技术领域technical field
本实用新型涉及一种智能柔性自动化仓储系统。The utility model relates to an intelligent flexible automatic storage system.
背景技术Background technique
仓库是现代物流的核心环节，是企业物资流通供应链中的一个重要环节。仓库的发展经历了人工和机械化仓储、自动化仓储、智能化仓储三个发展阶段。信息技术的应用已成为仓储技术的重要支柱，自动化仓储与信息采集决策系统的结合以及无线射频技术的运用使仓储朝着智能化的方向发展。Warehouse is the core link of modern logistics and an important link in the supply chain of enterprise material circulation. The development of warehouses has gone through three stages of development: manual and mechanized storage, automated storage, and intelligent storage. The application of information technology has become an important pillar of warehousing technology. The combination of automated warehousing and information collection decision-making system and the application of radio frequency technology make warehousing develop towards intelligence.
但是，随着业务量的不断增长和客户需求的不断提升，仓库也面临着越来越大的挑战，如何降低存货投资，加强存货控制与监管，降低物流和配送费用，提高空间、人员和设备的使用率，缩短入库流程和查货时间，成为企业降低成本，提高自身竞争力的关键。However, with the continuous growth of business volume and the continuous improvement of customer demand, warehouses are also facing more and more challenges. How to reduce inventory investment, strengthen inventory control and supervision, reduce logistics and distribution costs, and improve space, personnel and equipment The utilization rate, shortening the warehousing process and inspection time have become the key for enterprises to reduce costs and improve their own competitiveness.
实用新型内容Utility model content
本实用新型为了解决上述问题，提出了一种智能柔性自动化仓储系统，系统通过对标准化货架及其位置的优化配置，以及自主导航搬运机器人为基本运动单元的智能搬运系统，实现货架的自动装卸、搬运及出入库操作，从而改变传统仓储系统中多种设备共存、成本高、利用率低的突出矛盾，形成集自动装卸、搬运、仓储为一体的智能敏捷型自动仓储系统，可广泛的应用于工业生产、商业、物流中转等多个应用领域。In order to solve the above problems, the utility model proposes an intelligent flexible automatic storage system. The system realizes the automatic loading and unloading of the shelves through the optimized configuration of the standardized shelves and their positions, and the intelligent handling system in which the autonomous navigation handling robot is the basic motion unit. Handling and warehousing operations, thus changing the prominent contradictions of coexistence of multiple equipment, high cost, and low utilization rate in the traditional warehousing system, forming an intelligent and agile automatic warehousing system integrating automatic loading, unloading, handling, and warehousing, which can be widely used in Industrial production, commerce, logistics transfer and many other application fields.
为了实现上述目的，本实用新型采用如下技术方案：In order to achieve the above object, the utility model adopts the following technical solutions:
一种智能柔性自动化仓储系统，包括：自动化门禁系统、自动搬运系统、自动扫描系统和生产调度系统，其中：An intelligent and flexible automated storage system, including: an automated access control system, an automatic handling system, an automatic scanning system, and a production scheduling system, wherein:
自动化门禁系统用于管理仓库大门的开关，设有输入所需要商品的种类及数目的触摸屏；The automatic access control system is used to manage the opening and closing of the warehouse gate, and is equipped with a touch screen for inputting the type and quantity of the required goods;
自动化门禁系统连接生产调度系统，生产调度系统接收商品的入库和出库信息，并存储有仓库信息，发送定位、导航信息给自动搬运系统；The automated access control system is connected to the production dispatching system, which receives the information on the entry and exit of goods, stores warehouse information, and sends positioning and navigation information to the automatic handling system;
自动搬运系统包括若干个搬运机器人，搬运机器人设有定位及导航系统；The automatic handling system includes several handling robots, and the handling robots are equipped with positioning and navigation systems;
所述自动搬运系统搬运货物通过自动扫描系统扫描后，将货物搬运到指定区域，After the goods transported by the automatic transport system are scanned by the automatic scanning system, the goods are transported to the designated area,
所述自动扫描系统连接生产调度系统，传输扫描的货物信息，生产调度系统进行相应的数据存储和计算，所述生产调度系统连接后台服务器。The automatic scanning system is connected to the production scheduling system to transmit scanned goods information, and the production scheduling system performs corresponding data storage and calculation, and the production scheduling system is connected to the background server.
所述后台服务器，根据用户需求，按照优先等级发送控制信号给生产调度系统，生产调度系统驱动搬运机器人和自动扫描系统完成快速入库、空箱出入库、整箱出入库、非整箱出入库、旧商品入库和码垛。The background server, according to user needs, sends control signals to the production scheduling system according to the priority level, and the production scheduling system drives the handling robot and the automatic scanning system to complete fast storage, empty container storage, full container storage, and non-full container storage. , Warehousing and palletizing of old commodities.
所述仓库里安设有多个RFID标签，以标记关键点。Multiple RFID tags are installed in the warehouse to mark key points.
所述仓库包括存储区库位、暂存区库位和提货区库位，仓库内还设有码垛机、给搬运机器人充电的充电位和停车位。The warehouse includes a storage area, a temporary storage area and a pick-up area. The warehouse is also equipped with a palletizer, a charging position for charging the handling robot, and a parking space.
基于定位及导航系统的出库方法，包括以下步骤：The outbound method based on the positioning and navigation system comprises the following steps:
(1)用户刷卡通过门禁系统进入仓库，通过门口的触摸屏输入所需要的商品的种类及数目；提货区等待机器人将所需要的商品运来；(1) The user swipes the card to enter the warehouse through the access control system, and enters the type and quantity of the required goods through the touch screen at the door; the pick-up area waits for the robot to bring the required goods;
(2)生产调度平台根据用户需求，调用数据库相关信息，指挥机器人到相应的库位提取商品，机器人将装有商品的货架运到自动扫描系统等待扫描；(2) The production dispatching platform calls the relevant information of the database according to the user's needs, directs the robot to pick up the goods from the corresponding storage location, and the robot transports the shelves containing the goods to the automatic scanning system to wait for scanning;
(3)生产调度系统将要出库的电表数目发给扫描系统，扫面系统根据这些信息扫描需要的商品数，机器人将需要的箱数运到提货区；用户在提货区等待机器人将货架放下后按照要求提取自己需要的商品，并确认；(3) The production dispatching system sends the number of electric meters to be delivered to the scanning system, and the scanning system scans the required number of commodities based on the information, and the robot transports the required number of boxes to the pick-up area; the user waits for the robot to put down the shelf in the pick-up area Pick up the goods you need as required, and confirm;
(4)生产调度系统收到取货完毕，给机器人下发指令，机器人首先将剩余的运到扫描系统进行确认，确认无误，码垛机连同托起的货架放到机器人上机器人运回库位；如果用户取表数目不对，告警通知用户核对；(4) The production dispatching system sends an instruction to the robot after receiving the pickup, and the robot first transports the remaining goods to the scanning system for confirmation. After the confirmation is correct, the palletizer and the lifted shelves are placed on the robot and the robot transports it back to the storage location. ; If the number of tables fetched by the user is incorrect, an alarm will notify the user to check;
(5)机器人将剩余的商品运回原库位。(5) The robot transports the remaining goods back to the original storage location.
所述步骤(5)中，机器人将缓存区的空货架运至堆垛机确认用户是否将空箱合理放置；如果合理放置，机器人将空货架放回缓存区，门禁系统打开，允许用户离开；如果放置不合理，系统告警提示用户，直至箱子合理放置，门禁打开，用户离开，出库过程结束。In the step (5), the robot transports the empty shelves in the buffer area to the stacker to confirm whether the user has properly placed the empty boxes; if placed reasonably, the robot puts the empty shelves back into the buffer area, and the access control system is opened to allow the user to leave; If the placement is unreasonable, the system will alert the user until the box is properly placed, the access control is opened, the user leaves, and the outbound process ends.
所述步骤(4)中，搬运机器人与扫描系统联合工作的过程中，搬运机器人会通过Wi-Fi实时上传位置信息和接收调度系统的任务信息，完成所需要完成的任务，扫描系统会实时上传出库入库的物品的上传到上位机的数据库中，上位机监控实时系统的运作情况，通过网络实时监控系统的运行情况，保证系统的正常运行。In the step (4), during the joint work of the transport robot and the scanning system, the transport robot will upload the location information and receive the task information of the scheduling system in real time through Wi-Fi, and complete the tasks that need to be completed, and the scanning system will upload the information in real time. The items out of the warehouse and into the warehouse are uploaded to the database of the upper computer, and the upper computer monitors the operation of the real-time system, and monitors the operation of the system in real time through the network to ensure the normal operation of the system.
基于上述系统的入库方法，包括：Storage methods based on the above systems include:
(1)用户刷卡通过门禁系统进入仓库，将需要入库的商品放到提货区域，通过门口的触摸屏点击入库按钮；(1) The user swipes the card to enter the warehouse through the access control system, puts the goods that need to be stored in the pick-up area, and clicks the storage button through the touch screen at the door;
(2)根据用户命令，生产调度系统调用数据库信息，指挥机器人到提货去商品，机器人将装有商品的货架运到码垛机等待扫描；(2) According to the user's command, the production scheduling system calls the database information, directs the robot to pick up the goods and remove the goods, and the robot transports the shelves containing the goods to the palletizer to wait for scanning;
(3)扫描系统将要入库的商品的种类数目发给上位机服务器存储，扫描系统扫描结束，上位机调度命令下达，机器人将待存货物运到仓库中，门禁系统打开，用户离开，入库过程结束。(3) The scanning system sends the number of types of goods to be stored to the host computer server for storage. After the scanning system finishes scanning, the host computer dispatches an order, and the robot transports the goods to be stored to the warehouse. The access control system is opened, and the user leaves and enters the warehouse. The process is over.
所述定位及导航系统，包括RFID定位单元、CMOS图像采集单元和信息处理单元；The positioning and navigation system includes an RFID positioning unit, a CMOS image acquisition unit and an information processing unit;
RFID定位单元，包括RFID读写器、RFID标签；其中，RFID标签依次设置于路径关键点处，RFID读写器设置于移动机器人的底部，采集RFID标签的信息，校验机器人的运行路径；The RFID positioning unit includes an RFID reader and an RFID tag; among them, the RFID tag is set at the key points of the path in turn, and the RFID reader is set at the bottom of the mobile robot to collect the information of the RFID tag and verify the running path of the robot;
CMOS图像采集单元，包括CMOS摄像头和照明电路，所述CMOS摄像头，固定于移动机器人的底部中端，采集地面上设置的路径标志线，所述照明电路设置于CMOS摄像头周围；The CMOS image acquisition unit includes a CMOS camera and a lighting circuit, the CMOS camera is fixed at the bottom middle of the mobile robot, and collects the path marking lines set on the ground, and the lighting circuit is arranged around the CMOS camera;
信息处理单元，包括控制器、处理器和串口通信接口，所述控制器接收CMOS摄像头采集的路径标志线视频信息，将其滤波、消除污点后传输给处理器，处理器通过串口通信接口连接RFID读写器，获得定位信号。The information processing unit includes a controller, a processor and a serial port communication interface. The controller receives the path marking line video information collected by the CMOS camera, filters it, removes stains, and then transmits it to the processor. The processor is connected to the RFID through the serial port communication interface. The reader/writer obtains the positioning signal.
基于定位及导航系统的定位方法，包括以下步骤：The positioning method based on the positioning and navigation system includes the following steps:
(1)在机器人运行场所地面铺设红色路径标志线，并在标志线上每隔设定距离安装一个RFID标签；(1) Lay a red path marking line on the ground of the robot's operating site, and install an RFID tag every set distance on the marking line;
(2)当移动机器人接收到出入库任务指令时，移动机器人从待命区进入路径区，底部的RFID读写器读取到起始点处的RFID标签信息，通过RFID读写器的天线上传到RFID串口并由处理器获得定位信号；(2) When the mobile robot receives the task instruction of entering and leaving the warehouse, the mobile robot enters the path area from the standby area, and the RFID reader at the bottom reads the RFID tag information at the starting point, and uploads it to the RFID tag through the antenna of the RFID reader. The serial port and the positioning signal are obtained by the processor;
(3)移动机器人通过CMOS图像采集单元获得路径标线图像，并传输给控制器，控制器对图像进行预处理，恢复有用的路径颜色信息；(3) The mobile robot obtains the path marking image through the CMOS image acquisition unit, and transmits it to the controller, and the controller preprocesses the image to restore useful path color information;
(4)对图像进行基于颜色的分割，将颜色的空间从RGB转换到YCbCr颜色空间，对其中的红色色度分量进行阈值分割；(4) image is carried out based on the segmentation of color, the space of color is converted to YCbCr color space from RGB, carries out threshold value segmentation to the red chroma component wherein;
(5)机器人行驶过程中，通过摄像头首先获取路径图像，对获取的图像进行处理，理解图像含义并且获得路径信息。(5) During the driving process of the robot, the path image is first obtained through the camera, and the acquired image is processed to understand the meaning of the image and obtain the path information.
所述步骤(2)中，机器人通过RFID读写器获得关键点信息给移动机器人表明路径正确，如果检测不到关键点信息，处理器控制机器人调整左右摆动幅度寻找关键点。In the step (2), the robot obtains the key point information through the RFID reader to indicate to the mobile robot that the path is correct. If the key point information cannot be detected, the processor controls the robot to adjust the left and right swing amplitude to find the key point.
所述步骤(3)中，图像的预处理包括滤波、平滑、增强，消除图像中污点、障碍物。In the step (3), the preprocessing of the image includes filtering, smoothing, enhancing, and eliminating stains and obstacles in the image.
所述步骤(4)中，YCbCr颜色空间中Y是指亮度分量，Cb指蓝色色度分量，而Cr指红色色度分量，RGB空间转换为YCbCr空间的转换公式如下：In described step (4), in YCbCr color space, Y refers to brightness component, and Cb refers to blue chroma component, and Cr refers to red chroma component, and the conversion formula that RGB space is converted into YCbCr space is as follows:
本实用新型的有益效果为：The beneficial effects of the utility model are:
(1)仓储区任意布置，不受库房形状约束；仅靠软件可实现各种新式的仓储分类、分区管理与调度，具有柔性化设置的特点；支持多种规格型号及类别物品的自动拣选与出入库管理；仓库采用模块化设计理念，整个仓库的建设方便，并且仓库可随企业需求减小库容或增大库容；(1) The storage area is arranged arbitrarily and is not restricted by the shape of the warehouse; various new types of storage classification, partition management and scheduling can be realized only by software, which has the characteristics of flexible settings; it supports automatic selection and selection of various specifications, models and categories of items. Inbound and outbound management; the warehouse adopts a modular design concept, the construction of the entire warehouse is convenient, and the warehouse can reduce or increase the storage capacity according to the needs of the enterprise;
(2)采用智能移动机器人实现货架的搬运实现出入库自动化，并可通过简单的附属设备实现自动装卸车；较低成本实现任意货架的快速出入库管理；(2) Intelligent mobile robots are used to realize the transportation of shelves to realize the automation of warehouse entry and exit, and can realize automatic loading and unloading vehicles through simple auxiliary equipment; low cost to achieve rapid warehouse entry and exit management of any shelf;
(3)通过RFID与条形码技术对出入库货物货号进行读取并通过比较两者所得数据准确得到货物号并进行记录入数据库，由生产调度平台对货物进行数据管理；(3) Use RFID and barcode technology to read the goods number of the goods in and out of the warehouse, and compare the data obtained by the two to accurately obtain the goods number and record it into the database, and the production scheduling platform will manage the data of the goods;
(4)根据用户需求实现仓库出入库效率最优，通过库容比与出入库效率双目标优化算法，对仓库库存进行有效管理，生产管理平台可自动获取和指导优化的搜索空间，自适应地调整搜索方向，快速找出库内目标位置，合理分配库内空间；(4) According to the needs of users, the efficiency of warehouse entry and exit is optimized. Through the dual-objective optimization algorithm of storage capacity ratio and entry and exit efficiency, warehouse inventory can be effectively managed. The production management platform can automatically obtain and guide the optimized search space, and adjust adaptively Search direction, quickly find out the target position in the library, and allocate the space in the library reasonably;
(5)通过扫描系统实时读取并且上传到PC后台服务器的生产调度平台系统，通过其导入到数据库的系统中，实时更新数据库，仓库管理用户可以通过远程客户端实时访问、管理，并且监控系统的运行。(5) Read and upload to the production scheduling platform system of the PC background server in real time through the scanning system, import it into the database system, and update the database in real time. Warehouse management users can access, manage and monitor the system in real time through the remote client running.
附图说明Description of drawings
图1为本实用新型的系统构架图；Fig. 1 is a system framework diagram of the present utility model;
图2为本实用新型的仓库布置图；Fig. 2 is the warehouse layout drawing of the present utility model;
图3为本实用新型出库流程图；Fig. 3 is a flow chart of the utility model going out of the warehouse;
图4为入库流程图；Figure 4 is a storage flow chart;
图5为本实用新型本地和远程客户端的数据管理图。Fig. 5 is a data management diagram of the local and remote clients of the utility model.
具体实施方式：Detailed ways:
下面结合附图与实施例对本实用新型作进一步说明。Below in conjunction with accompanying drawing and embodiment the utility model is further described.
如图1所示，敏捷型智能柔性自动化仓储系统，包括：As shown in Figure 1, the agile intelligent flexible automated storage system includes:
自动化门禁系统；Automated access control system;
搬运机器人组成的自动搬运平台系统；An automatic handling platform system composed of handling robots;
自动扫描平台系统；Automatic scanning platform system;
后台服务器的生产调度平台系统；The production scheduling platform system of the background server;
后台服务器的生产调度平台根据用户需求，按照优先等级规则协调搬运机器人和扫描系统完成快速入库、空箱出入库、整箱出入库、非整箱出入库、旧商品入库、码垛等功能。后台服务器的生产调度平台根据商品出入库情况实时更新数据库。通过联网，我们可以远程对系统进行监控、管理。The production scheduling platform of the background server coordinates the handling robot and the scanning system according to user needs and priority rules to complete functions such as fast warehousing, empty box warehousing, full box warehousing, non-full box warehousing, old commodity warehousing, and palletizing . The production scheduling platform of the background server updates the database in real time according to the goods in and out of the warehouse. Through networking, we can remotely monitor and manage the system.
搬运机器人的定位及导航系统，包括RFID定位单元、CMOS图像采集单元和信息处理单元；The positioning and navigation system of the handling robot, including RFID positioning unit, CMOS image acquisition unit and information processing unit;
RFID定位单元，包括RFID读写器、RFID标签；其中，RFID标签依次设置于路径关键点处，RFID读写器设置于移动机器人的底部，采集RFID标签的信息，校验机器人的运行路径；The RFID positioning unit includes an RFID reader and an RFID tag; among them, the RFID tag is set at the key points of the path in turn, and the RFID reader is set at the bottom of the mobile robot to collect the information of the RFID tag and verify the running path of the robot;
CMOS图像采集单元，包括CMOS摄像头和照明电路，所述CMOS摄像头，固定于移动机器人的底部中端，采集地面上设置的路径标志线，所述照明电路设置于CMOS摄像头周围；The CMOS image acquisition unit includes a CMOS camera and a lighting circuit, the CMOS camera is fixed at the bottom middle of the mobile robot, and collects the path marking lines set on the ground, and the lighting circuit is arranged around the CMOS camera;
信息处理单元，包括控制器、处理器和串口通信接口，所述控制器接收CMOS摄像头采集的路径标志线视频信息，将其滤波、消除污点后传输给处理器，处理器通过串口通信接口连接RFID读写器，获得定位信号。The information processing unit includes a controller, a processor and a serial port communication interface. The controller receives the path marking line video information collected by the CMOS camera, and transmits it to the processor after filtering and removing stains. The processor is connected to the RFID through the serial port communication interface. The reader/writer obtains the positioning signal.
CMOS摄像头安装在移动机器人的底部中间，RFID读写器安装在紧贴摄像头的位置。The CMOS camera is installed in the middle of the bottom of the mobile robot, and the RFID reader is installed close to the camera.
RFID标签为无源被动式标签。RFID tags are passive passive tags.
处理器为DSP处理器。The processor is a DSP processor.
当移动机器人接收到出入库任务指令时，移动机器人从待命区进入路径区，底部的RFID读写器读取到起始点处的RFID标签信息，通过RFID读写器的天线上传到RFID串口并由DSP处理器处理信息获得定位信号。When the mobile robot receives the task instruction of entering and leaving the warehouse, the mobile robot enters the path area from the standby area, and the RFID reader at the bottom reads the RFID tag information at the starting point, and uploads it to the RFID serial port through the antenna of the RFID reader. The DSP processor processes the information to obtain positioning signals.
移动机器人通过CMOS图像采集单元获得路径标线图像，为了避免外界光线变化对图像采集效果的影响，本系统在摄像头周围加入辅助照明电路，使得CMOS采集到的图像更加清晰。The mobile robot obtains the path marking image through the CMOS image acquisition unit. In order to avoid the influence of external light changes on the image acquisition effect, the system adds an auxiliary lighting circuit around the camera to make the image acquired by the CMOS clearer.
CMOS采集到的视频图像通过视频端子上传到DM642控制器，DM642通过对图像进行预处理，包括滤波、平滑、增强，消除图像中污点、障碍物等无关的信息，恢复有用的路径颜色信息，增强颜色信息的可检测性和最大限度地简化数据。然后对图像进行基于颜色的分割。The video image collected by CMOS is uploaded to the DM642 controller through the video terminal, and the DM642 preprocesses the image, including filtering, smoothing, enhancing, eliminating irrelevant information such as stains and obstacles in the image, restoring useful path color information, enhancing Detectability of color information and data minimization. The image is then segmented based on color.
本实用新型不同于一般图像处理方式采用直方图法获得颜色信息直方图，提取出感兴趣颜色的区域，而是将颜色空间从RGB转换到YCbCr空间。YCbCr不是一种绝对色彩空间，是YUV压缩和偏移的版本，其中Y是指亮度分量，Cb指蓝色色度分量，而Cr指红色色度分量。人的肉眼对视频的Y分量更敏感，因此在通过对色度分量进行子采样来减少色度分量后，肉眼将察觉不到的图像质量的变化。The utility model is different from the general image processing method which uses the histogram method to obtain the color information histogram and extracts the interested color area, but converts the color space from RGB to YCbCr space. YCbCr is not an absolute color space, but a compressed and offset version of YUV, where Y refers to the luminance component, Cb refers to the blue chroma component, and Cr refers to the red chroma component. The human eye is more sensitive to the Y component of the video, so after reducing the chrominance component by subsampling the chroma component, the naked eye will not notice a change in image quality.
RGB空间转换为YCbCr空间的转换公式如下：The conversion formula for converting RGB space to YCbCr space is as follows:
本实用新型对图像处理的算法即对Cr进行阈值分割，本实用新型根据路径线的颜色亮度通过不同阈值分割效果对比选择了100作为阈值。The algorithm of the utility model for image processing is to perform threshold segmentation on Cr, and the utility model selects 100 as the threshold value through comparison of different threshold segmentation effects according to the color brightness of the path line.
自动扫描平台系统，包括移动定位装置和扫描装置，所述移动定位装置包括控制器和提升机构，其中：The automatic scanning platform system includes a mobile positioning device and a scanning device, and the mobile positioning device includes a controller and a lifting mechanism, wherein:
提升机构包括伺服电机、丝杠升降台、支架和手指电机，伺服电机驱动丝杠升降台运动；支架上的两端固定有四个夹持手指，当丝杠升降台运动到指定位置时，控制器发送信号给手指电机，手指电机驱动夹持手指向中心运动，夹持住电表箱；The lifting mechanism includes a servo motor, a screw lifting platform, a bracket and a finger motor. The servo motor drives the screw lifting platform to move; two ends of the bracket are fixed with four clamping fingers. When the screw lifting platform moves to the specified position, the control The device sends a signal to the finger motor, and the finger motor drives the clamping finger to move to the center to clamp the meter box;
电机可以直接设置为转到固定的角度，之后停止转动。The motor can be directly set to turn to a fixed angle and then stop turning.
扫描装置设置于支架上，所述扫描装置包括四个扫描仪，其中三个扫描仪横向分布，用于扫描电表，另一个扫描仪纵向设置，用于扫描箱号的信息，统计出入库箱号信息；The scanning device is arranged on the support, and the scanning device includes four scanners, three of which are distributed horizontally for scanning the electric meter, and the other scanner is arranged vertically for scanning the information of the box number and counting the number of boxes entering and leaving the warehouse information;
控制器控制提升机构运作，所述控制器与存储有周转箱内存放的电表数目的上位机通信。The controller controls the operation of the lifting mechanism, and the controller communicates with the upper computer that stores the number of electric meters stored in the turnover box.
扫描仪为基恩士BL-1300型条码阅读器。The scanner is Keyence BL-1300 barcode reader.
在分立式电表条码扫描系统中，扫描装置位置固定，等待电表运输到待扫描区域，PLC通过接受信号，检测位置固定后，控制伺服电机运动，通过控制伺服电机电机脉冲数，带动丝杠运动，同时保证扫描仪到达指定高度，PLC控制横向的伺服电机移动，带动扫描仪运动来完成扫描过程。扫描仪安装四个，纵向的扫描仪负责扫描箱号的信息，统计出入库箱号信息，横向的三个扫描仪扫描电表信息，通过上位机发来的数据确定是周转箱内存放的电表数，通过PLC控制要打开两个还是三个扫描仪工作，通过以太网传输到上位机上，把数据记录在数据库中，从而完成仓库电表信息的记录统计。In the discrete meter barcode scanning system, the position of the scanning device is fixed, waiting for the meter to be transported to the area to be scanned, the PLC receives the signal, and after the detection position is fixed, controls the movement of the servo motor, and drives the screw to move by controlling the number of pulses of the servo motor , while ensuring that the scanner reaches the specified height, the PLC controls the movement of the horizontal servo motor to drive the scanner to complete the scanning process. Four scanners are installed, the vertical scanner is responsible for scanning the information of the box number, counting the information of the box number in and out of the warehouse, and the three horizontal scanners scan the information of the electric meter, and the data sent by the host computer is determined to be the number of electric meters stored in the turnover box , through PLC control to open two or three scanners to work, transmit to the host computer through Ethernet, and record the data in the database, so as to complete the record and statistics of the warehouse electricity meter information.
扫描系统整体装置是固定，设有移动装置，带扫描仪到达指定的位置。扫描系统整体包含了四个扫描仪,包括三个横向的和一个纵向的,这四个扫描仪是安装在在扫描系统的移动装置上移动的。横向的扫描是通过周转箱的开口侧扫描的，电表的上侧有条码，扫描系统可以通过横向的丝杠导轨带动移动来扫描，纵向的有控制器控制到高度后直接扫描箱号。The overall device of the scanning system is fixed, and a mobile device is provided to bring the scanner to the designated position. The scanning system as a whole includes four scanners, including three horizontal and one vertical, and these four scanners are installed on the mobile device of the scanning system to move. The horizontal scanning is scanned through the opening side of the turnover box. There is a barcode on the upper side of the electric meter. The scanning system can be driven by the horizontal screw guide to scan. The vertical scanning is controlled by the controller to scan the box number directly after reaching the height.
本实用新型具有以下特征：The utility model has the following characteristics:
(1)集自动装卸、搬运、仓储与一体的智能敏捷型自动仓储系统(1) An intelligent and agile automatic storage system integrating automatic loading, unloading, handling, and storage
采用智能移动机器人实现货架的搬运实现出入库自动化，并可通过简单的附属设备实现自动装卸车；较低成本实现任意货架的快速出入库管理。The intelligent mobile robot is used to realize the automation of the storage and storage of the shelves, and the automatic loading and unloading of the truck can be realized through simple auxiliary equipment; the rapid storage and storage management of any shelf can be realized at a low cost.
(2)灵活方便的仓储设计与库容配置方式(2) Flexible and convenient storage design and storage capacity configuration
仓储区任意布置，不受库房形状约束；仅靠软件可实现各种新式的仓储分类、分区管理与调度，具有柔性化设置的特点；支持多种规格型号及类别物品的自动拣选与出入库管理；仓库采用模块化设计理念，整个仓库的建设方便，并且仓库可随企业需求减小库容或增大库容。Arbitrary layout of the storage area, not restricted by the shape of the warehouse; software alone can realize various new types of storage classification, partition management and scheduling, with the characteristics of flexible settings; support automatic selection and storage management of various specifications, models and categories of items ; The warehouse adopts a modular design concept, the construction of the entire warehouse is convenient, and the warehouse can reduce or increase the storage capacity according to the needs of the enterprise.
(3)实现需求导向的库容比与出入库效率双目标优化算法(3) Realize the dual-objective optimization algorithm of demand-oriented storage capacity ratio and inbound and outbound efficiency
根据用户需求实现仓库出入库效率最优，通过库容比与出入库效率双目标优化算法，对仓库库存进行有效管理。生产管理平台可自动获取和指导优化的搜索空间，自适应地调整搜索方向，快速找出库内目标位置，合理分配库内空间。According to the needs of users, the efficiency of warehouse entry and exit is optimized, and the warehouse inventory is effectively managed through the dual-objective optimization algorithm of storage capacity ratio and entry and exit efficiency. The production management platform can automatically obtain and guide the optimized search space, adaptively adjust the search direction, quickly find out the target position in the warehouse, and allocate the space in the warehouse reasonably.
(4)基于RFID与条形码技术相结合的智能识别系统(4) Intelligent identification system based on the combination of RFID and barcode technology
通过RFID与条形码技术对出入库货物货号进行读取并通过比较两者所得数据准确得到货物号并进行记录入数据库，由生产调度平台对货物进行数据管理。Use RFID and barcode technology to read the goods number of the goods in and out of the warehouse, and compare the data obtained by the two to accurately obtain the goods number and record it into the database. The data management of the goods is carried out by the production scheduling platform.
(5)基于本地用户和远程客户端的数据管理(5) Data management based on local users and remote clients
通过扫描系统实时读取并且上传到PC后台服务器的生产调度平台系统，通过其导入到数据库的系统中，实时更新数据库，仓库管理用户可以通过远程客户端实时访问、管理，并且监控系统的运行。The scanning system reads in real time and uploads to the production scheduling platform system of the PC background server, and imports it into the database system to update the database in real time. Warehouse management users can access, manage and monitor the operation of the system in real time through the remote client.
该敏捷型智能柔性自动化仓储系统包括了存放区、暂存区、提货去、码垛机(扫描系统的部分)、上位机等部分，详细请参照下图3所示：The agile intelligent flexible automated storage system includes the storage area, the temporary storage area, the pick-up area, the palletizer (part of the scanning system), the upper computer and other parts. Please refer to the following figure 3 for details:
如图3所示，出库过程：As shown in Figure 3, the outbound process:
用户刷卡通过门禁系统进入仓库，通过门口的触摸屏输入所需要的商品的种类及数目。然后用户就可以在提货区等待机器人将所需要的商品运来。后台服务器的生产调度平台根据用户需求，调用数据库相关信息，根据相关规则指挥机器人到相应的库位提取商品，机器人将装有商品的货架运到扫描系统等待扫描。后台服务器的生产调度平台将要出库的电表数目发给扫描系统，扫面系统根据这些信息扫描需要的商品数，机器人将需要的箱数运到提货区。The user swipes the card to enter the warehouse through the access control system, and enters the type and quantity of the required goods through the touch screen at the door. Then the user can wait in the pick-up area for the robot to deliver the goods they need. The production scheduling platform of the background server calls the relevant information of the database according to the user's needs, and directs the robot to the corresponding storage location to pick up the goods according to the relevant rules, and the robot transports the shelves containing the goods to the scanning system to wait for scanning. The production scheduling platform of the background server sends the number of meters to be delivered to the scanning system. The scanning system scans the required number of commodities based on this information, and the robot transports the required number of boxes to the pick-up area.
用户在提货区等待机器人将货架放下后按照要求提取自己需要的商品。并将空货架按照指定的箭头方向放在缓存区，放好后在触摸屏上点击取货完毕。Users wait for the robot to put down the shelves in the pick-up area and pick up the goods they need according to the requirements. And put the empty shelves in the buffer area according to the specified arrow direction, and click on the touch screen to pick up the goods after putting them away.
后台服务器的生产调度平台收到取货完毕，给机器人下发指令，机器人首先将剩余的运到扫描系统进行确认，确认无误，码垛机连同托起的货架放到机器人上机器人运回库位。如果用户取表数目不对，后台软件告警通知用户核对。The production scheduling platform of the background server receives the pick-up and sends an instruction to the robot. The robot first transports the rest to the scanning system for confirmation. After the confirmation is correct, the palletizer and the lifted shelves are placed on the robot and the robot transports it back to the warehouse. . If the number of tables fetched by the user is incorrect, the background software will alert the user to check.
用户核对取表数目，直至取表数目正确。The user checks the number of tables to be taken until the number of tables to be taken is correct.
机器人将剩余的商品运回原库位。并将缓存区的空货架运至堆垛机确认用户是否将空箱合理放置。如果合理放置，机器人将空货架放回缓存区，门禁系统打开，用户可以离开。如果放置不合理，系统告警提示用户，直至箱子合理放置，门禁打开，用户离开，出库过程结束。The robot returns the remaining items to the original storage location. And transport the empty shelves in the buffer area to the stacker to confirm whether the user has properly placed the empty boxes. If properly placed, the robot puts the empty shelf back into the buffer area, the access control system is opened, and the user can leave. If the placement is unreasonable, the system will alert the user until the box is properly placed, the access control is opened, the user leaves, and the outbound process ends.
如图4所示，入库过程：As shown in Figure 4, the storage process:
用户刷卡通过门禁系统进入仓库，将需要入库的商品放到提货区域，通过门口的触摸屏点击入库按钮。后台软件根据用户命令，调用数据库相关信息，根据相关规则指挥机器人到提货去商品，机器人将装有商品的货架运到码垛机等待扫描。扫描系统将要入库的商品的种类数目发给上位机服务器存储，扫描系统扫描结束，上位机调度命令下达，机器人将待存货物运到仓库中，门禁系统打开，用户离开，入库过程结束。The user swipes the card to enter the warehouse through the access control system, puts the goods that need to be stored in the pick-up area, and clicks the storage button through the touch screen at the door. The background software calls the relevant information of the database according to the user's command, and directs the robot to pick up the goods and remove the goods according to the relevant rules. The robot transports the shelves containing the goods to the palletizer to wait for scanning. The scanning system sends the types and numbers of the goods to be stored to the host computer server for storage. After the scanning system finishes scanning, the host computer dispatches an order, the robot transports the goods to be stored to the warehouse, the access control system is opened, the user leaves, and the storage process ends.
如图4所示，搬运机器人与扫描平台联合工作的过程中，搬运机器人会通过Wi-Fi实时上传位置信息和接收调度平台的任务信息，完成所需要完成的任务，扫描系统会实时上传出库入库的物品的上传到上位机的数据库中，本地的管理员用户可以通过本地计算机访问并监控实时系统的运作情况，也可以通过网络实时监控系统的运行情况，保证系统的正常运行。As shown in Figure 4, during the joint work of the handling robot and the scanning platform, the handling robot will upload location information and receive task information from the dispatching platform in real time through Wi-Fi, and complete the required tasks. The items stored in the warehouse are uploaded to the database of the upper computer, and the local administrator users can access and monitor the operation of the real-time system through the local computer, and can also monitor the operation of the system in real time through the network to ensure the normal operation of the system.
上述虽然结合附图对本实用新型的具体实施方式进行了描述，但并非对本实用新型保护范围的限制，所属领域技术人员应该明白，在本实用新型的技术方案的基础上，本领域技术人员不需要付出创造性劳动即可做出的各种修改或变形仍在本实用新型的保护范围以内。Although the specific implementation of the utility model has been described above in conjunction with the accompanying drawings, it does not limit the protection scope of the utility model. Those skilled in the art should understand that on the basis of the technical solution of the utility model, those skilled in the art do not need to Various modifications or deformations that can be made with creative efforts are still within the protection scope of the present utility model.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420784397.3UCN204256507U (en) | 2014-12-11 | 2014-12-11 | An Intelligent Flexible Automated Storage System |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420784397.3UCN204256507U (en) | 2014-12-11 | 2014-12-11 | An Intelligent Flexible Automated Storage System |
| Publication Number | Publication Date |
|---|---|
| CN204256507Utrue CN204256507U (en) | 2015-04-08 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420784397.3UExpired - LifetimeCN204256507U (en) | 2014-12-11 | 2014-12-11 | An Intelligent Flexible Automated Storage System |
| Country | Link |
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| CN (1) | CN204256507U (en) |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | Granted publication date:20150408 Effective date of abandoning:20170616 | |
| AV01 | Patent right actively abandoned | Granted publication date:20150408 Effective date of abandoning:20170616 |