CN116142678A - Automatic warehouse-in and warehouse-out method, freight car and storage medium - Google Patents
Automatic warehouse-in and warehouse-out method, freight car and storage mediumDownload PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
- B65G1/1375—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning stacker-crane or truck
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0233—Position of the article
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
- B65G2203/0283—Position of the load carrier
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明涉及物流管理技术领域，尤其涉及自动化出入库方法、运货车及存储介质。The invention relates to the technical field of logistics management, in particular to an automatic storage-in-out method, a truck and a storage medium.
背景技术Background technique
随着仓储物流业的发展，目前，在有人驾驶运货车中，使用人工记录的方法，需要员工手动记录每次运送货物的货物信息和货物的位置信息，由于需要员工需要运货的同时进行人工记录，导致仓库出入库效率降低和仓库记录数据错误率较高。With the development of the warehousing and logistics industry, at present, in manned trucks, the method of manual recording is used, and employees are required to manually record the cargo information and location information of the cargo each time. Records, resulting in lower efficiency of warehouse entry and exit and high error rate of warehouse record data.
上述内容仅用于辅助理解本发明的技术方案，并不代表承认上述内容是现有技术。The above content is only used to assist in understanding the technical solution of the present invention, and does not mean that the above content is admitted as prior art.
发明内容Contents of the invention
本发明的主要目的在于提供一种自动化出入库方法、运货车及存储介质，旨在提高仓库出入库效率和降低仓库记录数据错误率。The main purpose of the present invention is to provide an automatic warehouse entry and exit method, a truck and a storage medium, aiming at improving the efficiency of warehouse entry and exit and reducing the error rate of warehouse record data.
为实现上述目的，本发明提供一种自动化出入库方法，应用于有人驾驶的运货车，所述运货车设置第一检测模块，所述自动化出入库方法包括以下步骤：In order to achieve the above object, the present invention provides an automated warehouse-in and out method, which is applied to a manned truck, and the truck is provided with a first detection module, and the automated warehouse-in and out method includes the following steps:
在所述运货车执行目标货物对应的运货任务的过程中，获取所述第一检测模块的第一检测数据；Acquiring the first detection data of the first detection module during the process of the freight truck performing the cargo delivery task corresponding to the target cargo;
根据所述第一检测数据确定所述运货车的位置信息和所述运货车上作业臂的高度信息；determining the position information of the truck and the height information of the operating arm on the truck according to the first detection data;
根据所述位置信息和所述高度信息确定所述目标货物的第一货位信息；determining the first location information of the target cargo according to the location information and the height information;
根据所述第一货位信息执行所述运货任务对应的自动化出入库操作。Execute the automated warehouse-in and out-of-warehouse operation corresponding to the cargo delivery task according to the first cargo location information.
可选地，所述根据所述第一货位信息执行所述运货任务对应的自动化出入库操作的步骤包括：Optionally, the step of executing the automated warehouse-in and out-of-warehouse operation corresponding to the cargo task according to the first cargo location information includes:
当所述运货任务为货物出库时，获取自动化出入库系统中所述目标货物的货物信息绑定的第二货位信息；When the cargo delivery task is goods out of the warehouse, obtain the second location information bound to the cargo information of the target goods in the automated warehouse in and out system;
当所述第一货位信息与所述第二货位信息相同时，确定所述目标货物允许出库并输出对应的第一提示信息；When the first cargo location information is the same as the second cargo location information, determine that the target cargo is allowed to leave the warehouse and output corresponding first prompt information;
当所述第一货位信息与所述第二货位信息不相同时，确定所述目标货物不允许出库并输出对应的第二提示信息。When the first cargo location information is different from the second cargo location information, it is determined that the target cargo is not allowed to leave the warehouse and a corresponding second prompt message is output.
可选地，所述根据所述第一货位信息执行所述运货任务对应的自动化出入库操作的步骤包括：Optionally, the step of executing the automated warehouse-in and out-of-warehouse operation corresponding to the cargo task according to the first cargo location information includes:
当所述运货任务为货物入库时，绑定所述第一货位信息与所述目标货物的货物信息，并保存至自动化出入库系统。When the cargo delivery task is cargo storage, bind the information of the first cargo location with the cargo information of the target cargo, and save it to the automated warehouse storage system.
可选地，所述运货车还包括承载装置，所述承载装置用于承载货物，所述承载装置上设置第二检测模块，所述自动化出入库方法包括：Optionally, the truck also includes a carrying device, the carrying device is used to carry goods, the carrying device is provided with a second detection module, and the automated warehouse entry and exit method includes:
在所述运货车执行目标货物对应的运货任务的过程中，获取所述第二检测模块的第二检测数据；Acquiring second detection data of the second detection module during the process of the truck carrying out the cargo delivery task corresponding to the target cargo;
根据所述第二检测数据确定所述承载装置的状态信息；determining state information of the carrying device according to the second detection data;
当所述运货任务为货物出库，且，所述状态信息为所述承载装置未运载货物变为运载货物时，执行所述获取所述第一检测模块的第一检测数据的步骤；When the cargo delivery task is goods out of the warehouse, and the status information is that the carrying device does not carry goods but changes to carry goods, the step of acquiring the first detection data of the first detection module is performed;
当所述运货任务为货物入库，且，所述状态信息为所述承载装置运载货物变为未运载货物时，执行所述获取所述第一检测模块的第一检测数据的步骤。When the cargo delivery task is cargo warehousing, and the status information is that the cargo carried by the carrying device changes to no cargo carried, the step of acquiring the first detection data of the first detection module is performed.
可选地，所述第二检测模块包括红外线感应装置和/或重量感应装置。Optionally, the second detection module includes an infrared sensing device and/or a weight sensing device.
可选地，所述自动化出入库操作对应的仓库内存储多个货物，所述在所述运货车执行目标货物对应的运货任务的过程中，获取所述第一检测模块的第一检测数据的步骤之前，还包括：Optionally, a plurality of goods are stored in the warehouse corresponding to the automated warehouse entry and exit operation, and the first detection data of the first detection module is acquired during the process of the delivery truck performing the delivery task corresponding to the target goods Before the steps, also include:
获取所述运货车的第一震动信息，基于所述货物与所述运货车之间的通信连接获取对应所述货物的第二震动信息，所述第二震动信息为对应所述货物上的传感器检测；Acquiring the first vibration information of the cargo vehicle, and acquiring the second vibration information corresponding to the cargo based on the communication connection between the cargo and the cargo truck, the second vibration information is corresponding to the sensor on the cargo detection;
当所述第二震动信息与所述第一震动信息匹配时，确定对应的所述货物为所述目标货物。When the second vibration information matches the first vibration information, it is determined that the corresponding item is the target item.
可选地，所述通信连接为所述货物发生移动或震动时与所述运货车建立的无线通信连接；Optionally, the communication connection is a wireless communication connection established with the truck when the cargo moves or vibrates;
且/或，所述当所述第二震动信息与所述第一震动信息匹配时，确定对应的所述货物为所述目标货物的步骤包括：And/or, when the second vibration information matches the first vibration information, the step of determining the corresponding cargo as the target cargo includes:
当获取到多于一个所述第二震动信息时，根据每个所述第二震动信息对应的货物与所述运货车之间的通信信号强度之间的大小关系对对应的多于一个货物进行排序，获得排序结果；When more than one piece of the second vibration information is acquired, the corresponding more than one piece of goods is carried out according to the size relationship between the goods corresponding to each of the second vibration information and the communication signal strength between the truck. Sorting, get the sorting results;
将多于一个所述第二震动信息根据所述排序结果依次与所述第一震动信息比较，确定与所述第一震动信息匹配的所述第二震动信息对应的所述货物为所述目标货物。comparing more than one second vibration information with the first vibration information in sequence according to the sorting result, and determining that the goods corresponding to the second vibration information matching the first vibration information are the targets goods.
可选地，所述第一检测模块包括激光雷达和设于所述作业臂的测距模块，所述根据所述第一检测数据确定所述运货车的位置信息和所述运货车上作业臂的高度信息的步骤包括：Optionally, the first detection module includes a laser radar and a ranging module provided on the operating arm, and the position information of the truck and the operating arm on the truck are determined according to the first detection data. The height information steps include:
根据所述激光雷达检测的数据确定所述运货车的位置信息，根据所述测距模块检测的数据确定所述高度信息；determining the position information of the truck according to the data detected by the laser radar, and determining the height information according to the data detected by the ranging module;
所述根据所述位置信息和所述高度信息确定所述目标货物的第一货位信息的步骤包括：The step of determining the first location information of the target cargo according to the position information and the height information includes:
根据所述位置信息和所述运货车所在仓库的库位地图确定库位位置；Determining the location of the location according to the location information and the location map of the warehouse where the truck is located;
根据所述高度信息和所述库位位置确定所述第一货位信息。The first location information is determined according to the height information and the location location.
此外，为实现上述目的，本发明还提供一种运货车，所述运货车包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的自动化出入库程序，所述自动化出入库程序配置为实现上述任一项所述的自动化出入库方法的步骤。In addition, in order to achieve the above object, the present invention also provides a truck, which includes: a memory, a processor, and an automatic warehouse-in and out program stored on the memory and operable on the processor. The automatic warehouse-in and out program is configured to realize the steps of any one of the above-mentioned automatic warehouse-in and out methods.
此外，为实现上述目的，本发明还提供一种存储介质，所述存储介质上存储有自动化出入库程序，所述自动化出入库程序被处理器执行时实现上述任一项所述的自动化出入库方法的步骤。In addition, in order to achieve the above object, the present invention also provides a storage medium, on which an automatic warehouse-in and out program is stored, and when the automatic warehouse-in and out-out program is executed by a processor, the automatic warehouse-in and out-of-warehouse described in any one of the above can be realized. method steps.
本发明提出一种自动化出入库方法，该自动化出入库方法应用于运货车，所述运货车设置第一检测模块，所述自动化出入库方法包括以下步骤：在所述运货车执行目标货物对应的运货任务的过程中，获取所述第一检测模块的第一检测数据；根据所述第一检测数据确定所述运货车的位置信息和所述运货车上作业臂的高度信息；根据所述位置信息和所述高度信息确定所述目标货物的第一货位信息；根据所述第一货位信息执行所述运货任务对应的自动化出入库操作。相比于目前的人工记录的方法，通过检测模块检测的第一检测数据，确定位置信息和高度信息，可以确定叉车在执行运货任务中的所处的位置和作业臂的高度，从而知道物品具体的放置的货位的位置，并可以执行运货任务对应的自动化出入库操作，避免了员工需要进行出入库记录等管理仓库的事务，从而提高仓库出入库效率和降低仓库记录数据错误率。The present invention proposes an automated warehouse-in and out method, which is applied to a truck, and the truck is provided with a first detection module, and the automated warehouse-in and out method includes the following steps: performing a process corresponding to the target cargo on the truck During the process of the cargo delivery task, the first detection data of the first detection module is obtained; the position information of the truck and the height information of the operating arm on the truck are determined according to the first detection data; according to the The location information and the height information determine the first location information of the target cargo; and execute the automatic warehouse-in and out-of-warehouse operation corresponding to the cargo task according to the first location information. Compared with the current manual recording method, the location information and height information can be determined through the first detection data detected by the detection module, and the position of the forklift and the height of the operating arm during the delivery task can be determined, so as to know the item The location of the specific storage space can be specified, and the automatic inbound and outbound operations corresponding to the cargo transportation tasks can be performed, which avoids the need for employees to perform inbound and outbound records and other management affairs of the warehouse, thereby improving the efficiency of warehouse inbound and outbound and reducing the error rate of warehouse record data.
附图说明Description of drawings
图1是本发明实施例方案涉及的硬件运行环境的运货车的结构示意图；Fig. 1 is a schematic structural diagram of a truck in the hardware operating environment involved in the solution of the embodiment of the present invention;
图2为本发明自动化出入库方法第一实施例的流程示意图；Fig. 2 is the schematic flow chart of the first embodiment of the automated storage and storage method of the present invention;
图3为本发明自动化出入库方法第二实施例的流程示意图；Fig. 3 is the schematic flow chart of the second embodiment of the automated storage and storage method of the present invention;
图4为本发明自动化出入库方法第五实施例的流程示意图；Fig. 4 is the schematic flow chart of the fifth embodiment of the automated storage and storage method of the present invention;
本发明目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。The realization of the purpose of the present invention, functional characteristics and advantages will be further described in conjunction with the embodiments and with reference to the accompanying drawings.
具体实施方式Detailed ways
应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
参照图1，图1为本发明实施例方案涉及的硬件运行环境的运货车1设备结构示意图。Referring to FIG. 1 , FIG. 1 is a schematic diagram of the equipment structure of the
如图1所示，该运货车1可以包括：第一检测模块11、控制装置20，控制装置2可以为工控机和电脑终端。第一检测模块11和控制装置20连接。所述控制装置20包括：处理器201，例如中央处理器(Central Processing Unit，CPU)，通信总线202、用户接口203，存储器204。其中，通信总线203用于实现这些组件之间的连接通信。用户接口203可以包括显示屏(Display)、输入单元比如键盘(Keyboard)，可选用户接口203还可以包括标准的有线接口、无线接口。存储器204可以是高速的随机存取存储器(Random Access Memory，RAM)存储器，也可以是稳定的非易失性存储器(Non-Volatile Memory，NVM)，例如磁盘存储器。存储器204可选的还可以是独立于前述处理器201的存储装置。As shown in FIG. 1 , the
本领域技术人员可以理解，图1中示出的结构并不构成对运货车1的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置。Those skilled in the art can understand that the structure shown in Fig. 1 does not constitute a limitation to the
如图1所示，作为一种存储介质的存储器204中可以包括操作系统、数据存储模块、网络通信模块、用户接口模块以及自动化出入库程序。As shown in FIG. 1 , the
在图1所示的运货车1中，用户接口203主要用于与用户进行交互，例如发送提示信息、接收用户输入信息；本发明自动化出入库设备中的处理器201、存储器204可以设置在自动化出入库设备中，所述运货车1通过处理器201调用存储器204中存储的自动化出入库程序，并执行本发明实施例提供的自动化出入库方法。In the
进一步的，第一检测模块11包括：激光雷达和测距模块，所述测距模块设置于所述作业臂，这里作业臂可以为叉臂、吊臂、伸缩臂等。Further, the first detection module 11 includes: a laser radar and a ranging module, and the ranging module is arranged on the working arm, where the working arm may be a fork arm, a boom, a telescopic arm, and the like.
进一步的，运货车1还包括第二检测模块，所述地二检测模块包括红外线感应装置和重量感应装置中的至少一种。第二检测模块可以判断叉取所述货物或货物的托盘，还可以判断放下所述货物或货物的托盘。Further, the
进一步的，运货车1还包括：加速度传感器和通信模块，这里的通讯模块可以是蓝牙通信模块也可以是WIFI通信模块，运货车1通过所述通信模块与货物连接进行无线通讯。这里的加速度传感器用于检测运货车1的第一震动信息。Further, the
本发明实施例提供了一种自动化出入库方法，参照图2，图2为本发明一种自动化出入库方法第一实施例的流程示意图。An embodiment of the present invention provides an automated warehouse entry and exit method. Referring to FIG. 2 , FIG. 2 is a schematic flowchart of a first embodiment of an automated warehouse entry and exit method according to the present invention.
本实施例中，所述自动化出入库方法包括：In this embodiment, the described automated warehouse-in and out-of-warehouse method includes:
步骤S10，在所述运货车执行目标货物对应的运货任务的过程中，获取所述第一检测模块的第一检测数据；Step S10, acquiring the first detection data of the first detection module during the process of carrying out the delivery task corresponding to the target cargo by the delivery vehicle;
这里的运货车可以为叉车，吊车等有人驾驶的可运送货物的车辆。这里的运货任务由后台人员预先确定，在驾驶者可以根据运货任务控制运货车运送所述目标货物。这里的第一检测模块可以由一种或多种的传感器组成，其中第一检测模块可以包括激光雷达和设于所述作业臂的测距模块。具体地，驾驶员根据设置在运货车上的显示器，确定需要运送的目标货物及对应货运任务，并控制运货车叉取货物，运送货物，以及将货物放置在货位上或仓库外。在上述过程中所述第一模块可以持续检测第一检测数据，也可以在识别到驾驶员控制运货车的指令后检测第一检测数据，也可以在驾驶员输入检测指令检测第一检测数据。当第一检测模块中的传感器数量多于一个时，各个传感器之间采集的采集数据的时间差要小于预设采集时间。The trucks here can be manned vehicles such as forklifts and cranes that can deliver goods. Here, the delivery task is predetermined by the background personnel, and the driver can control the delivery vehicle to deliver the target goods according to the delivery task. The first detection module here may be composed of one or more types of sensors, wherein the first detection module may include a laser radar and a ranging module provided on the working arm. Specifically, the driver determines the target goods to be transported and the corresponding freight tasks according to the display set on the truck, and controls the truck to fork the goods, transport the goods, and place the goods on the cargo space or outside the warehouse. In the above process, the first module may continuously detect the first detection data, or detect the first detection data after recognizing the driver's instruction to control the truck, or detect the first detection data after the driver inputs the detection instruction. When the number of sensors in the first detection module is more than one, the time difference of the collected data collected by the sensors should be smaller than the preset collection time.
步骤S20，根据所述第一检测数据确定所述运货车的位置信息和所述运货车上作业臂的高度信息；Step S20, determining the position information of the truck and the height information of the working arm on the truck according to the first detection data;
这里的位置信息可以是运货车在仓库中的位置信息。这里的作业臂具体可以是叉车的叉臂，吊车的吊臂等。当检测到第一检测数据时，根据第一检测数据确定当前运货车的位置信息以及当前货车上作业臂的高度信息。The location information here may be the location information of the delivery truck in the warehouse. The operating arm here may specifically be a fork arm of a forklift, a boom of a crane, or the like. When the first detection data is detected, the current location information of the truck and the current height information of the operating arm on the truck are determined according to the first detection data.
步骤S30，根据所述位置信息和所述高度信息确定所述目标货物的第一货位信息；Step S30, determining the first location information of the target cargo according to the position information and the height information;
这里的第一货位信息指目标货物在仓库内放置的实际位置，具体的可以包括目标货物放置的目标货架，以及目标货架上具体的高度。可选地，确定与所述位置信息相邻的货架为目标货架，根据货车上作业臂的高度信息可以确定货物被提起的高度，可以根据高度信息和对应的映射表格确定目标货架上具体的高度，例如高度信息为1米时，目标货架上具体的高度为0.5米，高度信息为1.5米时，目标货架上具体的高度为1米。The first location information here refers to the actual location where the target goods are placed in the warehouse, and specifically may include a target shelf where the target goods are placed, and a specific height on the target shelf. Optionally, the shelf adjacent to the position information is determined as the target shelf, the height at which the goods are lifted can be determined according to the height information of the operating arm on the truck, and the specific height on the target shelf can be determined according to the height information and the corresponding mapping table , for example, when the height information is 1 meter, the specific height on the target shelf is 0.5 meters, and when the height information is 1.5 meters, the specific height on the target shelf is 1 meter.
步骤S40，根据所述第一货位信息执行所述运货任务对应的自动化出入库操作。Step S40, executing the automated warehouse-in and out-of-warehouse operation corresponding to the shipping task according to the first cargo location information.
这里的运货任务可以是货物出库和货物入库，根据第一货位信息执行所述运货任务对应的自动化出入库操作。具体地，根据第一货位信息校验仓库数据库记录的数据是否正确，当货物入库时，还可以根据第一货位信息确定货物是否适合放置在第一货位信息对应的货位上，并向驾驶员发送提示建议。The cargo delivery task here may be goods out of warehouse and goods into warehouse, and the automatic warehouse in and out operation corresponding to the cargo transportation task is executed according to the information of the first cargo location. Specifically, check whether the data recorded in the warehouse database is correct according to the first cargo location information, and determine whether the goods are suitable for placing on the cargo location corresponding to the first cargo location information according to the first cargo location information when the goods are put into the warehouse, And send tips and suggestions to the driver.
在本实施例中，相比于目前的人工记录的方法，通过检测模块检测的第一检测数据，确定位置信息和高度信息，可以确定叉车在执行运货任务中的所处的位置和作业臂的高度，从而知道物品具体的放置的货位的位置，并可以执行运货任务对应的自动化出入库操作，避免了员工需要进行出入库记录等管理仓库的事务，从而提高仓库出入库效率和降低仓库记录数据错误率。In this embodiment, compared with the current manual recording method, the first detection data detected by the detection module is used to determine the position information and height information, so as to determine the position and operating arm of the forklift during the delivery task. height, so as to know the location of the specific storage space of the item, and can perform the automatic warehouse entry and exit operation corresponding to the delivery task, avoiding the need for employees to carry out warehouse management affairs such as warehouse entry and exit records, thereby improving the efficiency of warehouse entry and exit and reducing Warehouse record data error rate.
进一步的，基于第一实施例，提出本发明自动化出入库方法的第二实施例，在本实施例中，参照图3，所述根据所述第一货位信息执行所述运货任务对应的自动化出入库操作包括：Further, based on the first embodiment, a second embodiment of the automatic storage-in and out-of-warehouse method of the present invention is proposed. In this embodiment, referring to FIG. Automated inbound and outbound operations include:
步骤S41，当所述运货任务为货物出库时，获取自动化出入库系统中所述目标货物的货物信息绑定的第二货位信息；Step S41, when the delivery task is goods out of the warehouse, obtain the second cargo location information bound to the cargo information of the target goods in the automated warehouse-in and out-of-warehouse system;
这里的第二货位信息是指在自动化出入库系统中存储的所述目标货物的货物信息。The second location information here refers to the cargo information of the target cargo stored in the automated warehouse-in/out system.
步骤S42，当所述第一货位信息与所述第二货位信息相同时，确定所述目标货物允许出库并输出对应的第一提示信息；Step S42, when the first cargo location information is the same as the second cargo location information, determine that the target cargo is allowed to leave the warehouse and output the corresponding first prompt information;
具体地，当所述第一货位信息与所述第二货位信息相同时，可以向运货车的驾驶员发出允许出库的提示声音或提示标识。Specifically, when the information on the first cargo location is the same as the information on the second cargo location, a prompting sound or a prompting sign of permission to leave the warehouse may be issued to the driver of the truck.
步骤S43，当所述第一货位信息与所述第二货位信息不相同时，确定所述目标货物不允许出库并输出对应的第二提示信息。Step S43, when the first cargo location information is different from the second cargo location information, determine that the target cargo is not allowed to leave the warehouse and output a corresponding second prompt message.
具体地，当所述第一货位信息与所述第二货位信息不相同时，或测的驾驶员发出不允许出库的提示声音或提示标识。此外，在发出第二提示信息之后，还需要提示进行人工核对货物信息。使货物完成人工核对，在核对完成后，接收核对后的位置信息。在其他实施例中，还可以设置具有验证功能门禁，当门禁接收到目标货物的门禁通行信息时，根据运货任务提示允许出库或禁止出库等信息，并确定所述第一货位信息对应的货位可用。Specifically, when the information on the first cargo location is different from the information on the second cargo location, or the driver of the test sends a prompt sound or a prompt sign that no exit from the warehouse is allowed. In addition, after sending out the second prompt information, it is also necessary to prompt to manually check the cargo information. The goods are manually checked, and after the check is completed, the checked location information is received. In other embodiments, access control with a verification function can also be set. When the access control receives the access control information of the target cargo, it will prompt information such as allowing or prohibiting output from the warehouse according to the cargo task, and determine the information of the first cargo location. The corresponding slots are available.
在本实施例中，通过所述第一货位信息与所述第二货位信息的比对，从而减少了出库过程中对货物的人工校验的步骤，从而提高了所述仓库出库的效率，并降低了仓库记录数据错误率。In this embodiment, through the comparison of the first cargo location information and the second cargo location information, the steps of manual verification of the goods during the outbound process are reduced, thereby improving the efficiency of the warehouse outbound process. The efficiency, and reduce the warehouse record data error rate.
进一步的，基于上述任一实施例，提出本发明自动化出入库方法的第三实施例，在本实施例中，所述根据所述第一货位信息执行所述运货任务对应的自动化出入库操作的步骤包括：Further, based on any of the above-mentioned embodiments, a third embodiment of the automated warehouse entry and exit method of the present invention is proposed. In this embodiment, the automatic warehouse entry and exit corresponding to the cargo delivery task is executed according to the first cargo location information. The steps to operate include:
当所述运货任务为货物入库时，绑定所述第一货位信息与所述目标货物的货物信息，并保存至自动化出入库系统。When the cargo delivery task is cargo storage, bind the information of the first cargo location with the cargo information of the target cargo, and save it to the automated warehouse storage system.
这里的货物信息包括：货物的标识、入库时间、货物大小、货物重量等。第一货位信息与所述目标货物的货物信息绑定后，将第一货位信息与所述目标货物的货物信息一同保存至自动化出入库系统。当所述运货任务为货物出库时，所述第二货位信息可以为本实施例中保存至自动化出入库系统的第一货位信息。在其他实施例中，根据第一货位信息对应的货位的属性信息与货物信息进行比对，确定目标货物能否储存在第一货位信息对应的货位上，具体地，属性信息包括最大承重、允许存放类型等，当货物信息中的重量信息小于属性信息的最大承重，且货物信息中物品类型与所述允许存放类型相同时，确定目标货物能储存在第一货位信息对应的货位上。The cargo information here includes: cargo identification, storage time, cargo size, cargo weight, etc. After the first cargo location information is bound with the cargo information of the target cargo, the first cargo location information and the cargo information of the target cargo are stored together in the automated warehouse entry and exit system. When the cargo delivery task is goods out of the warehouse, the second cargo location information may be the first cargo location information saved to the automated storage-in and out-of-warehouse system in this embodiment. In other embodiments, according to the attribute information of the cargo location corresponding to the first cargo location information, it is compared with the cargo information to determine whether the target cargo can be stored in the cargo location corresponding to the first cargo location information. Specifically, the attribute information includes Maximum load-bearing capacity, allowed storage type, etc., when the weight information in the cargo information is less than the maximum load-bearing capacity of the attribute information, and the item type in the cargo information is the same as the allowed storage type, determine that the target cargo can be stored in the first location information corresponding on the shelf.
在本实施例中，将第一货位信息与所述目标货物的货物信息绑定并保存至自动化出入库系统，可以避免人工将第一货位信息手动输入到自动化出入库系统导致的效率较低的问题，并且避免了在记录过程中出现的记录数据错误的情况，从而降低了仓库记录数据错误率。In this embodiment, the first cargo location information is bound to the cargo information of the target cargo and stored in the automated warehouse entry and exit system, which can avoid the inefficiency caused by manually inputting the first cargo location information into the automated warehouse entry and exit system. Low problem, and avoid the record data error in the recording process, thereby reducing the warehouse record data error rate.
进一步的，基于上述任一实施例，提出本发明自动化出入库方法的第四实施例，在本实施例中，所述运货车还包括承载装置，所述承载装置用于承载货物，所述承载装置上设置第二检测模块，所述自动化出入库方法包括：在所述运货车执行目标货物对应的运货任务的过程中，获取所述第二检测模块的第二检测数据；Further, based on any one of the above-mentioned embodiments, a fourth embodiment of the automatic warehouse entry and exit method of the present invention is proposed. In this embodiment, the truck further includes a carrying device, the carrying device is used to carry goods, and the carrying A second detection module is set on the device, and the automated warehouse entry and exit method includes: acquiring the second detection data of the second detection module during the process of the truck carrying out the delivery task corresponding to the target cargo;
根据所述第二检测数据确定所述承载装置的状态信息；determining state information of the carrying device according to the second detection data;
当所述运货任务为货物出库，且，所述状态信息为所述承载装置未运载货物变为运载货物时，执行所述获取所述第一检测模块的第一检测数据的步骤；When the cargo delivery task is goods out of the warehouse, and the status information is that the carrying device does not carry goods but changes to carry goods, the step of acquiring the first detection data of the first detection module is performed;
当所述运货任务为货物入库，且，所述状态信息为所述承载装置运载货物变为未运载货物时，执行所述获取所述第一检测模块的第一检测数据的步骤。When the cargo delivery task is cargo warehousing, and the status information is that the cargo carried by the carrying device changes to no cargo carried, the step of acquiring the first detection data of the first detection module is performed.
这里的承载装置可以是叉头、挂钩等承载货物的装置，这里的第二检测模块用于检测承载装置上货物的信息，其中，根据第二检测数据的变化情况确定所述承载装置的状态信息。当所述运货任务为货物出库，且，所述状态信息为所述承载装置未运载货物变为运载货物时，确定当前为开始承载所述货物的位置，进而获取所述检测模块的第一检测数据。当所述运货任务为货物入库，且，所述状态信息为所述承载装置运载货物变为未运载货物时，确定当前为放置货物的位置，进而获取所述检测模块的第一检测数据。在其他实施例中，获取所述第一检测模块的第一预检测数据，并发送至运货车驾驶者，当接收到驾驶者的确定指令后，将所述第一预检测数据作为所述第一检测数据。The carrying device here may be a device for carrying goods such as forks and hooks, and the second detection module here is used to detect the information of the goods on the carrying device, wherein the state information of the carrying device is determined according to the change of the second detection data . When the cargo delivery task is goods out of the warehouse, and the status information is that the carrying device does not carry goods and changes to carry goods, it is determined that the current position is to start carrying the goods, and then obtain the first position of the
在本实施例中，通过所述第二检测数据确定所述承载装置的状态信息，并根据不同的运货任务和状态信息确定获取第一检测数据，可以确定获取第一检测数据可用于确定第一货位信息，避免无效地获取第一检测数据。从而提高检测的效率。In this embodiment, the state information of the carrying device is determined through the second detection data, and the acquisition of the first detection data is determined according to different shipping tasks and state information, and it can be determined that the acquisition of the first detection data can be used to determine the second detection data. A cargo location information to avoid invalid acquisition of the first detection data. Thereby improving the detection efficiency.
进一步的，所述第二检测模块包括红外线感应装置和/或重量感应装置。Further, the second detection module includes an infrared sensing device and/or a weight sensing device.
具体地，红外线感应装置可以检测到红外线感应数据，当红外线感应数据由未遮挡的第一红外数据变为遮挡的第二红外数据时，确定所述状态信息为所述承载装置未运载货物变为运载货物。当红外线感应数据由遮挡的第二红外数据变为未遮挡的第一红外数据时，确定所述状态信息为所述承载装置运载货物变为未运载货物。重量感应装置可以检测到重量数据，当重量数据由第一数值变为高于第一数值时，确定所述状态信息为所述承载装置未运载货物变为运载货物。当重量数据由高于第一数值变为第一数值时，确定所述状态信息为所述承载装置运载货物变为未运载货物。在其他实施例中，可以同时使用红外线感应装置和重量感应装置确定所述状态信息。Specifically, the infrared sensing device can detect the infrared sensing data, and when the infrared sensing data changes from the unblocked first infrared data to the blocked second infrared data, it is determined that the status information is that the carrying device does not carry goods. Carry goods. When the infrared sensing data changes from the blocked second infrared data to the unblocked first infrared data, it is determined that the state information is that the carrying device carries goods and does not carry goods. The weight sensing device can detect the weight data, and when the weight data changes from the first value to be higher than the first value, it is determined that the state information is that the carrying device does not carry goods but changes to carry goods. When the weight data changes from being higher than the first value to the first value, it is determined that the status information is that the carrying device carries goods and does not carry goods. In other embodiments, the infrared sensing device and the weight sensing device can be used simultaneously to determine the state information.
通过红外线感应装置或重量感应装置检测的数据，可以准确地确定承载装置上是否存在货物，从而准确地确定所述状态信息，获取准确的第一货位信息，进而降低仓库记录数据错误率。Through the data detected by the infrared sensing device or the weight sensing device, it can be accurately determined whether there is goods on the carrying device, thereby accurately determining the status information, obtaining accurate first cargo location information, and further reducing the error rate of warehouse record data.
进一步的，基于上述任一实施例，提出本发明自动化出入库方法的第五实施例，在本实施例中，如图4，所述自动化出入库操作对应的仓库内存储多个货物，所述在所述运货车执行目标货物对应的运货任务的过程中，获取所述第一检测模块的第一检测数据的步骤之前，还包括：Further, based on any of the above-mentioned embodiments, a fifth embodiment of the automated warehouse entry and exit method of the present invention is proposed. In this embodiment, as shown in FIG. 4 , multiple goods are stored in the warehouse corresponding to the automated warehouse entry and exit operation. In the process of the delivery truck performing the delivery task corresponding to the target goods, before the step of acquiring the first detection data of the first detection module, it also includes:
步骤S01，获取所述运货车的第一震动信息，基于所述货物与所述运货车之间的通信连接获取对应所述货物的第二震动信息，所述第二震动信息为对应所述货物上的传感器检测；Step S01, acquiring first vibration information of the truck, and acquiring second vibration information corresponding to the cargo based on the communication connection between the cargo and the truck, the second vibration information corresponding to the cargo on the sensor detection;
这里的通信连接可以为蓝牙通讯连接，也可以是WIFI无线连接。这里第一震动信息可以通过设置在运货车的加速度传感器检测获取。第二震动信息为对应所述货物上的加速度传感器检测，可选地，运货车的加速度传感器可以设置在承载装置，使第一震动信息和承载的货物的第二震动信息更为接近。The communication connection here may be a Bluetooth communication connection or a WIFI wireless connection. Here, the first vibration information may be detected and acquired by an acceleration sensor arranged on the truck. The second vibration information is detected by the acceleration sensor corresponding to the cargo. Optionally, the acceleration sensor of the truck can be set on the carrying device, so that the first vibration information and the second vibration information of the loaded cargo are closer.
步骤S02，当所述第二震动信息与所述第一震动信息匹配时，确定对应的所述货物为所述目标货物。Step S02, when the second vibration information matches the first vibration information, determine that the corresponding item is the target item.
当所述第二震动信息与所述第一震动信息的变化情况相同或相近时，确定当前承载的货物为所述目标货物。当所述第二震动信息与所述第一震动信息不匹配时，发出提示声音，以使驾驶员能确定当前承载的货物不是目标货物。When the variation of the second vibration information is the same as or similar to that of the first vibration information, it is determined that the currently loaded cargo is the target cargo. When the second vibration information does not match the first vibration information, a prompt sound is issued, so that the driver can determine that the currently loaded cargo is not the target cargo.
在本实施例中，通过判断第一震动信息与所述第二震动信息是否匹配，从而确定所述目标货物，避免执行运货任务时，运送的目标货物错误，从而降低仓库记录数据错误率。In this embodiment, the target goods are determined by judging whether the first vibration information matches the second vibration information, so as to avoid wrong delivery of the target goods when carrying out the delivery task, thereby reducing the error rate of warehouse record data.
进一步地，基于上述任一实施例，提出本发明自动化出入库方法的第六实施例，在本实施例中，所述通信连接为所述货物发生移动或震动时与所述运货车建立的无线通信连接。Further, based on any of the above-mentioned embodiments, a sixth embodiment of the automatic warehouse-in/out method of the present invention is proposed. In this embodiment, the communication connection is a wireless connection established with the truck when the goods move or vibrate. communication connection.
在本实施例中，当货物静置时，不与运货车建立通信连接。当所述货物发生移动或震动时，货物的通信装置建立与运货车的通信连接。In this embodiment, when the goods are at rest, no communication connection is established with the delivery vehicle. When the cargo moves or vibrates, the communication device of the cargo establishes a communication connection with the truck.
且/或，所述当所述第二震动信息与所述第一震动信息匹配时，确定对应的所述货物为所述目标货物的步骤包括：And/or, when the second vibration information matches the first vibration information, the step of determining the corresponding cargo as the target cargo includes:
当获取到多于一个所述第二震动信息时，根据每个所述第二震动信息对应的货物与所述运货车之间的通信信号强度之间的大小关系对对应的多于一个货物进行排序，获得排序结果；When more than one piece of the second vibration information is acquired, the corresponding more than one piece of goods is carried out according to the size relationship between the goods corresponding to each of the second vibration information and the communication signal strength between the truck. Sorting, get the sorting results;
将多于一个所述第二震动信息根据所述排序结果依次与所述第一震动信息比较，确定与所述第一震动信息匹配的所述第二震动信息对应的所述货物为所述目标货物。comparing more than one second vibration information with the first vibration information in sequence according to the sorting result, and determining that the goods corresponding to the second vibration information matching the first vibration information are the targets goods.
在本实施例中，多于一个货物为与运货车建立通信连接的货物，通过信号强度之间的大小关系对多于一个货物进行排序。具体地，根据信号强度按照大到小的顺序，对货物进行排序。根据排序结果依次将多于一个所述第二震动信息与所述第一震动信息比较，确定与所述第一震动信息匹配的所述第二震动信息对应的所述货物为当前运货车装载的目标货物。在其他实施例中，当货物上不存在加速度传感器时，将信号强度最大的货物作为目标货物。In this embodiment, the more than one goods are goods that have established a communication connection with the truck, and the more than one goods are sorted according to the magnitude relationship between the signal strengths. Specifically, the goods are sorted in descending order according to the signal strength. Comparing more than one second vibration information with the first vibration information sequentially according to the sorting results, and determining that the cargo corresponding to the second vibration information matching the first vibration information is currently loaded on the truck target cargo. In other embodiments, when there is no acceleration sensor on the cargo, the cargo with the highest signal strength is used as the target cargo.
在本实施例中，多于一个所述第二震动信息根据所述排序结果依次与所述第一震动信息比较，确定与所述第一震动信息匹配的所述第二震动信息对应的所述货物为所述目标货物，可减少确定目标货物的时间，从而提高了所述仓库出库入库的效率。In this embodiment, more than one second vibration information is sequentially compared with the first vibration information according to the sorting result, and it is determined that the second vibration information matching the first vibration information corresponds to the The goods are the target goods, which can reduce the time for determining the target goods, thereby improving the efficiency of the warehouse outbound and inbound.
进一步的，基于上述任一实施例，提出本发明自动化出入库方法的第七实施例，所述第一检测模块包括激光雷达和设于所述作业臂的测距模块，所述根据所述第一检测数据确定所述运货车的位置信息和所述运货车上作业臂的高度信息的步骤包括：Further, based on any of the above-mentioned embodiments, a seventh embodiment of the automatic warehouse entry and exit method of the present invention is proposed. The first detection module includes a laser radar and a ranging module provided on the operating arm. According to the first A step of detecting the position information of the truck and the height information of the operating arm on the truck includes:
根据所述激光雷达检测的数据确定所述运货车的位置信息，根据所述测距模块检测的数据确定所述高度信息；determining the position information of the truck according to the data detected by the laser radar, and determining the height information according to the data detected by the ranging module;
所述根据所述位置信息和所述高度信息确定所述目标货物的第一货位信息的步骤包括：The step of determining the first location information of the target cargo according to the position information and the height information includes:
根据所述位置信息和所述运货车所在仓库的库位地图确定库位位置；Determining the location of the location according to the location information and the location map of the warehouse where the truck is located;
根据所述高度信息和所述库位位置确定所述第一货位信息。The first location information is determined according to the height information and the location location.
在本实施例中，这里的激光雷达可以为2D激光雷达，这里的测距模块可以是激光测距模块，测量该装置与地面的高度作为高度信息，这里的库位位置是指仓库的中放置货物的货架的所在位置。这里的位置信息可以是位置的坐标，根据位置的坐标与所述库位地图确定，运货车所在的库位位置，在确定库位位置后，根据高度信息和库位位置确定所述第一货位信息。在其他实施例中，可以通过位置信息与库位的映射表确定库位信息，并根据高度信息和库位信息确定货位信息。这里的库位地图可以通过所述激光雷达扫描后，人工标注确定。In this embodiment, the laser radar here can be a 2D laser radar, and the ranging module here can be a laser ranging module, and the height between the device and the ground is measured as height information, and the location position here refers to the location in the warehouse The location of the shelf where the goods are located. The location information here may be the coordinates of the location. According to the coordinates of the location and the location map, the location of the delivery truck is determined. After the location of the location is determined, the first cargo is determined according to the height information and the location of the location. bit information. In other embodiments, the location information may be determined through a mapping table between location information and location information, and the location information may be determined according to the height information and location information. The location map here can be manually marked and determined after being scanned by the lidar.
在本实施例中，通过所述位置信息和所述运货车所在仓库的库位地图确定库位位置，并根据所述高度信息和所述库位位置确定所述第一货位信息。通过两检测装置分别确定库位位置和高度信息，可以准确地确定货物所在的第一货位信息，从而降低仓库记录数据错误率。In this embodiment, the location location is determined according to the location information and the location map of the warehouse where the truck is located, and the first location information is determined according to the height information and the location location. By determining the position and height information of the storage location respectively through the two detection devices, the information of the first storage location where the goods are located can be accurately determined, thereby reducing the error rate of warehouse record data.
此外，本发明实施例还提出一种存储介质，所述存储介质上存储有自动化出入库程序，所述自动化出入库程序被处理器执行时实现上述任一项所述的自动化出入库方法实施例的步骤。In addition, the embodiment of the present invention also proposes a storage medium, on which an automated storage and storage program is stored, and when the automatic storage and storage program is executed by a processor, the embodiment of the automatic storage and storage method described in any one of the above is realized. A step of.
需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者系统不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者系统所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者系统中还存在另外的相同要素。It should be noted that, as used herein, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or system comprising a set of elements includes not only those elements, It also includes other elements not expressly listed, or elements inherent in the process, method, article, or system. Without further limitations, an element defined by the phrase "comprising a..." does not preclude the presence of additional identical elements in the process, method, article or system comprising that element.
上述本发明实施例序号仅仅为了描述，不代表实施例的优劣。The serial numbers of the above embodiments of the present invention are for description only, and do not represent the advantages and disadvantages of the embodiments.
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在如上所述的一个存储介质(如ROM/RAM、磁碟、光盘)中，包括若干指令用以使得一台终端设备(可以是手机，计算机，服务器，或者网络设备等)执行本发明各个实施例所述的方法。Through the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware, but in many cases the former is better implementation. Based on such an understanding, the technical solution of the present invention can be embodied in the form of a software product in essence or in other words, the part that contributes to the prior art, and the computer software product is stored in a storage medium (such as ROM/RAM) as described above. , magnetic disk, optical disk), including several instructions to enable a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of the present invention.
以上仅为本发明的优选实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process conversion made by using the description of the present invention and the contents of the accompanying drawings, or directly or indirectly used in other related technical fields , are all included in the scope of patent protection of the present invention in the same way.
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