CN114455241A

CN114455241A - Method and device for carrying coil stock in stereoscopic warehouse, equipment and medium

Info

Publication number: CN114455241A
Application number: CN202210220472.2A
Authority: CN
Inventors: 黄征; 何龙
Original assignee: Beijing Jingdong Qianshi Technology Co Ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2022-03-08
Filing date: 2022-03-08
Publication date: 2022-05-10

Abstract

The embodiment of the disclosure discloses a coil stock handling method and device for a stereoscopic warehouse, the stereoscopic warehouse, equipment and a medium. One embodiment of the method comprises: controlling the target unmanned transport vehicle to move to the position of the coil material goods, and controlling the warehousing grabbing mechanical arm to grab the coil material goods; controlling a warehousing grabbing mechanical arm to place the coil material cargos on a target unmanned transport vehicle; controlling the target unmanned transport vehicle to move to a target floor through the transport device, and controlling the grabbing mechanical arm of the target floor to place the coil material goods on the unmanned transport vehicle in the warehouse of the target floor; the rod pulling and inserting mechanical arm for controlling the target floor executes a rod inserting task aiming at the coil material goods, and the target grabbing mechanical arm is controlled to place the coil material goods on the stacker; and controlling the stacker to execute the racking task. This embodiment is related to wisdom commodity circulation, can reduce the human resource cost, and the coil stock of being convenient for has promoted transport security, storage position accuracy, transportation stability and storage space utilization ratio between many floors.

Description

Method and device for carrying coil stock in stereoscopic warehouse, equipment and medium

Technical Field

The embodiment of the disclosure relates to the technical field of computers, in particular to a method and a device for carrying coil materials of a stereoscopic warehouse, the stereoscopic warehouse, equipment and a medium.

Background

Material storage position and production line position often are not in same region among the storage trade, if need remove the position of material, all need the artifical or semi-automatization equipment of different degrees to carry and transport, still need the manual work to go after arriving production line or warehouse to select and carry out the adjustment of strict accurate goods angle of putting. The material of polaroid trade is bulky, weight is big, with the mode storage and the transportation of coil stock, when transporting the coil stock that is used for making the polaroid, the mode that adopts usually is manual transport, for example, the both sides of coil stock are tied up with the rope to operating personnel, and manual fork truck cooperation rope lifts up the coil stock, places on mobilizable material frame car, and the rope of tying up the coil stock is dismantled again to personnel.

However, when the coil stock is transported in the above manner, the following technical problems often occur: the coil stock has large weight and volume, is not beneficial to manual operation, has poor safety and complex operation, is not convenient for transferring the coil stock among multiple floors, and causes high cost of human resources; in addition, the storage position accuracy and the transportation stability of the coil stock are poor due to manual carrying; in addition, because the coil stock is bulky, weight is big, needs artifical transport, only can save in the flat storehouse, leads to storage space utilization lower.

Disclosure of Invention

This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.

Some embodiments of the present disclosure provide a method, an apparatus, a stereoscopic warehouse, an electronic device, and a computer-readable medium for handling a coil in a stereoscopic warehouse, so as to solve the technical problems mentioned in the background section above.

In a first aspect, some embodiments of the present disclosure provide a method for handling a coil in a stereoscopic warehouse, the method including: in response to the detection of the calling information of the unmanned transport vehicle, controlling the target unmanned transport vehicle to move to a coil stock cargo position corresponding to the calling information of the unmanned transport vehicle, and controlling a warehousing grabbing mechanical arm corresponding to the coil stock cargo position to grab the coil stock cargo corresponding to the calling information of the unmanned transport vehicle; controlling the warehousing grabbing mechanical arm to place the coil material cargos on the target unmanned transport vehicle; controlling the target unmanned transport vehicle to move to the target floor through a transport device corresponding to the target floor, and controlling a grabbing mechanical arm of the target floor to place the coil goods on the unmanned transport vehicle in the warehouse of the target floor; the rod pulling and inserting mechanical arm for controlling the target floor executes a rod inserting task aiming at the coiled material goods on the unmanned transport vehicle in the warehouse, and controls the target grabbing mechanical arm to place the coiled material goods on the unmanned transport vehicle in the warehouse onto a stacker; and controlling the stacker to execute a racking task corresponding to the coil goods, so that the coil goods are placed on the three-dimensional storage position of the target floor.

Optionally, the controlling the target unmanned transport vehicle to move to the target floor through a transport device corresponding to the target floor includes: controlling the target unmanned transport vehicle to move to an entrance of the transport device, and controlling the transport device to execute door opening operation for opening a floor corresponding to the current position of the coil stock cargo; controlling the target unmanned transport vehicle to move into the transport device; and controlling the transportation device to move to the destination floor.

Optionally, after the controlling the transportation device to move to the destination floor, the method further includes: and controlling the transportation device to close the door and controlling an outer door of the goods room of the target floor to open in response to the target unmanned transportation vehicle moving to the preset position of the target floor.

Optionally, the above-mentioned grabbing mechanical arm for controlling the above-mentioned target floor puts the above-mentioned coil goods on the unmanned transport vehicle in the warehouse of the above-mentioned target floor, including: controlling the target unmanned transport vehicle to move to the cargo leaching room; the lower delivery shower grabs a mechanical arm grabbing task and an unmanned transport vehicle calling task in the warehouse; responding to the fact that the unmanned transport vehicle in the warehouse corresponding to the unmanned transport vehicle calling task moves to a goods leaching room grabbing mechanical arm, and placing the coil goods grabbed by the goods leaching room grabbing mechanical arm onto the unmanned transport vehicle in the warehouse, wherein the goods leaching room grabbing mechanical arm is in the goods leaching room; and controlling the unmanned transport vehicle in the warehouse to move to the position corresponding to the mechanical arm of the plugging rod.

Optionally, the above-mentioned grabbing mechanical arm that controls the above-mentioned target floor puts the above-mentioned coil stock goods on the unmanned transport vechicle in the storehouse of the above-mentioned target floor, still includes: responding to the completion of the execution of the grabbing task of the goods shower grabbing mechanical arm, controlling the target unmanned transport vehicle to move out of the goods shower, and controlling the outer side door of the goods shower to close; responding to the issued calling task of the unmanned transport vehicle in the warehouse, and controlling an inner side door of the goods shower to be opened; and controlling the inner side door of the goods shower to close in response to the fact that the unmanned transport vehicle in the warehouse moves out of the goods shower.

Optionally, the method further includes: in response to the detection of a coil stock delivery task, controlling a rail-guided guide vehicle on a delivery floor to move to a coil stock position to be delivered through a conveying line, and controlling a stacker on the delivery floor to place the coil stock to be delivered on the rail-guided guide vehicle, wherein the delivery floor, the coil stock position to be delivered and the coil stock to be delivered correspond to the coil stock delivery task; controlling a rod drawing and inserting mechanical arm to execute a rod drawing task aiming at the coil stock to be discharged; controlling the rail guided vehicle to move to a goods leaching room of the delivery floor, and controlling a goods leaching room grabbing mechanical arm of the goods leaching room to place the coil stock to be delivered to a target unmanned transport vehicle; and controlling the target unmanned transport vehicle to move to the warehouse-out target position corresponding to the coil stock warehouse-out task.

Optionally, the above-mentioned goods leaching room of controlling above-mentioned goods leaching room snatchs the arm and puts the above-mentioned coil stock of waiting to leave warehouse to target unmanned transport vechicle on, includes: controlling the mechanical grabbing arm of the goods shower to grab the coil stock to be delivered out of the warehouse, calling a target unmanned transport vehicle and controlling an outer side door of the goods shower to be opened; and responding to the movement of the target unmanned transport vehicle into the goods leaching room, and controlling the goods leaching room to grab the mechanical arm to place the grabbed coil materials to be discharged onto the target unmanned transport vehicle.

Optionally, after the controlling the goods-shower gripping robot to place the gripped roll material to be delivered out of the warehouse onto the target unmanned transport vehicle in response to the target unmanned transport vehicle moving into the goods-shower, the method further includes: and controlling the outer door of the goods shower to close in response to the target unmanned transport vehicle moving out of the goods shower.

Optionally, the method further includes: in response to the detection of a coil stock transfer task, controlling a rail-guided guide vehicle on a transfer floor to move to a coil stock position to be transferred through a conveying line, and controlling a stacker on the transfer floor to place the coil stock to be transferred on the rail-guided guide vehicle, wherein the transfer floor, the coil stock position to be transferred and the coil stock to be transferred correspond to the coil stock transfer task; controlling a rod pulling and inserting mechanical arm of the warehouse moving floor to execute a rod pulling task aiming at the coiled materials to be moved; controlling the rail guided vehicle to move to a preset out-of-garage position of the garage transfer floor, and controlling a related grabbing mechanical arm to place the coil stock to be transferred onto a target unmanned transport vehicle; controlling the target unmanned transport vehicle to move to the warehousing floor through a transport device corresponding to the warehousing floor, and controlling a grabbing mechanical arm of the warehousing floor to place the coil stock to be moved to the unmanned transport vehicle in the warehouse of the warehousing floor, wherein the warehousing floor corresponds to the coil stock moving task; controlling a rod pulling and inserting mechanical arm of the warehousing floor to execute a rod inserting task aiming at the coil stock to be moved on the unmanned transport vehicle in the warehouse, and controlling a target grabbing mechanical arm to place the coil stock to be moved on the unmanned transport vehicle in the warehouse onto a stacker; and controlling the stacker to execute a racking task corresponding to the coil stock to be moved so that the coil stock to be moved is placed on the three-dimensional storage position of the warehousing floor.

Optionally, the preset out-of-warehouse position is a goods shower of the transfer floor, and the associated grabbing mechanical arm is a goods shower grabbing mechanical arm in the goods shower of the transfer floor; and the grabbing mechanical arm related to the control puts the coil stock to be moved to the target unmanned transport vehicle, and the method comprises the following steps: controlling the goods leaching room to grab the mechanical arm to grab the coil stock to be moved, calling a target unmanned transport vehicle and controlling an outer side door of the goods leaching room to be opened; and responding to the movement of the target unmanned transport vehicle into the goods leaching room, and controlling the goods leaching room to grab the mechanical arm and place the grabbed coil materials to be moved onto the target unmanned transport vehicle.

Optionally, after the target unmanned transport vehicle moves into the goods shower in response to the control of the goods shower grabbing mechanical arm to place the grabbed coil to be moved onto the target unmanned transport vehicle, the method further includes: and controlling the outer door of the goods shower to close in response to the target unmanned transport vehicle moving out of the goods shower.

Optionally, the controlling the target unmanned transport vehicle to move to the storage floor through a transport device corresponding to the storage floor includes: controlling the target unmanned transport vehicle to move to an entrance of the transport device, and controlling the transport device to execute door opening operation corresponding to the garage transfer floor; controlling the target unmanned transport vehicle to move into the transport device; and controlling the transportation device to move to the warehousing floor.

Optionally, after the controlling the transportation device to move to the storage floor, the method further includes: and responding to the movement of the target unmanned transport vehicle to the preset position of the warehousing floor, controlling the transport device to execute door closing operation, and controlling an outer side door of a cargo room of the warehousing floor to be opened.

Optionally, the above-mentioned grabbing mechanical arm for controlling the warehousing floor puts the above-mentioned coil stock to be moved to the unmanned transport vehicle in the warehouse of the warehousing floor, and includes: controlling the target unmanned transport vehicle to move to the goods room of the warehousing floor; the goods leaching room grabbing mechanical arm grabbing task corresponding to the warehousing floor and the unmanned transport vehicle calling task in the warehouse are issued; responding to the situation that an unmanned transport vehicle in the warehouse moves to a goods leaching room grabbing mechanical arm of a goods leaching room on the warehousing floor, and placing the to-be-moved coil materials grabbed by the goods leaching room grabbing mechanical arm on the warehousing floor onto the unmanned transport vehicle in the warehouse, wherein the unmanned transport vehicle in the warehouse calls tasks corresponding to the unmanned transport vehicle in the warehouse; and controlling the unmanned transport vehicle in the warehouse to move to a position corresponding to the plugging rod mechanical arm on the warehousing floor.

Optionally, the above-mentioned grabbing mechanical arm that controls the above-mentioned warehouse floor puts the above-mentioned coil stock to be moved to the unmanned transport vechicle in the warehouse of above-mentioned warehouse floor, still includes: responding to the completion of the grabbing task of the goods shower grabbing mechanical arm, controlling the target unmanned transport vehicle to move out of the goods shower of the warehousing floor, and controlling the outer side door of the goods shower of the warehousing floor to be closed; responding to the issued calling task of the unmanned transport vehicle in the warehouse, and controlling an inner side door of a goods room of the warehouse floor to be opened; and controlling the inner side door of the goods room of the warehousing floor to close in response to the fact that the unmanned transport vehicle in the warehouse moves out of the goods room of the warehousing floor.

In a second aspect, some embodiments of the present disclosure provide a coil handling apparatus for a stereoscopic warehouse, the apparatus including: a target unmanned transport vehicle moving unit configured to control a target unmanned transport vehicle to move to a coil goods position corresponding to the unmanned transport vehicle calling information and control a warehousing grabbing mechanical arm corresponding to the coil goods position to grab a coil goods corresponding to the unmanned transport vehicle calling information in response to detection of the unmanned transport vehicle calling information; a warehousing grabbing mechanical arm control unit configured to control the warehousing grabbing mechanical arm to place the coil goods on the target unmanned transport vehicle; a transporter control unit configured to control the target unmanned transporter to move to a target floor through a transporter corresponding to the target floor, and control a grabbing mechanical arm of the target floor to place the coil goods onto an in-warehouse unmanned transporter of the target floor; a rod pulling and inserting mechanical arm control unit configured to control the rod pulling and inserting mechanical arm of the target floor to execute rod inserting tasks on the coiled material cargos on the unmanned transport vehicle in the garage, and control a target grabbing mechanical arm to place the coiled material cargos on the unmanned transport vehicle in the garage onto a stacker; and the stacker control unit is configured to control the stacker to execute a racking task corresponding to the coiled material goods, so that the coiled material goods are placed on the three-dimensional storage position of the target floor.

Optionally, the transporter control unit is further configured to: controlling the target unmanned transport vehicle to move to an entrance of the transport device, and controlling the transport device to execute door opening operation for opening a floor corresponding to the current position of the coil stock cargo; controlling the target unmanned transport vehicle to move into the transport device; and controlling the transportation device to move to the destination floor.

Optionally, the transporter control unit further comprises: and controlling the transportation device to close the door and controlling an outer door of the goods room of the target floor to open in response to the target unmanned transportation vehicle moving to the preset position of the target floor.

Optionally, the transporter control unit is further configured to: controlling the target unmanned transport vehicle to move to the cargo leaching room; the lower delivery shower grabs a mechanical arm grabbing task and an unmanned transport vehicle calling task in the warehouse; responding to the fact that the unmanned transport vehicle in the garage corresponding to the unmanned transport vehicle calling task in the garage moves to a goods leaching room grabbing mechanical arm, and placing the coil goods grabbed by the goods leaching room grabbing mechanical arm onto the unmanned transport vehicle in the garage, wherein the goods leaching room grabbing mechanical arm is in the goods leaching room; and controlling the unmanned transport vehicle in the warehouse to move to the position corresponding to the mechanical arm of the plugging rod.

Optionally, the transporter control unit further comprises: responding to the completion of the execution of the grabbing task of the goods shower grabbing mechanical arm, controlling the target unmanned transport vehicle to move out of the goods shower, and controlling the outer side door of the goods shower to close; responding to the issued calling task of the unmanned transport vehicle in the warehouse, and controlling an inner side door of the goods shower to be opened; and controlling the inner side door of the goods shower to close in response to the fact that the unmanned transport vehicle in the warehouse moves out of the goods shower.

Optionally, the apparatus further comprises: the system comprises a first rail-guided guide vehicle control unit, a to-be-discharged coil material rod drawing unit, a second rail-guided guide vehicle control unit and a target unmanned transport vehicle control unit. The first guided vehicle control unit is configured to control guided vehicles on a delivery floor to move to a to-be-delivered coil material position through a conveying line in response to detection of a coil material delivery task, and control a stacker on the delivery floor to place coil materials to be delivered on the guided vehicle, wherein the delivery floor, the to-be-delivered coil material position and the to-be-delivered coil materials correspond to the coil material delivery task. And the to-be-discharged coil material rod drawing unit is configured to control the rod drawing and inserting mechanical arm to execute a rod drawing task aiming at the to-be-discharged coil materials. The second rail guided vehicle control unit is configured to control the rail guided vehicle to move to a goods shower of the ex-warehouse floor, and control a goods shower grabbing mechanical arm of the goods shower to place the coil materials to be ex-warehouse onto a target unmanned transport vehicle. The target unmanned transport vehicle control unit is configured to control the target unmanned transport vehicle to move to the delivery destination position corresponding to the coil stock delivery task.

Optionally, the second guided vehicle control unit is further configured to: controlling the goods shower to grab the coil stock to be discharged from the warehouse by the grabbing mechanical arm, calling a target unmanned transport vehicle and controlling an outer side door of the goods shower to be opened; and responding to the movement of the target unmanned transport vehicle into the goods shower, and controlling the goods shower to grab the mechanical arm to place the grabbed coil stock to be delivered out of the warehouse onto the target unmanned transport vehicle.

Optionally, the apparatus further comprises: an outside door closing unit for a cargo shower configured to control an outside door of the cargo shower to close in response to the target unmanned transport vehicle moving out of the cargo shower.

Optionally, the apparatus further comprises: the system comprises a first rail system guide vehicle moving unit, a to-be-moved warehouse coil material rod drawing unit, a second rail system guide vehicle moving unit, a conveying device moving unit, a to-be-moved warehouse coil material rod inserting unit and a to-be-moved warehouse coil material loading unit. The first guided vehicle moving unit is configured to control guided vehicles on a transfer floor to move to a to-be-transferred roll material position through a conveying line in response to detection of a roll material transfer task, and control a stacker on the transfer floor to place the to-be-transferred roll material on the guided vehicle, wherein the transfer floor, the to-be-transferred roll material position and the to-be-transferred roll material correspond to the roll material transfer task. And the to-be-moved coil material rod drawing unit is configured to control a rod drawing and inserting mechanical arm of the to-be-moved floor to execute a rod drawing task aiming at the to-be-moved coil material. The second guided vehicle moving unit is configured to control the guided vehicle to move to a preset out-of-garage position of the garage transfer floor, and control the associated grabbing mechanical arm to place the coil stock to be transferred onto the target unmanned transport vehicle. And the conveying device moving unit is configured to control the target unmanned conveying vehicle to move to the warehousing floor through a conveying device corresponding to the warehousing floor, and control the grabbing mechanical arm of the warehousing floor to place the coil materials to be moved onto the unmanned conveying vehicle in the warehouse of the warehousing floor, wherein the warehousing floor corresponds to the coil material moving task. The rod inserting unit for the coil materials to be moved to the warehouse is configured to control the rod inserting mechanical arm on the warehouse floor to execute rod inserting tasks on the coil materials to be moved to the warehouse on the unmanned transport vehicle, and control the target grabbing mechanical arm to place the coil materials to be moved to the warehouse on the unmanned transport vehicle to a stacking machine. And the coil stock loading unit to be moved is configured to control the stacker to execute a loading task corresponding to the coil stock to be moved, so that the coil stock to be moved is placed on the three-dimensional storage position of the warehousing floor.

Optionally, the preset out-of-warehouse location is a goods shower of the transfer floor, and the associated grabbing mechanical arm is a goods shower grabbing mechanical arm in the goods shower of the transfer floor.

Optionally, the second guided vehicle transfer unit is further configured to: controlling the goods leaching room to grab the mechanical arm to grab the coil stock to be moved, calling a target unmanned transport vehicle and controlling an outer side door of the goods leaching room to be opened; and responding to the movement of the target unmanned transport vehicle into the goods leaching room, and controlling the goods leaching room to grab the mechanical arm and place the grabbed coil materials to be moved onto the target unmanned transport vehicle.

Optionally, the apparatus further comprises: a cargo shower control unit configured to control an outside door of the cargo shower to close in response to the target unmanned transport vehicle moving out of the cargo shower.

Optionally, the transporter moving unit is further configured to: controlling the target unmanned transport vehicle to move to an entrance of the transport device, and controlling the transport device to execute door opening operation corresponding to the garage transfer floor; controlling the target unmanned transport vehicle to move into the transport device; and controlling the transportation device to move to the warehousing floor.

Optionally, the apparatus further comprises: and a transporter door closing unit configured to control the transporter to perform a door closing operation and control an outer door of a cargo room of the storage floor to be opened in response to the target unmanned transport vehicle moving to a predetermined position of the storage floor.

Optionally, the transporter moving unit is further configured to: controlling the target unmanned transport vehicle to move to the goods room of the warehousing floor; the goods leaching room grabbing mechanical arm grabbing task corresponding to the warehousing floor and the unmanned transport vehicle calling task in the warehouse are issued; responding to the situation that an unmanned transport vehicle in the warehouse moves to a goods leaching room grabbing mechanical arm of a goods leaching room on the warehousing floor, and placing the to-be-moved coil materials grabbed by the goods leaching room grabbing mechanical arm on the warehousing floor onto the unmanned transport vehicle in the warehouse, wherein the unmanned transport vehicle in the warehouse calls tasks corresponding to the unmanned transport vehicle in the warehouse; and controlling the unmanned transport vehicle in the warehouse to move to the position corresponding to the plugging rod mechanical arm of the warehousing floor.

Optionally, the transportation device moving unit further comprises: responding to the completion of the grabbing task of the goods shower grabbing mechanical arm, controlling the target unmanned transport vehicle to move out of the goods shower of the warehousing floor, and controlling the outer side door of the goods shower of the warehousing floor to be closed; responding to the issued calling task of the unmanned transport vehicle in the warehouse, and controlling an inner side door of a goods room of the warehouse floor to be opened; and controlling the inner side door of the goods room of the warehousing floor to close in response to the fact that the unmanned transport vehicle in the warehouse moves out of the goods room of the warehousing floor.

In a third aspect, some embodiments of the present disclosure provide a stereoscopic warehouse, including each warehouse floor and at least one transportation device corresponding to each warehouse floor, where a warehouse floor of the each warehouse floor is provided with a vertical warehouse and/or a production line, and the vertical warehouse includes a stereoscopic storage location; the warehouse floor provided with the vertical warehouse is provided with an unmanned transport vehicle, a rod pulling and inserting mechanical arm, a grabbing mechanical arm, a stacker, a rail-guided guide vehicle and a conveying line corresponding to the rail-guided guide vehicle.

In a fourth aspect, some embodiments of the present disclosure provide an electronic device, comprising: one or more processors; a storage device having one or more programs stored thereon, which when executed by one or more processors, cause the one or more processors to implement the method described in any of the implementations of the first aspect.

In a fifth aspect, some embodiments of the present disclosure provide a computer readable medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the method described in any of the implementations of the first aspect.

The above embodiments of the present disclosure have the following advantages: through the coil stock carrying method of the stereoscopic warehouse of some embodiments of the disclosure, the human resource cost can be reduced, the transfer of coil stocks among multiple floors is facilitated, and the carrying operation safety, the storage position accuracy, the transportation stability and the storage space utilization rate are improved. Particularly, cause the manpower resources cost higher, be not convenient for the coil stock in the transportation between many floors to and transport operation security, deposit position accuracy, transportation stability and the lower reason of storage space utilization lie in: the coil stock has large weight and volume, is not beneficial to manual operation, has poor safety and complex operation, is not convenient for transferring the coil stock among multiple floors, and causes high cost of human resources; in addition, the storage position accuracy and the transportation stability of the coil stock are poor due to manual carrying; in addition, because the coil stock is bulky, weight is big, needs artifical transport, only can save in the flat storehouse, leads to storage space utilization lower. Based on this, in the coil handling method of the stereoscopic warehouse according to some embodiments of the present disclosure, first, in response to detection of the unmanned transport vehicle calling information, the target unmanned transport vehicle is controlled to move to the coil goods position corresponding to the unmanned transport vehicle calling information, and the warehousing grabbing robot arm corresponding to the coil goods position is controlled to grab the coil goods corresponding to the unmanned transport vehicle calling information. Therefore, when coil goods need to be stored in a warehouse, the target unmanned transport vehicle for transporting the coil goods moves to the position of the coil goods, and the warehouse is controlled to grab the mechanical arm to grab the coil goods. And then, controlling the warehousing grabbing mechanical arm to place the coil material cargoes on the target unmanned transport vehicle. From this, can put the coil stock goods that the arm snatched in storage snatchs on the unmanned transport vechicle of target that is used for transporting coil stock goods. And then controlling the target unmanned transport vehicle to move to the target floor through the transport device corresponding to the target floor, and controlling the grabbing mechanical arm of the target floor to place the coil goods on the unmanned transport vehicle in the warehouse of the target floor. Therefore, the target unmanned transport vehicle bearing the coil goods can be transported to a target floor needing to enter a warehouse through the transporting device, and the coil goods borne by the target unmanned transport vehicle are placed on the unmanned transport vehicle in the warehouse. And secondly, controlling the rod pulling and inserting mechanical arm of the target floor to execute a rod inserting task aiming at the coiled material goods on the unmanned transport vehicle in the garage, and controlling a target grabbing mechanical arm to place the coiled material goods on the unmanned transport vehicle in the garage onto a stacker. Therefore, the roll goods can be placed on the stacking machine after the rod is inserted into the roll goods. And finally, controlling the stacker to execute a racking task corresponding to the coil goods, so that the coil goods are placed on the three-dimensional storage position of the target floor. From this, can realize with coil stock goods automatic handling to three-dimensional on storing up the position. Also because the artifical transport has been avoided, can reduce the manpower resources cost, promoted transport operation security, deposit position accuracy and transportation stability. And the coil stock cargo can be transported to a target floor through the target unmanned transport vehicle and the transport device, so that the coil stock is convenient to transfer among multiple floors. And the coil stock goods can be automatically placed on the three-dimensional storage positions, so that the utilization rate of the storage space is improved. From this, can reduce the human resource cost, the coil stock of being convenient for is in the transportation between many floors, has promoted transport operation security, deposit position accuracy, transportation stability and storage space utilization.

Drawings

The above and other features, advantages, and aspects of embodiments of the present disclosure will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numbers refer to the same or similar elements. It should be understood that the drawings are schematic and that elements and elements are not necessarily drawn to scale.

Fig. 1 is a schematic diagram of one application scenario of a method of coil handling of a stereoscopic warehouse according to some embodiments of the present disclosure;

fig. 2 is a flow diagram of some embodiments of a method of coil handling of a stereoscopic warehouse according to the present disclosure;

fig. 3 is a flow chart of some embodiments of a method of handling rolls of a stereoscopic warehouse for ex-warehouse rolls according to the present disclosure;

fig. 4 is a flow chart of some embodiments of a method of coil handling of a stereoscopic warehouse according to the present disclosure for transferring coils to be transferred;

fig. 5 is a schematic structural view of some embodiments of a stereoscopic warehouse according to the present disclosure;

fig. 6 is a schematic structural view of some embodiments of a coil handling apparatus of a stereoscopic warehouse according to the present disclosure;

FIG. 7 is a schematic structural diagram of an electronic device suitable for use in implementing some embodiments of the present disclosure.

Detailed Description

Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it is to be understood that the disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the disclosure are for illustration purposes only and are not intended to limit the scope of the disclosure.

It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings. The embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict.

It should be noted that the terms "first", "second", and the like in the present disclosure are only used for distinguishing different devices, modules or units, and are not used for limiting the order or interdependence relationship of the functions performed by the devices, modules or units.

It is noted that references to "a", "an", and "the" modifications in this disclosure are intended to be illustrative rather than limiting, and that those skilled in the art will recognize that "one or more" may be used unless the context clearly dictates otherwise.

The names of messages or information exchanged between devices in the embodiments of the present disclosure are for illustrative purposes only, and are not intended to limit the scope of the messages or information.

The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Fig. 1 is a schematic diagram of an application scenario of a method of coil handling of a stereoscopic warehouse according to some embodiments of the present disclosure.

In the application scenario of fig. 1, first, the computing device 101 (the computing device 101 may be a server of a stereoscopic warehouse) may control the target unmanned transport vehicle 102 to move to a coil stock location corresponding to the unmanned transport vehicle call information in response to detecting the unmanned transport vehicle call information, and control the warehousing grabbing robot arm 103 corresponding to the coil stock location to grab the coil stock 104 corresponding to the unmanned transport vehicle call information. Then, the computing device 101 may control the warehousing-grasping robot 103 to place the coil goods 104 onto the target unmanned transport vehicle 102. Thereafter, the computing apparatus 101 may control the target unmanned transport vehicle 102 to move to the target floor through the transport device 105 corresponding to the target floor, and control the grabbing robot arm 106 of the target floor to put the coil goods 104 onto the in-warehouse unmanned transport vehicle 107 of the target floor. Next, the computing apparatus 101 may control the rod-pulling robot arm 108 on the destination floor to perform rod-pulling tasks on the coil goods 104 on the in-warehouse unmanned transport vehicle 107, and control the target gripping robot arm 109 to place the coil goods 104 on the in-warehouse unmanned transport vehicle 107 onto the stacker 110. Finally, the computing device 101 may control the stacker 110 to perform a task of putting on shelves corresponding to the coil goods 104, so that the coil goods 104 are placed on the three-dimensional storage space 111 of the destination floor.

The computing device 101 may be hardware or software. When the computing device is hardware, it may be implemented as a distributed cluster composed of multiple servers or terminal devices, or may be implemented as a single server or a single terminal device. When the computing device is embodied as software, it may be installed in the hardware devices enumerated above. It may be implemented, for example, as multiple software or software modules to provide distributed services, or as a single software or software module. And is not particularly limited herein.

It should be understood that the number of computing devices in FIG. 1 is merely illustrative. There may be any number of computing devices, as implementation needs dictate.

With continued reference to fig. 2, a flow 200 of some embodiments of a method of coil handling of a stereoscopic warehouse according to the present disclosure is shown. The coil stock carrying method comprises the following steps:

step 201, in response to the detection of the calling information of the unmanned transport vehicle, controlling the target unmanned transport vehicle to move to a coil stock goods position corresponding to the calling information of the unmanned transport vehicle, and controlling the warehousing grabbing mechanical arm corresponding to the coil stock goods position to grab the coil stock goods corresponding to the calling information of the unmanned transport vehicle.

In some embodiments, an execution main body (for example, the computing device 101 shown in fig. 1) of the coil handling method may control, in response to detection of the unmanned transport vehicle call information, a target unmanned transport vehicle to move to a coil goods position corresponding to the unmanned transport vehicle call information, and control a warehousing grabbing robot arm corresponding to the coil goods position to grab a coil goods corresponding to the unmanned transport vehicle call information. The unmanned transport vehicle calling information may be information for calling the unmanned transport vehicle to travel to the current position of the coil stock cargo. The call information of the unmanned transport vehicle may be information that is sent by a PDA (Personal Digital Assistant) to call the unmanned transport vehicle to transport the coil goods after an operator scans an identification code (for example, a bar code or a two-dimensional code) of the coil goods through the PDA. The target unmanned transport vehicle can be an unmanned transport vehicle which is currently patrolled by a wheel or any unmanned transport vehicle in an idle state. The unmanned transport vehicle may be an agv (automated Guided vehicle) vehicle. The roll goods can be materials stored in a roll form, and a rod (such as a metal rod) can be inserted into the center of the roll goods and used for being carried on the material rack. For example, the roll goods may be a roll for manufacturing a polarizer. The position of the coil stock goods can be the positioning position of the PDA or the position input by a worker through the PDA. The warehousing grabbing mechanical arm can be a mechanical arm used for grabbing coiled material cargos from a coiled material cargo position.

In practice, the execution main body can simultaneously control the target unmanned transport vehicle to move to the position of the coil material goods corresponding to the calling information of the unmanned transport vehicle, and control the warehousing grabbing mechanical arm corresponding to the position of the coil material goods to grab the coil material goods corresponding to the calling information of the unmanned transport vehicle. It should be noted that the executing entity may control each associated device through a wireless connection. The wireless connection means may include, but is not limited to, a 3G/4G connection, a WiFi connection, a bluetooth connection, a WiMAX connection, a Zigbee connection, a uwb (ultra wideband) connection, and other wireless connection means now known or developed in the future. Therefore, when coil goods need to be stored in a warehouse, the target unmanned transport vehicle for transporting the coil goods moves to the position of the coil goods, and the warehouse is controlled to grab the mechanical arm to grab the coil goods.

And step 202, controlling the warehousing grabbing mechanical arm to place the coil material cargos on the target unmanned transport vehicle.

In some embodiments, the executing body may control the warehousing robot to place the coil goods onto the target unmanned transport vehicle in response to determining that the target unmanned transport vehicle moves within an operable range of the warehousing robot. The operable range can be the range of the warehousing grabbing mechanical arm capable of grabbing or placing. From this, can put the coil stock goods that the arm snatched in storage snatchs on the unmanned transport vechicle of target that is used for transporting coil stock goods.

And step 203, controlling the target unmanned transport vehicle to move to a target floor through the transport device corresponding to the target floor, and controlling the grabbing mechanical arm of the target floor to place the coil material goods on the unmanned transport vehicle in the warehouse of the target floor.

In some embodiments, the executing body may control the target unmanned transport vehicle to move to the target floor through a transport device corresponding to the target floor, and control the grabbing robot of the target floor to place the coil goods on the unmanned transport vehicle in the warehouse of the target floor. Wherein, the destination floor can be a floor where the coil stock goods need to be put in storage. The transportation device corresponding to the destination floor may be a transportation device that can reach the destination floor, and may be a freight elevator or a hoist, for example. The above-mentioned unmanned transport vehicle in the garage may be an unmanned transport vehicle for moving in a vertical garage of a destination floor. In practice, first, the execution body may control the target unmanned transport vehicle to move to an entrance of the transport device. Then, the transportation device can be controlled to execute the door opening operation of opening the floor corresponding to the current position of the coil stock cargo. Specifically, the transportation device may be controlled to move to the floor where the coil stock cargo is currently located. And then controlling the transportation device to execute door opening operation. And then, controlling the target unmanned transport vehicle to move into the transport device. Secondly, the transportation device can be controlled to move to the destination floor. And finally, in response to the target unmanned transport vehicle moving to the operable range of the grabbing mechanical arm, controlling the grabbing mechanical arm of the target floor to place the coil goods on the unmanned transport vehicle in the warehouse of the target floor. Therefore, the target unmanned transport vehicle bearing the coil goods can be transported to a target floor needing to enter a warehouse through the transporting device, and the coil goods borne by the target unmanned transport vehicle are placed on the unmanned transport vehicle in the warehouse.

In some optional implementations of some embodiments, first, the executing body may control the target unmanned transport vehicle to move to an entrance of the transportation device, and control the transportation device to execute a door opening operation for opening a floor where the coil stock cargo is currently located. Therefore, the target unmanned transport vehicle can be controlled to move to the entrance of the transport device at the same time, and the transport device is controlled to execute door opening operation for opening the floor corresponding to the current coil stock cargo. Then, the target unmanned transport vehicle may be controlled to move into the transport device. And then, the transportation device can be controlled to move to the destination floor. Therefore, the target unmanned transport vehicle can be controlled to move to the entrance of the transport device at the same time, and the transport device is controlled to execute door opening operation for opening the floor where the corresponding coil material goods are located, so that the target unmanned transport vehicle can directly move into the transport device after moving to the entrance of the transport device and then move to the target floor.

In some optional implementations of some embodiments, after the controlling the transportation device to move to the target floor, the execution main body may further control the transportation device to perform a door closing operation and an outer door of a shower of the target floor to open in response to the target unmanned transportation vehicle moving to a preset position of the target floor. The preset position may be a preset position. Here, the specific setting of the preset position is not limited. The outer side door can be a door for communicating the goods shower room with the outside of the vertical warehouse. Therefore, after the target unmanned transport vehicle moves to the preset position, the door of the transport device is automatically closed, and meanwhile, the outer side door of the cargo leaching room can be automatically opened to enable the target unmanned transport vehicle to directly enter.

In some optional implementations of some embodiments, first, the execution body may control the target unmanned transport vehicle to move to the cargo shower. Then, a cargo-delivering shower can be issued to grab the mechanical arm grabbing task and call the unmanned transport vehicle in the warehouse. The goods leaching room grabbing mechanical arm grabbing task can be a task executed by a goods leaching room grabbing mechanical arm in a goods supply leaching room and used for grabbing coil goods from the target unmanned transport vehicle. The calling task of the unmanned transport vehicle in the warehouse can be a task which is executed by the unmanned transport vehicle in the warehouse of the target floor and is driven to the operable range of the goods leaching mechanical arm. In practice, the picking robot arm grabbing task and the calling task of the unmanned transport vehicle in the warehouse can be issued to the goods shower simultaneously. And then, the unmanned transport vehicle in the garage corresponding to the unmanned transport vehicle calling task in the garage can be moved to the goods leaching room grabbing mechanical arm, and the coil goods grabbed by the goods leaching room grabbing mechanical arm are placed on the unmanned transport vehicle in the garage. Wherein, the goods shower grabbing mechanical arm is arranged in the goods shower. The goods leaching room grabbing mechanical arm can be in the operable range of the goods leaching room grabbing mechanical arm. And finally, the unmanned transport vehicle in the garage can be controlled to move to the position corresponding to the mechanical arm of the plugging rod. Therefore, the coil goods can be conveyed to the goods leaching room through the target unmanned transport vehicle for dedusting, and the coil goods can be conveyed out of the goods leaching room through the unmanned transport vehicle in the warehouse.

In some optional implementations of some embodiments, the execution body may further control the target unmanned transport vehicle to move out of the cargo shower and control an outer door of the cargo shower to close in response to completion of the cargo shower grabbing robot grabbing task. From this, can snatch the arm at the goods leaching rooms and grab the coil stock goods after for the automatic goods leaching rooms that shifts out of target unmanned transport vechicle, and shift out above-mentioned goods leaching rooms at target unmanned transport vechicle after, the outside door of self-closing goods leaching rooms. The execution main body can respond to the fact that the calling task of the unmanned transport vehicle in the warehouse is issued, and controls the inner side door of the goods shower to be opened. Wherein, the inner side door can be a door for communicating the goods shower and the vertical warehouse. Therefore, the inner door of the goods shower can be automatically opened after the unmanned transport vehicle in the calling room. The execution main body can respond to the fact that the unmanned transport vehicle in the warehouse moves out of the goods shower, and the inner side door of the goods shower is controlled to be closed. Therefore, the inner side door of the goods shower can be automatically closed after the unmanned transport vehicle in the warehouse moves out of the goods shower.

And 204, controlling the rod pulling and inserting mechanical arm of the target floor to execute rod inserting tasks for coiled material cargos on the unmanned transport vehicle in the warehouse, and controlling the target grabbing mechanical arm to place the coiled material cargos on the unmanned transport vehicle in the warehouse onto a stacker.

In some embodiments, the execution body may control the rod-pulling robot arm on the destination floor to perform a rod-pulling task on the coil goods on the in-warehouse unmanned transport vehicle, and control the target grabbing robot arm to place the coil goods on the in-warehouse unmanned transport vehicle onto a stacker. The rod extracting and inserting mechanical arm can be a mechanical arm used for extracting rods placed in a coil stock or placing rods in the coil stock. The rod inserting task may be a task of placing a rod into the coil goods. The target grabbing mechanical arm can be a grabbing mechanical arm in an area where the coil goods need to be placed. The area where the roll goods are to be placed can be determined by the category label of the roll goods. One region may correspond to at least one category label. The area where the coil goods need to be placed can be determined according to the number of the residual three-dimensional storage positions in each area of the target floor. For example, the area where the coil goods are to be placed may be an area where the number of the remaining three-dimensional storage locations is the largest. Therefore, the roll goods can be placed on the stacking machine after the rod is inserted into the roll goods.

And step 205, controlling the stacker to execute a racking task corresponding to the coil goods, so that the coil goods are placed on the three-dimensional storage position of the destination floor.

In some embodiments, the execution body may control the stacker to perform a racking task corresponding to the coil goods, so that the coil goods are placed on the three-dimensional storage location of the destination floor. The racking task can be a task of placing the coil goods in a three-dimensional storage position of the vertical warehouse. From this, can realize with coil stock goods automatic handling to three-dimensional on storing up the position.

The above embodiments of the present disclosure have the following advantages: through the coil stock carrying method of the stereoscopic warehouse of some embodiments of the disclosure, the human resource cost can be reduced, the transfer of coil stocks among multiple floors is facilitated, and the carrying operation safety, the storage position accuracy, the transportation stability and the storage space utilization rate are improved. Particularly, cause the manpower resources cost higher, be not convenient for the coil stock in the transportation between many floors to and transport operation security, deposit position accuracy, transportation stability and the lower reason of storage space utilization lie in: the coil stock has large weight and volume, is not beneficial to manual operation, has poor safety and complex operation, is not convenient for transferring the coil stock among multiple floors, and causes high cost of human resources; in addition, the storage position accuracy and the transportation stability of the coil stock are poor due to manual carrying; in addition, because the coil stock is bulky, weight is big, needs artifical transport, only can save in the flat storehouse, leads to storage space utilization lower. Based on this, in the coil handling method of the stereoscopic warehouse according to some embodiments of the present disclosure, first, in response to detection of the unmanned transport vehicle calling information, the target unmanned transport vehicle is controlled to move to the coil goods position corresponding to the unmanned transport vehicle calling information, and the warehousing grabbing robot arm corresponding to the coil goods position is controlled to grab the coil goods corresponding to the unmanned transport vehicle calling information. Therefore, when coil goods need to be stored in a warehouse, the target unmanned transport vehicle for transporting the coil goods moves to the position of the coil goods, and the warehouse is controlled to grab the mechanical arm to grab the coil goods. And then, controlling the warehousing grabbing mechanical arm to place the coil material cargoes on the target unmanned transport vehicle. From this, can put the coil stock goods that the arm snatched in storage snatchs on the unmanned transport vechicle of target that is used for transporting coil stock goods. And then controlling the target unmanned transport vehicle to move to the target floor through a transport device corresponding to the target floor, and controlling a grabbing mechanical arm of the target floor to place the coil material goods on the unmanned transport vehicle in the warehouse of the target floor. Therefore, the target unmanned transport vehicle bearing the coil goods can be transported to a target floor needing to enter a warehouse through the transporting device, and the coil goods borne by the target unmanned transport vehicle are placed on the unmanned transport vehicle in the warehouse. And secondly, controlling the rod pulling and inserting mechanical arm of the target floor to execute a rod inserting task aiming at the coiled material goods on the unmanned transport vehicle in the garage, and controlling a target grabbing mechanical arm to place the coiled material goods on the unmanned transport vehicle in the garage onto a stacker. Therefore, the roll goods can be placed on the stacking machine after the rod is inserted into the roll goods. And finally, controlling the stacker to execute a racking task corresponding to the coil goods, so that the coil goods are placed on the three-dimensional storage position of the target floor. From this, can realize with coil stock goods automatic handling to three-dimensional on storing up the position. Also because the artifical transport has been avoided, can reduce the manpower resources cost, promoted transport operation security, deposit position accuracy and transportation stability. And the coil stock cargo can be transported to a target floor through the target unmanned transport vehicle and the transport device, so that the coil stock is convenient to transfer among multiple floors. And the coil stock goods can be automatically placed on the three-dimensional storage positions, so that the utilization rate of the storage space is improved. From this, can reduce the human resource cost, the coil stock of being convenient for is in the transportation between many floors, has promoted transport operation security, deposit position accuracy, transportation stability and storage space utilization.

With further reference to fig. 3, a flow 300 of some embodiments of a method of handling rolls of a stereoscopic warehouse for ex-warehouse rolls is shown. The process 300 of delivering the coil to be delivered from the warehouse of the coil handling method comprises the following steps:

step 301, in response to the detection of the coil stock delivery task, controlling the rail-guided vehicle on the delivery floor to move to the position of the coil stock to be delivered through the conveying line, and controlling the stacker on the delivery floor to place the coil stock to be delivered on the rail-guided vehicle.

In some embodiments, an executing body of the coil handling method (e.g., the computing device 101 shown in fig. 1) may control a guided vehicle of an outbound floor to move to a coil position to be outbound through a conveyor line and control a stacker of the outbound floor to place a coil to be outbound on the guided vehicle in response to detecting a coil outbound job. And the delivery floor, the position of the coil material to be delivered and the coil material to be delivered correspond to the coil material delivery task. The coil stock delivery task can be a task of moving coil stocks to be delivered from a vertical warehouse on the first floor to a delivery destination position. The ex-warehouse floor can be the original floor where the coil stock to be ex-warehouse is located. The rail guided vehicle moves through the conveyor line. In practice, the execution main body can simultaneously control the rail-guided vehicles on the delivery floors to move to the positions of the coil materials to be delivered from the warehouse through the conveying lines, and control the pilers on the delivery floors to take the coil materials to be delivered from the three-dimensional storage positions. And then, in response to the fact that the guided vehicle is determined to move to the position of the coil stock to be delivered through the conveying line, the stacker of the delivery floor is controlled to place the coil stock to be delivered on the guided vehicle. Therefore, when the coil stock to be delivered out of the warehouse needs to be delivered out of the warehouse, the coil stock to be delivered out of the warehouse can be placed on the rail-guided guide car through the stacker.

And step 302, controlling the rod drawing and inserting mechanical arm to execute a rod drawing task aiming at the coil stock to be discharged from the warehouse.

In some embodiments, the execution body may control the rod extracting and inserting mechanical arm to execute a rod extracting task for the coil stock to be delivered. Wherein, the rod pulling mechanical arm can be a rod pulling mechanical arm of a warehouse-out floor. Therefore, the rods in the roll materials to be delivered can be automatically drawn out.

And 303, controlling the track guided vehicle to move to a goods leaching room of the delivery floor, and controlling a goods leaching room of the goods leaching room to grab a mechanical arm to place the coil stock to be delivered to the target unmanned transport vehicle.

In some embodiments, the executing body may control the tracked guided vehicle to move to a storage room of the delivery floor, and control a storage room grabbing robot of the storage room to place the coil to be delivered onto the target unmanned transport vehicle. In practice, the executing body may control the guided vehicle to move to the stock room of the delivery floor. Then, the target unmanned transport vehicle can be called to drive to the goods room of the delivery floor. And then, in response to the fact that the target unmanned transport vehicle is determined to be driven to the goods shower of the delivery floor, controlling a goods shower grabbing mechanical arm of the goods shower to place the coil materials to be delivered from the rail guided vehicle onto the target unmanned transport vehicle. Therefore, after the coil stock to be delivered out of the warehouse is dedusted by the goods leaching room, the mechanical arm is grabbed by the goods leaching room to place the coil stock to be delivered out of the warehouse onto the target unmanned transport vehicle from the rail-guided vehicle.

In some optional implementation manners of some embodiments, the execution main body may control the goods shower machine to grab the roll material to be delivered, call a target unmanned transport vehicle, and control an outer side door of the goods shower to open. In practice, the execution main body can simultaneously control the goods shower machine to grab the coil stock to be delivered and call the target unmanned transport vehicle, and in the process of calling the target unmanned transport vehicle, the execution main body can control the outer side door of the goods shower to be opened. Therefore, the material to be delivered out of the warehouse, the target unmanned transport vehicle can be called, and the outer side door of the goods shower can be opened. And then, in response to the target unmanned transport vehicle moving into the goods shower, controlling the goods shower to grab the mechanical arm to place the grabbed coil materials to be delivered out of the warehouse onto the target unmanned transport vehicle. Therefore, after the coil stock to be delivered out of the warehouse is dedusted by the goods leaching room, the mechanical arm is grabbed by the goods leaching room to place the coil stock to be delivered out of the warehouse onto the target unmanned transport vehicle from the rail-guided vehicle.

Optionally, the execution main body may further control an outer door of the goods shower to be closed in response to the target unmanned transport vehicle moving out of the goods shower. It can be understood that after the goods leaching room grabbing mechanical arm puts the grabbed coil materials to be discharged out of the warehouse onto the target unmanned transport vehicle, the target unmanned transport vehicle can be controlled to move out of the goods leaching room. Thus, the outside door of the cargo shower can be automatically closed after the target unmanned transport vehicle is moved out of the cargo shower.

And step 304, controlling the target unmanned transport vehicle to move to a warehouse-out destination position corresponding to the coil stock warehouse-out task.

In some embodiments, the executing body may control the target unmanned transport vehicle to move to a delivery destination position corresponding to the coil delivery task. The delivery destination position can be a position where the coil stock is required to be placed outside the warehouse. Therefore, the target unmanned transport vehicle can be controlled to automatically drive to the delivery destination position of the coil stock to be delivered.

As can be seen from fig. 3, compared with the description of some embodiments corresponding to fig. 2, the flow 300 of the roll handling method in some embodiments corresponding to fig. 3 embodies the step of unloading the roll to be unloaded. Therefore, the scheme described by the embodiments can avoid manual carrying when the coil materials to be delivered are delivered, reduce the cost of human resources, and improve the carrying operation safety, the storage position accuracy and the transportation stability. And the stereoscopic warehouse is adopted, so that the utilization rate of the storage space is improved. From this, can reduce the manpower resources cost, promote transport operation security, parking position accuracy, transportation stability and storage space utilization.

With further reference to fig. 4, a flow 400 of some embodiments of a method of coil handling of a stereoscopic warehouse for transferring coils to be transferred is illustrated. The process 400 of transferring the coil materials to be transferred to the warehouse of the coil material conveying method comprises the following steps:

step 401, in response to the detection of the coil stock transfer task, controlling the rail-guided vehicle on the transfer floor to move to the coil stock position to be transferred through the conveying line, and controlling the stacker on the transfer floor to place the coil stock to be transferred on the rail-guided vehicle.

In some embodiments, an executive body of a coil handling method (e.g., the computing device 101 shown in fig. 1) may control a tracked vehicle on a transfer floor to move to a to-be-transferred coil location via a conveyor line and control a stacker on the transfer floor to place the to-be-transferred coil on the tracked vehicle in response to detecting a coil transfer task. And the warehouse moving floors, the positions of the coil materials to be moved and the coil materials to be moved correspond to the coil material warehouse moving tasks. The coil stock transfer task can be a task of transferring coil stocks to be transferred from the vertical warehouse on one floor to the vertical warehouse on the other floor. The garage moving floor can be the original floor where the coil stock to be moved is located. In practice, the execution main body can simultaneously control the rail-guided vehicles on the transfer floors to move to the position of the coil stock to be transferred through the conveying line and control the stacking machines on the transfer floors to take out the coil stock to be transferred from the three-dimensional storage position. And then, in response to the fact that the rail guide car is determined to move to the position of the coil stock to be moved through the conveying line, the stacker of the transfer floor is controlled to place the coil stock to be moved on the rail guide car. Therefore, when the coil stock to be moved to another floor needs to be moved to a vertical warehouse, the coil stock to be moved to the warehouse can be placed on the rail-guided guide car through the stacker.

And step 402, controlling the rod pulling and inserting mechanical arm of the transfer floor to execute a rod pulling task aiming at the coil stock to be transferred.

In some embodiments, the execution body may control the rod-pulling robot arm on the transfer floor to perform a rod-pulling task on the coil stock to be transferred. Wherein, the rod pulling mechanical arm can be a rod pulling mechanical arm for a warehouse moving floor. Therefore, the rods in the roll materials to be moved can be automatically drawn out.

And step 403, controlling the track guided vehicle to move to a preset out-of-garage position of the garage transfer floor, and controlling the associated grabbing mechanical arm to place the coil stock to be transferred onto the target unmanned transport vehicle.

In some embodiments, the executing body may control the guided vehicle to move to a preset out-of-garage position on the transfer floor, and control the associated grabbing robot to place the coil to be transferred onto the target unmanned transport vehicle. The preset position outside the garage can be any position outside the vertical garage of the garage transfer floor. The associated grasping robot arm may be a grasping robot arm at a position outside the preset library. In practice, the executing body may control the guided vehicle to move to the preset outside-garage position of the garage transfer floor. Then, the target unmanned transport vehicle can be called to drive to the preset out-of-garage position of the garage transfer floor. And then, in response to the fact that the target unmanned transport vehicle is determined to drive to the preset out-of-garage position of the garage transfer floor, controlling the grabbing mechanical arm to place the to-be-transferred coil stock on the tracked guide vehicle onto the target unmanned transport vehicle. Therefore, after the coil stock to be moved to the warehouse reaches the position outside the preset warehouse, the coil stock to be moved to the warehouse can be placed on the target unmanned transport vehicle from the rail-guided vehicle through the grabbing mechanical arm.

In some optional implementations of some embodiments, the preset ex-warehouse location may be a baggage compartment of the transfer floor. The associated grasping robot may be a cargo shower grasping robot within the cargo shower of the transfer floor. The execution main body can control the goods leaching room to grab the mechanical arm to grab the to-be-moved coil stock, call the target unmanned transport vehicle and control the outer side door of the goods leaching room to be opened. In practice, the execution main body can simultaneously control the goods shower machine to grab the coil stock to be moved and call the target unmanned transport vehicle, and in the process of calling the target unmanned transport vehicle, the execution main body can control the outer side door of the goods shower to be opened. Therefore, the material to be moved can be simultaneously grabbed, the target unmanned transport vehicle can be called, and the outer side door of the goods shower can be opened. And then, in response to the target unmanned transport vehicle moving into the goods shower, controlling the goods shower to grab the mechanical arm to place the grabbed coil materials to be moved onto the target unmanned transport vehicle. Therefore, after the coil stock to be moved is dedusted by the goods leaching room, the coil stock to be moved is picked by the mechanical arm through the goods leaching room and is placed on the target unmanned transport vehicle from the rail-guided vehicle.

Alternatively, the execution body may control an outer door of the cargo shower to be closed in response to the target unmanned transport vehicle moving out of the cargo shower. It can be understood that after the goods leaching room grabbing mechanical arm puts the grabbed coil materials to be moved to the target unmanned transport vehicle, the target unmanned transport vehicle can be controlled to move out of the goods leaching room. Thus, the outer door of the cargo shower can be automatically closed after the target unmanned transport vehicle is moved out of the cargo shower.

And step 404, controlling the target unmanned transport vehicle to move to the warehousing floor through the transport device corresponding to the warehousing floor, and controlling the grabbing mechanical arm of the warehousing floor to place the coil stock to be moved to the warehouse unmanned transport vehicle on the warehousing floor.

In some embodiments, the executing body may control the target unmanned transport vehicle to move to the storage floor through a transport device corresponding to the storage floor, and control the grabbing robot of the storage floor to place the coil stock to be moved onto the storage unmanned transport vehicle of the storage floor. And the warehousing floors correspond to the coil stock moving tasks. The warehousing floor can be a floor to which the coil stock to be moved needs to be moved. In practice, first, the execution body may control the target unmanned transport vehicle to move to an entrance of the transport device. Then, the transportation device can be controlled to execute door opening operation for opening the corresponding garage transfer floor. Specifically, the transportation device can be controlled to move to the garage transfer floor. And controlling the transportation device to execute door opening operation. And then, controlling the target unmanned transport vehicle to move into the transport device. Secondly, the transportation device can be controlled to move to the warehousing floor. And finally, in response to the fact that the target unmanned transport vehicle moves to the operable range of the grabbing mechanical arm of the warehousing floor, controlling the grabbing mechanical arm to place the coil stock to be moved to the warehouse unmanned transport vehicle of the warehousing floor. Therefore, the target unmanned transport vehicle bearing the coil materials to be moved to the warehouse floor needing to enter the warehouse can be transported to the warehouse unmanned transport vehicle of the warehouse floor through the transporting device, and the coil materials to be moved borne by the target unmanned transport vehicle are placed on the unmanned transport vehicle in the warehouse floor.

In some optional implementations of some embodiments, first, the executing body may control the target unmanned transport vehicle to move to an entrance of the transportation device, and control the transportation device to perform a door opening operation for opening a corresponding garage transfer floor. Therefore, the target unmanned transport vehicle can be controlled to move to the entrance of the transport device at the same time, and the transport device is controlled to execute the door opening operation corresponding to the garage transfer floor. Then, the target unmanned transport vehicle may be controlled to move into the transport device. And then, the transportation device can be controlled to move to the warehousing floor. Therefore, the target unmanned transport vehicle can be controlled to move to the entrance of the transport device at the same time, and the transport device is controlled to execute the door opening operation corresponding to the garage moving floor, so that the target unmanned transport vehicle can directly move into the transport device after moving to the entrance of the transport device and then move to the garage entering floor.

In some optional implementation manners of some embodiments, after the controlling the transportation device to move to the storage floor, the executing body may further control the transportation device to execute a door closing operation and control an outer door of a storage room of the storage floor to open in response to the target unmanned transportation vehicle moving to a predetermined position of the storage floor. The predetermined position may be a preset position in the warehouse entry floor. Here, the specific setting of the predetermined position is not limited. Therefore, after the target unmanned transport vehicle moves to the preset position, the door of the transport device is automatically closed, and meanwhile, the outer door of the goods shower can be automatically opened to enable the target unmanned transport vehicle to directly enter.

In some optional implementation manners of some embodiments, first, the execution main body may control the target unmanned transport vehicle to move to the goods shower of the storage floor. Then, a cargo leaching room grabbing mechanical arm grabbing task corresponding to the warehousing floor and an unmanned transport vehicle calling task in the warehouse can be issued. The goods leaching room grabbing mechanical arm grabbing task can be a task executed by a goods leaching room grabbing mechanical arm in the goods leaching room of the warehousing floor for grabbing the coil materials to be moved to the warehouse from the target unmanned transport vehicle. The calling task of the unmanned transport vehicle in the warehouse can be a task which is executed by the unmanned transport vehicle in the warehouse of the warehouse floor and runs to the cargo room of the warehouse floor to be in the operable range of the mechanical arm for grabbing. In practice, the picking robot arm grabbing task and the calling task of the unmanned transport vehicle in the warehouse can be issued to the goods shower simultaneously. And then, in response to the fact that the unmanned transport vehicle in the warehouse moves to the goods leaching room grabbing mechanical arm of the goods leaching room on the warehousing floor, the goods leaching room grabbing mechanical arm on the warehousing floor grabs the roll materials to be moved to be placed on the unmanned transport vehicle in the warehouse. And the unmanned transport vehicle in the garage corresponds to the calling task of the unmanned transport vehicle in the garage. The unmanned transport vehicle in the garage can be an unmanned transport vehicle in the garage which is patrolled by wheels or any unmanned transport vehicle in the garage in an idle state. And finally, the unmanned transport vehicle in the warehouse can be controlled to move to the position corresponding to the plugging rod mechanical arm on the warehouse floor. Therefore, the target unmanned transport vehicle can be used for transporting the coil stock to be moved to the goods leaching rooms on the warehousing floor for dedusting, and the coil stock to be moved is transported out of the goods leaching rooms through the unmanned transport vehicle in the warehouse on the warehousing floor.

In some optional implementation manners of some embodiments, the executing body may further control the target unmanned transport vehicle to move out of the storage room of the storage floor and control an outer door of the storage room of the storage floor to close in response to completion of the grabbing task of the mechanical arm for grabbing the storage room. From this, can snatch the arm at the goods leaching rooms and grab the coil stock goods after for the automatic goods leaching rooms that shifts out of target unmanned transport vechicle, and shift out above-mentioned goods leaching rooms at target unmanned transport vechicle after, the outside door of self-closing goods leaching rooms. The execution main body can respond to the issued calling task of the unmanned transport vehicle in the warehouse and control the inner side door of the goods room of the warehouse floor to be opened. Therefore, the inner door of the goods shower can be automatically opened after the unmanned transport vehicle in the calling room. The execution main body can respond that the unmanned transport vehicle in the warehouse moves out of the goods shower of the warehouse floor, and the inner side door of the goods shower of the warehouse floor is controlled to be closed. Therefore, the inner side door of the goods shower can be automatically closed after the unmanned transport vehicle in the warehouse moves out of the goods shower.

And 405, controlling the rod pulling and inserting mechanical arm on the warehousing floor to execute a rod inserting task aiming at the coil stock to be moved on the unmanned transport vehicle in the warehouse, and controlling the target grabbing mechanical arm to place the coil stock to be moved on the unmanned transport vehicle in the warehouse onto a stacker.

In some embodiments, the execution body may control the rod-inserting robot on the warehousing floor to execute a rod-inserting task for the to-be-moved coil stock on the in-warehouse unmanned transport vehicle, and control the target grabbing robot to place the to-be-moved coil stock on the in-warehouse unmanned transport vehicle onto a stacker. The rod inserting task can be a task of placing rods in the roll materials to be moved. The target grabbing mechanical arm can be a grabbing mechanical arm in an area where the coil stock to be moved needs to be placed. The area where the coil stock to be moved needs to be placed can be determined by the type label of the coil stock to be moved. One region may correspond to at least one category label. The area where the coil stock to be moved needs to be placed can also be determined by the quantity of the residual three-dimensional storage positions of each area of the warehousing floor. For example, the area where the coil stock to be moved needs to be placed may be an area with the largest number of remaining three-dimensional storage locations. Therefore, the coil stock to be moved can be placed on the stacking machine after the rod is inserted into the coil stock to be moved.

And 406, controlling the stacker to execute a racking task corresponding to the coil materials to be moved so that the coil materials to be moved are placed on the three-dimensional storage positions of the warehousing floors.

In some embodiments, the execution main body may control the stacker to execute a racking task corresponding to the to-be-transferred coil stock, so that the to-be-transferred coil stock is placed on the three-dimensional storage position of the storage floor. The racking task can be a task of placing the coil stock to be moved in a three-dimensional storage position of the vertical warehouse. Therefore, the automatic conveying of the coil materials to be moved to the three-dimensional storage positions can be realized.

As can be seen from fig. 4, compared with the description of some embodiments corresponding to fig. 2, the flow 400 of the roll handling method in some embodiments corresponding to fig. 4 embodies the step of transferring the roll to be transferred. Therefore, the scheme described by the embodiments can avoid manual carrying when the coil materials to be moved are moved, reduce the cost of human resources, and improve the carrying operation safety, the storage position accuracy and the transportation stability. And the coil stock to be moved to the warehouse can be transported to the warehouse floor through the target unmanned transport vehicle and the transport device, so that the coil stock can be conveniently transported among multiple floors. And the coil stock to be moved can be automatically placed on the three-dimensional storage position, so that the utilization rate of the storage space is improved. From this, can reduce the human resource cost, the coil stock of being convenient for is in the transportation between many floors, has promoted transport operation security, deposit position accuracy, transportation stability and storage space utilization.

With further reference to fig. 5, a schematic structural diagram of some embodiments of the stereoscopic warehouse is shown. The stereoscopic warehouse comprises various warehouse floors 51 and at least one transportation means 52 corresponding to the above-mentioned various warehouse floors. Wherein the transportation device 52 may be a device that can reach from one floor to another floor. The transport device 52 may be, for example, a freight elevator or a hoist. The warehouse floor can be divided into an inside area and an outside area. To avoid inter-floor coverage, the warehouse floors in fig. 5 show only two warehouse floors.

A warehouse floor of the above-mentioned respective warehouse floors may be provided with a vertical warehouse 511 and/or a production line 512. The above-mentioned library 511 may include, but is not limited to, at least one of the following: the system comprises a curing warehouse, a normal-temperature warehouse, a raw material warehouse (used for storing raw materials), a semi-finished product warehouse (used for storing semi-finished products), a finished product warehouse (used for storing finished products), and a vertical warehouse with different three-dimensional storage positions. The production line 512 may be a production line for performing different operation steps. The production line 512 may include, but is not limited to, at least one of the following: the extension is produced the line, and the coating is produced the line, cuts and produces the line, and compound production line, increment are produced the line, and the edging is produced the line. The library 511 may comprise a stereo repository. The stereoscopic storage space may be a storage space in the vertical library 511. Here, the number of the vertical warehouse 511, the production line 512, and the stereoscopic storage space is not limited. The foundries 511 and/or the production lines 512 are provided in the in-library area. The warehouse floor provided with the vertical warehouse 511 is provided with an unmanned transport vehicle, a rod pulling and inserting mechanical arm, a grabbing mechanical arm, a stacker, a rail-guided guide vehicle and a conveying line corresponding to the rail-guided guide vehicle.

As an example, a stereoscopic warehouse may include 6 warehouse floors. The area outside the warehouse of 1 layer of warehouse floor can be provided with a platform, a manual forklift, a grabbing mechanical arm, a goods elevator of 1 layer to 6 layers of warehouse floors, a common unmanned transport vehicle and a goods leaching room. The region in the warehouse of 1 layer warehouse floor can be provided with high accuracy unmanned transport vechicle, the goods ladder of 1 layer to 2 layers warehouse floor, the lifting machine of 1 layer to 2 layers warehouse floor, take out and insert excellent arm, stacker, vertical storehouse (the three-dimensional position of storage is big or small different), quick door, extension production line and coating production line. The area outside the 2-layer warehouse floor can be provided with a platform, goods ladders from 1-6-layer warehouse floor, a common unmanned transport vehicle and a goods shower. The region in the storehouse of 2 layers of warehouse floors can be provided with high accuracy unmanned transport vechicle, the goods ladder of 1 layer to 2 layers of warehouse floors, the lifting machine of 2 layers to 3 layers of warehouse floors, take out and insert stick arm, stacker, upright storehouse (including normal atmospheric temperature storehouse and solidification storehouse), have rail system guide car, transfer chain and extend and produce the line. The area outside the 3-layer warehouse floor can be provided with a platform, goods ladders from 1-layer warehouse floor to 6-layer warehouse floor, a common unmanned transport vehicle and a goods leaching room. The warehouse-in area of 3-layer warehouse floors can be provided with an unmanned forklift, a goods elevator from 3 layers to 6 layers of warehouse floors, a lifting machine from 2 layers to 3 layers of warehouse floors, a lifting machine from 3 layers to 4 layers of warehouse floors, a grabbing mechanical arm, a quick door, a composite production line and an incremental production line. The out-of-warehouse area of the 4-story warehouse floor may be provided with a platform, and freight elevators for 1-story to 6-story warehouse floors. The area in the storehouse of 4 layers of warehouse floors can be provided with unmanned fork truck, 3 layers to the goods lift of 6 layers of warehouse floors, 3 layers to the lifting machine of 4 layers of warehouse floors and cut and produce the line. The area outside the 5-layer warehouse floor can be provided with a platform, goods ladders from 1-6-layer warehouse floor, a common unmanned transport vehicle and a goods shower. The warehouse inner area of 5-layer warehouse floors can be provided with a high-precision unmanned transport vehicle, a lifting machine of 3-6-layer warehouse floors, a rod pulling and inserting mechanical arm, a grabbing mechanical arm, a stacking machine and a vertical warehouse (comprising a raw material warehouse, a semi-finished product warehouse, a finished product warehouse and the like). The out-of-warehouse area of the 6-story warehouse floor may be provided with a platform, and freight elevators for 1-story to 6-story warehouse floors. The interior area of 6 layers of warehouse floors can be provided with high-precision unmanned transport vehicle, 3 layers of hoister to 6 layers of warehouse floors, a cutting production line and an edging production line.

The above embodiments of the present disclosure have the following advantages: through stereoscopic warehouse of some embodiments of this disclosure, can reduce the human resource cost, the transportation of the coil stock of being convenient for between many floors has promoted transport operation security, deposit position accuracy, transportation stability and storage space utilization. Particularly, cause the manpower resources cost higher, be not convenient for the coil stock in the transportation between many floors to and transport operation security, deposit position accuracy, transportation stability and the lower reason of storage space utilization lie in: the coil stock has large weight and volume, is not beneficial to manual operation, has poor safety and complex operation, is not convenient for transferring the coil stock among multiple floors, and causes high cost of human resources; in addition, the storage position accuracy and the transportation stability of the coil stock are poor due to manual carrying; in addition, because the coil stock is bulky, weight is big, needs artifical transport, only can save in the flat storehouse, leads to storage space utilization lower. Based on this, the stereoscopic warehouse of some embodiments of the present disclosure includes each warehouse floor and at least one transportation device corresponding to the above each warehouse floor. And the warehouse floors in the warehouse floors are provided with a vertical warehouse and/or a production line, and the vertical warehouse comprises a three-dimensional storage position. The warehouse floor provided with the vertical warehouse is provided with an unmanned transport vehicle, a rod pulling and inserting mechanical arm, a grabbing mechanical arm, a stacker, a rail-guided guide vehicle and a conveying line corresponding to the rail-guided guide vehicle. Also because be provided with mechanized haulage equipment in the warehouse floor of founding the storehouse, can avoid artifical transport, and then can reduce the human resource cost, promoted transport operation security, deposit position accuracy and transportation stability. And the coil stock can be transported to other floors from one floor through the transportation device, so that the coil stock can be conveniently transported among multiple floors. And the coil stock can be placed on the three-dimensional storage position, so that the utilization rate of the storage space is improved. From this, can reduce the human resource cost, the coil stock of being convenient for is in the transportation between many floors, has promoted transport operation security, deposit position accuracy, transportation stability and storage space utilization.

With further reference to fig. 6, as an implementation of the methods shown in the above figures, the present disclosure provides some embodiments of a coil handling apparatus of a stereoscopic warehouse, which correspond to those of the method embodiments shown in fig. 2, and which may be applied in various electronic devices in particular.

As shown in fig. 6, the coil handling apparatus 600 of the stereoscopic warehouse of some embodiments includes: a target unmanned transport vehicle moving unit 601, a warehousing grabbing mechanical arm control unit 602, a transport device control unit 603, a rod pulling mechanical arm control unit 604 and a stacker control unit 605. The target unmanned transport vehicle moving unit 601 is configured to control the target unmanned transport vehicle to move to a coil stock cargo position corresponding to the unmanned transport vehicle calling information and control the warehousing grabbing mechanical arm corresponding to the coil stock cargo position to grab the coil stock corresponding to the unmanned transport vehicle calling information in response to detection of the unmanned transport vehicle calling information; the warehousing grabbing robot control unit 602 is configured to control the warehousing grabbing robot to put the coil goods onto the target unmanned transport vehicle; the transporter control unit 603 is configured to control the target unmanned transporter to move to the target floor through a transporter corresponding to the target floor, and control the grabbing robot of the target floor to put the coil goods onto the in-warehouse unmanned transporter of the target floor; the rod-pulling and inserting mechanical arm control unit 604 is configured to control the rod-pulling and inserting mechanical arm of the target floor to execute rod-pulling tasks on the coiled material cargos on the unmanned transport vehicle in the garage, and control the target grabbing mechanical arm to place the coiled material cargos on the unmanned transport vehicle in the garage onto a stacker; the stacker controlling unit 605 is configured to control the stacker to perform a racking task corresponding to the coil goods, so that the coil goods are placed on the three-dimensional storage space of the destination floor.

Optionally, the transporter control unit 603 may be further configured to: controlling the target unmanned transport vehicle to move to an entrance of the transport device, and controlling the transport device to execute door opening operation for opening a floor corresponding to the current position of the coil stock cargo; controlling the target unmanned transport vehicle to move into the transport device; and controlling the transportation device to move to the destination floor.

Optionally, the transporter control unit 603 may further include: and controlling the transportation device to close the door and controlling an outer door of the goods room of the target floor to open in response to the target unmanned transportation vehicle moving to the preset position of the target floor.

Optionally, the transporter control unit 603 may be further configured to: controlling the target unmanned transport vehicle to move to the cargo leaching room; the lower delivery shower grabs a mechanical arm grabbing task and an unmanned transport vehicle calling task in the warehouse; responding to the fact that the unmanned transport vehicle in the garage corresponding to the unmanned transport vehicle calling task in the garage moves to a goods leaching room grabbing mechanical arm, and placing the coil goods grabbed by the goods leaching room grabbing mechanical arm onto the unmanned transport vehicle in the garage, wherein the goods leaching room grabbing mechanical arm is in the goods leaching room; and controlling the unmanned transport vehicle in the warehouse to move to the position corresponding to the mechanical arm of the plugging rod.

Optionally, the transporter control unit 603 may further include: responding to the completion of the execution of the grabbing task of the goods shower grabbing mechanical arm, controlling the target unmanned transport vehicle to move out of the goods shower, and controlling the outer side door of the goods shower to close; responding to the issued calling task of the unmanned transport vehicle in the warehouse, and controlling an inner side door of the goods shower to be opened; and controlling the inner side door of the goods shower to close in response to the fact that the unmanned transport vehicle in the warehouse moves out of the goods shower.

Optionally, the roll material handling apparatus 600 may further include: the system comprises a first rail-guided guide vehicle control unit, a coil material rod drawing unit to be delivered from a warehouse, a second rail-guided guide vehicle control unit and a target unmanned transport vehicle control unit (not shown in the figure). The first guided vehicle control unit is configured to control guided vehicles on a delivery floor to move to a to-be-delivered coil material position through a conveying line in response to detection of a coil material delivery task, and control a stacker on the delivery floor to place coil materials to be delivered on the guided vehicle, wherein the delivery floor, the to-be-delivered coil material position and the to-be-delivered coil materials correspond to the coil material delivery task. And the to-be-discharged coil material rod drawing unit is configured to control the rod drawing and inserting mechanical arm to execute a rod drawing task aiming at the to-be-discharged coil materials. The second guided vehicle control unit is configured to control the guided vehicle to move to the goods shower of the delivery floor, and control the goods shower grabbing mechanical arm of the goods shower to place the coil stock to be delivered onto the target unmanned transport vehicle. The target unmanned transport vehicle control unit is configured to control the target unmanned transport vehicle to move to the delivery destination position corresponding to the coil stock delivery task.

Optionally, the second guided vehicle control unit may be further configured to: controlling the mechanical grabbing arm of the goods shower to grab the coil stock to be delivered out of the warehouse, calling a target unmanned transport vehicle and controlling an outer side door of the goods shower to be opened; and responding to the movement of the target unmanned transport vehicle into the goods leaching room, and controlling the goods leaching room to grab the mechanical arm to place the grabbed coil materials to be discharged onto the target unmanned transport vehicle.

Optionally, the roll material handling apparatus 600 may further include: an outboard door closing unit (not shown) configured to control an outboard door of the cargo shower to close in response to the target unmanned transport vehicle moving out of the cargo shower.

Optionally, the roll material handling apparatus 600 may further include: the system comprises a first rail-guided guide vehicle moving unit, a to-be-moved coil drawing unit, a second rail-guided guide vehicle moving unit, a conveying device moving unit, a to-be-moved coil inserting unit and a to-be-moved coil loading unit (not shown in the figure). The first guided vehicle moving unit is configured to control guided vehicles on a transfer floor to move to a to-be-transferred roll material position through a conveying line in response to detection of a roll material transfer task, and control a stacker on the transfer floor to place the to-be-transferred roll material on the guided vehicle, wherein the transfer floor, the to-be-transferred roll material position and the to-be-transferred roll material correspond to the roll material transfer task. And the to-be-moved warehouse coil material rod drawing unit is configured to control the rod drawing and inserting mechanical arm of the to-be-moved warehouse floor to execute a rod drawing task aiming at the to-be-moved warehouse coil material. The second guided vehicle moving unit is configured to control the guided vehicle to move to a preset out-of-garage position of the garage transfer floor, and control the associated grabbing mechanical arm to place the coil stock to be transferred onto the target unmanned transport vehicle. And the conveying device moving unit is configured to control the target unmanned conveying vehicle to move to the warehousing floor through a conveying device corresponding to the warehousing floor, and control the grabbing mechanical arm of the warehousing floor to place the coil materials to be moved onto the unmanned conveying vehicle in the warehouse of the warehousing floor, wherein the warehousing floor corresponds to the coil material moving task. The rod inserting unit for the coil materials to be moved to the warehouse is configured to control the rod inserting mechanical arm on the warehouse floor to execute rod inserting tasks on the coil materials to be moved to the warehouse on the unmanned transport vehicle, and control the target grabbing mechanical arm to place the coil materials to be moved to the warehouse on the unmanned transport vehicle to a stacking machine. And the coil stock loading unit to be moved is configured to control the stacker to execute a loading task corresponding to the coil stock to be moved, so that the coil stock to be moved is placed on the three-dimensional storage position of the warehousing floor.

Optionally, the second guided vehicle travel unit may be further configured to: controlling the goods leaching room to grab the mechanical arm to grab the coil stock to be moved, calling a target unmanned transport vehicle and controlling an outer side door of the goods leaching room to be opened; and responding to the movement of the target unmanned transport vehicle into the goods leaching room, and controlling the goods leaching room to grab the mechanical arm and place the grabbed coil materials to be moved onto the target unmanned transport vehicle.

Optionally, the roll material handling apparatus 600 may further include: a cargo shower control unit (not shown) configured to control an outer door of the cargo shower to close in response to the target unmanned transport vehicle moving out of the cargo shower.

Optionally, the transportation device moving unit may be further configured to: controlling the target unmanned transport vehicle to move to an entrance of the transport device, and controlling the transport device to execute door opening operation corresponding to the garage transfer floor; controlling the target unmanned transport vehicle to move into the transport device; and controlling the transportation device to move to the warehousing floor.

Optionally, the roll material handling apparatus 600 may further include: and a transporter door closing unit (not shown) configured to control the transporter to perform a door closing operation and control an outer door of a cargo room of the storage floor to be opened in response to the target unmanned transporter moving to a predetermined position of the storage floor.

Optionally, the transportation device moving unit may be further configured to: controlling the target unmanned transport vehicle to move to the goods room of the warehousing floor; the goods leaching room grabbing mechanical arm grabbing task corresponding to the warehousing floor and the unmanned transport vehicle calling task in the warehouse are issued; responding to the situation that an unmanned transport vehicle in the warehouse moves to a goods leaching room grabbing mechanical arm of a goods leaching room on the warehousing floor, and placing the to-be-moved coil materials grabbed by the goods leaching room grabbing mechanical arm on the warehousing floor onto the unmanned transport vehicle in the warehouse, wherein the unmanned transport vehicle in the warehouse calls tasks corresponding to the unmanned transport vehicle in the warehouse; and controlling the unmanned transport vehicle in the warehouse to move to the position corresponding to the plugging rod mechanical arm of the warehousing floor.

Optionally, the transportation device moving unit may further include: responding to the completion of the grabbing task of the goods shower grabbing mechanical arm, controlling the target unmanned transport vehicle to move out of the goods shower of the warehousing floor, and controlling the outer side door of the goods shower of the warehousing floor to be closed; responding to the issued calling task of the unmanned transport vehicle in the warehouse, and controlling an inner side door of a goods room of the warehouse floor to be opened; and controlling the inner side door of the goods room of the warehousing floor to close in response to the fact that the unmanned transport vehicle in the warehouse moves out of the goods room of the warehousing floor.

It will be understood that the elements described in the apparatus 600 correspond to various steps in the method described with reference to fig. 2. Thus, the operations, features and resulting advantages described above with respect to the method are also applicable to the apparatus 600 and the units included therein, and are not described herein again.

Referring now to FIG. 7, a block diagram of an electronic device (e.g., the computing device of FIG. 1) 700 suitable for use in implementing some embodiments of the present disclosure is shown. The electronic device shown in fig. 7 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.

As shown in fig. 7, electronic device 700 may include a processing means (e.g., central processing unit, graphics processor, etc.) 701 that may perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)702 or a program loaded from storage 708 into a Random Access Memory (RAM) 703. In the RAM703, various programs and data necessary for the operation of the electronic apparatus 700 are also stored. The processing device 701, the ROM 702, and the RAM703 are connected to each other by a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.

Generally, the following devices may be connected to the I/O interface 705: input devices 706 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; an output device 707 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 708, including, for example, magnetic tape, hard disk, etc.; and a communication device 709. The communication means 709 may allow the electronic device 700 to communicate wirelessly or by wire with other devices to exchange data. While fig. 7 illustrates an electronic device 700 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided. Each block shown in fig. 7 may represent one device or may represent multiple devices as desired.

In particular, according to some embodiments of the present disclosure, the processes described above with reference to the flow diagrams may be implemented as computer software programs. For example, some embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In some such embodiments, the computer program may be downloaded and installed from a network via communications means 709, or may be installed from storage 708, or may be installed from ROM 702. The computer program, when executed by the processing device 701, performs the above-described functions defined in the methods of some embodiments of the present disclosure.

It should be noted that the computer readable medium described in some embodiments of the present disclosure may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In some embodiments of the disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In some embodiments of the present disclosure, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.

In some embodiments, the clients, servers may communicate using any currently known or future developed network Protocol, such as HTTP (HyperText Transfer Protocol), and may interconnect with any form or medium of digital data communication (e.g., a communications network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the Internet (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed network.

The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled into the electronic device. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: in response to the detection of the calling information of the unmanned transport vehicle, controlling the target unmanned transport vehicle to move to a coil stock cargo position corresponding to the calling information of the unmanned transport vehicle, and controlling a warehousing grabbing mechanical arm corresponding to the coil stock cargo position to grab the coil stock cargo corresponding to the calling information of the unmanned transport vehicle; controlling the warehousing grabbing mechanical arm to place the coil material cargos on the target unmanned transport vehicle; controlling the target unmanned transport vehicle to move to the target floor through a transport device corresponding to the target floor, and controlling a grabbing mechanical arm of the target floor to place the coil goods on the unmanned transport vehicle in the warehouse of the target floor; the rod pulling and inserting mechanical arm for controlling the target floor executes a rod inserting task aiming at the coiled material goods on the unmanned transport vehicle in the warehouse, and controls the target grabbing mechanical arm to place the coiled material goods on the unmanned transport vehicle in the warehouse onto a stacker; and controlling the stacker to execute a racking task corresponding to the coil goods, so that the coil goods are placed on the three-dimensional storage position of the target floor.

Computer program code for carrying out operations for embodiments of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units described in some embodiments of the present disclosure may be implemented by software, and may also be implemented by hardware. The described units may also be provided in a processor, which may be described as: a processor comprises a target unmanned transport vehicle moving unit, a warehousing grabbing mechanical arm control unit, a transport device control unit, a rod pulling and inserting mechanical arm control unit and a stacker control unit. The names of these units do not limit the unit itself in some cases, for example, the stacker control unit may also be described as "a unit that controls the stacker to perform a task of racking the coil goods so that the coil goods are placed on the three-dimensional storage space on the destination floor".

The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), systems on a chip (SOCs), Complex Programmable Logic Devices (CPLDs), and the like.

The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combination of the above-mentioned features, but also encompasses other embodiments in which any combination of the above-mentioned features or their equivalents is made without departing from the inventive concept as defined above. For example, the above features and (but not limited to) technical features with similar functions disclosed in the embodiments of the present disclosure are mutually replaced to form the technical solution.

Claims

1. A coil handling method of a stereoscopic warehouse comprises the following steps:

in response to the detection of the calling information of the unmanned transport vehicle, controlling the target unmanned transport vehicle to move to a coil stock goods position corresponding to the calling information of the unmanned transport vehicle, and controlling a warehousing grabbing mechanical arm corresponding to the coil stock goods position to grab the coil stock goods corresponding to the calling information of the unmanned transport vehicle;

controlling the warehousing grabbing mechanical arm to place the coil material cargoes on the target unmanned transport vehicle;

controlling the target unmanned transport vehicle to move to the target floor through a transport device corresponding to the target floor, and controlling a grabbing mechanical arm of the target floor to place the coil material cargo on the unmanned transport vehicle in the warehouse of the target floor;

the rod pulling and inserting mechanical arm for controlling the target floor executes a rod inserting task aiming at the coiled material goods on the unmanned transport vehicle in the warehouse, and controls the target grabbing mechanical arm to place the coiled material goods on the unmanned transport vehicle in the warehouse onto a stacker;

and controlling the stacker to execute a racking task corresponding to the coil material cargos, so that the coil material cargos are placed on the three-dimensional storage position of the target floor.

2. The method of claim 1, wherein the controlling the target unmanned transport vehicle to move to the destination floor via a transport device corresponding to the destination floor comprises:

controlling the target unmanned transport vehicle to move to an entrance of the transport device, and controlling the transport device to execute door opening operation for opening the floor corresponding to the current position of the coil stock cargo;

controlling the target unmanned transport vehicle to move into the transport device;

controlling the transporter to move to the destination floor.

3. The method of claim 2, wherein after the controlling the transport device to move to the destination floor, the method further comprises:

and controlling the transportation device to perform a door closing operation and controlling an outer door of a cargo room of the target floor to be opened in response to the target unmanned transportation vehicle moving to a preset position of the target floor.

4. The method of claim 3, wherein said controlling said target floor grabbing robot arm to place said coil stock cargo onto said target floor garage unmanned transport vehicle comprises:

controlling the target unmanned transport vehicle to move to the goods shower;

the lower delivery shower grabs a mechanical arm grabbing task and an unmanned transport vehicle calling task in the warehouse;

responding to the fact that the in-warehouse unmanned transport vehicle corresponding to the in-warehouse unmanned transport vehicle calling task moves to a goods leaching room grabbing mechanical arm, and placing the coil goods grabbed by the goods leaching room grabbing mechanical arm onto the in-warehouse unmanned transport vehicle, wherein the goods leaching room grabbing mechanical arm is in the goods leaching room;

and controlling the unmanned transport vehicle in the warehouse to move to a position corresponding to the mechanical arm of the plugging rod.

5. The method of claim 4, wherein the controlling the target floor grabbing robot arm to place the coil stock cargo onto the target floor pool unmanned transport vehicle further comprises:

in response to the completion of the execution of the grabbing task of the goods shower grabbing mechanical arm, controlling the target unmanned transport vehicle to move out of the goods shower, and controlling the outer side door of the goods shower to be closed;

responding to the issued calling task of the unmanned transport vehicle in the warehouse, and controlling an inner side door of the goods shower to be opened;

controlling an inside door of the cargo shower to close in response to the unmanned transport vehicle within the garage moving out of the cargo shower.

6. The method according to one of claims 1-5, wherein the method further comprises:

in response to the detection of a coil stock delivery task, controlling a rail-guided guide vehicle on a delivery floor to move to a coil stock position to be delivered through a conveying line, and controlling a stacker on the delivery floor to place the coil stock to be delivered on the rail-guided guide vehicle, wherein the delivery floor, the coil stock position to be delivered and the coil stock to be delivered correspond to the coil stock delivery task;

controlling a rod drawing and inserting mechanical arm to execute a rod drawing task aiming at the coil stock to be discharged;

controlling the rail-mounted guide vehicle to move to a goods leaching room of the delivery floor, and controlling a goods leaching room grabbing mechanical arm of the goods leaching room to place the coil stock to be delivered to the target unmanned transport vehicle;

and controlling the target unmanned transport vehicle to move to the warehouse-out target position corresponding to the coil stock warehouse-out task.

7. The method of claim 6, wherein the controlling a tote grasping robot of the tote to drop the coil to be delivered onto a target unmanned transport vehicle comprises:

controlling the mechanical grabbing arm of the goods shower to grab the coil stock to be delivered out of the warehouse, calling a target unmanned transport vehicle and controlling an outer side door of the goods shower to be opened;

and responding to the movement of the target unmanned transport vehicle into the goods leaching room, and controlling the goods leaching room to grab a mechanical arm to place the grabbed coil stock to be delivered out of the warehouse onto the target unmanned transport vehicle.

8. The method of claim 7, wherein after said controlling the tote grasping robot to drop the grasped coil to be out of stock onto the target unmanned transport vehicle in response to the target unmanned transport vehicle moving into the tote, the method further comprises:

controlling an outside door of the cargo shower to close in response to the target unmanned transport vehicle moving out of the cargo shower.

9. The method according to one of claims 1-5, wherein the method further comprises:

in response to the detection of a coil stock transfer task, controlling a rail-guided guide vehicle on a transfer floor to move to a coil stock position to be transferred through a conveying line, and controlling a stacker on the transfer floor to place the coil stock to be transferred on the rail-guided guide vehicle, wherein the transfer floor, the coil stock position to be transferred and the coil stock to be transferred correspond to the coil stock transfer task;

controlling a rod pulling and inserting mechanical arm of the warehouse moving floor to execute a rod pulling task aiming at the coiled materials to be moved;

controlling the rail-guided vehicle to move to a preset out-of-garage position of the garage moving floor, and controlling a related grabbing mechanical arm to place the coil stock to be moved onto a target unmanned transport vehicle;

controlling the target unmanned transport vehicle to move to the warehousing floor through a transport device corresponding to the warehousing floor, and controlling a grabbing mechanical arm of the warehousing floor to place the coil stock to be moved to the warehouse unmanned transport vehicle of the warehousing floor, wherein the warehousing floor corresponds to the coil stock moving task;

controlling a rod pulling and inserting mechanical arm of the warehousing floor to execute a rod inserting task aiming at the coil stock to be moved on the unmanned transport vehicle in the warehouse, and controlling a target grabbing mechanical arm to place the coil stock to be moved on the unmanned transport vehicle in the warehouse onto a stacker;

and controlling the stacker to execute a racking task corresponding to the coil stock to be moved, so that the coil stock to be moved is placed on the three-dimensional storage position of the warehousing floor.

10. The method of claim 9, wherein the predetermined off-bay location is a tote on the transfer floor and the associated pickup robot is a tote pickup robot within the tote on the transfer floor; and

the control associated snatchs the arm will wait to move storehouse coil stock and put to target unmanned transport vechicle on, include:

controlling the goods leaching room to grab the coiled materials to be moved, calling a target unmanned transport vehicle and controlling an outer side door of the goods leaching room to be opened;

and responding to the movement of the target unmanned transport vehicle into the goods leaching room, and controlling the goods leaching room to grab a mechanical arm to place the grabbed coil stock to be moved onto the target unmanned transport vehicle.

11. The method of claim 10, wherein after said controlling the tote grasping robot to drop the grasped roll to be destacked onto the target unmanned transport vehicle in response to the target unmanned transport vehicle moving into the tote, the method further comprises:

12. The method of claim 11, wherein the controlling the target unmanned transport vehicle to move to the storage floor through a transport device corresponding to the storage floor comprises:

controlling the target unmanned transport vehicle to move to an entrance of the transport device, and controlling the transport device to execute door opening operation corresponding to the garage transfer floor;

and controlling the transportation device to move to the warehousing floor.

13. The method of claim 12, wherein after the controlling the transport device to move to the warehousing floor, the method further comprises:

and responding to the target unmanned transport vehicle moving to the preset position of the warehousing floor, controlling the transport device to execute door closing operation, and controlling an outer side door of a cargo room of the warehousing floor to be opened.

14. The method of claim 13, wherein the controlling the grabbing robot arm of the warehousing floor to put the coil stock to be moved to the unmanned transport vehicle in the warehouse of the warehousing floor comprises:

controlling the target unmanned transport vehicle to move to a cargo room of the warehousing floor;

issuing a cargo leaching room grabbing mechanical arm grabbing task corresponding to the warehousing floor and an unmanned transport vehicle calling task in the warehouse;

responding to the situation that an unmanned transport vehicle in a warehouse moves to a goods leaching room grabbing mechanical arm of a goods leaching room on the warehousing floor, and placing the coil materials to be moved, grabbed by the goods leaching room grabbing mechanical arm on the warehousing floor, onto the unmanned transport vehicle in the warehouse, wherein the unmanned transport vehicle in the warehouse calls tasks corresponding to the unmanned transport vehicle in the warehouse;

and controlling the unmanned transport vehicle in the warehouse to move to a position corresponding to the plugging rod mechanical arm of the warehouse floor.

15. The method according to claim 14, wherein the grabbing robot controlling the warehousing floor puts the coil stock to be moved to the unmanned transport vehicle in the warehouse of the warehousing floor, further comprising:

responding to the completion of the execution of the grabbing task of the goods leaching room grabbing mechanical arm, controlling the target unmanned transport vehicle to move out of the goods leaching room of the warehousing floor, and controlling the closing of the outer side door of the goods leaching room of the warehousing floor;

responding to the issued calling task of the unmanned transport vehicle in the warehouse, and controlling an inner side door of a goods room of the warehouse floor to be opened;

and controlling the inner side door of the goods room of the warehousing floor to be closed in response to the fact that the unmanned transport vehicle in the warehouse moves out of the goods room of the warehousing floor.

16. Stereoscopic warehouse comprising individual warehouse floors and at least one transport means corresponding to said individual warehouse floors, wherein,

a vertical warehouse and/or a production line are arranged in each warehouse floor, and the vertical warehouse comprises a three-dimensional storage position;

the warehouse floor provided with the vertical warehouse is provided with an unmanned transport vehicle, a rod pulling and inserting mechanical arm, a grabbing mechanical arm, a stacker, a rail-guided guide vehicle and a conveying line corresponding to the rail-guided guide vehicle.

17. A coil handling apparatus of a stereoscopic warehouse, comprising:

the target unmanned transport vehicle moving unit is configured to respond to the detection of the unmanned transport vehicle calling information, control the target unmanned transport vehicle to move to a coil stock cargo position corresponding to the unmanned transport vehicle calling information, and control the warehousing grabbing mechanical arm corresponding to the coil stock cargo position to grab the coil stock corresponding to the unmanned transport vehicle calling information;

a warehousing grabbing mechanical arm control unit configured to control the warehousing grabbing mechanical arm to place the coil goods onto the target unmanned transport vehicle;

a transporter control unit configured to control the target unmanned transporter to move to a target floor through a transporter corresponding to the target floor, and control a grabbing mechanical arm of the target floor to place the coil goods onto an in-warehouse unmanned transporter of the target floor;

the rod pulling and inserting mechanical arm control unit is configured to control the rod pulling and inserting mechanical arm of the target floor to execute rod inserting tasks on the coiled material cargos on the unmanned transport vehicle in the warehouse, and control the target grabbing mechanical arm to place the coiled material cargos on the unmanned transport vehicle in the warehouse onto a stacker;

and the stacker crane control unit is configured to control the stacker crane to execute a racking task corresponding to the coiled material cargos, so that the coiled material cargos are placed on the three-dimensional storage position of the target floor.

18. An electronic device, comprising:

one or more processors;

a storage device having one or more programs stored thereon,

when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-15.

19. A computer-readable medium, on which a computer program is stored, wherein the program, when executed by a processor, implements the method of any one of claims 1-15.