CN112298878B

CN112298878B - Warehousing system and warehousing control method

Info

Publication number: CN112298878B
Application number: CN202010070472.XA
Authority: CN
Inventors: 韩松
Original assignee: Beijing Jingdong Zhenshi Information Technology Co Ltd
Current assignee: Beijing Jingdong Zhenshi Information Technology Co Ltd
Priority date: 2020-01-21
Filing date: 2020-01-21
Publication date: 2022-07-05
Anticipated expiration: 2040-01-21
Also published as: CN112298878A

Abstract

The present disclosure relates to a warehousing system and a warehousing control method, wherein the warehousing system comprises: a first bin (1); the second bin (2) is arranged in the first bin (1); a plurality of goods shelves (4), at least part of the goods shelves (4) are arranged in the inner area of the second bin (2), a plurality of storage positions (A) are arranged in the goods shelves (4), and each storage position (A) is provided with a container (5) for storing articles; and a refrigeration device (3) configured to refrigerate inside the second compartment (2). The storage system improves the diversity of storage functions, can also improve the storage density, reduces the volume of the second bin, not only is the refrigeration effect easy to ensure, but also the waste of refrigeration energy can be reduced, the power consumption is reduced, and the storage cost is saved; in addition, different types of articles can be stored in different second bins respectively, classified storage according to storage requirements of different articles can be realized, and energy consumption is saved.

Description

Warehousing system and warehousing control method

Technical Field

The disclosure relates to the technical field of logistics storage, in particular to a storage system and a storage control method.

Background

With the development of online shopping, a shopping website generates a large number of orders every day, and for e-commerce, the production of the orders can be completed to the maximum extent under the conditions of lowest cost and fastest timeliness, so that the method is a target pursued by each e-commerce in a package production link. Meanwhile, at present, commodities such as medicines, seafood, meat, fruits and vegetables which need to be refrigerated or frozen can be purchased through a network, and a large number of refrigerated and fresh bins or freezing bins are needed to store the commodities at low temperature.

Present cold bright storehouse, freezing storehouse generally all are the monomer storehouse, and this warehouse can only store up cold bright commodity promptly, because all be freezing environment in the storehouse, the commodity all needs to preserve under the freezing environment, because whole warehouse all is freezing environment, so the refrigeration loss in the storehouse is than higher, because storage density is not big, and the space is great, and refrigeration waste is comparatively serious, and the electric quantity consumes higher.

Disclosure of Invention

The embodiment of the disclosure provides a warehousing system and a warehousing control method, which can obtain better warehousing performance.

A first aspect of an embodiment of the present disclosure provides a warehousing system, including:

a first bin;

the second bin is arranged in the first bin;

at least part of the goods shelves are arranged in the inner area of the second bin, a plurality of storage positions are arranged in the goods shelves, and each storage position is provided with a container for storing articles; and

a refrigeration device configured to refrigerate within the second bin.

In some embodiments, a plurality of second bins are disposed in the first bin, and the refrigerating temperature of the refrigerating device corresponding to each second bin can be adjusted according to the requirement of the stored goods.

In some embodiments, the warehousing system further comprises:

an unmanned transport device configured to transport a container; and

a warehousing control system configured to move the unmanned transport device to effect access to the second bin in accordance with an access task of the second bin.

In some embodiments, the second compartment has an item-communication opening, and the warehousing system further includes an operator station disposed outside the second compartment adjacent the item-communication opening and configured to park the unmanned transport device removed from the second compartment for picking items or receiving items to be entered into the second compartment.

In some embodiments, a plurality of article circulation ports are provided, and each article circulation port is provided with one operation platform.

In some embodiments, a warehousing channel and a delivery channel are arranged in the second bin, the warehousing channel and the delivery channel are communicated with each other, and the movement directions of the unmanned transportation equipment in the warehousing channel and the delivery channel are opposite.

In some embodiments, the second bin comprises a plurality of shelves arranged side by side along the first direction, a branch channel is arranged between adjacent shelves opposite to the goods taking port, each branch channel is communicated with the warehousing channel and the delivery channel, and the warehousing channel and the delivery channel extend along the first direction and extend for covering each shelf.

In some embodiments, the second compartment has a product flow opening, the loading and unloading channels are located on one side of the overall area of the shelves and are arranged side by side along a second direction, the product flow opening is located on a side of the loading and unloading channels away from the shelves, and the second direction is perpendicular to the first direction.

In some embodiments, the goods shelf is provided with a plurality of layers of storage positions along the height direction of the goods shelf, and the unmanned transportation equipment comprises a rail guided vehicle;

the warehousing system further comprises a plurality of layers of rails and lifting components, wherein the rails of each layer correspond to the storage positions of each layer one by one and are configured to guide the rail guided vehicles to move in the horizontal plane to reach the target storage positions, and the lifting components are configured to drive the rail guided vehicles to reach the rails of different layers.

In some embodiments, the unmanned transport equipment comprises a rail guided vehicle, a rail is arranged in the second bin, a charging wire is arranged on the rail, and a charging component is arranged at the bottom of the rail guided vehicle and used for charging in the moving process of the rail guided vehicle through docking with the charging wire.

In some embodiments, the warehousing control system is configured to select an idle unmanned transport device after receiving the warehousing task, and plan a movement path according to the position of the selected unmanned transport device and the target position, so that the unmanned transport device moves according to the planned movement path.

In some embodiments, the second bin has article circulation openings each provided with an openable and closable door body configured to open when an article is conveyed to reach the article circulation opening and to close when an article is conveyed to leave the article circulation opening.

A second aspect of the embodiments of the present disclosure provides a warehousing control method based on the warehousing system of the above embodiments, including:

receiving an in-out task of a second bin;

and enabling the unmanned transportation equipment bearing container to move according to the warehouse entry task so as to realize the entry and exit of the articles in the second warehouse.

In some embodiments, after receiving the warehousing task for the second bin, further comprising:

selecting an idle unmanned transport device;

planning a motion path according to the position of the selected unmanned transportation equipment and the target position;

and sending the planned motion path to the unmanned transportation equipment.

In some embodiments, the second bin is provided with article through-flow openings, and the bin control method further comprises:

when the unmanned transportation equipment moves to reach the article circulation port, the door body is opened; and

when the unmanned transportation equipment moves to be away from the article circulation opening, the door body is closed.

In some embodiments, the second bin is provided with a product through-flow opening, and the warehousing system further comprises an operation table arranged outside the second bin and near the product through-flow opening; when the ex-warehouse task is executed, the warehousing control method further comprises the following steps:

parking the unmanned transport equipment removed from the second bin on an operation table to pick the articles;

in response to an instruction to complete picking of the item, the unmanned transport device is caused to move the container back to the empty storage location before moving out the next container.

In some embodiments, the second bin is provided with a product through-flow opening, and the warehousing system further comprises an operation table arranged outside the second bin and near the product through-flow opening; when the warehousing task is executed, the warehousing control method further comprises the following steps:

the container corresponding to the article to be warehoused, which is carried by the unmanned transportation equipment, is moved out of the second bin and is parked on the operating platform so as to be convenient for putting the article to be warehoused;

and responding to the instruction of putting the articles to be warehoused into the container, enabling the unmanned transportation equipment to move the container back to the empty storage position, and then moving out the next container.

In some embodiments, the step of causing the unmanned transport device to move the container back to an empty storage location comprises:

moving the container back to the original storage location; or

Moving the container back to an empty storage position closest to the article circulation port where the unmanned transportation equipment is located currently, and updating storage position information of the container; or

The container is moved back to the empty storage location closest to the next container and the storage location information for the container is updated.

In some embodiments, the direction of movement of the unmanned transport device in the loading passage and the unloading passage is opposite.

In some embodiments, before the unmanned transportation device enters one of the branch channels from the loading channel and the unloading channel, the unmanned transportation device further comprises:

judging whether unmanned transportation equipment exists in the branch channel to be entered, if not, directly entering, if so, judging whether the existing unmanned transportation equipment influences the movement of the unmanned transportation equipment to be entered, if so, stopping waiting, and if not, directly entering.

According to the warehousing system of some embodiments, the internal refrigeration bin is arranged in the large warehouse, and a single cold fresh bin or freezing bin does not need to be additionally built, so that the warehouse has the functions of normal-temperature storage and low-temperature storage at the same time, and the diversity of warehousing functions is improved; moreover, the standard goods shelf with storage positions is arranged in the second bin, so that the storage density can be improved, the volume of the second bin is reduced, the refrigeration effect is easy to ensure, the waste of refrigeration energy can be reduced, the power consumption is reduced, and the storage cost is saved; in addition, different types of articles can be stored in different second bins respectively, classified storage according to storage requirements of different articles can be realized, and energy consumption is saved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the disclosure and together with the description serve to explain the disclosure and not to limit the disclosure. In the drawings:

FIG. 1 is a side view of the internal structure of some embodiments of the warehousing system of the disclosure;

FIG. 2 is a front view of some embodiments of the warehousing system of the present disclosure;

FIG. 3 is a top view of some embodiments of the warehousing system of the present disclosure;

FIG. 4 is a schematic bottom view of the unmanned transport equipment in the warehousing system of the present disclosure;

fig. 5 is a flow chart illustrating some embodiments of the warehousing control method of the present disclosure.

Description of the reference numerals

1. A first bin; 2. a second bin; 21. an article flow port; 22. a door body; 3. a refrigeration device; 4. a shelf; 5. a container; 6. a track; 61. a charging wire; 7. unmanned transport equipment; 71. a charging member; 72. a longitudinal travel wheel; 73. a transverse travel wheel; 8. an operation table; A. storing bits; 91. a warehousing channel; 92. a delivery channel; 93. a branch channel; 94. and (4) lifting the area.

Detailed Description

The present disclosure is described in detail below. In the following paragraphs, different aspects of the embodiments are defined in more detail. Aspects so defined may be combined with any other aspect or aspects unless clearly indicated to the contrary. In particular, any feature considered to be preferred or advantageous may be combined with one or more other features considered to be preferred or advantageous.

The terms "first", "second", and the like in the present disclosure are merely for convenience of description to distinguish different constituent elements having the same name, and do not denote a sequential or primary-secondary relationship.

In the description of the present disclosure, the directions or positional relationships indicated by "upper", "lower", "top", "bottom", "front", "rear", "inner" and "outer" and the like are used based on the directions or positional relationships shown in the drawings, and are only for convenience of describing the present disclosure, and do not indicate or imply that the device referred to must have a specific direction, be constructed in a specific direction and be manipulated, and thus, should not be construed as limiting the scope of the present disclosure. As shown in fig. 3, a first direction in the horizontal plane is defined as an x-direction, a second direction in the horizontal plane is defined as a y-direction, and a vertical direction is defined as a z-direction.

As shown in fig. 1-4, in some embodiments, the present disclosure provides a storage system comprising: a first bin 1, a second bin 2, a refrigeration device 3, and a plurality of shelves 4.

The first bin 1 is a large-scale bin in logistics storage and is formed by enclosing an outer wall. The second bin 2 is disposed within the first bin 1, and a refrigeration device 3 is configured to refrigerate the second bin 2. The second bin 2 belongs to an internal bin arranged in a large-scale bin, is a refrigeration bin arranged in a special space in the large-scale bin, is used for storing special articles such as medicines, meat, seafood or fruits and vegetables at low temperature, and comprises at least one of a refrigeration bin and a freezing bin.

For example, the second bin 2 can be built through an outer wall or a plate, and the second bin 2 can be flexibly and conveniently arranged in the existing first bin 1 in such a way, and when the layout in the first bin 1 is changed, the second bin is convenient to detach or change the position. In order to prevent heat exchange between the inside and outside of the second chamber 2, the inner or outer surface of the side wall of the second chamber 2 may be covered with an insulating layer.

In order to reduce the waste of refrigeration energy, the volume of the second bin 2 is determined according to the actual demand of the stored goods, for example, the height of the second bin 2 is lower than that of the first bin 1 and is only slightly higher than that of the top of the shelf 4, so as to reduce the volume of the second bin 2 as much as possible and improve the utilization rate of refrigeration energy. In some embodiments, the second bin 2 is a movable structure, for example, the bottom of the second bin 2 is provided with rollers which can move along the ground or rails on the ground, so as to flexibly set the position of the second bin 2 according to the layout in the first bin 1, thereby improving the flexibility of the warehouse.

The shelf 4 is provided with a plurality of storage locations a, each of which is provided with a container 5 for storing articles, such as boxes, buckets or baskets or the like. At least a portion of the shelves 4 is disposed in the interior region of the second compartment 2 for storing items to be refrigerated or frozen; the other part of the goods shelf 4 is arranged in the area between the first bin 1 and the second bin 2 and is used for storing goods stored at normal temperature.

The warehouse system of this embodiment sets up inside refrigeration storehouse in large-scale warehouse, need not additionally to build monomer cold bright storehouse or freezing storehouse, can reform transform on the basis of existing large-scale warehouse at present, makes the warehouse possess the function of normal atmospheric temperature storage and low temperature storage simultaneously, has improved the variety of storage function. In addition, the standard goods shelf with storage positions is arranged in the second bin, so that the storage density can be improved, the volume of the second bin is reduced, and the refrigeration effect is easy to guarantee. And the waste of refrigeration energy can be reduced, the power consumption is reduced, and the storage cost is saved. In addition, different types of articles can be stored in different second bins 2 respectively, classified storage according to storage requirements of different articles can be realized, and energy consumption is saved.

In some embodiments, a plurality of second bins 2 are disposed in the first bin 1, and the refrigeration temperature of the refrigeration equipment 3 corresponding to each second bin 2 can be adjusted according to the requirement of the stored goods. The embodiment can be placed in different second bins 2 according to the storage temperature requirement of the articles, for example, the different second bins 2 can be used for respectively realizing fresh keeping, refrigeration and freezing; and the refrigeration temperature can be flexibly selected according to the storage temperature requirement of the articles so as to ensure the quality of the stored articles.

As shown in fig. 3, the warehousing system further comprises: unmanned transport equipment 7 and a Warehouse Control System (WCS). The unmanned transport device 7 is configured to transport the container 5, such as an Automated Guided Vehicle (AGV), a guided vehicle (RGV), or a robot; the warehousing control system is configured to move the unmanned transport device 7 in accordance with the second bin 2 access tasks to effect access to the second bin 2.

Because the temperature in the refrigerating bin is low, production personnel in the current bin need to wear clothes in winter to produce the clothes in the bin even in summer. The working environment of field production personnel is rather bad, clothes in winter need be worn for production in summer due to inflammation, the production is inconvenient, and the efficiency is low. This embodiment of this disclosure transports container 5 in second storehouse 2 through unmanned transportation equipment 7, can realize that article come in and go out second storehouse 2 automatically, can enough improve degree of automation to improve production efficiency, can avoid the staff to work in colder operational environment again.

As shown in fig. 2, the second bin 2 has an article passage 21 on a side wall thereof, and the warehousing system further includes an operation table 8 disposed outside the second bin 2 at a position close to the article passage 21 and configured to park the unmanned transportation device 7 removed from the second bin 2 so as to allow an operator or robot to directly pick up articles from the second bin 2 at the time of delivery and to transport the container 5 back to the second bin 2 after picking is completed; or receive the articles to be entered into the second bin 2 at the time of warehousing and transport the container 5 back into the second bin 2 after completion of the reception.

This embodiment establishes operation panel 8 in the second storehouse 2 outside the position that is close to article circulation mouth 21, can conveniently assist the warehouse entry that realizes article, can make article keep the low temperature state of article in the short time, can improve warehouse entry efficiency again, also need not to work in second storehouse 2 when putting in warehouse out through the cooperation of operating personnel.

As shown in fig. 3, a plurality of article passage openings 21 are provided, and one operation table 8 is provided for each article passage opening 21. When a plurality of articles need to be delivered into and delivered out of the warehouse, the unmanned transportation equipment 7 can work simultaneously, so that the delivery efficiency is improved, the articles needing to be stored at low temperature can be timely selected and delivered, or the articles can be timely delivered into the warehouse when arriving at the second warehouse 2.

As shown in fig. 3, a warehousing channel 91 and a delivery channel 92 are arranged in the second warehouse 2, and the warehousing channel 91 and the delivery channel 92 are communicated with each other, so that the unmanned transportation equipment 7 can move flexibly when performing different tasks. The directions of movement of the unmanned transport equipment 7 in the warehousing channel 91 and the delivery channel 92 are opposite, and collision of the unmanned transport equipment 7 in the warehousing channel 91 and the delivery channel 92 during movement can be prevented.

After receiving or transporting the articles through the article through-flow opening 21, the unmanned transport equipment 7 needs to travel to the warehousing channel 91 when transporting the container 5 back to the original storage location a, for example, the unmanned transport equipment can travel from left to right; when the unmanned transport facility 7 moves to the article passage 21 before receiving or carrying out the article, the container 5 needs to be transported to the article passage 21, and the unmanned transport facility can move from right to left, for example.

When warehousing is needed, the unmanned transportation equipment 7 moves in the warehousing channel 91 after entering the second warehouse 2 through the article circulation port 21, and different branch channels 93 are selected to reach the target storage position A according to the storage position where the article is located in the warehousing task in the moving process. When the delivery is required, the unmanned transport equipment 7 takes the container 5 in which the article is located in the delivery task, moves from the branch passage 93 to the delivery passage 92, and moves out of the second bin 2 from the article passage 21.

As shown in fig. 3, the second compartment 2 includes a plurality of shelves 4 arranged side by side along the first direction (X direction), a branch channel 93 is provided between adjacent shelves 4 opposite to the pick-up port, each branch channel 93 is communicated with the warehousing channel 91 and the delivery channel 92, and the warehousing channel 91 and the delivery channel 92 extend along the first direction (X direction) and cover each shelf 4 by the extending length.

In this embodiment, the unmanned transport device 7 can pick and place articles on the shelves 4 on both sides when entering into any branch channel 93, which not only improves the space utilization ratio, but also improves the working efficiency.

As shown in fig. 3, the warehousing channel 91 and the delivery channel 92 are located on one side of the overall area where the shelves 4 are located and are arranged side by side along the second direction Y, for example, the warehousing channel 91 is located between the shelves 4 and the delivery channel 92, the article circulation port 21 is located on one side of the warehousing channel 91 and the delivery channel 92 away from the shelves 4, for example, the article circulation port 21 is located on the front side wall of the second chamber 2, and a plurality of article circulation ports 21 may be arranged side by side along the first direction (X direction), and the second direction (Y direction) is perpendicular to the first direction (X direction).

This embodiment can concentrate the shelves 4 in a specific area to facilitate the concentrated taking and placing of the articles, and can separate the area where the shelves 4 are located from the article circulation port 21 by the inlet passage 91 and the outlet passage 92, thereby reducing heat exchange between the area where the shelves 4 are located and the outside and maintaining the temperature of the stored articles. And the warehousing channel 91 and the delivery channel 92 are arranged at the positions close to the article circulation port 21, so that the operation condition of the unmanned transportation equipment 7 can be conveniently observed, and the failure can be timely found and is convenient to maintain.

As shown in fig. 4, the bottom of the Rail Guided Vehicle (RGV) is provided with two sets of longitudinal running wheels 72 spaced apart in the longitudinal direction to run along the rails 6 in the branch passage 93, and two sets of transverse running wheels 73 spaced apart in the transverse direction to run along the rails 6 in the entry passage 91 and the exit passage 92. Therefore, when the RGV runs in the second bin 2, longitudinal movement or transverse movement can be flexibly realized according to the movement path, the vehicle body is not required to be turned, and the running efficiency can be improved.

As shown in fig. 1, the goods shelf 4 is provided with a plurality of layers of storage positions a along the height direction thereof, the unmanned transportation device 7 comprises a Rail Guided Vehicle (RGV) which can run along a rail, the RGV can be used for various warehouses with high-density storage modes, the storage capacity of the whole warehouse can be increased, and a forklift is not required to enter a roadway during operation, so that the safety of the warehouse is higher, the warehouse can run quickly, and the operating efficiency of the warehouse is effectively improved.

In order to cooperate with the stereoscopic shelf 4, the warehousing system further comprises a plurality of layers of tracks 6 and lifting components, wherein each layer of tracks 6 corresponds to each layer of storage position A one by one, each layer of tracks 6 is configured to guide the rail guided vehicle to move in a horizontal plane to reach the target storage position A, and the lifting components are configured to drive the rail guided vehicle to reach the tracks 6 of different layers. As shown in fig. 3, the ends of the loading passage 91 and the unloading passage 92 can be used as lifting areas 94, which can avoid affecting the operation of other unmanned transportation equipment 7.

Further, a pick and place mechanism is provided on the Rail Guided Vehicle (RGV) and is configured to remove the container 5 from the storage location a or place the container 5 on the storage location a. To facilitate the operation of the racks 4 on both sides of the track 6, pick and place mechanisms may be provided on both sides of the track guided vehicle in the transverse direction.

For example, the pick-and-place mechanism is a jack or a manipulator; or the pick-and-place mechanism comprises a telescopic arm and a blocking rod, wherein the blocking rod is arranged at the front end of the telescopic arm and can be rotatably arranged in a vertical plane. When the container 5 needs to be taken down, the blocking rod can be rotated to a vertical position, the telescopic arm is extended to the rear end face of the container 5, the blocking rod is rotated to a horizontal position at the moment, and then the container 5 is hooked to the RGV through retraction of the telescopic arm. When the container 5 needs to be placed to the storage position A, the telescopic arm retracts to the rear of the container 5, the blocking rod rotates to the horizontal position, and then the telescopic arm extends to push the container 5 out of the storage position A.

As shown in fig. 3, the unmanned transportation device 7 includes a guided vehicle (RGV), a rail 6 is provided in the second container 2, and a charging wire 61 is provided on the rail 6. as shown in fig. 4, a charging member 71 is provided on the bottom of the guided vehicle, the charging wire 61 is provided at a position between the rails 6 on both sides, and accordingly, the charging member 71 is provided at a middle position of the bottom of the vehicle in the lateral direction. During the RGV traveling, charging can be connected to the charging line 61 by the charging means 71. During the process of RGV lifting, charging can not be carried out through the charging wire 61, and at the moment, power can be supplied through the battery of the RGV.

Due to the low temperature of the second bin 2, the electric quantity of the battery of the unmanned transportation equipment 7 can be exhausted quickly, so that the automatic equipment is difficult to use in the bin. This embodiment is through the low pressure charging wire 61 real-time charging that provides through track 6 at the in-process that the RGV moved, can guarantee that the electric quantity is sufficient to make the RGV continuous operation, satisfy the demand of automated work.

In some embodiments, the warehousing control system is configured to select an empty unmanned transport device 7 after receiving the warehousing task, and plan a movement path according to the position of the selected unmanned transport device 7 and the target position, so that the unmanned transport device 7 moves according to the planned movement path. For example, the shortest movement path can be used as a target for planning, and the target position can be a certain storage position a, a certain article passage opening 21, or the operation table 8.

As shown in fig. 2, the second bin 2 has article circulation openings 21, each of the article circulation openings 21 is provided with an openable and closable door body 22, and the door body 22 is configured to be opened when an article is conveyed to reach the article circulation opening 21 and to be closed when the article is conveyed to leave the article circulation opening 21. This embodiment in time closes when unmanned transportation equipment 7 leaves article circulation mouth 21, can reduce the inside and outside heat exchange that takes place of second storehouse 2, can reduce refrigeration energy waste, is favorable to keeping the temperature in the second storehouse 2.

As shown in fig. 2, a plurality of article circulation ports 21 are provided in parallel in the horizontal direction, and the door body 22 can be opened and closed by moving up and down with respect to the article circulation ports 21. This structure enables the arrangement of the article circulation ports 21 to be more concentrated and prevents the door bodies 22 between the adjacent article circulation ports 21 from being mutually affected.

Secondly, the present disclosure also provides a warehousing control method based on the warehousing system of the above embodiments, in some embodiments, including:

step 110, receiving an warehouse-in and warehouse-out task of the second warehouse 2;

and step 120, enabling the unmanned transportation equipment 7 to carry the container 5 to move according to the warehouse entry task so as to achieve the entry and exit of the articles into and out of the second warehouse 2.

Steps 110 and 120 may be performed by a Warehouse Control System (WCS) to which the in and out tasks are sent via a Warehouse Management System (WMS).

This embodiment of this disclosure transports container 5 in second storehouse 2 through unmanned transportation equipment 7, can realize that article come in and go out second storehouse 2 automatically, can enough improve degree of automation to improve production efficiency, can avoid the staff to work in colder operational environment again.

In some embodiments, after receiving the warehousing task for the second bin 2 through step 110, the control method of the present disclosure further comprises:

step 111, selecting an idle unmanned transportation device 7;

step 112, planning a motion path according to the position of the selected unmanned transport equipment 7 and the target position, for example, planning the motion path with the shortest motion path and avoiding other unmanned transport equipment 7 as a target;

and 113, sending the planned motion path to the unmanned transportation equipment 7.

Steps 111-113 may be performed by the warehousing control system. This embodiment can fully invoke unmanned transportation equipment 7 that is in idle state, avoids latency, makes each unmanned transportation equipment 7 orderly collaborative work, improves work efficiency.

In some embodiments, the second bin 2 is provided with article through openings 21, and the warehousing control method further comprises:

when the unmanned transportation equipment 7 moves to reach the article circulation port 21, the storage control system enables the door body 22 to be opened; and the storage control system closes the door 22 when the unmanned transport device 7 moves away from the article through-flow opening 21.

This embodiment can reduce the heat exchange that takes place inside and outside the second storehouse 2, can reduce refrigeration energy waste, is favorable to keeping the temperature in the second storehouse 2.

In some embodiments, the second chamber 2 is provided with through-openings 21 for the product, and the warehousing system further comprises an operating table 8, provided outside the second chamber 2 in proximity to the through-openings 21 for the product; when executing the ex-warehouse task, if the ex-warehouse task is executed in step 120, after step 120, the warehousing control method further includes:

step 130, the unmanned transportation device 7 removed from the second bin 2 is parked on the operation table 8 so as to pick the goods;

in response to an order to complete picking of an item, unmanned transport device 7 is caused to move container 5 back to empty storage location a, and then to move the next container 5 until picking of all items is completed, step 140.

Steps 130 and 140 are performed by the warehouse control system and the order for completion of picking is sent by the warehouse management system, e.g., the picker may confirm completion of picking at the warehouse management system. The embodiment can automatically complete the sorting of all the articles in the delivery task, and a plurality of articles can simultaneously execute the delivery task through different article circulation openings 21, so that the delivery efficiency is improved.

In some embodiments, the second chamber 2 is provided with through-openings 21 for the product, and the warehousing system further comprises an operating table 8, provided outside the second chamber 2 in proximity to the through-openings 21 for the product; when the warehousing task is executed through step 120, before step 120, the warehousing control method of the present disclosure further includes:

114, enabling the container 5 corresponding to the article to be warehoused, which is carried by the unmanned transportation equipment 7, to move out of the second bin 2 and be parked on the operating platform 8 so as to put the article to be warehoused in;

and step 115, responding to an instruction of putting the articles to be warehoused into the container 5, enabling the unmanned transportation equipment 7 to move the container 5 back to the empty storage position A, and then moving out the next container 5 until all articles in the warehousing task are warehoused.

Steps 114 and 115 are performed by the warehousing control system, and the warehousing completion instruction is sent by the warehousing management system, for example, an operator may confirm the warehousing completion at the warehousing management system. The embodiment can automatically complete the sorting of all articles in the warehousing task, and a plurality of articles can simultaneously execute the warehousing task through different article circulation openings 21, so that the warehousing efficiency is improved.

In some embodiments, the step of causing the unmanned transport device 7 to move the container 5 back to the empty storage location a in steps 140 and 115 includes at least one of:

firstly, the container 5 is moved back to the original storage position A, the method can reduce the path planning difficulty of the warehousing management system, is easy to control, and improves the reliability of positioning the article storage position.

Secondly, the container 5 is moved back to the empty storage position A closest to the article circulation port 21 where the unmanned transportation equipment 7 is located currently, and the position information stored in the container 5 is updated in the warehousing management system.

Thirdly, the container 5 is moved back to the empty storage location a closest to the next container 5 and the storage location information of the container 5 is updated in the warehouse management system. The control mode comprehensively considers the reduction of the movement path and the position of the next container 5 in the warehousing and ex-warehousing task, so that the warehousing and ex-warehousing processes of adjacent articles in the warehousing and ex-warehousing task are smoothly connected, and the production efficiency can be improved.

In some embodiments, the direction of movement of the unmanned transport device 7 in the loading channel 91 and the unloading channel 92 is opposite. The control mode can prevent collision of the unmanned transportation equipment 7 entering and leaving the warehouse, and improve the driving safety of the unmanned transportation equipment 7.

In some embodiments, before the unmanned transport equipment 7 enters one of the branch channels 93 from the loading channel 91 and the unloading channel 92, the warehouse control method further includes:

judging whether the branch channel 93 to be entered has the unmanned transportation equipment 7, if not, directly entering, if so, judging whether the existing unmanned transportation equipment 7 can influence the motion of the unmanned transportation equipment 7 to be entered, if so, stopping waiting, and if not, directly entering.

This embodiment can prevent the collision from occurring during the execution of the warehousing-out task by the unmanned transportation device 7, thereby operating orderly. For example, when waiting needs to be stopped, waiting may be performed at a position on the side of the branch passage 93 on the warehousing passage 91 or the ex-warehouse passage 92, and after the branch passage 93 finishes taking and placing the articles, the unmanned transport device 7 may be moved out from the branch passage 93, and then the waiting unmanned transport device 7 enters the branch passage 93; or the unmanned transport equipment 7 can be moved to the inner end of the branch channel 93 to the unmanned transport equipment 7 which does not affect waiting to execute the task, and the two unmanned transport equipment 7 are sequentially moved out of the branch channel 93 after the tasks are completed.

The warehousing control method of the present disclosure will be described in detail below with reference to the example of picking items out of the warehouse as shown in fig. 5.

Step one, a WMS creates a picking task and sends the picking task to the WCS;

secondly, the WCS selects the idle unmanned transportation equipment 7, carries out path planning according to the storage position of the container 5 corresponding to the picking task and the position between the unmanned transportation equipment 7 and sends the planned path to the unmanned transportation equipment 7;

thirdly, the unmanned transportation equipment 7 moves to a storage position A to be picked in the goods shelf 4 in the second bin 2 according to a planned path, and the unmanned transportation equipment 7 inserts the container 5 of the storage position A;

fourthly, the unmanned transportation equipment 7 moves to the door body 22, and the WCS controls the door body 22 to ascend;

a fifth step of the unmanned transportation device 7 traveling to the operation table 8 through the article circulation port 21;

sixthly, picking personnel pick required articles from the container 5 and confirm that the article picking is finished in the WMS;

seventhly, the WMS informs the WCS of the completion of the picking, and the WCS informs the unmanned transportation equipment 7 to transport the container 5 back to the original storage position A, and then the picking of the next item in the picking task is carried out.

The above is the flow of unloading and delivering articles, and the flow of loading and delivering articles is similar to the flow of unloading and delivering articles.

The warehousing system and the warehousing control method provided by the disclosure are introduced in detail. The principles and embodiments of the present disclosure are explained herein using specific examples, which are set forth only to help understand the method and its core ideas of the present disclosure. It should be noted that, for those skilled in the art, it is possible to make several improvements and modifications to the present disclosure without departing from the principle of the present disclosure, and such improvements and modifications also fall within the scope of the claims of the present disclosure.

Claims

1. A warehousing system comprising:

a first bin (1);

the second bin (2) is arranged in the first bin (1);

the storage rack comprises a plurality of storage racks (4), wherein at least part of the storage racks (4) are arranged in the inner area of the second bin (2) and used for storing articles needing refrigeration or freezing, the other part of the storage racks (4) are arranged in the area between the first bin (1) and the second bin (2) and used for storing articles stored at normal temperature, a plurality of storage positions (A) are arranged in the storage racks (4), and each storage position (A) is provided with a container (5) for storing articles;

-an unmanned transport device (7) configured to transport the container (5); and

a refrigeration device (3) configured to refrigerate inside the second bin (2);

a warehousing channel (91), a delivery channel (92) and a plurality of goods shelves (4) which are arranged side by side along a first direction are arranged in the second bin (2), and the warehousing channel (91) is communicated with the delivery channel (92); branch channels (93) are arranged between adjacent goods shelves (4) opposite to the goods taking port, each branch channel (93) is communicated with the warehousing channel (91) and the delivery channel (92), the unmanned transportation equipment (7) can enter any branch channel (93) to carry out goods taking and placing operation on the goods shelves (4) on two sides, and the warehousing channel (91) and the delivery channel (92) extend along the first direction (X) and cover each goods shelf (4) by the extending length;

the second bin (2) is provided with an article circulation port (21), the warehousing channel (91) and the delivery channel (92) are located on one side of the whole area where the goods shelves (4) are located and are arranged side by side along a second direction (Y), the article circulation port (21) is located on one side, away from the goods shelves (4), of the warehousing channel (91) and the delivery channel (92), and the second direction (Y) is perpendicular to the first direction (X).

2. The warehousing system of claim 1, wherein a plurality of said second bins (2) are provided in said first bin (1), and the refrigeration temperature of the refrigeration equipment (3) corresponding to each of said second bins (2) is adjustable according to the demand of the stored goods.

3. The warehousing system of claim 1, further comprising:

a bin control system configured to move said unmanned transport device (7) in accordance with an in-out bin task of said second bin (2) to effect access to said second bin (2).

4. Warehouse system according to claim 3, wherein the second bin (2) has an item through-flow opening (21), the warehouse system further comprising an operating deck (8), provided outside the second bin (2) in proximity to the item through-flow opening (21), configured to park the unmanned transport device (7) removed from the second bin (2) in order to pick up items or to receive items to be entered into the second bin (2).

5. A warehousing system as claimed in claim 4, wherein said through-openings (21) are provided in plurality, each one of said through-openings (21) being associated with a respective one of said stations (8).

6. A warehousing system according to claim 3, wherein the movement directions of said unmanned transportation devices (7) within said loading channel (91) and unloading channel (92) are opposite.

7. Warehouse system according to claim 3, wherein the shelves (4) are provided with a plurality of levels of storage (A) along their height, the unmanned transport equipment (7) comprising a rail guided vehicle;

the warehousing system also comprises a plurality of layers of tracks (6) and lifting components, wherein each layer of tracks (6) corresponds to each layer of storage position (A) one by one and is configured to guide the rail guided vehicles to move in the horizontal plane so as to reach the target storage position (A), and the lifting components are configured to drive the rail guided vehicles to reach the tracks (6) on different layers.

8. The warehousing system of claim 3, wherein the unmanned transport equipment (7) comprises a rail guided vehicle, a track (6) is arranged in the second bin (2), a charging wire (61) is arranged on the track (6), and a charging component (71) is arranged at the bottom of the rail guided vehicle to charge the rail guided vehicle in the moving process through butt joint with the charging wire (61).

9. A warehousing system according to claim 3, wherein the warehousing control system is configured to select an empty unmanned transportation device (7) upon receiving the warehousing task and plan a movement path according to the position of the selected unmanned transportation device (7) and a target position, so that the unmanned transportation device (7) moves according to the planned movement path.

10. A warehousing system according to claim 1, wherein said second bin (2) has article transit openings (21), said article transit openings (21) each being provided with an openable door body (22), said door bodies (22) being configured to open when an article is conveyed to reach said article transit openings (21) and to close when an article is conveyed to leave said article transit openings (21).

11. A warehousing control method based on the warehousing system of any claim 1 to 10, comprising:

receiving an in-out task of the second bin (2);

-moving the unmanned transport device (7) carrying the container (5) according to the access-to-storage task to effect access to the second bin (2).

12. The warehouse control method according to claim 11, further comprising, after receiving an in-out task of the second warehouse (2):

selecting an empty unmanned transport device (7);

planning a movement path according to the position of the selected unmanned transportation equipment (7) and the target position;

-sending the planned movement path to the unmanned transport device (7).

13. Warehouse control method according to claim 11, wherein said second bin (2) is provided with through openings (21) for the passage of goods, said method further comprising:

when the unmanned transportation equipment (7) moves to reach the article circulation opening (21), the door body (22) is opened; and

when the unmanned transportation equipment (7) moves to leave the article circulation opening (21), the door body (22) is closed.

14. Warehouse control method according to claim 13, wherein the second bin (2) is provided with through-openings (21) for the items, the warehouse system further comprising an operating table (8) provided outside the second bin (2) in proximity to the through-openings (21); when the warehouse-out task is executed, the warehouse control method further comprises the following steps:

parking the unmanned transport device (7) removed from the second bin (2) on the operating table (8) for picking items;

in response to an instruction to pick an item, causing the unmanned transport device (7) to move the container (5) back to an empty storage location (a) before moving out the next container (5).

15. Warehouse control method according to claim 13, wherein the second bin (2) is provided with through-openings (21) for the items, the warehouse system further comprising an operating table (8) provided outside the second bin (2) in proximity to the through-openings (21); when the warehousing task is executed, the warehousing control method further comprises the following steps:

enabling the container (5) corresponding to the article to be warehoused, which is carried by the unmanned transportation equipment (7), to be moved out of the second bin (2) and placed on the operating platform (8) so as to be put into the article to be warehoused;

in response to an instruction to place an item to be warehoused into the container (5), causing the unmanned transport device (7) to move the container (5) back to an empty storage location (a) before moving out the next container (5).

16. Warehouse control method according to claim 14 or 15, wherein the step of causing the unmanned transportation device (7) to move the containers (5) back to the empty storage locations (a) comprises:

-moving the container (5) back to the original storage position (a); or

Moving the container (5) back to the empty storage position (A) nearest to the article circulation port (21) where the unmanned transportation equipment (7) is located currently, and updating the storage position information of the container (5); or

Moving the container (5) back to the empty storage location (A) closest to the next container (5) and updating the storage location information of the container (5).

17. Warehouse control method according to claim 11, wherein the unmanned transportation device (7) moves in opposite directions in the input aisle (91) and in the output aisle (92).

18. The warehousing control method of claim 11, further comprising, before the unmanned transportation device (7) enters one of the branch channels (93) from the loading channel (91) and the unloading channel (92):

judging whether the unmanned transportation equipment (7) exists in the branch channel (93) to be entered, if not, directly entering, if so, judging whether the existing unmanned transportation equipment (7) can influence the motion of the unmanned transportation equipment (7) to be entered, if so, stopping waiting, and if not, directly entering.