Cross-floor warehouse-out control method and system

Abstract

The invention discloses a cross-floor warehouse-out control method and system, and belongs to the technical field of logistics monitoring, and the method comprises the steps: carrying out the photographing and recognition of cigarette cartons on a solid tray, transmitting the position information of the cigarette cartons to unstacking robots, planning a plurality of unstacking robots to complete the unstacking operation of finished cigarette cartons, and processing the stacking of empty trays through the unstacking robots after the unstacking is completed; the forking type AGV moves to a designated goods location to carry a corresponding cigarette pallet, the latent type AGV cooperates with the elevator to send the cigarette pallet to a robot unstacking station, the unstacked cigarettes are subjected to secondary rechecking and sorting, and the cigarettes with abnormal bar codes enter the warehouse-out process again after being manually processed. According to the invention, the problems of low efficiency and high error rate caused by manual connection or isolated operation of equipment are avoided, and the automation degree and continuity of the whole warehouse-out process are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics monitoring, and more specifically, to a cross-floor delivery control method and system. Background Art

[0002] At present, there are two main forms of automatic delivery of finished products in the tobacco industry, one is an automated stereoscopic warehouse and the other is a flat warehouse. The automated stereoscopic warehouse is a highly integrated and intelligent storage system, consisting of multi-layer shelves, aisle stackers (or four-way shuttles), delivery workbenches and other structures. Its multi-layer shelves can make full use of vertical space and greatly increase the storage capacity. However, the structure and layout of the original building cannot meet the strict requirements of the automated stereoscopic warehouse for space height, ground bearing capacity and shelf installation accuracy.

[0003] Flat warehouses use a single-layer shelf layout, which is relatively simple, does not require high warehouse space height, and has relatively low construction costs. As a key device for automatic pickup and delivery, AGV has greater flexibility in flat warehouses. The combination of flat warehouses and AGVs can effectively realize the automatic pickup and delivery of finished products. However, if the concept of flat warehouses is directly applied to multi-story buildings, it means that only one floor can be used as a storage area, and the other floors will be idle or require large-scale renovation, which is undoubtedly a great waste of building space resources. Moreover, even if a flat warehouse is set up on only one floor and AGV is used for automatic pickup and delivery, since the vertical transportation problem of multi-story buildings has not been solved, the transportation of finished cigarettes between floors still needs to rely on manual or other additional vertical transportation equipment, and it is impossible to achieve truly full-process automated delivery. Summary of the invention

[0004] One purpose of the present invention is to provide a cross-floor outbound control method and system to solve the problem that the transfer of finished cigarettes between floors still needs to rely on manual labor or other additional vertical transportation equipment, and cannot achieve truly full-process automated outbound transportation.

[0005] According to a first aspect of the present invention, a cross-floor outbound control method is provided, comprising the following steps:

[0006] Depalletizing layout step: take photos of cigarettes on the actual pallet to identify them and transmit their location information to the depalletizing robot. Plan several depalletizing robots to complete the depalletizing of finished cigarettes. After depalletizing, the depalletizing robot will handle the empty pallet palletizing.

[0007] Depalletizing and outbound delivery steps: the fork-type AGV carries the corresponding pallet of cigarettes to the designated cargo location, and the lurking AGV cooperates with the elevator to deliver the pallet of cigarettes to the robot depalletizing station. The depalletized cigarettes are reviewed and sorted for the second time, and the cigarettes with abnormal barcodes are manually processed and re-enter the outbound delivery process.

[0008] Optionally, the cross-floor delivery control method further includes:

[0009] Steps for outbound transfer: During non-outbound operation time, the lurking AGV goes to the designated cargo location in a specific floor area to transport the corresponding pallet of cigarettes, which is then lowered to the outbound floor via the elevator and sent to the outbound buffer area for storage; during outbound operation, outbound is carried out directly from the outbound buffer area.

[0010] Optionally, in the depalletizing layout step, two depalletizing robots are configured to perform the finished cigarette depalletizing task, and each depalletizing robot corresponds to three depalletizing stations, one empty pallet stacking station and one conditional cigarette conveyor line.

[0011] Optionally, in the depalletizing layout step, a latent AGV transports the finished product pallet to the corresponding position. Before the depalletizing operation is started, the visual recognition system on the fixture is used to capture and identify images of the cigarette pieces on the finished product pallet, and the determined cigarette piece position data is transmitted to the depalletizing robot.

[0012] Optionally, both the fork-type AGV and the latent AGV adopt a navigation method that combines laser navigation and inertial navigation, and perform real-time switching of navigation modes according to specific operating conditions and surrounding environment during the navigation process, and use a combination of ultrasonic sensors and lidar for obstacle detection and path planning.

[0013] Optionally, in the step of depalletizing and outbound delivery of finished cigarette pieces, a depalletizing robot performs depalletizing operations on the actual cigarette pallets at the depalletizing station, and the cigarette pieces obtained after depalletizing are first identified by barcodes and then transmitted through a cigarette outbound delivery conveyor line. The No. 1 engineering code or quality traceability code information of the cigarette pieces is reviewed for the second time on the outbound sorting loop line, and the cigarette pieces are sorted to the corresponding outbound channel according to the brand information of the cigarette pieces.

[0014] Optionally, in the depalletizing and shipping step, the loose pallets generated in the shipping process are transferred to the temporary storage area by the latent AGV for storage. When the subsequent shipping order involves the cigarettes of this specification, the loose pallets are preferentially extracted from the temporary storage area for depalletizing and shipping.

[0015] Optionally, the temporary storage area is provided with an inventory management system, which uses radio frequency identification (RFID) or barcode scanning technology to track and manage the bulk trays in real time, record the storage time, location, quantity and specification information of the bulk trays, and automatically issue warnings and replenishment prompts according to preset inventory thresholds.

[0016] Optionally, the outbound sorting loop line adopts a chain conveying structure, and the outbound sorting loop line adopts a combination of belt conveying and sorting mechanism. The belt conveying part can adjust the conveying speed within the range of 0.5~3 meters / second, and the sorting mechanism adopts a pneumatic push plate or swing arm structure, and the pneumatic push plate or swing arm structure is used to sort the cigarette pieces to the corresponding outbound channel.

[0017] According to a second aspect of the present invention, a cross-floor delivery control system is provided, comprising:

[0018] The depalletizing robot corresponds to several depalletizing stations, empty pallet stacking stations and cigarette conveyor lines to complete the depalletizing of finished cigarette pieces. Before depalletizing, it receives the position information transmitted after the visual recognition system on the fixture takes a photo of the cigarette pieces on the real pallet and recognizes them, and grabs the empty pallet after completing the depalletizing of a whole pallet and stacks it at the empty pallet stacking station.

[0019] The lurking AGV is used to transport the finished product pallets to the depalletizing station corresponding to the depalletizing robot, and to transport the piece pallets of cigarettes in the designated cargo positions on the third to fifth floors to the elevator during non-delivery operation time, and then to the delivery buffer area for storage after the elevator descends to the delivery floor. During the delivery operation, the piece pallets of cigarettes at the docking platform are transported to the elevator car on the corresponding floor or the loose pallets are transported from the temporary storage area; the lurking AGV cooperates with the fork-type AGV to transfer the piece pallets of cigarettes between different floors, and to transport the empty pallets to the empty pallet stacking station;

[0020] The elevator is equipped with a car to carry the pallet of cigarettes transported by the latent AGV and move it up and down between different floors. In the cross-floor outbound process, the pallet of cigarettes is lowered from other floors to the outbound floor;

[0021] The cigarette piece conveyor line is used to connect the depalletizing robot and the outbound sorting loop line, and is used to output the cigarette pieces formed by depalletizing and convey them to the outbound sorting loop line;

[0022] The outbound sorting loop is equipped with a barcode recognition device for verifying the No. 1 project or quality traceability code information of cigarettes, sorting the cigarettes according to their brand information and sorting them to the corresponding outbound channel;

[0023] Barcode recognition device: includes a first barcode recognition device arranged on the outbound conveying line of the cigarettes after depalletizing and a second barcode recognition device arranged on the outbound sorting loop line. The first barcode recognition device is used to perform preliminary barcode recognition on the cigarettes after depalletizing, and the second barcode recognition device is used to re-check the barcode information of the cigarettes. When the identified cigarette information or the read cigarette information is inconsistent with the delivery requirements, the cigarettes are triggered to flow to the abnormal processing port.

[0024] The cross-floor delivery control method and system disclosed in the present invention have the following technical effects:

[0025] The present invention builds a complete and closely coordinated outbound delivery system by integrating multiple key components and process links such as depalletizing robots, AGV series, elevators, cigarette conveyor lines, outbound sorting loops, etc. It avoids the problems of low efficiency and high error rate caused by manual connection or isolated operation of equipment in traditional outbound delivery methods, greatly improves the automation and continuity of the entire outbound delivery process, and realizes efficient flow from the storage location of finished cigarette pieces to the delivery port.

[0026] The visual recognition system on the fixture takes a photo of the cigarette pieces on the pallet before depalletizing, identifies them, and transmits their exact positions to the robot system, effectively solving the problem of inaccurate grasping caused by position deviation of the cigarette pieces on the pallet.

[0027] After dismantling a whole stack of pallets, the depalletizing robot automatically grabs the empty pallet and stacks it at the empty pallet stacking station, realizing the automatic recovery and sorting of empty pallets without the need for human intervention.

[0028] The fork-type AGV and the lurking AGV work in coordination with the elevator to achieve the smooth transfer of pallets between different floors, ensuring that the cigarette pieces can be accurately lowered from the storage floor to the robot depalletizing station on the delivery floor.

[0029] The cigarettes formed by depalletizing are first identified by barcodes on the outbound conveyor line, and then the No. 1 project or quality traceability code information of the cigarettes is checked again on the outbound sorting loop line. Through two identification and comparisons, the risk of sorting errors caused by barcode reading errors or information confusion is greatly reduced. When the barcode recognition device fails to identify the cigarette information or the information is inconsistent with the delivery requirements, the cigarette flow to the abnormal processing port is handled manually, which reduces the situation where the entire order cannot be shipped due to abnormalities of some cigarettes.

[0030] During non-outbound operation hours, the latent AGV moves the designated cargo pallets from the third to fifth floors to the buffer area on the outbound floor for storage, and concentrates the goods that need to be outbound on the outbound floor in advance, reducing the time for picking up goods during outbound operations.

[0031] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0033] Figure 1 A schematic flow chart of a cross-floor delivery control method provided by an embodiment of the present invention;

[0034] Figure 2 A schematic flow chart of a cross-floor warehouse exit method provided in accordance with another embodiment of the present invention. DETAILED DESCRIPTION

[0035] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless otherwise specifically stated.

[0036] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0037] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0038] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0039] The present invention proposes an embodiment of a cross-floor outbound control method. Specifically, Figure 1 As shown, the following steps are included:

[0040] Depalletizing layout steps: take photos of cigarettes on the actual pallet and identify them, and transmit their location information to the depalletizing robot. Plan several depalletizing robots to complete the depalletizing of finished cigarettes. After depalletizing, the depalletizing robot handles the empty pallet stacking, grabs the empty pallet and stacks it at the empty pallet stacking station. With the help of photo recognition technology, the exact position of each cigarette can be accurately located in real time, so that the depalletizing robot can adjust the grabbing action according to these precise location information to achieve accurate grabbing. During the peak period of logistics or when facing large-scale outbound delivery needs, multiple depalletizing robots can start working at the same time, quickly dismantling the finished cigarettes from the pallet, and accelerating the goods to enter the subsequent sorting and outbound process. After depalletizing, the depalletizing robot automatically grabs the empty pallet and stacks it at the empty pallet stacking station, realizing the automatic recovery and sorting of the empty pallet, without the need for manual handling and stacking of empty pallets, and the orderly storage of empty pallets is convenient for inventory counting and management monitoring.

[0041] Depalletizing and outbound delivery steps: The fork-type AGV moves the corresponding pallet of cigarettes to the designated cargo location, and the lurking AGV cooperates with the elevator to deliver the pallet of cigarettes to the robot depalletizing station. The depalletized cigarettes are rechecked and sorted, and the abnormal barcode cigarettes are manually processed and re-enter the outbound delivery process. The fork-type AGV (Automated Guided Vehicle) can accurately move to the designated cargo location according to the preset system instructions. The elevator can make up for the lack of vertical transportation capacity of the lurking AGV. The whole process does not require manual intervention. The various devices work closely together through the communication interface system, making the flow of goods from the storage area to the depalletizing station efficient and orderly. The secondary review link can timely discover errors in the depalletizing process by rechecking the relevant information of the cigarettes, such as quantity, specifications, barcodes, etc. When outbound, outbound is directly from the outbound buffer area, omitting the link of temporarily dispatching AGVs from other floors to transport goods to the outbound area, simplifying the outbound process. In the inventory management system, each cargo location is recorded, and the status of the goods (such as moved, shipped out, etc.) is updated in real time according to the designated cargo location operations, making it convenient for management personnel to accurately understand the remaining cargo on each floor and in each area of ​​the warehouse.

[0042] In an embodiment of the present invention, the cross-floor outbound control method also includes an outbound transfer step: during non-outbound operation time, the lurking AGV goes to the designated cargo position in a specific floor area (third to fifth floors) to transport the corresponding cigarette pallets, and then descends to the outbound floor (such as the second floor) via the elevator, and is sent to the outbound buffer area for storage; during the outbound operation, outbound is directly carried out from the outbound buffer area. The vertical space of the warehouse is fully utilized, and an outbound buffer area is set up on the outbound floor (such as the second floor) to avoid the direct accumulation of goods in the outbound operation area to cause chaos. Use the non-outbound operation time to let the lurking AGV carry goods to achieve staggered work.

[0043] In an embodiment of the present invention, in the depalletizing layout step, a depalletizing robot is configured to perform the depalletizing task of finished cigarettes, and each depalletizing robot corresponds to a depalletizing station, an empty pallet stacking station, and a conditional cigarette conveyor line. The depalletizing stations can share the workload of the depalletizing robots, avoiding the situation where materials are piled up or tasks are too concentrated at a single depalletizing station. Since each depalletizing robot corresponds to an exclusive empty pallet stacking station, it is convenient to accurately track and count the number and status of empty pallets corresponding to the finished cigarettes processed by different depalletizing robots.

[0044] In an embodiment of the present invention, in the depalletizing layout step, a latent AGV transports a finished product pallet to a corresponding position. Before the depalletizing operation is started, the visual recognition system on the fixture is used to collect and identify the cigarette pieces on the finished product pallet, and the determined cigarette piece position data is transmitted to the depalletizing robot. The visual recognition system collects and identifies the cigarette pieces on the finished product pallet, and can accurately determine the three-dimensional position coordinates, posture angle, shape contour and other information of each cigarette piece on the pallet. The depalletizing robot plans the optimal grasping path and action sequence based on this information to ensure that its end effector can accurately grasp each cigarette piece. Through image learning and analysis of different stack shapes and cigarette piece appearance features, the visual recognition algorithm can quickly identify and understand various complex placement patterns, and provide corresponding grasping instructions for the depalletizing robot.

[0045] In the embodiment of the present invention, both the fork-type AGV and the latent AGV adopt a navigation method that integrates laser navigation and inertial navigation. During the navigation process, the navigation mode is switched in real time according to the specific operating conditions and surrounding environment, and obstacle detection and path planning are performed by combining ultrasonic sensors with laser radars. The fork-type AGV and the latent AGV combine the high-precision absolute positioning advantages of laser navigation and the short-term stability and autonomy advantages of inertial navigation, so that the AGV can always maintain accurate positioning in complex and changeable storage environments. The combination of ultrasonic sensors and laser radars enables the AGV to detect obstacles of different types, distances, and materials, realizing all-round and multi-level obstacle detection.

[0046] In the embodiment of the present invention, in the step of depalletizing and outbound delivery of finished cigarettes, the depalletizing robot performs depalletizing operations on the actual cigarette pallets at the depalletizing station. The cigarettes obtained after depalletizing are first identified by barcodes, and then transmitted through the cigarette outbound delivery conveyor line. The No. 1 engineering code or quality traceability code information of the cigarettes is rechecked on the outbound sorting loop line, and the cigarettes are sorted to the corresponding outbound channel according to the brand information of the cigarettes. The cigarettes after barcode identification are transmitted through the cigarette outbound delivery conveyor line, and the delivery line can realize the rapid and stable movement of the cigarettes; and the cigarettes can be efficiently sorted to the corresponding outbound channel on the sorting loop line. The various links are closely coordinated, which reduces unnecessary waiting and transfer time in the middle and improves the overall outbound efficiency.

[0047] In an embodiment of the present invention, in the step of depalletizing and shipping out, the loose pallets generated in the shipping process are transferred to the temporary storage area by the lurking AGV for storage. When a subsequent shipping order involves the product specification cigarette, the loose pallets are preferentially extracted from the temporary storage area for depalletizing and shipping out. By transferring the loose pallets to the temporary storage area for storage by the lurking AGV, the shipping area can be kept relatively clean and spacious, the logistics space is rationally planned, and the space waste and potential safety hazards caused by the disorderly stacking of loose pallets are avoided. When a subsequent shipping order involves the product specification cigarette, the loose pallets are preferentially extracted from the temporary storage area, reducing the time cost of searching for and transporting the corresponding product specification cigarettes from the large inventory area and depalletizing them.

[0048] In an embodiment of the present invention, an inventory management system is provided in the temporary storage area. The inventory management system uses radio frequency identification (RFID) or barcode scanning technology to track and manage the loose trays in real time, record the storage time, location, quantity and specification information of the loose trays, and automatically warn and replenishment prompts according to the preset inventory threshold. By setting the inventory threshold, the inventory management system can monitor in real time whether the inventory quantity of the loose trays reaches the warning level. When the inventory quantity approaches the lower limit threshold, the system automatically issues a replenishment prompt; when the inventory quantity approaches the upper limit, the system issues an early warning, prompting the company to take corresponding measures, and realizes automation and intelligence of the inventory management link that originally relied on manual observation and experience judgment.

[0049] In an embodiment of the present invention, the outbound sorting loop line adopts a chain conveying structure, and the outbound sorting loop line adopts a combination of belt conveying and sorting mechanism. The belt conveying part can adjust the conveying speed within the range of .~m / s, and the sorting mechanism adopts a pneumatic push plate or swing arm structure, and the pneumatic push plate or swing arm structure is used to sort the cigarette pieces to the corresponding outbound channel.

[0050] In the embodiment of the present invention, when the fork-type AGV goes to the designated cargo location to pick up the corresponding piece-to-piece cigarette pallet, if it encounters two layers of stacked piece-to-piece cigarette pallets, it will first separate and transport the upper layer of the piece-to-piece cigarette pallet, then transport the lower layer of the piece-to-piece cigarette pallet, and then transport it to the storage area docking station corresponding to the corresponding floor. The lurking AGV transports the piece-to-piece cigarette pallet at the docking station to the elevator car on the corresponding floor, and then descends to the outbound floor with the elevator, and then sends it to the robot depalletizing station. During the entire handling and transportation process, since the handling order of each piece-to-piece cigarette pallet and the various nodes it passes through (from the designated cargo location to the storage area docking station, and then to the elevator, outbound floor, etc.) are clearly defined, the flow trajectory of each piece-to-piece cigarette pallet can be very clearly recorded in the inventory management system, realizing layered and step-by-step monitoring of the goods.

[0051] In an embodiment of the present invention, a transition device is provided at the connection position between the outbound conveyor line and the outbound sorting loop line, and the device can smoothly transfer the cigarettes from the outbound conveyor line to the sorting loop line. The transition device adopts an adjustable mechanical structure and a buffer device to ensure that the cigarettes do not collide or get damaged during the transfer process. Among them, the mechanical structure of the transition device includes a screw lifting assembly, a hinge and swivel arm combination structure, a telescopic side panel, etc., and the buffer device includes an elastic buffer pad. Through the combination of the mechanical structure and the buffer device, the smoothness, accuracy, and safety of the cigarettes during the connection process between the outbound conveyor line and the sorting loop line are fully guaranteed.

[0052] Another embodiment of the present invention provides a flow chart of a cross-floor delivery method, such as Figure 2 As shown, the specific steps include:

[0053] 1. The warehouse management system generates outbound tasks (including outbound brand, quantity, outbound floor and lane, shipping port and other information) according to the outbound delivery order, and sends it to the electronic control system and the dispatching system. The dispatching system issues the task to the latent AGV, and the latent AGV dispatches the nearest idle latent AGV to perform the pickup task.

[0054] 2. When the lurking AGV is not on the same floor as the target floor, it first moves to the elevator in the outbound area, sends an entry application signal to the elevator, and informs the target floor. After the elevator allows, it opens the fast lifting shutter door, and the lurking AGV enters the elevator. The elevator moves to the target floor. The lurking AGV sends a departure application signal to the elevator. The elevator confirms that the equipment is in place and allows the lurking AGV to leave. The lurking AGV moves to the target lane entrance and applies to the warehouse management system. The warehouse management system informs it of the specific pickup location. The lurking AGV applies to the dispatching system to enter the target location. After the dispatching system confirms, the lurking AGV enters the location to perform the pickup task, and then applies to the dispatching system to leave.

[0055] When the latent AGV moves loaded with goods to the elevator in the outbound area, it sends an entry application signal to the elevator and informs the target floor. After the elevator allows, it opens the rapid lifting shutter door, and the latent AGV loads into the elevator. The elevator descends to the target floor (i.e. the outbound area floor). The latent AGV sends a departure application signal to the elevator. The elevator confirms that the equipment is in place and allows the latent AGV to leave.

[0056] 3. When the latent AGV is on the same floor as the target floor, it will directly pick up goods from the outbound buffer area. The latent AGV will move directly to the target aisle entrance of the outbound buffer area and apply to the warehouse management system. The warehouse management system will inform it of the specific pickup location. The latent AGV will apply to the scheduling system to enter the target location. After the scheduling system confirms, the latent AGV will enter the location to perform the pickup task, and then apply to the scheduling system to leave.

[0057] 4. The latent AGV carries the finished pallet to the depalletizing station according to the pre-planned route. Before entering the depalletizing station, it applies to the warehouse management system for the depalletizing station for unloading in advance. The warehouse management system allocates the target depalletizing station, and the scheduling system confirms it and sends it to the latent AGV, allowing the latent AGV to enter the depalletizing station for unloading.

[0058] 5. After the latent AGV places the solid pallet of cigarettes at the designated depalletizing station, it sends a signal to the dispatching system to apply for departure. After the dispatching system allows it, it leaves according to the pre-set route.

[0059] 6. To ensure the continuity of the delivery rhythm, after the order is placed, all the pallets of finished products are placed on the depalletizing stations before the depalletizing and delivery task of this order begins.

[0060] 7. After the depalletizing robot has removed the finished products on the pallet of a depalletizing station, the electronic control system issues an application, the warehouse management system generates a new outbound task, sends it to the dispatching system, issues instructions to the latent AGV, and the latent AGV dispatches the nearest idle latent AGV to perform the pickup task. The finished product pallets are added to the depalletizing station according to the above pickup and outbound process.

[0061] 8. The depalletizing robot disassembles the finished cigarette pallets into loose cigarettes, grabs them one by one and places them on the cigarette conveyor line. The barcode recognition device reads the No. 1 engineering code of the cigarette or the quality traceability code of the work-in-progress. The electronic control system compares the recognized brand information with the task information issued by the warehouse management system. If the brand information is inconsistent, it will flow to the abnormal processing port through the outbound sorting loop line, and be put back into the loop line after manual processing. If the information is consistent, a second barcode recognition will be carried out on the outbound sorting loop line. The electronic control system controls the distribution of the finished cigarettes to the corresponding delivery port based on the read information.

[0062] 9. After the depalletizing robot has removed a finished pallet, the depalletizing robot system sends a signal to the electronic control system. After the electronic control system confirms, the depalletizing robot grabs the empty pallet and stacks it at the empty pallet stacking station. After the empty pallet stacking station has stacked enough empty pallets, the electronic control system issues an application, and the dispatching system issues an instruction to the latent AGV to dispatch the nearest idle latent AGV to perform the empty pallet group handling task. Before the latent AGV moves to the empty pallet stacking station, it applies to the dispatching system for entry. After permission is granted, it transports the empty pallet group to the pallet code extension and applies to the dispatching system for unloading. After permission is granted, the empty pallet group is placed in the pallet code extension. The pallet code extension reshapes the empty pallet group so that the empty pallets are aligned up and down. After the electronic control system determines that it meets the requirements, it applies to the dispatching system, and the latent AGV transports the reshaped empty pallet group to the temporary storage area for placement.

[0063] 10. Warehouse transfer process: During non-delivery operation time, the warehouse management system generates warehouse transfer tasks, including warehouse brand, quantity, target floor and lane information, and sends them to the electronic control system and dispatching system. The dispatching system issues the task to the latent AGV, and the latent AGV dispatches the nearest idle latent AGV to perform the pickup task. The latent AGV moves the corresponding pallet to the designated cargo location on the target floor, descends to the second floor (delivery floor) via the elevator, and is sent to the delivery buffer area for storage. When the delivery operation is performed, the delivery is directly carried out from the delivery buffer area.

[0064] The present invention also provides an embodiment of a cross-floor delivery control system, comprising:

[0065] The depalletizing robot corresponds to several depalletizing stations, empty pallet stacking stations and cigarette conveyor lines to complete the depalletizing of finished cigarette pieces. Before depalletizing, it receives the position information transmitted after the visual recognition system on the fixture takes a photo of the cigarette pieces on the real pallet and recognizes them, and grabs the empty pallet after completing the depalletizing of a whole pallet and stacks it at the empty pallet stacking station.

[0066] Lurking AGV is used to transport finished product pallets to the depalletizing station corresponding to the depalletizing robot, and to transport the piece pallets of cigarettes in the designated cargo positions on the third to fifth floors to the elevator during non-delivery operation time. After the elevator descends to the delivery floor (such as the second floor), it is sent to the delivery buffer area for storage. During the delivery operation, the piece pallets of cigarettes at the docking platform are transported to the elevator car on the corresponding floor or the loose pallets are transported from the temporary storage area; the lurking AGV cooperates with the fork-type AGV to transfer the piece pallets of cigarettes between different floors, and transport the empty pallets to the empty pallet stacking station;

[0067] The elevator is equipped with a car to carry the pallet of cigarettes transported by the latent AGV and move it up and down between different floors. In the cross-floor outbound process, the pallet of cigarettes is lowered from other floors to the outbound floor;

[0068] The cigarette piece conveyor line is used to connect the depalletizing robot and the outbound sorting loop line, and is used to output the cigarette pieces formed by depalletizing and convey them to the outbound sorting loop line;

[0069] The outbound sorting loop is equipped with a barcode recognition device for verifying the No. 1 project or quality traceability code information of cigarettes, sorting the cigarettes according to their brand information and sorting them to the corresponding outbound channel;

[0070] Barcode recognition device: includes a first barcode recognition device arranged on the outbound conveying line of the cigarettes after depalletizing and a second barcode recognition device arranged on the outbound sorting loop line. The first barcode recognition device is used to perform preliminary barcode recognition on the cigarettes after depalletizing, and the second barcode recognition device is used to re-check the barcode information of the cigarettes. When the identified cigarette information or the read cigarette information is inconsistent with the delivery requirements, the cigarettes are triggered to flow to the abnormal processing port.

[0071] It should be noted that the information interaction, execution process and other contents between the above-mentioned devices are based on the same concept as the method embodiment of the present application, and are devices corresponding to the above-mentioned cross-floor warehouse exit control method. All implementation methods in the above-mentioned method embodiment are applicable to the embodiment of the device. Its specific functions and technical effects brought about can be found in the method embodiment part, which will not be repeated here.

[0072] The above describes in detail the structure, features and effects of the present invention based on the embodiments shown in the drawings, but the above is only a preferred embodiment of the present invention. It should be noted that the technical features involved in the above embodiments and their preferred methods can be reasonably combined and matched into a variety of equivalent schemes by those skilled in the art without departing from or changing the design ideas and technical effects of the present invention; therefore, the present invention is not limited to the scope of implementation shown in the drawings, and all changes made in accordance with the concept of the present invention, or modifications to equivalent embodiments with equivalent changes, which still do not exceed the spirit covered by the specification and drawings, should be within the protection scope of the present invention.

Claims

1. A cross-floor outbound control method, characterized in that: The following steps are involved: Depalletizing layout step: take photos of cigarettes on the actual pallet to identify them and transmit their location information to the depalletizing robot. Plan several depalletizing robots to complete the depalletizing of finished cigarettes. After depalletizing, the depalletizing robot will handle the empty pallet palletizing. Depalletizing and outbound delivery steps: the fork-type AGV carries the corresponding pallet of cigarettes to the designated cargo location, and the lurking AGV cooperates with the elevator to deliver the pallet of cigarettes to the robot depalletizing station. The depalletized cigarettes are reviewed and sorted for the second time, and the cigarettes with abnormal barcodes are manually processed and re-enter the outbound delivery process.

2. The cross-floor delivery control method according to claim 1 is characterized in that: Also includes: Steps for outbound transfer: During non-outbound operation time, the lurking AGV goes to the designated cargo location in a specific floor area to transport the corresponding pallet of cigarettes, which is then lowered to the outbound floor via the elevator and sent to the outbound buffer area for storage; during outbound operation, outbound is carried out directly from the outbound buffer area.

3. The cross-floor delivery control method according to claim 1 is characterized in that: In the depalletizing layout step, two depalletizing robots are configured to perform the depalletizing task of finished smoke parts, and each depalletizing robot corresponds to three depalletizing stations, one empty pallet stacking station and one conditional smoke conveyor line.

4. The cross-floor delivery control method according to claim 3 is characterized in that: In the depalletizing layout step, the finished product pallet is transported to the corresponding position by the latent AGV. Before the depalletizing operation is started, the visual recognition system on the fixture is used to collect and identify images of the cigarette pieces on the finished product pallet, and the determined cigarette piece position data is transmitted to the depalletizing robot.

5. The cross-floor delivery control method according to claim 1 is characterized in that: The fork-type AGV and the latent AGV both adopt a navigation method that combines laser navigation and inertial navigation. During the navigation process, the navigation mode is switched in real time according to the specific operating conditions and surrounding environment, and obstacle detection and path planning are performed by combining ultrasonic sensors with laser radars.

6. The cross-floor delivery control method according to claim 1, characterized in that: In the step of depalletizing and outbound delivery of finished cigarettes, the depalletizing robot performs depalletizing operations on the actual pallets of cigarettes at the depalletizing station. The cigarettes obtained after depalletizing are first identified by barcodes and then transmitted through the cigarette outbound conveyor line. The No. 1 engineering code or quality traceability code information of the cigarettes is rechecked on the outbound sorting loop line, and the cigarettes are sorted to the corresponding outbound channel according to the brand information of the cigarettes.

7. The cross-floor delivery control method according to claim 6, characterized in that: The outbound sorting loop line adopts a chain conveying structure, and the outbound sorting loop line adopts a combination of belt conveying and sorting mechanism. The belt conveying part can adjust the conveying speed within the range of 0.5~3 meters per second. The sorting mechanism adopts a pneumatic push plate or swing arm structure, and the pneumatic push plate or swing arm structure is used to sort the cigarette pieces to the corresponding outbound channel.

8. The cross-floor delivery control method according to claim 1, characterized in that: In the depalletizing and outbound delivery step, the loose pallets generated in the delivery process are transferred to the temporary storage area by the latent AGV for storage. When the subsequent delivery order involves the cigarettes of this specification, the loose pallets are preferentially extracted from the temporary storage area for outbound depalletizing and delivery.

9. The cross-floor delivery control method according to claim 8, characterized in that: The temporary storage area is provided with an inventory management system, which uses radio frequency identification (RFID) or barcode scanning technology to track and manage the bulk trays in real time, record the storage time, location, quantity and specification information of the bulk trays, and automatically provide early warnings and replenishment prompts based on preset inventory thresholds.

10. A cross-floor outbound control system, characterized in that: include: The depalletizing robot corresponds to several depalletizing stations, empty pallet stacking stations and cigarette conveyor lines to complete the depalletizing of finished cigarette pieces. Before depalletizing, it receives the position information transmitted after the visual recognition system on the fixture takes a photo of the cigarette pieces on the real pallet and recognizes them, and grabs the empty pallet after completing the depalletizing of a whole pallet and stacks it at the empty pallet stacking station. The lurking AGV is used to transport the finished product pallets to the depalletizing station corresponding to the depalletizing robot, and to transport the piece pallets of cigarettes in the designated cargo positions on the third to fifth floors to the elevator during non-delivery operation time, and then to the delivery buffer area for storage after the elevator descends to the delivery floor. During the delivery operation, the piece pallets of cigarettes at the docking platform are transported to the elevator car on the corresponding floor or the loose pallets are transported from the temporary storage area; the lurking AGV cooperates with the fork-type AGV to transfer the piece pallets of cigarettes between different floors, and to transport the empty pallets to the empty pallet stacking station; The elevator is equipped with a car to carry the pallet of cigarettes transported by the latent AGV and move it up and down between different floors. In the cross-floor outbound process, the pallet of cigarettes is lowered from other floors to the outbound floor; The cigarette piece conveyor line is used to connect the depalletizing robot and the outbound sorting loop line, and is used to output the cigarette pieces formed by depalletizing and convey them to the outbound sorting loop line; The outbound sorting loop is equipped with a barcode recognition device for verifying the No. 1 project or quality traceability code information of cigarettes, sorting the cigarettes according to their brand information and sorting them to the corresponding outbound channel; Barcode recognition device: includes a first barcode recognition device arranged on the outbound conveying line of the cigarettes after depalletizing and a second barcode recognition device arranged on the outbound sorting loop line. The first barcode recognition device is used to perform preliminary barcode recognition on the cigarettes after depalletizing, and the second barcode recognition device is used to re-check the barcode information of the cigarettes. When the identified cigarette information or the read cigarette information is inconsistent with the delivery requirements, the cigarettes are triggered to flow to the abnormal processing port.

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