TWI667622B - System for using automatic vehicle to confirm item positions and method thereof - Google Patents

Abstract

A system and method for confirming the position of an item by using an automatic vehicle, which measures the movement data when moving to the target shelf through the automatic vehicle, and transmits the item identification data and the movement data of the item on the target shelf to the server after moving to the target shelf. The technical means for the server to determine whether the item corresponding to the item identification data is located at the predetermined position according to the movement data can achieve the technical effect of actively confirming the actual position of the item in the warehouse.

Description

System and method for confirming the position of an item using an automatic car

An item positioning system and method, in particular, a system and method for locating articles in an warehousing using an automated vehicle.

A warehouse is a site used to store or store items of producers, commodity suppliers, and logistics organizations. At present, the commonly used warehouse management method is to set up multiple shelves in the warehouse, each shelf has multiple layers, and one or more items can be placed on each layer. Warehouse personnel can move between shelves to place or pick up items.

As the demand for logistics increases greatly, in order to speed up the efficiency of picking up goods in the warehouse, the items in the warehouse are placed with certain rules, for example, according to the classification, according to the relevance of the items, according to the popularity of the items. Put, etc., that is, in the warehouse, each item usually has a predetermined location, and the warehouse personnel need to place the item in the corresponding predetermined position.

In this way, once the warehouse personnel make mistakes in placing the items, the items are not placed in the corresponding predetermined positions, which may cause the warehouse personnel who pick up the goods to be unable to find the required items at the predetermined position, resulting in inventory. In the case of being unable to ship, even in an automated warehouse, it is more likely that other items are placed because of the predetermined position of the item, so that the automatic car picks up the item from the predetermined position when it needs to retrieve the item. Other items placed, causing shipping errors.

In summary, it can be seen that in the prior art, there has been a long-standing problem that an item is placed in a wrong position in a warehouse, which may result in the acquisition of an erroneous item or the inability to find an item. Therefore, it is necessary to propose an improved technical means to solve this problem. .

In view of the prior art problems of placing an item in a warehouse in an incorrect position that would result in the capture of an erroneous item or the inability to find an item, the present invention discloses a system and method for confirming the position of an item using an automated vehicle, wherein:

The system for confirming the position of an item by using an automatic vehicle disclosed by the present invention comprises at least: an automatic vehicle and a server, wherein the automatic vehicle further comprises a processing module for loading area data corresponding to the work area and selecting the target shelf; the driving module , for driving the automatic vehicle to move to the target shelf; the displacement measuring module for measuring the moving data when the automatic vehicle moves; the data acquisition module for acquiring the item identification data of the item on the target shelf; the communication module for The mobile data and the item identification data are transmitted; the server is configured to receive the mobile data and the item identification data, and to read the predetermined position of the item according to the item identification data, and determine whether the actual position of the item matches the predetermined position according to the movement data.

The method for confirming the position of an item by using an automatic vehicle according to the present invention comprises the steps of: automatically loading the area data corresponding to the work area and selecting the target shelf; moving the automatic vehicle to the target shelf, and measuring the mobile data while moving; After moving to the target shelf, the item identification data of the item on the target shelf is acquired; the automatic vehicle transmits the mobile data and the item identification data to the server; the server reads the predetermined position of the item according to the item identification data; the server determines the item according to the movement data. Whether the actual location matches the predetermined location.

The system and method disclosed by the present invention are as above, and the difference from the prior art is that the present invention measures the movement data when moving to the target shelf by the automatic vehicle, and identifies the item identification information of the item on the target shelf after moving to the target shelf. And the mobile data is transmitted to the server, so that the server determines whether the item corresponding to the item identification data is located at a predetermined position recorded by the server according to the moving data, thereby solving the problem existing in the prior art, and can achieve active confirmation of the item in the warehouse. The technical effect of the actual position.

The features and embodiments of the present invention will be described in detail below with reference to the drawings and embodiments, which are sufficient to enable those skilled in the art to fully understand the technical means to which the present invention solves the technical problems, and The achievable effects of the present invention.

The invention is applied in automatic storage, and the position of the items on the shelves in the warehouse can be confirmed by the automatic vehicle, that is, the actual position of the items in the warehouse is confirmed by the automatic vehicle.

Hereinafter, the system operation of the present invention will be described with reference to the system architecture diagram of the present invention for confirming the position of an article using the automatic vehicle. As shown in "Fig. 1", the system of the present invention includes an automatic vehicle 100 and a server 300.

The automated vehicle 100 can be moved within the work area and is responsible for determining the target shelf, generating mobile data prior to moving to the target shelf, and obtaining item identification data for items placed on the target shelf. In the present invention, the mobile material includes data capable of indicating that the automatic vehicle 100 is moved from one specific position to another, including but not limited to the starting point of the automatic vehicle 100 and the direction and distance of movement, and the item identification data is capable of representing an item. The data may be arbitrarily arranged by any number of characters, letters, numbers, and symbols, wherein one item identification data corresponds to one item, and the item identification materials corresponding to different items are different. In general, an item has only one corresponding item identification material, but the invention is not limited thereto.

The automatic vehicle 100 can include a communication module 110, a driving module 140, a displacement measuring module 150, a data acquisition module 160, a processing module 180, and an additional positioning module 120, a data sensing module 130, and an item folder. The module 170 is taken. The processing module 180 and the positioning module 120, the data sensing module 130, the driving module 140, the displacement measuring module 150, the data acquiring module 160, the article clamping module 170, and the communication module 110, etc. The other modules in the automatic vehicle 100 are connected to obtain data or signals generated or received by other modules in the automatic vehicle 100, and may also provide data or signals to other modules in the automatic vehicle 100.

The communication module 110 is responsible for connecting with the server 300, and can transmit data or signals to the server 300, for example, transmitting the mobile data generated by the shift measurement module 150 and the item identification data obtained by the data acquisition module 160. In the embodiment, the communication module 110 can also receive data or signals transmitted by the server 300, such as mobile messages generated by the server 300. The communication module 110 can be connected to the server 300 through wireless communication technologies such as WiFi, Bluetooth, and Zigbee, but the invention is not limited thereto.

The positioning module 120 can continuously obtain the current position of the automatic vehicle 100 using the indoor positioning technology in conjunction with the communication module 110, and continuously provide the current position of the obtained automatic vehicle 100 to the processing module 180.

The data sensing module 130 can sense the location identification data recorded by the positioning device approached by the automatic vehicle 100 when the automatic vehicle 100 approaches the positioning device disposed or placed in the working area of the automatic vehicle 100 during the movement of the automatic vehicle 100. The sensed location identification data can be provided to the processing module 180. The data sensing module 130 can use techniques such as Near-filed Communication (NFC) or Radio Frequency Identification (RFID) (but the invention is not limited thereto), and is configured by the positioning device. Read the location identification data.

In some embodiments, each of the positioning devices corresponds to a shelf, and each of the positioning devices is disposed in advance in the working area at a distance from the corresponding shelf, and at the same time, the location identification data stored by the positioning device is Corresponding to the same shelf corresponding to the positioning device. That is to say, when the automatic vehicle 100 moves to the vicinity of the shelf, the data sensing module 130 can sense the pointing identification material corresponding to the shelf close to the automatic vehicle 100, such as the shelf, by the positioning device corresponding to the shelf close to the automatic vehicle 100. Identification data and location information, etc., but the invention is not limited thereto.

The drive module 140 is responsible for driving the automatic vehicle 100 according to the control command provided by the processing module 180, so that the automatic vehicle 100 can be moved.

The shift measurement module 150 is responsible for measuring the movement data when the automatic vehicle 100 moves, and can provide the measured movement data to the processing module 180. The shift measurement module 150 measures the moving data through the device or component disposed on the automatic vehicle 100. For example, the wheel diameter of the wheel of the automatic vehicle 100 and the number of rotations are used to calculate the distance moved by the automatic vehicle. For example, using the electronic device The compass determines the direction in which the automatic vehicle 100 moves, and the like, but the manner in which the displacement measuring module 150 measures the moving data is not limited to the above.

The data acquisition module 160 is responsible for acquiring the item identification data of the item on the target shelf, and can provide the obtained item identification data to the processing module 180. In general, the data acquisition module 160 can include an image capture unit (not shown), and can obtain item identification according to the appearance of the item on the target shelf, the bar code on the appearance, the package, or the name or barcode on the package. The information, but the manner in which the data acquisition module 160 obtains the item identification data is not limited to the above.

For example, the data acquisition module 160 can capture an image containing the appearance of the article on the target shelf or the package of the article through the included image capturing unit, and can obtain the image according to the appearance of the article or the package of the article in the captured image. The item identification data, wherein the data acquisition module 160 can directly perform image processing on the appearance of the item or the package of the item in the captured image to determine the item identification data, and can also pass the captured image through the communication module 110. The image is processed by the server 300 and receives the item identification data determined by the server 300. The data acquisition module 160 can also capture the appearance of the item on the target shelf or the barcode on the package through the image capturing unit. Image, and can decode the barcode in the captured image into item identification data.

In some embodiments, the data acquisition module 160 may also provide an image of the object appearance or the package of the article on the target shelf through the image capturing unit to the processing module 180. In such an embodiment, the data acquisition is performed. The module 160 generally does not need to retrieve the item identification data from the processing module 180, but the invention is not limited thereto.

The data acquisition module 160 can also generate a control command when the item identification data cannot be obtained, and provide the control instruction to the item clamping module 170, so that the item clamping module 170 starts to operate; the data acquisition module 160 can also be When the item identification data cannot be obtained, a notification message is generated and the notification message is provided to the processing module 180.

The data acquisition module 160 can also obtain the product data of the item from the target shelf, and can provide the obtained product data to the processing module 180. The product information mentioned in the present invention includes, but is not limited to, the name, model, color, size/volume/capacity of an item.

Generally, a product marking device such as a product nameplate or a product identification label is provided on the surrounding floor panel of the article on the target shelf. If the data acquisition module 160 includes an image capture unit, the data acquisition module 160 can retrieve the product data represented by the product identification card through the image capture unit; if the data acquisition module 160 includes the data reading unit, the data acquisition module The module 160 can read the commodity data recorded by the product identification label through near field communication or radio frequency identification technology. However, the manner in which the data acquisition module 160 obtains the product data is not limited to the above. For example, the data acquisition module 160 may also capture the upper, lower, left, and right sides of the included item through the image capturing unit. The image is provided to the processing module 180 as the product data.

The item gripping module 170 can pick up the item from the target shelf, so that the data acquisition module 160 can obtain the item identification data of the item picked up by the item clamping module 170. The item gripping module 170 can further move and/or rotate the clipped item, so that the data acquiring module 160 can more easily obtain the item identification data of the item captured by the item gripping module 170.

The processing module 180 is responsible for loading the area data corresponding to the work area, and the area data loaded by the processing module 180 includes related information of various objects in the route and the work area that can be walked in the work area, but the present invention does not To this end, the related information of the above various objects includes, but is not limited to, the position of the shelf, the height of each layer on the shelf, the position of the obstacle, and the like.

The processing module 180 is also responsible for selecting one of the shelves disposed in the work area as the target shelf. The processing module 180 can select the target shelf according to the order of the recorded shelves in the area data, and can also select the target shelf according to the number of the shelves. In addition, if the automatic vehicle 100 moves on the track, the automatic vehicle 100 can also select the target shelf according to the distance moved to each shelf. However, if the automatic vehicle 100 is not moving on the track, but is combined with the indoor positioning technology to move, the processing module The target shelf can also be selected based on the distance between the automated vehicle 100 and the respective shelves. However, the manner in which the processing module 180 selects the target shelf is not limited to the above.

If the automatic vehicle 100 is moved in conjunction with the indoor positioning technology, the processing module 180 can receive the current position of the automatic vehicle 100 obtained by the positioning module 120, and according to the current position of the received automatic vehicle 100 and the loaded area data. The shelf position control drive module 140 drives the automated vehicle 100 to move to the selected target shelf. In some embodiments, the processing module 180 can determine the actual location of the automated vehicle 100 according to the location identification data sensed by the data sensing module 130, and can compare the current location of the automated vehicle 100 obtained by the positioning module 120. And determining the actual position of the automatic vehicle 100, thereby finely adjusting the control command provided to the driving module 140 according to the comparison result, so that the processing module 180 can more accurately control the driving module 140 to drive the automatic vehicle 100 to the target shelf. .

The processing module 180 is also responsible for determining whether the automated vehicle 100 has moved to the target shelf. The processing module 180 can also determine that the automatic vehicle 100 has moved to the target shelf when the data sensing module 130 senses the location identification data; the processing module 180 can compare the current location of the automated vehicle 100 obtained by the positioning module 120 and The location information of the target shelf recorded in the area data, when the distance between the two is within a predetermined range, the processing module 180 can determine that the automatic vehicle 100 has moved to the target shelf, and vice versa, when the current location of the automatic vehicle 100 and the target shelf When the distance of the location information is too far apart, the processing module 180 can determine that the automatic vehicle 100 has not moved to the target shelf. However, the manner in which the processing module 180 determines whether the automatic vehicle has moved to the target shelf is not limited to the above.

In some embodiments, the processing module 180 can also receive the image of the appearance or package of the item captured by the data acquisition module 160, and can perform image processing on the image captured by the data acquisition module 160. The device identification data is determined by the image captured by the data acquisition module 160. The processing module 180 can also transmit the image captured by the data acquisition module 160 to the server 300 through the communication module 110, and receive the server. 300 identified item identification data.

The processing module 180 can also obtain the notification message generated by the data acquisition module 160, and can generate a control command, and provide the generated control command to the article capture module 170, so that the article capture module 170 starts to operate.

The processing module 180 can also obtain the product data acquired by the data acquisition module 160, and transmit the product data acquired by the data acquisition module 160 to the server 300 through the communication module 110. In some embodiments, if the product data acquired by the processing module 180 is an image including a range of up, down, left, and right of the article, the processing module 180 may also analyze the image, thereby determining the included product from the image. data.

The processing module 180 can also generate a corresponding control command according to the mobile message received by the communication module 110, so as to control the item clamping module 170 to pick up the item, and the control driving module 140 moves the automatic vehicle 100 to a specific shelf, and The control item gripping module 170 places the clipped item at a predetermined position on a particular shelf.

The server 300 can be connected to the automatic vehicle 100 and is responsible for receiving the mobile data and the item identification data transmitted by the automatic vehicle 100. In the present invention, the server 300 can be connected to one or more other automatic vehicles at the same time in addition to the automatic vehicle 100.

The server 300 is also responsible for acquiring a predetermined location of the item corresponding to the received item identification material. The server 300 can read the predetermined location of the item from the pre-established database according to the received item identification data, or can transmit the received item identification data to an external data host (not shown). The intended location of the item. However, the manner in which the server 300 acquires the predetermined position of the article is not limited to the above.

The server 300 is also responsible for determining the actual location of the item based on the received mobile data. For example, suppose that each of the automatic vehicles 100 has a fixed parking position. If the starting point in the moving data transmitted by the automatic vehicle 100 is the parking position, the server 300 can use the position where the automatic vehicle 100 is parked as a reference point, and can be moved according to the movement. The moving direction and the moving distance of the automatic vehicle 100 in the data calculate the actual position of the item in the working area; for example, if the starting point in the moving data transmitted by the automatic vehicle 100 is the position set by the positioning device corresponding to the target shelf, the servo The device 300 can use the position of the positioning device corresponding to the target shelf as a reference point, and can calculate the actual position of the article according to the moving direction and the moving distance of the automatic vehicle 100 in the moving data. However, the manner in which the server 300 determines the actual position of the item is not limited to the above.

The server 300 is also responsible for determining whether the predetermined position of the read item matches the actual position of the determined item. If the predetermined position of the item matches the actual position of the item, it indicates that the item is correctly placed at the predetermined position, and if the two do not match, it indicates that the item is placed in an incorrect position.

The server 300 may execute a corresponding processing procedure when it is determined that the predetermined position of the read item does not match the actual position of the determined item. For example, the server 300 may have no identical item at the predetermined location of the item (ie, all inventory of the item is placed in the actual location) and no predetermined location of the other item is set at the actual location of the item (ie, the item When the item is placed in the actual position, the predetermined position of the item is updated to the actual position of the item; the server 300 can also transmit a movement message to cause the automatic vehicle 100 to move the item to the predetermined position.

The server 300 can also receive the product data transmitted by the automatic vehicle 100 and determine whether the received product data matches the item. For example, the server 300 can obtain the name, appearance, model, color, and the like of the item according to the item identification data, and compare with the received product data to determine whether the received product information matches the item. However, the manner in which the server 300 determines whether the product data matches the article is not limited thereto.

Next, an operational system and method of the present invention will be described with reference to an embodiment, and reference is made to the flowchart of the method for confirming the position of an article using an automatic vehicle according to the present invention. In the present embodiment, it is assumed that the present invention is applied to automatic storage, but the present invention is not limited thereto.

When the position of the inspection item is to be used by the present invention, first, the processing module 180 of the automatic vehicle 100 can load the area data corresponding to the work area (step 202), and select one of the loaded area materials to be set in the work area. The shelf in the middle is used as the target shelf (step 206). In this embodiment, it is assumed that the communication module 110 of the automatic vehicle 100 can be connected to the server 300 to download the area data, and the downloaded area data can be provided to the processing module 180. If the area data downloaded by the communication module 110 includes the designated shelf, the processing module 180 may select the shelf closest to the automatic vehicle 100 in the shelf specified by the area data as the target shelf.

After the processing module 180 of the automatic vehicle 100 selects the target shelf (step 206), the processing module 180 can control the driving module 140 of the automatic vehicle 100, so that the driving module 140 drives the automatic vehicle 100 to move to the target shelf selected by the processing module 180. . The automatic vehicle 100 can move along the track in the work area, and if the automatic vehicle 100 includes the positioning module 120, the automatic vehicle 100 can also move freely in the work area. In this embodiment, if the automatic vehicle 100 can be freely moved in the working area, the positioning module 120 can continuously obtain the current position of the automatic vehicle 100 by using the indoor positioning technology in conjunction with the communication module 110, so that the processing module 180 can be continuously positioned according to the positioning. The current position of the automatic vehicle 100 obtained by the module 120 generates a corresponding control command and provides it to the driving module 140, so that the driving module 140 correctly drives the automatic vehicle 100 to move to the target shelf according to the control command. In addition, if the automatic vehicle 100 further includes the data sensing module 130, the data sensing module 130 can sense the location identification data recorded by the positioning device approached by the automatic vehicle 100 when the driving module 140 drives the automatic vehicle 100, and can The sensing location information is provided to the processing module 180, so that the processing module 180 can fine-tune the control command provided to the driving module 140 according to the location identification data sensed by the data sensing module 130, thereby controlling the driving mode. Group 140 drives the automated vehicle 100 to the target shelf more precisely.

During the driving of the automatic vehicle 100 by the driving module 140 of the automatic vehicle 100, the displacement measuring module 150 of the automatic vehicle 100 can measure the moving data (step 210), and the processing module 180 of the automatic vehicle 100 can also determine whether the automatic vehicle 100 has moved to Before the target shelf (step 220). If the processing module 180 determines that the automatic vehicle 100 has not moved to the target shelf, the processing module 180 can control the driving module 140 to continue to drive the automatic vehicle 100 to move to the target shelf, and the displacement measuring module 150 can continue to measure the mobile data (step 210). The processing module 180 can continue to determine whether the automated vehicle 100 has moved to the target shelf (step 220) until the processing module 180 determines that the automated vehicle 100 has moved to the target shelf.

When the processing module 180 of the automatic vehicle 100 determines that the automatic vehicle 100 moves to the front of the target shelf, the displacement measurement module 150 of the automatic vehicle 100 can provide the measured mobile data to the processing module 180, and the data acquisition module 160 of the automatic vehicle 100 also The item identification information of the item on the target shelf can be obtained (step 230). In this embodiment, it is assumed that the processing module 180 can generate control data according to the number of layers of the target shelf recorded by the area data and the height of each layer on the target shelf, and provide the generated control data to the data acquisition module. 160, the data acquisition module 160 can capture an image containing the appearance or packaging of the items placed on each floor or floor of the target shelf according to the control data, and directly or by the server 300. Image recognition, whereby the item is judged by the appearance of the item in the image and the item identification data corresponding to the determined item is read, or the item identification data is directly judged by the packaging of the item in the image. The data acquisition module 160 may also capture an image of the barcode placed on the outer shelf or the package of the item on the target shelf according to the control data, and decode the barcode in the image to obtain the item identification data.

When the data acquisition module 160 of the automatic vehicle 100 acquires the item identification data of the item on the target shelf (step 230), if the data acquisition module 160 cannot obtain the item identification data, for example, the item is stacked, or the barcode is not on the front side of the item, The data acquisition module 160 can transmit a notification message to the processing module 180 of the automatic vehicle 100, so that the processing module 180 generates a control message according to the number of layers of the target shelf recorded by the area data and the height of each layer on the target shelf. The item capture module 170 can also generate a control message according to the control data provided by the processing module 180 and transmit the control message to the item capture module 170. After receiving the control message, the item clamping module 170 can capture the items placed on the specific layer on the target shelf according to the control message, and even rotate the clipped items, so that the data acquisition module 160 can capture the included items. The image of the item or package of the item picked up by the item gripping module 170, or the image of the item on the outer surface of the item captured by the item gripping module 170 or the bar code on the package.

After the data acquisition module 160 of the automatic vehicle 100 acquires the item identification data of the item on the target shelf (step 230), the data acquisition module 160 can provide the obtained item identification data to the processing module 180 of the automatic vehicle 100 for processing. The module 180 can transmit the item identification data provided by the data acquisition module 160 and the movement data provided by the displacement measurement module 150 of the automatic vehicle 100 to the server 300 through the communication module 110 of the automatic vehicle 100 (step 240).

After the server 300 receives the item identification data and the movement data transmitted by the automatic vehicle 100, the predetermined position of the corresponding item may be acquired according to the received item identification data (step 250). In the present embodiment, it is assumed that the server 300 can read the predetermined location of the item from the database or the file based on the item identification data.

After the server 300 acquires the predetermined position of the item according to the item identification data transmitted by the automatic vehicle 100 (step 250), the server 300 can determine the actual item corresponding to the received item identification data according to the movement data transmitted by the automatic vehicle 100. Whether the location matches the predetermined location of the acquired item (step 260). In this embodiment, it is assumed that the server 300 may first determine the actual location of the item corresponding to the received item identification data according to the received movement data, and then compare the predetermined position of the obtained item with the determined position. Whether the actual position of the item matches, that is, whether the position data indicating the predetermined position of the item is the same as the position data indicating the actual position of the item, or whether the distance between the predetermined position of the item and the actual position of the item is Within the predetermined value. If so, it can be confirmed that the item is placed at the predetermined position.

If the server 300 determines that the actual position of the item does not match the predetermined position of the item, that is, determines that the distance between the predetermined position of the item and the actual position of the item is not within the predetermined value, the server 300 can execute the processing procedure (step 270). In the present embodiment, the server 300 may update the predetermined position of the item to the actual position of the item, or may transmit a movement message to the automatic vehicle 100 such that the automatic vehicle 100 moves the item to the predetermined position.

Thus, according to the present invention, the actual measurement position of the article can be determined using the measurement data actually measured by the automatic vehicle 100, thereby confirming whether the article is placed at the predetermined position, thereby avoiding the occurrence of the article not being found.

In the above embodiment, after the processing module 180 of the automatic vehicle 100 continues to determine that the automatic vehicle 100 has moved to the target shelf (step 220), the data acquisition module 160 of the automatic vehicle 100 acquires the item identification data of the item on the target shelf (steps). In the step of 230), the data acquisition module 160 may also capture an image of the appearance or packaging of the items placed on each floor or floor of the target shelf, and provide the captured image as item identification data. The processing module 180 can directly perform image recognition on the captured image, or transmit the image captured by the data acquisition module 160 to the server 300 through the communication module 110 of the automatic vehicle 100. Image recognition. Similar to the data acquisition module 160 described above, the processing module 180 can determine the item from the appearance of the item in the image and read the item identification data corresponding to the determined item, or by using the item in the image. The package directly determines the item identification data, and may also receive the item identification data determined by the server 300 according to the appearance or packaging of the item in the image. In this manner, after the processing module 180 obtains the item identification data, the obtained item identification data and the movement data provided by the displacement measurement module 150 of the automatic vehicle 100 can be transmitted to the server 300 through the communication module 110 (step 240). ).

In summary, it can be seen that the difference between the present invention and the prior art is that the automatic vehicle measures the movement data when moving to the target shelf, and after moving to the target shelf, the item identification data and the movement data of the item on the target shelf are transmitted. The technical means for the server to determine whether the item corresponding to the item identification data is located at a predetermined position recorded by the server according to the movement data, and the technical means can solve the problem that the items existing in the prior art are placed in the warehouse Putting it in the wrong position will result in the problem of picking up the wrong item or finding the item, and thus achieving the technical effect of actively confirming the actual position of the item in the warehouse.

In the above embodiment, after the data acquisition module 160 of the automatic vehicle 100 acquires the item identification data of the item on the target shelf (step 230), as shown in the flow of "2B", the data acquisition module 160 may The item information of the item set on the target shelf is then obtained (step 280). In this embodiment, if each item on the target shelf is provided with a product identification label, the data acquisition module 160 can sense or read the product information recorded in the product identification label; A product nameplate is disposed on each of the layer boards on which the articles are placed, and the data acquisition module 160 can capture an image including the information indicated on the product nameplate, and perform character recognition on the captured image, thereby Obtain the product information after identification.

After the data acquisition module 160 of the automatic vehicle 100 obtains the product data of the item set on the target shelf (step 280), the data acquisition module 160 can provide the obtained product data to the processing module 180 of the automatic vehicle 100, and process the module. The group 180 can transmit the mobile data and the item identification data to the server 300 through the communication module 110 of the automatic vehicle 100 (step 240), and also transmit the product data acquired by the data acquisition module 160 to the server 300 ( Step 289).

After the server 300 receives the mobile data, the item identification data, and the product data transmitted by the automatic vehicle 100, the server 300 can determine whether the received product data matches the item placed on the target shelf (step 290). In this embodiment, it is assumed that the server 300 can obtain the item name, appearance, model, color and the like of the item placed on the target shelf from the received item identification data, and on the target shelf received. The product name, appearance, model, color and other commodity data are compared to determine whether the received commodity data matches the article.

If the server 300 determines that the received product data does not match the item corresponding to the received item identification data, the server 300 may perform corresponding processing, for example, may search from a pre-established database according to the product data. Corresponding item identification data, and updating the item identification data of the item placed on the corresponding shelf on the target shelf to the searched item identification data, or searching for the matching item from the pre-established database based on the product data. The location information of the correct location, and the automated vehicle 100 is notified to move the item to the correct location found based on the searched location information.

Furthermore, the method for confirming the position of an article using an automatic vehicle of the present invention can be implemented in a combination of hardware, software or a combination of hardware and software, or can be implemented in a centralized manner in a computer system or spread over several interconnections with different components. The decentralized way of implementing computer systems.

While the embodiments of the present invention have been described above, the above description is not intended to limit the scope of the invention. Any modification of the form and details of the practice of the present invention, which is a matter of ordinary skill in the art to which the present invention pertains, is a patent protection of the present invention. range. The scope of the invention is to be determined by the scope of the appended claims.

100‧‧‧Automobile

110‧‧‧Communication module

120‧‧‧ Positioning Module

130‧‧‧Data Sensing Module

140‧‧‧Drive Module

150‧‧‧Shift measurement module

160‧‧‧ Data Acquisition Module

170‧‧‧Article gripping module

180‧‧‧Processing module

300‧‧‧Server

Step 202‧‧‧Automatically enter the area data corresponding to the work area

Step 206‧‧‧Automobile selects the target shelf

Step 210‧‧‧Automobile moves to the target shelf and measures the movement data while moving

Step 220‧‧‧Automobile judges whether to move to the target shelf

Step 230‧‧‧Automobile gets item identification data for items on the target shelf

Step 240‧‧‧Automobile transmits mobile data and item identification data to the server

Step 250‧‧‧ The server reads the predetermined location of the item based on the item identification data

Step 260‧‧‧ The server determines whether the actual position of the item matches the predetermined position based on the movement data

Step 270‧‧‧Server Execution Handler

Step 280‧‧‧Automobiles obtain the product information of the items placed on the target shelf

Step 289‧‧‧Automobile to transfer product data to the server

Step 290‧‧‧The server determines whether the product data matches the item

Fig. 1 is a system architecture diagram of the present invention for confirming the position of an article using an automatic vehicle. 2A is a flow chart of a method for confirming the position of an article using an automatic vehicle according to the present invention. FIG. 2B is a flow chart of a method for determining whether the position of an item is correct using an automatic vehicle according to the present invention.

Claims (8)

A method for confirming the position of an item using an automatic vehicle, the method comprising at least the following steps: automatically loading an area data corresponding to a work area, and selecting a target shelf; the automatic vehicle moves to the target shelf, and measures one when moving Moving the data; after the automatic vehicle moves to the target shelf, acquiring an item identification data of an item on the target shelf; the automatic vehicle transmits the mobile data and the item identification data to a server; the server identifies the item according to the item Reading, by the server, a predetermined position of the item; the server determines, according to the movement data, whether the actual position of the item matches the predetermined position; and the server determines, according to the movement data, that the actual position of the item does not match the predetermined position The predetermined location is updated to the actual location of the item or the automated vehicle is notified to move the item to the predetermined location. The method for confirming the position of an item by using an automatic vehicle according to claim 1, wherein the step of moving the automatic vehicle to the target shelf is that the automatic vehicle moves using the indoor positioning technology according to the location information of the target shelf in the area data, and The preset location identification data is sensed when moving, so as to move to the target shelf correctly. The method for confirming the position of an item by using an automatic vehicle according to claim 1, wherein the step of obtaining the item identification data of the item on the target shelf further comprises the automatic vehicle clamping the item to obtain the item identification data. The steps. The method for confirming the position of an item by using an automatic vehicle as described in claim 1, wherein the method is after the step of obtaining the item identification data of the item on the target shelf by the automatic vehicle, Moreover, the automatic vehicle reads the commodity data of the article from the target shelf, and transmits the commodity data to the server, and the server determines whether the commodity data is consistent with the article. A system for confirming the position of an item using an automatic vehicle, the system comprising at least: an automatic vehicle, further comprising: a processing module for loading a region data corresponding to a work area, and selecting a target shelf; a driving module For driving the automatic vehicle to move to the target shelf; a shift measuring module for measuring a moving data when the automatic vehicle moves; and a data acquisition module for acquiring an item of an item on the target shelf Identifying data; and a communication module for transmitting the mobile data and the item identification data; and a server for receiving the mobile data and the item identification data, and for reading the item according to the item identification data a predetermined position, and determining, according to the movement data, whether the actual position of the item is the same, and determining that the actual position of the item does not match the predetermined position according to the movement data, updating the predetermined position to the item The actual location or inform the automated car to move the item to the predetermined location. The system for verifying the position of an item by using an automatic vehicle as described in claim 5, wherein the automatic vehicle further comprises a positioning module and a data sensing module, wherein the positioning module is used to provide an indoor positioning technology, and the driving mode is The group drives the automatic vehicle to move to the target shelf, and the data sensing module is configured to sense the preset location identification data when the automatic vehicle moves, so that the driving module correctly drives the automatic vehicle to the target shelf. The system for confirming the position of an item by using an automatic vehicle as described in claim 5, wherein the automatic vehicle further includes an item gripping module for gripping the item from the target shelf, so that the data acquisition module is The item being clipped obtains the item identification information. The system for confirming the position of an item by using an automatic vehicle as described in claim 5, wherein the data acquisition module is further configured to obtain one item of the item from the target shelf, and the communication module is further configured to transmit the item. The product data is sent to the server, and the server is further used to determine whether the product data matches the item.