Control method for automatic and efficient replenishment of three-dimensional shelf

Abstract

The invention relates to the technical field of three-dimensional shelf replenishment, and discloses a control method for automatic and efficient replenishment of a three-dimensional shelf, and the method comprises the steps: responding to a placement box body, placing the box body at a goods inlet, and carrying out the scanning recognition of a bar code of the box body, and obtaining the information of the box body; according to the box body information, database replenishment judgment is conducted, the box body information is compared with a background database, and whether the box body information is input into the background database or not is judged; according to a database replenishment judgment result, carrying out original position replenishment judgment, and obtaining original position replenishment information; according to the result of the original position replenishment judgment, new position replenishment judgment is carried out, and new position replenishment information is obtained; 5, final replenishment coordinates of the box bodies are determined according to the judgment results obtained in the step 1, the clamping hand can be guided to conduct real-time recognition and optimal placement position calculation on the box body goods which come uninterruptedly and disorderly and are of multiple specifications, and automatic and efficient stacking is conducted on a goods shelf with disordered laminates.

Description

Technical Field

[0001] The present invention relates to the technical field of replenishment for three-dimensional laminated shelves, and particularly to a control method for automatic and efficient replenishment of three-dimensional laminated shelves. Background Art

[0002] Currently, in the scenario of three-dimensional warehousing, how to use robots to achieve automatic and efficient palletizing of cartons of various specifications that arrive continuously and disorderly, so as to save labor and improve the logistics turnover efficiency, is a difficult problem in logistics warehousing automation.

[0003] Generally, large packaged and compressible goods usually use pallet racks. After stacking the same category of goods into a stack with pallet tools, the whole stack enters and exits the shelf. The advantages of using pallet racks are that they can effectively utilize the vertical space between layers, with less waste of stack spacing, more storage capacity, stable stacking, and can also save a certain number of laminated boards, or even only use crossbeams. However, the disadvantages are that the storage flexibility is small, the piecemeal shipment is troublesome, and it is impossible to form a stack for a single item when the quantity of a single item is small, resulting in limited SKUs. At the same time, it is difficult to meet the peak operation demand with the whole stack entering and exiting; for small, high-value, fragile or perishable goods that are not suitable for stacking high and require special storage, such as small department stores, small hardware, pharmaceuticals, etc., laminated shelves are generally used. The goods on the laminated boards are usually placed in only one layer and are not stacked in the height direction. There is no need to use pallets. The same category of goods on the laminated boards are arranged longitudinally in a row, and different categories are arranged side by side horizontally, with a certain gap left to avoid interference during retrieval. Laminated shelves can well handle the storage problem of a large number of goods categories but small single-item quantities, and can adapt to frequent piecemeal out-of-stock. However, the disadvantages are that there are many gaps, a large amount of height space is wasted, and a large number of laminated boards are required.

[0004] For pallet racks, the key to efficient loading lies in the step of loading pallets, that is, stacking boxes as seamlessly as possible in the upper space of each pallet until it reaches a height close to the clear height of the rack. The second step of placing the pallet on the rack is not complicated because each fully loaded pallet is a cube of uniform size. After dividing the rack equally according to the pallet width, just insert the cube into the empty equal-position. This will not be elaborated here. The core of solving the optimal solution for the first step of loading pallets is to solve the classic bin packing problem (BPP), that is, to plan the placement position of each carton in a container (the square area above the pallet can be regarded as a cubic container) to maximize the space utilization rate of the container. In the scenario we set, for randomly arriving cartons of various specifications, the robot often cannot pre-see all the boxes coming on the conveyor belt in advance, so it cannot perform a global plan for all box sequences. It can only plan the placement position in real time according to the randomly appearing boxes. For shelf racks, because there are restrictions on the placement on the shelf that the same category must be placed in a column and it is not freely placed in a two-dimensional plane, the OnlineBPP method for two-dimensional free space cannot be fully applied. However, based on the actual application scenarios of shelf racks are everywhere, especially with the rise of e-commerce, the demand for an efficient storage algorithm based on shelf racks is becoming more and more obvious. Therefore, this invention was born. Summary of the Invention

[0005] This application provides a control method for automatic and efficient replenishment of a three-dimensional shelf rack to solve the problem of low space utilization rate of existing shelf racks.

[0006] To solve the above technical problems, this application provides a control method for automatic and efficient replenishment of a three-dimensional shelf rack, including the following specific steps: Step 1: In response to placing a box body, place the box body at the loading port, scan and identify the barcode of the box body to obtain box body information; Step 2: According to the box body information, perform a database replenishment determination, compare the box body information with the background database, and determine whether the box body information is entered in the background database; Step 3: According to the result of the database replenishment determination, perform an original position replenishment determination to obtain original position replenishment information; Step 4: According to the result of the original position replenishment determination, perform a new position replenishment determination to obtain new position replenishment information; Step 5: According to the determination results in Steps 2 - 4, determine the final replenishment coordinates of the box body, place the box body on the final replenishment coordinates through the gripper platform, and update the replenishment information in the background database.

[0007] In some embodiments of the present application, the content of the database replenishment determination is to compare the barcode with the background database to determine whether the information of the box body has been entered in the background database. If there is no box body information in the background database, the box body information is supplemented. If there is box body information in the background database, the original position replenishment determination is performed.

[0008] In some embodiments of the present application, the content of the original position replenishment determination is to call the size information of the box body, the total number of lanes occupied by the box body, the coordinate information of the lanes occupied by the box body, the occupied size of the lanes occupied by the box body, and start retrieving from the first lane occupied by the box body. If there is a vacancy in the first lane occupied by the box body, place the box body in the first lane occupied by the box body. If there is no vacancy in the first lane occupied by the box body, compare the next lane occupied by the box body until a suitable lane occupied by the box body is found.

[0009] In some embodiments of the present application, the content of the new position replenishment determination is to query the background database to confirm whether there is an empty lane in the shelf, compare the empty lane with the box body size, obtain the narrowest lane suitable for placing the box body, and place the box body in the selected lane to complete the replenishment.

[0010] In some embodiments of the present application, when performing the original position replenishment determination, the remaining replenishment quantity of the lane occupied by the box body is calculated according to the formula m = int(△L / w), where the length, width, and height information of the box body (l * w * h), the total number of lanes p occupied by the box body, the coordinate information A(s)(X, Y, Z) of the lanes occupied by the box body, the occupied size (La * Wa * Ha) of the lanes occupied by the box body, int() is the floor function, △L is the remaining depth of the coordinate lane, △L = La - w * n - 5, n is the number of cartons already in the lane occupied by the box body, and 5 is the default distance of 5 mm between the innermost carton and the wall.

[0011] In some embodiments of the present application, height matching is performed on the empty lanes to screen out the set of shelves that meet the storage height of the box body. The height set screening formula is Fit_H = [H if H ≥ h + 5], where H is the net height of the shelf, the number 5 is a 5 mm gap left at the top of the box body. The total number of shelves T in the set is counted through the count(Fit_H) function, and the data in the set is sorted in ascending order of shelf height to obtain the minimum shelf height H(t), where t represents the counting variable of the current shelf height. Starting from the minimum shelf height, count incrementally. When T is not greater than 0, there is no shelf that meets the height. When T is greater than 0, let t = t + 1, and determine whether the currently counted number of shelves has exceeded the total number of shelves in the set, that is, t > T. If the judgment is yes, there is no shelf that meets the height. If the judgment is no, width matching is performed on the current empty lane.

[0012] In some embodiments of the present application, the width set screening formula is Fit_W = [W if W≥w + 20 + 20]. The total number of lanes K in the set is counted by the count(Fit_W) function. The data in the set is sorted in ascending order of width, and the minimum width value is obtained as W(k), where k is a counting variable representing the current lane. Starting from the minimum lane width value, progressive counting is performed, and it is agreed that the initial count value k = 0. Let k = k + 1, and determine whether the number of lanes currently counted is greater than the total number of lanes in the set, that is, k > K. If the determination result is yes, it means that k has traversed from 0 to K, and the traversal is completed. There are no more lanes available on this height-level board, and it is necessary to progress to the upper-level height. If the determination result is no, the most suitable lane individual needs to be further selected from the current lane width. The most suitable lane individual follows the principle of being closest to the exit distance.

[0013] In some embodiments of the present application, the box body is replenished into the most suitable lane individual through the clamping platform.

[0014] Compared with the prior art, the present invention has the following characteristics and beneficial effects: The present invention does not require partitioning of the shelf. It automatically stores goods completely according to the algorithm of maximizing space utilization. It does not need to know the sizes of all the boxes to be stored in advance. Any box body can calculate the optimal placement position according to the current available space on the shelf. The computer automatically records the coordinates of the goods and commodity information, without worrying about the problem of not being able to find the goods due to mixed storage. When manually increasing or decreasing or adjusting the layer spacing, the layer self-check program can be started with one key, automatically identify the layer and refresh the virtual layer matrix in the background, and participate in the calculation of the new storage virtual space. When the present invention searches for an empty space, it first screens out all the empty spaces that meet the height of the box, sorts them by height, selects the minimum height that meets the requirements, and then among the empty spaces with the minimum height that meets the requirements, screens out all the empty spaces that meet the width of the box, sorts the empty spaces by width, and selects the minimum width that meets the requirements. If there is no suitable width, it returns to the previous step for height progression and performs width screening again. It is efficient and saves space, does not rely on pallets, and the sporadic goods can be replenished immediately without waiting in the bulk cargo area. It is convenient to manage, without considering issues such as category partitioning and ABC distribution. All goods are automatically stored according to the principle of maximizing space utilization. After the storage is completed, the computer feedbacks the storage coordinates and commodity information. The entire storage process does not require manual recording. This algorithm can finally screen out the empty space with the least space waste, and good results can be achieved by popularizing and using it. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is the flowchart of automatic replenishment when the original lanes of the three-dimensional layer shelf in the embodiment of the present invention are not full; Figure 2 is the flowchart of automatic replenishment when the original lanes of the three-dimensional layer shelf in the embodiment of the present invention are full; Figure 3It is a schematic diagram of the shelf structure of the embodiment of the present invention; Figure 4 It is a schematic diagram of the structure of the goods inlet of the embodiment of the present invention; Figure 5 It is a schematic diagram of the structure of the mechanical gripper platform of the embodiment of the present invention.

[0016] In the figure, 100 is the shelf; 200 is the goods inlet; 210 is the automatic door, 220 is the position guiding groove; 230 is the first laser range finder; 240 is the code scanning camera; 300 is the mechanical gripper platform; 310 is the mechanical gripper; 320 is the servo motor; 330 is the drive belt box; 340 is the second laser range finder. Specific embodiments

[0017] The following will further describe in detail the specific embodiments of the present invention in conjunction with the drawings and embodiments. The following embodiments are used to illustrate the present invention, but are not used to limit the scope of the present invention.

[0018] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0019] The terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, unless otherwise stated, the meaning of "a plurality" is two or more.

[0020] In the description of the present application, it should be noted that unless otherwise clearly specified and limited, the terms "installed", "connected", "connected" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.

[0021] Such as Figures 1-4As shown, in some embodiments of the present application, a control method for automatically and efficiently replenishing goods on a three-dimensional laminate shelf 100 includes: Step 1, in response to placing a box body, place the box body at the goods inlet 200, scan and identify the barcode of the box body to obtain box body information; Step 2, according to the box body information, perform database replenishment determination, compare the box body information with the background database, and determine whether the background database has entered the box body information; Step 3, according to the result of the database replenishment determination, perform original position replenishment determination to obtain original position replenishment information; Step 4, according to the result of the original position replenishment determination, perform new position replenishment determination to obtain new position replenishment information; Step 5, according to the determination results in Steps 2-4, determine the final replenishment coordinates of the box body, place the box body on the final replenishment coordinates through the gripper platform, and update the replenishment information in the background database.

[0022] As Figures 2-4 shown, it should be noted here that the goods inlet 200 simultaneously serves as the goods outlet and acts as a storage platform. The goods inlet 200 is a rectangular passage. An automatic door 210 is provided on the front side of the goods inlet 200. A position guiding convex groove 220 is provided on the inner bottom surface of the goods inlet 200. The position guiding convex groove 220 can limit the position of the box body to a certain extent, facilitating the work of other mechanisms. Multiple first laser ranging sensors 230 and barcode scanning cameras 240 are equipped in the passage, which can perform double verification on the size and barcode of the box body. That is, when the box body is placed in the goods inlet 200 according to certain rules, the first laser ranging sensors 230 and barcode scanning cameras 240 arranged inside the passage will collect the size and barcode of the box. After the actually collected size and barcode are compared with the background database and are correct, an instruction is sent to make the mechanical gripper platform 300 drive the mechanical gripper 310 to clamp the box body from the rear side of the passage and place it in the designated shelf 100. The mechanical gripper platform 300 includes a servo motor 320, a transmission belt box 330 connected to the servo motor 320, two mechanical grippers 310 provided on one side of the transmission belt box 330, and a second laser ranging sensor 340 provided at the center of the transmission belt box 330. The first laser ranging sensor 230 is used to measure the length, width, and height of the box body, and the second laser ranging sensor 340 is used to measure the forward and backward movement stroke of the mechanical gripper 310. Similarly, when the manipulator takes the box body out of the warehouse, the box body is placed from the shelf 100 onto the storage platform at the goods outlet. The laser ranging sensors and barcode scanning cameras 240 arranged around the goods outlet will perform secondary collection on the size and barcode of the box body. After the actually collected size and barcode are compared with the background database and are correct, the automatic door 210 at the goods outlet opens to prompt the user to take away the box body.

[0023] In some embodiments of the present application, three first laser distance sensors 230 are provided, and the lasers emitted by the three first laser distance sensors 230 are perpendicular to each other.

[0024] In some embodiments of the present application, if the box body is misaligned or the bar code is blocked during placement, a flipping mechanism can be provided on the mechanical gripper platform 300 to drive the mechanical gripper 310 to flip after the box body is clamped, so as to adjust the posture of the box body and improve the fault tolerance rate of the box body placement.

[0025] In some embodiments of the present application, to ensure the effective use of this control method, the following requirements are put forward for the shelf 100: a. Shape constraint: As a container, the effective object placement area of the shelf 100 must be a regular cuboid; b. Placement surface constraint: The shelf must be horizontal and there is no depression on the placement surface; c. Capacity limit: The total volume and total weight of the objects placed in the container cannot exceed the upper limit of the container; d. Movable shelf: The shelf allows manual free adjustment of height or addition or subtraction of the number of shelves; e. Splicing method: Multiple shelves 100 are allowed to be spliced along the X-axis direction, but the shelves 100 are not allowed to be rotated or tilted. The following requirements are put forward for the items to be placed: a. Shape constraint: The shape of the box must be a regular cuboid; b. Support surface constraint: When the box enters the waiting-to-be-clamped state at the loading port 200, the area of its bottom support surface should be the largest; c. Direction constraint: When the box enters the waiting-to-be-clamped state at the loading port 200, there are strict placement direction restrictions, that is, the longest side should face the gripper directly, rotation is prohibited, and the length, width, and height are not allowed to be swapped; d. Placement constraint: When the box is clamped and placed in the container, each surface must be parallel to the surface of the container, and it cannot be placed obliquely or stacked. If there is a bar code on the box, the bar code cannot be pressed below the support surface and should face the direction of the barcode scanner 240. When placing, start from the leftmost and innermost positions of the cargo channel; e. Box spacing setting: The spacing should be as small as possible, but the extraction interference should be considered. There should be a certain spacing between the left and right sides of the box body to accommodate the gripper to enter and exit, that is, the net distance between the left and right sides of the box is set to 20 mm, and there can be no gap in the depth direction; f. Height constraint: After placement, there must be a 5 mm gap in the height direction; g. Packaging material constraint: An irregular woven bag cannot be wrapped around the cardboard box.

[0026] It should be noted here that when the area of the bottom support surface of the box body is the largest, the stability of the static box body is the best. At the same time, in the height direction of the shelf 100, the occupied space can be minimized, enabling more identical box bodies to be stacked vertically in the same cargo lane, and reducing the movement stroke of the end of the robotic arm. The shelves 100 are spliced according to the placement posture of the box bodies, enabling the shelves 100 of the same height to have more cargo lanes. In addition, for general selling carriers on the market currently, partitions are provided between different commodities on the same layer to limit the use space of the shelves. However, this shelf takes advantage of the characteristic that the commodity is a box body and does not set partitions, thereby improving the utilization rate and freedom of the shelf space. Multiple cargo lanes are set on each layer of the shelf. The cargo lane is a virtual concept, which is virtually divided by the computer. Each cargo lane defined by the computer can only hold goods of one SKU. The minimum distance between adjacent cargo lanes is 20 mm. In the same-layer shelf, defined cargo lanes and undefined or initialized cargo lanes can exist simultaneously. The distance between the innermost box body in the cargo lane and the rear wall is at least 5 mm, and the distance between the topmost box body in the cargo lane and the upper plate is at least 5 mm, which can effectively prevent the robotic gripper from contacting the shelf and prevent any adjacent box body from interfering with the working process of the current robotic gripper when picking or placing the box body.

[0027] In some embodiments of the present application, the control method relies on certain data condition support and hardware condition support. The computer needs to be able to perceive in real time the length, width, and height of the box at the loading port 200, as well as the coordinate data of the position of the center point, and provide the robotic arm with the conditions for fixed-point and accurate picking. For example, if the box is affixed with an identification code, the loading port 200 also needs to be equipped with a barcode sensing function for automatic background verification. The computer needs to be able to screen out all empty cargo lanes that can accommodate the current box body in real time, sort the empty cargo lanes according to specific rules (first screen out the cargo lane with the smallest height, and then select the one with the least waste of width among them), select the one with the least waste of space, output its coordinates and length, width, and height, and guide the robotic arm to place the box according to certain rules (reserving 20 mm on the left and 5 mm inward). After the layer board is considered to be changed, the computer can perceive the layer board position data in real time, and the background database dynamically updates the virtual shelf 100 matrix.

[0028] At the same time, the automatic door 210 should have an anti-misoperation function to monitor in real time whether there are foreign objects at the cargo opening to avoid dangerous situations such as injuring humans and damaging goods during operation. At the same time, the automatic door 210 should be provided with a water diversion trough to have the functions of water diversion and waterproofing, ensuring that the functions of the information collection and verification area are not affected by water ingress.

[0029] In some embodiments of the present application, the content of the database replenishment determination is to compare the barcode with the background database to determine whether the information of the box body has been entered in the background database. If there is no box body information in the background database, the box body information is supplemented. If there is box body information in the background database, the replenishment determination at the original position is performed.

[0030] In some embodiments of the present application, the content of the replenishment determination at the original position is to call the size information of the box body, call the total number of channels occupied by the box body, call the coordinate information of the channels occupied by the box body, call the occupied size of the channels occupied by the box body, and start retrieving from the first channel occupied by the box body. If there is a vacancy in the first channel occupied by the box body, place the box body in the first channel occupied by the box body. If there is no vacancy in the first channel occupied by the box body, compare it with the next channel occupied by the box body until a suitable channel occupied by the box body is found.

[0031] In some embodiments of the present application, the content of the replenishment determination at the new position is to query the background database to confirm whether there is an empty channel in the shelf 100, compare the empty channel with the box body size, obtain the narrowest channel suitable for placing the box body, and place the box body in the selected channel to complete the replenishment.

[0032] In some embodiments of the present application, when performing the replenishment determination at the original position, according to the formula m = int(△L / w), calculate the remaining replenishment quantity of the channel occupied by the box body, where the length, width, and height information of the box body (l * w * h), the total number of channels p occupied by the box body, the coordinate information A(s)(X, Y, Z) of the channels occupied by the box body, the occupied size (La * Wa * Ha) of the channels occupied by the box body, int() is the floor function, △L is the remaining depth of the coordinate channel, △L = La - w * n - 5, n is the number of cartons already in the channel occupied by the box body, and 5 is the default distance of 5 mm between the innermost carton and the wall.

[0033] In some embodiments of the present application, height matching is performed on the empty channel to screen out a set of shelves that meet the storage height of the box body. The height set screening formula is Fit_H = [H if H ≥ h + 5], where H is the net height of the shelf, the number 5 is a 5 mm gap left at the top of the box body. The total number of shelves T in the set is counted by the count(Fit_H) function, and the data in the set is sorted in ascending order of shelf height to obtain the minimum shelf height H(t), where t represents the counting variable of the current shelf height. Starting from the minimum shelf height, count incrementally. When T is not greater than 0, there is no shelf that meets the height. When T is greater than 0, let t = t + 1, and determine whether the currently counted shelf number is greater than the total number of shelves in the set, that is, t > T. If the determination is yes, there is no shelf that meets the height. If the determination is no, width matching is performed on the current empty channel.

[0034] In some embodiments of the present application, the width set screening formula is Fit_W = [W if W≥w + 20 + 20]. The total number of cargo channels K in the set is counted through the count(Fit_W) function. The data in the set is sorted in ascending order by width, and the minimum width value is obtained as W(k), where k is a counting variable representing the current cargo channel. Starting from the minimum value of the cargo channel width, progressive counting is performed. It is agreed that the initial count value k = 0. Let k = k + 1, and determine whether the currently counted number of cargo channels is greater than the total number of cargo channels in the set, that is, k > K. If the determination result is yes, it means that k has been traversed from 0 to K, and the traversal is completed. There are no more cargo channels available on this height layer board, and it is necessary to progress to the upper-level height. If the determination result is no, the most suitable cargo channel individual needs to be further selected from the current cargo channel width. The most suitable cargo channel individual follows the principle of being closest to the exit distance.

[0035] In some embodiments of the present application, the box body is replenished into the most suitable cargo channel individual through the clamping platform.

[0036] In some embodiments of the present application, multiple loading ports 200 and mechanical clamping platforms 300 can be set. For example, two groups are set in the center of the shelf 100. The two loading ports 200 and mechanical clamping platforms 300 replenish goods to the left and right sides of the shelf respectively, reducing the moving distance of the mechanical clamping platform 300 and improving the replenishment efficiency.

[0037] As Figure 1 shown, in an embodiment of the present application, only considering the scenario of boxed medicine warehousing, the control method in the present invention is used to achieve the maximum storage. Hereinafter, a certain boxed cargo will be referred to as A, which does not refer to this box A, but to the goods of type A. For example, A is equivalent to goods such as "Baiyunshan Cold Qingkailing Granules". It has unity in terms of name, appearance, function, size, etc., and is different from other named goods. The process is as follows: 1. Place the box A into the loading port 200, and the placement needs to meet the constraint conditions; 2. After the laser at the loading port 200 senses an object, it automatically measures its actual size and activates the camera to scan the barcode of box A from three sides; 3. The computer compares the barcode with the background database to determine whether there is information about A in the database. This information includes but is not limited to the name, external dimensions, manufacturer, etc. of A. The determination result is shown in step 4 and step 5; 4. If the determination result is no, it means that there is no A in the database, and information such as the name and size of A is unknown. It is necessary for the background staff to enter the data of A into the library before placing A into the loading port 200 again, and the loop ends; 5. If the determination result is yes, it indicates that there is data of A in the database, and the theoretical size of A is already included. Call its theoretical size and compare it with the actual size measured by the laser. When the difference in each direction does not exceed 5 mm, it is determined that the size of A meets the requirements and it is allowed to be stored. Then proceed to step 6; 6. Retrieve whether A is (or was) in this shelf 100. The determination result is shown in steps 7 and 8; 7. If the determination is no, it means that A has no record of being placed on this shelf 100, neither currently nor before. A new lane needs to be opened to store A, and proceed to step 19; 8. If the determination is yes, there are two cases: one is that A was once placed in a lane of shelf 100 but is currently just emptied; the other is that A has occupied a certain number of lanes, but it is unknown whether there is enough space in the depth direction of the occupied lanes to continue placing. It is necessary to call the length, width, and height information (l*w*h) of A, the total number p of lanes occupied by A (including those it has ever occupied), the coordinate data A(s)(X,Y,Z) of the lanes occupied by A (including those it has ever occupied), and the depth, width, and height dimensions (La*Wa*Ha) of the lanes occupied by A (including those it has ever occupied) for calculation, and then proceed to step 9; 9. Start retrieving from the first lane occupied by A (including those it has ever occupied), where s = 1; 10. Along the coordinate data A(s)(X,Y,Z), retrieve how many cartons can be replenished in the remaining depth of the lanes occupied by A (including those it has ever occupied). The formula is: the number of cartons that can be replenished m = int(△L / w), where int() is the floor function, △L is the remaining depth of the coordinate lane, △L = La - w*n - 5, n is the number of cartons already in the coordinate lane, and 5 is the default distance of 5 mm between the innermost carton and the wall; 11. Determine whether m = 0. The determination result is shown in steps 12 and 15; 12. If the determination is no, it means there is available space in this lane. Output: The replenishment position is A(s)(X,Y,Z), and the end stroke of the mechanical gripper 310 is [total stroke - (5 + w*n + w / 2)]. Then proceed to step 13; 13. Update and store in the background n = n + 1; 14. Prompt "Replenishment completed"; 15. If the determination is yes, it means the depth of this lane is not sufficient for replenishment. Proceed to step 16; 16. Determine again whether the current retrieved number is greater than or equal to the number of lanes occupied by A. The formula is s ≥ p. The determination result is shown in steps 17 and 18; 17. If the determination is no, then switch to the next lane occupied by A (including those it has ever occupied). The formula is s = s + 1, and then return to step 10 to continue the loop; 18. If the determination is yes, it means that there are no empty spaces in all the lanes occupied by A (including those that were once occupied), and step 19 needs to be entered; 19. Open a new empty lane for A to store. An empty lane refers to a lane that has not been occupied, or has been occupied but has been initialized, excluding lanes that have been emptied but not initialized; 20. Query whether there is an empty lane in the warehouse. The query results are shown in steps 21 and 22; 21. If the query result is none, output "Shelf 100 is full" and end the loop; 22. If the query result is yes, perform height matching: screen out the set of shelves that meet the storage height of A. The set screening formula is Fit_H = [H if H≥h + 5], where H is the net height of the shelf, and the number 5 means that there should be at least 5mm of space left at the top of the carton; use the count(Fit_H) function to count the total number of shelves T in the set; sort the data in the set in ascending order of shelf height to obtain the minimum shelf height H(t), where t is the counting variable representing the current shelf height, and start counting incrementally from the minimum shelf height, and enter step 23; 23. Judge whether the number of shelves in the set is greater than 0, that is, T>0. The determination results are shown in steps 24 and 25; 24. If the determination result is no, it means that the set Fit_H is an empty set, and output "There is no shelf meeting the height requirement"; 25. If the determination result is yes, it means that there are numbers in the set Fit_H and there are shelves suitable for the height of A. Then start counting incrementally from the minimum value of the set Fit_H. It is agreed that the initial count value t = 0, and enter step 26; 26. Let t = t + 1; 27. Judge whether the number of shelves of the current count has exceeded the total number of shelves in the set, that is, t>T. The determination results are shown in steps 28 and 29; 28. If the determination result is yes, it means that t has traversed from 0 to T, and the traversal is complete. Output "There is no shelf meeting the height requirement"; 29. If the determination result is no, it is necessary to further perform lane width matching at the current shelf height, that is, step 30; 30. Perform width matching: screen out the set of lanes that meet the width of A at the current height level. The set screening formula is Fit_W = [W if W≥w + 20 + 20]; use the count(Fit_W) function to count the total number of lanes K in the set; sort the data in the set in ascending order of width to obtain the minimum width as W(k), where k is the counting variable representing the current lane, and start counting incrementally from the minimum lane width, and enter step 31; 31. It is agreed that the initial count value k = 0; 32. Let k = k + 1; 33. Determine whether the currently counted number of lanes k is greater than the total number of lanes K in the set, that is, k > K. The determination result is shown in steps 34 and 35; 34. If the determination result is yes, it means that k has traversed from 0 to K, and the traversal is completed. There is no available lane on this height-level board, and it is necessary to progress to the upper-level height and return to step 26 to continue the loop; 35. If the determination result is no, it is necessary to further select the most suitable lane individual at the current lane width, that is, step 36; 36. For the most suitable lane individual, follow the principle of being closest to the exit. Suppose there are 6 shelves 100, arranged in three pairs side by side (with a drawing). Call the coordinates (X, Y, Z) of the narrowest lane min(Fit_W), and screen them in the coordinate order from shelf 100 to shelf 6, from the lower layer board to the upper layer board, and from the nearer lane to the farther lane, and select the only lane closest to the exit; 37. Supplement A in this lane. When replenishing, the robotic arm places the medicine close to the side near the shipping outlet; (it is not placed in the middle, in order to leave free space on the other side to facilitate merging with the adjacent lane into a wider lane for use) 38. Output "Replenishment completed".

[0038] In summary, the present invention relates to the technical field of replenishment of three-dimensional layer board shelves, and discloses a control method for automatic and efficient replenishment of three-dimensional layer board shelves, including: in response to placing the box body, placing the box body at the inlet, scanning and identifying the barcode of the box body to obtain box body information; according to the box body information, performing database replenishment determination, comparing the box body information with the background database to determine whether the background database has entered the box body information; according to the result of the database replenishment determination, performing original position replenishment determination to obtain original position replenishment information; according to the result of the original position replenishment determination, performing new position replenishment determination to obtain new position replenishment information; step five, according to the determination results of the above steps, determining the final replenishment coordinates of the box body. The present invention can guide the gripper to perform real-time identification on the continuously and disorderly arriving box body goods of multiple specifications, calculate the optimal placement position, and perform automatic and efficient palletizing on the shelves with disorderly layer boards.

[0039] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the technical principle of the present invention, several improvements and replacements can still be made, and these improvements and replacements should also be regarded as the protection scope of the present invention.

Claims

1. A control method for automatic and efficient replenishment of a three-dimensional laminated shelf, characterized in that, The specific steps of the control method are as follows: Step 1, in response to placing the box body, place the box body at the loading inlet, scan and identify the barcode of the box body to obtain box body information; Step 2, according to the box body information, perform database replenishment determination, compare the box body information with the background database, and determine whether the box body information is entered in the background database; Step 3, according to the result of the database replenishment determination, perform original position replenishment determination to obtain original position replenishment information; Step 4, according to the result of the original position replenishment determination, perform new position replenishment determination to obtain new position replenishment information; Step 5, according to the determination results in Steps 2-4, determine the final replenishment coordinates of the box body, place the box body on the final replenishment coordinates through the gripper platform, and update the replenishment information in the background database.

2. The control method for automatic and efficient replenishment of a three-dimensional laminated shelf according to claim 1, wherein The content of the database replenishment determination is to compare the barcode with the background database to determine whether the information of the box body is entered in the background database. If there is no box body information in the background database, the box body information is supplemented. If there is box body information in the background database, the original position replenishment determination is performed.

3. The control method for automatic and efficient replenishment of a three-dimensional laminated shelf according to claim 1, characterized in that, The content of the original position replenishment determination is to call the size information of the box body, call the total number of lanes occupied by the box body, call the coordinate information of the lanes occupied by the box body, call the occupied size of the lanes occupied by the box body, and start retrieving from the first lane occupied by the box body. If there is a vacancy in the first lane occupied by the box body, place the box body in the first lane occupied by the box body. If there is no vacancy in the first lane occupied by the box body, compare the next lane occupied by the box body until a suitable lane occupied by the box body is found.

4. The control method for automatic and efficient replenishment of a three-dimensional laminate shelf according to claim 1, characterized in that, The content of the new position replenishment determination is to query the background database to confirm whether there is an empty lane in the shelf. Compare the empty lane with the size of the box body to obtain the narrowest lane suitable for placing the box body, and place the box body in the selected lane to complete the replenishment.

5. The control method for automatically and efficiently replenishing goods on a three-dimensional laminate shelf according to claim 1, wherein, When performing the original position replenishment determination, calculate the remaining replenishment quantity of the lane occupied by the box body according to the formula m = int(△L / w), where the length, width and height information of the box body (l * w * h), the total number of lanes p occupied by the box body, the coordinate information A(s)(X, Y, Z) of the lanes occupied by the box body, the occupied size (La * Wa * Ha) of the lanes occupied by the box body, int() is the floor function, △L is the remaining depth of the coordinate lane, △L = La - w * n - 5, n is the number of cartons already in the lane occupied by the box body, and 5 is the default distance of 5 mm from the innermost carton to the wall.

6. The control method for automatic and efficient replenishment of a three-dimensional laminated shelf according to claim 1, characterized in that, Perform height matching on the empty cargo channels to screen out a set of shelves that meet the storage height of the box. The height set screening formula is Fit_H = [H if H≥h + 5], where H is the net height of the shelf, and the number 5 represents a 5mm gap left at the top of the box. Use the count(Fit_H) function to count the total number of shelves T in the set. Sort the data in the set in ascending order of shelf height to obtain the minimum shelf height H(t), where t represents the counting variable for the current shelf height. Start progressive counting from the minimum shelf height. When T is not greater than 0, there are no shelves that meet the height requirement. When T is greater than 0, let t = t + 1, and determine whether the number of shelves counted currently is greater than the total number of shelves in the set, that is, t > T. If the judgment is yes, there are no shelves that meet the height requirement. If the judgment is no, perform width matching on the current empty cargo channel.

7. The control method for automatic and efficient replenishment of a three-dimensional laminated shelf according to claim 6, characterized in that, The width set screening formula is Fit_W = [W if W≥w + 20 + 20]. Use the count(Fit_W) function to count the total number of cargo channels K in the set. Sort the data in the set in ascending order of width to obtain the minimum width W(k), where k is the counting variable representing the current cargo channel. Start progressive counting from the minimum cargo channel width, and it is agreed that the initial count value k = 0. Let k = k + 1, and determine whether the number of cargo channels counted currently is greater than the total number of cargo channels in the set, that is, k > K. If the judgment result is yes, it means that k has traversed from 0 to K, and the traversal is completed. There are no more cargo channels available for this height-level shelf, and it is necessary to progress to the upper-level height. If the judgment result is no, it is necessary to further select the most suitable cargo channel individual within the current cargo channel width. The most suitable cargo channel individual follows the principle of being closest to the exit distance.

8. The control method for automatic and efficient replenishment of a three-dimensional laminated shelf according to claim 7, wherein Insert the box into the most suitable cargo channel individual through the gripper platform.

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