WO2019233486A1

WO2019233486A1 - Automated cargo distribution system and operation method thereof

Info

Publication number: WO2019233486A1
Application number: PCT/CN2019/090430
Authority: WO
Inventors: 刘哲
Original assignee: 锥能机器人（上海）有限公司
Priority date: 2018-06-07
Filing date: 2019-06-06
Publication date: 2019-12-12
Also published as: CN108945921A

Abstract

An automated cargo distribution system and an operation method thereof. A conveying unit (4), a recognition unit (2), a transportation unit (3), and a distribution control unit (1) are provided to achieve automation of a cargo distribution process, thereby improving the speed and accuracy of distribution and reducing manual labor costs. An idle transportation unit of the distribution system can be allocated, according to an actual operation scenario, to a queue with the shortest line for cargo pickup, or a distribution strategy of the distribution system can be adjusted according to a transportation amount of cargo, so as to increase the speed of cargo distribution.

Description

Cargo automatic distribution system and its operation method

Technical field

The present invention relates to storage automation technology, and in particular, to a cargo automatic distribution system and an operation method thereof.

Background technique

With the rapid development of e-commerce, Internet of Things and other technologies, logistics plays a very important role in it, and more and more people are participating in it. In the internal transfer process of the logistics transportation process, the received logistics products need to be placed, sorted, allocated, loaded, and unloaded to wait for the transportation steps. Due to the variety of goods to be transported and the destinations, they need special The sorting, distribution, loading and other processes of the personnel have consumed a lot of manpower and are inefficient.

Summary of the Invention

The object of the present invention is to provide an automatic cargo distribution system and a method for operating the same, which can reduce labor costs and improve the speed and accuracy of distribution.

In order to achieve the above object, an embodiment of the present invention discloses an automatic cargo distribution system, including:

A transfer unit for transferring the goods to the identification unit;

An identification unit for reading the cargo identifier of the goods transferred by the transfer unit and sending the cargo identifier to the distribution control unit;

Handling unit; and

The allocation control unit is used to find the position of the material frame corresponding to the goods identifier according to the goods identifier sent by the identification unit, and controls the handling unit to move the goods to the material frame location, wherein the allocation control unit is preset with the goods identifier and the material frame position Corresponding relationship.

An embodiment of the present invention also discloses a method for operating an automated cargo distribution system. The automated cargo distribution system includes a transfer unit, an identification unit, a handling unit, and a distribution control unit. The distribution control unit is provided with a cargo identifier and Correspondence of the position of the material frame, the running method includes the following steps:

The transfer unit transfers the goods to the identification unit;

The identification unit reads the cargo identification of the cargo;

The identification unit sends the cargo identification to the distribution control unit;

The allocation control unit searches for the position of the material frame corresponding to the goods identifier according to the goods identifier;

The distribution control unit controls the conveying unit to move the goods to the position of the material frame according to the material frame position.

In one embodiment, a waiting area is provided beside each identification unit, and one or more handling units enter the waiting area to queue and sequentially carry goods under the control of the distribution control unit. In one embodiment, the allocation control unit includes a dispatching sub-unit. The dispatching sub-unit obtains the queuing status of each waiting area in real time, such as the number of handling units, and allocates the idle handling unit to the shortest queue according to the operating status of the site. Goods, so that there is a sufficient number of handling units next to each identification unit waiting to move the goods in a timely manner.

In one embodiment, the distribution control unit includes a material frame sub-unit, and the material frame sub-unit periodically adjusts the correspondence between the cargo identifier and the material frame position according to the quantity of each cargo handled (for example, the quantity of various types of goods in a period of time). , Thereby shortening the transportation distance of a large number of goods.

By setting the handling unit scheduling strategy and the material frame position adjustment strategy in the distribution control unit, the speed and accuracy of the distribution can be further improved.

In one embodiment, when the scanning of the cargo fails or the cargo identification is not obtained for any other reason, the distribution control unit controls the handling unit carrying the cargo to re-enter the waiting area for manual intervention by a staff member. As soon as the code scanning failure is found, the handling unit is instructed to return to the waiting area, so that abnormal goods can be processed in time, making the entire distribution operation smoother.

In the case of an unmanned area, when the code scanning fails or the goods identification is not obtained for any other reason, the distribution control unit can control the handling unit to move the goods to the position of the abnormal cargo frame or the artificial area for subsequent follow-up. deal with.

In one embodiment, the transfer unit is a conveyor belt that transfers the read goods directly to the handling unit. In one embodiment, the handling unit is an AGV handling unit. In one embodiment, a belt conveyor or a flip conveyor is provided on the AGV handling unit, so that the AGV handling unit can unload the goods automatically. By setting up automatic transfer and unloading of the transfer unit and the handling unit respectively, the distribution automation can be further strengthened, thereby realizing unmanned distribution.

In one embodiment, a plurality of charging piles are distributed in the middle of the cargo distribution site. The distribution control unit detects the battery capacity of each idle handling unit in real time and controls the idle handling unit to move to the nearest idle charging pile for charging in time to ensure that Continuous operation of each handling unit. The charging pile is concentrated in the middle of the cargo distribution site, which can facilitate the charging of the handling unit, thereby improving the charging efficiency.

In one embodiment, when the handling unit is not very busy, that is, when the amount of handling tasks is not large, the allocation control unit can control the idle handling unit with low power to perform charging to prepare for busy operations at any time.

Compared with the prior art, the embodiments of the present invention have the following main differences and effects:

The automatic cargo distribution system and operation method of the present invention realize the automation of the cargo distribution process by setting a transfer unit, an identification unit, a handling unit, and a distribution control unit, which improves the speed and accuracy of distribution, and reduces labor. cost.

It should be understood that, within the scope of the present invention, the above technical features of the present invention and the technical features specifically described in the following (such as embodiments and examples) can be combined with each other to form a new or preferred technical solution. . Due to space limitations, I will not repeat them here.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly explain the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are merely These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without paying creative labor.

FIG. 1 is a schematic block diagram of a cargo automatic distribution system according to an exemplary embodiment of the present invention.

2A-2B are schematic diagrams of arrangement of identification units in a cargo distribution system according to an exemplary embodiment of the present invention.

FIG. 3 is a schematic flowchart of an operation method of an automatic cargo distribution system according to an exemplary embodiment of the present invention.

FIG. 4 is a schematic flowchart of processing abnormal goods according to an exemplary embodiment of the present invention.

FIG. 5 is a schematic flowchart of scheduling an idle handling unit according to an exemplary embodiment of the present invention.

FIG. 6 is a schematic flowchart of adjusting a position of a material frame according to an exemplary embodiment of the present invention.

FIG. 7 is a schematic diagram of a charging process according to an exemplary embodiment of the present invention.

FIG. 8 is a schematic diagram of a charging process according to another exemplary embodiment of the present invention.

FIG. 9 is a schematic diagram of a charging process according to another exemplary embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all the embodiments. Based on the embodiments of the present invention, those of ordinary skill in the art have not made any creativity

At present, although the AGV (Automated Guided Vehicle) handling robot has been applied to some links in the logistics transportation process, the degree of automation of the entire logistics transportation process is still limited. The inventors of the present invention have found that the distribution process is not solved in an automated manner, and operators still need to manually pick up goods from the assembly line and place them on the material box to be sent after scanning the code. This requires a lot of labor to distribute the goods according to their destination.

In view of the above, the present invention provides an automatic cargo distribution system and a method for operating the same. The application of an AGV handling robot can reduce the labor cost of the distribution operation, improve the degree of automation of the operation, and greatly improve the speed and accuracy of the distribution operation. .

FIG. 1 illustrates an automated cargo distribution system according to an example embodiment, which is disposed in a cargo distribution site. As shown in FIG. 1, the automatic cargo distribution system includes a transfer unit 4, an identification unit 2, a handling unit 3, and a distribution control unit 1.

The transfer unit 4 transfers the goods to be distributed to the identification unit 2. In one embodiment, the conveying unit 4 may use a belt conveyor and continuously transport the goods to be distributed in a closed loop cycle to improve the conveying efficiency. In one embodiment, the transmission unit 4 may adopt a hanging structure. In another embodiment, the transport unit 4 transports the goods to be distributed at certain intervals to ensure that each of the goods to be distributed is delivered to the identification unit 2 in an orderly manner. In other embodiments, the transmission unit 4 may also adopt other transmission structures and / or transmission methods according to the actual goods, as long as the goods are transmitted to the identification unit 2.

After the goods arrive at the identification unit 2, the identification unit 2 reads the goods identification of the goods transferred by the transfer unit 4. In one embodiment, a plurality of identification units 2 are arranged around the conveying unit 4 to obtain goods carried by the conveying unit 4. In one embodiment, after the goods delivered by the conveying unit 4 arrive at the identifying unit 2, a conveying device such as a mechanical arm can be used to carry the goods to the identifying station of the identifying unit 2 for identification, so as to ensure the accuracy of identification. In another embodiment, the identification unit 2 can directly read the cargo identification of the cargo on the transfer unit 2 without moving the cargo.

In one embodiment, a sensor is electrically connected to the identification unit 2. The sensor detects that the goods arrive at the identification unit 2 and sends an electrical signal to the identification unit 2. The identification unit 2 automatically runs to read the goods identification of the goods. The sensor may be, but is not limited to, an infrared sensor, a touch switch sensor, a weight sensor, or other types of sensors. In other embodiments, the sensor may not be used, as long as the identification unit 2 is set on the transport path of the goods and the code is scanned continuously.

As can be seen from FIG. 1, the identification unit 2 is communicatively connected to the distribution control unit 1 and sends the read goods identification to the distribution control unit 1. In one embodiment, the identification unit 2 may include a code scanning subunit, a transceiving subunit, and / or a display subunit. The code scanning sub-unit is used to read the cargo identification of the cargo after the cargo arrives at the identification unit 2. Corresponding to the type of cargo identification, the code scanning sub-unit can use but is not limited to QR code (Quick Response Code, QR code) scanner, graphic code scanner, RFID (Radio Frequency Identification) tag reader Or other cargo identification readers.

After the code scanning subunit reads the goods identification, the transceiver subunit sends the goods identification read by the code scanning subunit to the distribution control unit 1 through a wireless and / or wired network. The distribution control unit 1 can find the position of the material box 5 where the goods are placed according to the goods identification, and / or obtain information such as the model, specifications, order, or logistics of the goods.

In one embodiment, the transceiver subunit receives the query result of the distribution control unit 1. The display subunit is connected to the transceiver subunit, and displays the position of the material frame 5 obtained from the distribution control unit 1 and / or information such as the model, specifications, order, or logistics of the goods for reference by the operator. In another embodiment, the identification unit 2 may not obtain the foregoing information from the distribution control unit 1 for display.

FIG. 1 shows that the identification unit 2 has a corresponding waiting area 6. In one embodiment, a waiting area 6 is provided next to each identification unit 2. The waiting area 6 is used to accommodate a plurality of handling units 3 to queue for goods identified by the identification unit 2. In another embodiment, a waiting area may be set between two or more adjacent identification units 2, that is, two or more identification units 2 share a waiting area, for example, FIGS. 2A and 2B schematically show Three and four identification units 2 surround the waiting area 6 to share the waiting area 6. In the case where the waiting area is shared, each of the identification units 2 may be generally provided inside the transfer unit 4. In other embodiments, the waiting area 6 may be set in other ways according to the actual situation, as long as the waiting area 6 is available beside each identification unit. The plurality of transfer units 3 sequentially transfer the goods in the waiting area 6 under the control of the distribution control unit 1.

As an embodiment, the transfer unit 4 includes a transfer belt and a transfer control module. The goods are transmitted to the identification unit 2 via the conveyor belt to read the goods identification. When the goods are conveyed by the conveyor belt, the delivery control module sends a cargo signal to the distribution control unit 1. The distribution control unit 1 controls the handling unit 3 to move to the conveyor belt through the waiting area 6 after receiving the goods signal, and then sends an instruction to the conveyor control module to control the conveyor belt to automatically transfer the goods read by the identification unit 2 to the handling unit. 3 on. That is, when the conveyor belt automatically transfers the goods, the conveying unit 3 is flush with or slightly lower than the plane of the conveyor belt, and the conveyor belt is started to move the goods thereon to the conveying unit 3. The entire process is fully automatic and does not require any manual intervention. In other embodiments, the goods may be automatically moved from the conveying unit 4 to the conveying unit 3 by a device such as a robotic arm or manually.

In one embodiment, the handling unit 3 may include a cargo detection device to cooperate with the goods sent directly to the handling unit 3 from a conveyor belt. The cargo detection device is, for example, an infrared pair tube, a gravity sensor, or the like. After the handling unit 3 moves to the conveyor belt, the cargo detection device detects whether the handling unit 3 has received the goods, and sends the received signal to the distribution control unit 1 after receiving the goods. After receiving the received signal, the distribution control unit 1 controls the handling unit 3 to carry the goods to the position corresponding to the material frame 5. In one embodiment, the distribution control unit 1 does not receive the received signal within the second predetermined time when the transfer unit 3 arrives at the conveyor, the distribution control unit 1 issues a warning or instructs the conveyor or the transfer unit 3 to perform certain operations. . By providing a cargo detection device in the transport unit 3, it can be ensured that the cargo has indeed arrived on the transport unit 3. In other embodiments, it is not necessary to provide a cargo detection device for the transport unit 3, as long as it is ensured that the transport unit 3 reaches the conveyor belt before operating the conveyor to transport the goods.

The handling unit 3 may be an AGV handling unit, or any other type of handling unit capable of implementing the functions mentioned in this application. In one embodiment, the AGV handling unit includes an AGV vehicle body and a transfer device disposed on the AGV vehicle body. The conveying device may be a belt conveying device, a turning conveying device, or other conveying devices. In the actual handling process, the goods are placed on the conveying device of the AGV conveying unit. When the AGV conveying unit reaches the position of the material frame 5, the above-mentioned conveying device is activated to automatically convey the goods into the material frame 5, thereby achieving automatic unloading. In other embodiments, the AGV conveying unit may not be provided with a conveying device, as long as the goods can be conveyed to the position of the material frame.

In one embodiment, the AGV vehicle body may further include a navigation device. The navigation device may use an inertial navigator, a QR code navigator, a laser obstacle avoidance navigator, or a SLAM (Instant Positioning and Map Building) visual navigator. The inertial navigator can detect its acceleration through its built-in sensors, calculate its coordinates and speed through operations, and then guide the AGV car body's motion route. The QR code navigator is installed on the bottom of the AGV car body, and reads the QR code image pasted on the ground through a camera to obtain its position and corner attitude, and then guides the AGV car body's motion route. The laser obstacle avoidance navigator is installed on the AGV vehicle body, and transmits laser signals in the direction of movement of the vehicle body to obtain obstacle feedback information on the action path, thereby guiding the AGV vehicle body to avoid obstacles. The SLAM vision navigator acquires scene image data through a depth vision camera installed on the AGV vehicle body, and simultaneously builds a scene map to complete the planning of the AGV vehicle body movement path.

The distribution control unit 1 presets the correspondence relationship between the goods identification and the position of the material frame. After receiving the goods identification from the identification unit 2, the allocation control unit 1 searches for the material frame corresponding to the goods identification according to the goods identification sent by the identification unit 2. 5 position. After finding the corresponding position of the material frame 5, the distribution control unit 1 sends an instruction to the conveying unit 3 to control the conveying unit 3 to carry the goods to the position of the material frame 5. The material frame 5 is arranged around the conveying unit 4 for receiving the goods conveyed by the conveying unit 3.

In the case of misoperation or loss or damage of the mark on the goods, the identification unit 2 cannot read the goods mark of the goods, and thus cannot complete the distribution operation of the goods. In response to this situation, in one embodiment, the distribution control unit 1 sets a first predetermined time, when the goods arrive within the first predetermined time of the identification unit 2 or within the first predetermined time of the goods received by the handling unit 3 If the dial control unit 1 does not receive the cargo identification of the cargo, it indicates that the cargo identification of the cargo has failed to be read. It can be understood that a sensor or a cargo detection device can be set as described above to sense that the cargo arrives at the identification unit 2 or is placed on the handling unit 3 to start calculating the first predetermined time.

If the cargo identification fails to be read, the distribution control unit 1 controls the handling unit 3 carrying the cargo to re-enter the waiting area for queuing. When the staff next to the identification unit 2 finds that the goods are carried on the handling unit 3 entering the waiting area, they are manually processed, such as placing them correctly for reading by the identification unit 2 again, or directly manual delivery Wait. When the cargo identifier fails to read, it returns to the waiting area and can handle the abnormal cargo in time. In other embodiments, when the area formed by the entire system is an unmanned area, the handling unit 3 may be controlled to carry the goods to the artificial area or the position of the pre-set abnormal cargo material frame for subsequent processing.

Optionally, the allocation control unit 1 may include a scheduling sub-unit to schedule the idle handling unit 3 to enter the waiting area. In one embodiment, the scheduling subunit is used to obtain the number of the handling units 3 that are queued in each waiting area 6 in real time. For example, the scheduling subunit may perform real-time counting when each handling unit 3 enters or leaves the waiting area 6 or according to the Whether the position is counted in the waiting area 6 and so on, and controls the idle handling unit 3 to enter the waiting area 6 with the least number of the handling units 3 in the queue for queuing. In one embodiment, the scheduling subunit is used to control the idle handling unit 3 to enter the waiting area closest to it to queue. In another embodiment, the dispatching sub-unit may also be used to control the idle handling unit 3 to enter the corresponding waiting time in consideration of other situations such as the handling rate of each recognition unit 2 (that is, the speed of processing goods) and the sharing of waiting areas by multiple recognition units 2. Area to line up. For example, the scheduling subunit may schedule the idle handling unit 3 so that the number of the handling units 3 in the waiting area 6 next to the identification unit 2 with a relatively fast handling rate is relatively large. Alternatively, the scheduling sub-unit may schedule the idle transfer unit 3 according to the ratio of the number of identification units 2 shared by each waiting area 6, for example, the scheduling ratio of the transferring unit 3 in the waiting area 6 in FIG. 2A and FIG. 2B is 3: 4. In other embodiments, two or more of the above-mentioned situations may be comprehensively considered to achieve the optimal scheduling of the handling unit 3. Idle transport units usually refer to transport units that have not transported goods, are not queued in the waiting area, or have not performed other tasks, and can be set according to actual conditions.

Optionally, the distribution control unit 1 may further include a material frame sub-unit to optimize the cargo distribution strategy. In one embodiment, the material box sub-unit periodically counts the moving quantity of each cargo. That is to say, the quantity of various types of goods handled in a period of time is counted, for example, X goods with a cargo identifier A, Y goods with a cargo identifier B are handled within a certain period of time, which reflects the market Demand for various types of goods at a certain time. The periodicity can be set by week, month, and quarter, and can be set as required.

In one embodiment, the handling quantity of each cargo may be accumulated when the identification unit 2 reads and sends the cargo identification of each cargo, and is periodically counted by the material frame subunit. In other embodiments, the quantity of each cargo handled can also be counted in other ways, for example, when cleaning each material frame, the goods identification and the corresponding quantity are sent to the material frame sub-unit of the distribution control unit 1 for accumulation, and so on.

The material frame sub-unit adjusts the correspondence between the cargo identification and the material frame position according to the amount of each cargo being transported, so that the larger number of cargoes are transported to the material frame position closer to the conveying unit 4. For example, when X is greater than Y, the corresponding relationship between the cargo identification and the material frame position is adjusted so that the material frame position corresponding to the cargo identification A is closer to the transfer unit 4 than the material frame position corresponding to the cargo identification B.

In various embodiments, the cargo identifier and the position of the material frame may be directly associated, or may be indirectly associated through other information (for example, the material frame number). In the case where the cargo identification is directly related to the position of the material frame, the corresponding relationship between the cargo identification and the position of the material frame is directly adjusted. In the case where the goods identification is indirectly related to the position of the material frame, for example, through the indirect association of the material frame number, the correspondence between the goods identification and the material frame number (the correspondence between the material frame number and the material frame position is fixed) can be adjusted, or can be adjusted The correspondence between the material frame number and the material frame position (the correspondence relationship between the cargo identifier and the material frame number is fixed) is used to indirectly adjust the correspondence between the cargo identifier and the material frame position. In either case, the corresponding relationship between the cargo identification and the position of the material frame can be adjusted, so that the larger number of goods can be transported to the position of the material frame closer to the transfer unit. In other embodiments, for example, when the market demand is relatively stable, the corresponding relationship between the cargo identifier and the position of the material frame may not be adjusted.

Generally, multiple charging piles are distributed in the cargo distribution site. In one embodiment, a plurality of charging piles are centrally distributed in the middle of the cargo distribution site, which can facilitate charging of the handling unit 3. In other embodiments, a plurality of charging posts may be distributed around the transmission unit 4 or distributed in other ways.

The distribution control unit 1 and / or the idle transfer unit 3 itself detects in real time whether the battery power of the idle transfer unit 3 is lower than a second preset threshold. If the distribution control unit 1 confirms that the battery capacity of the idle transfer unit 3 is lower than the second preset threshold, the distribution control unit controls the idle transfer unit 3 to move to the idle charging pile 6 closest to the idle transfer unit 3 for charging.

If the idle transport unit 3 itself confirms that the battery power is lower than the second preset threshold, it issues a charging request to the distribution control unit 1. After receiving the charging request, the distribution control unit 1 controls the idle transfer unit 3 to move to the idle charging pile 6 closest to the idle transfer unit 3 for charging.

In some cases, the carrying unit 3 may not be charged until the battery level is lower than the second preset threshold. In one embodiment, the allocation control unit 1 is configured to compare the amount of handling tasks of the current system with the total number of the handling units 3. The amount of handling tasks in the current system refers to the amount of cargo that currently needs to be handled by the handling unit 3. If the total number of the handling units 3 is greater than the current system's handling tasks amount exceeds the first preset threshold, it means that the current system is not very busy. The distribution control system 1 controls the idle power handling unit in the handling unit 3 to move to the idle charging pile closest to the idle handling unit for charging, so as to keep the overall charging capacity of each handling unit 3 sufficient to prepare for busy operations at any time. ready. In other embodiments, other charging strategies may also be set, such as charging once after the transport unit 3 operates for a certain time interval, and so on.

It should be noted that each unit and / or module mentioned in each system embodiment of the present invention is a logical unit and / or module. Physically, a logical unit and / or module may be a physical unit and / or module. It can also be part of a physical unit and / or module, and can also be implemented by a combination of multiple physical units and / or modules. The physical implementation of these logical units and / or modules is not the most important. These logical units The combination of the functions implemented by the modules and / or modules is the key to solving the technical problems proposed by the present invention. In addition, in order to highlight the innovative part of the present invention, the above-mentioned system embodiments of the present invention do not introduce units and / or modules that are not closely related to solving the technical problems proposed by the present invention, which does not indicate that the above-mentioned system embodiments are not No other units and / or modules exist.

It should be noted that in the claims and description of this patent, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or Imply any such actual relationship or order between these entities or operations. Moreover, the terms "including", "comprising", or any other variation thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or device that includes a series of elements includes not only those elements but also those that are not explicitly listed Or other elements inherent to such a process, method, article, or device. Without more restrictions, an element limited by the sentence "including one" does not exclude the existence of other identical elements in the process, method, article, or equipment that includes the element.

FIG. 3 illustrates a method of operating a cargo distribution system according to an example embodiment. In an example embodiment, the method of FIG. 3 may be implemented by the automatic cargo distribution system of FIG. 1, and thus may be described with respect to FIG. 1. As shown in Figure 3 and Figure 1, this running method includes the following steps:

In step S1, the transfer unit 4 transfers the goods to the identification unit 2. In one embodiment, the transfer unit 4 includes a transfer belt and a transfer control module, and the transfer belt automatically transfers the goods to the handling unit 3. In this embodiment, the delivery control module sends a delivery signal to the distribution control unit 1, and the distribution control unit 1 controls the moving unit 3 to move to the conveyor after receiving the delivery signal. It should be noted that the transfer control module can send a cargo signal to the distribution control unit 1 at any time when the conveyor transfers the goods to the identification unit and the identification unit to the side of the conveyor belt, which can be set as required.

Thereafter, the process proceeds to step S2, and the identification unit 2 reads the cargo identification of the cargo. After step S2 and the transfer unit 3 is moved to the conveyor, the distribution control unit 1 sends an instruction to the transfer control module to control the conveyor to automatically transfer the goods read by the identification unit 2 to the transfer unit 3 without any manual intervention. In other embodiments, the goods can also be automatically moved from the conveying unit 4 to the conveying unit 3 by a device such as a robotic arm or even manually.

Thereafter, the process proceeds to step S3, and the identification unit 2 sends the goods identification to the distribution control unit 1.

After that, the process proceeds to step S4, and the distribution control unit 1 searches for the position of the material frame 5 corresponding to the goods identifier according to the goods identifier.

Thereafter, the process proceeds to step S5, and the distribution control unit 1 controls the transport unit 3 to transport the goods to the position of the material frame 5 according to the position of the material frame 5. In the example of using a conveyor belt to automatically transfer the goods, the handling unit 3 may be provided with a goods detection device to detect whether the handling unit 3 has received the goods, and after receiving the goods, the received signal is sent to the distribution control unit 1 to ensure The goods arrive on the handling unit 3. Then, in step S5, if the distribution control unit 1 receives the received signal, the distribution control unit 1 controls the transport unit 3 to transport the goods to the position of the material frame 5. In one embodiment, if the distribution control unit 1 does not receive the received signal within the second predetermined time when the handling unit 3 arrives at the conveyor belt, a failure may occur and the distribution control unit 1 issues a warning. In other embodiments, the cargo detection device may not be provided in the transport unit 3.

The transfer unit 3 may be an AGV transfer unit. In one embodiment, the AGV handling unit includes a vehicle body and a transfer device disposed on the vehicle body. The conveying device may be a belt conveying device, a turning conveying device, or other conveying devices. After step S5, the AGV handling unit automatically transfers the goods to the material frame through the conveying device after reaching the material frame position, thereby achieving automatic unloading. In other embodiments, the AGV conveying unit may not be provided with a conveying device, as long as the goods can be conveyed to the position of the material frame.

Fig. 4 shows a schematic flow for handling abnormal cargo. As shown in FIG. 4, the running method may further include the following steps:

In step 401, the distribution control unit 1 determines whether the goods identification of the goods has been received from the identification unit 2 within the first predetermined time when the goods arrive at the identification unit 2 or within the first predetermined time when the goods are received by the handling unit 3. If the goods identification of the goods is not received, proceed to step 402; if the goods identification of the goods are received, proceed to step 403.

In step 402, the distribution control unit 1 controls the handling unit 3 carrying the goods to re-enter the waiting area for queuing, so as to be manually processed by the staff after reaching the identification unit 2. In step 402, the distribution control unit 1 may also control the transport unit 3 to transport the goods to the position of the abnormal cargo frame, which is suitable for the situation where the entire system forms an unmanned area.

In step 403, the distribution control unit 1 continues the operation of step S4.

FIG. 5 and FIG. 6 respectively show the schematic flow of the dispatch control unit 1 scheduling the idle handling unit 3 and adjusting the position of the material frame to further improve the dispatch speed.

The automatic cargo distribution system includes a plurality of identification units 2, each of which is provided with a waiting area 6, and the allocation control unit 1 schedules the idle handling unit 3 to enter the waiting area 6 in real time. Specifically, as shown in FIG. 5, the running method may further include the following steps:

In step 501, the distribution control unit 1 obtains the number of the handling units that are queued in each waiting area 6.

Thereafter, the process proceeds to step 502, and the allocation control unit 1 controls the idle transfer unit to enter a waiting area with the least number of transfer units in the queue to queue.

In other embodiments, the allocation control unit 1 may also schedule the idle handling unit according to other parameters described about the scheduling subunit, such as the waiting area closest to the idle handling unit, the handling rate of the identification unit 2, and the shared waiting. The number of identification units 2 of a zone and so on.

As shown in FIG. 6, the running method may further include the following steps:

In step 601, the distribution control unit 1 periodically counts the number of goods conveyed.

Thereafter, the process proceeds to step 602, and the allocation control unit 1 adjusts the corresponding relationship between the cargo identifier and the position of the material frame according to the quantity of each cargo to be moved, so that the larger quantity of the cargo is transferred to the position of the material frame closer to the conveying unit. In one embodiment, when the market changes and the types of goods are adjusted greatly, the corresponding relationship between the goods identifier and the position of the material frame can be set directly according to market conditions.

FIG. 7 to FIG. 9 respectively show a schematic flow of charging the carrying unit 3. A plurality of charging piles 6 are distributed in the cargo distribution site. As shown in FIG. 7, the operation method may further include the following steps:

In step 701, the distribution control unit 1 detects whether the battery power of the idle transport unit 3 is lower than a second preset threshold. If it is confirmed that the battery level of the idle transport unit 3 is lower than the second preset threshold, the process proceeds to step 702; if it is not lower than the second preset threshold, the process proceeds to step 703.

In step 702, the allocation control unit 1 controls the idle transfer unit 3 to move to the idle charging pile 6 closest to the idle transfer unit 3 for charging.

In step 703, operation proceeds to step 502.

As shown in FIG. 8, the running method may further include the following steps:

In step 801, the idle transport unit 3 detects whether its own battery power is lower than a second preset threshold. If it is lower than the second preset threshold, proceed to step 802; if it is not lower than the second preset threshold, proceed to step 803.

In step 802, the idle transfer unit 3 issues a charging request to the distribution control unit 1.

Thereafter, the process proceeds to step 804, and the allocation control unit 1 controls the idle transfer unit 3 to move to the idle charging pile 6 closest to the idle transfer unit 3 for charging.

In step 803, operation proceeds to step 502.

As shown in FIG. 9, the running method may further include the following steps:

In step 901, the allocation control unit 1 compares the amount of the handling tasks of the current system with the total number of the handling units 3, and determines whether the total number of the handling units 3 is larger than the first preset threshold. If it exceeds the first preset threshold, proceed to step 902; if it does not exceed the first preset threshold, proceed to step 903.

In step 902, the distribution control unit 1 controls the idle transport unit with the lowest power in the transport unit 3 to move to the idle charging pile closest to the idle transport unit for charging.

In step 903, operation proceeds to step 502.

The above processes can be used in combination as shown above, but it can be understood that the above processes can also be used individually.

Each method embodiment of the present invention may be implemented in software, hardware, firmware, or the like. Regardless of whether the present invention is implemented in software, hardware, or firmware, the instruction code can be stored in any type of computer-accessible memory (for example, permanent or modifiable, volatile or nonvolatile, solid state Or non-solid, fixed or replaceable media, etc.). Similarly, the memory may be, for example, Programmable Array Logic (PAL), Random Access Memory (RAM), Programmable Read Only Memory (PROM) "), Read-Only Memory (" ROM "), Electrically Erasable Programmable ROM (" EEPROM "), magnetic disks, optical disks, digital Versatile Discs , "DVD" for short) and so on.

The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall be included in the present invention. Within the scope of protection.

Claims

An automatic cargo distribution system is characterized in that it includes:

A transfer unit for transferring the goods to the identification unit;

An identification unit, configured to read a cargo identifier of the cargo transmitted by the transmitting unit and send the cargo identifier to a distribution control unit;

Handling unit; and

A distribution control unit, configured to find a position of a material frame corresponding to the goods identifier according to the goods identifier sent by the identification unit, and control the handling unit to move the goods to the material frame position, wherein the distribution unit The dial control unit is preset with a correspondence relationship between the goods identification and the position of the material frame.
The automated cargo distribution system according to claim 1, wherein the automated cargo distribution system comprises a plurality of identification units, and a waiting area is provided beside each of the identification units;

The allocation control unit includes a dispatching subunit, which is used to obtain the number of moving units that are queued in each of the waiting areas in real time, and control the idle moving unit to enter the waiting with the least number of moving units that are queued. Area to line up.
The automatic cargo distribution system according to claim 1, wherein the distribution control unit is further configured to receive all shipments within a first predetermined time when the goods arrive at the identification unit or received by the handling unit. It is determined within the first predetermined time of the goods whether the goods identification of the goods has been received from the identification unit. If the goods identification of the goods has not been received, the distribution control unit controls the goods carrying the goods. The handling unit re-enters the waiting area to be queued for manual processing by a worker after arriving at the identification unit.
The automatic cargo distribution system according to claim 1, wherein the distribution control unit is further configured to receive all shipments within a first predetermined time when the goods arrive at the identification unit or received by the handling unit. It is determined within the first predetermined time of the cargo whether the cargo identification of the cargo has been received from the identification unit, and if the cargo identification of the cargo has not been received, the distribution control unit controls the handling unit to The goods are directly transported to the position of the abnormal cargo frame.
The automatic cargo distribution system according to claim 1, wherein the transfer unit includes a transfer belt and a transfer control module, and the transfer control module is configured to control the distribution when the goods are transferred by the transfer belt. The unit sends a stock signal;

The handling unit includes a cargo detection device for detecting whether the handling unit has received the goods, and sending a received signal to the distribution control unit after confirming receipt of the goods;

The distribution control unit is configured to control the handling unit to move to the conveyor belt after receiving the in-stock signal, and send an instruction to the conveyor control module to control the conveyor belt to be read by the identification unit. The goods are automatically transferred to the handling unit, and after receiving the received signal, the handling unit is controlled to carry the goods to the rack position.
The automatic cargo distribution system according to claim 1, wherein the distribution control unit includes a material frame sub-unit, and the material frame sub-unit is configured to periodically count the moving quantity of each cargo, and according to each cargo's The number of conveyances adjusts the corresponding relationship between the cargo identification and the position of the material frame, so that the goods with a larger number of conveyances are conveyed to the position of the material frame closer to the conveying unit.
The automatic cargo distribution system according to any one of claims 1 to 6, wherein the handling unit is an AGV handling unit.
The automatic cargo distribution system according to claim 7, wherein the AGV conveying unit comprises a vehicle body and a conveying device provided on the vehicle body, and the conveying device is a belt conveying device or a reversing conveying device. Device

The AGV handling unit is configured to automatically transfer the goods to the material box through the conveying device after reaching the material box position.
The automated cargo distribution system according to any one of claims 1 to 6, wherein the automated cargo distribution system is disposed at a cargo distribution site, and a plurality of charging piles are distributed in the cargo distribution site. ;

The distribution control unit is further configured to compare the amount of handling tasks of the current system with the total number of handling units, and when it is confirmed that the total number of handling units is greater than the amount of handling tasks exceeding a first preset threshold , The idle transport unit controlling the lowest power in the transport unit is moved to an idle charging pile closest to the idle transport unit for charging.
The automated cargo distribution system according to any one of claims 1 to 6, wherein the automated cargo distribution system is disposed at a cargo distribution site, and a plurality of charging piles are distributed in the cargo distribution site. ;

The idle handling unit detects whether its own battery power is lower than a second preset threshold and sends a charging request to the distribution control unit when it is confirmed that the battery power is lower than the second preset threshold;

After receiving the charging request from the idle transport unit, the distribution control unit controls the idle transport unit to move to an idle charging pile closest to the idle transport unit for charging.
An operating method of an automatic cargo distribution system, characterized in that the automatic cargo distribution system includes a transmission unit, an identification unit, a handling unit, and a distribution control unit, and the distribution control unit is provided with a cargo identifier and a material in advance. Correspondence between box positions, the running method includes the following steps:

The transfer unit transfers the goods to the identification unit;

The identification unit reads the cargo identification of the cargo;

The identification unit sends the cargo identification to the distribution control unit;

The distribution control unit searches for a material frame position corresponding to the goods identifier according to the goods identifier;

The distribution control unit controls the carrying unit to carry the goods to the material frame position according to the material frame position.
The operation method according to claim 11, wherein the automatic cargo distribution system comprises a plurality of identification units, each of which is provided with a waiting area, and the operation method further comprises the following steps:

The allocation control unit obtains the number of the handling units in line in each of the waiting areas in real time;

The distribution control unit controls the idle handling unit to enter a waiting area with the least number of handling units in the queue for queuing.
The operating method according to claim 11, further comprising the following steps:

The distribution control unit determines whether the goods have been received from the identification unit within a first predetermined time when the goods arrive at the identification unit or within a first predetermined time when the goods are received by the handling unit. Cargo identification of the goods,

If the cargo identification of the cargo is not received, the distribution control unit controls the handling unit carrying the cargo to re-enter the waiting area to be queued for manual processing by a staff member upon reaching the identification unit .
The operating method according to claim 11, further comprising the following steps:

The distribution control unit determines whether the goods have been received from the identification unit within a first predetermined time when the goods arrive at the identification unit or within a first predetermined time when the goods are received by the handling unit. Cargo identification of the goods,

If the cargo identification of the cargo is not received, the distribution control unit controls the handling unit to transport the cargo to a position of an abnormal cargo frame.
The operating method according to claim 11, wherein the transfer unit includes a transfer belt and a transfer control module, and the transfer unit includes a cargo detection device;

The running method further includes the following steps:

The transfer control module sends a cargo signal to the distribution control unit, and the distribution control unit controls the handling unit to move to the conveyor belt after receiving the cargo signal;

After the step of reading the cargo identification of the goods by the identification unit and the step of controlling the transfer unit to move to the conveyor belt by the distribution control unit, the following steps are further included:

The distribution control unit sends an instruction to the transfer control module to control the conveyor to automatically transfer the goods read by the identification unit to the handling unit; and

The cargo detecting device detects whether the cargo is received by the handling unit, and sends a received signal to the distribution control unit after confirming receipt of the cargo;

In the step of the distribution control unit controlling the handling unit to carry the goods to the location of the material frame according to the position of the material frame, the distribution control unit controls the station after receiving the received signal The conveying unit conveys the goods to the material frame position.
The operating method according to claim 11, further comprising the following steps:

The distribution control unit periodically counts the amount of each cargo handled;

The distribution control unit adjusts the corresponding relationship between the cargo identification and the position of the material frame according to the amount of each cargo to be transported, so that the larger number of cargoes are transported to the position of the material frame closer to the transport unit.
The operating method according to any one of claims 11 to 16, wherein the transfer unit is an AGV transfer unit.
The running method according to claim 17, wherein the AGV conveying unit comprises a vehicle body and a conveying device provided on the vehicle body, and the conveying device is a belt conveying device or a reversing conveying device;

After the distribution control unit controls the step of transporting the goods to the position of the material frame by the handling unit according to the position of the material frame, the method further includes the following steps: the AGV transportation unit arrives at the position of the material frame Then, the goods are automatically transferred to the material box by the transferring device.
The operation method according to any one of claims 11 to 16, wherein the automatic cargo distribution system is provided at a cargo distribution site, and a plurality of charging piles are distributed in the cargo distribution site, and the The running method also includes the following steps:

The distribution control unit compares the amount of handling tasks of the current system with the total number of the handling units;

If it is confirmed that the total number of the handling units is greater than the handling task amount exceeding a first preset threshold, the allocation control unit controls the idle handling unit with the lowest power in the handling unit to move to the nearest to the idle handling unit. Idle the charging station for charging.
The operation method according to any one of claims 11 to 16, wherein the automatic cargo distribution system is provided at a cargo distribution site, and a plurality of charging piles are distributed in the cargo distribution site, and the The running method also includes the following steps:

The idle handling unit detects whether its own battery power is lower than a second preset threshold;

If it is confirmed that the battery power is lower than the second preset threshold, the idle handling unit sends a charging request to the distribution control unit, and the distribution control unit controls the idleness after receiving the charging request. The carrying unit is moved to an idle charging pile closest to the idle carrying unit for charging.