Smart warehousing material transportation system

Abstract

The present application discloses a smart warehousing material transfer system, which belongs to the technical field of material control systems. In order to solve the technical problems that the system has great limitations in relocation, replication and adaptation; the key points of its technical solution are that it includes the first shelf, the second shelf, the third shelf, the fourth shelf, aisle one and aisle two, the third shelf and the fourth shelf are back to back and close to each other, the materials enter from the temporary storage area to the transfer machine one, the transfer machine one diverts the materials to the first storage station or conveyor two, the first stacker takes and places the materials from the first shelf or the second shelf to the first outbound station, the first outbound station transfers the materials to the transfer machine three, the transfer machine four diverts the materials to the second storage station or conveyor five, the second stacker takes and places the materials from the third shelf or the fourth shelf to the second outbound station, the second outbound station transfers the materials to the transfer machine six, and the transfer machine six transfers the materials to the outbound temporary storage area, which has the effect of stable and reliable operation.

Description

Technical Field

[0001] The present application relates to the technical field of control systems for intelligent equipment for stored materials, and in particular to a smart storage material transportation system. Background Art

[0002] At present, the storage and transportation of materials are very popular. In large and medium-sized factories and enterprises with large-scale throughput, manual intervention inspection and monitoring can hardly meet their operational supervision needs. At the same time, the working environment of such factories needs to be reasonably arranged to ensure stable and reliable operation.

[0003] In the relevant prior art, the Chinese patent document with application number 201720028963.1 discloses a fully automatic production line for SIP wall panels, including, from left to right, an EPS automatic feeding device, a gluing machine, a rear material receiving device, a multifunctional transporting device, a cold press, an automatic transfer platform, an AGV automatic operation vehicle and an automatic storage system. The EPS automatic feeding device includes a transmission motor and an automatic transfer device, the gluing machine is frequency-controlled, the rear material receiving device includes a bell-mouth positioning device, a transmission motor and a rear limit plate, the automatic conveying platform includes a positioning frame, and the automatic storage system includes a material transfer platform, an automatic storage system control device, a material inlet and a material outlet.

[0004] The above automatic production line is limited to the production and operation of SIP wall panels. For some express parcels and some corporate goods storage, the above structure cannot be used well, resulting in no effective operation mechanism for the transportation of material storage in some companies in the smart park, and the investment is considered to be too high in management costs. There are great limitations in the relocation, replication and adaptation of the system. Summary of the invention

[0005] In view of the above-mentioned shortcomings (problems) of the prior art, in order to adopt non-contact supervision and control methods to reduce the workload of manual supervision and operation of large and medium-sized intelligent warehousing systems and the degree of direct human participation, thereby reducing the impact of human errors on the system, increasing the safety of manual labor, and improving the supervision and control of the warehousing system, the present application provides a smart warehousing material transportation system.

[0006] To achieve the above-mentioned purpose and other related purposes, the present application adopts the following technical scheme: an intelligent warehousing material transportation system, comprising a first shelf, a second shelf, a third shelf and a fourth shelf arranged in sequence, the first shelf and the second shelf are opposite to each other and leave aisle one, the third shelf and the fourth shelf are opposite to each other and leave aisle two, the third shelf and the fourth shelf are back to back and close to each other, a first stacker is arranged at aisle one, a second stacker is arranged at aisle two, a first inbound platform is arranged on the side of the first shelf, a first outbound platform is arranged on the same side of the second shelf, a second inbound platform is arranged on the same side of the third shelf, a second outbound platform is arranged on the same side of the fourth shelf, a transfer machine 1 is arranged on the side of the first inbound platform, a transfer machine 3 is arranged on the same side of the first outbound platform, a transfer machine 4 is arranged on the same side of the second inbound platform, a transfer machine 6 is arranged on the same side of the second outbound platform, a conveyor 2 is arranged between the transfer machine 1 and the transfer machine 3, and a conveyor 5 is arranged between the transfer machine 4 and the transfer machine 6.

[0007] There are temporary storage areas for incoming and outgoing goods on the same side of the transfer machine and the conveyor.

[0008] Among them: the material enters from the temporary storage area and arrives at the transfer machine 1, the transfer machine 1 diverts the material to the first storage platform or the conveyor 2, the first storage platform transfers the material to the first stacker, the first stacker takes the material from the first shelf or the second shelf and puts it to the first outbound platform, the first outbound platform transfers the material to the transfer machine 3, the transfer machine 3 transfers the material to the transfer machine 4,

[0009] Transfer machine 4 diverts the materials to the second incoming station or conveyor 5, the second incoming station transfers the materials to the second stacker, the second stacker takes the materials from the third shelf or the fourth shelf and places them on the second outgoing station, the second outgoing station transfers the materials to transfer machine 6, and transfer machine 6 transfers the materials to the outgoing temporary storage area.

[0010] Preferably, the material packaging is provided with a unique corresponding code.

[0011] Also included is a storage module, which stores and records information about the temporary use of materials in each three-dimensional shelf location;

[0012] A display module, which displays shelf location information and material information and is marked with a color identifier;

[0013] The shelf selection module selects the shelf with the least number of materials of this category to store the materials according to the shelf occupancy situation. If there are multiple shelves with the least number of materials of this category, the shelves are selected in ascending order of shelf numbers. Within the shelves, the shelves are selected in ascending order of unoccupied shelf numbers. The selected shelves are marked with the first color and changed to the second color.

[0014] Preferably, it also includes a labeling module, which produces displacement coding labels in sequence according to the material date, the selected shelf number, layer number, column number, and category, and affixes the labels to the identifiable area of ​​the material packaging;

[0015] The transfer machine is equipped with a scanner, which is used to scan material labels and obtain information to determine the diversion direction;

[0016] The stacker is equipped with a scanner, which is used to scan material labels and obtain information to complete the entry or removal of materials into the corresponding storage location.

[0017] Preferably, it also includes a terminal device, a server, and a main control board, and the stacker, transfer machine and conveyor are used as slave control devices. The terminal device is wirelessly connected to the server, the server is communicatively connected to the control board, and the main control board is communicatively connected to multiple slave control devices. The stacker uses a scanner to identify the transported materials and delivery information, the transfer machine uses a scanner to identify the materials and determine the diversion direction, and the conveyor uses a photoelectric sensor to sense the transported materials.

[0018] Preferably, the stacker is also connected to a radio frequency tag, and three radio frequency identifiers are arranged at locations where the coordinates of the storage area differ greatly, and the three radio frequency identifiers are used to identify the real-time coordinates of the positioning stacker:

[0019] The position coordinates of the three RFIDs are: A (x １ ,y １ , z １ ), B (x2, y2, z2), C (x ３ ,y ３ , z ３ ), the location coordinates of the RFID tag are: D (x ４ ,y ４ , z ４ ), the distances from RFID A, B, C to RFID tag point D are d １ , d2, d ３ but:

[0020] [(x-x １ ) 2 +(y-y １ ) 2 +(z-z １ ) 2 ,

[0021] (x-x2) 2 + (y-y2) 2 +(z-z2) 2 ,

[0022] (x-x ３ ) 2 +(y-y ３) 2 +(z-z ３ ) 2 ]

[0023] =[d １ 2 , d2 2 , d ３ 2 ]

[0024] The coordinates of the stacker are obtained by solving the determinant and the real-time position of the stacker is determined.

[0025] Preferably, photoelectric sensors are provided at the head and tail of each conveyor, outbound platform, and inbound platform to detect incoming and outgoing materials respectively, and a pressure sensor is provided on the transfer machine to determine whether it is running empty or occupied.

[0026] Preferably, when the corresponding conveyor is idle and the conveying equipment on the previous station has materials, the materials of the conveying equipment on the previous station pass through the conveyor, and the photoelectric sensor at the head end scans the materials, and sends the information that the conveyor is occupied to the main control board through the wireless communication module in real time. After processing, the main control board sends an instruction to the conveying equipment at the previous station of the conveyor to suspend the conveying of materials to it, and receives the idle and occupied status of the conveying equipment at the next station of the conveyor in real time, and issues a pause or transmission instruction to the slave control device connected to the conveyor accordingly; if the conveying equipment at the next station is idle, the materials continue to be transmitted to the conveying equipment at the next station through the conveyor; if the conveying equipment at the next station is always occupied, the conveyor is suspended within the set time, and waits until the main control board sends back an instruction indicating that the conveying equipment at the next station is idle, and the conveyor restarts and continues to transmit through the tail end photoelectric sensor to reach the next station equipment; at this time, the idle status information of the conveyor is sent back to the main control board, and the main control board issues a transmission instruction to the conveying equipment at the previous station to continue the next transmission.

[0027] Preferably, it also includes: a storage sampling entry module, which is connected to the server and is used to randomly select storage materials and collect sampling information;

[0028] The outbound verification module verifies the incoming material information in the incoming sampling entry module and generates test data, including photos and videos;

[0029] The supervision module compares the material information at the time of entry into the warehouse with the material inspection information of the outbound verification module at the time of exit from the warehouse. If they are consistent, a true signal is generated. If there is an inconsistency, a false signal is generated.

[0030] Preferably, the true signal is a high-level signal, the false signal is a low-level signal, the supervision module is connected to an alarm, and the alarm receives the false signal to output a warning message.

[0031] In summary, the present application includes at least one of the following beneficial technical effects:

[0032] 1. This system can make full use of the spatial structure through the reasonable layout of the warehouse space, and can be suitable for rectangular warehouse spaces of different sizes. It has strong transplantation ability and can be efficiently expanded. It is very easy and has strong replicability and can be scaled, which greatly improves the convenience of implementation and can effectively reduce costs;

[0033] 2. The incoming and outgoing materials are orderly and can be processed promptly and quickly, making the entire system run reliably. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a warehouse space layout diagram of an embodiment of the present application;

[0035] Figure 2 It is a schematic diagram of the data transmission control principle of an embodiment of the present application;

[0036] Figure 3 It is an operation flow chart of an embodiment of the present application;

[0037] Figure 4 This is a schematic diagram of data transmission in this application;

[0038] Figure 5 It is a schematic diagram of the working principle of the conveyor and transfer machine;

[0039] Figure 6 It is a schematic diagram of the principle block diagram of the operation alarm on the server.

[0040] Description of main reference numerals:

[0041] 1. First shelf; 2. Second shelf; 3. Third shelf; 4. Fourth shelf; 5. Aisle 1; 6. Aisle 2; 7. First stacker; 8. Second stacker; 9. First incoming station; 10. First outgoing station; 11. Second incoming station; 12. Second outgoing station; 131. Transfer machine 1; 132. Conveyor 2; 133. Transfer machine 3; 134. Transfer machine 4; 135. Conveyor 5; 136. Transfer machine 6; 14. Incoming temporary storage area; 15. Outgoing temporary storage area; 16. Storage module; 17. Display module; 18. Storage location selection module; 19. Labeling module; 20. Terminal device; 21. Server; 22. Main control board; 23. Photoelectric sensor; 24. Pressure sensor; 211. Incoming sampling entry module; 212. Outgoing verification module; 213. Supervision module; 214. Alarm. DETAILED DESCRIPTION

[0042] The following describes the embodiments of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0043] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application. The illustrations only show the components related to the present application rather than being drawn according to the number, shape and size of the components in actual implementation. In actual implementation, the type, quantity and proportion of each component can be changed at will, and the component layout type may also be more complicated.

[0044] The specific implementation methods of the present application will be further described below in conjunction with the accompanying drawings. Example

[0045] The present application embodiment discloses a smart storage material dispatching system, referring to Figure 1 As shown, a first shelf 1, a second shelf 2, a third shelf 3 and a fourth shelf 4 are arranged in sequence, and the above shelves are three-dimensional shelves. The first shelf 1 and the second shelf 2 are opposite to each other and leave an aisle 1 5, the third shelf 3 and the fourth shelf 4 are opposite to each other and leave an aisle 2 6, the third shelf 3 and the fourth shelf 4 are close to each other, a first stacker 7 is arranged at the aisle 1 5, a second stacker 8 is arranged at the aisle 2 6, a first inbound platform 9 is arranged on the side of the first shelf 1, a first outbound platform 10 is arranged on the same side of the second shelf 2, a second inbound platform 11 is arranged on the same side of the third shelf 3, and a second outbound platform 12 is arranged on the same side of the fourth shelf 4, a transfer machine 131 is arranged on the side of the first inbound platform 9, a transfer machine 3 133 is arranged on the same side of the first outbound platform 10, a transfer machine 4 134 is arranged on the same side of the second inbound platform 11, and a transfer machine 6 136 is arranged on the same side of the second outbound platform 12, a conveyor 2 132 is arranged between the transfer machine 131 and the transfer machine 3 133, and a conveyor 5 135 is arranged between the transfer machine 4 134 and the transfer machine 6 136. The above-mentioned multiple transfer machines and conveyors are distinguished according to their functions, but they can also be classified. They can all be used to convey materials and can also be called conveying equipment. The above-mentioned hardware equipment is a prior art product, so its specific structure is not described in detail. In the solution of this application, its respective functions are applied, and through these functions, those skilled in the art can configure them in real time.

[0046] In this solution, a storage-in temporary storage area 14 and a storage-out temporary storage area 15 are arranged on the same side of the transfer machine and the conveyor.

[0047] Among them: the material enters from the temporary storage area 14 and reaches the transfer machine 131, the transfer machine 131 diverts the material to the first storage station 9 or the conveyor 2 132, the first storage station 9 transfers the material to the first stacker 7, the first stacker 7 takes the material from the first shelf 1 or the second shelf 2 and puts it to the first outbound station 10, the first outbound station 10 transfers the material to the transfer machine 3 133, the transfer machine 3 133 transfers the material to the transfer machine 4 134,

[0048] The transfer machine four 134 diverts the materials to the second incoming station 11 or the conveyor five 135, the second incoming station 11 transfers the materials to the second stacker 8, the second stacker 8 takes the materials from the third shelf 3 or the fourth shelf 4 and places them to the second outgoing station 12, the second outgoing station 12 transfers the materials to the transfer machine six 136, and the transfer machine six 136 transfers the materials to the outgoing temporary storage area 15.

[0049] In this solution, a unique corresponding code is set on the material packaging, and the above-mentioned code is completed through labeling equipment.

[0050] In specific applications, such as Figure 4 As shown, it also includes a storage module 16, which stores and records information about the temporary use of materials in various three-dimensional shelf locations; the storage module 16 is located in the warehouse and makes advance preparations for the entry of materials into the warehouse.

[0051] Display module 17 (display device), display module 17 displays shelf location information and material information, and is marked with color identification; through display module 17, users can intuitively know the matching status of shelf locations and materials.

[0052] The shelf selection module 18 selects the shelf with the least number of materials of this category to store the materials according to the shelf occupancy situation. If there are multiple shelves with the least number of materials of this category, the shelves are selected in ascending order of shelf numbers. The shelves are selected in ascending order of unoccupied shelf numbers inside the shelves, and the selected shelves are changed from the first color identification to the second color identification.

[0053] In this solution, a labeling module 19 is also included. The labeling module 19 produces displacement coding labels in sequence according to the material date, the selected shelf number, layer number, column number, and category, and affixes the labels to the identifiable area of ​​the material packaging.

[0054] refer to Figure 2 As shown, the transfer machine is provided with a scanner, which is used to scan the material label and obtain information to determine the diversion direction; the stacker is provided with a scanner, which is used to scan the material label and obtain information to complete the entry or removal of materials into or out of the corresponding cargo position.

[0055] In addition, it includes a terminal device 20, a server 21, and a main control board 22, and uses a stacker, a transfer machine, and a conveyor as slave control devices. The terminal device 20 is wirelessly connected to the server 21, the server 21 is communicatively connected to the control board, the main control board 22 is communicatively connected to multiple slave control devices, the stacker uses a scanner to identify the transported materials and delivery information, the transfer machine uses a scanner to identify the materials and determine the diversion direction, and the conveyor uses a photoelectric sensor 23 to sense the transported materials.

[0056] refer to Figure 2 It can be seen that the main control board is specifically connected to a WiFi module and a wireless communication module, and the slave control boards are connected to respective actuators, wireless communication modules and corresponding sensors. The main control board 22 is connected to the cloud server 21 through the WiFi module, and the PC and mobile terminal access the cloud server 21 through the network, and use it to communicate with the main control board 22, issue task instructions to the main control board 22, and view the dynamic operation status of the storage system. The main control board 22 and each slave control board realize sensor information transmission and control instruction issuance through the wireless communication module. The main control board 22 is responsible for executing the operator's instructions, processing the data sent back by the sensor, and sending control instructions to the slave control board based on the processing results; the slave control board is responsible for transmitting the information collected by the connected sensor to the main control board 22 through the wireless communication module, and receiving the main control board instructions in real time to control the connected actuator to perform related operations.

[0057] The stacker is also connected to a radio frequency tag. Three radio frequency identifiers are set at locations where the coordinates of the storage area are very different. The RFID tag combined with the RFID reader can measure the distance between two points, and positioning can be achieved based on multi-point ranging. The three radio frequency identifiers are used to identify the real-time coordinates of the stacker:

[0058] The position coordinates of the three RFIDs are: A (x １ ,y １ , z １ ), B (x2, y2, z2), C (x ３ ,y ３ , z ３ ), the location coordinates of the RFID tag are: D (x ４ ,y ４ , z ４ ), the distances from RFID A, B, C to RFID tag point D are d １ , d2, d ３ but:

[0059] [(x-x １ ) 2 +(y-y １ ) 2 +(z-z １ ) 2 ,

[0060] (x-x2) 2 + (y-y2) 2 +(z-z2) 2 ,

[0061] (x-x ３ ) 2 +(y-y ３ ) 2 +(z-z ３ ) 2 ]

[0062] =[d １ 2 , d2 2 , d ３ 2 ]

[0063] The coordinates of the stacker are obtained by solving the determinant and the real-time position of the stacker is determined.

[0064] In this solution, the radio frequency tag here can be an RFID tag, which can be identified by a radio frequency identifier, that is, a scanner. In this way, the above-mentioned position positioning can be completed, thereby providing convenience for the transportation of materials.

[0065] The position control in material storage can be realized by recording and visual supervision through the system's memory and identification functions. However, when the material is being transported, in order to ensure that there is no identification confusion and congestion in the transport process, and for the sake of transmission efficiency, only one piece of material is allowed to exist in a single transport device at the same time. That is, when the next station equipment is occupied, the previous station equipment is on standby; when the next station equipment is idle, the previous station equipment immediately transfers the material to the next station equipment. For details, please refer to Figure 4 As shown, photoelectric sensors 23 are respectively arranged at the head and tail of each conveyor, outbound platform and inbound platform to detect the incoming and outgoing materials respectively. A pressure sensor 24 is arranged on the transfer machine to judge whether it is empty-load operation or occupied operation.

[0066] Combination Figure 3It can be seen that, among them, the corresponding conveyor is in an idle state and the conveying equipment on the previous station has materials, then the materials of the conveying equipment on the previous station pass through this conveyor, and the photoelectric sensor 23 at the head end scans the materials, and sends the information of the occupancy of this conveyor to the main control board 22 through the wireless communication module in real time. After processing, the main control board 22 sends an instruction to the conveying equipment at the previous station of the conveyor to suspend the conveying of materials to it, and receives the idle and occupied status of the conveying equipment at the next station of the conveyor in real time, and issues a pause or transmission instruction to the slave control device connected to the conveyor accordingly. The conveyor receives a delivery instruction; if the conveying equipment at the next station is idle, the material continues to be transported to the conveying equipment at the next station through the conveyor; if the conveying equipment at the next station is always occupied, the conveyor is suspended within the set time, and waits until the main control board 22 sends back an instruction indicating that the conveying equipment at the next station is idle, and the conveyor restarts and continues to transport through the tail end photoelectric sensor 23 to reach the next station equipment; at this time, the idle status information of the conveyor is sent back to the main control board 22, and the main control board 22 issues a transmission instruction to the conveying equipment at the previous station to continue the next transmission.

[0067] Based on the above scheme, refer to Figure 6 As shown, it also includes: an incoming sampling entry module 211, which is connected to the server 21 and is used to randomly select incoming materials and collect sampling information; an outbound verification module 212, which verifies the incoming material information in the incoming sampling entry module 211 and generates test data, which includes photos and videos; a supervision module 213, which compares the material information at the time of entry with the material inspection information of the outbound verification module 212 at the time of outbound. If they are consistent, a true signal is generated, and if there is an inconsistency, a false signal is generated.

[0068] The information input here includes video, pictures, or text information. By comparing the incoming and outgoing goods, it can ensure that any replacement or modification of goods can be discovered in time.

[0069] The true signal is a high-level signal, and the false signal is a low-level signal. The supervision module 213 is connected to the alarm 214, and the alarm 214 receives the false signal to output a warning message. In order to find problems in time, the false signal is used as a warning. Thus, when a fault is detected and the signal cannot be output, it can also be identified as a fault, that is, a false signal is generated, thereby issuing a warning.

[0070] The above embodiments are only illustrative of the principles and effects of the present application, and are not intended to limit the present application. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A smart storage material transfer system, comprising a first shelf (1), a second shelf (2), a third shelf (3) and a fourth shelf (4) arranged in sequence, the first shelf (1) and the second shelf (2) facing each other and leaving aisle 1 (5), the third shelf (3) and the fourth shelf (4) facing each other and leaving aisle 2 (6), the third shelf (3) and the fourth shelf (4) facing each other and close to each other, characterized in that: A first stacker (7) is arranged at aisle 1 (5), a second stacker (8) is arranged at aisle 2 (6), a first storage platform (9) is arranged on the side of the first shelf (1), a first outbound platform (10) is arranged on the same side of the second shelf (2), a second storage platform (11) is arranged on the same side of the third shelf (3), a second outbound platform (12) is arranged on the same side of the fourth shelf (4), and a transfer machine is arranged on the side of the first storage platform (9). a first transfer machine (131), a third transfer machine (133) is arranged on the same side of the first outbound platform (10), a fourth transfer machine (134) is arranged on the same side of the second inbound platform (11), a sixth transfer machine (136) is arranged on the same side of the second outbound platform (12), a second conveyor (132) is arranged between the first transfer machine (131) and the third transfer machine (133), a fifth conveyor (135) is arranged between the fourth transfer machine (134) and the sixth transfer machine (136), A temporary storage area (14) for incoming goods and a temporary storage area (15) for outgoing goods are arranged on the same side of the transfer machine and the conveyor. Wherein: the material enters from the temporary storage area (14) and reaches the transfer machine 1 (131), the transfer machine 1 (131) diverts the material to the first storage platform (9) or the conveyor 2 (132), the first storage platform (9) transfers the material to the first stacker (7), the first stacker (7) takes the material from the first shelf (1) or the second shelf (2) and places it on the first outbound platform (10), the first outbound platform (10) transfers the material to the transfer machine 3 (133), the transfer machine 3 (133) transfers the material to the transfer machine 4 (134), The transfer machine 4 (134) diverts the material to the second storage station (11) or the conveyor 5 (135), the second storage station (11) transfers the material to the second stacker (8), the second stacker (8) takes the material to the third shelf (3) or the fourth shelf (4) and places it on the second storage station (12), the second storage station (12) transfers the material to the transfer machine 6 (136), the transfer machine 6 (136) transfers the material to the storage temporary storage area (15); a unique corresponding code is set on the material packaging, It also includes a storage module (16), wherein the storage module (16) stores and records information on the temporary use of materials at various three-dimensional shelf locations; A display module (17), wherein the display module (17) displays shelf location information and material information and is marked with a color identifier; The shelf selection module (18) selects the shelf with the least number of materials of the same category to store the materials according to the occupancy of the shelf. If there are multiple shelves with the least number of materials of the same category, the shelves are selected in ascending order of shelf numbers. The shelves are selected in ascending order of unoccupied shelf numbers within the shelves. The selected shelf is changed from a first color mark to a second color mark.

2. The intelligent warehousing material transportation system according to claim 1 is characterized in that: It also includes a labeling module (19), which produces displacement coding labels in sequence according to the material date, the selected shelf number, layer number, column number, and category, and affixes the labels to the identifiable area of ​​the material packaging; The transfer machine is equipped with a scanner, which is used to scan material labels and obtain information to determine the diversion direction; The stacker is equipped with a scanner, which is used to scan material labels and obtain information to complete the entry or removal of materials into the corresponding storage location.

3. The intelligent warehousing material transportation system according to claim 2 is characterized in that: It also includes a terminal device (20), a server (21), and a main control board (22). The stacker, the transfer machine, and the conveyor are used as slave control devices. The terminal device (20) is wirelessly connected to the server (21), the server (21) is communicatively connected to the main control board (22), and the main control board (22) is communicatively connected to a plurality of slave control devices. The stacker uses a scanner to identify the transported materials and delivery information, the transfer machine uses a scanner to identify the materials and determine the diversion direction, and the conveyor uses a photoelectric sensor (23) to sense the transported materials.

4. The intelligent warehousing material transportation system according to claim 1 is characterized in that: The stacker is also connected to a radio frequency tag. Three radio frequency identifiers are set at locations where the coordinates of the storage area are greatly different. The three radio frequency identifiers are used to identify the real-time coordinates of the stacker: The position coordinates of the three RFIDs are: A (x1, y1, z1), B (x2, y2, z2), C (x ３ ,y ３ , z ３ ), the location coordinates of the RFID tag are: D (x ４ ,y ４ , z ４ ), the distances from RFID A, B, C to RFID tag point D are d1, d2, d ３ but: [(x x1) 2 +(y)y1) 2 +(z:z1) 2 , (x x2) 2 +(y)y2) 2 +(z:z2) 2 , (x-x ３ ) 2 +(y-y ３ ) 2 +(z-z ３ ) 2 ] =[d1 2 ,d2 2 ,d ３ 2 ] The coordinates of the stacker are obtained by solving the determinant and the real-time position of the stacker is determined.

5. The intelligent storage material transportation system according to claim 3 is characterized in that: Photoelectric sensors (23) are respectively arranged at the head and tail of each conveyor, outbound platform and inbound platform to detect incoming and outbound materials respectively. A pressure sensor (24) is arranged on the transfer machine to judge whether it is empty-load operation or occupied operation.

6. The intelligent storage material transportation system according to claim 5 is characterized in that: in, If the corresponding conveyor is in an idle state and the conveyor equipment at the previous station has materials, the materials of the conveyor equipment at the previous station pass through the conveyor, and the photoelectric sensor (23) at the head end scans the materials, and sends the information that the conveyor is occupied to the main control board (22) in real time through the wireless communication module. After processing, the main control board (22) sends an instruction to the conveyor equipment at the previous station of the conveyor to suspend the conveying of materials to it, and receives the idle and occupied status of the conveyor equipment at the next station of the conveyor in real time, and issues a pause or transmission instruction to the slave control device connected to the conveyor accordingly. If the conveying equipment at the next station is idle, the material will continue to be conveyed to the conveying equipment at the next station through the conveyor. If the conveying equipment at the next station is always occupied, the conveyor will be suspended within the set time, and the main control board (22) will send back an instruction indicating that the conveying equipment at the next station is idle. The conveyor will then restart and continue to convey the material through the tail end photoelectric sensor (23) to the next station equipment. At this time, the idle status information of the conveyor is sent back to the main control board (22), and the main control board (22) will issue a conveying instruction to the conveying equipment at the previous station to continue the next conveying.

7. The intelligent storage material transportation system according to claim 3 is characterized in that: Also includes: An incoming sampling input module (211), the incoming sampling input module (211) is connected to the server (21) and is used to randomly select incoming materials and collect sampling information; The outbound verification module (212) verifies the incoming material information in the incoming sampling input module (211) and generates test data, which includes photos and videos; The supervision module (213) compares the material information at the time of entry into the warehouse with the material inspection information of the warehouse verification module (212) at the time of exit from the warehouse. If they are consistent, a true signal is generated; if there is inconsistency, a false signal is generated.

8. The intelligent storage material transportation system according to claim 7 is characterized in that: The true signal is a high-level signal, and the false signal is a low-level signal. The supervision module (213) is connected to an alarm (214), and the alarm (214) receives the false signal to output warning information.

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