Summary of the invention
In view of this, the present invention provides a kind of warehouse management method and system based on intelligent forklift.
Technical solution provided by the invention is as follows:
A kind of warehouse management method based on intelligent forklift, is applied to warehouse management system, which includesUWB positioning system, intelligent forklift and background terminal position label, the UWB positioning mark configured with UWB on the intelligent forkliftSign the location information for confirming the intelligent forklift；At least one pressure sensing is configured on the pallet fork of the intelligent forkliftDevice, the pressure sensor are used for when being placed with cargo on the pallet fork or cargo is laid down, and generate pressure sensor signal,The warehouse management method includes:
According to the pressure sensor signal, confirm whether be placed with target goods on the pallet fork；
When being placed with target goods on the pallet fork, according to the goods information of the target goods, the target goods is obtainedThe target goods yard of object；
Whether run within the scope of the target goods yard according to pallet fork described in the position information confirming of the pallet fork；
When the pallet fork is run to the target goods yard, the pressure sensor signal of the pallet fork is monitored, confirms instituteState whether target goods are laid down；
When the pallet fork is run to the target goods yard, and the target goods are laid down, establish the target goods withThe corresponding relationship in the target goods yard.
Further, the intelligent forklift includes storage mode and picking mode, and in picking mode, this method is also wrappedIt includes:
It receives to picking object to picking position information；
When the pallet fork is run to goods yard, the pressure sensor signal of the pallet fork is monitored, whether confirms the pallet forkComplete picking；
According to the goods information of cargo on pallet fork described after the completion of picking, confirm the cargo on the pallet fork whether be it is described toPicking object；
If cargo on the pallet fork be it is non-to picking object, the pressure sensor signal of the pallet fork is monitored, when according to the pallet forkPressure sensor signal shows described non-when picking object is laid down, and records the non-goods yard being laid down to picking object.
Further, this method further include:
If cargo on the pallet fork be it is non-generate prompt information to picking object, non-returned to picking object with prompt by describedPosition.
Further, this method further include:
If the goods yard that the pallet fork operation reaches is not the target goods yard, prompt information is generated, to prompt the intelligenceFork truck.
Further, this method further include:
If the cargo on the pallet fork is described to picking object, it is according to pallet fork described in the position information confirming of the pallet forkIt is no leave it is described to picking position；
To picking position described in being left when the pallet fork, release described to picking object and the corresponding relationship to picking position.
The present invention also provides a kind of warehouse management system, which includes UWB positioning system, intelligent forkliftAnd background terminal, label is positioned configured with UWB on the intelligent forklift, and the UWB positioning label is for confirming the intelligence forkThe location information of vehicle；At least one pressure sensor is configured on the pallet fork of the intelligent forklift, the pressure sensor is used forWhen being placed with cargo on the pallet fork or cargo is laid down, pressure sensor signal, the warehouse management system are generated further include:
Signal confirmation module, for confirming whether be placed with target goods on the pallet fork according to the pressure sensor signalObject；
Goods yard confirmation module, for being believed according to the cargo of the target goods when being placed with target goods on the pallet forkBreath, obtains the target goods yard of the target goods；
Whether location confirmation module runs to the target for the pallet fork according to the position information confirming of the pallet forkWithin the scope of goods yard；
The signal confirmation module is also used to run when the pallet fork to the target goods yard, monitors the pallet forkPressure sensor signal, confirm whether the target goods are laid down；
Processing module, for running when the pallet fork to the target goods yard, and the target goods are laid down, and establish instituteState the corresponding relationship of target goods Yu the target goods yard.
Further, the intelligent forklift includes storage mode and picking mode, in picking mode, the storehouse management systemSystem is also used to:
It receives to picking object to picking position information；
When the pallet fork is run to goods yard, the pressure sensor signal of the pallet fork is monitored, whether confirms the pallet forkComplete picking；
According to the goods information of cargo on pallet fork described after the completion of picking, confirm the cargo on the pallet fork whether be it is described toPicking object；
If cargo on the pallet fork be it is non-to picking object, the pressure sensor signal of the pallet fork is monitored, when according to the pallet forkPressure sensor signal shows described non-when picking object is laid down, and records the non-goods yard being laid down to picking object.
Further, which is also used to:
If cargo on the pallet fork be it is non-generate prompt information to picking object, non-returned to picking object with prompt by describedPosition.
Further, which is also used to:
If the goods yard that the pallet fork operation reaches is not the target goods yard, prompt information is generated, to prompt the intelligenceFork truck.
Further, which is also used to:
If the cargo on the pallet fork is described to picking object, it is according to pallet fork described in the position information confirming of the pallet forkIt is no leave it is described to picking position；
To picking position described in being left when the pallet fork, release described to picking object and the corresponding relationship to picking position.
By the way that pressure sensor is arranged on the pallet fork of intelligent forklift in the embodiment of the present application, it can determine that intelligent forklift isIt is no to be mounted with cargo, and the physical location of pallet fork can be determined, and can believe according to pressure sensing under the auxiliary of positioning systemIt number determines opportunity for being laid down from pallet fork of cargo, to record goods yard information when cargo is put down, completes cargo and goods yardIt is corresponding.The warehouse management method can quickly record goods yard information when cargo is put down, and reduce the job stream of staffJourney improves storehouse management efficiency.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperateAppended attached drawing, is described in detail below.
Specific embodiment
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, completeGround description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually existThe component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.CauseThis, is not intended to limit claimed invention to the detailed description of the embodiment of the present invention provided in the accompanying drawings belowRange, but it is merely representative of selected embodiment of the invention.Based on the embodiment of the present invention, those skilled in the art are not doingEvery other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang YiIt is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.Meanwhile of the inventionIn description, term " first ", " second " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
The embodiment of the present application provides a kind of warehouse management method, is applied to warehouse management system, as shown in Figure 1, the storehouseBase management system 10 includes UWB positioning system 10, intelligent forklift 102 and background terminal 103, is configured on the intelligent forklift 102There is UWB to position label, the UWB positioning label is used to confirm the location information of the intelligent forklift 102；The intelligent forkliftAt least one pressure sensor is configured on 102 pallet fork, the pressure sensor is for being placed with cargo on the pallet forkOr cargo generates pressure sensor signal when being laid down.
In the embodiment of the present application, the warehouse where intelligent forklift 102 can also configure generalized information system, can by generalized information systemTo record the position of vehicle or cargo.It, can be previously according to the reality in warehouse by configuring UWB positioning system 10 for warehouseLandform delimit preset electronic fence range for each goods yard.The pressure sensor configured on pallet fork on intelligent forklift 102 can be withBy having detected whether external pressure, whether cargo is placed on pallet fork to determine.The pressure sensor configured on pallet fork can be withConfigure it is multiple, pressure sensor can have exterior object apply pressure when generate pressure sensor signal, meanwhile, pressure sensorPressure sensor signal can be generated when exterior object is removed from pressure sensor.Therefore, pressure sensor may be implementedWhen arrangement of goods or cargo are laid down on the pallet fork, pressure sensor signal is generated.
As shown in Fig. 2, the warehouse management method includes the following steps.
Step S101 confirms whether be placed with target goods on the pallet fork according to the pressure sensor signal.
Warehouse management method in the embodiment of the present application can be applied to handheld terminal or server terminal, intelligent forklift102, which position the location information that label determines by UWB, can be sent to handheld terminal or server terminal, and staff can be withThe real time position of intelligent forklift 102 is obtained using handheld terminal.
When operating the storage of the progress material of intelligent forklift 102, staff can be used handheld terminal and obtain wait be put in storageThe relevant information of material, for material in storage, situations such as administrative staff can be according to the weight, volume, frequency of use of material, is trueStorage goods yard of the earnest material in warehouse.The coding of material is scanned by the camera configured on handheld terminal or passes through keyboardInput the coding of material, the available goods yard information to the material.Intelligent forklift 102 can be operated by the material in staffIt is transported to the goods yard for needing to store.Pressure of staff during affected intelligent forklift 102, on the pallet fork of intelligent forklift 102Force snesor is never pressurized to be changed into and be pressed by cargo, so that pressure sensor generates pressure sensor signal, holdsTerminal or server terminal can receive pressure sensor signal, and the pressure sensor signal show intelligent forklift 102 fromLight condition transformation is loaded with cargo on the pallet fork of that is, knowable intelligent forklift 102 for carrying cargo state.
The type of merchandize that server terminal can according to need storage determines corresponding intelligent forklift 102, and can be by intelligenceEnergy fork truck 102 needs the goods information of the target goods transported to be sent to handheld terminal.In the goods that confirmation intelligent forklift 102 deliversWhen whether object is target goods, staff can input the cargo loaded on intelligent forklift 102 by operation handheld terminalGoods information.Handheld terminal can compare the goods information of the target goods of server terminal transmission and the cargo currently loadedWhether goods information is consistent, if the two is consistent, shows that the cargo that intelligent forklift 102 currently loads is target goods, ifThe two is inconsistent, and mistake occurs in the cargo for showing that intelligent forklift 102 currently loads.
In order to reduce the workload that staff uses handheld terminal, handheld terminal input can be used in staff willThe goods information of the cargo loaded on the identification information and intelligent forklift 102 of the intelligent forklift 102 of driving, these information can be withIt is sent to server terminal, determines whether the cargo currently loaded on intelligent forklift 102 is target goods by server terminal.
Step S102, according to the goods information of the target goods, obtains institute when being placed with target goods on the pallet forkState the target goods yard of target goods.
The cargo placed on pallet fork has been determined is target goods, and server terminal or handheld terminal are assured that meshThe target goods yard that mark cargo needs to store.Predetermined target goods yard can be sent to handheld terminal by server, and work peopleMember operates the operation of intelligent forklift 102 to target goods yard according to the target goods yard information on handheld terminal.
Whether step S103 runs to target goods yard range according to pallet fork described in the position information confirming of the pallet forkIt is interior.
In order to guarantee that target goods can be placed on correct goods yard, in 102 operational process of intelligent forklift, Ke YigenAccording to the position of generalized information system confirmation pallet fork, for example, when the length for the pallet fork being deep into goods yard has been more than the one of pallet fork total lengthAs, it can determine that pallet fork has been run within the scope of goods yard.Staff loads target goods in operation intelligent forklift 102 and runs toWhen near target goods yard, operation intelligent forklift 102 can be continued, target goods are placed in target goods yard, server terminal canTo detect the position of pallet fork, to determine whether the intelligent forklift 102 has run within the scope of target goods yard.
Further, it is also possible to predefine the relative position for presetting point on the UWB positioning label and the pallet fork；According toThe step whether pallet fork described in the position information confirming of the pallet fork runs within the scope of the target goods yard includes following sub-stepSuddenly.
Sub-step S131 determines the current location of the UWB positioning label.
Sub-step S132 positions the relative position that point is preset on label and the pallet fork according to the UWB, determine described inThe current location of pallet fork.
Sub-step S133 confirms whether the pallet fork is in the target goods yard pair according to the current location of the pallet forkIn the fence answered.
UWB positions position of the label on intelligent forklift 102 and can predefine, due to the positioning accurate of UWB positioning labelDegree can achieve a centimetre rank, and the small movement of intelligent forklift 102 can also be confirmed by UWB positioning system 10.It can be pre-First confirm the relative distance being arranged between UWB positioning label and the front end of pallet fork on each fork truck, label is being positioned according to UWBBehind the current location that confirmed intelligent forklift 102, can be positioned according to predetermined UWB between label and pallet fork it is opposite away fromFrom confirming the current location of pallet fork.And then it can be according to the positional relationship of the coverage area of the current location and goods yard of pallet fork, reallyWhether fork of knowing goods has entered within the scope of goods yard.
It is understood that server terminal or handheld terminal can determine the physical location of pallet fork in generalized information system,And determine whether pallet fork runs to a certain goods yard, whether which is target goods yard, is not target goods in the deep goods yard of pallet forkWhen position, prompt information is can be generated in server terminal or handheld terminal, is prompted on handheld terminal staff, withStaff is avoided to be placed on target goods on the goods yard of mistake.
Step S104, when the pallet fork is run to the target goods yard, the pressure sensing for monitoring the pallet fork is believedNumber, confirm whether the target goods are laid down.
When in the range of the position by judging pallet fork determining that the pallet fork is run to target goods yard, it can monitoring pallet forkOn cargo whether be laid down.In the embodiment of the present application, the pressure sensing generated by the pressure sensor on monitoring pallet forkSignal, determines whether pallet fork has been put into cargo on target goods yard.In the embodiment of the present application, since the transport of cargo is to pass throughWhat intelligent forklift 102 was completed, target goods yard is run in pallet fork, and the pressure sensor signal on pallet fork is from signal to letterNumber disappear time point be in target goods yard, then it is assumed that target goods have been placed in target goods yard.
Step S105, when the pallet fork is run to the target goods yard, and the target goods are laid down, and establish the meshMark the corresponding relationship of cargo and the target goods yard.
After being determined that target goods have been placed in target goods yard, the goods yard information of target goods can be stored, sideJust the specific location of target goods is confirmed during subsequent picking.
In another embodiment, the intelligent forklift 102 includes storage mode and picking mode, in picking modeIn, as shown in figure 3, this method is further comprising the steps of.
Step S106 is received to picking object to picking position information.
In the discharging of goods from warehouse, the information for the cargo for needing first to determine that needs extract, and then determining should be to pickingGoods yard where object.In the embodiment of the present application, the method in picking mode can be applied to handheld terminal, also can be applied toServer terminal.Handheld terminal or server terminal according to the goods information to picking object determine where it to picking position.
Step S107 monitors the pressure sensor signal of the pallet fork when the pallet fork is run to goods yard, described in confirmationWhether pallet fork completes picking.
Staff can be directly determined by handheld terminal to picking position position, or can pass through handheld terminalReceive server terminal determine to picking position information.Staff operates intelligent forklift 102 and runs to the position to picking position,Pallet fork is operated again to be deep on picking position.As previously mentioned, judging to whether there is on pallet fork has cargo that can pass through pressure sensingDevice judged, pressure sensor signal show pressure sensor be never pressed pressed by other objects when, can be trueIt orders goods to pitch and completes picking, there are cargos on pallet fork.
Step S108 confirms that the cargo on the pallet fork is according to the goods information of cargo on pallet fork described after the completion of pickingNo is described to picking object.
In warehouse storing process, it may be placed with multiple groups cargo on a goods yard, it, can during carrying out Cargo ClaimIt only can need to take out a cargo on a goods yard, other cargos on the goods yard do not need to take out.But since cargo entersDuring library, it is likely on the position that cannot directly take away to picking object, needs first to move other cargos on goods yardIt moves, then acted to the extraction of picking object.
When carrying out picking, the cargo that intelligent forklift 102 extracts for the first time be possible to be not it is final need to extract toPicking object.Therefore, on pallet fork has been determined there are the cargo for when cargo, needing first to determine on pallet fork whether be to picking object,Staff can get the goods information of the cargo on pallet fork by operating handheld terminal.Handheld terminal can be carried out directlyWhether cargo on pallet fork is that goods information can be sent to server terminal by judgement or handheld terminal to picking object,Determined by server terminal.
Step S109, if cargo on the pallet fork be it is non-to picking object, monitor the pressure sensor signal of the pallet fork, work as basisThe pressure sensor signal of the pallet fork shows described non-when picking object is laid down, and records the non-goods being laid down to picking objectPosition.
If it is determined that the cargo on pallet fork be not to picking object, it is as non-to picking object, show that intelligent forklift 102 does not fillIt is loaded with correctly to picking object, intelligent forklift 102 needs first by non-after picking object is put down, then extracts to picking object, i.e., this timeBehavior is to move goods behavior.Non- to be carried out warehouse to picking object in moving goods behavior, the non-position to picking object is movedIt is to more easily extract to picking object.And if staff operate intelligent forklift 102 moved it is non-to picking object, in turnNon- put to picking object is not returned into original position, then recorded in warehouse management system 10 with non-to the corresponding goods yard information of picking objectJust and there is deviation in the non-physical location to picking object.
Therefore, it is being determined that it is non-after picking object that pallet fork is extracted in the embodiment of the present application, also further monitoring pallet forkOn pressure sensor signal.Non- when picking object is laid down, non-goods yard information when picking object is laid down is recorded.
Meanwhile this method further include:
Step S110, if cargo on the pallet fork be it is non-generate prompt information to picking object, with prompt by it is described it is non-toThe playback of picking object.
In order to prompt staff to return original position to picking object hair for non-in time, prompt can be directly generated by handheld terminalInformation or server terminal are sent to handheld terminal after prompt information can be generated, so that know to need will be non-by staffFormer goods yard is put back to picking object, avoids the confusion of goods yard record.
In the embodiment of the present application, staff's operation intelligent forklift 102 needs to drive to target goods yard progress cargoIn-stockroom operation can carry out the navigation in target goods yard in the process of moving according to generalized information system and UWB positioning system 10.This methodIt is further comprising the steps of.
Step S111 generates prompt information if the goods yard that pallet fork operation reaches is not the target goods yard, with promptThe intelligent forklift 102.
As previously mentioned, can judge the physical location of pallet fork by generalized information system, it is deep into a certain range of goods yard in pallet forkAfterwards, it determines that pallet fork reaches the goods yard, that is, determines that intelligent forklift 102 reaches the goods yard.But in actual use, work peopleMember is likely to reach the goods yard of mistake, therefore, after determining that pallet fork reaches a certain goods yard, can determine what pallet fork reached againWhether goods yard is target goods yard, and can generate prompt information when current goods yard is not target goods yard, so as to staff andWhen understand goods yard error message.
In picking mode, as shown in figure 4, this method is further comprising the steps of.
Step S112, if the cargo on the pallet fork is described to picking object, according to the position information confirming of the pallet forkWhether the pallet fork leaves described to picking position.
Step S113 is released described to picking object and described to picking position when the pallet fork leaves described to picking positionCorresponding relationship.
Loaded when taking goods movement in pallet fork, pallet fork can it is slowly moving go out range to picking position, transported in pallet forkWhen row is to other than picking position, can be considered as intelligent forklift 102 will be taken away to picking object to picking position, at this point, warehouseManagement system 10 can release the binding relationship to picking object and to picking position having built up, and can establish to picking objectBinding relationship with intelligent forklift 102 is to complete picking process.
In conclusion by the way that pressure sensor is arranged on the pallet fork of intelligent forklift 102 in the embodiment of the present application, it can be trueDetermine whether intelligent forklift 102 is mounted with cargo, and can determine the physical location of pallet fork, and can under the auxiliary of positioning systemTo determine opportunity that cargo is laid down from pallet fork according to pressure sensor signal, so that goods yard information when cargo is put down is recorded,It is corresponding with goods yard to complete cargo.The warehouse management method can quickly record goods yard information when cargo is put down, and reduceThe work flow of staff improves storehouse management efficiency.
The present invention also provides a kind of warehouse management system 10, which includes UWB positioning system 10, intelligenceCan fork truck 102 and background terminal 103, position label configured with UWB on the intelligent forklift 102, the UWB positioning label is used forConfirm the location information of the intelligent forklift 102；At least one pressure sensing is configured on the pallet fork of the intelligent forklift 102Device, the pressure sensor are used for when being placed with cargo on the pallet fork or cargo is laid down, and generate pressure sensor signal,The warehouse management system 10 further include:
Signal confirmation module, for confirming whether be placed with target goods on the pallet fork according to the pressure sensor signalObject；
Goods yard confirmation module, for being believed according to the cargo of the target goods when being placed with target goods on the pallet forkBreath, obtains the target goods yard of the target goods；
Whether location confirmation module runs to the target for the pallet fork according to the position information confirming of the pallet forkWithin the scope of goods yard；
The signal confirmation module is also used to run when the pallet fork to the target goods yard, monitors the pallet forkPressure sensor signal, confirm whether the target goods are laid down；
Processing module, for running when the pallet fork to the target goods yard, and the target goods are laid down, and establish instituteState the corresponding relationship of target goods Yu the target goods yard.
Further, the intelligent forklift 102 includes storage mode and picking mode, in picking mode, the warehouse pipeReason system 10 is also used to:
It receives to picking object to picking position information；
When the pallet fork is run to goods yard, the pressure sensor signal of the pallet fork is monitored, whether confirms the pallet forkComplete picking；
According to the goods information of cargo on pallet fork described after the completion of picking, confirm the cargo on the pallet fork whether be it is described toPicking object；
If cargo on the pallet fork be it is non-to picking object, the pressure sensor signal of the pallet fork is monitored, when according to the pallet forkPressure sensor signal shows described non-when picking object is laid down, and records the non-goods yard being laid down to picking object.
Further, which is also used to:
If cargo on the pallet fork be it is non-generate prompt information to picking object, non-returned to picking object with prompt by describedPosition.
Further, which is also used to:
If the goods yard that the pallet fork operation reaches is not the target goods yard, prompt information is generated, to prompt the intelligenceFork truck 102.
Further, which is also used to:
If the cargo on the pallet fork is described to picking object, it is according to pallet fork described in the position information confirming of the pallet forkIt is no leave it is described to picking position；
To picking position described in being left when the pallet fork, release described to picking object and the corresponding relationship to picking position.
In addition, each functional module in each embodiment of the present invention can integrate one independent portion of formation togetherPoint, it is also possible to modules individualism, an independent part can also be integrated to form with two or more modules.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function moduleIt is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other wordsThe part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meterCalculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be aPeople's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are depositedThe various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.It needsIllustrate, herein, relational terms such as first and second and the like be used merely to by an entity or operation withAnother entity or operation distinguish, and without necessarily requiring or implying between these entities or operation, there are any this realitiesThe relationship or sequence on border.Moreover, the terms "include", "comprise" or its any other variant are intended to the packet of nonexcludabilityContain, so that the process, method, article or equipment for including a series of elements not only includes those elements, but also includingOther elements that are not explicitly listed, or further include for elements inherent to such a process, method, article, or device.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including the elementProcess, method, article or equipment in there is also other identical elements.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this fieldFor art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repairChange, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.It should also be noted that similar label and letter existSimilar terms are indicated in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, are then not required in subsequent attached drawingIt is further defined and explained.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, anyThose familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all containLid is within protection scope of the present invention.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.