CN102096865A - Dynamic management method and system for mobile rack automatic warehouse - Google Patents

Abstract

Translated fromChinese

本发明公开了一种移动式货架自动仓库的动态管理方法，包括：基于地理信息系统构建仓库的空间坐标系；通过室内定位技术获取仓库中各货架、货物和机器人的空间坐标；及根据客户订单及所述货架、货物和机器人的空间坐标，选择机器人和货架完成客户订单并协调所述机器人的运行路径。本发明还公开了一种用于实现前述方法的移动式货架自动仓库的动态管理系统。该移动式货架自动仓库的动态管理方法和系统将地理信息系统与室内定位技术相结合，可以有效优化仓库管理效率。

The invention discloses a dynamic management method for an automatic warehouse with mobile shelves, comprising: constructing a spatial coordinate system of the warehouse based on a geographic information system; obtaining the spatial coordinates of each shelf, goods and robots in the warehouse through indoor positioning technology; And the spatial coordinates of the shelves, goods and robots, select the robots and shelves to complete customer orders and coordinate the running paths of the robots. The invention also discloses a dynamic management system of the mobile shelf automatic warehouse for realizing the aforementioned method. The dynamic management method and system of the mobile shelf automatic warehouse combine the geographic information system and the indoor positioning technology, which can effectively optimize the warehouse management efficiency.

Description

The dynamic management approach of mobile goods shelves automated warehouse and system

Technical field

The present invention relates to the logistic storage technical field, relate in particular to a kind of dynamic management approach and system of mobile goods shelves automated warehouse.

Background technology

Existing automated warehouse has two kinds usually, and a kind of is to adopt overhead tiered warehouse facility, and using shuttles back and forth picks and places goods in the piler in tunnel, and this store mode efficient is lower.Another kind is the mobile goods shelves automated warehouse, and it utilizes robot transport shelf to steady job mouth to carry out cargo handling, and then transports back automatically, as the store mode of Kiva company proposition.In light-duty Storage of Goods process, to compare with preceding a kind of automated warehouse, a kind of automated warehouse in back can improve work efficiency 2-3 doubly.

Yet, in this new store mode that Kiva company proposes, employing be intelligent robot with perceptibility.These robots are by Wifi and warehouse main-machine communication, and client one places an order, and instruction is just received by robot, just can give the staff with corresponding shelf in one minute, remove the goods packing by the staff again and transport.Like this, just require this robot must be equipped with equipment such as optical sensor, infrared sensor, can oneself avoid obstacle and remove given point of destination with the searching path.Under the instruction of main frame, can touch any shelf in the warehouse at any time, to appointed positions, make the warehouse go out to put in storage process automation, intellectuality shelf and freight handling.In this warehouse system, these intelligent robots will have software to do work such as visual processes, image recognition processing, rim detection and characteristic processing, and are very high to the hardware requirement of robot.And intelligent robot is just analyzed from the nearer barrier situation of robot in local environment, and the path that partial analysis goes out, not integrated planning is not so for the overall situation, may be optimum.

Therefore, demand urgently providing a kind of dynamic management approach of improved mobile goods shelves automated warehouse and system to overcome above-mentioned defective.

Summary of the invention

The technical problem to be solved in the present invention is to provide a kind of dynamic management approach and system of mobile goods shelves automated warehouse, and it combines Geographic Information System with the indoor positioning technology, can effectively optimize storehouse management efficient.

In order to solve the problems of the technologies described above, the invention provides a kind of dynamic management approach of mobile goods shelves automated warehouse, it comprises:

Make up the space coordinates in warehouse based on Geographic Information System;

Obtain the volume coordinate of each shelf, goods and robot in the warehouse by the indoor positioning technology; And

According to the volume coordinate of customer order and described shelf, goods and robot, selection robot and shelf are finished customer order and are coordinated the operating path of described robot.

Particularly, described indoor positioning technology comprises bluetooth location, electronic tag location, WIFI network positions, mobile communication technology location and GPS location.

Preferably, described volume coordinate according to customer order and described shelf, goods and robot selects robot and shelf to finish customer order and the step of coordinating the operating path of described robot specifically comprises: according to storehouse management principle select target shelf; Volume coordinate with described target shelf is the center, selects the robot in the predetermined radii scope; And the operating path of the selecteed robot of coordinated scheduling.

Preferably, described dynamic management approach also comprises shelf, goods and the robot volume coordinate in the described warehouse of dynamic demonstration.

The present invention also provides a kind of dynamic management system of mobile goods shelves automated warehouse, it comprises the warehouse, is located at robot, shelf, goods and control module in the described warehouse, described control module comprises: Geographic Information System is used to make up the space coordinates in warehouse; Positioning unit is used for obtaining by the indoor positioning technology volume coordinate of each shelf of warehouse, goods and robot; The coordinated scheduling unit is used for the volume coordinate according to customer order and described shelf, goods and robot, and selection robot and shelf are finished customer order and coordinated the operating path of described robot.

Particularly, described coordinated scheduling unit comprises: shelf chooser unit is used for according to storehouse management principle select target shelf; Robot chooser unit, the volume coordinate that is used for described target shelf is the center, selects the robot in the predetermined radii scope; The coordinated scheduling subelement is used for the operating path of the selecteed robot of coordinated scheduling.

Further, described control module also comprises display unit, is used for dynamically showing shelf, goods and the robot volume coordinate in described warehouse.

Further, described control module also comprises the unit is set, and is used to import customer order and instruction.

Compared with prior art, the dynamic management approach of mobile goods shelves automated warehouse of the present invention and system combine Geographic Information System and indoor positioning technology, goods in the warehouse, shelf and robot are carried out the uniform dispatching management, can optimize storehouse management efficient.In addition,, like this, reduce greatly, can effectively reduce the warehouse cost for the hardware requirement of robot because robot only need receive and finish the instruction that receives.

By following description also in conjunction with the accompanying drawings, it is more clear that the present invention will become, and these accompanying drawings are used to explain embodiments of the invention.

Description of drawings

Fig. 1 is the process flow diagram of an embodiment of the dynamic management approach of mobile goods shelves automated warehouse of the present invention.

Fig. 2 is the structural representation of the control module of an embodiment of the dynamic management system of mobile goods shelves automated warehouse of the present invention.

Embodiment

With reference now to accompanying drawing, describe embodiments of the invention, the similar elements label is represented similar elements in the accompanying drawing.As mentioned above, the invention provides a kind of dynamic management approach and system of mobile goods shelves automated warehouse, it combines Geographic Information System with the indoor positioning technology, can effectively optimize storehouse management efficient.

Elaborate the technical scheme of the embodiment of the invention below in conjunction with accompanying drawing.As shown in Figure 1, the dynamic management approach of the mobile goods shelves automated warehouse of present embodiment may further comprise the steps.

Step S101: the space coordinates that make up the warehouse based on Geographic Information System.

Step S102: the volume coordinate of obtaining each shelf, goods and robot in the warehouse by the indoor positioning technology.Concrete, described indoor positioning technology comprises bluetooth location, electronic tag location, WIFI network positions, mobile communication technology location and GPS location, aforementioned location technology is mature technology, for those skilled in the art know, omits detailed description at this.

Step S103: according to the volume coordinate of customer order and described shelf, goods and robot, selection robot and shelf are finished customer order and are coordinated the operating path of described robot.

Further, this step specifically comprises: according to storehouse management principle select target shelf; Volume coordinate with described target shelf is the center, selects the robot in the predetermined radii scope; And the operating path of the selecteed robot of coordinated scheduling.Coordinated scheduling can be hidden static-obstacle thing (static shelf and other facility in the warehouse) and dynamic barrier (robot and shelf in other motion) automatically by the optimization circuit of walking in the warehouse for robot designs based on the spatial analysis of Geographic Information System when each robot can both be moved simultaneously with the shortest path Transport cargo rack and a plurality of robot.

As the preferred embodiments of the present invention, the dynamic management approach of described mobile goods shelves automated warehouse also comprises shelf, goods and the robot volume coordinate in the described warehouse of dynamic demonstration, is convenient to the overall operation situation that the staff understands the warehouse intuitively.

Fig. 2 is the structural representation of the control system of an embodiment of the dynamic management system of mobile goods shelves automated warehouse of the present invention.The dynamic management system of the mobile goods shelves automated warehouse of present embodiment comprises the warehouse, is located at robot, shelf, goods and control module in the described warehouse.As shown in Figure 2, described control module comprises GeographicInformation System 21,positioning unit 22 and coordinated scheduling unit 23.Wherein, described Geographic Information System 21 is used to make up the space coordinates in warehouse; Describedpositioning unit 22 is used for obtaining by the indoor positioning technology volume coordinate of each shelf of warehouse, goods and robot; Described coordinatedscheduling unit 23 is used for the volume coordinate according to customer order and described shelf, goods and robot, and selection robot and shelf are finished customer order and coordinated the operating path of described robot.

Further, described coordinatedscheduling unit 23 comprisesshelf chooser unit 231,robot chooser unit 232 and coordinated scheduling subelement 233.Wherein, describedshelf chooser unit 231 is used for according to storehouse management principle select target shelf; The volume coordinate that describedrobot chooser unit 232 is used for described target shelf is the center, selects the robot in the predetermined radii scope; Described coordinatedscheduling subelement 233 is used for the operating path of the selecteed robot of coordinated scheduling.

Further, described control module also comprisesdisplay unit 24 andunit 25 is set, describeddisplay unit 24 is used for dynamically showing shelf, goods and the robot volume coordinate in described warehouse, be convenient to the overall operation situation that the staff intuitively understands the warehouse, the describedunit 25 that is provided with is used to import customer order and various steering order.

Described control module can be arranged on the same entity, also can divide and be arranged, such as, described Geographic Information System, positioning unit and coordinated scheduling unit are arranged on the main frame, the unit is set and display unit is arranged on the working hole client in warehouse with described, also can on main frame and working hole client, a display unit be set respectively.

The dynamic management approach of mobile goods shelves automated warehouse of the present invention and system combine Geographic Information System and indoor positioning technology, and the goods in the warehouse, shelf and robot are carried out the uniform dispatching management, can optimize storehouse management efficient.In addition,, like this, reduce greatly, can effectively reduce the warehouse cost for the hardware requirement of robot because robot only need receive and finish the instruction that receives.

Claims (8)

Translated fromChinese

1.一种移动式货架自动仓库的动态管理方法，其特征在于，包括：1. A dynamic management method for a mobile shelf automatic warehouse, characterized in that it comprises:基于地理信息系统构建仓库的空间坐标系；Construct the spatial coordinate system of the warehouse based on the geographic information system;通过室内定位技术获取仓库中各货架、货物和机器人的空间坐标；及Obtain the spatial coordinates of each shelf, goods and robot in the warehouse through indoor positioning technology; and根据客户订单及所述货架、货物和机器人的空间坐标，选择机器人和货架完成客户订单并协调所述机器人的运行路径。According to customer orders and the spatial coordinates of the shelves, goods and robots, select robots and shelves to complete customer orders and coordinate the running paths of the robots.2.根据权利要求1所述的动态管理方法，其特征在于，通过室内定位技术获取仓库中各货架和机器人的空间坐标的步骤中：2. The dynamic management method according to claim 1, characterized in that, in the step of obtaining the space coordinates of each shelf and robot in the warehouse by indoor positioning technology:所述室内定位技术包括蓝牙定位、电子标签定位、WIFI网络定位、移动通讯技术定位和全球定位系统定位。The indoor positioning technology includes Bluetooth positioning, electronic tag positioning, WIFI network positioning, mobile communication technology positioning and global positioning system positioning.3.根据权利要求1所述的动态管理方法，其特征在于，所述根据客户订单及所述货架、货物和机器人的空间坐标，选择机器人和货架完成客户订单并协调所述机器人的运行路径的步骤具体包括：3. The dynamic management method according to claim 1, characterized in that, according to the spatial coordinates of the customer order and the shelf, goods and robot, the robot and the shelf are selected to complete the customer order and coordinate the running path of the robot The steps specifically include:根据仓库管理原则选择目标货架；Select target shelves according to warehouse management principles;以所述目标货架的空间坐标为中心，选择预定半径范围内的机器人；以及Taking the spatial coordinates of the target shelf as the center, selecting robots within a predetermined radius; and协调调度被选择的机器人的运行路径。Coordinate and schedule the running paths of the selected robots.4.根据权利要求1或2或3所述的动态管理方法，其特征在于，还包括：4. The dynamic management method according to claim 1, 2 or 3, further comprising:动态显示所述仓库中的货架、货物和机器人空间坐标。The spatial coordinates of shelves, goods and robots in the warehouse are dynamically displayed.5.一种移动式货架自动仓库的动态管理系统，包括仓库、设于所述仓库中的机器人、货架、货物和控制模块，其特征在于，所述控制模块包括：5. A dynamic management system for a mobile shelf automatic warehouse, comprising a warehouse, a robot, a shelf, goods and a control module located in the warehouse, wherein the control module includes:地理信息系统，用于构建仓库的空间坐标系；Geographic information system, used to construct the spatial coordinate system of the warehouse;定位单元，用于通过室内定位技术获取仓库中各货架、货物和机器人的空间坐标；The positioning unit is used to obtain the spatial coordinates of each shelf, goods and robot in the warehouse through indoor positioning technology;协调调度单元，用于根据客户订单及所述货架、货物和机器人的空间坐标，选择机器人和货架完成客户订单并协调所述机器人的运行路径。The coordination and dispatching unit is used to select robots and shelves to complete customer orders and coordinate the running paths of the robots according to customer orders and the spatial coordinates of the shelves, goods and robots.6.根据权利要求5所述的动态管理系统，其特征在于，所述协调调度单元包括：货架选择子单元，用于根据仓库管理原则选择目标货架；6. The dynamic management system according to claim 5, wherein the coordination scheduling unit comprises: a shelf selection subunit for selecting a target shelf according to warehouse management principles;机器人选择子单元，用于以所述目标货架的空间坐标为中心，选择预定半径范围内的机器人；The robot selection subunit is used to select a robot within a predetermined radius with the spatial coordinates of the target shelf as the center;协调调度子单元，用于协调调度被选择的机器人的运行路径。The coordination scheduling subunit is used to coordinate and schedule the running paths of the selected robots.7.根据权利要求6所述的动态管理系统，其特征在于，所述控制模块还包括显示单元，用于动态显示所述仓库中的货架、货物和机器人空间坐标。7. The dynamic management system according to claim 6, wherein the control module further comprises a display unit for dynamically displaying space coordinates of shelves, goods and robots in the warehouse.8.根据权利要求7所述的动态管理系统，其特征在于，所述控制模块还包括设置单元，用于输入客户订单和指令。8. The dynamic management system according to claim 7, wherein the control module further comprises a setting unit for inputting customer orders and instructions.

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