CN111099232A - Self-driven mobile device and warehouse system - Google Patents
Self-driven mobile device and warehouse system Download PDFInfo
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- CN111099232A CN111099232A CN201911282443.3A CN201911282443A CN111099232A CN 111099232 A CN111099232 A CN 111099232A CN 201911282443 A CN201911282443 A CN 201911282443A CN 111099232 A CN111099232 A CN 111099232A
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- temporary storage
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- cargo container
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
Abstract
The application discloses self-driven mobile device and warehouse system, the support of keeping in among the self-driven mobile device that this specification provided both can dock with docking mechanism and also can remove the butt joint, that is to say, the support of keeping in is separable setting with the equipment body, consequently, then control module can control self-driven mobile device earlier and snatch suitable support of keeping in and place equipment body and docking mechanism butt joint, and control self-driven mobile device again snatchs the target goods container and places in the support of keeping in.
Description
Technical Field
The application relates to the field of robotics, in particular to a self-driven mobile device and a warehouse system.
Background
In the automatic solution of sorting from warehouse goods to people with zero removal, the existing multilayer sorting scheme capable of solving the utilization of the three-dimensional space mainly comprises a three-dimensional shuttle and a multilayer shuttle scheme. The shuttle car scheme has high requirements on the precision of the three-dimensional goods shelf rail and has high requirements on the ground settlement index and the flatness index, otherwise, the shuttle car can be clamped on the rail, and therefore, the construction cost is very high. Moreover, the maintenance is complex after the system is in failure, and personnel are dangerous when entering the three-dimensional goods shelf track. And manual operation cannot be carried out after the system fails, or manual mixed operation is added in the peak period of the operation.
To address this problem, a flexible automated solution based on a form of self-propelled mobile device with a mechanism to access cargo containers (e.g., bins) has been created on the market. Currently, self-propelled mobile devices such as Automated Guided Vehicles (AGVs) are widely used in the fields of warehousing, logistics and the like for realizing Automated transportation of goods.
Disclosure of Invention
Generally, a self-driven mobile device for picking includes a lifting mechanism, a grabbing mechanism, a device body and a temporary storage support, when the device is picking, the device needs to travel to a storage support (for example, a goods shelf) through the device body, then the grabbing mechanism is lifted to a height equal to a height of a goods container on the storage support through the lifting mechanism, the goods container is grabbed to the temporary storage support, and finally the device travels to an operation station, and subsequent operation steps are completed by an operator or an automated device such as a mechanical arm.
However, in the prior art, the temporary storage support of the self-driven mobile device is fixedly connected with the device body, that is, the temporary storage support and the device body are not separable. After the self-driven mobile equipment conveys the goods container to the operation station, the goods container can leave the station only after waiting for the operation personnel or the mechanical arm to finish all operations on the operation station, and the process needs to consume a long time, so that the utilization rate of the self-driven mobile equipment is very low; in addition, since the types and sizes of the goods containers on the stock support are different, if the temporary storage support of the self-propelled mobile device is not suitable for storing the goods containers gripped by the temporary storage support, the self-propelled mobile device either needs to be replaced or the goods containers may be damaged.
Embodiments of the present description provide a self-powered mobile device and warehouse system to at least partially solve the problems in the prior art.
The embodiment of the specification adopts the following technical scheme:
the present specification provides a self-propelled mobile device, including: the device comprises a device body, a lifting mechanism, a grabbing mechanism and a butt joint mechanism; the lifting mechanism and the butt joint mechanism are fixed on the equipment body, and the grabbing mechanism is supported on the lifting mechanism; wherein:
the docking mechanism is used for docking and undocking the temporary storage bracket;
the equipment body is used for driving in a working area in a self-driven manner according to the instruction sent by the control module;
the lifting mechanism is used for driving the grabbing mechanism to ascend or descend to the height of a target cargo container to be grabbed;
the gripping mechanism is used for performing at least one of the following operations: grasping the target cargo container from an inventory holder and placing the target cargo container in the staging holder docked with the docking structure; and grabbing the target cargo container from the temporary storage support butted with the butting structure, and placing the target cargo container on a storage support.
This specification provides a warehouse system, characterized in that, the system includes: the mobile terminal comprises a control module and at least one self-driven mobile device, wherein the control module is in wireless communication with the at least one self-driven mobile device respectively; wherein:
the control module is used for sending instructions to the respective driving mobile equipment according to the goods hit by the orders distributed to the operation stations and the states of the respective driving mobile equipment;
the self-driven mobile equipment comprises an equipment body, a lifting mechanism, a temporary storage bracket and a docking mechanism, wherein the docking mechanism is used for docking and undocking the temporary storage bracket; the equipment body runs in a working area in a self-driven manner according to the instruction; the lifting mechanism is used for driving the grabbing mechanism to ascend or descend to the height of a target cargo container to be grabbed; the gripping mechanism is used for performing at least one of the following operations: grasping the target cargo container from an inventory holder and placing the target cargo container in the staging holder docked with the docking structure; and grabbing the target cargo container from the temporary storage support butted with the butting structure, and placing the target cargo container on a storage support.
The embodiment of the specification adopts at least one technical scheme which can achieve the following beneficial effects:
because the temporary storage support and the docking mechanism in the self-driven mobile device provided by the specification can be docked or undocked, that is, the temporary storage support and the device body are separately arranged, the control module can control the self-driven mobile device to grab a proper temporary storage support to place on the device body and the docking mechanism in a docked mode, and then control the self-driven mobile device to grab a target cargo container to place in the temporary storage support. In addition, the control module can also control the self-driven mobile equipment to place the temporary storage support on the operation station by using the docking mechanism and then leave the temporary storage support without being in a waiting state all the time.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic structural diagram of a self-powered mobile device provided in an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of another self-propelled mobile device provided in an embodiment of the present disclosure;
fig. 3 is a schematic diagram of a warehouse system provided in an embodiment of the present disclosure.
Detailed Description
In order to make the objects, technical solutions and advantages of the present disclosure more apparent, the technical solutions of the present disclosure will be clearly and completely described below with reference to the specific embodiments of the present disclosure and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person skilled in the art without making any inventive step based on the embodiments in the description belong to the protection scope of the present application.
The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.
In the embodiment of the present disclosure, the staging support is detachable from the self-propelled mobile device, and is not fixed to the self-propelled mobile device, and the self-propelled mobile device can be selectively detached from the staging support (i.e., undocked) or selectively kept docked with the staging support according to the operating conditions. For example, when the temporary storage support is not suitable for continuously storing the goods container to be grabbed by the self-driven mobile device, the self-driven mobile device can freely and conveniently replace the temporary storage support.
As shown in fig. 1, fig. 1 is a schematic structural diagram of a self-driven moving apparatus provided in an embodiment of the present specification, and in fig. 1, a carrying apparatus includes an apparatus body 101, a gripping mechanism 102, a lifting mechanism 103, a docking mechanism (not shown in fig. 1), and a temporary storage rack 104. The lifting mechanism 103 and the docking mechanism are fixed on the equipment body 101, the grabbing mechanism 102 is supported on the lifting mechanism 103, and the lifting mechanism 103 is used for driving the grabbing mechanism 102 to ascend or descend to the height of a target cargo container to be grabbed. The size of the gripping mechanism 102 may be adaptively adjusted depending on the size of the cargo container being gripped. The grasping mechanism 102 may be a clasping mechanism, but may also be other types of mechanisms.
The temporary storage holder 104 is detachably provided on the apparatus body 101 to store the target cargo container. In particular, the docking mechanism may dock or undock with the staging carriage 104. The self-driven mobile device may further include an electronic device, which is not shown in fig. 1, for communicating with the control module and controlling the device body 101, the lifting mechanism 103, the grabbing mechanism 102, and the docking mechanism to perform corresponding actions.
Specifically, the electronic device may receive an instruction sent by the control center, and control the device body 101 to travel (i.e., travel under self-driving) in the working area according to the received instruction, and after the device body 101 travels to the target position, the electronic device may control the lifting mechanism 103 to drive the gripping mechanism 102 to grip the target cargo container from the stock support and place the target cargo container in the temporary storage support 104 in abutment with the docking mechanism according to the instruction, or the electronic device may control the lifting mechanism 103 to drive the gripping mechanism 102 to grip the target cargo container from the temporary storage support 104 in abutment with the docking mechanism according to the instruction and place the gripped target cargo container on the stock support.
In an actual picking application scenario, the instruction sent by the control module to the self-driven mobile device may be an instruction instructing the self-driven mobile device to take out a certain cargo container from the inventory holder, or an instruction instructing the self-driven mobile device to transport the cargo container taken out from the inventory holder to an operation work station (hereinafter referred to as a first picking instruction).
When the instruction received by the self-driven mobile equipment is an instruction for taking out a certain goods container from the stock support, the electronic equipment of the self-driven mobile equipment can control the equipment body to travel to the position of the specified stock support in the warehouse according to the instruction, control the grabbing mechanism to grab the target goods container, and place the grabbed target goods in the temporary storage support.
When the instruction received by the self-driven mobile equipment is the first picking instruction, the electronic equipment of the self-driven mobile equipment can drive to the position of the operation station corresponding to the second identification according to the second identification of the operation station carried in the first picking instruction, and is undocked from the temporary storage support which is being docked, so that the temporary storage support which is undocked is placed at the position of the operation station, and finally, the next instruction is continuously executed according to the sequence.
It should be noted that, in the embodiment of the present disclosure, the temporary storage rack 104 and the apparatus body 101 are separately arranged, so that after the cargo container taken out from the warehouse is placed in the temporary storage rack, the temporary storage rack can be directly placed at the position of the operation station, and further, the self-driven moving apparatus does not need to wait for the worker at the operation station to complete the operations such as picking, and can continue to execute the subsequent instructions. That is, in the embodiments of the present specification, the control module may send more than two instructions to the self-powered mobile device at a time, and the self-powered mobile device may determine the execution order of the instructions and execute the instructions in sequence.
As described above, the instruction sent by the control module to the self-driven moving device in the embodiment of the present disclosure may also be an instruction to put the cargo container in the temporary storage rack at the operation station back to the warehouse (hereinafter referred to as a second picking instruction). When the instruction received by the self-driven mobile equipment is a second picking instruction, the electronic equipment of the self-driven mobile equipment drives to the position of the operation station corresponding to the second identification according to the second identification of the operation station carried in the second picking instruction, the temporary storage support on the position of the operation station is placed on the self-driven mobile equipment, the butt joint mechanism is controlled to be in butt joint with the temporary storage support, and then the next instruction is executed continuously according to the sequence.
In the embodiment of the present disclosure, in order to enable the self-propelled moving apparatus to operate automatically as much as possible and reduce human intervention, the self-propelled moving apparatus provided in the embodiment of the present disclosure may further include a pick-and-place mechanism (not shown in fig. 1) configured to automatically pick up the temporary storage rack 104 on the apparatus body 101 or automatically pick up and place the temporary storage rack placed at a specified position on the apparatus body 101.
For example, in an application scenario of transporting a cargo container in a warehouse to an operation station, the electronic device may control the device body to travel to the position of the operation station corresponding to the second identifier according to the second identifier of the operation station carried in the first picking instruction, control the docking mechanism to undock from the docking with the temporary storage support, and control the picking and placing mechanism to place the temporary storage support on the device body at the position of the operation station. In an application scene of transporting the goods containers of the operation stations to the warehouse, the electronic equipment can control the equipment body to travel to the position of the operation station corresponding to the second identification according to the second identification of the operation station carried in the second picking instruction, control the pick-and-place mechanism to place the temporary storage support on the position of the operation station on the equipment body, and then control the butt joint mechanism to be in butt joint with the temporary storage support.
Of course, the self-driven mobile device may be, besides the structure shown in fig. 1, also include two device bodies, one device body is fixedly provided with the lifting mechanism and the grabbing mechanism, the other device body is provided with the docking mechanism, that is, the other device body is provided with the temporary storage support in a separable manner, and the two device bodies run synchronously, as shown in fig. 2.
Fig. 2 is a schematic structural diagram of another self-driven mobile device provided in an embodiment of the present disclosure, in fig. 2, the self-driven mobile device includes a device body 1011 and a device body 1012 that can synchronously run, a gripping mechanism 102 and a lifting mechanism 103 are fixedly disposed on the device body 1011, and a temporary storage support 103 and a docking mechanism (not shown in fig. 2) are detachably disposed on the device body 1012. The control logic and the using method of the self-powered mobile device shown in fig. 2 are completely the same as those of the self-powered mobile device shown in fig. 1, and thus detailed description thereof is omitted.
In this embodiment, a specific position for placing different types of temporary storage racks may be set in a work area where the self-driven moving apparatus travels, and the control module may send an instruction (hereinafter, referred to as a third picking instruction) for placing a temporary storage rack on the self-driven moving apparatus at the position to the self-driven moving apparatus, or send an instruction (hereinafter, referred to as a fourth picking instruction) for obtaining an appropriate temporary storage rack to the self-driven moving apparatus according to a cargo container to be transported by the self-driven moving apparatus and a preset corresponding relationship between each type of cargo container and each type of temporary storage rack.
Specifically, when the electronic device of the self-driven mobile device receives a third picking instruction, the device body can be controlled to travel to a position for placing the temporary storage support corresponding to the first identification according to the first identification of the temporary storage support carried in the third picking instruction, the docking mechanism is controlled to be undocked from the temporary storage support, and then the picking and placing mechanism is controlled to place the temporary storage support on the device body at the position.
When the electronic device of the self-driven mobile device receives the fourth picking instruction, the device body can be controlled to travel to the position for placing the temporary storage support corresponding to the first identification according to the first identification of the temporary storage support carried in the fourth picking instruction, the picking and placing mechanism is controlled to place the temporary storage support placed at the position on the device body, and then the docking mechanism is controlled to dock with the temporary storage support.
Based on the self-driven mobile device and the transportation method, the specification further provides a warehouse system, as shown in fig. 3.
Fig. 3 is a schematic diagram of a warehouse system provided by an embodiment of the present disclosure, and includes a control module 301 and at least one self-powered mobile device 302, where the control module 301 is in wireless communication with each self-powered mobile device 302. The warehouse system as shown in fig. 3 can be used in the above-described work area where the operating stations 303, the locations 304 for placing different types of temporary storage racks and the stock racks 305 are provided.
Specifically, the control module 301 may send an instruction to each driving mobile device 302 according to the goods hit by the order allocated to each operation station 303 and the state of each driving mobile device 302;
the self-driven mobile equipment 302 comprises an equipment body, a lifting mechanism, a temporary storage bracket and a docking mechanism, wherein the docking mechanism is used for docking and undocking the temporary storage bracket; the equipment body runs in a working area in a self-driven manner according to the instruction; the lifting mechanism is used for driving the grabbing mechanism to ascend or descend to the height of a target cargo container to be grabbed; the gripping mechanism is used for performing at least one of the following operations: grasping the target cargo container from the inventory holder 305 and placing the target cargo container in the staging holder docked with the docking structure; pick a target cargo container from the staging bracket docked with the docking structure and place the target cargo container on the inventory bracket 305.
The control module 301 may send an instruction carrying a first identifier, and the self-powered mobile device 302 may, according to the first identifier carried in the instruction, drive to a position 304 where a temporary storage rack corresponding to the first identifier is placed, and place the temporary storage rack on the self-powered mobile device 302 at the position 304; alternatively, the self-propelled mobile device 302 may also drive to a position 304 for placing a temporary storage rack corresponding to the first identifier according to the first identifier carried in the instruction, and place the temporary storage rack placed at the position 304 on the self-propelled mobile device 302.
The control module 301 may further send an instruction carrying a second identifier, and the self-driven mobile device 302 may drive to the position of the operation station 303 corresponding to the second identifier according to the second identifier carried in the instruction, and place the temporary storage bracket on the self-driven mobile device 302 at the position of the operation station 303; or, the self-driven mobile device 302 may drive to the position of the operation station 303 corresponding to the second identifier according to the second identifier carried in the instruction, and place the temporary storage support at the position of the operation station 303 on the self-driven mobile device 302.
The self-driven mobile device 302 can also continue to drive according to the instruction sent by the control module 301 after the temporary storage support on the self-driven mobile device 302 is placed at the position of the operation station 303 or after the temporary storage support on the position of the operation station 303 is placed on the self-driven mobile device 302.
Further, the system may further include a picking terminal (not shown in fig. 3) disposed at the operation stations 303, and the control module 301 may send information of goods to be picked corresponding to the order to be allocated to the picking terminal for displaying, and send instructions to the respective driving mobile devices 302 according to the goods to be picked corresponding to the order allocated to each operation station 303 and the states of the respective driving mobile devices 302.
After the self-driven mobile device 302 places the temporary storage support at the position of the operation station 303, the next instruction can be continuously executed without waiting for the completion of picking, after the staff of the operation station 303 completes the operation, the order which is picked can be reported to the control module 301 through the picking terminal, and then the control module 301 can send a third picking instruction to the self-driven mobile device 302 (which can be the self-driven mobile device placing the temporary storage support at the operation station 303, or other self-driven mobile devices), so that the self-driven mobile device 302 can put the goods in the temporary storage support of the operation station 303 back to the warehouse.
In a practical application scenario, a unique storage position identifier can be set for each storage position on the inventory support, and a unique container identifier can be set for each cargo container. The control module can maintain the corresponding relation between the storage position identification and the container identification, and the container identification corresponding to one storage position identification represents that: the goods container corresponding to the container identifier is placed on the storage position corresponding to the storage position identifier. In order to improve the carrying efficiency as much as possible, the goods container with the goods with higher heat can be placed on the stock support with shorter distance from the operation station.
Similarly, a unique temporary storage support identifier can be set for each temporary storage support, and the type of the temporary storage support corresponding to each temporary storage support identifier is maintained by the control module.
When the control module dispatches the self-driven mobile equipment, the self-driven mobile equipment can be dispatched to grab a proper temporary storage support according to the target cargo container, and the self-driven mobile equipment can be driven to the position of the target cargo container, the height of the lifting mechanism can be adjusted by the self-driven mobile equipment, so that the grabbing mechanism can take the target cargo container out of the inventory support and place the target cargo container in the temporary storage support, and then the control module can continue dispatching the self-driven mobile equipment to drive to the position of the next target cargo container to continuously grab the next target cargo container. When a certain condition is met (for example, the temporary storage support is fully loaded or the distance from the temporary storage support to the operation station is shortest), the control module dispatches the self-driven mobile equipment to travel to the operation station, and enables the self-driven mobile equipment to place the temporary storage support on the operation station so that the worker can complete the sorting. Then, the control module can determine another operation station which is closest to the self-driven mobile equipment at the moment and has finished the picking operation, schedule the self-driven mobile equipment to travel to the determined position of the other operation station, place the temporary storage bracket placed at the other operation station on the equipment body of the self-driven mobile equipment, and finally schedule the self-driven mobile equipment to return to a warehouse or transport the temporary storage bracket placed on the equipment body at the moment to the next operation station.
Among the above-mentioned process, after the staff accomplished to select the operation, the accessible was selected the terminal and is set the state that the support of keeping in that places on corresponding operation station corresponds to "accomplished" state to make control module learn the operating condition of this operation station.
Further, in the embodiment of the present disclosure, the stock racks 305 may include two types, one type is a rack fixed on the ground, and the other type is a movable rack. Both types of racks can be used for carrying cargo containers, but a rack fixed to the ground cannot be carried by the self-propelled movement device itself, but a movable rack can also be carried by the self-propelled movement device itself. The self-propelled mobile device may also move the mobile rack (along with all the goods carried on the mobile rack) according to instructions sent by the control module when the inventory rack is a mobile rack.
Further, the working area described in this specification may be a multi-layer structure. That is, the above-described inventory holders may be distributed among a plurality of floors, and the operating stations are provided in at least one floor. At least one operation station can be arranged in each floor, or the operation stations can be arranged in only one floor or a plurality of floors.
Based on the above description, the self-driven mobile device provided in the present specification can be used in the following scenarios:
the cargo containers placed on the inventory supports of the first scene and the warehouse are all of a uniform type, and all the inventory supports are fixed on the ground. At the moment, the self-driven mobile equipment does not need to replace the temporary storage support and carry the inventory support.
And in the second scene, the goods containers placed on the stock support of the warehouse are all of a uniform type, and the stock support comprises a support fixed on the ground and a movable support. At this time, the distance from the movable support to the operation station is smaller than the distance from the support fixed on the ground to the operation station. The goods with higher heat can be placed on the movable support. The self-driven mobile equipment does not need to replace the temporary storage support, and can carry the goods containers on the inventory support and also can directly carry the movable support.
And in the third scene, various types of goods containers are placed on the stock supports of the warehouse, and all the stock supports are fixed on the ground. At this moment, the self-driven mobile equipment needs to be replaced with a proper temporary storage support according to the cargo container to be transported.
The above-mentioned scenarios may use a self-driven mobile device that includes only one device body as shown in fig. 1, may use a self-driven mobile device that includes two device bodies as shown in fig. 2, and may use a self-driven mobile device with an automatic distance changing function.
It should also be noted that 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 like elements in a process, method, article, or apparatus that comprises the element.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
The invention comprises the following steps: a6, a warehouse system, characterized in that, the system includes: the control module is in wireless communication with the at least one self-driven mobile device respectively; wherein:
the control module is used for sending instructions to the respective driving mobile equipment according to the goods hit by the orders distributed to the operation stations and the states of the respective driving mobile equipment;
the self-driven mobile equipment comprises an equipment body, a lifting mechanism, a temporary storage bracket and a docking mechanism, wherein the docking mechanism is used for docking and undocking the temporary storage bracket; the equipment body runs in a working area in a self-driven manner according to the instruction; the lifting mechanism is used for driving the grabbing mechanism to ascend or descend to the height of a target cargo container to be grabbed; the gripping mechanism is used for performing at least one of the following operations: grasping the target cargo container from an inventory holder and placing the target cargo container in the staging holder docked with the docking structure; and grabbing the target cargo container from the temporary storage support butted with the butting structure, and placing the target cargo container on a storage support.
A9, the system of claim a6, wherein the inventory holder comprises: a support fixed to the ground, and/or a movable support.
A10, the system of claim a9, wherein when the inventory holder is a mobile holder, the self-propelled mobile device is further configured to carry the mobile holder according to instructions sent by the control module.
A11, the system of claim a6 or a10, wherein the inventory holders are distributed among a plurality of floors;
the operating station is disposed in at least one floor.
Claims (10)
1. A self-propelled mobile device, comprising: the device comprises a device body, a lifting mechanism, a grabbing mechanism and a butt joint mechanism; the lifting mechanism and the butt joint mechanism are fixed on the equipment body, and the grabbing mechanism is supported on the lifting mechanism; wherein:
the docking mechanism is used for docking and undocking the temporary storage bracket;
the equipment body is used for driving in a working area in a self-driven manner according to the instruction sent by the control module;
the lifting mechanism is used for driving the grabbing mechanism to ascend or descend to the height of a target cargo container to be grabbed;
the gripping mechanism is used for performing at least one of the following operations: grasping the target cargo container from an inventory holder and placing the target cargo container in the staging holder docked with the docking structure; and grabbing the target cargo container from the temporary storage support butted with the butting structure, and placing the target cargo container on a storage support.
2. The self-propelled mobile device of claim 1,
the equipment body is specifically used for driving to the position of an operation station according to the instruction sent by the control module;
the docking mechanism is specifically configured to perform at least one of the following operations: the temporary storage support is in butt joint with the temporary storage support, and the temporary storage support is placed at the position of the operation station after the butt joint is removed; and the temporary storage bracket is butted with the temporary storage bracket at the position of the operation station.
3. The self-propelled mobile equipment as claimed in claim 2, wherein the equipment body is further configured to continue to travel according to the instruction sent by the control module after the docking mechanism places the temporary storage rack on the equipment body at the position of the operation station or after the temporary storage rack on the position of the operation station is placed on the equipment body.
4. The self-propelled mobile apparatus of claim 1, wherein the size of the gripping mechanism is adaptively adjustable depending on the size of the cargo container being gripped.
5. The self-propelled mobile apparatus of claim 1 or 4, wherein the grasping mechanism is a clasping mechanism.
6. A warehouse system, the system comprising: the control module is in wireless communication with the at least one self-driven mobile device respectively; wherein:
the control module is used for sending instructions to the respective driving mobile equipment according to the goods hit by the orders distributed to the operation stations and the states of the respective driving mobile equipment;
the self-driven mobile equipment comprises an equipment body, a lifting mechanism, a temporary storage bracket and a docking mechanism, wherein the docking mechanism is used for docking and undocking the temporary storage bracket; the equipment body runs in a working area in a self-driven manner according to the instruction; the lifting mechanism is used for driving the grabbing mechanism to ascend or descend to the height of a target cargo container to be grabbed; the gripping mechanism is used for performing at least one of the following operations: grasping the target cargo container from an inventory holder and placing the target cargo container in the staging holder docked with the docking structure; and grabbing the target cargo container from the temporary storage support butted with the butting structure, and placing the target cargo container on a storage support.
7. The system of claim 6,
the equipment body is specifically used for driving to the position of an operation station according to the instruction sent by the control module;
the docking mechanism is specifically configured to perform at least one of the following operations: the temporary storage support is in butt joint with the temporary storage support, and the temporary storage support is placed at the position of the operation station after the butt joint is removed; and the temporary storage support is butted with the position of the operation station.
8. The system of claim 7, wherein the equipment body is further used for continuing to drive according to the instruction sent by the control module after the docking mechanism places the temporary storage support on the equipment body at the position of the operation station or places the temporary storage support on the equipment body at the position of the operation station.
9. The system of claim 6, wherein the inventory holder comprises: a support fixed to the ground, and/or a movable support.
10. The system of claim 9, wherein when the inventory holder is a mobile holder, the self-propelled mobile device is further configured to carry the mobile holder in accordance with instructions sent by the control module.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911282443.3A CN111099232B (en) | 2019-12-13 | 2019-12-13 | Self-driven mobile device and warehouse system |
| CN202010506869.9A CN111605950B (en) | 2019-12-13 | 2019-12-13 | Self-driven mobile device and warehouse system |
| PCT/CN2020/111419 WO2021114728A1 (en) | 2019-12-13 | 2020-08-26 | Self-driven mobile device, warehouse system, and related method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN111620033A (en) * | 2020-06-01 | 2020-09-04 | 北京极智嘉科技有限公司 | Inventory management system and method |
| CN112027472A (en) * | 2020-09-08 | 2020-12-04 | 北京极智嘉科技有限公司 | Warehouse carrying and scheduling system and control method |
| WO2021114728A1 (en) * | 2019-12-13 | 2021-06-17 | 北京极智嘉科技股份有限公司 | Self-driven mobile device, warehouse system, and related method |
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| CN114906527A (en) * | 2022-05-17 | 2022-08-16 | 山东华盛智慧网络科技有限公司 | Intelligent picking and carrying system for warehouse logistics and using method thereof |
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Also Published As
| Publication number | Publication date |
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| CN111605950B (en) | 2023-02-03 |
| CN111605950A (en) | 2020-09-01 |
| WO2021114728A1 (en) | 2021-06-17 |
| CN111099232B (en) | 2021-05-04 |
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