Appearance similar goods taking and placing mistake proofing intelligent shelf based on force sensor and management method

Abstract

The application provides a force sensor-based appearance-similar goods taking and placing error-proof intelligent goods shelf and management method, the intelligent goods shelf comprising a goods shelf body, force and torque sensors, a control module, an indicating device and a warning device; the goods shelf body is separated into multiple layers by multiple layer plates, each layer is provided with multiple goods locations, and different goods are stored in different goods locations; force and torque sensors are arranged at the center of each layer of the goods shelf, used for detecting the force and torque of the layer before and after taking and placing goods and feeding back to the control module; the control module can receive taking and placing instructions and compare with a database, process the force and torque data before and after taking and placing, judge whether the taking and placing is correct, and display the correct position for taking through the indicating device; when the taking and placing is incorrect, the control module sends a taking and placing error warning through the warning device. For different drill templates stored in the designated goods locations of the goods shelf, the intelligent goods shelf and the management method avoid errors in the taking and placing process, and greatly improve the work efficiency.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of intelligent shelves, and in particular relates to a kind of goods taking and placing error-proof intelligent shelves and management methods based on force sensor, especially for the taking and placing error-proof intelligent shelves and management methods of similar appearance goods such as drill template. BACKGROUND

[0002] A large number of drill templates are needed to make holes in the process of aircraft assembly. Since drill templates are of many types and similar in appearance, it is easy for operators to make mistakes when taking and placing them, and it is difficult to find the mistakes after they are made. Drilling operations are irreversible, and once a mistake is made, it will greatly affect the progress of aircraft assembly, and even cause serious production accidents. Frequent replacement of drill templates before assembly due to taking mistakes will also reduce the efficiency of aircraft assembly.

[0003] Application No. 202021658558.6 discloses an intelligent error-proof shelf, which includes a shelf body, a laser sensor, a controller, an alarm lamp, an electronic tag and a matching module. The laser sensor detects whether an object has been inserted into the detection area and sends the detection information to the matching module. The matching module judges whether the goods are taken correctly according to the detection information of the laser sensor and the matching of the task information, and controls the alarm lamp and the electronic tag to provide feedback information for the sorter on whether the goods are taken correctly, solving the problem of easy mistakes when taking goods. However, the method in the application for solving the mistake of taking goods is based on the task information of the matching module, which can only detect whether the position of taking or storing goods is correct, but cannot detect whether the goods taken or stored are correct. That is, as long as the operator takes or stores goods from the position matching the task information, the shelf defaults that the taking or storing is correct, and cannot identify the goods taken or stored by the operator. SUMMARY

[0004] The drill templates used in the process of aircraft assembly are made of metal materials and have a large density. Different drill templates have a large difference in weight. If the intelligent error-proof shelf in the background art is used to manage the drill templates, only the position of the drill templates taken or stored by the worker can be identified, that is, only whether the drill templates are stored or taken from the position to be accessed can be detected by the laser sensor, and the specific drill template taken or stored cannot be determined, so the worker cannot avoid taking or storing the wrong drill template.

[0005] In order to enable the operator to quickly and accurately take and place the drill template according to the assembly needs, the present application proposes a kind of taking and placing error-proof intelligent shelves and management methods for similar appearance goods based on force sensor based on the difference in weight of different drill templates.

[0006] The technical solution of the present application is: a kind of taking and placing error-proof intelligent shelves and management methods for similar appearance goods based on force sensor, which includes a shelf body, a force and torque sensor, a control module, an indicating device and a warning device.

[0007] The shelf body is divided into multiple layers by layer plates, and multiple storage spaces are arranged on each layer; each of the goods is stored in a designated storage space of the shelf, and the weight of each of the goods is different;

[0008] The control module has a database containing the goods number, the goods weight, the goods state, and the storage space number and the two-dimensional coordinates of the storage space corresponding to the goods; each of the goods has a unique goods number; the control module can retrieve the database according to the taking and placing instructions of the operator to obtain the position information required for taking and placing the goods, generate an indication instruction for the indication device, and generate a warning instruction for the warning device when it is determined that the goods to be taken are in an outbound state, the goods to be stored are in an inbound state, the goods do not belong to the shelf, or the taking and placing operation of the operator is incorrect;

[0009] The indication device is installed on each of the storage spaces and connected to the control module, and can indicate the storage space corresponding to the goods after receiving the indication instruction of the control module;

[0010] The force and torque sensors are arranged at the center of each layer plate of the shelf, and are used to detect the force and torque received by the layer before and after taking and placing the goods and feed back to the control module; the control module can determine whether the taking and placing operation is correct according to the force and torque information before and after taking and placing the goods;

[0011] The warning device is connected to the control module, and the warning device can make a warning reminder according to the warning instruction received from the control module.

[0012] Further, the indication device is an LED lamp; when the control module retrieves the corresponding goods information in the database according to the taking and placing instructions, the LED lamp on the corresponding storage space can receive the indication instruction of the control module and light up.

[0013] Further, the warning device is a buzzer; when the control module does not retrieve the goods information, the goods to be taken are in an outbound state, the goods to be stored are in an inbound state, or the taking and placing operation of the operator is incorrect, the buzzer can emit different buzzer warning voices according to different warning instructions of the control module.

[0014] Further, the goods to be taken and placed are drill jig plates for aircraft assembly, the drill jig plates are made of metal materials, and the drill jig plates have different weights; each of the drill jig plates is stored in a different storage space.

[0015] A management method of an appearance-similar goods taking and placing error-proof intelligent shelf based on a force sensor, comprising the following steps:

[0016] Step 1, a database containing the goods number, the goods weight, the goods state, and the storage space number and the two-dimensional coordinates of the storage space corresponding to the goods is established in the control module; each of the goods has a unique goods number;

[0017] Step 2, the control module retrieves the database and makes a judgment according to the taking and placing instruction input by the operator;

[0018] When the goods to be taken are in the out-of-stock state or do not belong to the shelf, and the goods to be stored are in the in-stock state or do not belong to the shelf, the control module sends a warning instruction to the warning device, and the warning device makes a warning prompt according to the warning instruction;

[0019] When the goods to be taken are in the in-stock state, or the goods to be stored are in the out-of-stock state, the control module sends an indication instruction to the indication device, and the indication device indicates the corresponding goods location of the goods according to the indication instruction; the force and torque sensor detects the force and torque received by the layer where the goods are located and feeds back to the control module;

[0020] Step 3, taking and placing goods;

[0021] Step 4, the force and torque sensor detects the force and torque received by the layer of the shelf after the taking and placing operation, and feeds back to the control module;

[0022] Step 5, the control module calculates the change amount ΔF Z of the force and the change amount ΔM X of the torque on the layer plate according to the force and torque information before and after taking and placing the goods Y , and compares ΔF Z with the gravity G order of the goods corresponding to the taking and placing instruction to judge the type of the taken and placed goods:

[0023] If ||ΔF Z |-|G order ||≤θ F , it indicates that the type of the taken and placed goods is correct;

[0024] If ||ΔF Z |-|G order ||>θ F , it indicates that the type of the taken and placed goods is incorrect, and the control module sends a warning instruction to the warning device, and the warning device makes a warning prompt according to the warning instruction;

[0025] Wherein, θ F is a judgment threshold;

[0026] The direction perpendicular to the layer plate is defined as the Z axis of the force and torque sensor, and the X axis and Y axis are located on the plane of the layer plate;

[0027] Step 6, the control module calculates the change amount ΔF Z of the force and the change amount ΔM X of the torque according to the force and torque information before and after taking and placing the goods YCalculate the two-dimensional plane coordinates (x, y) of the goods to be retrieved or placed on this floor, and compare the two-dimensional plane coordinates (x, y) with the two-dimensional plane coordinates (x, y) of the correct storage location corresponding to the retrieval or placement instruction. order ,y order Compare the data to determine if the location of the retrieved or placed goods corresponds to the correct storage location:

[0028] If |xx order |≤θ x And |yy order |≤θ y This indicates that the cargo location is correct;

[0029] If |xx order |>θ x or |yy order |>θ y If the location is incorrect, the control module sends a warning command to the warning device, which then issues a warning reminder based on the command.

[0030] Where, θ x and θ y To determine the threshold;

[0031] Step 7: The control module updates the cargo status of the cargo in the database.

[0032] Furthermore, in step 5, the control module calculates the change in force ΔF based on the received force and torque information. Z and the change in torque ΔM X and ΔM Y The formula is:

[0033] ΔF Z =F Z '-F Z =F

[0034] ΔM X =M X '-M X =Fy

[0035] ΔM Y =M Y '-M Y =Fx

[0036] Among them, F Z 'F represents the force F exerted along the Z-axis on the shelf after goods are placed or removed. Z The force exerted on the shelf along the Z-axis before goods are picked up or placed;

[0037] M X 'and M Y 'M represents the torque along the X and Y axes of the shelf after goods are placed or removed, respectively. Xand M Y respectively are the torque of the layer plate along the X axis and Y axis before picking and placing the goods;

[0038] F is the weight of the picked and placed goods, and x and y are the two-dimensional coordinates of the picked and placed goods on the layer.

[0039] Further, the picking and placing instruction in step 2 is the goods number.

[0040] Further, in step 5, the determination threshold θ F The determination method of θ

[0041] Further, in step 6, the determination threshold θ x and θ y The determination method of θ x and θ y is to define the length of the goods location along the X axis as the length and the width of the goods location along the Y axis as the width, θ

[0042] Further, in step 2, when the goods to be picked are in the out-of-stock state, the goods to be stored are in the in-stock state, or the goods do not belong to the goods shelf, the control module sends different warning instructions to the warning device according to different goods states, and the warning device sends different warning prompt sounds according to the corresponding warning instructions.

[0043] The effects of the present application are:

[0044] 1. In the picking and placing error-proof intelligent goods shelf of the present application, different drill templates are placed on designated goods locations, a database containing the goods number, the goods weight, the goods state, and the goods location number and the goods two-dimensional coordinates corresponding to the goods is established in the control module, the control module can retrieve the database according to the picking and placing instructions of the operator, determine whether the goods corresponding to the instructions are correct, and determine the goods picking and placing position, so that the operator can quickly complete the picking and placing operation in about 30 seconds, avoid assembly errors, and reduce the error rework time.

[0045] 2. In the present application, a prompt module is provided, and the control module sends instructions to the indicating device on the corresponding goods location after determining the correct goods picking and placing position. In the embodiment of the present application, the indicating device is an LED lamp, which will be lit after receiving the instructions from the control module, so that the operator can quickly identify the goods picking and placing position.

[0046] 3. In the present application, only force and torque sensors are provided at the center position of each layer plate to detect the force and torque information of the layer before and after picking and placing the goods and feed back to the control module, and the control module calculates the force change ΔF ZAnd the two-dimensional plane coordinates (x, y) of the goods on the layer, by comparing with the real goods gravity of the taking and placing instruction goods and the two-dimensional coordinates of the goods location, the taking and placing operation of the operator according to the control module is judged again whether the taking and placing operation is correct, the taking and placing error of the drilling template caused by the negligence of the worker is avoided, and the efficiency of the aircraft assembly is greatly improved. BRIEF DESCRIPTION OF DRAWINGS

[0047] Figure 1 It is a schematic diagram of the intelligent shelf three-dimensional structure of the application;

[0048] Figure 2 It is Figure 1 It is a schematic diagram of the front view structure of the intelligent shelf in the application;

[0049] Figure 3 It is a work flow chart of the intelligent shelf taking and placing mistake proofing of the application;

[0050] Figure 4 It is a force analysis diagram before taking the drilling template on the single layer plate of the intelligent shelf;

[0051] Figure 5 It is a force analysis diagram after taking the drilling template on the single layer plate of the intelligent shelf.

[0052] In the figure: 1-shelf body; 2-buzzers; 3-microcomputer; 4-six degrees of freedom force sensor; 5-LED lamp; 6-first drilling template; 7-second drilling template; 8-third drilling template; 9-fourth drilling template. DETAILED DESCRIPTION

[0053] The application scheme will be described in further detail below in combination with the drawings and specific embodiments.

[0054] An appearance similar goods storage and taking and placing mistake intelligent shelf based on force sensor, comprising a shelf body, a force and torque sensor, a control module, an indication device and a warning device;

[0055] The shelf body is divided into multiple layers by layer plates, and multiple goods locations are arranged on each layer; each goods is stored on a designated goods location of the shelf, and the weight of each goods is different;

[0056] A database containing goods number, goods weight, goods state, and goods location number and two-dimensional coordinates corresponding to the goods is established in the control module, each goods in the database has a unique goods number, the control module can retrieve the database to obtain the position information required for taking and placing the goods according to the taking and placing instruction of the operator, generate an indication instruction to the indication device, and generate a warning instruction to the warning device when it is found that the goods to be taken are in an out-of-stock state, the goods to be stored are in a stock-in state, the goods do not belong to the shelf, or the operator's taking and placing operation is incorrect;

[0057] The indication device is connected with the control module and can indicate the corresponding position of the goods after receiving the indication instruction of the control module.

[0058] The force and torque sensor is arranged at the center position of each layer of the shelf, which is used to detect the force and torque of the layer before and after the goods are taken or placed and feed back to the control module.

[0059] The warning device is connected with the control module and can make a warning reminder according to the warning instruction received from the control module.

[0060] Reference Figures 1-5 The appearance-similar goods intelligent shelf based on the force sensor includes a shelf body 1, a buzzer 2, a microcomputer 3, a six-degree-of-freedom force sensor 4 and an LED lamp 5. The shelf body 1 includes four layers separated by layer plates, and the six-degree-of-freedom force sensor 4 is arranged at the middle of each layer plate, which is used to detect the force and torque of the layer before and after the goods are taken or placed and feed back to the microcomputer 3. The microcomputer 3 can calculate the gravity of the goods and the taking or placing position according to the received taking or placing instruction and the force and torque data before and after the goods are taken or placed, compare the gravity of the goods and the taking or placing position corresponding to the taking or placing instruction, generate indication information or warning information and send them to the LED lamp 5 or the buzzer 2 of the corresponding position respectively. The corresponding position LED lamp is lit to indicate the correct position of the goods after receiving the indication information, and the buzzer 2 produces a buzzing sound to warn the current taking or placing operation is wrong. Six positions are arranged on each layer of the shelf, and the LED lamp 5 is arranged on the side wall of the layer plate and corresponds to each position.

[0061] Four drill jig plates are placed on a layer of the shelf, including a first drill jig plate 6, a second drill jig plate 7, a third drill jig plate 8 and a fourth drill jig plate 9. The taking or placing of the fourth drill jig plate is taken as an example to describe the intelligent shelf taking and placing error-proof management method.

[0062] Taking management process:

[0063] Step 1, a database containing the goods number, the goods weight, the goods state, the corresponding position number and the two-dimensional coordinates of the goods is established in the control module, and each goods has a unique goods number. According to the actual application, the database can also contain process information, and the taking instruction can be automatically generated according to the process instruction. The weight of each drill jig plate in the database is different.

[0064] Step 2, the operator inputs the taking drill jig plate instruction, and the taking instruction includes the goods number, and the process instruction can also be set according to the actual production.

[0065] The microcomputer 3 retrieves the drill jig plate gravity G order, and its corresponding two-dimensional plane coordinates (x order ,y order ) and compare them:

[0066] When the taken drill template is in the out-of-stock state or does not belong to the shelf, the microcomputer sends a warning instruction to the buzzer 2, and the buzzer sounds, warning that the drill template corresponding to the taking instruction has been out of stock or does not exist in the shelf;

[0067] When the taken goods are in stock, the microcomputer 3 sends an indication instruction to the LED lamp 5 on the corresponding goods shelf, and the LED lamp 5 receives the indication instruction and lights up to indicate the goods taking position;

[0068] The six-degree-of-freedom force sensor 4 detects the force and torque on the layer where the goods are located and feeds back to the control module;

[0069] Before taking the drill template on a certain layer, the Z-axis force F Z and the X-axis, Y-axis torque M X , M Y of the six-degree-of-freedom force sensor are:

[0070] F Z =F1+F2+F3+F4

[0071] M X =F1y1+F2y2+F3y3+F4y4

[0072] M Y =F1x1+F2x2+F3x3+F4x4

[0073] Where F1, F2, F3, F4 are the pressures applied by the first drill template 6, the second drill template 7, the third drill template 8, and the fourth drill template 9 to the layer board, respectively, and (x1, y1), (x2, y2), (x3, y3), (x4, y4) are the coordinates of the centers of gravity of the first drill template 6, the second drill template 7, the third drill template 8, and the fourth drill template 9 in the two-dimensional plane of the layer board.

[0074] Step 3, the operator takes the drill template.

[0075] In order to avoid the inconsistency between the input goods number and the actual number of the goods to be stored or taken due to the operator's negligence, or the goods are not taken according to the correct shelf indicated by the LED lamp 5 in step 2, resulting in the wrong goods being taken, the control module further judges whether the drill template taken by the operator is correct.

[0076] Step 4, the six-degree-of-freedom force sensor 4 detects the force and torque on the layer after taking the drill template and feeds back to the control module;

[0077] After taking, the Z-axis force FZ 'and X-axis and Y-axis torque M X '、M Y 'for:

[0078] F Z =F1+F2+F3

[0079] M X =F1y1+F2y2+F3y3

[0080] M Y =F1x1 + F2x2 + F3x3

[0081] Step 5: The microcomputer 3 calculates the change in force ΔF on this layer based on the force and torque information fed back from Steps 2 and 4. Z and the change in torque ΔM X ΔM Y The calculation formula is:

[0082] ΔF Z =F Z '-F Z =-F4

[0083] ΔM X =M X '-M X =-F4y4

[0084] ΔM Y =M Y '-M Y =-F4x4

[0085] and ΔF Z Gravity G of the drill template corresponding to the retrieval command order Comparison:

[0086] If ||ΔF Z |-|G order ||≤θ F This indicates that the correct type of drill template was selected.

[0087] If ||ΔF Z |-|G order ||>θ F If the error occurs, it indicates that the wrong type of drill template was taken. The microcomputer sends a command to buzzer 2, and the buzzer sounds, warning the worker that the wrong type of drill template was taken.

[0088] Where, θ F To determine the threshold;

[0089] Determination threshold θ F The method for determining the weight is as follows: for all goods in the database, take the minimum absolute value of the difference between any two pairs of weights;

[0090] Step 6, the microcomputer calculates the two-dimensional plane coordinates (x, y) of the taken goods on the layer according to the change of the force and the moment of force before and after taking the goods, and the calculation formula is:

[0091]

[0092]

[0093] and compares x4 and y4 with the two-dimensional plane coordinates (x order ,y order ) of the correct storage location corresponding to the taking instruction; and calculates the two-dimensional plane coordinates of the taken drill template on the layer:

[0094] If |x4-x order |≤θ x and |y4-y order |≤θ y , the corresponding storage location of the taken drill template is correct.

[0095] If |x4-x order |>θ x or |y4-y order |>θ y , the corresponding storage location of the taken drill template is incorrect, and the microcomputer sends an instruction to the buzzer, and the buzzer 2 sounds to warn that the position of the taken drill template is incorrect.

[0096] Wherein, θ x and θ y are threshold values, and the determination method is: defining the length of the storage location along the X axis as the length and the width along the Y axis as the width, θ x and θ y are half of the length and half of the width of the storage location, respectively.

[0097] Storage management process:

[0098] Step a, the operator inputs the storage drill template instruction, and the microcomputer retrieves the drill template gravity G order , the drill template position and its corresponding two-dimensional plane coordinates (x order ,y order ) in the database and compares them;

[0099] When the drill template to be stored is in the warehouse or does not belong to the shelf, the microcomputer sends an instruction to the buzzer 2, and the buzzer sounds to warn that the drill template corresponding to the storage instruction does not exist.

[0100] If the goods to be stored are in the state of out of the warehouse, the microcomputer 3 sends an indication instruction to the LED lamp 5 corresponding to the goods to be stored on the goods location, and the LED lamp 5 receives the indication instruction and lights up, indicating the position of the goods location to be stored;

[0101] The six-degree-of-freedom force sensor 4 detects the force and torque on the layer before storing the drill template and feeds back to the microcomputer. The Z-axis force F of the six-degree-of-freedom force sensor Z And the X-axis and Y-axis torque M X , M Y Are:

[0102] F Z ' = F1+F2+F3

[0103] M X ' = F1y1+F2y2+F3y3

[0104] M Y ' = F1x1+F2x2+F3x3

[0105] Step b, the operator places the drill template.

[0106] In order to avoid the inconsistency between the input goods number and the actual number of the goods to be stored due to the negligence of the operator, or the goods are not stored in the correct location indicated by the LED lamp 5 in step a, resulting in the error of storing the goods, the control module further judges whether the drill template stored by the operator is correct.

[0107] Step c, the six-degree-of-freedom force sensor 4 detects the force and torque on the layer after storing the drill template and feeds back to the control module; the Z-axis force F of the six-degree-of-freedom force sensor Z And the X-axis and Y-axis torque M X , M Y Are:

[0108] F Z ' = F1+F2+F3+F4

[0109] M X ' = F1y1+F2y2+F3y3+F4y4

[0110] M Y ' = F1x1+F2x2+F3x3+F4x4

[0111] Step d, the microcomputer 3 calculates the change amount ΔF Z And the change amount ΔM X , ΔM Y Of the force and torque on the layer according to the force and torque information fed back by step a and step c.

[0112] ΔF Z = FZ '-F Z =F4

[0113] ΔM X =M X '-M X =F4y4

[0114] ΔM Y =M Y '-M Y =F4x4

[0115] ΔF Z and the gravity G order of the stored drill template are compared,

[0116] if ||ΔF Z |-|G order ||≤θ F , the stored drill template is correct;

[0117] if ||ΔF Z |-|G order ||>θ F , the stored drill template is incorrect, the microcomputer sends a command to the buzzer 2, the buzzer sounds, warning the worker that the stored drill template is incorrect.

[0118] θ F is the determination threshold, the determination threshold θ F is determined by taking the minimum value of the absolute value of the difference between the gravity of all goods in the database;

[0119] Step e, the microcomputer calculates the two-dimensional plane coordinates (x, y) of the stored goods on the layer according to the change of the force and the moment before and after the goods are stored, and the calculation formula is:

[0120]

[0121]

[0122] The microcomputer compares x4 and y4 with the two-dimensional plane coordinates (x order , y order ) of the correct storage location corresponding to the storage instruction:

[0123] if |x4-x order |≤θ x and |y4-y order |≤θ y , the position of the stored drill template is correct;

[0124] if |x4-x order |>θ xor | y4 - y order | > θ y If y4 - y < 0, then the position of the stored drill jig plate is wrong, the microcomputer sends a command to the buzzer, the buzzer 2 rings, and a warning is given that the position of the stored drill jig plate is wrong.

[0125] where θ x and θ y are the determination thresholds. The length of the goods location along the X axis is defined as the length, and the width along the Y axis is defined as the width, θ x and θ y are half of the length of the goods location and half of the width of the goods location, respectively.

[0126] The goods taking and placing mistake-proof intelligent shelf can guide workers to take and place drill jig plates at correct locations and give a warning when workers make mistakes due to negligence, thus solving the problem of drill jig plate storage management.

[0127] The above description is merely a specific implementation of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present application, and these modifications or replacements shall be encompassed within the protection scope of the present application.

Claims

1. A management method of a force sensor-based appearance-similar goods pick-and-place mistake-proofing intelligent shelf, characterized in that, Realize with appearance similar goods take and put mistake proof intelligent shelf; The appearance similar goods take and put mistake proof intelligent shelf includes a shelf body, a force and torque sensor, a control module, an indicating device and a warning device; the shelf body is separated into multiple layers by layer plates, each layer is provided with multiple storage spaces, each goods is respectively stored in a designated storage space of the shelf and the weight of each goods is different; the indicating device is installed on each storage space and connected with the control module, which can indicate the corresponding storage space of the goods after receiving the indication instruction of the control module; the warning device is connected with the control module, which can make a warning reminder according to the warning instruction received by the control module; the force and torque sensor is arranged in the middle of each layer plate of the shelf, which is used for detecting the force and torque received by the layer before and after taking and putting the goods and feeding back to the control module, and the control module can judge whether the taking and putting operation is correct according to the force and torque information before and after taking and putting; The management method includes the following steps: Step 1, a database containing goods number, goods weight, goods state and the corresponding storage space number and two-dimensional coordinates of the goods is established in the control module, and each goods has a unique goods number; Step 2, the control module retrieves the database according to the taking and putting instruction input by the operator; When the goods to be taken is in the out-of-stock state or does not belong to the shelf, and the goods to be stored is in the in-stock state or does not belong to the shelf, the control module sends a warning instruction to the warning device, and the warning device makes a warning prompt according to the warning instruction; When the goods to be taken is in the in-stock state, or the goods to be stored is in the out-of-stock state, the control module sends an indication instruction to the indicating device, and the indicating device indicates the corresponding storage space of the goods according to the indication instruction; the force and torque sensor detects the force and torque received by the layer where the goods is located and feeds back to the control module; Step 3, taking and putting goods; Step 4, the force and torque sensor detects the force and torque received by the layer of the shelf after the taking and putting operation, and feeds back to the control module; Step 5: The control module calculates the change in force on the shelf based on the force and torque information before and after picking up and placing the goods. and the change in torque and and will Cargo weight corresponding to pick-up and drop-off instructions Compare the different types of goods to determine the type of goods to be picked up or placed: If , it indicates that the type of the picked and placed goods is correct; If , it indicates that the type of the taken and placed goods is wrong, the control module sends a warning instruction to the warning device, and the warning device makes a warning reminder according to the warning instruction. wherein is a decision threshold value; The Z axis of the force and torque sensor is defined as the direction perpendicular to the layer plate, and the X axis and Y axis are located on the plane of the layer plate; Step 6, the control module calculates the two-dimensional plane coordinates of the picked and placed goods on the layer according to the change amount of force and the change amount of torque and Step 7, the control module compares the two-dimensional plane coordinates of the picked and placed goods with the two-dimensional plane coordinates of the correct storage location corresponding to the picking and placing instruction, to determine whether the position of the picked and placed goods is correct Step 8, the control module controls the picking and placing device to pick and place the goods according to the picking and placing instruction Step 9, the control module controls the picking and placing device to pick and place the goods according to the picking and placing instruction Step 10, the control module controls the picking and placing device to pick and place the goods according to the picking and placing instruction If and then the location of the goods space is correct; If or , it indicates that the goods location is wrong, the control module sends a warning instruction to the warning device, and the warning device makes a warning reminder according to the warning instruction. wherein and is a decision threshold value; Step 7, the control module updates the goods state of the goods in the database.

2. The management method according to claim 1, characterized in that, In step 5, the control module calculates the change amount of force and torque according to the received force and torque information and and The formula is: wherein, Fz is the force along the Z axis on the layer of shelves after the goods have been picked or deposited, Fz is the force along the Z axis on the layer of shelves before the goods have been picked or deposited; and respectively are the moments of the layer of shelves along the X and Y axes after the goods are taken out or put in, and respectively are the moments of the layer of shelves along the X and Y axes before the goods are taken out or put in. F is the weight of the picked and placed goods, and the two-dimensional coordinates of the picked and placed goods on the layer, respectively.

3. The management method according to claim 1, characterized by, The taking and putting instruction in step 2 is the goods number.

4. The management method according to claim 1, characterized by, In step 5, the threshold value is determined The determination method is: taking the minimum value of the absolute value of the difference between the gravity of all goods in the database.

5. The management method according to claim 4, characterized in that, In step 6, the threshold value is determined and The determination method is as follows: defining the X-axis dimension of the storage location as length and the Y-axis dimension as width, and Taking half of the length and half of the width of the storage location respectively.

6. The management method according to claim 1, characterized by, In step 2, when the goods to be taken is in the out-of-stock state, the goods to be stored is in the in-stock state or the goods does not belong to the shelf, the control module sends different warning instructions to the warning device according to different goods states, and the warning device sends different warning prompt sounds according to the corresponding warning instructions.

7. The management method according to claim 6, characterized in that, The indicating device is an LED lamp; when the control module retrieves the corresponding goods information in the database according to the taking and putting instruction, the LED lamp on the corresponding storage space can receive the indication instruction of the control module and light up.

8. The management method according to claim 7, characterized in that, The warning device is a buzzer; when the control module does not retrieve the goods information, the goods to be taken is in the out-of-stock state, the goods to be stored is in the in-stock state or the operator's taking and putting operation is wrong, the buzzer can send different buzzer sounds according to different warning instructions of the control module.

9. The management method according to claim 1, characterized by, The taken and put goods are drill jig plates for airplane assembly, which are made of metal materials and have different weights; each drill jig plate is stored in a different storage space.

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