CN111942791A

CN111942791A - Mobile warehouse and goods transportation method thereof

Info

Publication number: CN111942791A
Application number: CN202010809342.3A
Authority: CN
Inventors: 久恒理树
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-08-12
Filing date: 2020-08-12
Publication date: 2020-11-17
Anticipated expiration: 2040-08-12
Also published as: CN111942791B

Abstract

The invention relates to a mobile warehouse and a goods transportation method thereof, wherein the mobile warehouse comprises a stereoscopic warehouse, a storage device, an object moving device, a sorting device and a vehicle; the stereoscopic warehouse comprises a plurality of warehouse location units, wherein each warehouse location unit comprises a storage space and an object moving space which are arranged in a stacked mode; the storage device is accommodated in the storage space in the storage position unit; the object moving device is configured to move in a space formed by object moving spaces of a plurality of storage position units and used for carrying the storage device; the sorting device is configured to occupy a plurality of adjacent storage location units for sorting goods in the storage device; the vehicle is used for bearing the stereoscopic warehouse and providing a moving function. The mobile warehouse provided by the invention has a cargo storage function while transporting and transferring the cargos, so that the retention time of the cargos is reduced on the whole, and therefore, the logistics system related by the invention is more flexible in cargo transportation and higher in logistics efficiency.

Description

Mobile warehouse and goods transportation method thereof

Technical Field

The invention relates to the technical field of logistics, in particular to a mobile warehouse and a goods transportation method thereof.

Background

Driven by both technology and economy, the logistics industry is rapidly transforming from traditional logistics to modern logistics. In the process of moving commodities from a production place to a consumption place, the logistics chain related to multiple links of transportation, storage, distribution and the like is evolved towards automation, informatization, intellectualization and unmanned direction. However, whether a conventional logistics system or a modern logistics system, the current logistics system generally comprises a receiving and dispatching station and distribution stations of various levels arranged according to administrative regions. The receiving and dispatching station is used as a terminal logistics chain to receive goods from a user, then primary sorting is carried out according to logistics destinations, and the goods after primary sorting are sent to a superior distribution station through transport means such as trucks. The receiving and dispatching station simultaneously dispatches the goods in the district to the user. The distribution station usually includes a sorting center, a transfer station, and a distribution center, and is used for sorting goods to other distribution stations, and some distribution stations also have a function of a goods receiving and dispatching station. The aforesaid receiving and dispatching stations and distribution stations usually have warehouses of corresponding size for storing goods and take time for sorting. Therefore, the goods stay at sorting centers and distribution stations at all levels for a large part of time in the whole logistics link. Although with the development of science and technology, the logistics industry is more intelligent, if adopt unmanned aerial vehicle to deliver goods, improve sorting equipment, adopt AGV transport goods etc. nevertheless still can not solve the goods and stop at letter sorting center, distribution station and occupy the problem of whole logistics time because of the restriction of current logistics mode.

Disclosure of Invention

Aiming at the technical problems in the prior art, the invention provides a mobile warehouse and a goods transportation method thereof, so as to improve the logistics efficiency of a logistics system.

In order to solve the technical problems, according to one aspect of the present invention, there is provided a mobile warehouse including a stereoscopic warehouse, a storage device, a transferring device, a sorting device, and a vehicle; the stereoscopic warehouse comprises a plurality of warehouse location units, wherein each warehouse location unit comprises a storage space and an object moving space which are arranged in a stacked mode; the storage device is accommodated in the storage space in the storage position unit; the object moving device is configured to move in a space formed by object moving spaces of a plurality of storage position units and used for carrying the storage device; the sorting device is configured to occupy a plurality of adjacent storage location units for sorting goods in the storage device; the vehicle is used for bearing the stereoscopic warehouse and providing a moving function.

According to another aspect of the present invention, there is provided a goods transportation method of a floating warehouse, comprising the steps of:

acquiring a cargo transfer task within a transportation distance of the cargo transfer task, wherein the cargo transfer task comprises a docking site and a docked second flow warehouse or a docked fixed position warehouse;

sorting the goods to be transferred while moving to the docking site; and

the goods are transferred with a second flow warehouse or a fixed-position warehouse at the docking site.

The mobile warehouse provided by the invention has the function of goods storage while transporting goods. Before the goods are transferred, sorting is completed in the moving process according to the logistics direction of the goods. The scale of the goods stored in the mobile warehouse can be large or small, the butt joint mode is flexible and various, the goods sorting algorithm, the goods exchange algorithm, the driving path algorithm and the like based on big data can improve the transportation efficiency and the goods exchange efficiency during butt joint, and the goods residence time is reduced on the whole, so that the logistics system related to the invention is more flexible in goods transportation and higher in efficiency.

Drawings

Preferred embodiments of the present invention will now be described in further detail with reference to the accompanying drawings, in which:

FIG. 1 is a perspective block diagram of a library location unit according to one embodiment of the present invention;

fig. 2 is a schematic view of a state in which a storage device according to an embodiment of the present invention is placed in an library cell unit;

FIG. 3A is a schematic view of a storage device according to one embodiment of the present invention;

FIG. 3B is a schematic view of another storage device according to another embodiment of the present invention;

FIG. 3C is a bottom schematic view of a storage device according to one embodiment of the present invention;

FIG. 4A is a front perspective view of a storage table according to one embodiment of the present invention;

FIG. 4B is a rear perspective view of a storage table according to one embodiment of the present invention;

FIGS. 5A-5B are schematic diagrams of a state where an AGV stops in an library cell according to one embodiment of the present invention;

FIGS. 6A-6B are schematic diagrams of a storage unit with a storage device loaded therein and an AGV according to one embodiment of the present invention;

FIG. 7 is a schematic diagram of a library site cell according to another embodiment of the present invention;

FIG. 8 is a schematic diagram of a library site cell according to another embodiment of the present invention;

FIG. 9 is a schematic diagram of a library site cell connection according to one embodiment of the present invention;

FIG. 10 is a schematic diagram of a library site cell connection according to another embodiment of the present invention;

FIG. 11A is a schematic diagram of a local connection structure of a library site unit according to another embodiment of the present invention;

FIG. 11B is a schematic diagram of a local connection structure of a library site unit corresponding to the structure shown in FIG. 11A;

FIG. 11C is an enlarged view of another bitcell connection based on the structure shown in FIG. 11B;

FIG. 12 is a schematic illustration of a stereoscopic warehouse according to one embodiment of the invention;

fig. 13A is a schematic illustration of a stereoscopic warehouse according to another embodiment of the invention;

figures 13B-13F are schematic illustrations of the movement of goods in a stereoscopic warehouse according to another embodiment of the invention;

FIG. 14A is a schematic illustration of a stereoscopic warehouse with one level of floors, according to one embodiment of the present invention;

fig. 14B is a schematic view of a stereoscopic warehouse with two horizontal floors according to another embodiment of the present invention;

fig. 15 is a schematic illustration of a stereoscopic warehouse according to another embodiment of the invention;

FIGS. 16A-16B are diagrammatic illustrations of an AGV according to one embodiment of the present invention in its entirety;

figures 17A-17B are schematic illustrations of a sorting apparatus for use in a flow warehouse, according to one embodiment of the present invention;

18A-18B are schematic diagrams of a sorting robot according to one embodiment of the present invention;

19A-19B are schematic diagrams of a flow warehouse configuration according to one embodiment of the invention;

20A-20C are diagrammatic illustrations of docking of a mobile warehouse with a courier robot, in accordance with one embodiment of the present invention;

21A-21B are schematic diagrams of a flow warehouse configuration according to another embodiment of the present invention;

22A-22B are schematic illustrations of a stereoscopic warehouse in the floating warehouse sliding out with an X-Y drive platform according to one embodiment of the present invention;

FIG. 23 is a schematic illustration of a docking of two flow warehouses according to one embodiment of the present invention;

FIG. 24 is a schematic illustration of a docking of two flow warehouses according to another embodiment of the present invention;

25A-25B are schematic diagrams of a docking of a streaming warehouse with a drone according to another embodiment of the present invention;

FIG. 26 is a functional block diagram of a flow warehouse control system, according to one embodiment of the present invention;

FIG. 27 is a functional block diagram of a docking control module according to another embodiment of the present invention;

FIG. 28 is a functional block diagram of a flow warehouse control system, according to another embodiment of the present invention;

fig. 29 is a flow chart of a method of a process of cargo storage for a floating warehouse, according to one embodiment of the present invention; and

fig. 30 is a flow chart of a method of mobile warehouse cargo transportation according to one embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. 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 the following detailed description, reference is made to the accompanying drawings that form a part hereof and in which is shown by way of illustration specific embodiments of the application. In the drawings, like numerals describe substantially similar components throughout the different views. Various specific embodiments of the present application are described in sufficient detail below to enable those skilled in the art to practice the teachings of the present application. It is to be understood that other embodiments may be utilized and structural, logical or electrical changes may be made to the embodiments of the present application.

The invention provides a novel logistics mode different from the conventional logistics thinking, various sorting centers, collecting and distributing areas, fixed warehouses and the like are not needed any more, the novel logistics system can enable goods to be stored, sorted, distributed and distributed in the flowing transportation process, the material consumption for establishing fixed warehouses, sorting centers and packaged goods at all levels is saved, and the transportation efficiency of the goods is improved.

Based on the novel logistics mode, the invention provides the mobile warehouse which has the function of goods transportation and can also achieve the purpose of goods storage. The mobile warehouse comprises a stereoscopic warehouse, a storage device, an object moving device, a sorting device and a vehicle. The stereoscopic warehouse is carried by a vehicle, and the mobile warehouse can have various forms according to the type and carrying capacity of the vehicle. For example, when the vehicle is a small vehicle, an airplane, or a ship, a smaller-scale stereoscopic warehouse can be carried, and when the vehicle is a large truck, a train, a cargo airplane, or a marine cargo ship, a larger-scale stereoscopic warehouse can be carried. The storage devices in the stereoscopic warehouse, such as the child turnover boxes and the mother turnover boxes, are internally provided with goods, the goods are internally arranged in the child turnover boxes, and the mother turnover boxes are internally provided with a plurality of child turnover boxes. The mother turnover box is arranged in the storage space in the storage position unit of the stereoscopic warehouse. The article moving device is, for example, a small and ultrathin AGV, and is located in the article moving space of the storage location unit and used for transporting the mother turnover box. According to the scale of the stereoscopic warehouse, sorting devices with different numbers are dispersed in the stereoscopic warehouse and connected with adjacent warehouse location units together and fused in the warehouse location units.

The stereoscopic warehouse provided by the invention is a stereoscopic warehouse with high space utilization rate, and most of space in the warehouse is used as storage space for accommodating storage devices. The storage device is, for example, a storage box or a storage table. In one embodiment, the storage device comprises a subsidiary turnover box and a main turnover box, wherein the subsidiary turnover box is of a closed structure and is used for placing goods, and the subsidiary turnover box is placed in the main turnover box or on the storage platform. An object moving space for accommodating an object moving device, such as an ultrathin AGV, is arranged above or below the storage space. The storage device of the storage space is moved through the object moving device to complete the operations of goods entering, exiting, moving in the warehouse and the like. According to the specific structural design of the storage space and the article moving space, the volume ratio of the storage space to the article moving space can be greater than or equal to 4:1, or 5:1, or 6:1, or 7:1, or 8:1, or 9:1, or 10: 1. The stereoscopic warehouse provided by the invention has far more space utilization than any traditional warehouse or modern intelligent warehouse in the prior art.

Embodiment of the library site Unit

In one embodiment, the present invention provides a standardized, modular storage unit that can be stacked together to form a space efficient stereoscopic warehouse.

FIG. 1 is a perspective block diagram of a standardized, modular library site unit in accordance with one embodiment of the present invention. The storage unit 1 at least comprises a cubic frame, which comprises four upright posts 111, four frames 112 at the top and a bottom plate 113. The four uprights 111 of the cubic frame are connected with a support structure by means of which the storage device is supported. In this embodiment, the support structures are support blocks, with one or more inwardly facing support blocks 12 attached to each upright. In other embodiments, the support structure may be a fan-shaped structure connected to the upright and facing the storage space, wherein the arc of the fan-shaped structure is less than or equal to 90 degrees.

The bottom surface of the three-dimensional frame of the storage location unit is a whole bottom plate 113. In other embodiments, the bottom plate 113 may be hollowed or woven as required, so as to save cost. In order to be able to determine the distribution of the goods in the three-dimensional space, each storage space unit is provided with an identity tag 14. As shown in fig. 1, the identity tag 14 may be an electronic tag located at a suitable position on the base plate 113, in which the identity information of the library location unit, such as a number in the library, is recorded.

The space inside the cube frame of the storage space unit 1, from the support block 12 to the top of the cube frame, comprises a storage space 101 for accommodating storage devices, such as the female turnover box 2 in this embodiment. Referring to fig. 2, a schematic diagram of a state where the parent container 2 is placed in the library unit 1 is shown. The purpose of providing the mother turnover box 2 is to be able to utilize the storage space of the storage location unit as much as possible. Since the stored goods have various possibilities in specification, volume and shape, and the like, the goods or the subsidiary containers with different specifications and different volumes can be orderly collected through the main container 2. The four supporting blocks 12 of the cubic frame support the bottom of the mother turnover box 2, so that the mother turnover box 2 can be stably stored in the storage space 101.

In one embodiment, the goods are placed in a sub-container (not shown). The subsidiary turnover box is placed in the main turnover box 2. In some embodiments, the female turnover box 2 includes a first body having a size matching the specification of the storage space 101 of the storage space unit 1 in the present embodiment. As shown in fig. 3A, the height of the first body 20 of the main circulation box 2 matches with the storage space 101, and the top of the first body 20 is open for taking and placing the sub circulation box or goods from the top surface. In other embodiments, as shown in fig. 3B, the height of the first body 20 of the mother turnover box 2 is lower than the height of the storage space 101. In other embodiments, as shown in fig. 4A-4B, the storage device is a storage table, and a rim 22a is disposed around the first body 20 a. The positioning grooves 23a of multiple specifications are orderly arranged on the first body 20a and are used for accommodating goods or sub-turnover boxes of different specifications and different volumes.

In the foregoing three embodiments, the bottom of the first body 20 of the parent turnover box 2 has the conveying structure. As shown in the figure, the conveying structure may be a positioning structure 21 matched with a jacking mechanism of the article moving device, so that the article moving device can jack the mother turnover box 2 from the bottom of the first body 20 of the mother turnover box 2. In some embodiments, each parent container 2 is provided with an identity tag 24, as shown in fig. 3C. In one embodiment, the identity tag is an electronic tag, in which the identity information of the parent turnover box 2, such as the number of the parent turnover box 2, is recorded.

In some embodiments, from the support block 12 to the bottom of the cubic frame is a specimen moving space 102, which is used as a walking space of the specimen moving device. In one embodiment, the mover employs an AGV 3. The AGV3 moves within the transfer space 102. The floor 113 of the storage unit 1 serves as a moving object support structure, i.e., a traveling surface for the AGVs 3, and is schematically illustrated in fig. 5A to 5B in a state where the AGVs 3 are stopped in the storage unit 1. In some embodiments, referring to fig. 1, the bottom plate 113 is orthogonally provided with a guide groove 1131, which is a moving object guiding device. Because of the rectangular shape of floor 113, orthogonally disposed guide slots 1131 are parallel to respective bottom edges so that AGV3 can move unimpeded on floor 11 a. Two guide wheels 31 are provided at the bottom of the AGV3 for engaging the guide slots 1131, as shown in fig. 5B, to prevent the AGV3 from deviating from the travel path during travel. In this embodiment, a set of orthogonal guide slots 1131 are provided in floor 113, or two or three sets may be provided, with corresponding guide wheels 31 also being provided at corresponding locations on the bottom of AGV 3.

The guide slots and wheels are used to force the AGV to stay in the path without deviating from it during travel. According to similar thinking, can set up the sand grip on frame bottom surface 113, set up matched with recess on the AGV bottom surface, the effect that can play the direction equally. The mechanical mode is low in cost and high in stability, and a control system is easy to realize.

In addition to the two mechanical configurations described above, other configurations may be used to guide AGV3, such as electromagnetic, laser, infrared, ultrasonic, UWB, or optical configurations. Any kind of guiding structure can be selected by those skilled in the art according to actual needs, and will not be described herein.

In some embodiments, to move the parent tote 2, a jack 32 is provided on the top of the AGV3, and the jack 32 is retracted within the top of the AGV3 when no load is being moved. When it is desired to move the load, the lift mechanism 32 extends from the top of the AGV3 and engages the locating structure 21 on the bottom of the parent container 2 to lift the parent container 2 from the support block as the lift mechanism 32 is raised.

In some embodiments, an electronic tag reader/writer (not shown) is disposed outside the lower surface of AGV3 for reading the id tag of library location unit 1; an electronic tag reader-writer (not shown in the figure) is arranged outside the upper surface of the base body and used for reading the identity tag of the mother turnover box 2.

Fig. 6A-6B show a state in which one magazine unit 1 is loaded with mother turnover boxes 2 and stops one AGV 3. In order to move the mother turnover box 2, the AGV3 moves below the moving mother turnover box 2 and stops, the mother turnover box 2 is jacked up by the jacking mechanism 32 to separate the mother turnover box 2 from the supporting block 12, and then the AGV3 drives the mother turnover box 2 to move. A lifting space 103 is left in the storage unit 1 for the parent container 2, so that the AGV3 can lift the parent container 2 from the supporting block 12, so as to be separated from the supporting block 12 for moving. The height of the lifting space 103 is matched with the lifting distance of the jacking mechanism of the AGV3, and the mother turnover box 2 can be moved without hindrance after the jacking mechanism 32 of the AGV3 jacks up the mother turnover box, so that the lifting space 103 does not need to be too large, for example, the height of the lifting space 103 may be less than 5cm, or less than 3cm, or less than 1 cm.

In this embodiment, the thickness of the AGV3 used to move the load determines the size of the transfer space 102, while the thickness of the AGV3 is only a small portion of the height of the storage unit 1, so that most of the storage space in the storage unit 1 is the storage space. According to the size and the load capacity of the mother turnover box 2, the space occupied by the inner components of the AGV3 and the load capacity of the inner components, the ratio of the thickness of the AGV to the height of the storage unit 1 can be found in the range of 1/11-1/5 through calculation, that is, the space utilization rate of one storage unit 1 can reach 80% -90%. When the object moving device adopts other modes, such as magnetic suspension and the like, the space utilization rate can reach 95%.

Second embodiment of the library site Unit

FIG. 7 is a diagram illustrating a library site unit according to another embodiment of the present invention. In this embodiment, the library site unit 1b includes at least one cubic frame including four columns 111b, a top plate 112b, and a bottom plate 113 b. The top plate 112b is provided with a guide rail 1121b, the moving device is a telescopic manipulator 3b which is connected to the guide rail 1121b through a hanging mechanism 31b, and the hanging mechanism 31b can rotate 360 degrees to rotate the manipulator 3b, and can also be telescopic up and down to lift the manipulator 3 b.

The parent container 2b differs from the previous embodiment in that the carrying structure is a handle 21b disposed on the four top edges of the first body, and the identity tag can be disposed on any one of the four top edges of the first body for reading by the moving device disposed thereon.

The mother turnover box 2b is placed on the bottom plate 113b, the hanging mechanism 31b drives the manipulator 3b to move above the mother turnover box 2b along the guide rail 1121b, the manipulator 3b is expanded to correspond to the handle 21b, so that the handle 21b of the mother turnover box 2b is grabbed, the mother turnover box 2b is grabbed from the bottom plate 113b, and the goods are moved along the x direction or the y direction through the guide rail, so that the horizontal crossed movement of the goods is realized. In this embodiment, the article moving space 102b where the article moving device is located is above the article storage space 101b, and the space occupied by the article moving device can be reduced by the structure of the article moving device, such as the manipulator 3b, so that the ratio of the article storage space 101b to the article moving space 102b in this embodiment can be at least greater than 2: 1.

library site unit embodiment III

FIG. 8 is a diagram illustrating a library site unit according to another embodiment of the present invention. In this embodiment, the storage unit 1c includes at least one cubic frame including four columns 111c, partitions 112c, and a bottom plate 113 c. The partition plate 112c is connected to the upper half of the column 111c, and forms an object moving space 102c with the plane of the top end of the column, and the partition plate 112c is used as an object moving support structure, and is provided with a guide rail or a guide groove for guiding the operation of the object moving device 3c on the partition plate 112 c. The mother turnover box 2 is placed on the bottom plate 113 c. The mother turnover box 2 and the transferring device 3c have a contactless connection structure. For example, the transferring device 3c generates a suction force when the mother turnover box 2 needs to be moved, and the suction force can be a suction force generated when vacuum is drawn or an electromagnetic suction force. Correspondingly, the first body of the mother turnover box 2 is provided with an adsorption device, which can be a vacuum adsorption device or an electromagnetic adsorption device corresponding to the transferring device 3c, and the adsorption device is attracted by the transferring device 3c to leave the bottom plate 113c and move along with the transferring device 3c, so that the goods are moved in a crossing manner in the horizontal direction. In the embodiment, the partition 112c and the bottom plate 113c include a lifting space 103c and a storage space 101c therebetween, and the object moving space 102c is above the partition 112 c. The height of the lifting space 103c is the height of the parent container 2 away from the base 113c when being sucked, and thus the height of the space can be small, such as centimeter or millimeter. The volume of the article moving device 3c is not required to be large, so the height of the article moving space 102c is small relative to the height of the storage space 101c, the space in the storage unit 1c is mostly the storage space 101c, and the storage space 101c can reach over 75% of the whole space.

Corresponding to the storage location unit in the embodiment, the parent circulation box may also be configured as shown in fig. 18, wherein the first body 20c is provided with an openable and closable side door 201c at a side thereof, which can be freely set in two parts and slide to the top and the bottom when opened, respectively, for taking and placing the child circulation box from the side. In this embodiment, the side door 201c is a roller door, and may be a slidable door made of other flexible materials. In the storage state, the side door 201c is closed, and when the sub-container is put in or taken out from the side door 201c, the side door 201c is opened. For example, at the time of receiving, delivering, and sorting, the side door 201c is opened. The top of the device is provided with an adsorption device 21c matched with the transferring device 3 c.

The warehouse location unit provided by the invention is a modular and standardized storage unit, and a stereoscopic warehouse can be obtained when a plurality of units are stacked and connected together. In some embodiments, adjacent library site cells may share a pillar. That is, the vertical column of the stereoscopic warehouse can be shared by the warehouse location units adjacent to each other left and right or up and down. When a stereoscopic warehouse is manufactured, a plurality of storage units are also formed at the same time.

In other embodiments, all or some of the adjacent bay units in the stereoscopic warehouse may each have their own columns in order to increase the flexibility of the stereoscopic warehouse. In order to connect the storage position units together, the three-dimensional frame of the storage position unit provided by the invention is respectively provided with connecting structures with corresponding dimensions in three dimensions, and the connecting structures are used for connecting different storage position units together.

Embodiment one of the library site unit connection structure

FIG. 9 is a schematic diagram of a library bit cell connection. In this embodiment, the three-dimensional frame of the storage unit is provided with a connecting hole 11a, when two storage units 1 are connected together, the respective connecting holes 11a are communicated, and at this time, the two storage units 1 can be connected together by using a bolt and a nut (not shown in fig. 12).

Second embodiment of the library site unit connection structure

FIG. 10 is a schematic diagram of another library bit cell connection. In this embodiment, more than one groove is arranged on one upright post or edge on the three-dimensional frame, when two storage position units are parallel, the two grooves are corresponding, and the buckle 11b is buckled in the groove, so that the two storage position units are connected together. Through setting up a plurality of recesses at a storehouse position unit's x, y, z three-dimensional, can connect other storehouse position units in three dimensions, can connect arbitrary a plurality of storehouse position units as required.

Third embodiment of the library site unit connection structure

FIGS. 11A-11C are schematic diagrams of yet another library bit cell connection. As shown in fig. 11A, more than one groove 11c is provided on each upright post or edge on the three-dimensional frame, as shown in fig. 11B, another storage location unit is provided with a convex strip or a convex block 11d, and when two storage location units with the same specification are juxtaposed, one storage location unit convex strip or convex block 11d is matched with the other storage location unit groove 11c for plugging together. In addition, in order to make the connection between the two storage units after the insertion, as shown in fig. 11c, a hook 11e may be disposed at the end of the protrusion 11d, and a corresponding slot (not shown) may be disposed in the corresponding groove 11c, and when the protrusion 11d is inserted into the groove 11c, the hook 11e and the slot are engaged with each other, so that the connection is more secure.

In the above warehouse location unit connection structure, the connection structures are respectively arranged in three dimensions, so that other arbitrary warehouse location units 1 can be connected in two horizontal directions X, two longitudinal directions Y and two directions Z, and stereoscopic warehouses with different warehouse location unit numbers and different volumes can be obtained.

Embodiment of stereoscopic warehouse structure

Referring to fig. 12, a schematic view of a stereoscopic warehouse according to an embodiment of the present invention is shown. In this embodiment, the stereoscopic warehouse comprises a plurality of warehouse location units 1 horizontally connected together. Each warehouse location unit 1 can extend and connect in the x direction and the y direction, thereby forming the stereoscopic warehouse with different specifications according to the actual requirement. When the storage position units are connected together, the respective article moving spaces are communicated with each other to form an integral large article moving space. Because the extension length of the supporting structure for supporting the storage device is very small, the AGV cannot be prevented from moving. Thereby allowing the AGV to move freely across the entire transfer space in both the x-direction and the y-direction. For example, an AGV lifts up its storage device in one of the storage units and then moves to another storage unit; after positioning, the jacking mechanism is withdrawn, and the storage device is placed on the support structure of the new storage location unit, thereby completing the movement of the storage device.

Second embodiment of the stereoscopic warehouse structure

Referring to fig. 13A, a schematic view of a stereoscopic warehouse according to another embodiment of the invention is shown. In this embodiment, a plurality of storage units are stacked and connected to form a two-layer stereoscopic warehouse. Of course, three or more layers may be used according to actual needs. In order to realize that the article moving device and the article storing device can move between different layers, the lifting system 4 is further included. The lifting system 4 comprises a support column 41 and a lifting platform 42. The lifting platform 42 is matched with the supporting upright 41, ascends or descends under the driving of the driving mechanism, and can be butted with a storage position unit at any height. The structure of the top of the lifting table 42 is the same as that of the base plate 113 of the storage location unit, and when the lifting table 42 is butted and positioned with the storage location unit 1, the top of the lifting table 42 forms a part of the moving space.

When the AGV3 needs to change floors, the lift 42 moves to the corresponding floor, the AGV3 moves to the floor of the lift 42, the lift 42 moves to the target floor again, the AGV3 stops after abutting and positioning with the storage location unit of the target floor, and the AGV3 moves from the floor of the lift 42 to the target floor. When it is necessary to transfer a parent container 2 on the lower layer, or a parent container 2 received from the outside, to a stock location unit on the upper layer. The AGV3 carries the storage device to the elevator platform 42 as shown in FIG. 13B. The elevating table 42 is driven by the driving mechanism to ascend as shown in fig. 13C. When reaching the upper layer, the lifting platform 42 stops rising, and is butted and positioned with the storage position unit of the upper layer, as shown in fig. 13D. The AGV3 carries the parent container 2 toward the target library bit position, as shown in fig. 13E. When the target magazine position is reached and stopped, the jack-up mechanism is withdrawn and the parent container 2 is placed on the support structure of the target magazine position, as shown in fig. 13F.

Third embodiment of stereoscopic warehouse structure

Referring to fig. 14A-14B, schematic illustrations of a stereoscopic warehouse according to another embodiment of the invention. In this embodiment, the stereoscopic warehouse includes an integral frame, which is cross-connected by a plurality of cross beams 111c and a plurality of columns 112c, thereby forming a plurality of storage units 1. The storage units 1 form a unit array in horizontal and vertical directions. As shown in fig. 14A, a horizontal one-story stereoscopic warehouse is formed, and as shown in fig. 14B, a two-story stereoscopic warehouse is formed. The storage unit 1 is used for accommodating a storage device (not shown in the figure), such as a mother turnover box or a storage table. A support structure 12 is provided on each upright 112c, and a storage device is placed on the support structure 12. As shown by the dashed lines, the space from the support structure 12 to the top of the storage device constitutes a storage space 101, and the space from the support structure 12 to the bottom plate 113c constitutes a transfer space 102. A certain height of distance is left between the top of the storage device (not shown) and the cross beam 111c, or between the goods on the top of the storage device and the upper floor 113c, which is a lifting space (not shown). In order to drive the storage device to move together in the object moving space 102, the object moving device moves to a position below the storage device, the storage device is jacked up by using a jacking mechanism, and then the object moving device moves horizontally in the object moving space 102 without hindrance. Therefore, the height of the lifting space 103 is determined according to whether the female turnover box 2 can move without hindrance by the jacking mechanism. For example, the height may be less than 5cm, or less than 3cm, or less than 1 cm.

In order to realize the movement of the object moving device between the storage units in the vertical direction, a lifting system may be further included, such as the lifting system shown in fig. 13A, which may be referred to in the descriptions corresponding to fig. 13A to 13F, and will not be described herein again.

Fourth embodiment of the stereoscopic warehouse structure

Referring to fig. 15, fig. 15 is a schematic view of a stereoscopic warehouse according to yet another embodiment of the present invention. In this embodiment, the stereoscopic warehouse includes a plurality of storage layers and a plurality of transfer layers (two storage layers and two transfer layers are shown in this embodiment), and the structural relationship of the storage layers and the transfer layers may be as any one of embodiments one to three. Different from the first to third embodiments, the heights of the transfer layers and the heights of the transfer layers in the present embodiment are not all the same, wherein the height of the upper layer storage position unit 1a1 is smaller than the height of the lower layer storage position unit 1a2, so that storage devices with different specifications can be used, and the specifications of goods which can be stored are increased. In this embodiment, the overall framework adopted by the stereoscopic warehouse may also be formed by combining and connecting a plurality of individual warehouse location units.

Embodiments of an article transferring device

The transfer device in the mobile warehouse is an automatic guided handling device, which is shown in fig. 16A-16B and provides an overall schematic view of an AGV according to an embodiment of the present invention. In this embodiment, the AGV includes a seat 30, a housing of which a drive assembly, a steering assembly, a lift assembly, an electrical component box 36 and a battery box 37 are sequentially disposed inside. A guiding mechanism, in this embodiment a guide wheel 31, is provided under the seat 30, and there are two sets, two in each set, for guiding the AGV to travel in two directions perpendicular to each other. The jacking mechanism composed of the jacking rods 32 and other structures is matched with the jacking assembly in the seat body 30 and can extend out or retract from the upper surface of the seat body 30. A traveling mechanism, in this embodiment four roller assemblies 38 disposed at four corners, is disposed under the seat body 30, and is matched with the driving assembly and the steering assembly inside the seat body 30. The upper surface and the lower surface of the base 30 are respectively provided with an RFID reader 3051 and an RFID reader 3052, the RFID reader 3051 is used for identifying an object moving device, such as a mother circulation box, and the bottom of the base is provided with an RFID tag, such as the tag 24 in fig. 3C. The RFID reader 3052 is used to identify the library location unit, such as the RFID tag 14 disposed on the bottom surface in fig. 1.

Embodiments of a sorting apparatus

Fig. 17A-17B are schematic diagrams of a sorting apparatus used in a flow warehouse, according to one embodiment of the present invention. In the present embodiment, the sorting device 6 includes a support portion 61, a moving portion 62, and a sorting robot 5. The supporting portion 61 is connected to at least one sorting unit 60, the sorting unit 60 is equivalent to a storage location unit, a guiding groove 631 for moving an object moving device such as an AGV is formed in the bottom surface of the sorting unit, and a supporting block 612 is arranged on the upright column and used for placing a storage device to be sorted, such as a mother turnover box 2.

The moving part 62 includes a slide rail 621 and its driver 622 and a beam 623 and its slide rail driver 624. In the embodiment, the sliding rails 621 are fixed on the left and right sides of the top end of the supporting portion 61, in which the sliding rails 621 are nested multistage sliding rails, and each stage of sliding rails is provided with a driver 622 capable of driving the sliding rails to extend forward to expand the moving range of the sorting robot 5. Both ends of the cross beam 623 are respectively fixed on the slide rails 621, and the slide rails and the drivers 624 thereof are arranged on the cross beam 623. The sorting robot 5 is fixed on the slide rail, and the driver 624 drives the slide rail to move, so as to drive the sorting robot 5 to move in two directions of the x direction. The driver 622 moves the beam 623 in both y-directions, thereby moving the sorting robot 5 in both y-directions. A connecting and rotating mechanism is arranged at the top of the sorting robot 5, as shown in fig. 18A-18B, and includes a rotating shaft 632 and a driving motor 633, the rotating shaft 632 is connected with the cross beam 623 through a bracket, and the driving motor 633 is connected with the rotating shaft 632 through a synchronous belt, so as to drive the whole sorting robot 5 to rotate.

The moving part 62 in this embodiment is provided on the top of the support part 61, and the support part 61 is fixed on the top of one sorting unit 60 (corresponding to one library site unit). The total height of the slide rail 621 of the support part 61 and the moving part 62 is less than or equal to one storage unit. The sorting robot 5 picks up the goods, such as the sub-containers 7, from the main containers 2 in one sorting unit, and the slide rails 621 move along with the moving part 62 to place the goods into the main containers 2 in the other sorting unit 60.

Embodiment of the flow warehouse

Fig. 19A-19B are schematic diagrams of a flow warehouse configuration, according to one embodiment of the invention. In this embodiment, the floating warehouse 9a includes the stereoscopic warehouse 91 in the second stereoscopic warehouse embodiment, and further includes the parent container 2 and the child container 7 as the storage devices, the AGVs 3 as the transfer devices, the sorting devices 6, and the transportation 90. The vehicle 90 is a vehicle with a small cargo device.

The vehicle 90 includes a container support 93 and a containment structure 92, the containment structure 92 is connected with the container support 93 to form a container body having an inner space, and the stereoscopic warehouse 91 is disposed in the inner space of the container body.

The enclosure 92 includes one or more doors 94 having an area that is an integer multiple of the number of storage locations in the three-dimensional warehouse. In this embodiment, the entire rear enclosure of the cargo box is used as the door 94, and one or more support rods 95, such as an electric hydraulic support rod or a pneumatic support rod, are provided to open the door when the door bar is opened. The two ends of the supporting rod 95 are respectively connected to the box door 94 and the box bracket 93, and when the box door 94 is opened, the box door 94 can be supported and fixed. In this embodiment, a lift docking device is also included, which includes a lift rail 961, a lift bracket 962, and a docking plate 963. The lift rails 961 are secured to the cargo box supports 93 in the box doors 94. The lifting bracket 962 is fittingly disposed in the lifting rail 961 and can be lifted up or lowered down along the rail 961. One end of the butt joint plate 963 is movably connected to the tail end of the lifting bracket 962, and the upper surface of the butt joint plate is a running surface of the article moving device. The docking plate 963 can be opened to the outside of the cabinet space when the door 94 is opened, as shown in fig. 19A, and can be retracted to close the door 94, as shown in fig. 19B.

In the present embodiment, the length of the docking plate 963 is adapted to the width of one storage unit, but it is also possible to adapt the width of the box door 94, so that the amount of exchange of goods can be increased when docking.

Referring to fig. 19A, a shock-absorbing air bag 97 is further provided between the container support 93 of the mobile warehouse and the body of the vehicle 90 in this embodiment, for reducing the shock during driving and docking.

As shown in fig. 20A to 20C, the docking of the mobile warehouse and the express delivery robot in this embodiment is schematically illustrated. When the mobile warehouse 9a is docked with the express delivery robot 8, the door 94 is opened, and when the lifting bracket 962 of the lifting docking device is lowered to a preset position along the lifting rail 961, the docking plate 963 is opened. As shown in fig. 20A. The express robot 8 moves forward, so that the docking plate 963 extends to the bottom of the container base of the express robot 8, and after the position of the docking plate and the container base is determined, the lifting bracket 962 is controlled to ascend to a preset position along the lifting rail 961, so that the storage position unit of the container of the express robot 8 is docked with the storage position unit in the three-dimensional warehouse and then stops ascending, as shown in fig. 20B and 20C. The butt joint of the storage position units and the storage position units means that the object moving support structures of the object moving spaces of the two storage position units are in butt joint together, so that the object moving device can enter the other storage position unit from one storage position unit without obstruction. At this time, AGV3 in mobile warehouse 9a enters the container of express robot 8, and transports its internal parent container to mobile warehouse 9a, or transports its corresponding parent container in mobile warehouse 9a to the container of express robot 8 as necessary.

Embodiment two of the fluidized warehouse

Fig. 21A-21B are schematic diagrams of a flow warehouse configuration according to another embodiment of the invention. In this embodiment, the vehicle 90 in the mobile warehouse 9b is a medium or large freight device. The entire rear enclosure of the cargo box can be opened upward as a door 941 and the side and part of the top of the enclosure as a wing door 942, as shown in fig. 21B. The present embodiment includes an X-Y drive platform 98 disposed at the bottom of the cargo box support 93 and including X-rails 981 and Y-rails 982. The X-Y drive stage 98 is driven by a drive mechanism and is slidable in the X and Y directions.

The magazine 91 is fixed to the X-Y drive table 98 and is movable in accordance with the movement of the X-Y drive table 98. As shown in fig. 22A-22B, the stereoscopic warehouse 91 in the moving warehouse 9 slides out with the X-Y driving stage 98.

Fig. 23 is a schematic view of the docking of flow warehouse 9a with flow warehouse 9 b. Since the moving warehouse 9a is a small transportation means and has a height smaller than that of the moving warehouse 9b, the stereoscopic warehouse therein cannot be directly docked with the stereoscopic warehouse in the moving warehouse 9 b. After the doors of the two mobile warehouses are opened, the lifting bracket in the butting device in the mobile warehouse 9a ascends, and the butting plate is put down, so that the butting plate is completely butted with the warehouse location unit in the mobile warehouse 9 b.

Fig. 24 is a schematic view of the docking of two flow warehouses 9 b. In this embodiment, after the vehicles of the two mobile warehouses 9b adjust the vehicle bodies to be stopped, the opposite wing doors 942 are opened in sequence, and then the horizontal and alignment heights are adjusted. In the embodiment, a damping air bag is arranged between the box body frame and the vehicle body of the mobile warehouse 9b, and the level can be conveniently and quickly adjusted by adjusting the air pressure of each air bag. However, the X-Y driving platform is started to drive the entire stereoscopic warehouse 91 to slide out sideways, and when the two stereoscopic warehouses are butted and positioned, the sliding is stopped.

The door of the present invention may take any suitable form, such as the configuration shown in fig. 23 and 24, a folding door, or a tambour door, such as the tambour doors shown in fig. 25A-25B. Wherein only the boxes in the flow warehouse are shown in fig. 25A-25B, with no vehicles shown, for simplicity of illustration. A door is also provided in this embodiment that interfaces with the drone and corresponds to the

drone interface

106, 206.

When the mobile warehouse is docked with a small unmanned aerial vehicle, as shown in fig. 25A, the stereoscopic warehouse 100 is further provided with an unmanned aerial vehicle interface 106 at the top thereof, besides the door 105, and the interface corresponds to one or more warehouse location units. As shown in fig. 25B, the stereoscopic warehouse 200 is provided with an unmanned aerial vehicle interface 206 at the top. Taking fig. 25A as an example, when the small unmanned aerial vehicle is to put the sub-containers 7 into the stereoscopic warehouse 100, the stereoscopic warehouse 100 opens the cover plate at the interface to expose the corresponding storage location units thereunder. The drone may hover over the interface or rest on the interface by resting on the interface perimeter detents 107 via a stand. The fixed position is good, the small unmanned aerial vehicle puts the sub-turnover box into the storage position unit at the interface through the mechanical gripper and the like, and meanwhile, the identity binding relationship between the sub-turnover box and the unmanned aerial vehicle is removed. If the goods in the stereoscopic warehouse 100 are to be transferred to the small unmanned aerial vehicle, the sub turnover box needing to be carried by the small unmanned aerial vehicle is placed in the storage position unit at the interface, the small unmanned aerial vehicle identifies the sub turnover box through an RFID reader-writer and the like, the sub turnover box is grabbed and taken away through a mechanical gripper and the like, meanwhile, the identity binding relationship between the sub turnover box and the storage position unit is removed, and the identity binding relationship between the sub turnover box and the unmanned aerial vehicle is established.

When unmanned aerial vehicle is large-scale unmanned aerial vehicle, have among the large-scale unmanned aerial vehicle with the stereoscopic warehouse similar storing space in the warehouse that flows to including the lift. The docking of the stereoscopic warehouse on the ground or other transport means comprises two ways:

first, docking is performed through the drone interface 106 in fig. 25A. For example, a large drone may hover over the interface, or may be parked over the interface by a cradle resting on interface perimeter detents 107. After the position is determined, the large unmanned aerial vehicle puts down the elevator to be in butt joint with the interface, so that the goods are delivered and stored and exchanged.

Secondly, the large unmanned aerial vehicle hovers or falls on the ground on the side face of the stereoscopic warehouse, and is in butt joint with the stereoscopic warehouse through a butt joint plate or a butt joint pipeline, so that the goods are delivered and stored and exchanged.

The mobile warehouse also comprises a control system, and the control system of the mobile warehouse can have different forms and connection structures according to the butt joint and distribution conditions with the cloud system.

Embodiment one of the control system of the mobile warehouse

Fig. 26 is a schematic block diagram of a flow warehouse control system, according to an embodiment of the invention. In this embodiment, the functional modules of the control system 99 for controlling the vehicle access are located locally in the mobile warehouse, and include a communication module 990, a navigation module 991, and a docking control module 992. Control of the cargo management, sorting, handling, etc. of the cargo within the warehouse is accomplished by the cloud warehouse management system 161 and the sorting system 64.

The communication module 990 performs information interaction with the cloud system, and transmits data and information between the local and the cloud. The navigation module 991 determines a driving route of the vehicle according to the planned route; the running route of the mobile warehouse can be planned and calculated by the cloud system and then sent to the mobile warehouse, and can also be calculated by the geographic position positioning device 993 in the mobile warehouse according to the docking point of the mobile warehouse obtained from the cloud. The positioning device 993 also obtains the real-time geographic location of the floating warehouse and sends the real-time geographic location to the cloud.

The docking control module 992 determines a docking mode according to the other flow warehouses docked therewith, and controls the actions of the corresponding components according to the determined docking mode. As shown in fig. 27, which is a functional block diagram of a docking control module according to an embodiment of the present invention, in this embodiment, a docking control module 992 includes a door control unit 9920 and a lift docking device control unit 9921. In one embodiment, the door is provided with an electronic lock 950 and a support rod driving device 951, for example, a driving motor of an electric hydraulic support rod and a hydraulic system thereof. The door control unit 9920 controls the door electronic lock 950 and the supporting rod driving device 951, thereby controlling the opening and closing of the door. The lifting docking device control unit 9921 is used for controlling the lifting, opening and retracting of the docking plate. In one embodiment, the lift carriage is provided with a drive 9620, such as a stepper motor or a servo motor, for controlling the raising and lowering of the lift carriage on the lift rail. The docking plate is provided with a corresponding driver 9630, the docking plate 963 is connected with the tail end of the lifting bracket 962 under the control of the docking plate driver 9630, for example, the docking plate 963 can be folded and arranged parallel to the lifting bracket 962 under the control of the rotation of a connecting shaft at the connection part through a motor, or the docking plate 963 is put down to enable the docking plate 963 and the lifting bracket 962 to be in a vertical state.

In order to ensure that the mobile warehouse and other cargo devices can be accurately docked, the present embodiment further includes various positioning sensors, for example, a docking plate positioning sensor 9631 is disposed on the docking plate, when the docking plate 963 is docked with the warehouse location unit of the mobile warehouse, the docking plate positioning sensor 9631 is triggered to send a signal after the docking plate 963 and the warehouse location unit are correctly docked, and whether the docking is completed or not and whether the docking is correct or not can be determined according to whether the signal is received or not.

A lift positioning sensor 8000 is also provided at a preset position of the docking plate 963 to determine that the small-sized mobile warehouse (e.g., the courier robot 8) can be safely lifted when docked thereto. Taking the express robot 8 as an example, when the docking plate 963 reaches a preset position at the bottom of the express robot 8, the lifting positioning sensor 8000 is triggered to send a signal, so that it can be determined that the docking of the express robot and the docking plate 963 is completed, and at this time, the lifting bracket 962 can be safely started to lift the express robot 8 upwards, so that the running surface of the container moving space of the express robot 8 is in docking with the running surface of the moving space of the storage location unit in the three-dimensional warehouse. In order to determine whether the two storage units are accurately docked, in one embodiment, a positioning sensor 1130 is disposed on the storage unit of the mobile warehouse 9 for docking, and the storage units of other mobile warehouses and the storage units in the stereoscopic warehouse trigger the storage unit positioning sensor 1130 to send a signal after being accurately docked. For example, when the express delivery robot is lifted to a certain position, the driving surface of the container moving space of the express delivery robot is in butt joint with the storage location unit of the mobile warehouse 9, and then the storage location unit positioning sensor 1130 can be triggered to send out a signal, so that the butt joint can be known to be accurate according to the signal, and the butt joint can be completed.

When the mobile warehouse is provided with an X-Y direction driving platform, the docking control module 992 further comprises an X-Y direction driving platform control unit 9922, in order to enable the X-Y direction driving platform to move along the X direction rail 981 or the Y direction rail 982 on the box body support 93, the X-Y direction driving platform is provided with an X direction driver 9810 and a Y direction driver 9820, such as a motor, an oil pressure driver and the like, and according to a specific driver type, the X-Y direction driving platform control unit 9922 outputs a corresponding driving signal to control the X-Y direction driving platform to move along the X direction rail 981 or the Y direction rail 982, and the moving amount is controllable.

The local module of the control system further comprises a damping air bag control module 994, which is used for adjusting the air pressure of each damping air bag when the local module is in butt joint with other mobile warehouses or freight devices, so that the levelness of the stereoscopic warehouse can be adjusted, and the stereoscopic warehouses of the two mobile warehouses can be accurately in butt joint.

In this embodiment, the control system of the floating warehouse further includes a management system of the stereoscopic warehouse, which includes a motion control system 162, a goods management system 161 and a sorting system 64, and is mainly used for controlling the traveling and sorting device 6 of the AGV, and completing the delivery, storage, exchange, and the like of goods. In one embodiment, the motion control system 162 is located locally, and includes a travel control module 1621 for controlling AGVs and a lift control module 1622 for controlling a lift system, where the travel control module 1621 is an upper control module of the AGV3 and is mainly used for task management, vehicle driving, route planning management, traffic management, communication management, and other functional units of multiple AGVs in the warehouse.

The task management functional unit provides an execution environment of the AGV single machine. Scheduling the operation of a plurality of AGV according to the task priority and the starting time; various operations such as start, stop, cancel, etc. are provided for the AGV stand-alone.

The vehicle driving function unit is responsible for collecting the AGV state, sends a request for allowing the traveling section to the traffic management function unit, and simultaneously issues the confirmation section to the AGV.

And the route planning functional unit distributes and dispatches the AGV to execute the task according to the requirement of the cargo handling task, calculates the shortest walking path of the AGV according to the principle that the walking time of the AGV is shortest, and controls and commands the walking process of the AGV.

And the traffic management functional unit provides measures for AGV mutual automatic avoidance according to the AGV running state and the AGV running path conditions in the warehouse.

The walking control module 1621 is in wireless communication with the AGV stand-alone system, and the walking control module 1621 is in communication with a plurality of AGV stand-alone systems in a polling mode; the walking control module 1621 may communicate with other upper computers and cloud systems in a TCP/IP manner.

The AGV is provided with a single machine control system, and after receiving the transport task and the instruction thereof from the upper system walking control module 1621, the single machine control system is responsible for the functions of navigation, guidance, path selection, vehicle driving, steering, loading and unloading operations and the like of the single machine of the AGV so as to complete the transport task.

The AGV single machine can read the identity of the storage location unit through an electronic mark reader-writer which is arranged on the AGV single machine, and can determine the position and the course in the stereoscopic warehouse according to the spatial distribution information of the storage location unit of the stereoscopic warehouse.

And the AGV single machine pre-selects a path to be operated by calculation according to the instruction of the upper system, and reports the result to the upper control system. Or the upper system allocates the AGVs uniformly according to the positions of other AGVs. The path of the AGV walking on the single machine consists of a plurality of straight line segments. Each segment indicates the start point, the end point (corresponding to a specific library unit identity) of the segment, and may further include information such as the travel time, distance, speed, and direction of the AGV in the segment.

And the AGV single machine controls the vehicle to run through a servo motor, a stepping motor and other position precise control motors according to the moving path information. And has the emergency brake function, and can brake in time when the stereoscopic warehouse is unstable or accidents occur.

The AGV is internally provided with a weight weighing analysis system, and determines the set speed and the acceleration of each section of stroke according to the weight of the goods, so that the voltage and the current are required to be output

In order to enable the object mover, such as an AGV in this embodiment, to accurately release the storage device to the target storage location while the stereoscopic warehouse is in an unstable moving state, the control system further includes a positioning module, such as a sensor disposed on the bottom plate of each storage location unit, such as four positioners 160 in fig. 1. Under the normal driving state, the inside servo motor of AGV can be to AGV accurate positioning, but when stereoscopic warehouse is in unstable moving state, after fixing a position through servo motor, the rethread four locators 160 calibration AGV's position for the AGV is even can still be accurately fixed a position in preset position under the state of rocking, places storing device on the exact position.

Lift control module 1622 is used to control the lift table drive mechanism of the lift system. The lifting platform driving mechanism adopts a servo system, and the lifting control module 1622 sends driving information to the servo system according to the lifting stroke, so as to drive the lifting platform to reach a preset position. In which the servo system can be accurately stopped at a predetermined position in a normal state, however, the position reached by the elevating platform deviates from the original predetermined position due to an unstable state of the stereoscopic warehouse while moving. If the lifting platform deviates from the original preset position, the butt joint state of the lifting platform and the storage position unit is poor, the AGV is difficult to walk, and even the AGV is damaged. Thus, in one embodiment, more than one position sensor is provided on the support column at the position where each floor interfaces with the storage location unit, so that the lifting platform can be accurately stopped at a predetermined position.

Further, the elevating platform incorporates a weight scale analysis system, and the magnitude of the output voltage current required to realize the speed and acceleration set for each elevating stroke is determined according to the weight of the load loaded on the elevating platform.

The cargo management system 161 and the sorting system 64 may be located at a cloud end, wherein the cargo management system 161 is further configured to maintain cargo information and equipment information in the stereoscopic warehouse 91, such as cargo order information, logistics information, a binding relationship between a cargo and a child container, a binding relationship between a cargo and a parent container, and a binding relationship between a parent container and a warehouse location unit in a current warehouse; the system also comprises the AGV number and the identity information in the current library, the identity information and the position distribution information of the sorting device and the like.

Sorting system 64 communicates with sorting devices 6 and AGVs 3 via communication module 990 to dispatch sorting and handling tasks. The motion control module 1621 of the motion control system 162 serves as an upper control module for the AGVs 3 in the library, and performs task management, vehicle driving, route planning management, traffic management, communication management, and the like for the AGVs 3 according to the AGV transport tasks sent by the sorting system 64, so that each AGV3 completes a corresponding transport task. The sorting device 6 receives the sorting tasks to complete the sorting of the specified target sub-turnover boxes.

Embodiment two of the mobile warehouse control system

In the present embodiment, as shown in fig. 28, the mobile warehouse control system includes a vehicle control module including the navigation module 991 and the docking control module 992 of the previous embodiments, a geographic position locating device 993, and a shock-absorbing airbag control module 994, and a stereoscopic warehouse management system. The stereoscopic warehouse management system is communicated with the cloud control module and receives goods transmission tasks, wherein the transmission tasks comprise butt joint places, goods transmitted during butt joint and the like. The vehicle control module is connected with the stereoscopic warehouse management system, moves to the grounding point according to a planned route according to the docking point in the transmission task, and controls the box door, the lifting bracket, the docking plate, the X-Y direction driving platform or the damping air bag and the like in the vehicle to be docked with other freight devices at the docking point. The stereoscopic warehouse management system in the embodiment is located in the mobile warehouse, and is mainly used for controlling the AGVs to carry goods during sorting, goods delivery and goods warehousing, and each AGV runs along an optimal path by matching with the lifting system in the stereoscopic warehouse in the carrying process. The sorting system 64 in the stereoscopic warehouse management system determines the sorting task for the sorting device and the transfer task of the AGV at the time of sorting. The sorting device completes the sorting of the exchanged goods before the butt joint.

In the embodiment, a mother turnover box is placed in the storage space of the storage position unit in the three-dimensional warehouse; one or more sub-turnover boxes are placed in the main turnover box, wherein one piece of goods is placed in the sub-turnover boxes; and associating the child turnover box with the parent turnover box, and associating the parent turnover box with the identity information of the storage location unit where the parent turnover box is located.

Fig. 29 is a goods storage process method of a floating warehouse according to an embodiment of the present invention, the storage process including:

s100, placing the goods received from the delivery user in a sub-turnover box, and establishing an identity binding relationship between the goods and the sub-turnover box;

and step S101, placing the child turnover box in the parent turnover box.

Step S102, the AGV positioned in the object moving space in the storage position unit drives the mother turnover box to move to the target storage position unit together; and

and S103, releasing the mother turnover box to the storage space of the target storage position unit by the AGV.

Wherein steps S100, S101 occur in the goods receiving phase. When receiving goods, can drive small-size mobile warehouse by express delivery personnel and regard as goods storage equipment, also can accomplish by automatic, intelligent express delivery robot. The express delivery robot is provided with a container, and at least one storage position unit is arranged in the container and used for storing the child turnover box and the mother turnover box.

Steps S102, S103 may occur in a delivery cargo scenario, or any cargo warehousing scenario at docking. And storing the child turnover box and the parent turnover box loaded with the goods into a mobile warehouse.

For some large and medium-sized mobile warehouses, a large number of goods going to each position can be stored, and the goods are transferred to the mobile warehouse of the next-level logistics chain at different butt joint places, so that when the mother turnover box is stored, the mother turnover box is stored from the storage position area of the corresponding box door to the middle position of the stereoscopic warehouse according to the sequence of the butt joint places of the goods in the mother turnover box, namely the goods which are firstly delivered out of the warehouse are stored near the box door, and then the goods which are delivered out of the warehouse are stored to the position which is far away from the box door in the middle of the stereoscopic warehouse, so that the turnover frequency of the mother turnover box in the warehouse can be reduced, and the efficiency.

In addition, the mother turnover boxes needing to be exchanged after sorting are stored in the storage space areas of the corresponding box doors. Furthermore, a warehouse area and a warehousing area can be divided in the warehouse position area of the box door of the mobile warehouse, the mother turnover boxes which need to be transferred outwards after being sorted are stored in the warehouse-out area, and the warehouse-in and warehouse-out area is cleaned to receive the mother turnover boxes transferred from other mobile warehouses. In order to improve the transfer efficiency of goods during butt joint, the warehouse-out area and the warehouse-in area of the mobile warehouse correspond to the warehouse-in area and the warehouse-out area of the mobile warehouse butted with the warehouse-out area, one warehouse-out area corresponds to the other warehouse-in area, the moving distance of the AGV carrying the mother boxes during butt joint can be reduced, and further the exchange efficiency is improved.

The present invention also provides a method for transporting goods in a mobile warehouse, as shown in fig. 30, including:

step S200, a cargo transfer task within the transportation distance is obtained, and the cargo transfer task comprises a butt joint place and a butt joint second flow warehouse. The management system of the mobile warehouse is interacted with the cloud system, and receives a cargo transfer task sent by the cloud. The cloud system determines a docking location for exchanging the goods with the cloud system and a corresponding second flow warehouse according to the goods logistics direction, the transportation direction of the flow warehouse and the like. In one embodiment, when the cloud system determines the docking point of the exchanged goods, the cloud system also plans a specific driving route according to the current position of the mobile warehouse and sends the specific driving route to the mobile warehouse.

Step S201, the mobile warehouse moves to the docking point according to the planned route, and sorts the goods to be delivered to the second mobile warehouse during the moving process. And preferably, the sorted mother turnover boxes are stored in a warehouse-out area. And if the mobile warehouse does not receive the driving route, calculating the driving route according to the current position and the docking point. In one embodiment, when the cloud sends a transfer task to the mobile warehouse, the cloud also calculates a goods sorting list to be sorted and sends the goods sorting list to the mobile warehouse. And the sorting device and the AGV in the mobile warehouse cooperate to work according to the sorting task and the carrying task determined by the sorting list to sort the goods. When the sorting system is located locally in the mobile warehouse, the local sorting system of the mobile warehouse can generate a goods sorting list according to the goods information in the warehouse and the butt joint location.

Step S202, exchanging goods with the second flow warehouse at the docking location. When goods are exchanged between the butt joint location and the second flow warehouse, the corresponding box door is opened according to the structure of the second flow warehouse, and the box door is in butt joint with the second flow warehouse according to the maximum exchange amount.

The mobile warehouse provided by the invention has the function of goods storage while transporting goods. Before goods are transferred, sorting is completed in the moving process according to the logistics direction of the goods, therefore, the invention provides a novel logistics mode through the mobile warehouse, the goods sorting in the next transfer process is completed in the goods transportation process, the butt joint place and the butt joint freight device for goods transfer can be flexibly selected, the scale of goods stored in the mobile warehouse can be large or small, the butt joint mode is flexible and various, the transportation efficiency and the goods exchange efficiency in butt joint can be improved based on a goods sorting algorithm, a goods exchange algorithm, a driving path algorithm and the like of big data, the residence time of the goods is integrally reduced, and therefore, the logistics system related to the invention is more flexible in goods transportation and higher in efficiency.

The above embodiments are provided only for illustrating the present invention and not for limiting the present invention, and those skilled in the art can make various changes and modifications without departing from the scope of the present invention, and therefore, all equivalent technical solutions should fall within the scope of the present invention.

Claims

1. A flow warehouse, comprising:

the stereoscopic warehouse comprises a plurality of warehouse location units, wherein each warehouse location unit comprises a storage space and an object moving space which are arranged in a stacked mode;

a storage device accommodated in the storage space in the storage location unit;

the object moving device is configured to move in a space formed by the object moving spaces of the plurality of storage position units and used for carrying the storage device;

a sorting device configured to occupy a plurality of adjacent storage location units for sorting goods in the storage device; and

and the vehicle is used for bearing the stereoscopic warehouse and providing a moving function.

2. The flow warehouse of claim 1, wherein the vehicle comprises:

a container support, and

the space enclosing structure is connected with the container support to form a container body with an inner space, and the stereoscopic warehouse is arranged in the inner space of the container body.

3. The mobile warehouse of claim 2, wherein the enclosure includes one or more doors having an area that is an integer multiple of a position of the warehouse within the stereoscopic warehouse.

4. The mobile warehouse of claim 3, wherein the doors comprise first doors disposed at sides and/or rear of the container racks; or a second box door arranged on the top surface of the container and butted with the unmanned aerial vehicle.

5. The mobile warehouse as claimed in claim 3, wherein the mobile warehouse further comprises more than one support rod, both ends of which are respectively connected to the box door and the container support, for supporting and fixing the box door when the box door is opened.

6. The flow warehouse of claim 3, further comprising a lift dock comprising:

the lifting track is fixed on the container bracket in the container door;

the lifting bracket is arranged in the lifting track in a matching way and can ascend or descend along the track; and

one end of the butt joint plate is movably connected to the tail end of the lifting bracket, and the upper surface of the butt joint plate is a supporting structure of the object moving device; the butt-joint plate can be opened to the outside of the box body space when the box door is opened and can be folded when the box door is closed.

7. The flow warehouse of claim 6, wherein the length of the docking plate corresponds to the width of one bay unit; or to the width of the door.

8. The mobile warehouse as claimed in claim 3, wherein further comprising an X-Y driven platform disposed at the bottom of the container support, the stereoscopic warehouse being secured to the X-Y driven platform.

9. The flow warehouse of claim 8, wherein the doors are compatible with a length or width of the X-Y drive platform.

10. The mobile warehouse of claim 2, further comprising a shock absorbing bladder disposed between the cargo box support and the vehicle body.

11. The flow warehouse of claim 1, further comprising a control system comprising:

the communication module is configured to perform information interaction with the cloud system;

the navigation module is used for determining a driving route of the vehicle according to the planned route; and

a docking control module configured to determine a docking mode according to the second flow warehouse docked therewith, and control actions of the respective components according to the determined docking mode.

12. The mobile warehouse of claim 11, wherein the control system further comprises a geographic location locating device to obtain the real-time geographic location and send it to a cloud-end system via a communication module.

13. The flow warehouse of claim 11, wherein the docking control module further comprises:

the box door control unit is used for controlling the opening and closing of the box door; and

and the lifting butt joint device control unit is used for controlling the lifting, opening and retracting of the butt joint plate.

14. The flow warehouse of claim 13, wherein the lift dock control unit further comprises one or more of the following sensors:

the butt joint plate positioning sensor sends a butt joint completion signal when the butt joint plate is accurately in butt joint with the storage position unit of the butt joint stereoscopic warehouse;

the lifting positioning sensor is configured to send a positioning signal when the butt joint plate reaches a preset position at the bottom of the second flow warehouse so as to safely lift the second flow warehouse; and

and the warehouse location unit positioning sensor is configured to send a docking completion signal when the warehouse location unit of the second flow warehouse is accurately docked with the warehouse location unit in the stereoscopic warehouse.

15. The flow warehouse of claim 11, wherein the docking control module further comprises:

and the X-Y driving platform control unit is configured to drive the X-Y driving platform to move in the X direction or the Y direction so as to drive the stereoscopic warehouse to move a preset distance to the outside of the box body.

16. The flow warehouse of claim 10, wherein further comprising: a shock absorbing air bag control module configured to adjust air pressure of the shock absorbing air bag during docking to adjust a level of the stereoscopic warehouse.

17. The flow warehouse of claim 1, wherein the mover device comprises: an AGV.

18. The streaming warehouse of claim 17, wherein the AGV comprises:

the base body comprises a driving assembly, a steering assembly, a jacking assembly and an electric element;

a jacking mechanism, cooperating with the jacking assembly, configured to extend or retract from an upper surface of the seat body;

the traveling mechanism is arranged below the seat body and is matched with the driving assembly and the steering assembly; and

and the guide mechanism is arranged below the seat body and is used for guiding the running of the running mechanism.

19. The flow warehouse as claimed in claim 1, the sorting apparatus comprising:

the supporting part is connected with at least one sorting unit, the sorting unit is used for placing a mother turnover box, and goods are placed in the mother turnover box; the sorting unit is connected with the storage position unit;

a moving part movably connected to the supporting part and capable of moving among the sorting units along the supporting part; and

and the sorting robot is connected to the moving part and used for grabbing the goods according to the sorting task, and along with the movement of the moving part, the goods are sorted from the first mother turnover box to the second mother turnover box.

20. The mobile warehouse of claim 1, wherein the storage devices comprise a child container and a parent container, the child container is internally provided with goods, the parent container is internally provided with one or more child containers, and the parent container is placed in the storage space in the storage unit; the parent turnover box is associated with the child turnover box in the parent turnover box and the identity of the storage location unit in which the child turnover box is located.

21. A method of transporting goods in a mobile warehouse, comprising:

sorting the goods to be transferred while moving to the docking site; and

22. The method of moving warehouse cargo transportation of claim 21, wherein comprising: and interacting with a cloud system, and receiving a cargo transfer task sent by a cloud.

23. The method of moving warehouse cargo transportation of claim 22, wherein receiving a planned travel route is performed while receiving cargo transfer tasks; or calculating a travel route according to the current position and the docking point.

24. The method of moving warehouse cargo transportation of claim 21, wherein further comprising: according to the goods transfer task, a goods sorting list is obtained; and sorting the goods according to the goods sorting list.

25. The method of moving warehouse cargo transportation of claim 24, wherein cargo sortation listings are received from a cloud while cargo delivery tasks are received; or determining a goods sorting list according to the goods information and the butt joint place in the three-dimensional warehouse.