CN105931005B - Automatic warehousing system - Google Patents
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Abstract
The invention provides an automatic warehousing system, and relates to the field of depositing equipment. The automatic warehousing system comprises: electrically connected luggage storage core control unit, storage execution unit and authentication unit, wherein: the luggage storage core control unit comprises a man-machine interaction unit and a storage unit. According to the automatic warehousing system provided by the invention, the identity information and the face image information of the user only need to be input in advance, and the identity information and the face image information of the user are verified again before the luggage is taken out, so that the verification label cannot be lost and cannot be picked up by a lawbreaker to take the luggage out, and the safety of the luggage consignment is ensured. In the process of depositing, whether luggage is equipped with in the luggage basket that passes through the conveyer belt is verified through the camera of collecting evidence of shooing at the station of collecting evidence of shooing, if be equipped with luggage, second robotic arm grabs the station from luggage and grabs the luggage basket of putting the luggage and place in luggage storage goods shelves to avoid malicious empty frame to deposit.
Description
Technical Field
The invention relates to the field of deposit equipment, in particular to an automatic warehousing system.
Background
In recent years, with the vigorous development of the tourism industry, more families, individuals and groups are used for traveling outside, and therefore, whether the tourists stay and play near airports or railway stations or relax in holiday hotels, the tourists can be helped to easily play without worry about the large luggage carried by the tourists, and the tourists can park the luggage in the luggage as the best choice for the tourists.
Most of existing baggage storage systems are single in mode, only can depend on special persons for watching, and after a passenger puts baggage into a designated area, the watching personnel can respectively give the package and a number plate for the passenger storing the package, and can take out the baggage by means of the number plate on hand when the baggage is taken out. Of course, there are also a few self-service baggage storage systems (for example, a common baggage locker in a railway station), and a traveler only needs to press a "storage" button and then deposit a corresponding amount of money, so that the package can be stored and the cabinet body can be used for taking out the package by taking out the label paper. When the number of luggage items is large, the luggage items can be stored in a plurality of storage cabinet units respectively. The prior art baggage claim systems suffer from the following problems, for example: 1. once the label paper is lost and picked up by others, property loss is likely to be caused, so that the safety is relatively low; 2. when the number of luggage items is large, although the luggage can be stored in a plurality of storage cabinet units, the number of label paper slips is correspondingly increased, once the label paper is lost, a traveler can only request a background manager to open a cabinet door and take out the luggage items; 3. when a passenger puts luggage articles into a plurality of storage cabinet units respectively, if only a specified article in one storage cabinet needs to be taken out and the object which is wanted to be taken out is not clearly memorized in which storage cabinet unit, the passenger only can open each storage cabinet unit one by one and then take out the corresponding article, if the passenger wants to continue to store, the passenger only can pay corresponding expenses again to deposit the articles, and money are wasted.
Disclosure of Invention
It is therefore an objective of the present invention to provide an automatic warehousing system to improve the above-mentioned problems.
The automatic warehousing system provided by the embodiment of the invention comprises a luggage warehousing core control unit, a warehousing execution unit and an identity verification unit which are electrically connected, wherein the luggage warehousing core control unit is electrically connected with the warehousing execution unit and the identity verification unit, and the luggage warehousing core control unit comprises:
the luggage storage core control unit comprises a man-machine interaction unit and a storage unit, wherein the man-machine interaction unit is used for interacting with a user to receive the operation of storing luggage by the user and the identity information set by the user, storing the identity information in the storage unit and then sending a luggage storage instruction to the storage execution unit;
storage execution unit includes first robotic arm, second robotic arm, shoots and obtains evidence camera, conveyer belt and prepare station, luggage deposit/get operation station, luggage and shoot and obtain evidence station and luggage and grab and put the station along the luggage basket that the conveyer belt set gradually, wherein:
when the storage execution unit receives the luggage storage instruction, the first mechanical arm grabs an empty basket required by a user and places the empty basket on the luggage basket preparation station, the empty basket is conveyed to a luggage storage/taking operation station by the conveyor belt to be placed by the user, and after the user finishes the luggage placement, the luggage basket is conveyed to a photographing and evidence obtaining station by the conveyor belt;
the photographing and evidence obtaining camera is positioned at the photographing and evidence obtaining station and is used for photographing and obtaining evidence of the luggage on the photographing and evidence obtaining station and sending a photographed luggage photo to a storage unit of a luggage storage core control unit for storage, and the conveying belt conveys the luggage basket to a luggage grabbing and placing station after photographing and obtaining evidence;
the second mechanical arm is positioned at the luggage grabbing and placing station and used for grabbing the luggage basket with the luggage from the luggage grabbing and placing station and placing the luggage basket on the luggage storage shelf;
the man-machine interaction unit is also used for receiving the operation of taking the luggage by the user, when the operation of taking the luggage is received, the identity authentication unit acquires the identity information of the user and sends the identity information to the luggage storage core control unit to verify whether the user is legal or not, the storage core control unit sends a taking-away instruction to the storage execution unit when judging that the user is legal, the luggage stored by the user is taken out from the luggage storage shelf by a second mechanical arm of the storage execution unit and is placed at a luggage grabbing and placing station, and the luggage is conveyed to a luggage storing/taking operation station by the conveyor belt to be taken by the user.
Compared with the prior art, the automatic warehousing system provided by the invention only needs to pre-input the user identity information and the face image information before the luggage is stored, and verifies the identity and the face image of the user by identifying the user identity information again, so that the verification label cannot be lost and is picked up by lawbreakers to open the storage cabinet to take the luggage away, the safety of the luggage depositing is ensured, and the time and the labor are saved. In the process of depositing, whether be equipped with luggage in the luggage basket that the conveyer belt passed through is verified through the camera of collecting evidence of shooing at the station of collecting evidence of shooing, if be equipped with luggage, second robotic arm grabs the station from luggage and snatchs the luggage basket of placing luggage and place on luggage storage goods shelves to avoid malicious empty frame to deposit, guaranteed the standardization of luggage storage action.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
FIG. 1 is a schematic diagram of the positional relationship between various operating stations and a conveyor according to an embodiment of the present invention;
fig. 2 is a circuit connection block diagram of an automated warehousing system according to an embodiment of the present invention.
Wherein, the corresponding relation between the reference signs and the component names is as follows: the system comprises a luggage basket preparing station 100, a luggage storing/taking operation station 200, a luggage photographing and evidence obtaining station 300, a luggage grabbing and placing station 400, a luggage storage core control unit 101, a storage execution unit 102, an identity verification unit 103, a man-machine interaction unit 104, a storage unit 105, a first mechanical arm 106, a second mechanical arm 107, a photographing and evidence obtaining camera 108, a conveyor belt 109, a display unit 110, an operation keyboard 111, a mouse 112, an identity card scanning interface 113, a face recognition camera 114, a radio frequency scanning recognizer 115, a bar code scanner 116, a first label recognizer 117, a second label recognizer 118, a third label recognizer 119, a fourth label recognizer 120, a weighing sensor 121, an information pushing unit 122, a central processing unit 123, a travel switch 124 and the automatic storage system 10.
Detailed Description
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, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, an automatic warehousing system 10 according to an embodiment of the present invention includes a baggage warehousing core control unit 101, a warehousing execution unit 102, and an identity verification unit 103 electrically connected to each other, wherein the baggage warehousing core control unit 101 is electrically connected to the warehousing execution unit 102 and the identity verification unit 103.
The baggage warehousing core control unit 101 comprises a man-machine interaction unit 104, a storage unit 105, an information pushing unit 122 and a central processing unit 123, wherein the central processing unit 123 is electrically connected with the man-machine interaction unit 104 and the storage unit 105, the man-machine interaction unit 104 is used for interacting with a user to receive the operation of storing baggage by the user and receive identity information set by the user and store the identity information in the storage unit 105, and then the central processing unit 123 sends a baggage storage instruction to the warehousing execution unit 102. The baggage warehousing core control unit 101 further comprises a watchdog circuit and a clock circuit, the watchdog circuit is used for realizing automatic restart of the automatic warehousing system 10 when a problem occurs in the control of the whole automatic warehousing system 10, and the clock circuit is generally composed of a crystal oscillator, a crystal oscillation control chip and a capacitor and used for generating a clock signal.
In this embodiment, the human-computer interaction unit 104 may be a combination of the display unit 110, the operation keyboard 111 and the mouse 112, or a touch screen. When a user needs to store and take luggage, the user can use the operation keyboard 111 arranged on the human-computer interaction unit 104 to key in relevant information (such as a mobile phone number); or the mouse 112 arranged on the human-computer interaction unit 104 can be used for clicking/checking to input related information (for example, clicking/checking 0-9 digits to input a mobile phone number) on the human-computer interaction interface; it may be that a touch screen provided by the human-computer interaction unit 104 is used to perform touch-point key-in of relevant information (for example, touch-point numbers 0-9 are digitally entered into a mobile phone number) on the human-computer interaction interface. Meanwhile, the mouse 112 and the display unit 110 can be used for starting a function of storing and taking the luggage (namely inputting a luggage storing instruction or taking an instruction) on the man-machine interaction interface.
After receiving the operation of storing luggage by the user and the identity information set by the user, the display unit 110 displays different types of empty baskets to the user for selection, and the luggage storage core control unit 101 sends the luggage storage instruction according to the selection of the user, so that the first mechanical arm 106 of the storage execution unit 102 captures the empty baskets of the types selected by the user from the various types of empty baskets to be captured according to the storage instruction and places the empty baskets at the luggage basket preparation station 100.
The identity verification unit 103 comprises at least one of an identity card scanning interface 113 for scanning identity card information of a user, a face recognition camera 114 for shooting a face image of the user, a radio frequency scanning recognizer 115 for recognizing a radio frequency identification card carried by the user, and a bar code scanner 116 for recognizing a bar code or a two-dimensional code. The specific operation mode of the user for inputting the identity information can be as follows: firstly, selecting a mode of storing/taking the identity registration through an interface of the human-computer interaction unit 104, for example, 1, selecting the second-generation identity card for registration, and then placing the second-generation identity card into the identity card scanning interface 113 for the central processing unit 123 to read the identity information and store the identity information in the storage unit 105; 2. if the mode of the radio frequency card is selected for registration, the radio frequency card of the user can be put into the radio frequency scanning identifier 115, and the central processing unit 123 can read the identity information stored in the radio frequency card and store the identity information in the storage unit 105; 3. the barcode scanning mode is selected for registration, and the user can display a valid one-dimensional barcode or a two-dimensional barcode obtained in advance by using the mobile handheld terminal device, scan the valid one-dimensional barcode or the valid two-dimensional barcode by using the barcode scanner 116 (or the miniature camera), and store the valid one-dimensional barcode or the two-dimensional barcode in the storage unit 105; 4. in addition, the user can directly input a pre-registered mobile phone number for storing the luggage through the man-machine interaction unit 104. When the user selects any mode to operate the baggage storage operation, the automated warehousing system 10 will automatically trigger the face recognition camera 114 to perform face snapshot recognition, synchronously capture the face image of the storage person, associate the face image information with the user identity information into the storage person information file, and store the storage person information file into the storage unit 105.
Referring to fig. 2, the warehousing execution unit 102 includes a first robot arm 106, a second robot arm 107, a camera 108 for taking pictures and evidence, a conveyor belt 109, and a basket preparation station 100, a baggage depositing/taking operation station 200, a baggage taking pictures and evidence station 300, and a baggage capture and placement station 400, which are sequentially disposed along the conveyor belt 109. The conveying track of the conveyor belt 109 sequentially passes through the baggage basket preparation station 100, the baggage storage/taking operation station 200, the baggage photographing and evidence obtaining station 300 and the baggage grasping and placing station 400, and finally returns to the baggage basket preparation station 100, so that the circular conveying is realized. Wherein:
when the warehousing execution unit 102 receives the baggage storage command sent by the human-computer interaction unit 104, the central processor 123 controls the first mechanical arm 106 to grab an empty basket required by the user and place the empty basket at the basket preparation station 100. The first mechanical arm 106 is provided with a first tag identifier 117 for identifying a basket electronic tag arranged on an empty basket to be grabbed, wherein the basket electronic tag is stored with electronic tag information of the empty basket, and the electronic tag information of the empty basket includes a standard size, a standard weight or an identification number. The cpu 123 captures an empty basket of the electronic tag information corresponding to the empty basket type input by the user on the display unit 110 by controlling the first robot arm 106.
The empty basket is transported by the conveyor 109 to the baggage deposit/retrieval station 200 and the baggage deposit/retrieval station 200 is provided with a second tag identifier 118 for identifying the electronic tag of the basket provided on the empty basket transported by the conveyor 109 from the basket preparation station 100. The user places the baggage at the baggage depositing/retrieving station 200 and, after the user has completed depositing the baggage, transports a baggage basket (after loading the empty basket with baggage, referred to as a baggage basket) to the photo-evidence-taking station by the conveyor 109.
The photographing and evidence obtaining camera 108 is located at the luggage photographing and evidence obtaining station 300 and is used for photographing and obtaining evidence of luggage on the luggage photographing and evidence obtaining station, the photographed luggage photo is sent to the storage unit 105 of the luggage storage core control unit 101 to be stored, and the luggage basket is conveyed to the luggage grabbing and placing station 400 through the conveying belt 109 after photographing and evidence obtaining. Specifically, luggage is shot and is forensics station 300 is provided with the camera 108 of collecting the forensics of shooing, weighing sensor 121 and third label recognizer 119 of being connected with luggage storage core control unit 101, and the camera 108 of collecting the forensics of shooing is used for shooing the luggage basket that carries luggage, acquires the luggage photo in the luggage basket, and weighing sensor 121 is used for weighing the luggage basket to make central processing unit 123 judge whether carry luggage in the current luggage basket.
Specifically, the determination method is that when the camera 108 for evidence taking and photo taking identifies that the baggage is loaded in the baggage basket and determines that the weight value is larger than the empty weight value corresponding to the pre-stored baggage basket category according to the baggage category, the baggage is considered to be loaded in the baggage basket. In addition, when the central processor 123 determines that no baggage is loaded in the current baggage basket, the conveyor belt 109 is controlled to turn the transmission direction to transmit the baggage basket back to the baggage depositing/retrieving operation station 200, and an idle prompt message is generated at the same time, and the message pushing unit 122 is electrically connected with the central processor 123 and is used for sending the idle prompt message to the user. The third tag identifier 118 is used to identify the type and label of the luggage basket at the current work station to be uploaded to the storage unit 105 for storage. Therefore, the user can put luggage into the luggage again and then store the luggage, and the idle luggage basket is prevented from being stored maliciously to a certain extent.
In this embodiment, the luggage basket preparation station 100, the luggage storage/taking operation station 200, the luggage photographing and evidence obtaining station 300, and the luggage grasping and placing station 400 are all provided with the travel switches 124, and the travel switches 124 may be photoelectric switches or mechanical switches. Each travel switch 124 is electrically connected to the central processor 123, and the travel switches 124 are used for detecting whether the luggage basket is in place. When the travel switch 124 detects that the basket reaches the current station, the display unit 110 of the human-computer interaction unit 104 displays the station where the basket is currently located.
A second robotic arm 107 is located at the baggage handling station 400 for handling a baggage basket with baggage placed thereon from the baggage handling station 400 and placing it on a baggage storage shelf. The luggage storage shelf is arranged at the luggage grabbing and placing station 400, the luggage storage shelf is provided with a plurality of storage stations, each storage station is provided with a cargo position attribute electronic tag, the cargo position electronic tags store position information of the storage stations on the luggage storage shelf, the second mechanical arm 107 is provided with a fourth tag identifier 120 used for identifying the position information of the storage stations where the current grabbed and placed luggage baskets are placed, and the fourth tag identifier 120 sends the identified position information of the storage stations to the luggage storage core control unit 101. The central processor 123 of the baggage warehousing core control unit 101 associates the location information with the identity information and the face image information input by the user. The information pushing unit 122 is further configured to send a baggage storage complete message including a baggage storage location to the user when the second robot arm 107 stores the baggage basket in the storage station on the baggage storage shelf, and to prompt the user that the baggage is stored completely.
The human-computer interaction unit 104 is further configured to receive a baggage pickup operation of a user, when the baggage pickup operation is received, the identity authentication unit 103 acquires identity information of the user and sends the identity information to the baggage warehousing core control unit 101 to verify whether the user is legal, the warehousing core control unit sends a pickup instruction to the warehousing execution unit 102 when judging that the user is legal, the second mechanical arm 107 of the warehousing execution unit 102 picks up the baggage stored by the user from the baggage storage shelf and places the baggage on the baggage grabbing station 400, and the baggage is conveyed to the baggage storage/pickup operation station 200 by the conveyor belt 109 for the user to pick up the baggage. Specifically, the specific way for the user to take out the luggage may be: and the user selects any one of the registered mobile phone number, the identity card information, the radio frequency card information and the bar code information to identify the identity on site. After the verification is passed, the operation of baggage extraction can be started; when the luggage extraction operation is started, the central processing unit 123 starts the face recognition camera 114 to perform face snapshot and recognition functions, on-site evidence collection is performed on the luggage extraction operation, because the user leaves face information in the registration process, in the luggage extraction operation, the synchronously recognized face information is compared with historical information, and if the comparison result is the user, the identity information and the face image information input by the user control the second mechanical arm 107 to the position information of the storage station related to the identity information and the face image information input by the user to take out the luggage basket. The information pushing unit 122 is further configured to send a baggage claim dynamic information to the user to prompt the user that the baggage has been removed after the second robot arm 107 removes the user-stored baggage from the baggage storage shelf and conveys the baggage to the baggage storage/removal operation station 200 by the conveyor belt 109, so as to prompt the user that the baggage has been removed.
In addition, the photographing and evidence obtaining camera 108 photographs the luggage basket carrying the luggage and stores the photographed image of the luggage in the storage unit 105, and after the luggage basket is stored to the storage station, the position information of the station where each piece of luggage is stored and the photographed image information of the luggage are related to each other. The human-computer interaction unit 104 may also be configured to display a stored photograph of the baggage when an operation of taking the baggage by the user is received and the user is authenticated as a legitimate user. At this time, the user may select one or more pieces of baggage to be taken out from the display unit 110, the baggage warehousing core control unit 101 queries, according to the selection of the user, a storage station, on the baggage storage shelf, of a baggage basket corresponding to the baggage that the user needs to take out from the storage unit 105, and sends a take-away instruction to the warehousing execution unit 102, so that the second robot arm 107 of the warehousing execution unit 102 takes out the corresponding baggage basket from the storage station having the location information corresponding to the picture information of the baggage. When a plurality of luggage baskets containing different types of luggage are respectively placed into a plurality of storage stations by a user, if the luggage stored in one storage station is required to be taken out, but the user forgets that the luggage to be taken out is stored in the storage station, the user directly selects and clicks the image information of the luggage to be taken out at the display unit 110, so that the user can selectively take out the designated luggage, and the luggage taking device is convenient, rapid, time-saving and labor-saving.
In this embodiment, the process of storing luggage by the user is as follows: the user selects an identity registration mode through identity information through the man-machine interaction unit 104 in advance, the identity information is input into the identity information acquisition unit, the type of a required luggage basket is selected through the man-machine interaction unit 104, a luggage storage function is started, and the central processing unit 123 controls and starts the face recognition camera 114 to conduct video recording evidence obtaining and face capturing and recognition on the user operation site while the user operation is started. The central processor 123 controls the first mechanical arm 106 to grab the corresponding empty basket to the basket preparation station 100, then starts the conveyor belt 109, so that the empty basket on the basket preparation station 100 is conveyed to the basket storage/taking operation station 200, and after the empty basket arrives at the basket storage/taking operation station 200, the user puts the baggage into the arriving basket (places the empty baskets one by one, places the baggage into the empty baskets one by one); after each piece of luggage is placed, the storage function is started, the luggage basket is conveyed to the luggage photographing and evidence obtaining station 300 by the conveyor belt 109, whether the luggage basket is an empty basket is judged by the luggage photographing and evidence obtaining station 300 through the photographing verification camera and the weighing sensor 121, if not, the luggage basket is conveyed to the luggage grabbing and placing station 400, the central processing unit 123 controls the second mechanical arm 107 to place the luggage basket to the storage station, and the luggage is completely stored at the moment.
When the user needs to take out the luggage, the user performs identity authentication in the identity authentication unit 103; after the verification is passed, the operation of baggage extraction can be started; when the extraction operation is started, the central processing unit 123 starts the face recognition camera 114 to perform video recording and face snapshot on the site, the recognition function compares the face information stored before, after the comparison is verified to be the person, the display unit 110 of the man-machine interaction unit 104 displays the picture information of the luggage for taking pictures and evidence, the user selects to click one of the pictures, the central processing unit 123 takes out the luggage stored in the storage station by the second mechanical arm 107 and corresponding to the picture, places the luggage in the luggage grabbing station 400, and transmits the luggage to the luggage storing/taking station by the conveyor belt 109, and at this time, the user can take out the luggage in the luggage storing/taking station.
In addition, the automated warehouse system 10 provided by the embodiment of the present invention may be used as a subsystem, and then, the subsystem is communicatively connected to other systems, that is, the baggage warehousing core control unit 101 may be communicatively connected to an upper computer. There are many communication connection modes, such as a wired mode (ethernet connection of a bus, CANBUS connection), and a wireless mode (WIFI connection, RF433 connection, Zigbee connection, etc.). For example, when the automatic warehousing system 10 provided by the embodiment of the present invention is applied to automatic warehousing management of hotels, the baggage warehousing core control unit 101 and the background hotel management system may be in communication connection to implement resource information sharing therebetween, that is, guest management information of the background hotel management system is backed up in the warehousing system, which is not described herein.
According to the automatic warehousing system 10 provided by the invention, the identity information and the face image information are only required to be pre-input before the luggage is stored, and the identity of the user is verified by re-identifying the face image information and the identity information, so that the verification label cannot be lost and picked up by lawbreakers, and the safety of luggage placement is ensured, and the time and the labor are saved; in the process of storage, the central processing unit 123 identifies whether luggage is contained in the image information of the luggage basket obtained by photographing through the photographing verification camera and whether the weight value acquired by the weighing sensor 121 is greater than a preset no-load weight value, when the luggage basket is identified to be contained in the image information and the weight value acquired by the weighing sensor 121 is greater than the preset no-load weight value according to the image information, the luggage grabbing station 400 controls the second mechanical arm 107 to grab the luggage basket into a storage station, so that malicious empty frame storage is avoided, and the normalization of luggage storage behavior is ensured. In addition, when a user puts a plurality of luggage baskets containing different types of luggage into a plurality of storage stations respectively, if the user only needs to take out the luggage stored in a certain storage station, but forgets that the luggage to be taken out is stored in the storage station, the user directly selects and clicks the image information of the luggage to be taken out at the human-computer interaction unit 104, so that the user can selectively take out the designated luggage, and the luggage taking device is convenient, rapid, time-saving and labor-saving.
The functional modules in the embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes. It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (8)
1. The automatic warehousing system is characterized by comprising a luggage warehousing core control unit, a warehousing execution unit and an identity verification unit, wherein the luggage warehousing core control unit is electrically connected with the warehousing execution unit and the identity verification unit, and the luggage warehousing core control unit comprises:
the luggage storage core control unit comprises a man-machine interaction unit and a storage unit, wherein the man-machine interaction unit is used for interacting with a user to receive the operation of storing luggage by the user and the identity information set by the user, storing the identity information in the storage unit and then sending a luggage storage instruction to the storage execution unit;
storage execution unit includes first robotic arm, second robotic arm, shoots and obtains evidence camera, conveyer belt and prepare station, luggage deposit/get operation station, luggage and shoot and obtain evidence station and luggage and grab and put the station along the luggage basket that the conveyer belt set gradually, wherein:
when the storage execution unit receives the luggage storage instruction, the first mechanical arm grabs an empty basket required by a user and places the empty basket on the luggage basket preparation station, the empty basket is conveyed to a luggage storage/taking operation station by the conveyor belt to be placed by the user, and after the user finishes the luggage placement, the luggage basket is conveyed to a photographing and evidence obtaining station by the conveyor belt;
the photographing and evidence obtaining camera is positioned at the photographing and evidence obtaining station and is used for photographing and obtaining evidence of the luggage on the photographing and evidence obtaining station and sending a photographed luggage photo to a storage unit of a luggage storage core control unit for storage, and the conveying belt conveys the luggage basket to a luggage grabbing and placing station after photographing and obtaining evidence;
the second mechanical arm is positioned at the luggage grabbing and placing station and used for grabbing the luggage basket with the luggage from the luggage grabbing and placing station and placing the luggage basket on the luggage storage shelf;
the man-machine interaction unit is also used for receiving the operation of taking the luggage by the user, when the operation of taking the luggage is received, the identity authentication unit acquires the identity information of the user and sends the identity information to the luggage storage core control unit to verify whether the user is legal or not, the storage core control unit sends a taking-away instruction to the storage execution unit when judging that the user is legal, the luggage stored by the user is taken out from the luggage storage shelf by a second mechanical arm of the storage execution unit and is placed at a luggage grabbing and placing station, and the luggage is conveyed to a luggage storing/taking operation station by a conveyor belt to be taken by the user;
the luggage storage core control unit further comprises a central processing unit, a first label recognizer is arranged on the first mechanical arm and used for recognizing a cargo basket electronic label arranged on an empty basket to be grabbed, electronic label information of the empty basket is stored in the cargo basket electronic label, and the electronic label information of the empty basket comprises standard size, standard weight or an identification number;
the luggage storing/taking operation station is provided with a second label recognizer for recognizing basket electronic labels arranged on empty baskets conveyed by the conveying belt from the luggage basket preparation station;
the luggage photographing and evidence obtaining station is provided with the photographing and evidence obtaining camera, the weighing sensor and a third tag recognizer which are connected with the central processing unit, the third tag recognizer is used for recognizing the type and the label of the luggage basket at the current station, the photographing and evidence obtaining camera is used for photographing the luggage basket with luggage to obtain luggage photos in the luggage basket, the weighing sensor is used for weighing the luggage basket, the central processor is used for recognizing that the luggage is loaded in the luggage basket according to the luggage photo and judging that the weight value weighed by the weighing sensor is larger than the unloaded weight value corresponding to the pre-stored luggage basket type according to the luggage basket type, the basket is deemed to be loaded with luggage, the central processor is further operable to determine, if the basket is determined to be loaded with luggage, controlling the second mechanical arm to place the luggage basket at a corresponding storage station on the luggage storage shelf according to the type and the label of the luggage basket;
the luggage storage shelf is arranged at the luggage grabbing and placing station and is provided with a plurality of storage stations, each storage station is provided with a cargo space attribute electronic tag, the cargo space attribute electronic tags store position information of the storage stations on the luggage storage shelf, the second mechanical arm is provided with a fourth tag recognizer used for recognizing the position information of the storage stations where the current grabbed and placed luggage baskets are placed, and the fourth tag recognizer sends the recognized position information of the storage stations to the luggage storage core control unit;
the luggage storage core control unit is used for establishing a corresponding relation between the storage station position information of each piece of luggage and the stored luggage photo; the man-machine interaction unit is also used for displaying the stored luggage photo when the operation of taking luggage by the user is received and the user is verified to be a legal user; the display unit is further used for selecting one or more pieces of luggage to be taken out by a user according to the displayed luggage photos, and the luggage storage core control unit is further used for inquiring the storage station position information corresponding to the luggage to be taken out by the user from the storage unit according to the selection of the user and sending a taking-away instruction to the storage execution unit according to the storage station position information corresponding to the luggage to be taken out by the user so that the second mechanical arm of the storage execution unit takes out the corresponding luggage basket from the storage station indicated by the storage station position information corresponding to the luggage to be taken out by the user.
2. The automated warehouse system according to claim 1, wherein the human-computer interaction unit is a combination of a display unit, an operation keyboard and a mouse, or a touch screen, and the identity verification unit comprises at least one of an identity card scanning interface for scanning identity card information of a user, a face recognition camera for photographing a face image of the user, a radio frequency scanning identifier for identifying a radio frequency identification card carried by the user, and a barcode scanner for identifying a barcode or a two-dimensional code.
3. The automated warehouse system according to claim 1, wherein the human-computer interaction unit further comprises a display unit for displaying different classes of empty baskets for user selection after receiving the operation of storing luggage by the user and identity information set by the user, and the luggage warehousing core control unit sends the luggage storage command according to the user selection, so that the first mechanical arm of the warehousing execution unit grabs the empty baskets of the classes selected by the user from the classes of empty baskets to be grabbed according to the storage command and places the empty baskets at the luggage basket preparation station.
4. The automated warehousing system of claim 1, wherein the automated warehousing system further comprises an information pushing unit, the central processing unit is configured to take a picture of a luggage basket loaded with luggage at the photographing and evidence-obtaining camera to obtain a picture of the luggage in the luggage basket, the weighing sensor is configured to weigh the luggage basket and then determine that the luggage basket is not loaded with the luggage, the central processing unit controls the conveyor belt to turn the transmission direction to return the luggage basket to the luggage storing/taking operation station, and the information pushing unit sends no-load prompt information to a user.
5. The automated warehousing system of claim 4, wherein the information pushing unit is configured to send a baggage depositing complete message including a baggage depositing location to a user when the second robot arm deposits the baggage basket at the depositing station on the baggage storage rack.
6. The automated warehousing system of claim 5, wherein the information pushing unit is further configured to send a dynamic information including baggage claim to the user to prompt the user that the baggage is picked up after the second robotic arm picks up the user-stored baggage from the baggage storage rack and transports the baggage to a baggage storage/retrieval station by a conveyor.
7. The automated warehousing system of claim 1, wherein travel switches are disposed at the basket preparation station, the baggage storage/retrieval operation station, the baggage photographing and evidence obtaining station and the baggage grasping and placing station, and the travel switches are used for detecting whether a basket is in place.
8. The automated warehousing system of claim 7, wherein the travel switch is a photoelectric switch or a mechanical switch.
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| CN201610460178.3A CN105931005B (en) | 2016-06-22 | 2016-06-22 | Automatic warehousing system |
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| CN201610460178.3A CN105931005B (en) | 2016-06-22 | 2016-06-22 | Automatic warehousing system |
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| CN105931005B true CN105931005B (en) | 2020-04-03 |
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| JP6293348B1 (en) | 2017-11-01 | 2018-03-14 | 高光産業株式会社 | Luggage storage system and luggage management method |
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| CN108090863A (en) * | 2017-12-20 | 2018-05-29 | 中国民航大学 | A kind of interim mandatory system of airdrome luggage and control method |
| CN108154618B (en) * | 2017-12-25 | 2020-05-19 | 四川长虹电器股份有限公司 | Passenger car luggage intelligent storage and taking system and control method |
| CN109483566A (en) * | 2017-12-31 | 2019-03-19 | 天津德言科技有限公司 | The robot of intelligent dispensing articles |
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| CN108460339A (en) * | 2018-02-02 | 2018-08-28 | 百度在线网络技术（北京）有限公司 | Luggage search method, terminal, equipment and computer-readable medium |
| CN109254328A (en) * | 2018-02-24 | 2019-01-22 | 北京首都机场航空安保有限公司 | A kind of luggage security check system |
| CN108197684B (en) * | 2018-03-06 | 2021-09-07 | 林小敏 | Luggage extraction equipment for intelligent vehicle and working method thereof |
| CN108447190A (en) * | 2018-03-06 | 2018-08-24 | 中国邮政集团公司广州市分公司 | A kind of quick pickup intelligent cabinet of recognition of face |
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| CN111209868B (en) * | 2020-01-08 | 2023-05-09 | 中国铁道科学研究院集团有限公司电子计算技术研究所 | Passenger and luggage information association method and device for passenger station |
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