CN112101853A

CN112101853A - Flowing warehouse and logistics system and method based on flowing warehouse

Info

Publication number: CN112101853A
Application number: CN202010808602.5A
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: 2020-12-18
Anticipated expiration: 2040-08-12
Also published as: CN112101853B

Abstract

The invention relates to a mobile warehouse and a logistics system and a method based on the mobile warehouse, wherein the mobile warehouse comprises a stereoscopic warehouse, a storage device, an object moving device and a vehicle; the logistics system comprises a customer service system, a multi-stage flow warehouse and a plurality of distributed logistics control modules, wherein the customer service system is configured to interact with users and receive user logistics orders; the multi-stage flow warehouses transport goods within the respective transportation distance range, butt joint with different flow warehouses in the same logistics direction is carried out to transfer the goods, and the goods transferred next time are sorted out in the goods transportation process. The invention completes the storage, sorting and transfer of the goods in the transportation process of the goods, and integrally reduces the retention time of the goods, thereby improving the transportation efficiency.

Description

Flowing warehouse and logistics system and method based on flowing warehouse

Technical Field

The invention relates to the technical field of logistics storage, in particular to a mobile warehouse, a logistics system based on the mobile warehouse and a logistics method based on the mobile warehouse.

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 which are subjected to primary sorting are sent to a subordinate distribution station through transport means such as a truck. The receiving and dispatching station simultaneously dispatches the goods in the district to the user. The distribution station generally includes a sorting center, a transfer station, a distribution center, etc. for transferring the sorted goods to other distribution stations, and some distribution stations also have the function of a goods receiving and dispatching station. In the above-mentioned receiving and dispatching stations and distribution stations, warehouses of corresponding sizes are usually arranged for storing and sorting goods, so that the goods stay in all levels of sorting centers and distribution stations for a large part of 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 flow warehouse, a logistics system and a method based on the flow warehouse, which are used for providing a new logistics mode to improve the logistics efficiency.

In order to solve the technical problems, according to one aspect of the present invention, there is provided a mobile warehouse comprising a stereoscopic warehouse, a storage device, a transferring device and a vehicle, wherein the stereoscopic warehouse comprises one or more storage location units; the storage device is configured to be received in a storage space in a storage location 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 between the storage position units; 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 logistics system comprising: the system comprises a customer service system, a multi-stage flow warehouse and a plurality of distributed logistics control modules, wherein the customer service system is configured to interact with users and receive user logistics orders; the multistage mobile warehouse is configured to transport goods within the respective transport distance range and is in butt joint with different mobile warehouses in the same logistics direction to deliver the goods, and the multistage mobile warehouse sorts the goods delivered next time in the goods transportation process; the plurality of distributed logistics control modules are configured to manage cargo logistics information, cargo transceiving, transfer and sorting.

According to another aspect of the present invention, there is provided a logistics method comprising the steps of:

receiving goods entering a logistics chain in response to a user logistics order;

the goods are transferred among different flowing warehouses in the same logistics direction step by step; wherein the mobile warehouses transport cargo within their respective corresponding transport distance ranges; and

the mobile warehouse sorts the goods required to be transferred to the docking mobile warehouse during the transportation of the goods.

The invention completes the storage, sorting and transfer of the goods in the transportation process of the goods, and integrally reduces the retention time of the goods, thereby improving the transportation 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;

fig. 13B is a schematic view illustrating the movement of the goods in the stereoscopic warehouse according to another embodiment of the present 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 schematic illustration of a city-level multi-stage flow warehouse haul distance according to another embodiment of the present invention;

FIG. 27 is a functional block diagram of a logistics control system in accordance with one embodiment of the present invention;

FIG. 28 is a functional block diagram of a customer service system according to one embodiment of the present invention;

FIG. 29 is a functional block diagram of a logistics control module in accordance with one embodiment of the present invention;

FIG. 30 is a functional block diagram of a sort control module according to one embodiment of the present invention;

FIG. 31 is a schematic illustration of a logistics flow of cargo according to an embodiment of the present invention;

FIG. 32 is a schematic view of a product stream order flow according to an embodiment of the present invention;

FIG. 33 is a schematic illustration of a pickup flow according to an embodiment of the invention;

34A-34B are schematic cargo transportation flow diagrams according to one embodiment of the present invention; and

FIG. 35 is a dispatch flow diagram in accordance with one embodiment of the 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 which is different from the conventional logistics thinking, and various sorting centers, collecting and distributing areas, fixed warehouses and the like are not needed any more, so that the goods are stored, sorted, shunted and delivered in the flowing transportation process, the material consumption of all levels of fixed warehouses, sorting centers and packaged goods is saved, and the transportation efficiency of the goods is improved.

The invention provides a mobile warehouse which not only plays a role in transporting goods, but also can achieve the purpose of storage. In one embodiment, some of the flow warehouses include stereoscopic warehouses, storage devices, moving devices, sorting devices and vehicles. 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. Of course, in some embodiments, when the stereoscopic warehouse in the mobile warehouse is small enough, there may be no need for a sorting device, such as some express robots located at the end of the logistics, which may have only one to two warehouse location units inside, and no need to sort the goods, and thus there is no sorting device for logistics equipment similar to the express robots. In addition, for a few mobile warehouses, the sorting device can be located outside the stereoscopic warehouse, such as a certain place in a car box, the sorting device is used for sorting, and then the warehouse is transported to the stereoscopic warehouse for sorting and storage.

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. When the upper layer is reached, the lifting platform 42 stops lifting, and is butted and positioned with the storage position unit on the upper layer. The AGV3 carries the parent container 2 toward the target library bit position. When the target magazine bit unit is reached, the jack-up mechanism is withdrawn, and the parent container 2 is placed on the support structure of the target magazine bit unit.

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 detail in the description corresponding to fig. 13A-13B, 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.

Sorting deviceExamples of the embodiments

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 mobile warehouse is a mini-truck 9a, which includes the stereoscopic warehouse 91 in the second stereoscopic warehouse embodiment, and further includes the parent transportation container 2 and the child transportation container 7 as the storage devices, the AGVs 3 as the transfer devices, the sorting devices 6, and the transportation vehicles 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-20C, the docking schematic diagram of the mini-truck and the express delivery robot of this embodiment is shown. When the mini-truck 9a is docked with the express robot 8, the door 94 is opened, and when the lifting bracket 962 of the lifting docking device descends 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 inside the mini-truck 9a enters the container of the express robot 8, and carries the parent container inside the mini-truck 9a, or carries the corresponding parent container in the mini-truck 9a to the container of the express robot 8 as required.

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 mobile warehouse is a city-area circulating truck 9b, wherein the vehicle 90 is a medium or large-sized cargo 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.

Figure 23 is a schematic illustration of the docking of a mini-truck 9a with a city recycling truck 9 b. Since the mini-truck 9a is a small transportation means and its height is smaller than the urban circulating truck 9b, the stereoscopic warehouse inside it cannot be directly butted with the stereoscopic warehouse in the urban circulating truck 9 b. After the doors of the mini-truck 9a and the mini-truck are opened, the lifting bracket in the butt joint device in the mini-truck 9a ascends, and the butt joint plate is put down, so that the butt joint plate is completely butted with the storage position unit in the urban circulating truck 9 b.

Fig. 24 is a schematic illustration of the docking of two urban recycling trucks 9 b. In this embodiment, after the vehicles of the two urban recycling trucks 9b adjust the vehicle bodies to stop, the opposite wing doors 942 are opened in sequence, and then the horizontal and alignment heights are adjusted. In the embodiment, the damping air bags are arranged between the box body frame and the vehicle body of the urban circulating truck 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.

Logistics System embodiment

The invention provides a logistics system based on the flow warehouse, which comprises a customer service system, a multi-stage midway transfer type flow warehouse and a plurality of distributed logistics control modules. For convenience of description of the system as a whole, various sizes of flow warehouses are named accordingly in the following description to make the scheme easier to understand. Each mobile warehouse of each level in the system is provided with a unique identification and a corresponding transportation distance range, and the whole mobile warehouse is divided into a plurality of levels according to the size of the transportation distance range, for example, three levels of international, intercity and city levels are divided on the whole. International and inter-city cargo transportation devices may include cargo aircraft, inter-city railways, long and short haul trucks, maritime cargo ships, etc. depending on the distance.

The city-level mobile warehouse can be divided into a plurality of different levels according to the size of a city and the transportation distance of the mobile warehouse. Fig. 26 is a schematic diagram of transportation distance of a city-level multi-stage flow warehouse. In this embodiment, the express delivery robot is used at the end of the logistics, the transportation distance is the shortest and is S1, so that the number of the express delivery robots is the largest, and the transportation range of the express delivery robot can cover all user areas in the city as a whole. The mini-truck is a secondary flow warehouse, the transportation distance S2 of the mini-truck is greater than the transportation distance S1 of the express delivery robot, the urban circulating vehicle is a tertiary flow warehouse, and the transportation distance S3 of the mini-truck is the largest urban transportation distance. The smaller the number required, the greater the transport distance. However, the size of the quantity is also related to the size of the shipment. Under the condition of large object flow rate, the number of the mobile warehouses is large, and the more the mobile warehouses are, the faster the goods flow, so that the advantage is higher and the efficiency is higher when the object flow rate is larger.

The transportation area of each level of the mobile warehouse in the invention changes along with the movement of the mobile warehouse, so that the dispatching is more flexible. When the goods are exchanged and butted, the butted place and the butted flow warehouse are calculated and determined only according to the logistics direction, the distribution of the flow warehouse and the transportation direction of the flow warehouse, so that the goods are butted and exchanged more flexibly and quickly, the retention time of the goods on one flow warehouse is reduced, and the logistics efficiency is improved.

The movable warehouse is provided with stereoscopic warehouses with different specifications, the goods are placed in the sub turnover boxes, the sub turnover boxes are placed in the main turnover boxes, and the main turnover boxes are stored in the warehouse space units in the stereoscopic warehouses, so that the goods cannot be accumulated and pushed together. The sub-turnover box has multiple specifications, can be suitable for goods of various shapes and sizes, and can protect the goods in the box from collision and damage in the transportation and carrying processes if structures such as anti-collision pieces are designed in the sub-turnover box for fragile goods according to requirements. When the goods are transported in the three-dimensional warehouse and are butted, the moving device provided by the invention, such as an AGV, is used for transporting the mother turnover box, the operation is stable, and the violent transportation and the violent sorting in the conventional logistics system are avoided. Therefore, the goods in the invention do not need various packaging tapes, packaging boxes, foam boxes, fillers and the like in the existing logistics system, thereby being more environment-friendly. Because the stereoscopic warehouses with the same specification are arranged in the flowing warehouses, the main turnover box for storing the sub turnover boxes can be commonly used in each flowing warehouse, and therefore when goods are handed over, the AGV can directly convey the sorted main turnover box from the current flowing warehouse to another flowing warehouse. The unloading and loading in the existing logistics system are not needed any more, thereby greatly saving time. In addition, each docking link does not need personnel intervention, so that contact between goods and people is avoided.

During the transportation process, the goods are transferred from one mobile warehouse to another mobile warehouse according to the logistics direction. The transfer of goods from the departure to the arrival destination through the aforementioned plurality of mobile warehouses with different transport distances forms a plurality of logistic chain stages.

Fig. 27 is a schematic block diagram of a logistics control system according to an embodiment of the invention. The logistics control system in this embodiment includes one or more customer service systems, and a plurality of logistics control modules with the same function or different functions.

As shown in fig. 28, the customer service system includes a customer service end and a customer service client. The client provides a user interface, and a user can input the information related to the goods to be sent out through the client in a text, picture, voice or video mode. For example, the recipient and the address thereof, the sender and the address, the type or name of the goods and special matters are input in a text mode, such as information indicating fragility, urgency, generality, express and the like, and photos and videos of the goods can be uploaded to facilitate the judgment of the size, the weight and the like. The user confirms the transmission after inputting the information. The client generates a user logistics order and sends the user logistics order to the server, the server analyzes information required by the logistics control system, such as recipient addresses, fragile characteristics of goods and logistics levels, and sends the information serving as logistics information of the goods to the logistics control module. And the logistics control module performs corresponding control operations such as goods taking, transportation, delivery and the like according to the goods logistics information. The server side also receives goods circulation information from the related logistics control module, for example, information such as the preset transportation path, the flow warehouse corresponding to each logistics chain, the current logistics chain, the corresponding flow warehouse, the area where the current logistics chain is located, the recording of the weight sensors of the flow warehouses at all levels in the way, the existence of collision and the like, so that the user can know the circulation progress of the sent goods. The client can also provide related logistics information, such as fee inquiry, logistics order, real-time inquiry of goods state and the like.

The server side issues user logistics order information to more than one logistics control module, and one logistics control module processes the order, such as receiving and dispatching goods, transportation, butt joint and the like.

In this embodiment, a logistics control module may include a plurality of modules with different functions, as shown in fig. 29, and in an example embodiment, the logistics control module includes a geographic information module and a route planning module.

The geographic information module is used for acquiring and maintaining the real-time geographic position of the mobile warehouse. The geographic information module comprises a geographic information system or is connected with the existing geographic information system through a special interface so as to acquire geographic position information. Correspondingly, various mobile warehouses in the invention are provided with positioning devices, such as positioning systems like GPS and the like, so as to determine the real-time physical positions of the mobile warehouses, and send the real-time geographic positions to the geographic information module, thereby obtaining the real-time geographic positions of the mobile warehouses.

The route planning module determines a flow warehouse, a handover place and corresponding logistics information of the handover goods according to the real-time geographic position and the driving capacity of the flow warehouse, the geographic traffic information and the logistics information of the transported goods. In one embodiment, after the above information is determined, a travel route to the transfer location is also calculated for the mobile warehouse to be transferred. Or in another embodiment, the travel route from the current position to the handover point is calculated by the positioning device in the mobile warehouse by itself with reference to the real-time traffic information. In another embodiment, when determining the docking site and the docking mobile warehouse, the docking site and the mobile warehouse are determined by preferentially using logistics information of goods with high logistics level with reference to the logistics level of the goods; when the quantity of the goods in the butt joint exceeds the capacity of the butt joint of the mobile warehouse, the goods with high logistics level are preferentially exchanged, so that the goods with high logistics level can be rapidly and timely delivered.

The logistics control module further comprises a goods supervision module used for acquiring and maintaining logistics information of transported goods from the customer service system, wherein the logistics information comprises goods order information, such as consignees and addresses, contact ways and logistics levels, such as express and ordinary. The logistics information also comprises identity binding information between the goods and the mobile warehouse, the warehouse location unit, the parent turnover box and the child turnover box. Through the binding relationship information, the carrying capacity of the mobile warehouse, such as the number of warehouse units in each mobile warehouse and the distribution of the warehouse units in the stereoscopic warehouse, can be determined. The mobile warehouse for transporting the goods and the position of the mobile warehouse in the stereoscopic warehouse can be determined through the identity binding information between the parent turnover box and the child turnover box and the identity binding information between the parent turnover box and the warehouse location unit. The information changes along with the goods transportation process, and the logistics information of each sub-turnover box records the changed information in detail, so that the logistics process of a piece of goods can be tracked.

The logistics control module also comprises a sorting control module, wherein a sorting goods list of the moving warehouse is determined according to the moving warehouse and the handing-over place of the handed-over goods, a sorting task is distributed to a sorting device in a stereoscopic warehouse built in the moving warehouse, a carrying task is distributed to a moving device, and the moving device and the sorting device are matched to finish the sorting of the goods before the butting.

In one embodiment, as shown in fig. 30, the sorting control module includes a cargo statistics module and a task planning module, and the cargo statistics module analyzes address information of each parent container and its internal child containers in each mobile warehouse according to the sorting logistics to determine a target parent container and a target child container. And the task planning module determines corresponding tasks for each sorting device and each object moving device at least according to the distribution information of the target storage devices in the warehouse, the distribution information of the sorting devices and the quantity and position information of the object moving devices. In an embodiment, the task planning module comprises a sorting task unit and a handling task unit.

And the sorting task unit obtains the specification information of the target sub-turnover box according to the target sub-turnover box determined by the goods counting module and determines a matched target sub-turnover box for placing the sorted target sub-turnover box, so that a target sub-turnover box list is obtained. The target sub-container list at least comprises target sub-container identity information, originally bound target parent container identity information, matched target parent container identity information where the target sub-containers are to be placed after sorting and corresponding storage location unit identity information. As shown in the following table:

TABLE 1

Target sub-turnover box	First target mother transfer box	First reservoir location unit	Second target mother transfer box	Second library site unit
					A300x180x180	M500B700C100	A-100-201-3001	N385B769F269	A-100-202-4002
……	……	……	……	……

For convenience of description, a target parent container in which the target child container is located is referred to as a first target parent container, and a target parent container in which the sorted target child container can be placed according to the specification of the target child container is referred to as a second target parent container.

And the sorting task unit distributes equal sorting tasks for each sorting device according to the distribution condition of the first target mother turnover box, the second target mother turnover box and the sorting devices in the three-dimensional warehouse in a principle of near. Or determining the sorting task according to the principle of least time required by the carrying process. The sorting of one target sub-container is referred to as a sorting task.

The conveying task unit 6432 is configured to assign a conveying task to each article transferring device in real time according to the distribution of the article transferring devices, the sorting devices, and the target parent turnover boxes. The carrying task refers to carrying a target mother turnover box to a sorting unit of the sorting device, or carrying a first target mother turnover box which is sorted in the sorting unit to a storage position unit of the first target mother turnover box, or carrying a second target mother turnover box which is sorted to an idle storage position unit of the delivery area. Therefore, the carrying task sent to the article moving device comprises the identity information of the mother device, the identity information of the storage position unit where the mother device is located and the identity information of the storage position unit where the mother device is placed, wherein the storage position unit where the mother device is placed can be a sorting unit, an ordinary storage position unit or a storage position unit of a storage outlet area.

The first target mother turnover box and the second target mother turnover box required by the sorting unit during sorting can be carried by one article moving device or two different article moving devices. The moving device can stop to wait for the transportation after sorting after being transported, and can also carry out other transportation tasks after being transported.

Each logistics control module in fig. 27 may include all the modules and units in fig. 29 and fig. 30, or only some of the modules and units, and share the required but absent modules and units with other logistics control modules.

The invention adopts the midway transfer type decentralized control mode, and when goods enter a logistics chain, the goods information is sent to each module. One or more modules control the mobile warehouse in one area to complete the receiving, transportation, butt joint, handover, sorting, dispatching and other operations of goods. When one of the function modules fails, the other same function modules can take over the failed function module to realize the corresponding control function. When one mobile warehouse has a fault, the control module replaces the fault mobile warehouse by other mobile warehouses through reasonable planning and calculation.

The invention provides a midway transfer type logistics method, which mainly comprises the following aspects: receiving and sending of goods, transportation of goods, and transferring and sorting in the process of goods transportation.

The logistics system is provided with a transportable primary and secondary turnover box. When goods are collected, the goods are stored in the sub-turnover box. After goods enter the logistics system, the sub turnover boxes are stored in the main turnover box, and one or more sub turnover boxes are arranged in one main turnover box. The mobile warehouse is internally provided with a stereoscopic warehouse which comprises one or more warehouse location units. In the process of cargo transportation, the mother turnover box is stored in the storage position unit. The unique identification marks are arranged on each mobile warehouse, the warehouse location unit in each mobile warehouse, the sub-turnover box and the main turnover box, and the binding relationship between the mobile warehouses, the sub-turnover box and the main turnover box is established or released according to the conditions of sorting, exchange and the like in the transportation process in the logistics process, so that accurate goods circulation information can be obtained.

In the transportation process of the goods, the multi-stage flow warehouses are adopted to transport the goods within the corresponding transportation distance range, the goods are transferred from one flow warehouse to another flow warehouse according to the distribution position and the logistics direction of the flow warehouses, and the transfer process is repeated continuously until the goods reach the logistics destination. Since the goods need to be transferred between different flow warehouses, the goods need to be sorted from the original flow warehouse before being transferred. The sorting of the invention takes place in a mobile warehouse in the course of the transport of goods.

The method of the present invention for mid-stream transfer type distribution is described in detail below with reference to specific examples.

Cargo logistics process embodiment

Scene: beijing A women shengxian A shengxiang an china box of china, selected the special fast logistics level of aviation. Referring to fig. 31, the logistics process includes the steps of:

in step S1, a logistics order is generated. Comprising the steps shown in fig. 32:

step S11, the A lady generates a logistics order including the name, address and contact information of the receiver through a customer service client, such as APP or small program supported by a mobile phone; the name, address and contact of the shipper; logistics class (aviation express); size; and the customer service client generates a two-dimensional code according to the information, and sends the two-dimensional code to the server. This process took approximately 2 minutes.

And step S12, after receiving the two-dimensional code, the server analyzes the two-dimensional code to obtain order information, stores the order information into a database, and informs each logistics control module at the cloud.

And step S13, determining a related logistics control module according to the goods taking place.

Step S14, the logistics control module determines an express robot for picking up goods according to the location of picking up goods, the time for reserving picking up goods, the current traffic situation, the distribution and workload of the express robots in the area, for example, the number is R005569, determines the sub-containers according to the goods information in the order, that is, the identifiers of the sub-containers are determined, for example, a300x180x180, and generates a task of picking up goods to allocate to the determined express robot R005569.

And step S2, taking the goods. Comprising the steps shown in fig. 33:

in step S21, the express delivery robot R005569 carries the designated sub-container according to the received information in the pickup task, and arrives at the pickup location L1 according to the designated route or the route cloud-calculated by its own geographic information system. Wherein, preferably, the express delivery robot R005569 informs A ladies 10 minutes before arrival and by telephone/short message after arrival.

Step S22, the shipper' S identity is verified and loaded. After the mobile phone and the identity of the lady A are verified, the container cover is opened, the lady A is guided by voice or video to open the sub-container A300x180x180, the simply wrapped porcelain is put in, and the container opening password is set.

Step S23, weighing and charging. The express delivery robot R005569 calculates the cost according to the weighing information and informs the cost through voice and a display screen, and after the ladies A agree, the goods taking is completed through voice confirmation or clicking a confirmation key of the display screen. Express delivery robot R005569 will with A ms's interactive process whole journey video of getting goods upload to the high in the clouds, save in the database for fetch when the problem appears and look over. The express delivery robot R005569 takes about 3 minutes to take goods with the user interaction. After the goods are taken, the goods are subjected to a logistics system, and the goods delivery is started, namely 10 a.m.: 00.

at the moment, the child turnover box containing the A lady goods is located in a mother turnover box M500B700C100 in a container of an express robot R005569, the express robot R005569 establishes the identity binding relationship between the lady goods and the child turnover box A300x180x180, establishes the identity binding relationship between the child turnover box A300x180x180 and the mother turnover box M500B700C100, and associates the identity of the express robot R005569.

In the following cargo exchange process, after the child container a300x180x180 is separated from the parent container M500B700C100, the identity binding relationship between the child container a and the parent container is released, and the identity binding relationship between the child container a300x180x180 and the new parent container is established. When the mobile warehouse is changed, the identity relationship between the parent turnover box and the mobile warehouse also needs to be bound again, and all the change messages are recorded in the identity tags of the child turnover boxes and are simultaneously uploaded to the cloud goods supervision module. In the following process, changes to the relationship are not described again for the sake of simplifying the description.

And step S3, transporting goods. Specifically including the steps shown in fig. 34A-34B:

step S31, after the goods are taken, the cloud logistics control module determines a location L2 and a moving warehouse for first docking of the goods according to the current location L1 (the current location of the delivery point of the goods, that is, the location where the goods are taken in agreement with ladies a), the logistics direction of the goods, the distribution of other moving warehouses in the area, and the transportation direction of the express robot R005569. For example, it is determined that a minivan a0101 docks with a courier robot R005569. Because the user selects the air express, the logistics control module inquires the latest freight flight to the destination of the airport and determines the reasonable time for the arrival of the goods at the airport to board. And determining the flow warehouse later by taking the airport direction and the boarding time as determination information.

In step S32, the express delivery robot R005569 arrives at the docking designated location L2 according to a designated route or a self-calculated route, and merges with the minivan a 0101. For example, a distance of 0.5Km, for 10 minutes.

Step S33, the transfer device of the stereoscopic warehouse in the minivan A0101, such as an AGV, carries the mother turnover box in the express robot R005569 container to the stereoscopic warehouse of the minivan A0101. If the goods to be dispatched are in the mini-truck A0101, the parent turnover box to be dispatched is conveyed to the container of the express robot R005569. This process takes about 5 minutes. At this point, the pick-up task of the courier robot R005569 is completed, and a new dispatch task is started. At this time, the express robot R005569 is an upper logistics chain and the minivan a0101 is a lower logistics chain in terms of the logistics direction.

Step S34, the cloud logistics control module determines the flow warehouse (such as urban circulating truck B011) and the docking location L3 (and the driving route) of the lower logistics chain docked with the mini truck A0101 according to the current position L2 of the mini truck A0101, the logistics direction and the boarding time of the goods airport, the distribution conditions of other flow warehouses in the area, such as other mini trucks, urban circulating trucks and the like, and the current transportation direction of the flow warehouses, and sends the information to the mini truck A0101 and the urban circulating truck B011.

Step S35, the cloud sorting control module determines two vehicle sorted goods lists according to goods information and sorting logistics places of stereoscopic warehouses inside the mini-truck A0101 and the urban circulating truck B011, and the two vehicle sorted goods lists are respectively sent to the stereoscopic warehouse in the mini-truck A0101 and the stereoscopic warehouse in the urban circulating truck B011.

In step S36, the minivan a0101 and the urban area circulating van B011 travel to the docking point L3 according to the designated or self-calculated travel route, respectively. In the driving process, sorting devices in built-in stereoscopic warehouses of the mini-truck A0101 and the urban circulating truck B011 sort the sub-containers according to the received sorted goods list so as to sort the goods needing to be exchanged before meeting. For the goods just received for A lady, the sorting is primary sorting. Since there are other goods on the mini-van a0101, depending on the direction of the flow, it may be necessary to transfer to the urban recycling van B011 at the docking point L3, for which there is a possibility of primary sorting (e.g., goods transferred from other delivery robots) or secondary or tertiary sorting, e.g., goods transferred from other mini-vans or from more urban recycling vehicles. For the mini-truck A0101, the distance of moving to the junction point according to the cloud-end planned path is 2Km, and the time is about 10 minutes.

In step S37, after the minivan a0101 and the urban area circulating van B011 dock at the docking point L3, they exchange their cargoes. It took about 5 minutes.

Step S38, the cloud logistics control module determines a driving route of the urban circulating truck B011 and goods needing to board at the airport according to the current position L3 of the urban circulating truck B011 and the position of the airport. In which, with reference to the cargo boarding time, it can be determined whether or not it is possible to exchange cargo with other mobile warehouses on the intermediate journey from the position L3 to the airport.

Step S39, the urban circulating truck B011 drives to the airport according to the planned route, and the sub-turnover boxes needing to be boarded are sorted in the driving process, which can be called zone-level sorting. If time is available, other moving warehouses may also be received on the road, such as goods transported by a minivan or express robot to an airport. The distance from position L3 and the airport was 40Km, taking about 60 minutes.

Step S310, after the urban circulating truck B011 is in butt joint with the freight airplane, the mother turnover box is conveyed to the stereoscopic warehouse of the freight airplane by a moving device in the stereoscopic warehouse, such as an AGV, and the time is about 30 minutes.

Step S311, the freight airplane takes off from Beijing, and the sorting robot sorts the sub-turnover boxes in the market grade in the flying process, namely, sorts out the goods going to different cities, which is called market grade sorting.

Step S312, the cloud logistics control module determines a plurality of urban area circulating trucks to be docked according to the landing time of the airplane, the next takeoff destination of the airplane, and the destination of the cargo transported in the airplane, wherein the urban area circulating trucks include urban area circulating truck B708 of the city to which the article shipped by the ladies a will go, routes are planned for the plurality of urban area circulating trucks, and the routes are sent to the corresponding urban area circulating trucks.

And step S313, the cargo airplane lands the Shenzhen airport for about 220 minutes (12: 00 takeoff → 15:40 landing), and is butted with a plurality of urban circulating trucks including an urban circulating truck B708 to exchange mother turnover boxes. It took about 30 minutes.

Step S314, the cloud customer service system informs Shenzhen A of the approximate receiving time through a telephone or a short message, and meanwhile, the cloud line planning module plans a delivery path. Such as a floating warehouse and a location L4, such as a mini-truck a5603, which is determined to interface with the urban recycle truck B708, based on the destination of the goods and the distribution of the floating warehouses and the flow direction of the goods in the current urban area.

In step S315, the urban circulating truck B708 performs zone-level sorting on the sub-turnaround boxes during the moving process. Meanwhile, the mini-truck A5603 performs zone-level sorting on the sub-turnover boxes in the moving process. Assuming location L4 is 40Km from the airport, the time it takes for downtown cycle truck B708 to arrive at docking location L4 is 60 minutes.

In step S316, after the urban circulating truck B708 is docked with the mini truck a5603, the cargo exchange is performed. It took about 5 minutes.

In step S317, the cloud circuit planning module determines the express robot R110020 and the docking point L5 docked with the minivan a5603 according to the cargo destination and the distribution and operation conditions of the express robots in the region.

Step S318, the minivan a5603 moves to the docking location L5, and final sorting is performed during the movement, that is, the goods sent by ladies a are sorted out. The mini-truck a5603 reached the docking point L5 and traveled for 10 minutes at 2 Km.

Step S319, the mini-truck A5603 is converged with the express robot R110020, and the parent turnover box with the A lady goods placed therein is transferred to the express robot R110020. It took about 5 minutes. If the express robot R110020 also has goods to be transferred to the mini-truck A5603, the goods of the express robot R110020 are firstly carried to the mini-truck A5603, and then the main turnover box with the goods of the A ladies is transferred to the express robot.

And step S4, dispatching. The cloud service system determines a goods delivery place according to the communication with mr. a, or the cloud service system determines a delivery place L6 according to the order address or the goods storage cabinet in the order address area. In this embodiment, the place designated by mr. a is taken as an example. Specifically, the steps shown in fig. 35 are included:

in step S41, the express delivery robot R110020 moves to the delivery location L6 according to the cloud plan or the self-calculated path. For example, a distance of 1Km, for 30 minutes.

In step S42, the express robot R110020 calls/notifies mr a in the first 10 minutes and the last time of arrival. And when the customer service system arrives at the location L6, waiting for the preset time, if the preset time is exceeded, asking for the cloud customer service system, prolonging the waiting time or placing the cloud customer service system in a nearby express cabinet (a small three-dimensional warehouse with the same specification) and uploading the change information to the customer service system. The customer service system informs the A of the delivery of the first-generation in the modes of telephone, short message or mail and the like.

And step S43, the Mr. A arrives within the longest waiting time, and the express robot R110020 automatically opens the cargo box cover after verifying the mobile phone and the identity of the Mr. A.

And step S44, the express robot R110020 voice guides Mr. A to open the sub-circulation box, take out the porcelain, cover the sub-circulation box after the porcelain is confirmed to be intact and click a confirmation key of a display screen, and the dispatching is finished. Express delivery robot R110020 is uploaded the cloud in the whole video with mr A's interactive process, and this process takes about 3 minutes.

Thus, in this example logistics spans over half of China, about 2000 kilometers all the way, only using 480 minutes (8 hours, no dispatch waiting time), shipping 10 am, and delivery 18 pm.

In this embodiment, the target cargo needs to move between two cities, and in this embodiment, a cargo airplane is selected, but railway transportation or long-distance truck transportation may also be selected. Because different transport means have different time and cost, the system determines different logistics levels according to the transport means, the time and the cost for the user to select. For example, the shortest time but the highest cost of the cargo plane can satisfy the users who have high time requirements but not limited cost, but for most users, the time of the cargo is not important, so that the common level can be selected first, and the transportation means adopted in the corresponding logistics system can be rail transportation or long-distance truck transportation. Therefore, the invention can meet various user requirements.

In addition, in the above embodiment, during the transportation process of step S3, the flow warehouse and docking point of each logistics chain level to be docked are calculated at the beginning of the transportation, and then are continuously corrected during the real-time transportation process to cope with the changes caused by the emergency. For example, when the express robot finishes taking goods, the route planning module in the cloud calculates various flow warehouses from the location L1 where the express robot is located to the airport, the transportation directions thereof, and the current traffic conditions according to the currently determined docking point-airport of the target goods and the determined time, so as to determine a plurality of docking locations and docking flow warehouses required from the location L1 where the express robot is located to the airport. After the docking is realized at one docking point, a plurality of docking points and docking mobile warehouses required from the current point to the airport are calculated again, if the docking points and the docking mobile warehouses are not consistent, the result of the last calculation is taken as the standard, namely the initial route scheme is corrected by the calculation.

The logistic chain in this example is briefly described as follows:

the system comprises a client, an express robot, a mini truck, a city circulating truck, a freight airplane, a city circulating truck, a mini truck, an express robot and a client.

In the above logistics chain, the docking situation of the multi-stage flow warehouse in the city is as follows: the first-stage flowing warehouse express robot is in butt joint with the second-stage flowing warehouse mini-truck, and the second-stage flowing warehouse mini-truck is in butt joint with the third-stage urban area circulating truck. However, this process is only an example, and the docking process may also be a process in which an express robot of a first-level flow warehouse docks a third-level urban area circulation truck, and if an inter-city flow warehouse such as a train or an automobile that needs to be parked in the middle is used, as long as the logistics directions of the two are consistent, and the time and the place are matched, various flow warehouses in the city may also be directly docked with the inter-city flow warehouse. Therefore, the logistics system 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:

a stereoscopic warehouse comprising one or more warehouse location units;

a storage device configured to be received in a 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 conveying the storage device between the storage position units; and

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

2. The flow warehouse of claim 1, wherein further comprising a sorting device configured to sort goods in storage devices.

3. Flow warehouse according to claim 2, wherein the sorting device is arranged outside the stereoscopic warehouse.

4. Flow warehouse according to claim 2, wherein the sorting device is provided in a stereoscopic warehouse.

5. The flow warehouse of claim 4, wherein the sorting device is configured to occupy a plurality of adjacent bay units.

6. Mobile warehouse according to claim 4, wherein the sorting device comprises a plurality of sorting units, which are connected to the storage units for receiving the storage devices, and wherein the transfer device is configured to transport the storage devices with the goods to be sorted from the storage units of the stereoscopic warehouse to one of the sorting units.

7. The flow warehouse of claim 6, the sorting apparatus comprising:

a support part connected with at least one sorting unit;

the moving part is movably connected to the supporting part and can move among the sorting units along the supporting part; and

the sorting robot is connected on the moving part and used for grabbing the goods, and the goods are sorted from the first storage device to the second storage device along with the movement of the moving part.

8. The mobile warehouse of any one of claims 1 to 7, wherein the storage devices comprise a child container and a parent container, wherein the child container is provided with goods, the parent container is provided with one or more child containers, and the parent container is arranged in the storage space of the warehouse unit; wherein, the parent turnover box is associated with the identity of the child turnover box therein.

9. The flow warehouse of claim 1, further comprising docking means for directly or indirectly docking the stereoscopic warehouse with another stereoscopic warehouse.

10. Flow warehouse according to claim 9, wherein the docking device is a lifting docking device and/or a horizontal movement docking device.

11. A logistics system, comprising:

a customer service system configured to interact with a user and receive a user logistics order;

the multi-stage mobile warehouse as claimed in any one of claims 1 to 10, configured to transport goods within their respective transport distance ranges, and to transfer the goods to and from different mobile warehouses of the same logistics direction, the multi-stage mobile warehouse sorting the goods for the next transfer during the transportation of the goods; and

a plurality of distributed logistics control modules configured to manage cargo logistics information, cargo transceiving, transfer and sorting.

12. The system of claim 11, wherein the customer service system comprises:

the customer service client is used for providing a user interface, providing related logistics information for a user and receiving a logistics order of the user; and

and the customer service side receives the logistics order of the user sent by the client side, extracts the goods logistics information from the logistics order, sends the goods logistics information to the logistics control system, and obtains the circulation information of the goods in the logistics chain.

13. The system of claim 11, wherein the multi-stage flow warehouse comprises: a goods receiving and dispatching device for handing over goods with users, a multi-stage urban mobile warehouse and an intercity goods transportation device.

14. The system of claim 13, further comprising a courier robot and/or a drone to hand over goods to a user.

15. The system of claim 13, wherein the inter-city cargo transportation devices comprise sea, air and land transportation devices with stereoscopic warehouses.

16. The system of claim 11, wherein the logistics control module comprises:

one or more distributed geographic information modules configured to acquire and maintain real-time geographic locations of the mobile warehouse; and

one or more distributed route planning modules configured to determine a flow warehouse, a hand-over location and corresponding logistics information of the hand-over goods according to the real-time geographical position, the transportation direction, the geographical traffic information and the logistics information of the delivery goods of the flow warehouse.

17. The system of claim 16, wherein the logistics control module further comprises one or more distributed cargo supervisory modules configured to acquire and maintain logistics information for transporting cargo, the logistics information comprising cargo logistics order information, logistics level information, identity binding information for cargo to mobile warehouses, storage bay units, storage devices, and cargo circulation information.

18. The system of claim 16, wherein the logistics control module further comprises one or more distributed sorting control modules configured to determine a sorted inventory of the mobile warehouse from the mobile warehouse and docking location where the goods are docked for delivery, and to assign sorting tasks to sorting devices in the mobile warehouse built-in stereoscopic warehouse, and to assign handling tasks to the transferring devices, which cooperate to complete the sorting of the goods prior to docking.

19. The system of claim 16, wherein the customer service system is further configured to, upon receiving a user order, publish the user order information to the plurality of logistics control modules; one or more of the plurality of logistics control modules cooperate to process the user order.

20. The system of claim 19, wherein the user order is further configured to continue to be processed by one of the distributed logistics control modules or modules upon failure of the other distributed logistics control module or module.

21. A logistics method based on the flow warehouse of claim 1, comprising:

22. The method of claim 21, wherein the mobile warehouse houses a transportable parent-child container, the parent container housing one or more child containers, the goods being placed within the child containers; when goods are handed over, the parent turnover box and/or the child turnover box are handed over; the mobile warehouse sorts the sub-containers when sorting the goods.

23. The method of claim 22, wherein during the cargo sorting and docking process comprises: and establishing or releasing the identity binding relationship between the mobile warehouse storage location unit and the parent turnover box contained therein, and establishing or releasing the identity binding relationship between the parent turnover box and the child turnover box.

24. The method of claim 21, further comprising: and in response to the logistics level selected in the logistics order of the user, preferentially determining the type of the flow warehouse in the corresponding logistics chain and the butted flow warehouse for the goods with high logistics level.

25. The method of claim 21, further comprising: and when the goods are in logistics transportation, determining a flow warehouse and a butt joint place for transferring the goods according to the real-time geographical position, the transportation direction, the geographical traffic information and the logistics direction for transporting the goods of the flow warehouse.

26. The method of claim 25, further comprising: a travel route of the floating warehouse to the docking site is determined.

27. The method of claim 25, wherein when the mobile warehouse docking transfers the goods, the mobile warehouse and the hand-over location for the next docking are calculated.