is a schematic diagram of another antenna arrangement for an RFID reader;

[0042] Figure 4 This is a schematic diagram illustrating an application scenario of an automated logistics sorting system.

[0043] Figure 5 This is a schematic diagram of signal transmission in an automated logistics sorting system;

[0044] Figure 6 This is a schematic diagram showing the positions of magnetic strips and positioning RFID tags in a magnetic navigation carpet. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0046] Example 1

[0047] This embodiment provides an intelligent handling robot with RFID scanning function for handling goods with RFID tags attached. It includes a robot body and a cargo-carrying component. The cargo-carrying component is located on top of the robot body and is used to place the goods to be handled. The robot body is equipped with a controller, an UHF RFID reader positioning module, and a communication module. The UHF RFID reader is used to read the information of the RFID tags of the goods placed on the cargo-carrying component. The positioning module is used to determine the current position information of the intelligent handling robot. The communication module is used to communicate with an external processor.

[0048] Intelligent handling robots can be AGVs or AMRs; their cargo-carrying components can be flipping pallets, roller assemblies, or mechanical grippers, etc.

[0049] By setting the antenna shape and type, the reading direction of the UHF RFID reader is limited to directly above the intelligent handling robot, so that it only reads the RFID tags of the goods in the cargo-carrying components at the bottom of the intelligent handling robot. At the same time, a corresponding reading algorithm is designed to further avoid the problem of misreading. After solving the problem of misreading, the intelligent handling robot can have the function of reading RFID tags on goods without having to go to a specific location to read RFID information.

[0050] This embodiment uses an AGV with RFID scanning function as an example. See [link / reference]. Figure 1The system includes a trolley body 12 and a flipping pallet 11. The flipping pallet 11 is located on top of the trolley body 12 and is used to carry goods. The trolley body 12 is equipped with a controller, an ultra-high frequency RFID reader, a magnetic sensor, a positioning module, and a communication module. The ultra-high frequency RFID reader is used to read the information of the RFID tags on the goods placed in the flipping pallet 11. The magnetic sensor is used to realize magnetic navigation. The positioning module is used to determine the current position information of the AGV trolley. The communication module is used to communicate with the outside world. The ultra-high frequency RFID reader, the positioning module, and the communication module are all connected to the controller.

[0051] For UHF RFID readers, the reading direction can be limited to directly above the AGV (Automated Guided Vehicle) by setting the shape and type of its antenna, thus preventing the UHF RFID reader from reading information from RFID tags on goods other than the AGV's flipped pallet. For example, an array of linearly polarized antennas or an array of circularly polarized antennas can be used, or a combination of linearly polarized and circularly polarized antennas can be reasonably configured to limit the reading direction to directly above the AGV. Figure 2 A schematic diagram of an array of linearly polarized antennas is shown, consisting of nine linearly polarized antennas 100 arranged in an array. Figure 3 The diagram illustrates a combination of linearly polarized and circularly polarized antennas, consisting of eight linearly polarized antennas 100 and one circularly polarized antenna 200. Figure 3 The combination shown is in Figure 2 Based on the combination shown, the linearly polarized antenna 100 in the middle is replaced with a circularly polarized antenna 200 to achieve multi-angle signal reception; in actual use, the beam angle of the circularly polarized antenna can be designed to limit its reading direction.

[0052] Because RFID radio frequency signals undergo reflection, refraction, and scattering during propagation, this invention also designs a corresponding reading algorithm to ensure no misreading occurs in order to further reduce the false reading rate. The reading algorithm logic for each AGV is as follows:

[0053] Step 1: Compare the RSSI (Received Signal Strength Indication) values ​​of each RFID radio frequency signal acquired by the UHF RFID reader at the same time. The RFID radio frequency signal contains the address information and / or cargo information of the goods.

[0054] Step 2: Select the RFID radio frequency signal with the largest RSSI value or the most stable signal as the target signal, and parse it to determine the target sorting address corresponding to its address information or cargo information;

[0055] The main scenarios for sorting goods using AGVs equipped with RFID scanning capabilities include:

[0056] Scenario 1: Package sorting. Packages are divided into multiple shipping directions according to address information. Packages belonging to the same direction correspond to the same target sorting address; the address information is the final delivery address of the package.

[0057] Scenario 2: Sorting returned packages. Each package is transported to the corresponding shelf according to the information of the goods inside. The same goods correspond to the same target sorting address. The information of the goods includes identification ID, goods category, traceability information, etc. For example, if it is clothing, its information may include style, size, color, material, fabric, grade, production date, etc.

[0058] During the sorting process, magnetic navigation mats are usually laid out for AGV carts in the sorting area, and several target sorting addresses are set in the sorting area; the purpose of sorting is to sort the packages to the corresponding target sorting addresses.

[0059] Magnetic navigation carpets are carpets with magnetic strips inside or underneath, which work in conjunction with magnetic sensors on AGV vehicles to achieve path recognition.

[0060] Step 3: Plan a route for the AGV based on the target sorting address and the AGV's current location, and send the route information to the AGV so that the AGV can transport the current goods to the target sorting address according to the planned route.

[0061] Step 4: After the AGV has traveled the predetermined distance, it will determine again whether the target signal is still the RFID radio frequency signal with the largest RSSI value. If the target signal is still the RFID radio frequency signal with the largest RSSI value, the AGV will continue to travel. Otherwise, the RFID radio frequency signal with the largest RSSI value at the current moment will be selected for parsing. The corresponding target sorting address will be determined based on the parsed address information or cargo information. The path will be replanned for the AGV based on the target sorting address and the current position of the AGV.

[0062] This re-judgment step can further prevent misreading. In practical applications, the target signal determined by N consecutive judgments can be set to be the RFID radio frequency signal with the largest RSSI value, which means that there is no misreading. N can be 2 or a value greater than 2 depending on the actual situation.

[0063] If multiple RFID radio frequency signals with the largest RSSI value are acquired by the UHF RFID reader at the same time, the correct target signal is determined by multiple judgments, or the judgment is made based on the stability of the RFID radio frequency signal, such as if the RSSI value of the RFID radio frequency signal is consistently stable within the error range.

[0064] For the positioning module, UWB (Ultra-Wideband) positioning technology can be used; alternatively, a high-frequency RFID reader can be used in conjunction with the positioning RFID tags on the magnetic navigation carpet 4 to achieve positioning. Figure 6 This is a schematic diagram showing the positions of the magnetic strip 41 and the positioning RFID tag 42 in the magnetic navigation carpet 4.

[0065] This AGV (Automated Guided Vehicle) equipped with RFID scanning technology can directly read the information from the RFID tags on goods. When applied to existing automated logistics sorting systems, it can greatly improve sorting efficiency. All AGVs no longer need to go to fixed locations to read RFID tags on goods, thus eliminating the need for fixed drop-off points. Personnel can drop goods from anywhere in the sorting area, as long as the top tilting pallet 11 of the AGV is empty. After being dropped, the AGV communicates with the host computer to obtain a planned route and then begins sorting according to that route. In case of congestion, a new planned route can be obtained at any time through communication with the host computer, instead of detouring along a predetermined route to save time.

[0066] It should be noted that the above-mentioned reading algorithm logic for each AGV can be completed by the AGV's own processor or by an external processor.

[0067] If it is an AMR robot with RFID scanning function, there is no need for an external processor to plan the path for it. Instead, the AMR robot navigates autonomously. Its logic for determining the target signal is the same as that of the AGV, that is, it continuously judges N times whether the RSSI value of the RFID radio frequency signal read by the UHF RFID reader is the maximum or whether it is stable. This will not be elaborated here.

[0068] Example 2

[0069] This embodiment provides a logistics sorting method, also using an AGV (Automated Guided Vehicle) cart as an example. Figure 4 and Figure 5 As shown, the logistics sorting scenario includes a host computer processor 6 and several AGV carts 1 with RFID scanning function as described in Embodiment 1, such as... Figure 4 As shown, a magnetic navigation carpet 4 is installed in the sorting area. Based on the AGV trolley 1 with RFID scanning function, the system can improve sorting efficiency by more than twice. In the logistics sorting scenario, the host computer processor 6 and the AGV trolley 1 can communicate directly via wireless Wi-Fi.

[0070] The AGV cart with RFID scanning function provided in this application is used for logistics sorting. Since the cart itself has RFID scanning function, it can read the information of the RFID tags on the goods on the AGV cart or the RFID tags on the packaged parcels. Therefore, the location of the loading port is not fixed. If manual loading is used, the delivery personnel can deliver the goods or parcels at any location around the sorting area as long as there is an empty cart. This solves the congestion caused by the AGV carts going to fixed locations for loading and information reading in the current sorting system, and can also load goods more quickly.

[0071] like Figure 4 As shown, the sorting area is equipped with a loading port and an unloading area. The loading port is the area where goods or packages are placed onto the flipping pallet 1 on top of the AGV trolley. This can typically be done manually or by a robotic arm 2. In this embodiment, the robotic arm 2 is used as an example (the robotic arm 2 can move freely and communicate with the host computer processor 6 via Wi-Fi). It has a first loading port and a second loading port (the positions of the two loading ports can be arbitrarily set, and their positions can be changed during the sorting process). The unloading area is the final sorting destination for the goods or packages. It typically has several boxes or shelves. After the AGV trolley carrying the goods or packages arrives at the corresponding target sorting address, it unloads the goods or packages by flipping the top flipping pallet 1 (if the goods-carrying component uses a roller assembly, the roller assembly is activated during unloading to achieve the unloading operation). Figure 4 Taking the setting of cargo boxes 3 at each target sorting address as an example, it can be seen that several cargo boxes 3 are set at different locations in the unloading area, corresponding to different target sorting addresses.

[0072] Taking parcel sorting as an example, the entire sorting process is as follows: Parcels to be sorted are placed in a large cargo basket 5. A robotic arm 2 then places each parcel onto an AGV (Automated Guided Vehicle) trolley 1. The AGV trolley's UHF RFID reader reads its RFID radio frequency signal and interacts with a host computer processor 6 to obtain planned path information. The AGV trolley then transports the corresponding parcels along the path laid out by the magnetic navigation carpet 4 to the target sorting address for unloading. Specifically, this includes:

[0073] Step S1: Place the package to be sorted into the flipping tray of the AGV vehicle. The package or the goods in the package are equipped with RFID tags.

[0074] In step S2, the AGV controller uses an ultra-high frequency RFID reader to read RFID tags, obtain RFID radio frequency signals, and sends each obtained RFID radio frequency signal to an external processor (in this embodiment, the external processor refers to the host computer processor 6). At the same time, the current position information of the AGV is sent to the external processor; the AGV uses its own positioning module to obtain the current position information.

[0075] Step S3: The external processor compares the RSSI values ​​of each RFID radio frequency signal acquired by the UHF RFID reader at the same time. The RFID radio frequency signal contains the address information and / or cargo information of the goods in the package.

[0076] Step S4: The external processor selects the RFID radio frequency signal with the largest RSSI value as the target signal, and parses it to determine the target sorting address corresponding to its address information or cargo information.

[0077] Step S5: The external processor plans a path for the AGV based on the parsed target sorting address and sends the planned path information to the AGV controller.

[0078] Step S6: After the AGV controller travels a predetermined distance or at a predetermined interval according to the planned path information, it uses an ultra-high frequency RFID reader to read each RFID radio frequency signal again and sends each RFID radio frequency signal to an external processor.

[0079] Step S7: The external processor compares the RSSI values ​​of each RFID radio frequency signal and verifies whether the target signal selected in step S3 is the same signal as the RFID radio frequency signal with the largest current RSSI value.

[0080] Step S8: If the target signal selected in step S3 is the same as the RFID radio frequency signal with the largest current RSSI value, the AGV will continue to travel according to the planned path information; otherwise, proceed to step S9.

[0081] In step S9, the AGV controller uses the positioning module to obtain the current position information of the AGV and sends it to the external processor, repeating steps S4 to S8.

[0082] In the above steps, the AGV reduces the probability of misreading by determining that the RFID radio frequency signal with the largest current RSSI value is the same signal by making two consecutive judgments (i.e., N=2). In practical applications, the value of N can be adjusted according to the actual situation. For example, if there is still a certain misread rate after two consecutive judgments, then N can be 3 or a larger value. If the misread rate is zero after two consecutive judgments, then no further adjustment is needed. Of course, it is also possible to consider N=1 and then check at some point whether the RFID radio frequency signal with the largest current RSSI value is the previously determined target signal.

[0083] Furthermore, when congestion occurs during the sorting process, the AGV can resend its current location information and target signal to the external processor so that the external processor can replan the path. Moreover, when the external processor replans the path, it can take into account the situation of the magnetic navigation carpet 4 that is occupied in the sorting area and replan another path.

[0084] If an AMR robot with RFID scanning capability is used, the sorting process is as follows:

[0085] Step 1: Place the packages to be sorted into the cargo-carrying component of the AMR robot;

[0086] Step 2: The AMR robot uses an UHF RFID reader to read each RFID radio frequency signal and sends each RFID radio frequency signal to an external processor so that the external processor can determine the RFID radio frequency signal with the largest RSSI value and send it to the AMR robot as the target signal.

[0087] Step 3: The AMR robot analyzes the target signal to determine the target sorting address corresponding to its address information or cargo information;

[0088] Step 4: The AMR robot uses the positioning module to determine its current location information and plans a sorting path based on the current location information and the parsed target sorting address.

[0089] Step 5: After traveling a predetermined distance or at predetermined intervals along the planned sorting path, the AMR robot uses an UHF RFID reader to read each RFID radio frequency signal again. It then interacts with an external processor to determine whether the target signal is the same as the RFID radio frequency signal with the highest current RSSI value. If the verification result is "yes", the AMR robot continues to travel along the planned sorting path; otherwise, it jumps to Step 6.

[0090] Step 6: The AMR robot analyzes the RFID radio frequency signal with the highest current RSSI value as the target signal, and repeats Steps 4 and 5.

[0091] This invention addresses the issue of misreading by setting the antenna shape and type to limit the reading direction to directly above the intelligent handling robot. It also determines the target signal by continuously checking the RSSI value of the RFID radio frequency signal read by the UHF RFID reader N times to ensure it is at its maximum. Since the intelligent handling robot itself has the ability to read RFID tags on goods, its application in logistics sorting systems allows for arbitrary adjustment of the location and number of loading and / or unloading points. It also provides alternative solutions for AGV congestion, improving overall sorting efficiency by more than two times. Furthermore, the corresponding logistics sorting system can effectively handle surges and sharp declines in orders while reducing costs.

[0092] Some steps in the embodiments of the present invention can be implemented using software, and the corresponding software program can be stored in a readable storage medium, such as an optical disc or a hard disk.

[0093] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An intelligent handling robot with RFID scanning function, characterized in that, The intelligent handling robot is used to handle goods with RFID tags attached. It includes a robot body and a cargo-carrying component, wherein the cargo-carrying component is located on top of the robot body and is used to place the goods to be handled. The robot body is equipped with a controller, an ultra-high frequency RFID reader positioning module, and a communication module. The ultra-high frequency RFID reader is used to read the information of the RFID tags of the goods placed on the cargo-carrying component. The positioning module is used to determine the current position information of the intelligent handling robot. The communication module is used to communicate with an external processor.

2. The intelligent handling robot with RFID scanning function according to claim 1, characterized in that, The UHF RFID reader, positioning module, and communication module are all connected to the controller; the reading direction of the UHF RFID reader is limited to directly above the intelligent handling robot to avoid the UHF RFID reader reading information from RFID tags on other goods besides the cargo-carrying components of the intelligent handling robot.

3. The intelligent handling robot with RFID scanning function according to claim 2, characterized in that, The antenna of the ultra-high frequency RFID reader is an array of linearly polarized antennas, an array of circularly polarized antennas, or an array combination of linearly polarized antennas and circularly polarized antennas.

4. The intelligent handling robot with RFID scanning function according to claim 3, characterized in that, The intelligent handling robot uses an external processor to continuously determine N times whether the RSSI value of the RFID radio frequency signal read by the UHF RFID reader is maximum or stable to ensure that it can read the RFID tag information of the goods on the current intelligent handling robot.

5. The intelligent handling robot with RFID scanning function according to claim 4, characterized in that, When the intelligent handling robot continuously judges whether the RSSI value of the RFID radio frequency signal read by the UHF RFID reader is maximum or stable through an external processor N times, the position of the intelligent handling robot differs by a predetermined distance or the interval between two consecutive readings is a predetermined time.

6. The intelligent handling robot with RFID scanning function according to claim 5, characterized in that, The positioning module uses a high-frequency RFID reader or a UWB tag.

7. A logistics sorting method, characterized in that, The method is based on the intelligent handling robot with RFID scanning function as described in any one of claims 1-6 to sort packages. During the sorting process, the method determines the target signal by continuously judging whether the RSSI value of the RFID radio frequency signal read by the ultra-high frequency RFID reader is the maximum or stable N times, and then determines the target sorting address, thereby realizing sorting.

8. The method according to claim 7, characterized in that, When the intelligent handling robot with RFID scanning function is an AGV equipped with an UHF RFID reader, the method includes: Step S1: Place the packages to be sorted into the cargo-carrying component of the AGV vehicle; Step S2: The AGV controller uses an ultra-high frequency RFID reader to read each RFID radio frequency signal and sends each RFID radio frequency signal to an external processor. At the same time, it sends the current position information of the AGV to the external processor. Step S3: The external processor compares the RSSI values ​​of each RFID radio frequency signal acquired by the UHF RFID reader at the same time. The RFID radio frequency signal contains the address information and / or cargo information of the goods in the package. Step S4: The external processor selects the RFID radio frequency signal with the largest or most stable RSSI value as the target signal, and parses it to determine the target sorting address corresponding to its address information or cargo information. Step S5: The external processor plans a path for the AGV based on the parsed target sorting address and sends the planned path information to the AGV controller. Step S6: After the AGV controller travels a predetermined distance or at a predetermined interval according to the planned path information, it uses an ultra-high frequency RFID reader to read each RFID radio frequency signal again and sends each RFID radio frequency signal to an external processor. Step S7: The external processor checks whether the target signal selected in step S3 is the same signal as the RFID radio frequency signal with the largest or most stable RSSI value at present. Step S8: If the target signal selected in step S3 is the same as the RFID radio frequency signal with the largest or most stable RSSI value, the AGV continues to travel according to the planned path information; otherwise, proceed to step S9. In step S9, the AGV controller uses the positioning module to obtain the current position information of the AGV and sends it to the external processor, repeating steps S4 to S8.

9. The method according to claim 7, characterized in that, When the intelligent handling robot with RFID scanning function is an AMR robot equipped with an UHF RFID reader, the method includes: Step 1: Place the packages to be sorted into the cargo-carrying component of the AMR robot; Step 2: The AMR robot uses an UHF RFID reader to read each RFID radio frequency signal and sends each RFID radio frequency signal to an external processor so that the external processor can determine the RFID radio frequency signal with the largest or most stable RSSI value and send it to the AMR robot as the target signal. Step 3: The AMR robot analyzes the target signal to determine the target sorting address corresponding to its address information or cargo information; Step 4: The AMR robot uses the positioning module to determine its current location information and plans a sorting path based on the current location information and the parsed target sorting address. Step 5: After traveling a predetermined distance or at predetermined intervals along the planned sorting path, the AMR robot uses an UHF RFID reader to read each RFID radio frequency signal again. It then interacts with an external processor to determine whether the target signal is the same as the RFID radio frequency signal with the largest or most stable RSSI value. If the verification result is "yes", the AMR robot continues to travel along the planned sorting path; otherwise, it jumps to Step 6. Step 6: The AMR robot analyzes the RFID radio frequency signal with the highest or most stable RSSI value as the target signal, and repeats Steps 4 to 5.

10. The method according to claim 8 or 9, characterized in that, When the intelligent handling robot encounters congestion, it replans its route based on its current location information.

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