CN110406869A - Warehousing system, storage control device and control method - Google Patents
Warehousing system, storage control device and control method Download PDFInfo
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- CN110406869A CN110406869A CN201810389558.1A CN201810389558A CN110406869A CN 110406869 A CN110406869 A CN 110406869A CN 201810389558 A CN201810389558 A CN 201810389558A CN 110406869 A CN110406869 A CN 110406869A
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- 238000003860 storage Methods 0.000 title claims abstract description 302
- 238000000034 method Methods 0.000 title claims abstract description 29
- 239000000463 material Substances 0.000 claims abstract description 261
- 238000007664 blowing Methods 0.000 claims abstract description 26
- 230000032258 transport Effects 0.000 claims description 26
- 238000004891 communication Methods 0.000 claims description 5
- 208000033748 Device issues Diseases 0.000 claims 2
- 238000004458 analytical method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- 238000007726 management method Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 239000011232 storage material Substances 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
-
- 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
-
- 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
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Abstract
The present invention provides a kind of storage control device, is suitable for a warehousing system, which includes material information acquisition device, mobile conveyor and storage robot.Control device of storing in a warehouse includes: processor, is adapted for carrying out each instruction；And storage equipment, it is suitable for storing a plurality of instruction, described instruction is suitable for being loaded and being executed by processor: receives the outbound request of material information or material；The outbound request of material information or material is analyzed, to obtain the corresponding feeding device out of target storage space or material of the material on the storage rack；Search the material frame on transport device corresponding to target storage space；Feeding signal is issued to storage robot, control storage robot grabs material in the corresponding material frame of target storage space；Enabling signal is issued to mobile conveyor；Blowing signal is issued to storage robot.The present invention proposes a kind of warehousing system including the storage control device, warehouse control method and storage outbound control method simultaneously.
Description
Technical field
The present invention relates to warehousing management technical field, especially a kind of warehousing system, storage control device and control method.
Background technique
In production enterprise, the warehousing management of material is a ring indispensable in entire business administration.Especially material
Can usage amount be big, the electronics industry more than material variety, rapidly and accurately access material, directly influence the production efficiency of enterprise
And production cost.
Material is usually placed in the large volume material frame on piler by current Warehouse Management System, then by stacking
The storage that goes out that machine carries out material conveys.The speed that limited speed due to going out storage is put in storage out in the travelling speed of piler, material
It spends slower.Also, piler can only once transport the material of a frame the same category, especially for material small in size, in this way
Warehousing system transport flexibility it is not strong, affect storage efficiency.
Summary of the invention
In view of the above situation, it is necessary to a kind of warehousing system, storage control device and control method are provided, it is above-mentioned to solve
Problem.
A kind of storage control device, is suitable for a warehousing system, and the warehousing system is used for material by going out feeding device
It transports on storage rack, and material is transported on the feeding device out by the storage rack, the warehousing system
Including material information acquisition device, mobile conveyor and storage robot, the material information acquisition device is for obtaining object
Expect information, the material information acquisition device, the storage machine are established between the storage control device per capita communication
Connection, the storage control device includes: processor, is adapted for carrying out each instruction；And storage equipment, it is suitable for storing a plurality of instruction,
Described instruction is suitable for being loaded and being executed by the processor: receiving the outbound request of the material information or material；Described in analysis
The outbound of material information or the material is requested, to obtain target storage space or the object of the material on the storage rack
Expect corresponding feeding device out；Search the material frame on the mobile conveyor corresponding to the target storage space；To the storehouse
It stores up robot and issues feeding signal, control the storage robot for the material and grab the corresponding institute of the target storage space
It states in material frame；Enabling signal is issued to the mobile conveyor, the mobile conveyor is controlled and marches to the target storage
Position or the corresponding feeding device out of the material；Blowing signal is issued to the storage robot, controls the storage robot
The material is grabbed in the target storage space or on the feeding device out.
A kind of warehousing system, for material to be transported storage rack by going out feeding device, and by material by described
Storage rack transports on the feeding device out, it is characterised in that: the warehousing system includes material information acquisition device, moves
Dynamic transport device, storage robot and storage control device, the material information acquisition device are described for obtaining material information
Material information acquisition device, the storage machine are established between the storage control device per capita communication connection, the storehouse
Storing up control device includes: processor, is adapted for carrying out each instruction；And storage equipment, it is suitable for storing a plurality of instruction, described instruction is suitable for
It is loaded and is executed by the processor: receiving the outbound request of the material information or material；Analyze the material information or institute
The outbound request of material is stated, to obtain target storage space or the material corresponding discrepancy of the material on the storage rack
Expect device；Search the material frame on the mobile conveyor corresponding to the target storage space；It is issued to the storage robot
Feeding signal controls the storage robot and grabs the material in the corresponding material frame of the target storage space；To
The mobile conveyor issues enabling signal, controls the mobile conveyor and marches to the target storage space or the material
Corresponding feeding device out；Blowing signal is issued to the storage robot, the storage robot is controlled and grabs the material
It gets in the target storage space or on the feeding device out.
A kind of warehouse control method comprising following steps: material information is received；The material information is analyzed, with
Obtain target storage space of the material on the storage rack；Search the material on mobile conveyor corresponding to the target storage space
Frame；Feeding signal is issued to storage robot, the storage robot is controlled by the material and grabs the target storage space phase
In the corresponding material frame；According to the target storage space of the material, the best mobile road of the mobile conveyor is planned
Diameter；Enabling signal is issued to the mobile conveyor, the mobile conveyor is made to march to the target storage space；To described
Storage robot issues blowing signal, controls the storage robot and grabs the material in the target storage space.
A kind of storage outbound control method comprising following steps: the outbound request of material is received；Analyze the material
Outbound request, to obtain the target storage space and corresponding feeding device out where the material；It is right to search the target storage space institute
The material frame on mobile conveyor answered；Feeding signal is issued to storage robot, controls the storage robot for the object
Material grabs in the corresponding material frame of the target storage space；According to the material it is corresponding go out feeding device, described in planning
The optimal path of movement of mobile conveyor；Enabling signal is issued to the mobile conveyor, controls the mobile transport dress
It sets and marches to the feeding device out；Blowing signal is issued to the storage robot, controlling the storage robot will be described
Material grabs on the feeding device out.
Warehousing system, storage control device and control method of the invention, can receive material information, analyze the mesh of material
It marks storage space, search the material frame on the mobile conveyor corresponding to target storage space, to control storage robot for material
It is placed individually into corresponding material frame, then is placed into corresponding target storage space.The present invention uses piler relative to existing
Conveying the mode of material, improving the conveying of material and going out the speed of storage.
Meanwhile can also to control mobile conveyor same for warehousing system of the invention, storage control device and control method
When convey different classes of material, and different classes of material is placed individually into corresponding target storage space and is stored, therefore, spirit
Activity is stronger, further promotes storage efficiency.
Detailed description of the invention
Fig. 1 is the module diagram of the warehousing system of embodiment of the present invention.
Fig. 2 is the module diagram of the storage control device of embodiment of the present invention.
Fig. 3 is the module diagram of the warehouse control system of embodiment of the present invention.
Fig. 4 is the flow diagram of the warehouse control method of embodiment of the present invention.
Fig. 5 is the flow diagram of the storage outbound control method of embodiment of the present invention.
Main element symbol description
| Storage control device | 100 |
| Warehousing system | 200 |
| Store equipment | 10 |
| Processor | 20 |
| Material information acquisition device | 210 |
| Mobile conveyor | 220 |
| Store in a warehouse robot | 230 |
| Warehouse control system | 30 |
| Information receiving module | 31 |
| Storage space analysis module | 32 |
| Material frame matching module | 33 |
| Path planning module | 34 |
| Transport control module | 35 |
| Robot control module | 36 |
| Position judging module | 37 |
The present invention that the following detailed description will be further explained with reference to the above drawings.
Specific embodiment
To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawing and specific real
Applying mode, the present invention will be described in detail.It should be noted that in the absence of conflict, presently filed embodiment and reality
The feature applied in mode can be combined with each other.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, described embodiment
It is only some embodiments of the invention, rather than whole embodiments.Based on the embodiment in the present invention, this field is general
Logical technical staff all other embodiment obtained without making creative work, belongs to protection of the present invention
Range.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that the limitation present invention.
Term " and or " used herein includes any and all groups of one or more relevant listed items
It closes.
Referring to FIG. 1, Fig. 1 is the functional block diagram of the warehousing system 200 of an embodiment of the present invention.The storage
System 200 is used to transport and store storage rack by going out feeding device for material, and material is transported by storage rack
To feeding device out.The warehousing system 200 includes storage control device 100, material information acquisition device 210, mobile fortune
Defeated device 220 and storage robot 230.The material information acquisition device 210, mobile conveyor 220 and storage robot
230 between the storage control device 100 establish have communication connection.
The material information acquisition device 210 material information obtained wait go out storage material.The material information obtains
Device 210 passes through the information code for scanning the material wait go out storage, to obtain material information.The information code can be set to the outer of material
In packaging, the surface of material can also be set to.The information code can be bar code, two dimensional code, RF tag etc..Correspondingly, described
Identification device can be barcode scanner, two-dimensional code scanning instrument, RF Reader etc..
The material information may include the information such as classification, quantity, volume, the weight of material, may also comprise the target of material
Bit information.When the material information includes the weight of material, the material information acquisition device 210 may also include weighing
Device.
The material information acquisition device 210 can neighbouring feeding device setting out.It is appreciated that the feeding device out
Quantity can be to be multiple, correspondingly, and the quantity of the material information acquisition device 210 can also be multiple, and multiple material informations obtain
It takes device 210 to respectively correspond and goes out feeding device setting accordingly.
The mobile conveyor 220 is used for transported material.The mobile conveyor 220 is equipped with one or more material
Frame.When the quantity of material frame is multiple, multiple material frames are respectively used to place different classes of material.The mobile conveyor
220 can move on conveying track.The mobile conveyor 220 is, for example, piler, but not limited to this.
The storage robot 230 is for grabbing and discharging material.Preferably, the storage robot 230 is mountable to
On the mobile conveyor 220.
Referring to FIG. 2, the hardware structure that Fig. 2 is storage control device 100 described in a better embodiment of the invention shows
It is intended to.The storage control device 100 includes storage equipment 10 and processor 20.
The storage control device 100 can be, but be not limited to, cloud server, common server, notebook electricity
Brain, desktop computer etc..It should be noted that the present embodiment is to carry out simple illustration to the structure of storage control device 100,
The storage control device 100 can also include other elements or mould group, such as input mould group, circuit system, I/O interface, power supply
System, operating system etc. due to non-present invention emphasis, therefore are not described herein.
The storage equipment 10 is used to store the various data of the storage control device 100, such as program code etc..
The storage equipment 10 is also used to store the corresponding relationship of each target storage space in the classification and storage rack of material,
And the corresponding relationship of the material frame of mobile conveyor 220 and each target storage space.
The storage equipment 10 is also used to store the cartographic information in storehouse region, and the cartographic information includes each target storage space
And respectively go out the location information of feeding device.
It is understood that the storage equipment 10 can be hard disk, floppy disk, USB flash disk, direct access storage device etc..
In an at least embodiment, the storage equipment 10 can be storage inside system, such as flash memory, random to read
Store equipment RAM, the storage equipment ROM that can be read.
In an at least embodiment, the storage equipment 10 can also be a storage system, such as video disc, storage
Card or data storage medium.The storage equipment 10 further includes unstable or stable storage equipment.
In an at least embodiment, the storage equipment 10 includes two or more storage equipment, for example, wherein one
A storage equipment is memory body, and it is hard disk drive that another one, which store equipment,.In addition, the storage equipment 10 can also be complete
Portion or part are independently of the storage control device 100.
The processor 20 can be central processing unit (Central Processing Unit, CPU), at digital signal
Device or single-chip microcontroller etc. are managed, each instruction is adapted for carrying out.
The storage control device 100, which is also run, a warehouse control system 30, referring to FIG. 3, implementing for the present invention one
The functional block diagram of warehouse control system 30 in mode.The warehouse control system 30 includes one or more programs
The computer instruction of form, the computer instruction of one or more of program forms are stored in the storage equipment 10, and
It is executed by the processor 20, to realize function provided by the storage control device 100 in the present invention.In present embodiment
In, the warehouse control system 30 includes information receiving module 31, storage space analysis module 32, material frame matching module 33, path rule
Draw module 34, transport control module 35, robot control module 36 and position judging module 37.
The information receiving module 31 is for receiving material information acquisition device 210, mobile conveyor 220 and storage machine
The various information that device people 230 issues.Specifically, the information receiving module 31 is for receiving the hair of material information acquisition device 210
The completion blowing that material information out, the full material information that mobile conveyor 220 issues, and storage robot 230 issue
Prompting message etc..The information receiving module 31 is also used to receive the outbound request of material.
The storage space analysis module 32 is for analyzing above-mentioned material information, to obtain target storage of the material on storage rack
Position.
The storage space analysis module 32 is used to analyze the outbound request of the material, to obtain material on storage rack
Target storage space and corresponding feeding device out.
The material frame matching module 33 is used to search the material frame on mobile conveyor 220 corresponding to target storage space, with
Material and material frame are matched.
The path planning module 34 is used to go out feeding device corresponding to target storage space or outbound material according to material,
And the cartographic information in the storehouse region stored in storage equipment 10 is transferred, plan the best mobile road of mobile conveyor 220
Diameter.When the quantity of material frame is multiple, the corresponding target storage space of multiple material frames can be located at different location, therefore, the path
Planning module 34 can plan the optimal path of movement of mobile conveyor 220.
The transport control module 35 is used to issue enabling signal to mobile conveyor 220, makes mobile conveyor 220
Start and successively march to different target storage spaces or different feeding devices out, the enabling signal includes optimal path of movement
Information and each material frame in material corresponding to target storage space or the information of feeding device out.
The transport control module 35 is also used to issue reset signal to mobile conveyor 220, makes the mobile transport
Device 220 is moved to out feeding device or storage rack.
The robot control module 36 is used to issue feeding signal, control storage robot 230 to storage robot 230
Material is grabbed in the corresponding material frame of material by going out feeding device or storage rack, the feeding signal includes the material
The information of corresponding material frame.
The robot control module 36 is also used to issue blowing signal, control storage robot to storage robot 230
230 are grabbed material in corresponding target storage space by material frame or out on feeding device.The blowing signal includes the material
Corresponding target storage space or the out information of feeding device.
The position judging module 37 is used to detect the position where mobile conveyor 220, and judges mobile transport dress
Whether the position where setting 220 is located at the terminal of optimal path of movement.
Fig. 4 is the warehouse control method for being applied to the storage control device 100 in an embodiment of the present invention
Flow chart.The warehouse control method is applied in the warehousing system 200.According to different requirements, in the flow chart
The step of sequence can change, certain steps can be omitted or merge.
Step 401, the material information of material to be put in storage is received.
Specifically, information receiving module 31 receives the material information of material to be put in storage, and the material information can be believed by material
It ceases acquisition device 210 to issue, the material information may include the information such as classification, quantity, volume, the weight of material.
Step 402, the material information is analyzed, to obtain target storage space of the material on storage rack.
Specifically, the storage space analysis module 32 analyzes the material information, to obtain mesh of the material on storage rack
Mark storage space.
Step 403, the material frame on mobile conveyor 220 corresponding to the target storage space of material is searched.
Specifically, the material frame pass corresponding with each storage space of mobile conveyor 220 is stored in the storage equipment 10
System, material frame matching module 33 search material according to the material frame of the mobile conveyor 220 and the corresponding relationship of each target storage space
Target storage space corresponding to material frame on mobile conveyor 220.
Step 404, feeding signal is issued to storage robot 230, grabs material to control storage robot 230
In the corresponding material frame of target storage space.
Specifically, robot control module 36 issues feeding signal to storage robot 230, and the feeding signal includes object
Expect the information of corresponding material frame, grabs material in the corresponding material frame of target storage space to control storage robot 230.
Step 405, the full material signal that mobile conveyor 220 issues is received, according to the target storage space of material in each material frame,
Plan the optimal path of movement of mobile conveyor 220.
Specifically, information receiving module 31 receives the full material signal that mobile conveyor 220 issues, described completely to expect signal table
Show that each material frame on the mobile conveyor 220 has been filled with material, then path planning module 34 is according to material in each material frame
Target storage space, and combine warehousing system 200 cartographic information, plan mobile conveyor 220 optimal path of movement.
Step 406, enabling signal is issued to mobile conveyor 220, control mobile conveyor 220 marches to target storage
Position.
It transports control module 35 and issues enabling signal to mobile conveyor 220, mobile conveyor 220 is made to march to mesh
Mark storage space.The enabling signal includes the information of the optimal path of movement of mobile conveyor 220 and the information of target storage space.
Step 407, blowing signal is issued to storage robot 230, material is grabbed target by control storage robot 230
In storage space.
Specifically, after position judging module 37 judges that mobile conveyor 220 arrived target storage space, robot controls mould
Block 36 issues blowing signal to storage robot 230, and control storage robot 230 grabs material in target storage space.
Step 408, the signal for the completion blowing that storage robot issues is received, and judges 220 place of mobile conveyor
Position whether be located at the terminal of optimal path of movement.If it has, then 409 are entered step, if it has not, step 406 is then returned to,
Enabling signal is issued to the mobile conveyor 220 again, the mobile conveyor 220 is made to march to next target storage
Position.
Specifically, position judging module 37 receives the signal for the completion blowing that storage robot 230 issues, and judges to move
Whether the position where transport device 220 is located at the terminal of optimal path of movement.
Step 409, reset signal is issued to mobile conveyor 220, control mobile conveyor 220 marches to out pan feeding
Device.
Specifically, transport control module 35 issues reset signal to mobile conveyor 220, makes mobile conveyor 220
March to out feeding device.
In other embodiments, step 405 and path planning module 34 can be cancelled, and correspondingly, step 408 can also be with
Cancel.
Fig. 5 is the storage outbound control method for being applied to the storage control device 100 in an embodiment of the present invention
Flow chart.The storage outbound control method is applied in the warehousing system 200.According to different requirements, in the flow chart
The step of sequence can change, certain steps can be omitted or merge.
Step 501, the outbound request of material is received.
Specifically, information receiving module 31 receives the outbound request of material, and the outbound request of the material can pass through
Input mould group on storage control device 100 is received and is issued.
Step 502, the outbound request of material is analyzed, to obtain the target storage space and corresponding pan feeding dress out where material
It sets.
Specifically, the storage space analysis module 32 analyzes the outbound request of the material, to obtain material in storage rack
On target storage space and it is corresponding go out feeding device.
Step 503, the material frame on mobile conveyor 220 corresponding to the target storage space of material is searched.
Specifically, the material frame pass corresponding with each storage space of mobile conveyor 220 is stored in the storage equipment 10
System, material frame matching module 33 search material according to the material frame of the mobile conveyor 220 and the corresponding relationship of each target storage space
Target storage space corresponding to material frame on mobile conveyor 220.
Step 504, feeding signal is issued to storage robot 230, material is grabbed target by control storage robot 230
In the corresponding material frame of storage space.
Specifically, robot control module 36 issues feeding signal to storage robot 230, and the feeding signal includes object
Expect the information of corresponding material frame, grabs material in the corresponding material frame of target storage space to control storage robot 230.
Step 505, the full material signal that mobile conveyor 220 issues is received, goes out feeding device corresponding to foundation material,
Plan the optimal path of movement of mobile conveyor 220.
Specifically, information receiving module 31 receives the full material signal that mobile conveyor 220 issues, described completely to expect signal table
Show that each material frame on the mobile conveyor 220 has been filled with material, then path planning module 34 is according to corresponding to material
Feeding device out, and the cartographic information of warehousing system 200 is combined, plan the optimal path of movement of mobile conveyor 220.
Step 506, enabling signal is issued to mobile conveyor 220, control mobile conveyor 220 marches to out pan feeding
Device.
It transports control module 35 and issues enabling signal to mobile conveyor 220, control mobile conveyor 220 marches to
Feeding device out.The enabling signal includes the information and feeding device out of the optimal path of movement of mobile conveyor 220
Information.
Step 507, blowing signal is issued to storage robot 230, material is grabbed discrepancy by control storage robot 230
Expect on device.
Specifically, after position judging module 37 judges that mobile conveyor 220 arrived target storage space, robot controls mould
Block 36 issues blowing signal to storage robot 230, and control storage robot 230 grabs out material on feeding device.
Step 508, the signal for the completion blowing that storage robot issues is received, and judges 220 place of mobile conveyor
Position whether be located at the terminal of optimal path of movement.If it has, then 509 are entered step, if it has not, step 506 is then returned to, then
It is secondary to issue enabling signal to the mobile conveyor 220, so that the mobile conveyor 220 is marched to next pan feeding dress out
It sets.
Specifically, position judging module 37 receives the signal for the completion blowing that storage robot 230 issues, and judges to move
Whether the position where transport device 220 is located at the terminal of optimal path of movement.
Step 509, reset signal is issued to mobile conveyor 220, control mobile conveyor 220 marches to storage goods
Frame.
Specifically, transport control module 35 issues reset signal to mobile conveyor 220, makes mobile conveyor 220
March to storage rack.
In other embodiments, step 505 and path planning module 34 can be cancelled, and correspondingly, step 508 can also be with
Cancel.Warehousing system 200, storage control device 100 and control method of the invention, can receive material information, analyze material
Target storage space, search material frame corresponding to target storage space on the mobile conveyor, so that controlling storage robot will
Material is placed individually into corresponding material frame, then is placed into corresponding target storage space.The present invention uses heap relative to existing
Stack machine conveys the mode of material, improve the conveying of material and goes out the speed of storage.
Meanwhile warehousing system 200, storage control device 100 and control method of the invention can also control mobile transport
Device 220 conveys different classes of material simultaneously, and different classes of material is placed individually into corresponding target storage space and is deposited
Storage, therefore, flexibility is stronger, further promotes storage efficiency.
Those of ordinary skill in the art will appreciate that realizing all or part of process in above embodiment, being can be with
Relevant hardware is instructed to complete by computer program, the program can be stored in a computer-readable storage medium
In, described program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in same processor
It is that each unit physically exists alone, can also be integrated in same unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of hardware adds software function module.
The above-mentioned integrated unit being realized in the form of SFU software functional unit can store and computer-readable deposit at one
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are with so that an electronics is set
It is standby (to can be hand-held electronic equipment, such as smart phone, laptop, personal digital assistant (Personal Digital
Assistant, PDA), intellectual wearable device etc., be also possible to Table top type electronic equipment, such as desktop computer, smart television)
Or processor (processor) executes the part steps of each embodiment the method for the present invention.And storage medium above-mentioned
It include: USB flash disk, mobile hard disk, read only memory devices (Read-Only Memory, ROM), direct access storage device (Random
Access Memory, RAM), the various media that can store program code such as magnetic or disk.
It is obvious to a person skilled in the art that the present invention is not limited to the details of above-mentioned exemplary embodiment, and
Without departing from the spirit or essential characteristics of the present invention, the present invention can be realized in other specific forms.Therefore, nothing
By from the point of view of which point, it should all regard embodiment as exemplary, and be non-limiting, the scope of the present invention is by institute
Attached claim rather than above description limit, it is intended that will fall within the meaning and scope of the equivalent elements of the claims
All changes are included in the present invention.Right involved in should not treating any reference in the claims as limiting is wanted
It asks.Furthermore, it is to be understood that one word of " comprising " is not excluded for other units or step, odd number is not excluded for plural number.It is stated in system claims
Multiple units or system can also be implemented through software or hardware by the same unit or system.The first, the second equal words
Language is used to indicate names, and is not indicated any particular order.
Finally it should be noted that embodiment of above is only used to illustrate the technical scheme of the present invention and not to limit it, although ginseng
It is described the invention in detail according to better embodiment, those skilled in the art should understand that, it can be to this hair
Bright technical solution is modified or equivalent replacement, without departing from the spirit and scope of the technical solution of the present invention.
Claims (10)
1. a kind of storage control device, is suitable for a warehousing system, the warehousing system is used for material by going out feeding device fortune
It is defeated on storage rack, and by material by the storage rack transport it is described go out feeding device on, the warehousing system packet
Material information acquisition device, mobile conveyor and storage robot are included, the material information acquisition device is for obtaining material
Information, the material information acquisition device, the storage machine are established between the storage control device per capita has communication to connect
It connects, it is characterised in that: the storage control device includes:
Processor is adapted for carrying out each instruction；And
Equipment is stored, is suitable for storing a plurality of instruction, described instruction is suitable for being loaded and being executed by the processor:
Receive the outbound request of the material information or material；
The outbound request of the material information or the material is analyzed, to obtain target of the material on the storage rack
Storage space or the corresponding feeding device out of the material；
Search the material frame on the mobile conveyor corresponding to the target storage space；
Feeding signal is issued to the storage robot, the storage robot is controlled by the material and grabs the target storage
In the corresponding material frame in position；
Enabling signal is issued to the mobile conveyor, the mobile conveyor is controlled and marches to the target storage space or institute
State the corresponding feeding device out of material；
Blowing signal is issued to the storage robot, the storage robot is controlled by the material and grabs the target storage
On position or on the feeding device out.
2. storage control device as described in claim 1, which is characterized in that described instruction is suitable for by processor load simultaneously
It executes:
According to the corresponding feeding device out of the target storage space of the material or the material, the mobile conveyor is planned
Optimal path of movement.
3. storage control device as claimed in claim 2, which is characterized in that described instruction is suitable for by processor load simultaneously
It executes:
After issuing blowing signal to storage robot, the signal for the completion blowing that the storage robot issues is received；
Whether the position where judging the mobile conveyor is located at the terminal of the optimal path of movement；
When the target storage space where the mobile conveyor is located at the terminal of the optimal path of movement, to the mobile fortune
Defeated device issues reset signal, resets the mobile conveyor.
4. storage control device as claimed in claim 3, which is characterized in that described instruction is suitable for by processor load simultaneously
It executes:
When the position where the mobile conveyor is not located at the terminal of the optimal path of movement, again to the movement
Transport device issues enabling signal, and the mobile conveyor is made to march to next target storage space or next pan feeding out
Device.
5. storage control device as described in claim 1, which is characterized in that be stored with the material in the storage equipment
The corresponding relationship of each storage space on classification and the storage rack, the material frame on the mobile conveyor with it is described each
The cartographic information of the corresponding relationship of storage space and the warehousing system, the cartographic information include each on the storage rack
The location information of storage space.
6. a kind of warehousing system, for material to be transported storage rack by going out feeding device, and by material by the storehouse
Pallet transports on the feeding device out, it is characterised in that: the warehousing system includes material information acquisition device, movement
Transport device, storage robot and storage control device, the material information acquisition device is for obtaining material information, the object
Foundation has communication connection, the storage between the storage control device per capita for material information acquisition device, the storage machine
Robot is installed on the mobile conveyor,
The storage control device includes:
Processor is adapted for carrying out each instruction；And
Equipment is stored, is suitable for storing a plurality of instruction, described instruction is suitable for being loaded and being executed by the processor:
Receive the outbound request of the material information or material；
The outbound request of the material information or the material is analyzed, to obtain target of the material on the storage rack
Storage space or the corresponding feeding device out of the material；
Search the material frame on the mobile conveyor corresponding to the target storage space；
Feeding signal is issued to the storage robot, the storage robot is controlled by the material and grabs the target storage
In the corresponding material frame in position；
According to the corresponding feeding device out of the target storage space of the material or the material, the mobile conveyor is planned
Optimal path of movement；
Enabling signal is issued to the mobile conveyor, the mobile conveyor is controlled and marches to the target storage space or institute
State the corresponding feeding device out of material；
Blowing signal is issued to the storage robot, the storage robot is controlled by the material and grabs the target storage
On position or on the feeding device out.
7. a kind of warehouse control method comprising following steps:
Receive material information；
The material information is analyzed, to obtain target storage space of the material on storage rack；
Search the material frame on mobile conveyor corresponding to the target storage space；
Feeding signal is issued to storage robot, the storage robot is controlled by the material and grabs the target storage space phase
In the corresponding material frame；
According to the target storage space of the material, the optimal path of movement of the mobile conveyor is planned；
Enabling signal is issued to the mobile conveyor, the mobile conveyor is controlled and marches to the target storage space；
Blowing signal is issued to the storage robot, the storage robot is controlled by the material and grabs the target storage
On position.
8. warehouse control method as claimed in claim 7, which is characterized in that the method also includes steps:
After issuing blowing signal to the storage robot, the letter for the completion blowing that the storage robot issues is received
Number；
Whether the position where judging the mobile conveyor is located at the terminal of the optimal path of movement；
When the position where the mobile conveyor is located at the terminal of the optimal path of movement, to the mobile transport dress
Set sending reset signal.
9. a kind of storage outbound control method comprising following steps:
Receive the outbound request of material；
The outbound request of the material is analyzed, to obtain the target storage space and corresponding feeding device out where the material；
Search the material frame on mobile conveyor corresponding to the target storage space；
Feeding signal is issued to storage robot, the storage robot is controlled by the material and grabs the target storage space phase
In the corresponding material frame；
According to the corresponding feeding device out of the material, the optimal path of movement of the mobile conveyor is planned；
Enabling signal is issued to the mobile conveyor, the mobile conveyor is controlled and marches to the feeding device out；
Blowing signal is issued to the storage robot, the storage robot is controlled by the material and grabs the pan feeding out
On device.
10. storage outbound control method as claimed in claim 9, which is characterized in that the method also includes steps:
After issuing blowing signal to the storage robot, the letter for the completion blowing that the storage robot issues is received
Number；
Whether the position where judging the mobile conveyor is located at the terminal of the optimal path of movement；
When the position where the mobile conveyor is located at the terminal of the optimal path of movement, to the mobile transport dress
Set sending reset signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810389558.1A CN110406869A (en) | 2018-04-27 | 2018-04-27 | Warehousing system, storage control device and control method |
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| CN201810389558.1A CN110406869A (en) | 2018-04-27 | 2018-04-27 | Warehousing system, storage control device and control method |
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