CN219278476U - Cargo inventory system and autonomous mobile robot - Google Patents
Cargo inventory system and autonomous mobile robot Download PDFInfo
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- CN219278476U CN219278476U CN202190000359.2U CN202190000359U CN219278476U CN 219278476 U CN219278476 U CN 219278476U CN 202190000359 U CN202190000359 U CN 202190000359U CN 219278476 U CN219278476 U CN 219278476U
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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
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
- B65G1/1376—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 conveyor
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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
- 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
- B65G2203/0216—Codes or marks on the article
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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
- 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
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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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
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- Warehouses Or Storage Devices (AREA)
Abstract
The application provides a goods inventory system and autonomous mobile robot, wherein the goods inventory system includes server and autonomous mobile robot, autonomous mobile robot includes robot body, gets and puts container mechanism and reading equipment at least, autonomous mobile robot still includes the buffer memory support, the buffer memory support includes one or more and holds the buffer memory position of stock container, reading equipment is located at least in at least one buffer memory position in one or more buffer memory position. The goods checking system of the embodiment of the application can finish checking the goods without manual participation, so that manpower and material resources are saved, and the checking efficiency of the goods can be effectively improved.
Description
Technical Field
The application relates to the technical field of communication, in particular to a cargo inventory system and an autonomous mobile robot.
Background
With the continuous development of robots, robots are gradually applied to warehouse logistics industry to replace manual work to carry out operations on a work site, for example, the robots can replace manual work to finish carrying and picking of goods, and the robots travel to a destination through a planned path, so that corresponding operation is completed. However, in the cargo checking scene of the warehouse logistics, the cargo can be checked by a robot and a manual cooperation mode, so that a great amount of manpower and material resources are consumed, and the checking accuracy of the cargo is not high, and an effective scheme is needed to solve the problem.
Disclosure of Invention
In view of the foregoing, embodiments of the present application provide a cargo inventory system to solve the technical defects existing in the prior art. The embodiment of the application also provides an autonomous mobile robot.
According to a first aspect of embodiments of the present application, there is provided a cargo inventory system, comprising:
the system comprises a server and an autonomous mobile robot, wherein the autonomous mobile robot at least comprises a robot body, a container taking and placing mechanism and reading equipment;
the server is configured to acquire a request submitted for an inventory container to be checked; generating an instruction according to the request and the position information of the inventory container to be checked, and sending the instruction to the autonomous mobile robot;
the autonomous mobile robot is configured to receive an instruction issued by the server; driving to the position of the inventory container to be checked according to the instruction, and placing the inventory container to be checked on the inventory bracket into the reading range of the reading device by utilizing the container taking and placing mechanism; reading the identification code of the goods in the inventory container to be checked by using the reading equipment to obtain the goods information aiming at the goods in the inventory container to be checked; the goods information is used for checking;
The autonomous mobile robot further comprises a cache rack comprising one or more cache bits housing inventory receptacles, the reading device being located in at least one of the one or more cache bits;
the autonomous mobile robot is further configured to: and taking out the inventory container to be checked on the inventory bracket by utilizing the container taking and placing mechanism, and placing the inventory container to be checked on the inventory bracket in a cache position of the cache bracket.
Optionally, the buffer support includes a plurality of baffles arranged at intervals along the up-down direction, the baffles form the buffer position, and the reading device is arranged on top of one or more baffles.
Optionally, the container taking and placing mechanism is located at one side of the robot body, and the buffer support is arranged at the other side of the robot body.
Optionally, the reading device is further located at a front end of the pick-and-place container mechanism and/or at a rear end of the pick-and-place container mechanism.
Optionally, the picking and placing container mechanism comprises a first fork arm, a second fork arm and a buffer board, wherein the first fork arm and the second fork arm are opposite and are arranged at intervals, the buffer board is arranged at the bottoms of the first fork arm and the second fork arm, and the reading equipment is arranged on the buffer board.
Optionally, the buffer board is provided with a hollow hole, and the hollow hole penetrates through the buffer board along the up-down direction.
Optionally, the reading device is an RFID reader, and the identification code of the goods is an RFID tag.
Optionally, the robot body includes:
a mobile chassis;
the door frame is arranged on the movable chassis, and the buffer storage bracket is arranged on one side of the door frame;
the lifting assembly is arranged on the portal, and the container taking and placing mechanism is arranged on the lifting assembly and is positioned on the other side of the portal.
According to the goods checking system, the container taking and placing mechanism and the reading equipment are configured on the autonomous mobile robot, after the autonomous mobile robot receives the instruction of the server for checking the inventory container, the server runs to the position of the inventory container to be checked, the inventory container to be checked on the inventory support is placed in the reading range of the reading equipment by the container taking and placing mechanism, and then the identification code of the goods in the inventory container to be checked can be read by the reading equipment, so that the goods information of the goods in the inventory container to be checked is obtained, the goods checking can be completed without manual participation, manpower and material resources are saved, and the checking efficiency of the goods can be effectively improved.
According to a second aspect of embodiments of the present application, there is provided an autonomous mobile robot comprising:
a robot body;
the picking and placing container mechanism is arranged on the robot body and can move up and down relative to the robot body and is used for picking and placing inventory containers to be checked;
the buffer storage bracket is arranged on the robot body and comprises a buffer storage position for accommodating the stock container, and the container taking and placing mechanism is used for placing the stock container on the stock bracket in the buffer storage position;
and the reading device is at least arranged in the cache bit and is used for reading the identification code of the goods in the inventory container to be checked.
Optionally, the buffer support includes a plurality of baffles arranged at intervals along the up-down direction, the baffles form the buffer position, and the reading device is arranged on top of one or more baffles.
Optionally, the buffer support and the container picking and placing mechanism are located on different sides of the robot body.
Optionally, the reading device is further provided at a front end of the pick-and-place container mechanism and/or a rear end of the pick-and-place container mechanism.
Optionally, the picking and placing container mechanism comprises a first fork arm, a second fork arm and a buffer board, wherein the first fork arm and the second fork arm are opposite and are arranged at intervals, the buffer board is arranged at the bottoms of the first fork arm and the second fork arm, and the reading equipment is arranged on the buffer board.
Optionally, the buffer board is provided with a hollow hole, and the hollow hole penetrates through the buffer board along the up-down direction.
Optionally, the reading device is an RFID reader.
Optionally, the robot body includes:
a mobile chassis;
the door frame is arranged on the movable chassis, and the buffer storage bracket is arranged on one side of the door frame;
the lifting assembly is arranged on the portal, and the container taking and placing mechanism is arranged on the lifting assembly and is positioned on the other side of the portal.
Drawings
FIG. 1 is a flow chart of a method for inventory of goods according to an embodiment of the present application;
FIG. 2 is a schematic illustration of a first cargo handling robot according to an embodiment of the present application;
FIG. 3 is a schematic illustration of a second cargo handling robot according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a cargo inventory system according to an embodiment of the present application;
Fig. 5 is a schematic diagram of a cargo inventory system applied to a cargo inventory scene in a bin according to an embodiment of the present application.
Reference numerals
A pick-and-place box mechanism 202; an RFID reader 204; a cache plate 206; a pick-and-place tank mechanism 2022; an RFID reader 2042; an RFID reader 304; a pick-and-place bin mechanism 302; lifting rail 306; a pick-and-place bin mechanism 3022; lifting rail 3062; cache bit 3082; a container buffer rack 308; an RFID reader 3042; cache bit 3084; cache bit 3086.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is, however, susceptible of embodiment in many other ways than those herein described and similar generalizations can be made by those skilled in the art without departing from the spirit of the application and the application is therefore not limited to the specific embodiments disclosed below.
The terminology used in one or more embodiments of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of one or more embodiments of the application. As used in this application in one or more embodiments and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used in one or more embodiments of the present application refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that, although the terms first, second, etc. may be used in one or more embodiments of the present application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, a first may also be referred to as a second, and similarly, a second may also be referred to as a first, without departing from the scope of one or more embodiments of the present application. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "responsive to a determination", depending on the context.
First, terms related to one or more embodiments of the present application will be explained.
RFID: (Radio Frequency Identification ) is one of automatic identification technologies, and is characterized in that non-contact bidirectional data communication is performed by a radio frequency mode, and a recording medium (an electronic tag or a radio frequency card) is read and written by the radio frequency mode, so that the purposes of identification and data exchange are achieved.
RFID tag: the method is a non-contact automatic identification technology, which is used for identifying a target object and acquiring related data through radio frequency signals, does not need manual intervention in identification work, can be used as a wireless version of a bar code, can identify a single very specific object, can also be used for simultaneously identifying and reading a plurality of objects, and has large stored information quantity; with radio frequency, data can be read through the external material.
In the present application, a method for checking goods is provided, and the present application relates to a system for checking goods, which is described in detail in the following embodiments.
A cargo inventory method provided in the present embodiment is described below, the cargo inventory being performed at least in part by an autonomous mobile robot, and the autonomous mobile robot including at least a pick-and-place container mechanism and a reading device; fig. 1 shows a flowchart of a cargo checking method according to an embodiment of the present application, which specifically includes the following steps:
step S102, the autonomous mobile robot receives an instruction issued by the server, wherein the instruction carries the position information of the inventory container to be checked.
In practical application, in order to be convenient for the operation of checking the goods, can carry the packing box to the operation station through the robot in order to make things convenient for the checking workman to check the in-process of goods, later carry out commodity quantity and commodity type's checking to the packing box by the checking workman of operation station department to feed back the checking result to the server system through the terminal equipment that the checking workman disposes, later send back the packing box from the operation station to goods shelves by the robot. However, the problem of low inventory accuracy and low inventory efficiency exists by manually inventory cargoes, and the cargo box is conveyed back and forth through the robot, so that the safety of the cargoes in the cargo box cannot be guaranteed, the cargo box is possibly damaged in the conveying process, time and labor are consumed, excessive robot resources are occupied, and the inventory efficiency of the cargoes is greatly affected.
According to the goods checking method, in order to improve the goods checking efficiency and save more manpower and material resources, the automatic mobile robot is provided with the container taking and placing mechanism and the reading equipment, after receiving the instruction of the server for the method for checking the inventory container, the automatic mobile robot drives to the position of the inventory container to be checked, the inventory container to be checked on the inventory support is placed in the reading range of the reading equipment by utilizing the container taking and placing mechanism, and then the identification code of the goods in the inventory container to be checked can be read by the reading equipment, so that the goods information of the goods in the inventory container to be checked is obtained, the goods checking can be completed without manual participation, the manpower and the material resources are saved, and the checking efficiency of the goods can be effectively improved.
In specific implementation, the Autonomous Mobile Robot (AMR) is a mobile robot capable of being applied to a warehouse logistics scene, and can carry out cargo transportation or cargo sorting, and the Autonomous Mobile Robot (AMR) can build a map or pre-load a facility drawing on site to navigate by carrying advanced software. Autonomous Mobile Robots (AMR) can use data from cameras, built-in lidar or other sensors, laser scanners, and complex software to detect the surrounding environment and select the most efficient path to reach a target location. It enables fully autonomous operation and if there is a fork lift, pallet, personnel or other obstacle ahead of the direction of travel, it enables safe detours using the best alternative route. In this way, it is ensured that the material transport frequency and speed are maintained, thereby optimizing productivity.
Based on this, the autonomous mobile robot related to the present embodiment is further configured with a pick-and-place container mechanism, by which a pick-and-place action of the stock container can be performed, and a reading device, by which an identification code of the goods in the stock container can be read, for example, the autonomous mobile robot may be a bin robot, the pick-and-place container mechanism may be a pick-and-place bin mechanism (pallet fork) configured on the bin robot, the reading device may be an RFID reader, and the identification code of the goods may be an RFID tag; namely, the bin robot can take and put the bin through the fork and read the RFID tag of the commodity in the bin through the RFID reader, so that inventory operation is realized.
Furthermore, by selecting one or a small number of autonomous mobile robots to install the RFID readers, the RFID tags of goods in the inventory containers can be read through the RFID readers without moving the inventory containers to an operation station, so that the goods inventory operation in the inventory containers is achieved.
In practical application, in the method for checking the goods in the inventory container, the operation of checking the goods in the inventory container may be that the identification code of the goods in the inventory container to be checked is read by using a reading device matched with the autonomous mobile robot, so as to obtain the goods information of the goods in the inventory container to be checked, and then the goods information is compared with the standard goods information corresponding to the inventory container to be checked, so that the checking of the goods in the inventory container to be checked is completed.
The to-be-checked inventory container refers to an inventory container needing to be checked for goods, and the goods information can refer to quantity information or type information of the goods in the to-be-checked inventory container, can also refer to the goods types of the goods and the quantity of each goods type, and can also refer to unique codes of the goods, which are all used for checking the goods in the to-be-checked inventory container; the standard cargo information refers to standard quantity information or standard type information of cargoes in the inventory container to be checked. For example, the RFID reader configured by the autonomous mobile robot reads RFID tags of commodities in the bin, the number of the commodities contained in the bin is determined to be 50, the number of the commodities contained in the bin is determined to be 100, and the bin is determined to lack 50 phones through comparison, so that the process is inventory operation of the bin.
In addition, in the process of checking the goods in the inventory container to be checked, the automatic mobile robot executes the checking operation after issuing the instructions through the server because the automatic mobile robot is completed, the server can control a large number of automatic mobile robots to carry out goods carrying, sorting and checking, the instructions issued by the server can be the goods checking instructions issued to the automatic mobile robots, wherein the instructions carry the position information of the inventory container to be checked, and the automatic mobile robot can move to the position of the inventory container to be checked according to the position information so as to perform subsequent goods checking.
Further, before the server issues a command to the autonomous mobile robot, in order to avoid a route conflict between the autonomous mobile robot and other autonomous mobile robots (robots for carrying or sorting) during inventory, a driving route planning needs to be performed on the autonomous mobile robot, and in this embodiment, the specific implementation manner is as follows:
before issuing the instruction, the server stores the corresponding relation between the inventory container and the position of the inventory container and the inventory information of the inventory container; and the server generates an inventory task and a travel path according to the request when receiving the request for the inventory container to be checked; and generating the instruction according to the inventory task, the driving path and the position information of the inventory container to be checked.
Specifically, in order to accurately inventory the goods in the inventory container to be checked, the corresponding relationship between the inventory container and the inventory container position needs to be stored in the server, where the corresponding relationship specifically refers to the corresponding relationship between the unique identifier of the inventory container and the position where the inventory container is placed in the warehouse, and meanwhile, the inventory information of the inventory container needs to be stored, and the inventory information specifically refers to the quantity and the type of the goods stored in the inventory container, the quality of the inventory container, and the like.
Based on the above, when the server receives the request for the inventory container to be checked, it indicates that the enterprise to which the warehouse belongs needs to check the goods in the inventory container to be checked, a checking task for the inventory container to be checked is generated according to the request, a driving path of the autonomous mobile robot is generated, and then the instruction is generated according to the checking task, the driving path and the position information of the inventory container to be checked, and the instruction is issued to the autonomous mobile robot to drive the autonomous mobile robot to check the goods in the inventory container to be checked.
In practical application, the request received by the server specifically refers to a cargo inventory request issued by a staff to-be-checked inventory container, and the request carries inventory event information for checking the to-be-checked inventory container, so that the server can generate the inventory task and the driving path according to the request, thereby implementing issuing of an accurate inventory instruction to the autonomous mobile robot.
For example, n bins are stored on the shelf in the warehouse, namely bin 1, bin 2, bin 3 … bin n, and the server stores the position information of each bin and the inventory information { commodity type, commodity number, commodity weight }; in the case that a supervision person of the warehouse submits a commodity checking request for the bin 1 through the server, a checking task for the bin 1 is generated according to the request, a running path of the bin robot S carrying the RFID reader for commodity checking is called, and then the server generates a commodity checking instruction according to the checking task for the bin 1, the running path of the bin robot S and position information (x 1, y1, z 1) of the bin 1 and sends the commodity checking instruction to the bin robot S so as to drive the bin robot S to check commodities in the bin 1.
In summary, before the automatic mobile robot performs cargo inventory, an inventory task and a travel path are generated based on a request submitted for an inventory container to be checked, so that the instruction is generated based on the travel path, the inventory task and the position information of the inventory container to be checked, and the travel path and the inventory operation of the automatic mobile robot can be planned, so that the cargo inventory efficiency of the automatic mobile robot is further improved, the problem that the automatic mobile robot randomly moves and collides is avoided, and the server issues the instruction, so that the automatic mobile robot can be more conveniently commanded.
Step S104, the autonomous mobile robot runs to the position of the inventory container to be checked according to the instruction, and the inventory container to be checked on the inventory bracket is placed in the reading range of the reading device by utilizing the container taking and placing mechanism.
Specifically, the container taking and placing mechanism may be a mechanism capable of taking and placing the inventory container, which is arranged on the autonomous mobile robot, and may be a container taking and placing mechanism or a container taking fork; the pick-and-place bin mechanism 202 on the container handling robot as shown in fig. 2 (a) can implement a pick-and-place motion for the bin by inserting from the bottom of the bin; or the pick-and-place bin mechanism 302 on the container handling robot as shown in fig. 3 (a), the pick-and-place motion of the bin can be achieved by the pick-and-place bin mechanism 302; correspondingly, the inventory bracket specifically refers to a shelf for storing inventory containers to be checked, and the reading range specifically refers to a scanning range which can be covered by the reading equipment; if goods carrying the identification code exist in the range, the reading equipment can read the goods.
In practical applications, when the autonomous mobile robot travels to the position of the inventory container to be checked according to the instruction, the autonomous mobile robot may move according to the position of the inventory container to be checked contained in the position information, or the position information contains the goods position number of the inventory container to be checked, and the position of the inventory container to be checked is determined by converting the goods position number of the inventory container to be checked, and then the autonomous mobile robot moves, where in this embodiment, the process of traveling to the position of the inventory container to be checked is as follows:
the autonomous mobile robot determines the goods position number of the inventory container to be checked according to the instruction carrying the position information;
and the autonomous mobile robot determines the position of the inventory container to be checked according to the corresponding relation between the stored goods position number and the position of the inventory container and drives to the position of the inventory container to be checked in parallel.
Specifically, in the process that the autonomous mobile robot moves to the position of the inventory container to be checked, the autonomous mobile robot can determine the goods position number of the inventory container to be checked according to the instruction carrying the position information, so that the autonomous mobile robot can determine the position of the inventory container to be checked according to the goods position number, and the inventory operation of goods is carried out when the autonomous mobile robot moves to the position of the inventory container to be checked; the autonomous mobile robot stores the corresponding relation between the goods position number and the position of the inventory container to be checked, and when receiving the instruction, the autonomous mobile robot can determine the position of the inventory container to be checked corresponding to the goods position number according to the stored corresponding relation so as to drive to the position of the inventory container to be checked for checking the goods.
Based on the above, the correspondence between the position of the inventory container to be checked and the goods space number stored by the autonomous mobile robot may exist in the form of a map, that is, the autonomous mobile robot may determine the position of the inventory container to be checked on the map according to the goods space number, and then convert the physical position of the inventory container to be checked based on the position determined on the map, so as to implement the checking of the goods.
Along the above example, the bin robot S receives a commodity inventory instruction for the bin 1, where the commodity inventory instruction carries that the bin number of the bin 1 is id_1, and at this time, the bin robot determines, according to the correspondence between the bin number and the bin position stored in advance, the bin position corresponding to the bin 1 by the bin number id_1, and then determines the physical position of the bin 1 through the warehouse map, and drives to the physical position of the bin 1, so as to inventory the commodity in the bin 1.
Through pre-storing the corresponding relation between the goods position numbers and the positions in the autonomous mobile robot, the autonomous mobile robot can independently finish positioning the inventory container to be checked when the server issues the instruction, the efficiency of checking the goods can be further improved, and the calculation resource amount of the server can be reduced.
Based on the above, further, the autonomous mobile robot will travel to the position of the inventory container to be checked according to the instruction on the basis of receiving the instruction carrying the position number of the inventory container to be checked, and then the inventory container to be checked on the inventory bracket is moved to the reading range of the reading device by the installed container placing mechanism, so that the subsequent goods checking operation can be performed by the reading device without moving the inventory container to be checked to the operation station, and excessive movement of the inventory container to be checked is not required, thereby effectively ensuring the safety of the goods in the container.
Further, in order to make it more convenient for the autonomous mobile robot to perform inventory of goods in the inventory container to be checked, the reading device may be disposed on the picking and placing container mechanism, so that the autonomous mobile robot may only place the inventory container to be checked on the picking and placing container mechanism, and may make the inventory container to be checked enter the reading range of the reading device, and then perform subsequent inventory operations.
The autonomous mobile robot utilizes the container taking and placing mechanism to take the inventory containers to be checked on the inventory support into the container taking and placing mechanism, or utilizes the container taking and placing mechanism to take the inventory containers to be checked on the inventory support.
Specifically, the autonomous mobile robot uses the picking and placing container mechanism to pick up the inventory container to be checked on the picking and placing container mechanism, or the autonomous mobile robot uses the picking and placing container mechanism to pick up the inventory container to be checked from the inventory bracket, so that the inventory container to be checked is parked on the picking and placing container mechanism, and at the moment, the inventory container to be checked enters the reading range of the reading device, and the subsequent checking operation can be performed.
Or the autonomous mobile robot only performs the action of taking the inventory container to be checked on the inventory support through the container taking and placing mechanism, but does not move the inventory container to be checked, namely, the position of the reading equipment is changed through adjusting the container taking and placing mechanism, so that the reading range of the reading equipment moves along with the movement until the inventory container to be checked is contained in the reading range, and the subsequent checking operation is performed.
Referring to fig. 2 (a), when the RFID reader 204 is disposed behind the pick-and-place bin mechanism 202 of the container handling robot, the bin to be checked needs to be taken from the inventory rack to the pick-and-place bin mechanism 202, so that the bin to be checked enters the reading range of the RFID reader 204, so as to check the goods in the bin.
Referring to fig. 3 (a), when the RFID reader 304 is disposed at the front end of the pick-and-place bin mechanism 302 of the container handling robot, the bin to be checked is not required to be taken out from the inventory rack, and the pick-and-place bin mechanism 302 is directly moved through the lifting track 306, so that the RFID reader 304 on the pick-and-place bin mechanism 302 also moves along with the movement until the bin to be checked is moved in front of the bin to be checked, and the bin to be checked enters the reading range of the RFID reader 304, so that the checking of the commodity in the bin can be realized.
By reducing the moving times of the inventory container to be checked, the checking operation is completed, the checking efficiency can be effectively improved, and the safety of goods in the inventory container to be checked can be ensured.
Still further, the autonomous mobile robot may be further configured with a cache rack including one or more cache locations for holding inventory receptacles thereon, based on which the reading device may be disposed in at least one of the one or more cache locations; therefore, when goods are checked, the inventory container to be checked can be moved to the cache position for checking, and in the embodiment, the specific implementation manner is as follows:
And the autonomous mobile robot takes out the inventory container to be checked on the inventory bracket by utilizing the container taking and placing mechanism and places the inventory container to be checked in a cache position of the cache bracket.
Referring to fig. 3 (b), the container handling robot is provided with a container buffer frame 308, a buffer position 3082, a buffer position 3084 and a buffer position 3086 are disposed on the container buffer frame 308, and an RFID reader 3042 is located on the buffer position 3084, so that a bin to be checked is placed on any one of the three buffer positions, and the bin can enter the reading range of the RFID reader 3042, thereby realizing the checking operation of commodities in the bin.
In practical application, when the inventory to be checked container is moved to the cache position of the cache bracket, the autonomous mobile robot is required to take out the inventory to be checked container on the inventory bracket by utilizing the container taking and placing mechanism, and then the inventory to be checked container is moved to the cache position of the cache bracket by utilizing the container taking and placing mechanism, so that the inventory to be checked container enters the reading range of the reading device, and the checking of goods in the inventory to be checked container is realized.
Along the above example, when the bin robot S is the robot shown in (b) of fig. 3, after the bin robot S moves to the position (x 1, y1, z 1) of the bin 1, the bin 1 is moved to the buffer position 3082 in the container buffer rack 308 by the pick-and-place bin mechanism 3022 of the robot shown in (b) of fig. 3, so that the bin 1 enters the reading range of the RFID reader 3042, and the subsequent inventory operation is possible.
In conclusion, through for autonomic mobile robot sets up buffering support and buffer memory position, can realize when taking the inventory container to be checked that weight is great, will wait to take the inventory container and move to the buffer memory position through getting and put container mechanism and carry out the operation of taking the inventory, avoid placing on getting and put container mechanism for a long time and lead to the mechanism to appear damaging.
In this embodiment, the preferred mounting position of the reading device may be below the buffer board between the pick-and-place container structures and/or above the buffer board between the pick-and-place container structures, i.e. as shown in (b) of fig. 2, the RFID reader 2042 is mounted below and/or above the buffer board 206 between the pick-and-place box mechanisms 2022, so that the RFID reader may face downward or upward during radio frequency reading, so that reading of the RFID tag is more convenient, interference may be avoided, and inventory accuracy may be further improved. The buffer board 206 may be made of non-metal materials or have a hollow structure in the middle, so as to further promote the probability of reading the RFID tag.
In addition, the reading device may be mounted at other positions of the autonomous mobile robot, for example, at a lifting mechanism of the autonomous mobile robot, or at a chassis mechanism of the autonomous mobile robot, so long as the autonomous mobile robot is ensured to be able to place the inventory container to be checked in the reading range of the reading device.
Step S106, the autonomous mobile robot reads the identification code of the goods in the inventory container to be checked by using the reading equipment to obtain the goods information aiming at the goods in the inventory container to be checked; the goods information is used for inventory.
Specifically, the identification code specifically refers to that the goods in the inventory container to be checked have a label, and the label can be an RFID label, so that the reading device can read the identification code of the goods by using the approach communication, and the checking operation of the goods is realized.
Based on the above, on the basis that the container picking and placing mechanism of the autonomous mobile robot moves the to-be-checked inventory container to the reading range of the reading device, further, the autonomous mobile machine reads the identification code of the goods in the to-be-checked inventory container by using the reading device to obtain the goods information of the goods in the to-be-checked inventory container, so that the checking of the goods in the to-be-checked inventory container by the goods information is realized.
In practical application, the checking of the goods in the inventory container to be checked based on the goods information comprises: and comparing the read goods information with standard goods information corresponding to the inventory container to be checked, so that the goods state in the inventory container to be checked can be determined according to the comparison result, and the follow-up replenishment or adjustment of the goods can be realized according to the checking result.
Further, on the basis of acquiring the cargo information of the cargo in the inventory container to be checked by using the reading device, the autonomous mobile robot may perform the checking operation by the server in order to improve the checking accuracy of the cargo, and in this embodiment, the implementation manner of the checking operation by the server is as follows:
the autonomous mobile robot feeds back the read goods information to the server;
and the server performs inventory of the goods in the inventory container to be checked based on the inventory information and the goods information read by the autonomous mobile robot.
Specifically, after the autonomous mobile robot reads the goods information of the goods through the reading device, the goods information can be fed back to the server, and the server can finish inventory of the goods in the inventory container to be checked based on the inventory information of the inventory container to be checked and the goods information.
Along the above example, when the bin robot S reads the RFID tag of the bin 1 through the RFID reader 3042, the commodity information { commodity number of the bin 1: 50, commodity type: computer, commodity weight: 100kg }, after which the bin robot S feeds back the commodity information of the bin 1 to the server, which based on the inventory information { commodity number of the bin 1: 100, commodity type: computer, commodity weight: 200kg }, commodity information { commodity number ] uploaded by the bin robot S: 50, commodity type: computer, commodity weight: 100kg, the inventory of the commodity in the bin 1 is completed, and 50 computers are determined to be absent from the bin 1, so that the commodity in the bin 1 is supplemented later.
After the goods information of the goods in the inventory container to be checked is obtained, the goods information is fed back to the server for checking the goods, so that the accuracy of checking the goods can be effectively improved, and the autonomous mobile robot can run to the next inventory container position for further checking after feeding back the goods information, so that the checking efficiency can be effectively improved, and the robot resources can be fully utilized.
On the other hand, in order to improve the inventory efficiency of the goods, the autonomous mobile robot alone can also complete the inventory operation of the goods, and in this embodiment, the implementation manner of the inventory operation by the autonomous mobile robot is as follows:
the autonomous mobile robot receives inventory information issued by the server;
and the autonomous mobile robot performs inventory of the goods in the inventory container to be checked based on the inventory information and the read goods information.
Specifically, after the autonomous mobile robot obtains the goods information, the server may actively issue the inventory information, or the autonomous mobile robot may request the server, and the server issues the inventory information according to the request, and then the autonomous mobile robot may complete inventory of the goods in the inventory container to be checked based on the inventory information and the goods information.
Along the above example, when the bin robot S reads the RFID tag of the bin 1 through the RFID reader 3042, the commodity information { commodity number of the bin 1: 50, commodity type: computer, commodity weight: 100kg }, after which the bin robot S receives the inventory information { number of goods ] of the bin 1 issued by the server: 100, commodity type: computer, commodity weight: 200kg }, at this time, the bin robot S can finish checking the commodities in the bin 1 according to the read commodity information and the inventory information issued by the server, and determine that 50 computers are absent in the bin 1, so as to realize subsequent replenishment of the commodities in the bin 1.
After the goods information of the goods in the inventory container to be checked is obtained, the inventory information issued by the server is received, so that the automatic mobile robot can independently finish the checking of the goods, the checking efficiency can be effectively improved, and the automatic checking effect of the automatic mobile robot is realized.
In addition, after the inventory operation of the goods in the inventory to be checked is completed, in order to avoid affecting sorting or carrying of the goods by other autonomous mobile robots, the inventory to be checked needs to be put back on the inventory holder, and in this embodiment, the specific implementation manner is as follows:
And the autonomous mobile robot utilizes the container taking and placing mechanism to place the inventory container to be checked, which is completed to be checked, back onto the inventory bracket.
Along with the above example, after the bin robot S finishes checking the goods in the bin 1, the bin 1 will be put back to the position (x 1, y1, z 1) through the pick-and-place bin mechanism, so as to realize sorting and goods handling without affecting other autonomous mobile robots, and the subsequent robots for replenishing the goods can be enabled to accurately find the bin 1, thereby replenishing the goods.
According to the goods checking method, the automatic mobile robot is provided with the container taking and placing mechanism and the reading equipment, after receiving the instruction of the server for checking the goods in the storage container, the automatic mobile robot drives the automatic mobile robot to the position of the goods in the storage, the goods in the storage bracket is placed in the reading range of the reading equipment by the container taking and placing mechanism, and then the identification code of the goods in the storage bracket can be read by the reading equipment, so that goods information of the goods in the storage bracket is obtained, the goods checking can be completed without manual participation, manpower and material resources are saved, and the goods checking efficiency can be effectively improved.
Corresponding to the method embodiment, the present application further provides an embodiment of a cargo checking system, and fig. 4 shows a schematic structural diagram of a cargo checking system according to an embodiment of the present application. As shown in fig. 4, the cargo inventory system 400 includes:
a server 402 and an autonomous mobile robot 404, the autonomous mobile robot 404 comprising at least a pick-and-place container mechanism 4042 and a reading device 4044;
the server 402 is configured to obtain a request submitted for inventory containers to be checked; generating an instruction according to the request and the position information of the inventory container to be checked, and sending the instruction to the autonomous mobile robot 404;
the autonomous mobile robot 404 is configured to receive the instruction issued by the server 402; driving to the position of the inventory container to be checked according to the instruction, and placing the inventory container to be checked on the inventory bracket into the reading range of the reading device 4044 by utilizing the container taking and placing mechanism 4042; reading the identification code of the goods in the inventory container to be checked by using the reading equipment 4044 to obtain the goods information aiming at the goods in the inventory container to be checked; the goods information is used for inventory.
In an alternative embodiment, the reading device 4044 is located on the pick-and-place container mechanism 4042;
The autonomous mobile robot 404 is further configured to: the picking and placing container mechanism 4042 is used for picking and placing the inventory container to be checked on the inventory support into the picking and placing container mechanism 4042, or the picking and placing container mechanism 4042 is used for picking and placing the inventory container to be checked on the inventory support.
In an alternative embodiment, the autonomous mobile robot 404 further includes a buffer support 4046, the buffer support 4046 including one or more buffer locations for holding inventory receptacles, the reading device being located in at least one of the one or more buffer locations;
the autonomous mobile robot 404 is further configured to: the inventory receptacles to be checked on the inventory rack are taken out by the pick-and-place receptacle mechanism 4042 and placed in the cache location of the cache rack 4046.
In an alternative embodiment, the autonomous mobile robot 404 is further configured to: feeding back the read cargo information to the server 402;
the server 402 is further configured to: inventory is performed on the goods in the inventory container to be checked based on the inventory information and the goods information read by the autonomous mobile robot 404.
In an alternative embodiment, the server 402 is further configured to: issuing inventory information of the inventory receptacles to be checked to the autonomous mobile robot 404;
the autonomous mobile robot 404 is further configured to: receiving inventory information issued by the server 402; and checking the goods in the inventory container to be checked based on the inventory information and the read goods information.
In an alternative embodiment, the reading device 4044 reads the identification code of the good using an approach communication.
In an alternative embodiment, the reading device 4044 is an RFID reader and the identification code of the cargo is an RFID tag.
In an alternative embodiment, the server 402 is further configured to store the correspondence between the inventory container and the inventory container location, and inventory information of the inventory container;
the server 402 generates an inventory task and a driving path according to the request when receiving the request for the inventory container to be checked; and generating the instruction according to the inventory task, the driving path and the position information of the inventory container to be checked.
In an alternative embodiment, the autonomous mobile robot 404 is further configured to: determining the goods position number of the inventory container to be checked according to the instruction carrying the position information; and determining the position of the inventory container to be checked according to the corresponding relation between the stored goods position number and the position of the inventory container, and driving to the position of the inventory container to be checked.
In an alternative embodiment, the autonomous mobile robot 404 is further configured to: and the inventory to be checked containers which are completed to be checked are put back on the inventory rack by the container taking and putting mechanism 4042.
According to the goods checking system provided by the embodiment, the automatic mobile robot is provided with the container taking and placing mechanism and the reading equipment, so that after the automatic mobile robot receives the instruction of the server for the method for checking the inventory container, the automatic mobile robot can drive the automatic mobile robot to the position of the inventory container to be checked, the inventory container to be checked on the inventory support is placed in the reading range of the reading equipment by utilizing the container taking and placing mechanism, and then the identification code of the goods in the inventory container to be checked can be read by the reading equipment, the goods information of the goods in the inventory container to be checked is obtained, the goods checking can be completed without manual participation, the manpower and the material resources are saved, and the checking efficiency of the goods can be effectively improved.
The above is an exemplary embodiment of a cargo inventory system of the present embodiment. It should be noted that, the technical solution of the cargo counting system and the technical solution of the cargo counting method belong to the same conception, and the details of the technical solution of the cargo counting system which are not described in detail can be referred to the description of the technical solution of the cargo counting method.
The following describes, with reference to fig. 5, an example of an application of the method for checking goods in a bin according to the present application, where the system for checking goods is further described. Fig. 5 shows a schematic diagram of a cargo inventory system applied to a cargo inventory scene in a bin according to an embodiment of the present application, which specifically includes the following contents:
in step S502, the terminal device sends an inventory request for an inventory bin to be checked to the server.
In the warehouse logistics scene, in order to improve the inventory efficiency of commodities in the bin, the inventory operation can be completed by installing the RFID reader for the bin robot and installing the RFID tag for the commodities without moving the bin to an operation station.
Based on the above, in the process of checking the commodity, a manager of the goods shelf needs to issue a checking request to the server through the terminal device, and then the server performs subsequent checking operation.
In step S504, the server receives the inventory request, and generates an inventory instruction according to the inventory request and the position information of the bin to be checked.
In step S506, the server selects the bin robot with the RFID reader installed to issue a spot instruction.
Step S508, the bin robot receives the inventory command and travels to the position of the bin to be inventoried according to the inventory command.
Specifically, under the condition that the bin robot receives the counting instruction, the counting instruction is analyzed to obtain the position information of the bin to be counted and the counting task of the bin to be counted, and then the bin to be counted is moved to the position of the bin to be counted according to the driving path carried in the counting instruction.
Step S510, the bin robot utilizes a picking and placing mechanism to place the bin to be checked on the shelf into the reading range of the RFID reader.
Specifically, after the bin robot moves to the position of the bin to be checked, the bin robot takes out the bin to be checked on the goods shelf by using the installed picking and placing bin mechanism, and moves the bin to be checked to the reading range of the RFID reader through the picking and placing bin mechanism so as to perform subsequent checking operation.
In step S512, the bin robot reads the RFID tag of the commodity in the bin to be checked by using the RFID reader, and obtains the commodity information of the commodity.
Specifically, when the RFID tag exists in the reading range, the RFID reader reads the RFID tag in an approach communication mode, so that commodity information of the commodity in the to-be-checked bin is obtained.
Step S514, the server sends inventory information of the bin to be checked to the bin robot.
In step S516, the bin robot receives the inventory information and performs inventory of the commodity based on the inventory information and the commodity information.
Specifically, after the bin robot obtains commodity information of commodities in the to-be-checked bin, the server achieves the purpose that the bin robot independently completes the checking operation of the commodities in a mode of actively issuing inventory information of the to-be-checked bin.
Step S518, the bin robot utilizes a picking and placing mechanism to place the bin to be checked back on the shelf.
Step S520, the bin robot returns the inventory result to the server.
Step S522, the server receives the checking result and displays the checking result to the terminal equipment.
Specifically, after the bin robot finishes the inventory operation of the commodities in the to-be-inventory bin, in order to avoid influencing the sorting and carrying of other robots, the to-be-inventory bin is put back on a shelf, and an inventory result is returned to a server, so that the terminal equipment informs a supervisory personnel of the commodity details of the to-be-inventory bin on the shelf, and the supervisory personnel can conveniently conduct the supervision treatment of the commodities.
In summary, by configuring the RFID reader on the bin robot, the inventory of the commodities in the bin can be completed without moving the bin to the operation station, and the bin robot can independently complete the inventory of the commodities in a mode of actively issuing inventory information through the server, so that the inventory efficiency of the commodities can be effectively improved, manpower and material resources are saved, and the inventory accuracy of the commodities can be effectively improved.
It should be noted that, for the sake of simplicity of description, the foregoing method embodiments are all expressed as a series of combinations of actions, but it should be understood by those skilled in the art that the present application is not limited by the order of actions described, as some steps may be performed in other order or simultaneously in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily all necessary for the present application.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.
The above-disclosed preferred embodiments of the present application are provided only as an aid to the elucidation of the present application. Alternative embodiments are not exhaustive of all details, nor are they intended to limit the application to the precise embodiments described. Obviously, many modifications and variations are possible in light of the teaching of this application. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. This application is to be limited only by the claims and the full scope and equivalents thereof.
Claims (16)
1. A cargo inventory system, comprising:
the system comprises a server and an autonomous mobile robot, wherein the autonomous mobile robot at least comprises a robot body, a container taking and placing mechanism and reading equipment;
the server is configured to acquire a request submitted for an inventory container to be checked; generating an instruction according to the request and the position information of the inventory container to be checked, and sending the instruction to the autonomous mobile robot;
the autonomous mobile robot is configured to receive an instruction issued by the server; driving to the position of the inventory container to be checked according to the instruction, and placing the inventory container to be checked on the inventory bracket into the reading range of the reading device by utilizing the container taking and placing mechanism; reading the identification code of the goods in the inventory container to be checked by using the reading equipment to obtain the goods information aiming at the goods in the inventory container to be checked; the goods information is used for checking;
the autonomous mobile robot further comprises a cache rack comprising one or more cache bits housing inventory receptacles, the reading device being located in at least one of the one or more cache bits;
The autonomous mobile robot is configured to: and taking out the inventory container to be checked on the inventory bracket by utilizing the container taking and placing mechanism, and placing the inventory container to be checked on the inventory bracket in a cache position of the cache bracket.
2. The inventory system according to claim 1, wherein said buffer rack includes a plurality of partitions spaced apart in an up-down direction, said partitions forming said buffer locations, said reading device being positioned on top of one or more of said partitions.
3. The cargo inventory system according to claim 1, wherein the pick-and-place container mechanism is provided on one side of the robot body and the buffer support is provided on the other side of the robot body.
4. The cargo inventory system according to claim 1, wherein the reading device is further located at a front end of the pick-and-place container mechanism and/or at a rear end of the pick-and-place container mechanism.
5. The inventory system of claim 4, in which the pick-and-place container mechanism includes a first prong, a second prong, and a buffer plate, the first prong and the second prong being opposite and spaced apart, the buffer plate being disposed at the bottom of the first prong and the second prong, the reading device being disposed on the buffer plate.
6. The cargo inventory system according to claim 5, wherein the buffer plate is provided with a hollowed-out hole, and the hollowed-out hole penetrates through the buffer plate along the up-down direction.
7. The inventory system of claim 1, in which the reading device is an RFID reader and the identification code of the item is an RFID tag.
8. The cargo inventory system according to any one of claims 1-7, wherein the robot body includes:
a mobile chassis;
the door frame is arranged on the movable chassis, and the buffer storage bracket is arranged on one side of the door frame;
the lifting assembly is arranged on the portal, and the container taking and placing mechanism is arranged on the lifting assembly and is positioned on the other side of the portal.
9. An autonomous mobile robot comprising:
a robot body;
the picking and placing container mechanism is arranged on the robot body and can move up and down relative to the robot body and is used for picking and placing inventory containers to be checked;
the buffer storage bracket is arranged on the robot body and comprises a buffer storage position for accommodating the stock container, and the container taking and placing mechanism is used for placing the stock container on the stock bracket in the buffer storage position;
And the reading device is at least arranged in the cache bit and is used for reading the identification code of the goods in the inventory container to be checked.
10. The autonomous mobile robot of claim 9, wherein the buffer support includes a plurality of partitions arranged at intervals in an up-down direction, the partitions forming the buffer locations, the reading device being provided on top of one or more of the partitions.
11. The autonomous mobile robot of claim 9, wherein the cache carriage and the pick and place container mechanism are located on different sides of the robot body.
12. The autonomous mobile robot of claim 9, wherein the reading device is further disposed at a front end of the pick-and-place container mechanism and/or a rear end of the pick-and-place container mechanism.
13. The autonomous mobile robot of claim 12, wherein the pick-and-place container mechanism comprises a first prong, a second prong, and a buffer plate, the first prong and the second prong being opposite and spaced apart, the buffer plate being disposed at bottoms of the first prong and the second prong, the reading device being disposed on the buffer plate.
14. The autonomous mobile robot of claim 13, wherein the buffer plate is provided with a hollowed-out hole, and the hollowed-out hole penetrates the buffer plate along an up-down direction.
15. The autonomous mobile robot of claim 9, wherein the reading device is an RFID reader.
16. The autonomous mobile robot of any of claims 9-15, wherein the robot body comprises:
a mobile chassis;
the door frame is arranged on the movable chassis, and the buffer storage bracket is arranged on one side of the door frame;
the lifting assembly is arranged on the portal, and the container taking and placing mechanism is arranged on the lifting assembly and is positioned on the other side of the portal.
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| PCT/CN2021/072898 WO2021238243A1 (en) | 2020-05-29 | 2021-01-20 | Container handling method employing dense storage |
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