Warehousing and transportation control method and system

Abstract

The present invention relates to a warehouse transportation management and control method and system, wherein the method includes the following steps: a server obtains the position data of a delivery robot in real time, plans a 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 acquired delivery based on the delivery path. 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 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 transport positioning device and the transfer positioning device are both equipped with radar and communication modules to facilitate guidance and communication with the server.

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 a mature technology. Currently, mainstream intelligent warehouse transport vehicles rely on various sensors and automated guidance devices such as magnetic strips, rails, or lasers to travel along planned routes. However, with the development of smart warehousing, intelligent warehouse transport vehicles must be able to automatically complete storage and retrieval operations based on specific tasks. This requires the transformation of existing operating systems and the construction of new warehouse and transportation management and control technologies. 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 warehousing and transportation management and control method, comprising the following steps:

[0006] The server obtains the location data of the delivery robot in real time, plans the delivery path based on the initial location data of the delivery robot, and sends delivery instructions 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 several 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 square. 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 transport positioning device in real time 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 transport robot according to the automatic communication mechanism between the dispatching and positioning device and the transport robot;

[0011] The server obtains the corresponding shelf information, 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 robots within a set scanning range to obtain the transport robots within the scanning range and the position data of the transport robots;

[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 the motion active state, it is discarded. If it is in the 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 equipment set up in the server according to the second wireless communication module set up therein, 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 issues the transport path to a plurality of transport positioning devices and a dispatch positioning device included in the transport path, the method further includes: after receiving the transport path, the dispatch positioning device sends an activation instruction to the transport robot in the motion dormant state, activating the transport robot in the motion dormant state, and after activation, the transport robot moves to the dispatch positioning device;

[0019] The transport positioning device then sends the activation information to the server. The server calculates the specific time points for 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 for reaching each transport positioning device to the corresponding transport positioning device.

[0020] The transport positioning device sets its real-time status within the specific time point range corresponding to it, 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 range and idle at other times.

[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] This application also discloses a warehousing and transportation management and control system, including:

[0024] The storage area is configured to: divide the storage area into a plurality of evenly arranged grids, mark the grid where the delivery robot is initially parked as the transfer grid, and mark the remaining grids as the transport grids, with a transport positioning device preset at the center of each transport grid, and a transfer positioning device preset in the transfer area;

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

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

[0027] Matching a communication unit to each transport positioning device so that the communication module set in the transport positioning device and the matching 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 transport machine according to the automatic communication mechanism between the dispatching and positioning device and the transport robot;

[0029] The server obtains the corresponding shelf information, 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] This application uses radar for path guidance. In order to facilitate the real-time operation of this application, this application sets up the storage area as follows: the storage area is divided into several 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 square. A transport positioning device is preset at the center of each transport square, and a transfer positioning device is preset in the transfer area; both the transport positioning device and the transfer positioning device are equipped with radar and communication modules to facilitate guidance and communication with the server.

[0031] The path planning in this application is based on the radar 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 It 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 This 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 described in further 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 location data of the delivery robot in real time, plans the delivery path based on the initial location data of the delivery robot, and sends delivery instructions 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 several 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 square. 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 transport positioning device in real time 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 transport robot according to the automatic communication mechanism between the dispatching and positioning device and the transport robot;

[0043] The server obtains the corresponding shelf information, 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 to obtain 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 the motion active state, it is discarded. If it is in the 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 equipment set up in the server according to the second wireless communication module set up therein, 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 several 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 this 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 the motion dormant state with the transfer and positioning device includes: the transfer and positioning device obtains the coding information of the transport robot in the motion dormant state, and initially pairs the transport robot in the motion dormant state with the transfer 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 switch 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 issues the transport path to a plurality of transport positioning devices and a dispatch positioning device included in the transport path, the method further includes: after receiving the transport path, the dispatch positioning device sends an activation instruction to the transport robot in the motion dormant state, activating the transport robot in the motion dormant state, and after activation, the transport robot moves to the dispatch positioning device;

[0053] The transport positioning device then sends the activation information to the server. The server calculates the specific time points for 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 for reaching each transport positioning device to the corresponding transport positioning device.

[0054] The transport positioning device sets its real-time status within the specific time point range corresponding to it, 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 range and idle at other times.

[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] This application also discloses a warehousing and transportation management and control system, including:

[0058] The storage area is configured to: divide the storage area into a plurality of evenly arranged grids, mark the grid where the delivery robot is initially parked as the transfer grid, and mark the remaining grids as the transport grids, with a transport positioning device preset at the center of each transport grid, and a transfer positioning device preset in the transfer area;

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

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

[0061] Matching a communication unit to each transport positioning device so that the communication module set in the transport positioning device and the matching 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 transport machine according to the automatic communication mechanism between the dispatching and positioning device and the transport robot;

[0063] The server obtains the corresponding shelf information, 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 and obtains the transport robot within the scanning range and the position data of the transport robot;

[0066] a first wireless communication module, configured to communicate with a communication module provided with a transport robot within a 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, configured to determine the status information of the transport robot, discard the transport robot if it is in a motion-activated state, and perform initial pairing of the transport robot in the motion-dormant state with the dispatching and positioning device if it is in a motion-dormant state to form initial pairing data;

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

[0069] The guidance control module sends an activation instruction to the transport robot in the motion dormant state after receiving the transport path sent by the server, activates the transport robot in the motion dormant state, and moves the transport robot to the transport 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 transport route issued by the server and specific time points of the multiple transport positioning devices included in the transport route;

[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 idle at other times;

[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 for communicating with the dispatching and positioning device;

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

[0079] This application uses radar for path guidance. In order to facilitate the real-time operation of this application, this application sets up the storage area as follows: the storage area is divided into several 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 square. A transport positioning device is preset at the center of each transport square, and a transfer positioning device is preset in the transfer area; both the transport positioning device and the transfer positioning device are equipped with radar and communication modules to facilitate guidance and communication with the server.

[0080] The path planning in this application is based on the radar 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 principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A warehousing and transportation management and control method, characterized in that: The steps include: The server obtains the location data of the delivery robot in real time, plans the delivery path based on the initial location data of the delivery robot, and sends delivery instructions 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 several 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 square. 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 transport positioning device in real time 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 transport robot according to the automatic communication mechanism between the dispatching and positioning device and the transport robot; The server obtains the corresponding shelf information, 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 a transport path from the starting 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 dispatch positioning device included in the transport path, and the dispatch positioning device transmits the transport path to the transport robot; When the server issues the transport path to a plurality of transport positioning devices and a dispatch positioning device included in the transport path, the method further includes: after receiving the transport path, the dispatch positioning device sends an activation instruction to the transport robot in the motion dormant state, activating the transport robot in the motion dormant state, and after activation, the transport robot moves to the dispatch positioning device; The transport positioning device then sends the activation information to the server. The server calculates the specific time points for 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 for reaching each transport positioning device to the corresponding transport positioning device. The transport positioning device sets its real-time status within the specific time point range corresponding to it, 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 range and idle at other times.

2. The warehousing and transportation management and control method according to claim 1, 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 robots within a set scanning range to obtain the transport robots within the scanning range and the position data of the transport robots; 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 the motion active state, it is discarded. If it is in the 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 equipment set up in the server according to the second wireless communication module set up therein, and uploads the initial pairing data with the transport robot and the position data of the transport robot to the server.

3. The warehousing and transportation management and control method according to claim 2, characterized in that: The method for pairing the transport robot in a motion dormant state with the transport positioning device includes: 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, characterized in that: 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.

5. A warehousing and transportation control system, comprising any one of the warehousing and transportation control methods according to claims 1-4, characterized in that: include: The storage area is configured to: divide the storage area into a plurality of evenly arranged grids, mark the grid where the delivery robot is initially parked as the transfer grid, and mark the remaining grids as the transport grids, with a transport positioning device preset at the center of each transport grid, and a transfer positioning device preset in the transfer area; The server is provided with a communication device having a plurality of communication units therein, and the communication device is configured to: Matching a communication unit to each transport and positioning device, so that the second wireless communication module provided in the transport and positioning device is networked with the matched communication unit to form a communication network; Matching a communication unit to each transport positioning device so that the communication module set in the transport positioning device and the matching 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 transport machine according to the automatic communication mechanism between the dispatching and positioning device and the transport robot; The server obtains the corresponding shelf information, 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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