Intelligent automatic warehousing system

Abstract

The invention discloses an automatic warehousing system for intelligent warehousing, and relates to the technical field of intelligent warehousing. The system comprises a warehouse management system, a transfer robot, a warehousing temporary storage area and a warehouse area. The system realizes automatic warehousing through the following steps: an operator inputs article information in the warehouse management system and uploads a warehousing task; the system retrieves the article information, judges whether the article is a new warehousing article or fills up an existing article, and pushes a task to the transfer robot; the transfer robot goes to the storage area according to the planned path to take vacant or non-full storage boxes; after an operator puts articles into the storage box, the articles are conveyed to the output table through the conveying table; and the transfer robot takes the goods and returns to the goods shelf. According to the system, through priority management, real-time path planning, positioning identification navigation and a multi-robot cooperative obstacle avoidance mechanism, the warehousing process is optimized, and the automation level and efficiency of warehouse management are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent warehousing, in particular to an intelligent warehousing automated warehousing system. BACKGROUND

[0002] The intelligent warehousing system is the core link of modern logistics and warehouse management, which realizes the intelligent operation of the whole process from warehousing, storage to delivery by using automatic equipment, sensing technology and information management system. Such system usually includes functions such as goods identification, path planning, robot handling, inventory management, etc., aiming to improve the efficiency of warehousing, reduce labor costs and reduce operation errors.

[0003] The patent number CN115593844A proposes a warehousing warehousing rule according to the delivery time of the goods, which follows the first-in first-out warehousing rule, and then calls the value in the delivery configuration table for the user's custom delivery, so that the user can customize the delivery conditions to change the delivery efficiency and complete personalized customization, which can meet the customer's warehousing needs.

[0004] However, the existing intelligent warehousing system still has many deficiencies in practical application: most systems rely on manual intervention in identifying and assigning tasks, especially in determining whether it is a new item or replenishing inventory, lacking an automatic decision-making mechanism, resulting in slow response and suboptimal task assignment. The existing system has a single storage box scheduling strategy, and does not set a reasonable access priority according to the inventory status, such as whether it is not full or empty, resulting in low space utilization and repeated access operations.

[0005] Therefore, there is an urgent need for an intelligent warehousing system that can realize full-process automation, has intelligent task judgment and dynamic path planning capabilities, supports multi-device collaborative scheduling, and has an efficient storage box management strategy to overcome the shortcomings of existing technology and meet the efficient, accurate and reliable operation needs of modern warehousing. SUMMARY

[0006] The purpose of the present application is to provide an intelligent warehousing automated warehousing system to solve the problems raised in the background art.

[0007] To solve the above technical problems, the present application provides the following technical solution: an intelligent warehousing automated warehousing system, comprising.

[0008] The intelligent warehousing automated warehousing system comprises the following steps: S1: The operator inputs the information of the goods to be warehoused in the warehouse management system and uploads the warehousing task to the warehouse management system.

[0009] S11: The warehouse management system retrieves the goods information, determines whether it is a new warehousing goods, and pushes the warehousing task to the transfer robot.

[0010] S12: When the warehouse management system does not retrieve the relevant item information, it is determined that the incoming item is new, and the storage task is updated to a new storage task.

[0011] S13: When the warehouse management system retrieves the relevant item information, it is determined that the existing item is filled.

[0012] S14: Obtain the storage quantity B of the item in the storage task, further determine whether the selected unfilled storage box exceeds the requirement of the storage task, and plan the travel path of the transfer robot.

[0013] S2: The transfer robot receives the storage task and travels to the corresponding storage shelf in the warehouse area to pick up the storage box.

[0014] S3: The operator picks up the storage box on the transfer shelf and places it on the operation table, and puts the items to be stored in the storage box.

[0015] S4: The transfer robot picks up the storage box on the output table and returns to the corresponding storage shelf to put the storage box.

[0016] According to the above technical solution, the S12 further comprises the steps of: S121: New item information is created for the new incoming item, including the item type, name and inventory quantity of the new incoming item.

[0017] S122: The warehouse management system queries the empty positions of the storage shelves in the warehouse area, selects the storage position for the new incoming item, and plans the travel path of the transfer robot.

[0018] S123: The warehouse management system sets the pick-up priority of the empty storage box in the storage task to the highest level.

[0019] According to the above technical solution, the S13 further comprises the steps of: S131: The warehouse management system retrieves the inventory quantity in the item information, sets the pick-up priority of the unfilled storage box in the storage task to the highest level, and sets the pick-up priority of the empty storage box to the secondary level.

[0020] According to the above technical solution, the S14 further comprises the steps of: S141: When A-C is greater than or equal to B, the storage box is directly picked up; S142: When A-C is less than B, the number of storage boxes that can store greater than or equal to B is picked up; A is the maximum storage quantity of the storage box, B is the storage quantity of the item, and C is the storage quantity of the storage box.

[0021] According to the above technical solution, the S2 further comprises the steps of: S21: During the initial travel path, whenever a positioning marker is reached, the recognition module scans the positioning marker, detects the solid line at the edge of the positioning marker's circle to adjust its own offset, scans the QR code in the center of the positioning marker to obtain the current address coordinate information and synchronously uploads it to the warehouse management system. S22: When a turning operation is required at a corner, the robot turns around with the edge of the positioning mark circle as the center, and at the same time, the transfer robot uploads its location information to the warehouse management system. S23: When the transfer robot receives a new inbound task, it proceeds to the corresponding storage shelf in the warehouse area to retrieve an empty storage box according to the adaptive optimal path. The transfer robot performs secondary positioning based on the positioning marker and calculates the adaptive optimal path; The warehouse management system updates the location information of the transfer robots in real time and performs path simulation. It determines whether other transfer robots have scanned the location markers that need to be passed along the simulated path. If so, it further calculates 'a' to determine whether a collision is possible between the two transfer robot paths. If a is greater than x, a new path is replanned and the signal is transmitted to the transfer robot, which then adjusts its direction of travel according to the new path. If a is less than x, then proceed along the original path; S24: The transfer robot picks up a storage box with a value greater than or equal to B, and automatically plans its return path to the temporary storage area. S25: After placing the storage box on the transfer shelf, the transfer robot proceeds to the output station of the inbound conveyor to wait.

[0022] According to the above technical solution, step S3 further includes the following steps: S31: The operator places the assembled storage box onto the conveyor. S32: The infrared detector on the conveyor detects that the storage box has been placed on the input platform and then sends a start signal to the geared motor. The geared motor starts and drives the rollers to rotate synchronously via the chain, conveying the storage box to the output platform; S33: After the storage box arrives at the output table, the camera sends a signal to the telescopic baffle, causing it to rise and block subsequent storage boxes from advancing, ensuring that only one storage box is waiting to be picked up at the pick-up point at a time.

[0023] According to the above technical solution, step S4 further includes the following steps: S41: After the current storage box is taken away by the transfer robot, the camera detects that the retrieval is complete, and then controls the telescopic baffle to descend, repeating step S4; S42: After the transfer robot takes the storage box, it returns to the storage area according to the preset path and step S2 of the inbound task; S43: The transfer robot moves to the corresponding storage shelf in step S2 and puts the filled storage box in; S44: The transfer robot uploads the task completion information to the warehouse management system, and the warehouse management system sets the transfer robot to an idle state and waits for step S11; S45: The warehouse management system updates the inventory quantity information of the corresponding goods after receiving the task completion information.

[0024] The warehousing task includes the quantity to be taken and the goods information, and the goods information includes the goods category, the goods name, the goods location and the inventory quantity.

[0025] According to the above technical scheme, the S2 further includes: the transfer robot compares the goods information with the warehousing task issued by the S1 warehouse management system.

[0026] According to the above technical scheme, the warehouse area includes storage shelves and positioning marks, and the warehouse area is a region formed by the combination arrangement of a plurality of storage shelves, and the gap between the storage shelves forms a walkway. The warehousing temporary storage area includes a transfer device and a warehousing conveying device, the transfer device is used for placing the storage box transported by the transfer robot, and the warehousing conveying device is used for conveying the storage box which is ready to be taken by the robot and is used for warehousing.

[0027] Compared with the prior art, the present application has the following beneficial effects: The present application automatically judges the warehousing type of goods by the warehouse management system, and schedules the taking sequence of the storage box based on the priority strategy, optimizes the inventory structure, and improves the space utilization rate and the warehousing efficiency; The present application realizes real-time navigation and path adjustment by the transfer robot combined with the positioning mark, supports multi-robot collaborative work and collision avoidance, and significantly improves the safety and stability of system operation; The present application realizes unmanned conveying and taking of the storage box by the automatic detection and transmission mechanism of the warehousing conveying device, reduces manual intervention, reduces operation errors, and improves the overall automation level and operation benefit. BRIEF DESCRIPTION OF DRAWINGS

[0028] The accompanying drawings provide a further understanding of the present application, and constitute a part of the specification, and are used to explain the present application together with embodiments of the present application, and do not constitute a limitation on the present application. In the drawings: Figure 1 is a flowchart of the present application; Figure 2 is a whole plane schematic diagram of the present application; In the figure: 1, transfer robot; 2, warehouse area; 21, storage shelf; 3, warehousing temporary storage area; 31, transfer device. DETAILED DESCRIPTION

[0029] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0030] See Figure 1 The present application provides a technical solution: an intelligent warehouse automated warehousing system, comprising the following steps: S1: An operator inputs the information of the goods to be warehoused in the warehouse management system and issues a warehousing task to the transfer robot 1.

[0031] The warehousing task includes the number of goods to be taken and the information of the goods, and the information of the goods includes the type of the goods, the name of the goods, the location of the goods and the inventory quantity, which is used for subsequent data comparison by the transfer robot 1.

[0032] S11: The warehouse management system retrieves the information of the goods and determines whether it is new warehoused goods.

[0033] S12: When the warehouse management system does not retrieve the relevant information of the goods, it is determined that it is new warehoused goods, and the warehousing task is updated to a new warehousing task.

[0034] S12 further comprises the following steps: S121: New warehoused goods are created with new information of the goods. The new information of the goods includes the type of the new warehoused goods, the name of the new warehoused goods and the inventory quantity, and the inventory quantity is set to 0 by default.

[0035] S122: The warehouse management system queries the empty positions of the storage shelves 21 in the warehouse area 2, selects the positions for the new warehoused goods, and plans the travel path of the transfer robot 1.

[0036] The warehouse area 2 includes storage shelves 21 and positioning marks. The warehouse area 2 is an area formed by the combination of a plurality of storage shelves 21, and the gaps between the storage shelves 21 form walkways. Specifically, the storage shelves 21 include a plurality of columns, crossbars, shelf plates and scanning areas, the columns are connected by the crossbars, the inner side edges of the crossbars are provided with grooves, and the shelf plates are arranged on the grooves; the front surface of the shelf plate is provided with a crossbar, the front surface of the crossbar is provided with a scanning area, and the scanning area includes a positioning sticker and a two-dimensional code sticker; the shelf plate is provided with a storage box containing goods. The positioning sticker is used for aligning the storage shelves by the transfer robot 1, and the two-dimensional code is used for determining the information of the goods.

[0037] A plurality of positioning marks are arranged on the ground of the aisle of the storage area 2, the positioning mark is circular and has a two-dimensional code in the center; the positioning mark is used for the transfer robot 1 to adjust its own offset, and the position coordinate information of the transfer robot 1 in the warehouse management system is updated at the same time; S123: The warehouse management system sets the taking priority of the empty storage box in the storage task as the highest level.

[0038] S13: When the warehouse management system retrieves the related article information, it is judged to fill the existing articles.

[0039] S13 further includes the following steps: S131: The warehouse management system calls the inventory quantity in the article information, sets the taking priority of the unfilled storage box in the storage task as the highest level, and sets the taking priority of the empty storage box as the secondary level.

[0040] S14: Obtain the storage quantity B of the article in the storage task, further judge whether the selected unfilled storage box exceeds the demand of the storage task, and plan the travel path of the transfer robot 1.

[0041] S14 further includes the following steps: S141: When A-C is greater than or equal to B, directly take the storage box; S142: When A-C is less than B, take the number of storage boxes that can be greater than or equal to B; Wherein, A is the maximum storage quantity of the storage box, B is the storage quantity of the article, and C is the storage quantity of the storage box.

[0042] S2: The transfer robot 1 receives the storage task and goes to the corresponding storage shelf 21 in the storage area 2 to take the storage box according to the travel path.

[0043] The warehouse management system includes the plan view of the storage area 2, the position information of the positioning mark, and the real-time position information of the transfer robot 1. The warehouse management system calculates the initial travel path according to the article information in the storage task, the plan view of the storage area 2, the positioning mark and the current position of the transfer robot 1, and pushes it to the transfer robot 1 for execution. There are multiple transfer robots 1 working in the storage area 2. When the warehouse management system receives the position information of multiple transfer robots 1 and the initial travel path is calculated based on the position information of multiple transfer robots 1, avoid busy passages or travel paths that may coincide with other transfer robots 1.

[0044] S21: In the process of the initial travel path, whenever moving to a positioning mark, the positioning mark is scanned by the recognition module, the positioning mark circle edge solid line is detected to adjust its own offset, the current address coordinate information is obtained by scanning the positioning mark center two-dimensional code and is uploaded to the warehouse management system at the same time.

[0045] S22: When the corner is reached and the steering operation is required, steering is performed with the edge of the positioning mark circle as the center, and the transfer robot 1 uploads the position information thereof to the warehouse management system.

[0046] S23: When the transfer robot 1 receives a new storage task, the transfer robot 1 goes to the corresponding storage shelf 21 of the warehouse area 2 to pick up the empty storage box according to the adaptive optimal path.

[0047] The transfer robot 1 performs secondary positioning according to the positioning mark, and calculates the adaptive optimal path. The warehouse management system updates the position information of the transfer robot 1 in real time and performs path simulation, judges whether other transfer robots 1 scan the positioning marks that need to be passed on the simulated path, and if so, further calculates a, whether the paths of the two transfer robots 1 are likely to collide: If a is greater than x, a new path is planned and a signal is transmitted to the transfer robot 1, and the transfer robot 1 adjusts the direction of travel according to the new path; If a is less than x, the original path is followed.

[0048] S24: The transfer robot 1 picks up the storage box with a capacity greater than or equal to B, and automatically plans the return travel path to the storage temporary storage area 3.

[0049] S2 further comprises: in S2, the transfer robot 1 compares the identified item information with the storage task information issued by the warehouse management system to ensure consistency. The storage temporary storage area 3 in S24 comprises a transfer device 31 and a storage conveying device; the transfer device 31 is used to place the storage box transported by the transfer robot 1, and the storage conveying device is used to transport the storage box that has been loaded with items and is waiting to be picked up by the robot.

[0050] The transfer device 31 comprises a workbench and a transfer shelf, and the transfer shelf and the workbench are arranged transversely. The workbench comprises a table top, a computer, and an operation area. The computer is arranged on one side of the table top, and the operation area is located on the other side of the table top. The operation area is used to place the storage box, and the computer is used to issue storage tasks using the warehouse management system, query data, and the like.

[0051] The transfer shelf comprises a plurality of columns and shelf plates. The four columns are connected by at least one shelf plate. The upper surface of the shelf plate is fixed with limit blocks at equal intervals along the length direction of the shelf plate. The limit blocks divide the storage box placing positions and are used to limit the placing positions of the storage boxes. The outer side of each layer of the shelf plate is provided with a positioning sticker and a two-dimensional code. The positioning sticker is used for the transfer robot 1 to recognize and position through the camera, and the transfer robot 1 is moved to the correct position to accurately place the storage box. The height of the table top is matched with the height of one of the shelf plates of the transfer shelf, so as to facilitate the operator to transfer the items between the transfer shelf and the workbench.

[0052] The warehouse conveying device comprises multiple groups of conveying tables connected head to tail, and input tables and conveying tables are arranged at both ends of the conveying tables; the conveying tables, the input tables and the output tables all comprise a speed reducer, a chain, a roller, an infrared detector and a telescopic baffle, and the output table further comprises a camera.

[0053] The speed reducer is used to drive the roller to rotate to transport the storage box through the chain; the infrared detector is used to detect whether there is a storage box currently; the conveying table camera is used to detect whether there is a storage box to be taken; and the telescopic baffle is used to block the advance of the storage box and prevent the storage boxes from colliding and stacking with each other.

[0054] One end of the workbench is connected with the transfer shelf, and the other end is connected with the input table.

[0055] S25: After the transfer robot 1 places the storage box on the transfer shelf, the transfer robot 1 goes to the output table of the warehouse conveying device to wait.

[0056] S3: The operator takes the storage box on the transfer shelf and places it on the operation table, and puts the items to be stored into the storage box.

[0057] S31: The operator puts the filled storage box into the conveying table.

[0058] S32: The infrared detector on the conveying table detects that the storage box has been placed on the input table, and immediately sends a start signal to the speed reducer. The speed reducer starts to drive the roller to rotate synchronously through the chain, and conveys the storage box to the output table.

[0059] S33: After the storage box reaches the output table, the camera sends a signal to the telescopic baffle to make it rise to block the advance of the subsequent following storage box, so as to ensure that only one storage box waits to be taken at the picking point each time.

[0060] S4: The transfer robot 1 takes the storage box on the output table and returns to the corresponding storage shelf 21 to put the storage box.

[0061] S41: After the current storage box is taken away by the transfer robot 1, the camera detects that the picking is completed, and immediately controls the telescopic baffle to descend, and the step S4 is repeatedly executed.

[0062] S42: After the transfer robot 1 takes the storage box, the transfer robot 1 returns to the storage area 2 according to the preset path of the storage task and the step S2.

[0063] S43: The transfer robot 1 moves to the corresponding storage shelf 21 in the step S2 to put the filled storage box.

[0064] S44: The transfer robot 1 uploads the task completion information to the warehouse management system, and the warehouse management system sets the transfer robot 1 to an idle state and waits for the step S11.

[0065] S45: The warehouse management system updates the inventory quantity information of the corresponding article after receiving the task completion information.

[0066] It should be noted that the relational terms herein such as first and second and the like are used solely to distinguish one entity or action from another, without necessarily requiring or implying any such actual relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0067] Finally, it should be noted that the above-described embodiments are merely possible implementations of the present application, but not limitations. Although the present application has been described in detail with reference to the foregoing embodiments, the technical solutions recorded in the foregoing embodiments can still be modified or replaced by other technically equivalent or similar technical solutions by those skilled in the art. Any modification, equivalent replacement, or improvement made on the basis of the technical solutions of the present application should fall within the protection scope of the present application.

Claims

1. An intelligent warehousing automated put-in system, characterized in that, The method comprises the following steps: S1: An operator inputs the information of an article to be stored in a warehouse management system, and uploads a storage task to the warehouse management system; S11: The warehouse management system searches for the article information, determines whether it is a new storage article, and pushes the storage task to a transfer robot; S12: When the warehouse management system does not search for the relevant article information, it is determined to be a new storage article, and the storage task is updated to a new storage task; S13: When the warehouse management system searches for the relevant article information, it is determined to be a new storage article; S14: Obtain the storage quantity B of the article in the storage task, further determine whether the selected unfilled storage box exceeds the requirement of the storage task, and plan the travel path of the transfer robot; S2: The transfer robot receives the storage task, and travels to a corresponding storage shelf in a storage area to take the storage box according to the travel path; S3: An operator takes the storage box on the transfer shelf and places it on an operation table, and puts the article to be stored in the storage box; S4: The transfer robot takes the storage box on the output table and returns to the corresponding storage shelf to place the storage box.

2. The intelligent warehousing automated put-in system according to claim 1, wherein, The S12 further comprises the following steps: S121: New article information is created for the new storage article, and the new article information includes the article type, name and inventory quantity of the new storage article; S122: The warehouse management system queries the empty positions of the storage shelves in the storage area, selects a new storage article placement position, and plans the travel path of the transfer robot; S123: The warehouse management system sets the taking priority of the empty storage box in the storage task to the highest level.

3. The intelligent warehousing automated put-in system according to claim 2, wherein, The S13 further comprises the following steps: S131: The warehouse management system calls the inventory quantity in the article information, sets the taking priority of the unfilled storage box in the storage task to the highest level, and sets the taking priority of the empty storage box to the secondary level.

4. The intelligent warehousing automated put-in system according to claim 3, characterized in that, The S14 further comprises the following steps: S141: When A-C is greater than or equal to B, the storage box is directly taken; S142: When A-C is less than B, the number of storage boxes capable of storing greater than or equal to B is taken; A is the maximum storage quantity of the storage box, B is the storage quantity of the article, and C is the storage quantity of the storage box.

5. The intelligent warehousing automated put-in system according to claim 1, wherein, The S2 further comprises the following steps: S21: During the initial travel path, whenever a positioning mark is moved to, the positioning mark is scanned by a recognition module, the positioning mark circle edge solid line is adjusted to offset itself, the current address coordinate information is obtained by scanning the positioning mark center two-dimensional code, and the current address coordinate information is synchronously uploaded to the warehouse management system; S22: When a corner is reached and a turning operation is required, the turning is performed with the positioning mark circle edge, and the transfer robot uploads its position information to the warehouse management system; S23: When the transfer robot receives a new storage task, the empty storage box is taken from the corresponding storage shelf in the storage area according to the adaptive optimal path, the transfer robot is positioned again according to the positioning mark, and the adaptive optimal path is calculated; The warehouse management system updates the position information of the transfer robot in real time, simulates the path, determines whether there is another transfer robot scanning the positioning mark on the simulated path, and further calculates a whether the paths of the two transfer robots are likely to collide; If a is greater than x, a new path is planned and signaled to the transfer robot, which adjusts its direction of travel according to the new path; If a is less than x, the original path is followed; S24: The transfer robot takes the storage box with a capacity greater than or equal to B, and automatically plans a return path to the storage staging area; S25: After the transfer robot places the storage box on the transfer shelf, it goes to the output table of the storage conveyor device to wait.

6. The intelligent warehousing automated put-away system of claim 1, wherein, The S3 further comprises the steps of: S31: The operator places the filled storage box on the conveyor table; S32: The infrared detector on the conveyor table detects that the storage box has been placed on the input table, and immediately sends a start signal to the speed reducer motor. The speed reducer motor starts to drive the drum to rotate synchronously, conveying the storage box to the output table; S33: After the storage box reaches the output table, the camera sends a signal to the telescopic baffle to rise and block the subsequent following storage box from advancing, ensuring that only one storage box is waiting for pickup at the pickup point at a time.

7. The intelligent warehouse automated put-away system of claim 1, wherein, The S4 further comprises the steps of: S41: After the current storage box is taken away by the transfer robot, the camera detects that the pickup is complete, and immediately controls the telescopic baffle to lower, repeating step S4; S42: After the transfer robot takes the storage box, it returns to the storage area according to the preset path and step S2 of the storage task; S43: The transfer robot moves to the corresponding storage shelf in step S2 and places the filled storage box; S44: The transfer robot uploads the task completion information to the warehouse management system, and the warehouse management system sets the transfer robot to an idle state, waiting for step S11; S45: After receiving the task completion information, the warehouse management system updates the inventory quantity information of the corresponding goods.

8. The intelligent warehouse automated put-away system of claim 1, wherein, The storage task includes the number of goods to be picked up and the goods information, which includes the type of goods, the name of goods, the location of goods, and the inventory quantity.

9. The intelligent warehouse automated put-away system of claim 1, wherein, The S2 further comprises: the transfer robot compares the goods information with the storage task issued by the S1 warehouse management system.

10. The smart warehousing automated put-in system according to any one of claims 1 to 9, wherein, The storage area includes storage shelves and positioning markers. The storage area is a region formed by the combination of multiple storage shelves, and the gap between the storage shelves forms a walkway. The storage staging area includes a transfer device and a storage conveyor device. The transfer device is used to place the storage box transported by the transfer robot, and the storage conveyor device is used to transport the storage box that has been filled with goods and is waiting for the robot to pick up for storage.

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