A kind of Intelligent warehouse management system based on multirobotTechnical field
The utility model relates to storage technique field, particularly relates to a kind of Intelligent warehouse management system based on multirobot.
Background technology
Current, ecommerce is flourish gesture, and the development of electric business has driven the great development of logistic storage, and at present in logistic storage, and warehouse-in, the outbound of goods, the link such as to make an inventory are still manually to complete.
Improve in the industry, such as Chinese patent discloses a kind of commodity method for sorting based on intelligent AGV, application number: 201410296030.1, the applying date: 2014-06-27, the method installs the lift mechanism of energy holding shelf lifting on automatic guide vehicle, and shelf adopt bottom to leave the square rack supplying automatic guide vehicle passage space; When implementing commodity sorting, automatic guide vehicle independently advances to immediately below target shelf, and utilizes lift mechanism by target goods shelf support overhead, and then holding shelf independently advance to sorting work station; The picking personnel at sorting work station take off end article according to the scanning result of laser designator from shelf, after picking, automatic guide vehicle again holding shelf independently turns back to the original stacking point of these shelf, then utilizes lift mechanism that target shelf are put back to ground.
Such as Chinese patent discloses the unmanned automatic handing system of a kind of storage article again, application number: 201410323033.X, and the applying date: 2014-07-09, this system comprises shelf, carrier, control terminal; Described carrier comprises car body, master controller, camera, jacking leading screw; Universal wheel is equipped with in the bottom of car body, car body is equipped with two driving wheels, and master controller by motor controller controls two drive motor, and then controls two driving wheels rotations, and by wireless network connection control terminal; Camera is arranged on the bottom of car body, and is connected to master controller; Described jacking leading screw is arranged on car body, and its top is fixed with jacking pallet, and master controller controls jacking motor by jacking controller, and then controls the lifting of jacking leading screw; Described shelf bottom has four symmetrical frame legs laid, and has for the current space of carrier immediately below shelf.
There is several problems in technique scheme: 1) shelf only establish bottom to indicate, and so staff uses hand-held barcode scanning equipment directly goods and shelf cannot be set up corresponding relation, except non-working person bends in bottom shelf barcode scanning; 2) in freight transportation shelf as just intermediary's carrier, still staff is needed manually to carry at the entrance and exit place of storage, but in certain circumstances, goods needs whole shelf shipment or whole shelf to stock up, there is the robot program that must give back shelf in technique scheme, whole shelf shipment step can become suitable trouble, in addition as 1) as described in: goods and shelf do not set up corresponding relation, and overall shipment even may cause loss of goods; 3) robot traffic control is not set, occurs blocking up when the volume of traffic increases and even collide; 4) robot rest area is not set, in general the machine of walking automatically can give tacit consent to non-working time auto-returned cradle charging (such as sweeping robot) per capita, but large warehoused middle robot quantity is many, directly return cradle then require cradle quantity abundance and need enough distances between cradle, floor area increases greatly.
Utility model content
For the deficiencies in the prior art, the utility model provides a kind of and completes the entering warehouse compartment, seek warehouse compartment of goods, Intelligent warehouse management system from actions such as warehouse compartment pickings by robot.
The technical solution of the utility model is:
Based on an Intelligent warehouse management system for multirobot, comprise robot device, cargo storage device, warehouse compartment recognition device, bar code scanner, rear end control center device;
Described robot device is provided with the bottom sensors mechanism for reading warehouse compartment recognition device information and the top sensing mechanism for reading cargo storage device information;
Described cargo storage device is multi-layered storage rack, is provided with bottom sensor and bottom two-dimension code label bottom it, and side is provided with side one-dimension code label or side two-dimension code label; Bottom sensor: to be used for and the robot slipped into bottom it locates, makes robot can find lift location very well when slipping into bottom shelf; Bottom Quick Response Code: be used for allowing the robot slipping into bottom read the 2 D code information of shelf, allow backstage know the corresponding relation of shelf, goods and robot; Side one-dimension code or Quick Response Code: read shelf information for or machinery artificial when putting in storage, produce corresponding relation with institute lade; All Quick Response Codes or bar code id information number are unique above;
Described warehouse compartment recognition device is be arranged on two-dimension code label on warehouse compartment or sensor;
Described rear end control center device is server, industrial computer or any one robot controller of the prior art;
Described rear end control center device connects robot device by wireless telecommunications system, and described rear end control center device is by wired or wireless telecommunications system connecting bar code scanister.
Further, described rear end control center device is provided with control software design and algorithm, and the robot device controlled in storage carries out traffic control in real time, is unlikely to collide because multiple stage robot runs simultaneously, block up.
Further, described traffic control comprise robot device enter carry out having a rest or charging in charging zone ranking, turnover and stop charging.
Further, during described enforcement goods outbound, if non-whole shelf shipment, rear end control center device sends instruction and allows robot device's Transport cargo rack after outbound return after warehouse compartment puts down shelf can to return to charging zone.
Further, described robot device, cargo storage device, warehouse compartment recognition device, bar code scanner, rear end control center device are all arranged in a warehouse, and described warehouse is provided with entrance, outlet, warehouse compartment and charging zone.
Further, described warehouse entrance, outlet be respectively arranged with bar code scanner.
Further, the side, charging zone in described warehouse is provided with automatic charging equipment, and described robot device coordinates automatic charging equipment to be provided with charging inlet, from being advanced into charging zone charging after robot finishes the work, for next round work is ready.
Further, be provided with wireless telecommunications system in described warehouse, this wireless telecommunications system at least comprises radio bridge, and its benefit is bridge is a kind of technology forwarded frame, according to MAC blockette, can isolate collision.
The course of work of the present utility model:
1) during lorry unloading, goods is put into multi-layered storage rack, by the one-dimension code on the bar code scanner barcode scanning goods of warehouse entrance and cargo storage device or Quick Response Code;
2) rear end control center device finds idle warehouse compartment according to record, is set to destination;
3) rear end control center device calculates optimal route and sends to robot device;
4) robot device is by shelf and freight transportation to appointment warehouse compartment, and automatically read warehouse compartment information and also information is passed to rear end control center device, information is passed to warehouse management system (ERP, WMS etc.) by rear end control center device;
5) robot device goes to charging zone to charge;
6) customer order is passed to rear end control center device by warehouse management system (ERP, WMS etc.), and rear end control center device deposits warehouse compartment according to order Auto-matching target goods;
7) rear end control center device calculates optimal path and sends instruction to the robot device of charging zone;
8) robot device reads warehouse compartment information after arriving target warehouse compartment and warehouse compartment information is passed to rear end control center device completing after by freight transportation to store exit, and is finally communicated to warehouse management system (ERP, WMS etc.);
9) robot device goes to charging zone to charge.
The necessary computer program of realization of the utility model function; the track route control etc. of such as robot; but it is to be noted: the computer program that the utility model adopts is prior art; the utility model does not improve relevant control technology and computer program, and the object of the utility model protection neither computer program or software.
The beneficial effects of the utility model are: 1) by arranging label in shelf side, fast goods and shelf can be set up contact by barcode scanning; 2) shelf can overall shipment also can by the partial cargo shipment in shelf; 3) be provided with charging zone, having concurrently has a rest queues up and charge function.
Accompanying drawing explanation
Fig. 1 is structured flowchart of the present utility model;
Fig. 2 is structural representation of the present utility model.
In figure, 1, rear end control center device; 2, bar code scanner; 3, cargo storage device; 4, robot device; 5, wireless telecommunications system; 10, warehouse; 21, entrance; 22, export; 31, warehouse compartment; 41, charging zone; 42, automatic charging equipment.
Embodiment
Below in conjunction with accompanying drawing, embodiment of the present utility model is described further:
As shown in Figure 1, 2, a kind of Intelligent warehouse management system based on multirobot, comprises robot device 4, cargo storage device 3, warehouse compartment recognition device, bar code scanner 2, rear end control center device 1; Certainly, be understandable that, system of the present utility model is not limited to said apparatus, can also increase other functional devices.
Described robot device 4 is provided with the bottom sensors mechanism for reading warehouse compartment recognition device information and the top sensing mechanism for reading cargo storage device information;
Described cargo storage device 3 is multi-layered storage rack, is provided with bottom sensor and bottom two-dimension code label bottom it, and side is provided with side one-dimension code label or side two-dimension code label; Bottom sensor: to be used for and the robot slipped into bottom it locates, makes robot can find lift location very well when slipping into bottom shelf; Bottom Quick Response Code: be used for allowing the robot slipping into bottom read the 2 D code information of shelf, allow backstage know the corresponding relation of shelf, goods and robot; Side one-dimension code or Quick Response Code: read shelf information for or machinery artificial when putting in storage, produce corresponding relation with institute lade; All Quick Response Codes or bar code id information number are unique above;
Described warehouse compartment recognition device is be arranged on two-dimension code label on warehouse compartment 31 or sensor;
Described rear end control center device 1 is server, industrial computer or any one robot controller of the prior art;
Described rear end control center device 1 is by wireless telecommunications 5 equipment connection machine people device 4, and described rear end control center device 1 is by wired or wireless telecommunications system connecting bar code scanister 2.
Described robot device 4, cargo storage device 3, warehouse compartment recognition device, bar code scanner 2, rear end control center device 1 are all arranged in a warehouse 10, and described warehouse 10 is provided with entrance 21, outlet 22, warehouse compartment 31 and charging zone 41.
Entrance 21, the outlet 22 in described warehouse 10 are respectively arranged with bar code scanner 2;
Side, charging zone 41 in described warehouse 10 is provided with automatic charging equipment 42, and described robot device 4 coordinates automatic charging equipment 42 to be provided with charging inlet, from being advanced into charging zone charging after robot finishes the work, for next round work is ready.
Be provided with wireless telecommunications system 5 in described warehouse 10, this wireless telecommunications system 5 at least comprises radio bridge, and its benefit is bridge is a kind of technology forwarded frame, according to MAC blockette, can isolate collision.
What describe in above-described embodiment and instructions just illustrates principle of the present utility model and most preferred embodiment; under the prerequisite not departing from the utility model spirit and scope; the utility model also has various changes and modifications, and these changes and improvements all fall within the scope of claimed the utility model.