Intelligent material sorting method for storage and intelligent sorting system for storage

Abstract

The invention relates to an intelligent material sorting method and system for storage. The intelligent material sorting method comprises the steps that a first Bluetooth transmitter of a trolley sends out a first Bluetooth signal; the control center module receives the first Bluetooth signal and locates the position of the trolley; the control center module plans a driving path of the trolley according to the position of the trolley and all target goods, and calculates a first accumulated weight; the control center module sends a second Bluetooth signal; the trolley receives the second Bluetooth signal to obtain a driving path, a first accumulated weight and all target goods; the trolley picks the corresponding cargoes according to the driving path, a code scanning gun of the trolley scans the RFID tags of the cargoes, and a weighing sub-module of the trolley weighs the picked cargoes to obtain a second accumulated weight; the first processor of the trolley compares the first accumulated weight with the second accumulated weight, and when the difference between the first accumulated weight and the second accumulated weight is larger than a preset threshold value, the trolley prompts that picking is abnormal. The sorting accuracy is improved.

Description

Technical Field

[0001] This application relates to the technical field of warehousing logistics, and particularly to an intelligent material picking method for warehousing and an intelligent picking system for warehousing. Background Art

[0002] In the field of unattended warehousing logistics and warehouse management, the efficient and accurate management of safety tools (i.e., goods) has always been a difficult point in the industry. Currently, traditional safety tool warehouses mainly rely on manual operations for inbound and outbound, and the handling, information verification, and recording of tools all need to be completed manually, with significant problems such as low efficiency, high labor intensity, and easy errors. During manual operations, workers may cause tool mismatches or omissions due to fatigue or negligence. Especially in scenarios with frequent inbound and outbound, the error rate further increases, directly affecting the order and safety of warehouse management. In addition, with the increase in the types and quantities of tools, the complexity of manual management increases exponentially, and the labor cost remains high. Although automation technologies (such as AGV cars) have been widely used in the field of warehousing logistics to improve efficiency, such technologies are difficult to directly adapt to the special needs of safety tool warehouses. Existing AGV technologies lack targeted functional designs and cannot meet the complex requirements in complex scenarios.

[0003] However, there are some deficiencies in the existing intelligent material picking methods for warehousing. Summary of the Invention

[0004] Based on this, it is necessary to provide an intelligent material picking method for warehousing and an intelligent picking system for warehousing, aiming to solve the problem that there are some deficiencies in the existing intelligent material picking methods for warehousing.

[0005] In a first aspect, an embodiment of this application provides an intelligent material picking method for warehousing. The warehousing includes at least one trolley, a control center module, and a shelf. The trolley includes a first Bluetooth transmitter, a first Bluetooth receiver, a barcode scanner, a weighing sub-module, and a first processor. The control center module includes a second Bluetooth transmitter, at least one second Bluetooth receiver, and a second processor. There are multiple goods placed on the shelf, and RFID tags are attached to the goods. The first list information of the multiple goods on the shelf is summarized in the second processor. The first list information includes the name information of the multiple goods, the position information of the goods on the shelf, and the weight information of the goods. The intelligent material picking method for warehousing includes:

[0006] The first Bluetooth transmitter of the trolley emits a first Bluetooth signal;

[0007] The second Bluetooth receiver of the control center module receives the first Bluetooth signal, and the control center module locates the position of the trolley according to the first Bluetooth signal;

[0008] The second processor of the control center module plans the driving path of the trolley according to the position of the trolley and all the target goods to be picked, and calculates the first cumulative weight of the goods picked in sequence on the driving path;

[0009] The second Bluetooth transmitter of the control center module emits a second Bluetooth signal;

[0010] The first Bluetooth receiver of the trolley receives the second Bluetooth signal to obtain the driving path, the first cumulative weight, and all the target goods;

[0011] The trolley picks the corresponding goods according to the driving path. The barcode scanner of the trolley scans the RFID tag of the goods, and the weighing sub-module of the trolley weighs the picked goods to obtain the second cumulative weight of the actually picked goods in sequence;

[0012] The first processor of the trolley compares the first cumulative weight and the second cumulative weight. When the difference between the first cumulative weight and the second cumulative weight is greater than a preset threshold, the trolley prompts that the picking is abnormal.

[0013] In some embodiments, in the step where the second processor of the control center module plans the driving path of the trolley according to the position of the trolley and all the target goods to be picked, the driving path is the shortest path for the trolley to pick all the target goods.

[0014] In some embodiments, the trolley further includes a display screen, and the first cumulative weight, the second cumulative weight, and the difference between the first cumulative weight and the second cumulative weight are displayed on the display screen.

[0015] In some embodiments, the trolley further includes an alarm sub-module. When the difference between the first cumulative weight and the second cumulative weight is greater than a preset threshold, the alarm sub-module of the trolley performs an alarm process.

[0016] In some embodiments, the control center module includes a plurality of second Bluetooth receivers, and the plurality of second Bluetooth receivers are located at different positions on the shelf;

[0017] In the step where the second Bluetooth receiver of the control center module receives the first Bluetooth signal and the control center module locates the position of the trolley according to the first Bluetooth signal, it includes:

[0018] The control center module locates the position of the trolley according to the first Bluetooth signals received by the plurality of second Bluetooth receivers.

[0019] In some embodiments, the first cumulative weight is the total weight of the goods that the trolley is target to pick at different positions on the traveling path.

[0020] The second cumulative weight is the total weight of the goods that the trolley has picked at different positions on the traveling path.

[0021] In some embodiments, the warehouse includes multiple trolleys. In the step where the second Bluetooth receiver of the control center module receives the first Bluetooth signal and the control center module locates the position of the trolley according to the first Bluetooth signal, it further includes:

[0022] The control center module identifies the number of the trolley according to the first Bluetooth signal.

[0023] In some embodiments, it further includes:

[0024] The first Bluetooth transmitter of the trolley transmits a third Bluetooth signal, and the third Bluetooth signal includes second list information of the picked goods.

[0025] The second Bluetooth receiver of the control center module receives the third Bluetooth signal, and the second processor updates the first list information of the multiple goods on the shelf in the summary.

[0026] In some embodiments, the trolley can switch between the mode of automatically traveling according to the traveling path and the mode of manual operation.

[0027] In a second aspect, based on the same inventive concept, an embodiment of the present application further provides an intelligent picking system for a warehouse, and the intelligent picking system for the warehouse can execute the intelligent material picking method for the warehouse in any one of the above.

[0028] In the embodiments of the present application, some deficiencies in the existing intelligent material picking methods for warehousing are solved, including: 1) On the first hand, through the interaction among multiple components in the trolley, multiple components in the control center module, and the shelves, the information management link is realized to be intelligent and automated. The specifications, models, and inbound and outbound records of tools (i.e., goods) do not need to rely on manual entry, and data deviation is not easily generated; 2) On the second hand, a real-time weight verification mechanism is added during the process of goods requisition. That is, by comparing the first cumulative weight and the second cumulative weight, picking anomalies can be detected earliest, the reasons for picking anomalies can be investigated in time, the situation of not detecting picking anomalies can be avoided, the huge workload of investigating which piece has picking anomalies can be avoided, the reasons for picking anomalies can be investigated with a huge workload can be avoided, and material omission or error can be avoided; 3) On the third hand, through the interaction among multiple components in the trolley, multiple components in the control center module, and the shelves, the optimal picking path can be efficiently generated in a complex warehouse environment, that is, the optimal planned driving path of the trolley can be generated, and the picking speed and accuracy are improved; 4) On the fourth hand, the information of goods is double-verified through the barcode scanner and the weighing sub-module, the picking efficiency is optimized by combining intelligent path planning, and at the same time, the manual and automated hybrid operation mode is supported, taking into account flexibility and reliability. Multiple embodiments of the present application have the effects of at least one of the above aspects. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application or in the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0030] Figure 1 It is a schematic diagram of the flow steps of an intelligent material picking method for warehousing provided by an embodiment of the present application.

[0031] Figure 2 It is a schematic diagram of the process of an intelligent material picking method for warehousing provided by an embodiment of the present application.

[0032] Figure 3 It is a structural block diagram of an intelligent picking system for warehousing provided by an embodiment of the present application.

[0033] Figure 4 It is a schematic diagram of a partial structure of a trolley for material picking in a warehouse provided by an embodiment of the present application.

[0034] Figure 5 It is a schematic diagram of a partial structure of a trolley for material picking in a warehouse provided by an embodiment of the present application.

[0035] Reference Numerals:

[0036] Intelligent picking system 200; Warehouse 100; Trolley 10; Control center module 30; Shelf 50; First Bluetooth transmitter 11; First Bluetooth receiver 12; Scanning gun 13; Weighing sub-module 14; First processor 15; Display screen 16; Alarm sub-module 17; Second Bluetooth transmitter 31; Second Bluetooth receiver 32; Second processor 33; Goods 51;

[0037] Base 21; Loading plate 22; Connecting rod 23; Mounting plate 24; Control handle 26; Mounting shell 27; Electric control box 28; First button 251; Second button 252; Emergency stop button 281; Battery level indicator light 29; Four rollers 20c. Detailed Embodiment

[0038] For ease of understanding of this application, the following will provide a more comprehensive description of this application with reference to the relevant drawings. The drawings show preferred embodiments of this application. However, this application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the understanding of the disclosure of this application more thorough and comprehensive.

[0039] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0040] When describing positional relationships, unless otherwise specified, when an element such as a layer, film, or substrate is referred to as being "on" another element, it can be directly on the other element or there can also be intermediate elements. Further, when a layer is referred to as being "under" another layer, it can be directly below or there can be one or more intermediate elements. It can also be understood that when a layer is referred to as being "between" two layers, it can be the only layer between the two layers or there can also be one or more intermediate elements.

[0041] In the case of using "including", "having", and "comprising" described herein, unless explicit limiting terms such as "only", "consisting of", etc. are used, another component can also be added. Unless otherwise mentioned, terms in the singular form can include the plural form and should not be understood as having a quantity of one.

[0042] It should be understood that although terms such as "first" and "second" may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, without departing from the scope of the present application, the first element may be referred to as the second element, and similarly, the second element may be referred to as the first element.

[0043] It should also be understood that when interpreting an element, although not explicitly described, the element is interpreted to include an error range, and this error range should be within the acceptable deviation range of a specific value determined by those skilled in the art. For example, "about", "approximately" or "substantially" may mean within one or more standard deviations, which is not limited herein.

[0044] In addition, in the specification, the phrase "schematic diagram of planar distribution" refers to the attached drawing when observing the target part from above, and the phrase "schematic cross-sectional view" refers to the attached drawing when observing the cross-section intercepted by vertically cutting the target part from the side.

[0045] In addition, the attached drawings are not drawn to a scale of 1:1, and the relative sizes of the various elements are only drawn by way of example in the attached drawings and are not necessarily drawn to the actual scale.

[0046] Without departing from the spirit or scope of the present application, various modifications and variations can be made in the present application, which will be obvious to those skilled in the art. Therefore, the present application is intended to cover the modifications and variations of the present application that fall within the scope of the corresponding claims (the claimed technical solutions) and their equivalents. It should be noted that the embodiments provided in the present application can be combined with each other without conflict.

[0047] As described in the background art section, there are some deficiencies in the existing intelligent material picking methods for warehousing. The inventors have found that these deficiencies include: 1) In the first aspect, the limitations of the existing technology are also reflected in the information management link. The specifications, models, and inbound and outbound records of tools (i.e., goods) rely on manual entry, which is prone to data deviation; 2) In the second aspect, there is a lack of a real-time weight verification mechanism during the process of goods receiving, making it difficult to avoid material omission or error; 3) In the third aspect, traditional navigation technologies are also unable to efficiently generate the optimal picking path in a complex warehouse environment.

[0048] Based on the above technical problems, the present application provides an intelligent material picking method for warehousing and an intelligent picking system for warehousing, which can solve at least one of the above problems. The present application integrates functions of automatic positioning, real-time information collection, dynamic path planning, and intelligent verification.

[0049] Please refer to Figures 1 to 4 。 Figure 1Schematic diagram of the process steps of an intelligent material picking method for a warehouse provided by an embodiment of the present application. Figure 2 Schematic diagram of the process of an intelligent material picking method for a warehouse provided by an embodiment of the present application. Figure 3 Block diagram of the structure of an intelligent picking system for a warehouse provided by an embodiment of the present application.

[0050] Figure 4 Schematic diagram of a partial structure of a trolley for material picking in a warehouse provided by an embodiment of the present application. Figure 5 Schematic diagram of a partial structure of a trolley for material picking in a warehouse provided by an embodiment of the present application.

[0051] It should be noted that Figure 3 The arrows in represent the Bluetooth communication method, or the information exchange path, or the material picking direction, etc.

[0052] In a first aspect, as Figures 1 to 3 shown, the present application provides an intelligent material picking method for a warehouse, including: step S100, step S200, step S300, step S400, step S500, step S600, and step S700.

[0053] In the application, as Figure 3 shown, in the intelligent material picking method for a warehouse, the warehouse 100 includes at least one trolley 10, a control center module 30, and a shelf 50. The trolley 10 includes a first Bluetooth transmitter 11, a first Bluetooth receiver 12, a barcode scanner 13, a weighing sub-module 14, and a first processor 15. The control center module 30 includes a second Bluetooth transmitter 31, at least one second Bluetooth receiver 32, and a second processor 33. A plurality of goods 51 are placed on the shelf 50, and RFID tags are attached to the goods 51. The second processor 33 aggregates the first list information of the plurality of goods 51 on the shelf 50. The first list information includes the name information of the plurality of goods 51, the position information of the goods 51 on the shelf 50, and the weight information of the goods 51.

[0054] Exemplarily, the first Bluetooth transmitter 11 and the second Bluetooth transmitter 31 can be any device or component in the prior art that can emit Bluetooth signals.

[0055] Exemplarily, the first Bluetooth receiver 12 and the second Bluetooth receiver 32 can be any device or component in the prior art that can receive Bluetooth signals.

[0056] Exemplarily, the barcode scanner 13 can be any device or component in the prior art that can scan RFID (Radio Frequency Identification, digital ID) tags, or two-dimensional codes, or barcodes.

[0057] Exemplarily, the weighing sub-module 14 can be a weighing sensor, a weighing scale, etc.

[0058] Exemplarily, the first processor 15 can include a processing chip, processing software, etc.

[0059] Exemplarily, the second processor 33 can include a processing chip, processing software, etc. For example, the second processor 33 can be a computer with storage and computing functions.

[0060] Exemplarily, the warehouse 100 can include a plurality of shelves 50, and a plurality of goods 51 are placed on each shelf 50.

[0061] Exemplarily, the RFID tag can include a two-dimensional code, a bar code, etc., which is not limited herein.

[0062] Exemplarily, the second processor 33 aggregates the first list information of the plurality of goods 51 on the shelf 50. The first list information includes the name information of the plurality of goods 51, the position information of the goods 51 on the shelf 50, and the weight information of the goods 51. For example, the first list information can include information such as the name, quantity, model, specification, shelf number, and storage location number of the goods 51.

[0063] Exemplarily, the barcode scanner 13 of the trolley 10 scans the RFID tag on the goods 51 (or also includes communicating with the control center module 30), and then the name information of the scanned goods 51, the position information of the goods 51 on the shelf 50, and the weight information of the goods 51, etc. can be obtained. For example, information such as the name, quantity, model, specification, shelf number, and storage location number of the goods 51 can be obtained.

[0064] Step S100, the first Bluetooth transmitter of the trolley emits a first Bluetooth signal.

[0065] Exemplarily, the first Bluetooth transmitter 11 of the trolley 10 emits a first Bluetooth signal.

[0066] Step S200, the second Bluetooth receiver of the control center module receives the first Bluetooth signal, and the control center module locates the position of the trolley according to the first Bluetooth signal.

[0067] Exemplarily, the second Bluetooth receiver 32 of the control center module 30 receives the first Bluetooth signal, and the control center module 30 locates the position of the trolley 10 according to the first Bluetooth signal.

[0068] Step S300, the second processor of the control center module plans the driving path of the trolley according to the position of the trolley and all the target goods to be picked, and calculates the first cumulative weight of the goods picked in sequence on the driving path.

[0069] Exemplarily, the second processor 33 of the control center module 30 plans the traveling path of the trolley 10 according to the position of the trolley 10 and all the target goods 51 to be picked, and calculates the first cumulative weight of the goods 51 picked in sequence on the traveling path.

[0070] Exemplarily, the traveling path may be the traveling process in which the trolley 10 picks all the target goods 51 in sequence.

[0071] Exemplarily, all the target goods 51 to be picked may be instructions given manually or a list of goods 51 included in the communication information received by the control center module 30.

[0072] Step S400, the second Bluetooth transmitter of the control center module emits a second Bluetooth signal.

[0073] Exemplarily, the second Bluetooth transmitter 31 of the control center module 30 emits a second Bluetooth signal.

[0074] Step S500, the first Bluetooth receiver of the trolley receives the second Bluetooth signal to obtain the traveling path, the first cumulative weight, and all the target goods.

[0075] Exemplarily, the first Bluetooth receiver 12 of the trolley 10 receives the second Bluetooth signal to obtain the traveling path, the first cumulative weight, and all the target goods 51.

[0076] Step S600, the trolley picks the corresponding goods according to the traveling path, the barcode scanner of the trolley scans the RFID tag of the goods, and the weighing sub-module of the trolley weighs the picked goods to obtain the second cumulative weight of the actually picked goods in sequence.

[0077] Exemplarily, the trolley 10 picks the corresponding goods 51 according to the traveling path, the barcode scanner 13 of the trolley 10 scans the RFID tag of the goods 51, and the weighing sub-module 14 of the trolley 10 weighs the picked goods 51 to obtain the second cumulative weight of the actually picked goods 51 in sequence.

[0078] Step S700, the first processor of the trolley compares the first cumulative weight and the second cumulative weight. When the difference between the first cumulative weight and the second cumulative weight is greater than a preset threshold, the trolley gives a prompt that the picking is abnormal.

[0079] Exemplarily, the first processor 15 of the trolley 10 compares the first cumulative weight and the second cumulative weight. When the difference between the first cumulative weight and the second cumulative weight is greater than a preset threshold, the trolley 10 gives a prompt that the picking is abnormal.

[0080] Exemplarily, the preset threshold T is a reasonable error range set and is obtained through the following formula:

[0081] T = 0.02×B1

[0082] where B1 is the weight of the RFID tag

[0083] Calculate the difference D between the first cumulative weight and the second cumulative weight, which is obtained through the following formula:

[0084] D = ∣W2 - W1∣

[0085] where W2 is the actual weight weighed by the weighing sensor (the second cumulative weight), W1 is the first cumulative weight. If D < T, it means the picking is normal; if D > T, it means the picking is abnormal.

[0086] Exemplarily, in some embodiments, if D = T, it can be defined as normal picking; in some other embodiments, if D = T, it can be defined as abnormal picking.

[0087] Exemplarily, for example, all the target goods are 10 pieces of goods 51. These 10 pieces of goods 51 will be picked by the trolley 10 in turn on the planned driving path of the trolley 10. The names and weights of these 10 pieces of goods 51 may be the same or different, and the first piece of goods to the tenth piece of goods have their respective weight information.

[0088] Exemplarily, as a first example, all the target goods are 10 pieces of goods 51. These 10 pieces of goods 51 will be picked by the trolley 10 in turn on the planned driving path of the trolley 10; when the trolley 10 travels to a position on the planned driving path (such as the third position), it is planned that the first piece to the third piece of goods have been picked. At this time, the sum of the weights of the first piece to the third piece of goods included in the second Bluetooth signal is the first cumulative weight, or the sum of the weights of the first piece to the third piece of goods included in the first list information is the first cumulative weight; the weighing sub-module 14 of the trolley 10 weighs the first piece to the third piece of goods that have been picked to obtain the actual sum of the weights picked in turn as the second cumulative weight; the first processor 15 of the trolley 10 compares the difference between the first cumulative weight and the second cumulative weight, and then can judge whether there is an abnormality in the picking process of the trolley 10 and whether manual intervention is needed to adjust the picking process.

[0089] Exemplarily, as a second example, all target goods are 10 pieces of goods 51, and these 10 pieces of goods 51 will be sequentially picked up by the trolley 10 on the planned driving path of the trolley 10; when the trolley 10 travels to a position (such as the fourth position) on the planned driving path, it is planned that the 1st to 4th pieces of goods have been picked up. At this time, the sum of the weights of the 1st to 4th pieces of goods included in the second Bluetooth signal is the first cumulative weight, or the sum of the weights of the 1st to 4th pieces of goods included in the first list information is the first cumulative weight; the weighing sub-module 14 of the trolley 10 weighs the 1st to 4th pieces of goods that have been picked up to obtain the sum of the actually sequentially picked weights as the second cumulative weight; the first processor 15 of the trolley 10 compares the difference between the first cumulative weight and the second cumulative weight, and can then determine whether an abnormality has occurred in the picking process of the trolley 10 and whether manual intervention is required to adjust the picking process.

[0090] Exemplarily, as a third example, all target goods are 10 pieces of goods 51, and these 10 pieces of goods 51 will be sequentially picked up by the trolley 10 on the planned driving path of the trolley 10; when the trolley 10 travels to a position (such as the fifth position) on the planned driving path, it is planned that the 1st to 5th pieces of goods have been picked up. At this time, the sum of the weights of the 1st to 5th pieces of goods included in the second Bluetooth signal is the first cumulative weight, or the sum of the weights of the 1st to 5th pieces of goods included in the first list information is the first cumulative weight; the weighing sub-module 14 of the trolley 10 weighs the 1st to 5th pieces of goods that have been picked up to obtain the sum of the actually sequentially picked weights as the second cumulative weight; the first processor 15 of the trolley 10 compares the difference between the first cumulative weight and the second cumulative weight, and can then determine whether an abnormality has occurred in the picking process of the trolley 10 and whether manual intervention is required to adjust the picking process.

[0091] Exemplarily, such as Figure 2As shown, in the above first illustrative example, second illustrative example, and third illustrative example, the comparison between the first cumulative weight and the second cumulative weight continues until all 10 target goods are picked. During the picking process of these 10 target goods, the comparison calculation between the first cumulative weight and the second cumulative weight is performed 10 times. When the difference between the first cumulative weight and the second cumulative weight is found to be greater than the preset threshold in any comparison calculation of the first cumulative weight and the second cumulative weight, a picking anomaly is prompted (step S810), and then manual inspection and reweighing are performed (step S820). It is possible to promptly discover which piece of goods 51 has a picking anomaly and also promptly discover the reason for the picking anomaly. For example, the reason for the picking anomaly is that the trolley picked non-target goods, for example, the reason for the picking anomaly is that the quantity of the target goods picked by the trolley is incorrect, for example, the reason for the picking anomaly is that the information in the RFID tag of the goods is incorrect. It is possible to discover the picking anomaly earliest, promptly investigate the reason for the picking anomaly, avoid not discovering the picking anomaly, avoid expending a huge amount of work to investigate which piece has a picking anomaly, and avoid expending a huge amount of work to investigate the reason for the picking anomaly.

[0092] Exemplarily, as Figure 2 shown, in one implementation case, in the above first illustrative example, second illustrative example, and third illustrative example, the comparison between the first cumulative weight and the second cumulative weight continues until all 10 target goods are picked. During the picking process of these 10 target goods, the comparison calculation between the first cumulative weight and the second cumulative weight is performed 10 times. When the difference between the first cumulative weight and the second cumulative weight is found to be less than the preset threshold in any comparison calculation of the first cumulative weight and the second cumulative weight (step S820), no anomaly is prompted, and the picking of goods 51 continues.

[0093] Exemplarily, as Figure 2 shown, in another implementation case, in the above first illustrative example, second illustrative example, and third illustrative example, the comparison between the first cumulative weight and the second cumulative weight continues until all 10 target goods are picked. During the picking process of these 10 target goods, the comparison calculation between the first cumulative weight and the second cumulative weight is performed 10 times. When the difference between the first cumulative weight and the second cumulative weight is found to be less than the preset threshold in any comparison calculation of the first cumulative weight and the second cumulative weight (step S830), it is judged whether there are still tasks and whether there are still goods not picked (step S840). If it is found that all target goods have been picked, the picking process ends (step S850). If it is found that all target goods have not been picked, the picking continues (continue with step S600).

[0094] Exemplarily, as Figure 2As shown, in another implementation, in the above first, second, and third illustrative examples, the comparison between the first cumulative weight and the second cumulative weight continues until all 10 target goods are picked. During the picking process of these 10 target goods, the comparison calculation between the first cumulative weight and the second cumulative weight is performed 10 times. When the difference between the first cumulative weight and the second cumulative weight is found to be less than the preset threshold in any comparison calculation of the first cumulative weight and the second cumulative weight (step S830), it is only judged whether there are still tasks and whether there are still goods not picked after the 10th good is picked (step S840). If it is found that all target goods have been picked, the picking process ends (step S850). If it is found that all target goods have not been picked, the picking continues (continue with step S600).

[0095] In the embodiments of the present application, some deficiencies in the existing intelligent material picking method for warehousing are solved, including: 1) On the first hand, through the interaction of multiple components in the trolley 10, multiple components in the control center module 30, and the shelf 50, the information management link is made intelligent and automated. The specifications, models, and inbound and outbound records of the tools (i.e., goods 51) do not need to rely on manual entry, and data deviation is not easily generated; 2) On the second hand, a real-time weight verification mechanism is added during the process of goods requisition. That is, through the comparison of the first cumulative weight and the second cumulative weight, picking anomalies can be detected earliest, the reasons for picking anomalies can be investigated in time, the situation of not detecting picking anomalies can be avoided, the huge workload of investigating which piece has a picking anomaly can be avoided, the reasons for picking anomalies can be investigated with a huge workload can be avoided, and material omission or error can be avoided; 3) On the third hand, through the interaction of multiple components in the trolley 10, multiple components in the control center module 30, and the shelf 50, the optimal picking path can be efficiently generated in a complex warehouse environment. That is, the optimal planned driving path of the trolley 10 can be generated, improving the picking speed and accuracy. 4) On the fourth hand, the information of the goods 51 is double-verified by the barcode scanner 13 and the weighing sub-module 14, and the picking efficiency is optimized by combining intelligent path planning. At the same time, it supports the manual and automated hybrid operation mode, taking into account flexibility and reliability. Multiple embodiments of the present application have the effects of at least one of the above aspects.

[0096] In some embodiments, in the step of the second processor 33 of the control center module 30 planning the driving path of the trolley 10 according to the position of the trolley 10 and all the target goods 51 to be picked (step S300), the driving path is the shortest path for the trolley 10 to pick all the target goods 51.

[0097] Exemplarily, the planned driving path of the trolley 10 is the shortest path for the trolley 10 to pick all the target goods 51, improving the picking speed and accuracy.

[0098] In some embodiments, the trolley 10 further includes a display screen 16, on which the first cumulative weight, the second cumulative weight, and the difference between the first cumulative weight and the second cumulative weight are displayed.

[0099] Exemplarily, the trolley 10 further includes a display screen 16, on which the first cumulative weight, the second cumulative weight, and the difference between the first cumulative weight and the second cumulative weight are displayed, enabling the user or operator to intuitively understand whether an error has occurred during the picking process and improving portability.

[0100] In some embodiments, the trolley 10 further includes an alarm sub-module 17. When the difference between the first cumulative weight and the second cumulative weight is greater than a preset threshold, the alarm sub-module 17 of the trolley 10 performs an alarm process.

[0101] Exemplarily, the trolley 10 further includes an alarm sub-module 17, and the alarm sub-module 17 of the trolley 10 can perform an alarm process, which can improve the warning to the user or operator.

[0102] It should be noted that, as Figure 4 and Figure 5 shown, the trolley includes a base 21, on which a fixedly connected cargo board 22 is provided. One end of the cargo board 22 is provided with a connecting rod 23, and the connecting rod 23 is fixedly connected to the cargo board 22 through a mounting plate 24, and the mounting plate 24 is arranged on the base 21; a display screen 16 is installed at the top of the connecting rod 23, and two control handles 26 are provided below the display screen 16. An installation shell 27 and an electronic control box 28 are provided on the control handles 26. The installation shell 27 is arranged on the right control handle 26, and a barcode scanner 13 is arranged in the installation shell 27. The barcode scanner 13 is used to scan the information stored in the two-dimensional code or RFID tag on the cargo 51 when the cargo 51 enters and exits the warehouse. The information stored in the two-dimensional code or RFID tag includes the name, specification, model, entry and exit time, and usage record information of the cargo 51, and transmits the read information to the control center module 30 for recording and storage; the control center module 30 is communicatively connected to the display screen 16, can analyze and process the data transmitted by the barcode scanner 13, and send the entry and exit picking data to the display screen 16 for display. The operator can understand the entry and exit status and picking progress of the cargo 51 in real time through the display screen 16, improving the convenience of operation and the efficiency of management.

[0103] It should be noted that, as Figure 4 and Figure 5As shown, the two control handles 26 are provided with a first button 251 and a second button 252. The first button 251 is a forward button, and the second button 252 is a backward button. The electric control box 28 is arranged at the connection of the two control handles 26. A control board is arranged inside the electric control box 28, and a microcontroller (MCU), a motor drive module, and a power management module are deployed on the control board. An emergency stop button 281 and a power display lamp 29 are arranged on the surface of the electric control box 28. The power display lamp 29 is electrically connected to the power management module for displaying the power of the trolley 10. The emergency stop button 281 is electrically connected to the emergency stop input end of the control board. The first button 251, the second button 252, and the emergency stop button 281 are electrically connected to the control board.

[0104] Four rollers 20c and a drive motor are arranged at the bottom of the base 21. The drive motor is electrically connected to the motor drive module. When the first button 251 is rotated, the microcontroller controls the motor drive module to send a forward rotation signal to the drive motor, and the drive motor drives the rollers 20c to move forward. When the second button 252 is rotated, the microcontroller controls the motor drive module to send a reverse rotation signal to the drive motor, and the drive motor drives the rollers 20c to move backward. When the emergency stop button 281 is rotated, the controller controls the drive motor to stop moving, and the trolley 10 stops quickly.

[0105] In some embodiments, the control center module 30 includes a plurality of second Bluetooth receivers 32 located at different positions on the shelf 50. When the second Bluetooth receivers 32 of the control center module 30 receive the first Bluetooth signal and the control center module 30 locates the position of the trolley 10 according to the first Bluetooth signal in step (step S200), it includes: the control center module 30 locates the position of the trolley 10 according to the first Bluetooth signals received by the plurality of second Bluetooth receivers 32.

[0106] Exemplarily, the control center module 30 locates the position of the trolley 10 according to the first Bluetooth signals received by the plurality of second Bluetooth receivers 32, which can improve the accuracy of the position location of the trolley 10, is more helpful for performing step S500, can obtain the planned driving path of the trolley 10 better, and is more suitable for complex warehousing.

[0107] In some embodiments, the first cumulative weight is the total weight of the goods 51 that the trolley 10 targets to pick at different positions on the driving path. The second cumulative weight is the total weight of the goods 51 that the trolley 10 has picked at different positions on the driving path.

[0108] In some embodiments, the warehouse 100 includes multiple trolleys 10. In the step where the second Bluetooth receiver 32 of the control center module 30 receives the first Bluetooth signal and the control center module 30 locates the position of the trolley 10 according to the first Bluetooth signal (step S200), it further includes: the control center module 30 identifies the number of the trolley 10 according to the first Bluetooth signal.

[0109] Exemplarily, in a large warehouse, there can be multiple trolleys 10. In some embodiments, it further includes that the control center module 30 identifies the number of the trolley 10 according to the first Bluetooth signal. Then, in step S300, the driving path of the trolley 10 with the corresponding number can be planned, and in subsequent steps, the trolley 10 with the corresponding number performs operations such as step S600.

[0110] In some embodiments, the intelligent material picking method further includes: the first Bluetooth transmitter 11 of the trolley 10 transmits a third Bluetooth signal, and the third Bluetooth signal includes the second list information of the picked goods 51; the second Bluetooth receiver 32 of the control center module 30 receives the third Bluetooth signal, and the second processor 33 updates the first list information of the multiple goods 51 on the summarized shelf 50.

[0111] Exemplarily, when the trolley 10 has picked a part of the goods 51, the types, names, etc. of the goods placed on the shelf 50 have changed. The second processor 33 can update the first list information of the multiple goods 51 on the summarized shelf 50 according to the second list information.

[0112] In some embodiments, the trolley 10 can switch between the mode of automatically driving according to the driving path and the manual operation mode.

[0113] Exemplarily, as Figure 2 shown, the trolley 10 can switch between the mode of automatically driving according to the driving path and the manual operation mode. When a picking abnormality occurs, manual intervention in step S820 can be performed to correct the picking abnormality and investigate the cause of the picking abnormality.

[0114] In a second aspect, based on the same inventive concept, as Figure 3 shown, the present application further provides an intelligent picking system 200 for a warehouse. The intelligent picking system 200 for a warehouse can execute the intelligent material picking method for a warehouse in any one of the above.

[0115] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0116] The above-described embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all fall within the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. An intelligent material picking method for warehousing, characterized in that: The warehouse includes at least one trolley, a control center module and a shelf. The trolley includes a first Bluetooth transmitter, a first Bluetooth receiver, a barcode scanner, a weighing submodule and a first processor. The control center module includes a second Bluetooth transmitter, at least one second Bluetooth receiver and a second processor. A plurality of goods are placed on the shelf, and RFID tags are attached to the goods. The second processor summarizes the first list information of the plurality of goods on the shelf, and the first list information includes the name information of the plurality of goods, the location information of the goods on the shelf, and the weight information of the goods. The intelligent material picking method of the warehouse includes: The first Bluetooth transmitter of the vehicle sends a first Bluetooth signal; The second Bluetooth receiver of the control center module receives the first Bluetooth signal, and the control center module locates the position of the vehicle according to the first Bluetooth signal; The second processor of the control center module plans the driving path of the trolley according to the position of the trolley and all target goods to be picked, and calculates the first cumulative weight of the goods picked sequentially on the driving path; The second Bluetooth transmitter of the control center module sends a second Bluetooth signal; The first Bluetooth receiver of the vehicle receives the second Bluetooth signal to obtain the driving path, the first accumulated weight and all the target goods; The trolley picks the corresponding goods according to the driving path, the barcode scanner of the trolley scans the RFID tag of the goods, and the weighing submodule of the trolley weighs the picked goods to obtain a second cumulative weight of the goods actually picked in sequence; The first processor of the trolley compares the first cumulative weight with the second cumulative weight, and when the difference between the first cumulative weight and the second cumulative weight is greater than a preset threshold, the trolley prompts that the picking is abnormal.

2. The intelligent material picking method for warehousing according to claim 1 is characterized in that: In the step where the second processor of the control center module plans the driving path of the trolley according to the position of the trolley and all the target goods to be picked, the driving path is the shortest path for the trolley to pick up all the target goods.

3. The intelligent material picking method for warehousing according to claim 1 is characterized in that: The trolley further comprises a display screen, on which the first cumulative weight, the second cumulative weight, and a difference between the first cumulative weight and the second cumulative weight are displayed.

4. The intelligent material picking method for warehousing according to claim 1 is characterized in that: The trolley further includes an alarm submodule, and when the difference between the first cumulative weight and the second cumulative weight is greater than a preset threshold, the alarm submodule of the trolley performs an alarm process.

5. The intelligent material picking method for warehousing according to claim 1 is characterized in that: The control center module includes a plurality of second Bluetooth receivers, and the plurality of second Bluetooth receivers are located at different positions on the shelf; The second Bluetooth receiver of the control center module receives the first Bluetooth signal, and the control center module locates the position of the vehicle according to the first Bluetooth signal, including: The control center module locates the position of the vehicle according to the first Bluetooth signals received by multiple second Bluetooth receivers.

6. The intelligent material picking method for warehousing according to claim 1 is characterized in that: The first accumulated weight is the total weight of the goods picked up by the trolley at different positions on the driving path; The second cumulative weight is the total weight of the goods picked up by the trolley at different positions of the trolley on the driving path.

7. The intelligent material picking method for warehousing according to claim 1 is characterized in that: The warehouse includes a plurality of carts, the second Bluetooth receiver of the control center module receives the first Bluetooth signal, and the control center module locates the position of the cart according to the first Bluetooth signal, further comprising: The control center module identifies the serial number of the car according to the first Bluetooth signal.

8. The intelligent material picking method for warehousing according to claim 1 is characterized in that: Also includes: The first Bluetooth transmitter of the trolley transmits a third Bluetooth signal, wherein the third Bluetooth signal includes second list information of the picked goods; The second Bluetooth receiver of the control center module receives the third Bluetooth signal, and the second processor updates the first inventory information of the plurality of goods on the shelf.

9. The intelligent material picking method for warehousing according to claim 1 is characterized in that: The trolley can be switched between a mode of automatic driving according to the driving path and a mode of manual operation.

10. An intelligent picking system for warehousing, characterized in that: The intelligent material picking method for warehousing as claimed in any one of claims 1 to 9 can be executed.

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