CN111598514A - Intelligent warehouse management system and method based on Internet of things technology - Google Patents
Intelligent warehouse management system and method based on Internet of things technology Download PDFInfo
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Abstract
The invention discloses an intelligent warehouse management system and method based on the technology of Internet of things, which belongs to the technical field of warehouse management, and comprises a warehouse management robot, a warehouse rack and a moving track, wherein the warehouse management robot comprises an autonomous navigation trolley, the autonomous navigation trolley comprises a steering travelling mechanism travelling on the moving track, a base arranged on the steering travelling mechanism, and a warehouse storage and taking mechanism arranged on the base, the base is provided with a control device and a power supply for controlling the warehouse storage and taking mechanism, a first bracket is provided with an intelligent camera connected with the control device, a second bracket is provided with a visual camera and an RFID reader-writer connected with the control device, the RFID reader-writer is used for reading RFID tags adhered on the surface of the warehouse, the base is provided with a driving component for controlling the warehouse storage and taking mechanism to work, so that the efficiency and the accuracy of the warehouse management are improved, the cost of warehouse logistics is reduced and the possibility of errors is low.
Description
Technical Field
The invention relates to the technical field of warehousing management, in particular to an intelligent warehousing management system and method based on the technology of the Internet of things.
Background
The warehousing plays a vital role in the logistics supply chain, and the correct and efficient ex-warehouse, in-warehouse, inventory and inventory management can greatly reduce the management cost and ensure the service quality. In order to improve the operation efficiency and management level of warehousing, most enterprises introduce computer data systems and RFID technology to perform operation management at present, and intelligent management of warehousing processes and spaces is realized by scanning bar codes, two-dimensional codes, electronic tags and the like to perform information acquisition. In recent years, the technology of internet of things has been primarily applied to remote medical treatment, safety production, smart home, intelligent public safety management, intelligent transportation, intelligent agriculture, food safety and the like, and the completely new way to break away from the cold professional term concept gradually, and to take a high professional role, so that the technology is gradually applied to various fields, and the technology is good for Ming and Ming, and can promote the construction and development of the modern intelligent warehouse logistics management system. The existing management system for the unmanned intelligent warehouse in the market at present has the following defects: 1. the efficiency and accuracy of warehousing management are low; 2. the storage stream management cost is high; 3. the probability of occurrence of a deemed error is high.
Based on the above, the invention designs an intelligent warehouse management system and method based on the technology of the internet of things, so as to solve the above mentioned problems.
Disclosure of Invention
The invention aims to provide an intelligent warehouse management system and method based on the technology of the internet of things, and aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: an intelligent warehouse management system based on the Internet of things technology comprises a warehouse management robot, a warehouse rack and a moving track, wherein the warehouse management robot comprises an autonomous navigation trolley, the autonomous navigation trolley comprises a steering travelling mechanism, a base and a warehouse storage and taking mechanism, the steering travelling mechanism is arranged on the moving track, the base is arranged on the steering travelling mechanism, the warehouse storage and taking mechanism is arranged on the base, a power supply and a control device are arranged on the base and used for controlling the warehouse storage and taking mechanism, a first support is arranged on the warehouse storage and taking mechanism, an intelligent camera connected with the control device is installed on the first support, a guide rail is installed on the base, a second support is installed at the top end of the guide rail, a visual camera and an RFID reader-writer which are connected with the control device are installed on the second support, and the RFID reader-writer is used for reading RFID tags which are adhered to the surface, and the base is provided with a driving assembly for controlling the storage and taking mechanism to work.
Preferably, the storage rack comprises a plurality of storage bins which are arranged in a matrix, and a plurality of storage bins which are arranged in a matrix are arranged in each storage rack.
Preferably, the moving tracks are arranged in a grid manner, each moving track comprises a main track arranged between every two columns of storage racks and an auxiliary track arranged between every two rows of storage racks, and the auxiliary tracks are embedded with the main tracks.
Preferably, the storage and taking mechanism comprises two groups of guide rails vertically fixed on the base, a connecting rod is connected between the two groups of guide rails in a sliding manner, and a grabbing device is installed on the connecting rod.
Preferably, the driving assembly comprises a first hydraulic device fixed on the base and a second hydraulic device fixedly connected to the connecting rod, the telescopic end of the first hydraulic device is connected to the bottom of the connecting rod, and the output end of the second hydraulic device is connected to the gripping device.
Preferably, the control device comprises a visual camera controller, an intelligent camera controller, an RFID reader-writer, an access planning module, a driver and a PLC processor, the visual camera is connected with the visual camera controller in an Ethernet mode, the visual camera controller, the intelligent camera controller and the RFID reader-writer are respectively connected with the input end of the PLC processor, the output end of the PLC processor is connected with the driver through the access planning module, and the control device is in communication connection with the management front desk through a wireless transmission module.
Preferably, the entry information of the RFID tag includes a supplier code, packaging information, and placement/pickup position information.
The intelligent warehousing management method based on the Internet of things technology comprises a goods placing process and a goods taking process.
Preferably, the put process comprises the steps of:
s1.1: the autonomous navigation trolley moves to a goods taking position, three-dimensional data of the stored goods to be stored are acquired through the visual camera and transmitted to the visual camera controller in an Ethernet mode, position data needing to be grabbed by the stored goods storing and taking mechanism are acquired, and the stored goods are grabbed through the stored goods storing and taking mechanism;
s2.1: while the step S1 is carried out, the RFID reader-writer reads the RFID label pasted on the surface of the storage, reads the information of the required placement position of the storage, and processes the information of the placement position through the control device;
s3.1: after the control device obtains the placing position information, route planning is carried out, and the autonomous navigation trolley moves to a position needing to be placed through the steering travelling mechanism according to the planned route information;
s4.1: after the autonomous navigation trolley moves to a position needing to be placed, the control device controls the first hydraulic device to move the stored goods grabbed by the stored goods storing and taking mechanism to a certain height, and the stored goods grabbed by the stored goods storing and taking mechanism are put down after the stored goods are pushed forwards for a certain distance by the second hydraulic device;
s5.1: after the storage is finished, photographing the storage rack through an intelligent camera, and judging whether the storage object is accurately placed;
preferably, the goods taking process comprises the following steps:
s1.2: inputting information of goods to be picked through a management front desk, and processing the information of goods pickup through a control device;
s2.2: after the control device obtains the placing position information, route planning is carried out, and the autonomous navigation trolley moves from an initial position to a position needing to take goods through the steering travelling mechanism according to the planned route information;
s3.2: after the autonomous navigation trolley moves to a position where goods are required to be taken, the control device controls the first hydraulic device to move the stored goods grabbed by the stored goods storing and taking mechanism to a certain height, and the stored goods grabbed by the stored goods storing and taking mechanism are pushed forwards for a certain distance by the second hydraulic device;
s4.2: photographing the storage rack through an intelligent camera to judge whether the storage object placement position is accurate or not;
s5.2: the autonomous navigation trolley acquires three-dimensional data of the stored goods to be stored through the visual camera, transmits the three-dimensional data to the visual camera controller in an Ethernet mode, acquires position data to be grabbed by the stored goods storing and taking mechanism, and grabs the stored goods through the stored goods storing and taking mechanism;
s6.2: and then the autonomous navigation trolley moves to the initial position according to the goods taking track.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, the RFID labels are adhered to the stored goods, the goods are identified by the RFID reader-writer on the autonomous navigation trolley and are identified and grabbed one by the RFID technology, and unmanned automatic taking and placing are realized; the storage racks arranged in the warehouse in a matrix arrangement and the moving tracks arranged in the storage racks in a staggered manner move according to the route planning, so that the autonomous navigation trolley can move according to a fixed track in the moving process, the efficiency is high, and the autonomous navigation trolley is not influenced by external obstacles; the appearance data and the placing position data of the storage can be accurately identified through the visual camera and the intelligent camera, and the storage is guaranteed to be grabbed and placed on the storage rack; the invention not only improves the efficiency and the accuracy of warehouse management and reduces the management cost of warehouse logistics, but also has less possibility of error occurrence and reasonable design, not only further improves the efficiency and the accuracy of warehouse logistics management, but also reduces the management cost of warehouse logistics, and is suitable for popularization and use.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of the moving track arrangement of the present invention;
FIG. 3 is a schematic structural view of the autonomous navigation vehicle of the present invention;
fig. 4 is a schematic block diagram of the control device of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1. an autonomous navigation vehicle; 101. a steering traveling mechanism; 102. a base; 103. a power source; 104. a control device; 1041. a PLC processor; 1042. a visual camera controller; 1043. a smart camera controller; 1044. a management foreground; 1045. taking a planning module; 1046. a driver; 1047. a wireless transmission module; 105. a first bracket; 106. a smart camera; 107. a guide rail; 108. a second bracket; 109. a vision camera; 110. an RFID reader; 111. a connecting rod; 112. a first hydraulic device; 113. a second hydraulic device; 114. a gripping device; 2. a storage rack; 201. a storage bin; 3. a moving track; 301. a main track; 302. a secondary track.
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. 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.
In embodiment 1, please refer to fig. 1-4, the present invention provides a technical solution: an intelligent warehouse management system based on the technology of the Internet of things comprises a warehouse management robot, a warehouse rack 2 and a moving track 3, wherein the warehouse management robot comprises an autonomous navigation trolley 1, the autonomous navigation trolley 1 comprises a steering travelling mechanism 101, a base 102 and a warehouse storage and taking mechanism, the steering travelling mechanism 101 is arranged on the moving track 3, the base 102 is arranged on the steering travelling mechanism 101, the warehouse storage and taking mechanism is arranged on the base 102, a power supply 103 and a control device 104 are arranged on the base 102 and used for controlling the warehouse storage and taking mechanism, a first support 105 is arranged on the warehouse storage and taking mechanism, an intelligent camera 106 connected with the control device 104 is arranged on the first support 105, a guide rail 107 is arranged on the base 102, a second support 108 is arranged at the top end of the guide rail 107, and a visual camera 109 and an RFID reader-writer 110 which are connected with the control device 104 are arranged on the second support, the RFID reader 110 is used for reading RFID tags attached to the surfaces of the stored goods, and the base 102 is provided with a driving assembly for controlling the operation of the stored goods storing and taking mechanism.
Wherein, storage frame 2 is including being a plurality of that the matrix set up, every storage frame 2's inside is equipped with a plurality of storing storehouses 201 that are the matrix setting.
The moving track 3 is arranged in a grid manner, the moving track 3 comprises a main track 301 arranged between every two columns of storage racks 2 and an auxiliary track 302 arranged between every two rows of storage racks 2, and the auxiliary track 302 is embedded with the main track 301.
The storage access mechanism comprises two groups of guide rails 107 vertically fixed on the base 102, a connecting rod 111 is connected between the two groups of guide rails 107 in a sliding manner, and a grabbing device 114 is installed on the connecting rod 111.
The driving assembly comprises a first hydraulic device 112 fixed on the base 102 and a second hydraulic device 113 fixedly connected to the connecting rod 111, wherein the telescopic end of the first hydraulic device 112 is connected to the bottom of the connecting rod 111, and the output end of the second hydraulic device 113 is connected to the grabbing device 114.
The control device 104 includes a visual camera controller 1042, an intelligent camera controller 1043, an RFID reader/writer 110, an access planning module 1045, a driver 1046, and a PLC processor 1041, the visual camera 109 is connected to the visual camera controller 1042 through an ethernet manner, the visual camera controller 1042, the intelligent camera controller 1043, and the RFID reader/writer 110 are respectively connected to an input end of the PLC processor 1041, an output end of the PLC processor 1041 is connected to the driver 1046 through the access planning module 1045, and the control device 104 is in communication connection with a management front desk 1048 through a wireless transmission module 1047.
In the above embodiment, the picking planning module 1045 adopts the prior art, and since the lengths of the storage rack 2 and the moving track 3 are fixed, the distance that the autonomous navigation vehicle 1 advances on the main track 301 and then moves on the secondary track 302 can be controlled by setting the position of the stored articles to be placed/picked, and the height of the storage device 201 of the grabbing device 114 is controlled, so that the distance from the grabbing device 114 to the storage device 201 is constant, and the setting of the fixed parameters is included.
The input information of the RFID tag comprises a supplier code, packaging information and placing/taking position information, the capacity of the RFID tag can be selected according to the situation, and the capacity of the RFID tag can be selected to be 2K or 4K and the like.
In the above embodiment, in the process of loading the storage articles, the visual camera 109 and the visual camera controller 1042 are used to obtain the size data of the storage articles to be taken and placed, the shape data and the position data of the storage articles are obtained through calculation, the gripping device 114 adjusts the motion track according to the data, automatically adjusts the posture and the position, controls the gripping device 114 to achieve automatic taking and placing of the storage articles, and various types of storage articles placed randomly are identified and gripped one by one through the RFID technology, so that unmanned automatic taking and placing are achieved.
In the automatic acquisition process of the storage materials, an order system of the unmanned warehouse issues storage material data to be taken or placed, an RFID label is pasted on the storage materials, the control device 104 controls the autonomous navigation trolley 1 to move beside the storage materials to be taken on the moving track 3 through information read by the RFID reader-writer 110 and matching with a map system, image recognition is carried out on the shot storage materials through the intelligent camera 106, position data of the storage materials is obtained through calculation, the specific position of the grabbing device 114 is adjusted, and accurate placement position of the storage materials is guaranteed.
As in the above embodiment, the moving track 3 includes the main track 301 and the sub-track 302, and the principle of the train track is adopted, and the autonomous navigation vehicle 1 moves on the main track 301 and can change its track to the sub-track 302 according to the instruction.
In the above embodiment, the system can automatically put on and put off various warehouse articles by adopting the RFID technology, has a very wide application range, can reduce the labor intensity of workers, improve the working efficiency and reduce the management cost of the unmanned supermarket, can reduce the risks of commodity loss, damage and the like because the robot system can be placed in the unmanned shop all the time, is convenient and practical, has corresponding flexibility and mobility, sufficient compatible range and sufficient safety, and can meet the requirements of the unmanned supermarket.
In a preferred embodiment, the grabbing device 114 is a flexible grabbing device 114 in the prior art, the grabbing device 114 may be any device in the prior art capable of achieving a grabbing function of the commodity, the grabbing device 114 with a correspondingly suitable size may be selected according to the actual environment size, and the grabbing device 114 is set to be flexible, mainly to achieve the grabbing function and simultaneously reduce damage to the surface of the grabbed commodity, loss of the commodity in the grabbing process, and loss cost.
In a preferred embodiment, the autonomous navigation vehicle 1 is provided with a steering travelling mechanism, the steering travelling mechanism is arranged to realize the movement, rotation and the like of the autonomous navigation vehicle 1 in all directions, the forward and backward movement and the left and right turning can be realized, the dual obstacle avoidance safety setting is provided, the autonomous navigation vehicle 1 can freely move in an unmanned supermarket, the storage articles can be conveniently grabbed at all positions of a goods shelf, and meanwhile, the safety of the autonomous navigation vehicle 1 in the movement process is improved.
In a preferred embodiment, the visual camera 109 is a 3D visual camera, the 3D visual camera is used to collect the external dimensions, color information and position information of the goods, which are randomly placed in the placement frame, so that the 3D visual camera is required to collect information data of the goods more accurately, the smart camera 106 is a 2D smart camera, the smart camera is used to collect environmental information of the shelf and verify the placement position of the goods, the use of 2D can reduce the cost, and is convenient and practical, of course, the 3D camera can also be used, the visual camera 109 and the smart camera 106 are both cameras in the prior art, a corresponding appropriate camera can be selected according to the use situation, the visual camera controller 1043 is matched with the visual camera 109, any controller in the prior art capable of controlling the visual camera 109 can be used, the smart camera 106 is controlled by the smart camera controller 1043, other methods capable of achieving the control effect in the prior art are also possible, and are not described herein in detail.
In a preferred embodiment, the image acquisition range of the visual camera 109 is within 800mm × 600mm of the horizontal plane, the image processing time is not more than 0.1s, in this embodiment, the vertical height is within 800mm and 1200mm, the recognition accuracy is not more than 0.1mm, the acquisition range of the visual camera 109 is limited mainly to reduce mutual interference among a plurality of commodities, the commodities are captured into the image acquisition range of the visual camera 109 by the capture device 114, the commodity information acquisition accuracy is improved, and the situation that the delivery position data are wrong due to information interference is reduced.
In a preferred embodiment, the connecting parts of the invention can be connected by bolts, so that on one hand, the stability of connection can be ensured, on the other hand, the connecting parts can be conveniently detached, and when part of components are in failure, the connecting parts can be conveniently replaced, the service life of the system is prolonged, and the loss cost is reduced.
the put goods process comprises the following steps:
s1.1: the autonomous navigation trolley 1 moves to a goods taking position, three-dimensional data of the stored goods to be stored are collected through the visual camera 109 and transmitted to the visual camera controller 1042 through an Ethernet mode, position data required to be grabbed by the stored goods storing and taking mechanism are obtained, and the stored goods are grabbed through the stored goods storing and taking mechanism;
s2.1: while the step S1 is in progress, the RFID reader/writer 110 reads the RFID tag attached to the surface of the storage, reads the information of the required placement position of the storage, and processes the information of the placement position by the control device 104;
s3.1: after obtaining the placement position information, the control device 104 plans a route, and the autonomous navigation vehicle 1 moves to a position to be placed through the steering travelling mechanism 101 according to the planned route information;
s4.1: after the autonomous navigation trolley 1 moves to a position where the autonomous navigation trolley needs to be placed, the control device 104 controls the first hydraulic device 112 to move the stored goods grabbed by the stored goods access mechanism to a certain height, and after the stored goods access mechanism is pushed forwards for a certain distance through the second hydraulic device 113, the stored goods grabbed by the stored goods access mechanism are put down;
s5.1: after the storage is finished, the intelligent camera 106 is used for photographing the storage rack 2 to judge whether the storage placement position is accurate;
the goods taking process comprises the following steps:
s1.2: inputting information of goods to be picked through the management front desk 1048, and processing the information of goods picking through the control device 104;
s2.2: after obtaining the placing position information, the control device 104 plans a route, and the autonomous navigation vehicle 1 moves from an initial position to a position where goods are required to be taken through the steering travelling mechanism 101 according to the planned route information;
s3.2: after the autonomous navigation trolley 1 moves to a position where goods are required to be taken, the control device 104 controls the first hydraulic device 112 to move the stored goods grabbed by the stored goods access mechanism to a certain height, and the second hydraulic device 113 pushes the stored goods access mechanism forwards for a certain distance and then the stored goods grabbed by the stored goods access mechanism;
s4.2: photographing the storage rack 2 through the intelligent camera 106 to judge whether the storage object placing position is accurate;
s5.2: the autonomous navigation trolley 1 acquires three-dimensional data of the stored goods to be stored through the visual camera 109, transmits the three-dimensional data to the visual camera controller 1042 through an Ethernet mode, acquires position data required to be grabbed by the stored goods storing and taking mechanism, and grabs the stored goods through the stored goods storing and taking mechanism;
s6.2: the autonomous navigation vehicle 1 then moves to the initial position according to the track of the pickup.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (10)
1. The utility model provides an intelligent warehouse management system based on internet of things, its characterized in that: comprises a warehouse management robot, a warehouse rack and a moving track, wherein the warehouse management robot comprises an autonomous navigation trolley, the autonomous navigation trolley comprises a steering travelling mechanism which travels on the moving track, a base arranged on the steering travelling mechanism, and a storage article storing and taking mechanism arranged on the base, the base is provided with a power supply and a control device for controlling the storage and taking mechanism, the storage and taking mechanism is provided with a first bracket, the first bracket is provided with an intelligent camera connected with the control device, the base is provided with a guide rail, the top end of the guide rail is provided with a second bracket, a visual camera and an RFID reader-writer which are connected with the control device are arranged on the second bracket, the RFID reader-writer is used for reading RFID labels pasted on the surfaces of the storage articles, and the base is provided with a driving assembly used for controlling the storage article access mechanism to work.
2. The intelligent warehouse management system based on the technology of the internet of things according to claim 1, wherein: the storage rack comprises a plurality of storage bins which are arranged in a matrix, and each storage bin is provided with a plurality of storage bins which are arranged in a matrix.
3. The intelligent warehouse management system based on the technology of the internet of things according to claim 1, wherein: the movable track is arranged in a grid mode and comprises a main track and an auxiliary track, the main track is arranged between every two columns of storage racks, the auxiliary track is arranged between every two rows of storage racks, and the auxiliary track is embedded with the main track.
4. The intelligent warehouse management system based on the technology of the internet of things according to claim 1, wherein: the warehouse storage and taking mechanism comprises two groups of guide rails vertically fixed on the base, a connecting rod is connected between the two groups of guide rails in a sliding manner, and a grabbing device is installed on the connecting rod.
5. The intelligent warehouse management system based on the technology of the internet of things according to claim 4, wherein: the driving assembly comprises a first hydraulic device fixed on the base and a second hydraulic device fixedly connected to the connecting rod, the telescopic end of the first hydraulic device is connected to the bottom of the connecting rod, and the output end of the second hydraulic device is connected with the grabbing device.
6. The intelligent warehouse management system based on the technology of the internet of things according to claim 1, wherein: the control device comprises a visual camera controller, an intelligent camera controller, an RFID reader-writer, an taking planning module, a driver and a PLC processor, wherein the visual camera is connected with the visual camera controller in an Ethernet mode, the visual camera controller, the intelligent camera controller and the RFID reader-writer are respectively connected with the input end of the PLC processor, the output end of the PLC processor is connected with the driver through the taking planning module, and the control device is in communication connection with a management front desk through a wireless transmission module.
7. The intelligent warehouse management system based on the technology of the internet of things according to claim 1, wherein: the input information of the RFID tag comprises a supplier code, packaging information and placing/taking position information.
8. An intelligent warehousing management method based on the technology of the Internet of things is characterized in that: the method comprises a putting process and a picking process.
9. The method for intelligent warehouse management based on the technology of internet of things according to claim 8, wherein: the put goods process comprises the following steps:
s1.1: the autonomous navigation trolley moves to a goods taking position, three-dimensional data of the stored goods to be stored are acquired through the visual camera and transmitted to the visual camera controller in an Ethernet mode, position data needing to be grabbed by the stored goods storing and taking mechanism are acquired, and the stored goods are grabbed through the stored goods storing and taking mechanism;
s2.1: while the step S1 is carried out, the RFID reader-writer reads the RFID label pasted on the surface of the storage, reads the information of the required placement position of the storage, and processes the information of the placement position through the control device;
s3.1: after the control device obtains the placing position information, route planning is carried out, and the autonomous navigation trolley moves to a position needing to be placed through the steering travelling mechanism according to the planned route information;
s4.1: after the autonomous navigation trolley moves to a position needing to be placed, the control device controls the first hydraulic device to move the stored goods grabbed by the stored goods storing and taking mechanism to a certain height, and the stored goods grabbed by the stored goods storing and taking mechanism are put down after the stored goods are pushed forwards for a certain distance by the second hydraulic device;
s5.1: after the storage rack is placed, the storage rack is photographed through the intelligent camera, and whether the storage placement position is accurate or not is judged.
10. The method for intelligent warehouse management based on the technology of internet of things according to claim 8, wherein: the goods taking process comprises the following steps:
s1.2: inputting information of goods to be picked through a management front desk, and processing the information of goods pickup through a control device;
s2.2: after the control device obtains the placing position information, route planning is carried out, and the autonomous navigation trolley moves from an initial position to a position needing to take goods through the steering travelling mechanism according to the planned route information;
s3.2: after the autonomous navigation trolley moves to a position where goods are required to be taken, the control device controls the first hydraulic device to move the stored goods grabbed by the stored goods storing and taking mechanism to a certain height, and the stored goods grabbed by the stored goods storing and taking mechanism are pushed forwards for a certain distance by the second hydraulic device;
s4.2: photographing the storage rack through an intelligent camera to judge whether the storage object placement position is accurate or not;
s5.2: the autonomous navigation trolley acquires three-dimensional data of the stored goods to be stored through the visual camera, transmits the three-dimensional data to the visual camera controller in an Ethernet mode, acquires position data to be grabbed by the stored goods storing and taking mechanism, and grabs the stored goods through the stored goods storing and taking mechanism;
s6.2: and then the autonomous navigation trolley moves to the initial position according to the goods taking track.
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