Storage and transportation management and control method and system

Abstract

The invention relates to a storage transportation management and control method and system, and the method comprises the following steps: a server obtains the position data of a conveying robot in real time, plans a conveying path based on the initial position data of the conveying robot, and sends a conveying instruction to the conveying robot; a conveying robot performs acquired distribution based on a conveying path after receiving a conveying instruction, path guidance is performed through a radar, and in order to facilitate real-time operation of the system, the storage area is divided into a plurality of uniformly-arranged grids, and the grids are distributed in the storage area; a grid where the conveying robot is initially parked is calibrated as an allocation grid, the remaining grids are calibrated as transportation grids, a transportation positioning device is preset in the center of each transportation grid, and an allocation positioning device is preset in an allocation area; the transportation positioning device and the dispatching positioning device are each provided with a radar and a communication module, so that guidance and communication with the server are facilitated.

Description

Technical Field

[0001] The present invention relates to the field of intelligent warehousing technology, and in particular to a warehousing and transportation management and control method and system. Background Art

[0002] Smart logistics is already a very mature technical means. At present, the mainstream intelligent warehousing transport vehicles basically rely on the assistance of various sensors, through magnetic strips, tracks or lasers and other automatic guidance equipment, to travel along the planned path. However, with the construction of intelligent warehousing, intelligent warehousing transport vehicles need to be able to automatically complete storage and retrieval actions according to specific tasks, which requires the transformation of the original operation system and the construction of a new type of warehousing and transportation control technology. Summary of the invention

[0003] In order to solve the problems of the prior art, the present invention provides a warehousing and transportation management and control method and system.

[0004] Its main technical solutions are as follows:

[0005] The present invention provides a storage and transportation management and control method, comprising the following steps:

[0006] The server obtains the position data of the delivery robot in real time, plans the delivery path based on the initial position data of the delivery robot, and sends a delivery instruction to the delivery robot;

[0007] After receiving the delivery instruction, the delivery robot performs the delivery based on the delivery path, wherein:

[0008] The delivery route is planned as follows:

[0009] The storage area is divided into a number of evenly arranged squares, the square where the delivery robot is initially parked is marked as the transfer square, and the remaining squares are marked as the transport squares. A transport positioning device is preset at the center of each transport square, and a transfer positioning device is preset in the transfer area;

[0010] The server communicates with the dispatching and positioning device and the transporting and positioning device in real time to obtain the real-time status of the dispatching and positioning device and the transporting and positioning device, and obtains the initial position data of the transporting machine according to the automatic communication mechanism between the dispatching and positioning device and the transporting robot;

[0011] The server obtains the corresponding shelf information for storage or retrieval, and then uses the initial position data of the transport machine as the starting point and the shelf information as the end point, and plans the transport path from the initial point to the end point according to the real-time status of the positioning device, and sends the transport path to multiple transport positioning devices and one transfer positioning device included in the transport path, and the transfer positioning device transmits the transport path to the transport robot.

[0012] Furthermore, the automatic communication mechanism between the dispatching and positioning device and the transport robot includes:

[0013] The dispatching and positioning device uses a radar to scan the transport robot within a set scanning range to obtain the transport robot within the scanning range and the position data of the transport robot;

[0014] Then, the first wireless communication module provided in the dispatching and positioning device communicates with the communication module provided in the transport robot within the scanning range to obtain the position data and corresponding status information of the transport robot. If the transport robot is in a motion-activated state, it is discarded. If it is in a motion-dormant state, the transport robot in the motion-dormant state is initially paired with the dispatching and positioning device to form initial pairing data.

[0015] The dispatching and positioning device communicates with the communication device set in the server according to the second wireless communication module set in the period, and uploads the initial pairing data with the transport robot and the position data of the transport robot to the server.

[0016] Furthermore, the method for pairing the transport robot in the motion dormant state with the transport and positioning device includes:

[0017] The transfer and positioning device obtains the coding information of the transport robot in the motion dormant state, and performs initial pairing between the transport robot in the motion dormant state and the transfer and positioning device according to the coding information.

[0018] Furthermore, when the server sends the transport path to a plurality of transport positioning devices and a dispatch positioning device included in the transport path, it also includes: after receiving the transport path, the dispatch positioning device sends an activation instruction to the transport robot in the motion dormant state to activate the transport robot in the motion dormant state, and after activation, the transport robot moves to the dispatch positioning device;

[0019] Then the dispatching and positioning device sends the activation information to the server, and the server calculates the specific time points of reaching multiple transport positioning devices included in the transport path based on the set speed of the transport robot, and then delegates the specific time points of reaching each transport positioning device to the corresponding transport positioning device;

[0020] The transport positioning device sets its real-time status within the corresponding specific time point range, and the real-time status includes a busy state and an idle state;

[0021] Among them, during the process of issuing a transportation route, the line is busy within a specific time point range and idle at the rest of the time.

[0022] Furthermore, the transport robot passes through the transport positioning device within a specific time point range planned by each transport positioning device in the transport path.

[0023] The present application also discloses a storage and transportation management and control system, including:

[0024] The storage area is configured as follows: the storage area is divided into a plurality of evenly arranged squares, the square where the delivery robot is initially parked is marked as a transfer square, and the remaining squares are marked as transport squares, a transport positioning device is preset at the center of each transport square, and a transfer positioning device is preset in the transfer area;

[0025] The server is provided with a communication device, wherein the communication device has a plurality of communication units, and the communication device is configured to:

[0026] A communication unit is matched to each transport and positioning device, so that a second wireless communication module provided in the transport and positioning device is networked with the matched communication unit to form a communication network;

[0027] A communication unit is matched to each transport positioning device, so that the communication module set in the transport positioning device and the matched communication unit are networked to form a communication network;

[0028] The server communicates with the dispatching and positioning device in real time through the communication unit to obtain the real-time status of the dispatching and positioning device and the transport positioning device, and obtains the initial position data of the transporting machine according to the automatic communication mechanism between the dispatching and positioning device and the transporting robot;

[0029] The server obtains the corresponding shelf information for storage or retrieval, and then uses the initial position data of the transport machine as the starting point and the shelf information as the end point, and plans the transport path from the initial point to the end point according to the real-time status of the positioning device, and sends the transport path to multiple transport positioning devices and one transfer positioning device included in the transport path, and the transfer positioning device transmits the transport path to the transport robot.

[0030] The present application uses radar for path guidance. In order to facilitate the real-time operation of the present application, the present application sets the storage area as follows: the storage area is divided into a number of evenly arranged squares, the square where the delivery robot is initially parked is marked as the transfer square, and the remaining squares are marked as the transport squares, a transport positioning device is preset at the center of each transport square, and a transfer positioning device is preset in the transfer area; the transport positioning device and the transfer positioning device are both equipped with radar and communication modules to facilitate guidance and communication with the server.

[0031] The path planning in the present application is planned based on the radars in the transport positioning device and the dispatch positioning device. Therefore, the planned path is constructed according to the specific task, and the transport positioning device is deployed in the transport area. Its corresponding radar has the function of state setting. During the issuance of a transport path, it is in a busy state within a specific time point range and in an idle state for the rest of the time. When in a busy state, it does not participate in path planning and the guidance of other transport robots that are not in the transport path. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0033] Figure 1 is a flow chart of the method provided by the present invention;

[0034] Figure 2 It is a regular flow chart of the transport path provided by the present invention;

[0035] Figure 3 It is a flow chart of the automatic communication mechanism method between the dispatching and positioning device and the transport robot provided by the present invention. DETAILED DESCRIPTION

[0036] To make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0037] Reference Figures 1 to 3 The present invention provides a storage and transportation management method, comprising the following steps:

[0038] The server obtains the position data of the delivery robot in real time, plans the delivery path based on the initial position data of the delivery robot, and sends a delivery instruction to the delivery robot;

[0039] After receiving the delivery instruction, the delivery robot performs the delivery based on the delivery path, wherein:

[0040] The delivery route is planned as follows:

[0041] The storage area is divided into a number of evenly arranged squares, the square where the delivery robot is initially parked is marked as the transfer square, and the remaining squares are marked as the transport squares. A transport positioning device is preset at the center of each transport square, and a transfer positioning device is preset in the transfer area;

[0042] The server communicates with the dispatching and positioning device and the transporting and positioning device in real time to obtain the real-time status of the dispatching and positioning device and the transporting and positioning device, and obtains the initial position data of the transporting machine according to the automatic communication mechanism between the dispatching and positioning device and the transporting robot;

[0043] The server obtains the corresponding shelf information for storage or retrieval, and then uses the initial position data of the transport machine as the starting point and the shelf information as the end point, and plans the transport path from the initial point to the end point according to the real-time status of the positioning device, and sends the transport path to multiple transport positioning devices and one transfer positioning device included in the transport path, and the transfer positioning device transmits the transport path to the transport robot.

[0044] In some embodiments, the automatic communication mechanism between the dispatching and positioning device and the transport robot includes: the dispatching and positioning device uses a radar to scan the transport robot within a set scanning range, and obtains the transport robot within the scanning range and the position data of the transport robot;

[0045] Then, the first wireless communication module provided in the dispatching and positioning device communicates with the communication module provided in the transport robot within the scanning range to obtain the position data and corresponding status information of the transport robot. If the transport robot is in a motion-activated state, it is discarded. If it is in a motion-dormant state, the transport robot in the motion-dormant state is initially paired with the dispatching and positioning device to form initial pairing data.

[0046] The dispatching and positioning device communicates with the communication device set in the server according to the second wireless communication module set in the period, and uploads the initial pairing data with the transport robot and the position data of the transport robot to the server.

[0047] In some embodiments, the storage area is divided into a number of evenly arranged squares, and the size of the squares can be set at a spacing of 1 meter × 1 meter to ensure that the delivery robot can deliver the goods to the terminal warehouse.

[0048] In some embodiments, the grid where the transport robot is initially parked is marked as the transfer grid. When the transport robot completes the storage or retrieval task, it automatically returns according to the planned transport path and returns to the transfer grid under the guidance of the radar at the transfer positioning device.

[0049] In some embodiments, the transport robot can be an AGV automatic guided vehicle. The difference is that the AGV automatic guided vehicle in the present application has a state control module, which is used to set the corresponding state of the transport robot according to the task, including motion sleep state, initial pairing state and running state. In the initial pairing state and running state, it no longer receives guidance and communication from other transport and positioning devices.

[0050] Furthermore, the method for pairing the transport robot in motion dormant state with the transport and positioning device includes: the transport and positioning device obtains coding information of the transport robot in motion dormant state, and initially pairs the transport robot in motion dormant state with the transport and positioning device according to the coding information.

[0051] In some embodiments, the transport robot can be paired with the transport positioning device according to the set code, and the purpose of the pairing is to change the transport robot from a dormant state to a ready-to-use state. At this time, the transport robot is no longer paired with other transport positioning devices.

[0052] Furthermore, when the server sends the transport path to a plurality of transport positioning devices and a dispatch positioning device included in the transport path, it also includes: after receiving the transport path, the dispatch positioning device sends an activation instruction to the transport robot in the motion dormant state to activate the transport robot in the motion dormant state, and after activation, the transport robot moves to the dispatch positioning device;

[0053] Then the dispatching and positioning device sends the activation information to the server, and the server calculates the specific time points of reaching multiple transport positioning devices included in the transport path based on the set speed of the transport robot, and then delegates the specific time points of reaching each transport positioning device to the corresponding transport positioning device;

[0054] The transport positioning device sets its real-time status within the corresponding specific time point range, and the real-time status includes a busy state and an idle state;

[0055] Among them, during the process of issuing a transportation route, the line is busy within a specific time point range and idle at the rest of the time.

[0056] Furthermore, the transport robot passes through the transport positioning device within a specific time point range planned by each transport positioning device in the transport path.

[0057] The present application also discloses a storage and transportation management and control system, including:

[0058] The storage area is configured as follows: the storage area is divided into a plurality of evenly arranged squares, the square where the delivery robot is initially parked is marked as a transfer square, and the remaining squares are marked as transport squares, a transport positioning device is preset at the center of each transport square, and a transfer positioning device is preset in the transfer area;

[0059] The server is provided with a communication device, wherein the communication device has a plurality of communication units, and the communication device is configured to:

[0060] A communication unit is matched to each transport and positioning device, so that a second wireless communication module provided in the transport and positioning device is networked with the matched communication unit to form a communication network;

[0061] A communication unit is matched to each transport positioning device, so that the communication module set in the transport positioning device and the matched communication unit are networked to form a communication network;

[0062] The server communicates with the dispatching and positioning device in real time through the communication unit to obtain the real-time status of the dispatching and positioning device and the transport positioning device, and obtains the initial position data of the transporting machine according to the automatic communication mechanism between the dispatching and positioning device and the transporting robot;

[0063] The server obtains the corresponding shelf information for storage or retrieval, and then uses the initial position data of the transport machine as the starting point and the shelf information as the end point, and plans the transport path from the initial point to the end point according to the real-time status of the positioning device, and sends the transport path to multiple transport positioning devices and one transfer positioning device included in the transport path, and the transfer positioning device transmits the transport path to the transport robot.

[0064] Furthermore, the transport and positioning device has:

[0065] A radar, wherein the radar scans the transport robot within a set scanning range to obtain the transport robot within the scanning range and the position data of the transport robot;

[0066] A first wireless communication module, wherein the first wireless communication module is used to communicate with a communication module provided to the transport robot within the scanning range to obtain position data and corresponding status information of the transport robot;

[0067] a processing module connected to the first wireless communication module, and used to judge the state information of the transport robot, and if the transport robot is in a motion-activated state, the transport robot is discarded; if the transport robot is in a motion-dormant state, the transport robot in the motion-dormant state is initially paired with the dispatching and positioning device to form initial pairing data;

[0068] a second wireless communication module, which communicates with a communication device provided in the server and uploads initial pairing data with the delivery robot and position data of the delivery robot to the server;

[0069] A guidance control module, after receiving the transportation path sent by the server, the guidance control module sends an activation instruction to the transportation robot in the motion dormant state, activates the transportation robot in the motion dormant state, and moves the transportation robot to the transportation positioning device after activation.

[0070] Furthermore, the transport positioning device has:

[0071] A third wireless communication module, which communicates with a communication device provided by the server and is used to receive the specific time points of the transport path and the multiple transport positioning devices included in the transport path issued by the server;

[0072] A setting module, which sets the real-time status of the transport positioning device within the corresponding specific time point range, and the real-time status includes a busy state and an idle state;

[0073] Among them, during the process of issuing a transportation route, the line is busy within a specific time range, and the rest of the time is idle;

[0074] The driving and guiding module is used to drive the second radar set in the transportation positioning device to guide the transportation robot within a specific time point range.

[0075] Furthermore, the transport robot has:

[0076] The state control module is used to set the corresponding state of the delivery robot according to the task, including motion dormant state, initial pairing state and running state;

[0077] A communication module, communicating with the dispatching and positioning device;

[0078] The operation control module guides the transport robot according to the external radar guidance signal.

[0079] The present application uses radar for path guidance. In order to facilitate the real-time operation of the present application, the present application sets the storage area as follows: the storage area is divided into a number of evenly arranged squares, the square where the delivery robot is initially parked is marked as the transfer square, and the remaining squares are marked as the transport squares, a transport positioning device is preset at the center of each transport square, and a transfer positioning device is preset in the transfer area; the transport positioning device and the transfer positioning device are both equipped with radar and communication modules to facilitate guidance and communication with the server.

[0080] The path planning in the present application is planned based on the radars in the transport positioning device and the dispatch positioning device. Therefore, the planned path is constructed according to the specific task, and the transport positioning device is deployed in the transport area. Its corresponding radar has the function of state setting. During the issuance of a transport path, it is in a busy state within a specific time point range and in an idle state for the rest of the time. When in a busy state, it does not participate in path planning and the guidance of other transport robots that are not in the transport path.

[0081] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A warehousing and transportation control method, characterized in that: The steps include: The server obtains the position data of the delivery robot in real time, plans the delivery path based on the initial position data of the delivery robot, and sends a delivery instruction to the delivery robot; After receiving the delivery instruction, the delivery robot performs the delivery based on the delivery path, wherein: The delivery route is planned as follows: The storage area is divided into a number of evenly arranged squares, the square where the delivery robot is initially parked is marked as the transfer square, and the remaining squares are marked as the transport squares. A transport positioning device is preset at the center of each transport square, and a transfer positioning device is preset in the transfer area; The server communicates with the dispatching and positioning device and the transporting and positioning device in real time to obtain the real-time status of the dispatching and positioning device and the transporting and positioning device, and obtains the initial position data of the transporting machine according to the automatic communication mechanism between the dispatching and positioning device and the transporting robot; The server obtains the corresponding shelf information for storage or retrieval, and then uses the initial position data of the transport machine as the starting point and the shelf information as the end point, and plans the transport path from the initial point to the end point according to the real-time status of the positioning device, and sends the transport path to multiple transport positioning devices and one transfer positioning device included in the transport path, and the transfer positioning device transmits the transport path to the transport robot.

2. The warehousing and transportation management and control method according to claim 1 is characterized in that: The automatic communication mechanism between the dispatching and positioning device and the transport robot includes: The dispatching and positioning device uses a radar to scan the transport robot within a set scanning range to obtain the transport robot within the scanning range and the position data of the transport robot; Then, the first wireless communication module provided in the dispatching and positioning device communicates with the communication module provided in the transport robot within the scanning range to obtain the position data and corresponding status information of the transport robot. If the transport robot is in a motion-activated state, it is discarded. If it is in a motion-dormant state, the transport robot in the motion-dormant state is initially paired with the dispatching and positioning device to form initial pairing data. The dispatching and positioning device communicates with the communication device set in the server according to the second wireless communication module set in the period, and uploads the initial pairing data with the transport robot and the position data of the transport robot to the server.

3. The storage and transportation management and control method according to claim 2 is characterized in that: The method for pairing the transport robot in a motion dormant state with the transport positioning device comprises: The transfer and positioning device obtains the coding information of the transport robot in the motion dormant state, and performs initial pairing between the transport robot in the motion dormant state and the transfer and positioning device according to the coding information.

4. The warehousing and transportation management and control method according to claim 1 is characterized in that: When the server sends the transport path to a plurality of transport positioning devices and a dispatch positioning device included in the transport path, it also includes: after receiving the transport path, the dispatch positioning device sends an activation instruction to the transport robot in the motion dormant state to activate the transport robot in the motion dormant state, and after activation, the transport robot moves to the dispatch positioning device; Then the dispatching and positioning device sends the activation information to the server, and the server calculates the specific time points of reaching multiple transport positioning devices included in the transport path based on the set speed of the transport robot, and then delegates the specific time points of reaching each transport positioning device to the corresponding transport positioning device; The transport positioning device sets its real-time status within the corresponding specific time point range, and the real-time status includes a busy state and an idle state; Among them, during the process of issuing a transportation route, the line is busy within a specific time point range and idle at the rest of the time.

5. The storage and transportation management and control method according to claim 1 is characterized in that: The transport robot passes through the transport positioning device within the specific time point range planned by each transport positioning device in the transport path.

6. Warehousing and transportation control system, characterized by: include: The storage area is configured as follows: the storage area is divided into a plurality of evenly arranged squares, the square where the delivery robot is initially parked is marked as a transfer square, and the remaining squares are marked as transport squares, a transport positioning device is preset at the center of each transport square, and a transfer positioning device is preset in the transfer area; The server is provided with a communication device, wherein the communication device has a plurality of communication units, and the communication device is configured to: A communication unit is matched to each transport and positioning device, so that a second wireless communication module provided in the transport and positioning device is networked with the matched communication unit to form a communication network; A communication unit is matched to each transport positioning device, so that the communication module set in the transport positioning device and the matched communication unit are networked to form a communication network; The server communicates with the dispatching and positioning device in real time through the communication unit to obtain the real-time status of the dispatching and positioning device and the transport positioning device, and obtains the initial position data of the transporting machine according to the automatic communication mechanism between the dispatching and positioning device and the transporting robot; The server obtains the corresponding shelf information for storage or retrieval, and then uses the initial position data of the transport machine as the starting point and the shelf information as the end point, and plans the transport path from the initial point to the end point according to the real-time status of the positioning device, and sends the transport path to multiple transport positioning devices and one transfer positioning device included in the transport path, and the transfer positioning device transmits the transport path to the transport robot.

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