CN115027863B

CN115027863B - High-density ultra-flat warehouse system

Info

Publication number: CN115027863B
Application number: CN202210857070.3A
Authority: CN
Inventors: 唐自强; 耿鹏丽; 赵联凯
Original assignee: Jiangsu Yongshanqiao Archives Management Service Co ltd
Current assignee: Jiangsu Yongshanqiao Archives Management Service Co ltd
Priority date: 2022-07-20
Filing date: 2022-07-20
Publication date: 2023-08-08
Anticipated expiration: 2042-07-20
Also published as: CN115027863A

Abstract

The application provides a high-density super-flat warehouse system, which comprises super-flat warehouse shelves, a transfer robot, a cooperative robot, a warehouse control system WCS and a warehouse management system WMS, wherein the safe spacing of the shelves and the space waste are reduced as much as possible according to a first-in last-out storage mode, so that the space utilization rate of a warehouse is improved to the greatest extent, and the cost of the warehouse is reduced; the gravity center position of the goods shelf is ensured by controlling the loading mode, so that the safety and stability of goods are ensured; the throughput is improved by increasing the number of robots, and the batch retrieval efficiency is higher; by generating permanently stored operation records, the operation is guaranteed to have marks and can be traced; the application of the internet of things technology in the storeroom is managed by using a more advanced technology, so that the manual operation is greatly reduced, and the operation management cost of the storeroom management is effectively saved.

Description

High-density ultra-flat warehouse system

Technical Field

The invention relates to the field of archive warehouse management, in particular to a high-density super-flat warehouse system.

Background

The traditional super flat layer storehouse (storehouse carrier with the net height within 5 meters) is mainly managed in a manual or semi-manual mode, especially like the file management of a flat storehouse, is mostly managed in a traditional intensive cabinet mode of a hand-operated intensive cabinet or an intelligent intensive cabinet, and the problem of file storage and retrieval can be solved by the traditional intensive cabinet, but the manufacturing cost is high, and the transformation cost after the intensive cabinet is installed is higher. From the practical operation point of view, obvious pain points exist, for example, 1) the space height can only be utilized to 2.4 meters, and the space above 2.4 meters is difficult to utilize and only causes space waste; 2) Full-automatic checking cannot be realized, because the mode of the dense cabinet is required to be moved by depending on the track, the checking robot in the market at present cannot be well adapted, and the structure of the dense cabinet has obvious interference on RFID, so that the file checking cost of the dense cabinet is high; 3) The file access of the intensive cabinet is dependent on manual access, and the information security is difficult to guarantee.

Disclosure of Invention

The invention aims to: aiming at the defects of the prior art, the invention discloses a more intelligent high-density super-flat warehouse system, which fully utilizes the height of a warehouse according to a first-in last-out storage mode, reduces the safety spacing of a goods shelf as much as possible and reduces the space waste, thereby maximally utilizing the space of the warehouse, breaking through the space limitation under the same area and height, improving the storage density and reducing the cost of the warehouse; the gravity center position of the goods shelf is ensured by controlling the loading mode, so that the safety and stability of goods are ensured; the throughput is improved by increasing the number of robots; by generating permanently stored operation records, the operation is guaranteed to have marks and can be traced; the application of the internet of things technology in the storeroom is managed by using a more advanced technology, so that the manual operation is greatly reduced, and the operation management cost of the storeroom management is effectively saved.

The system of the invention comprises: super-flat warehouse shelves, transfer robots, collaborative robots, warehouse control system WCS and warehouse management system WMS.

The super flat warehouse goods shelf is a flexible movable goods shelf placed in a super flat warehouse and is used for storing goods, the super flat warehouse is a warehouse carrier with the net height within 5 meters, the goods are file boxes or file boxes filled with files, and more than two RFID electronic tags are attached to the goods and used for checking the goods; RFID is an abbreviation for Radio Frequency Identification (radio frequency identification).

The transfer robot is a modified latent AGV, has a transfer function, can empty or load goods shelves to move, is mainly used for completing goods shelf transfer and distribution, can communicate with an elevator, realizes the distribution of goods among floors, and can automatically start to charge a charging area in an idle state or in a low power state;

the cooperative robot is a novel double-deep box type sorting robot, has the functions of carrying, lifting, selecting and checking, can select or check cargoes, and can automatically start to charge a charging area for charging in an idle state or in low power;

the storage control system WCS is an abbreviation of a storage control system (Warehouse Control System), has functions of warehouse map programming, dynamic path planning, task monitoring, equipment scheduling and fault monitoring, is responsible for data communication and interaction between the transfer robot and the cooperation robot, and can issue scheduling task instructions to the transfer robot and the cooperation robot; the storage control system WCS is a layer management control system between the storage management system WMS and a bottom layer PLC (PLC refers to a programmable logic controller), can decompose tasks into equipment such as a transfer robot, a cooperation robot and the like, and can monitor a work queue; the task execution flow and the state are fed back to the warehouse management system WMS in real time, and all operation and instruction history records can be traced; information interaction is carried out with a warehouse management system WMS, the task of the warehouse management system WMS is accepted, and an instruction is sent to a bottom layer PLC, so that the action of automatic equipment is driven; the state and data of the field device can be fed back on an interface in real time;

the warehouse management system WMS is an abbreviation of a warehouse management system (Warehouse Management System) and is used for a terminal user to finish the operations of loading and unloading cargoes and checking, collect and store warehouse data, split the tasks of loading and unloading the cargoes according to the state of a cargo space, mainly butt-joint the warehouse control system WCS and generate permanently stored operation records and logs; the warehouse data includes, but is not limited to: goods shelf information, goods location information, goods information, RFID information, binding relation of goods and goods locations, binding relation of goods and RFID, the goods shelf information includes but is not limited to: goods shelf ID, goods shelf number, point location, cold-hot attribute (hot, warm, cold), state (full up, not full up); the cargo space information includes, but is not limited to: cargo location ID, cargo location number, shelf ID, cargo location type (lower, middle, upper), layer, column, status (free and occupied), including but not limited to: cargo ID, cargo code, retrieval frequency (high, medium, low), cargo location ID, RFID information including, but not limited to: RFID number, usage status, cargo ID.

The super-flat warehouse goods shelf is provided with X ₁ Row X ₂ Columns, X ₁ 、X ₂ The method comprises the steps that values are natural numbers, the goods are sequentially placed in a storehouse from inside to outside and from left to right, the safety distance between goods shelves is defined to be D0 (D0 is more than or equal to 50mm and less than or equal to 100 mm), the reserved distance between the goods shelves is not less than D0, more than two goods shelf layers are arranged on each goods shelf from bottom to top, more than two storage goods shelves are arranged on each goods shelf layer from left to right, two-dimensional codes for locating goods shelves are attached to the center of each storage goods shelf, a plurality of goods are placed on each storage goods shelf, each goods has retrieval frequency, and the retrieval frequency refers to the probability of retrieval of a file original; the retrieval frequency of the goods comprises the following steps: the file original retrieval frequency is set to be high, medium and low according to the storage content and the digital state of the file, if the file original retrieval of the certificates is relatively frequent, the probability of the original file retrieval of the digitized file is relatively low, the retrieval frequency is set to be low, the file original file is imported through a storage management system WMS before the goods are put on shelf, and the retrieval frequency of the goods comprises: the high, medium and low files can be set according to the storage content and the digital state of the files, if the file original retrieval of certificates is relatively frequent, the retrieval frequency is set to be high, and the probability of the original retrieval of the files which are already digital is relatively low, and the retrieval frequency is set to be low; leading-in retrieval frequency through a warehouse management system WMS before goods are put on shelf, counting to obtain the quantity of goods with each retrieval frequency, wherein the quantity of goods with high retrieval frequency is n1, the quantity of goods with medium retrieval frequency is n2, the quantity of goods with low retrieval frequency is n3, the total quantity of goods is n0, the proportion of goods with high retrieval frequency is P1, the proportion of goods with medium retrieval frequency is P2, and the proportion of goods with low retrieval frequency is P3, then:

n0＝n1+n2+n3

P1＝n1÷n0，P2＝n2÷n0，P3＝n3÷n0

wherein: n1, n2 and n3 are natural numbers;

the super flat warehouse is a traditional super flat warehouse and comprises a storage area, a sorting area and a charging area;

the storage area is a core storage area and is used for storing goods, and the storage area is mainly used for placing empty goods shelves; one or more than two cache racks are arranged in the sorting area and used for finishing the operations of loading and unloading; the charging area is used for charging the robot, and is generally arranged outside the warehouse for the safety consideration of cargoes in the core warehouse;

the available total area of the storage area is S, a hot area, a warm area and a cold area are arranged according to the equal proportion of the cargo quantity of each retrieval frequency, the area of the hot area is S1, the area of the warm area is S2, the area of the cold area is S3, the storage area can be divided according to the operation convenience of the actual field, and then:

S1＝S×P1，S2＝S×P2，S3＝S×P3

wherein: the area unit is square meter;

the super-flat warehouse shelf comprises hot and mild cold attributes; the areas of the shelf with the properties of hot temperature and moderate temperature are respectively a warehouse hot area, a warehouse warm area and a warehouse cold area;

the hot goods shelves are used for placing goods with high retrieval frequency, the goods are placed in a warehouse hot area during warehouse entry, sorting channels are reserved among the goods shelves in the hot area, namely, one sorting channel is reserved between every two rows of goods shelves, the goods can be directly accessed by a cooperation robot, the goods are easier to be delivered out of the warehouse and easier to be put in the warehouse, and the average retrieval time of the goods in the hot area is t1;

the goods shelves of attribute for temperature are arranged in retrieving the goods of frequency in putting, put in storehouse warm area when putting in warehouse, and the goods shelves of warm area reserve the letter sorting passageway according to the ageing requirement of normal retrieval, and goods go out of warehouse ageing more nimble controllable, and the average retrieval time of warm area goods is t2, and the proportion of goods shelves and letter sorting passageway is R, then: r= (2×t2)/(t 1), wherein: t1, t2 and R are natural numbers, the units of t1 and t2 are minutes/box, and R is rounded by adopting a rounding method, such as: t2=12, t1=5, and r=5, i.e. a sorting aisle is reserved in the middle of every 5 rows of racks;

the cold goods shelves are used for placing goods with low retrieval frequency, and are placed in a cold area of a storehouse when in warehouse entry, the goods shelves in the cold area are as dense as possible, and the goods are not easy to leave the warehouse, so that the cold goods shelves are more suitable for storage.

The ultra-flat warehouse goods shelf is provided with a ranging system, the ranging system comprises a ranging instrument and a contact type female interface, the ranging instrument is arranged at the periphery of the goods shelf, and the contact type female interface is arranged on a goods shelf chassis;

the top of the transfer robot is provided with a contact type male interface, when the transfer robot lifts a goods shelf, the contact type male interface is contacted with and communicated with the contact type female interface, and the transfer robot starts to supply power and communicate with the distance measuring system and receives signals of the distance measuring instrument;

further, the distance measuring instrument is a laser displacement sensor, the laser displacement sensor is respectively arranged at 4 corners above each goods shelf, the accurate distance between the four goods shelves is measured in real time, the distance between one goods shelf and the front goods shelf is D1, the distance between the other goods shelf and the rear goods shelf is D2, the distance between the other goods shelf and the left goods shelf is D3, the distance between the other goods shelf and the right goods shelf is D4, and the transfer robot receives a distance measuring instrument signal and then judges: if any one of the D1, the D2, the D3 and the D4 is smaller than the safety distance D0, the carrier robot executes a discharging instruction to put down the goods shelf, and feeds ranging information back to the storage control system WCS, the storage control system WCS performs early warning, otherwise, the carrier robot is safe, and the carrier robot can continue to pass.

The cooperative robot comprises a body and a goods taking mechanism;

the main body adopts a structure of a main flow telescopic lifting type bin robot and comprises a chassis, a portal frame and a goods shelf layer; the chassis adopts a heavy-load hidden AGV for carrying and walking, and is integrated with a vacuum pump for conveying an air source to the sponge sucker;

the portal frame adopts a two-stage lifting mechanism and is used for supporting high-level operation, so that the cooperative robot is not limited by the height of a storehouse, and can normally work in environments with different heights, when in high-level operation, the portal frame is lifted to the corresponding high level for storing or checking, and when walking, the portal frame is lowered to the lowest point, thereby ensuring the walking stability;

the goods shelf layer is used for caching goods and can store and fetch 1 box or more than two boxes of goods at one time;

the goods taking mechanism is arranged on the portal frame, adopts a three-stage telescopic mechanism, can be lifted or lowered to the height corresponding to goods taking and storing, is used for taking and checking high-low-level goods, supports the taking and storing of double-deep-level goods, namely can be telescopic to a second goods place for taking and storing;

the visual positioning device is arranged on the goods taking mechanism and comprises a visual camera, and the two-dimensional code on the goods space is identified through the visual camera so as to confirm the position of the goods; the gripper of the goods taking mechanism adopts a direct suction or direct pushing mode of a sponge sucker to suck or push goods from or into a goods space through the sponge sucker; the goods taking mechanism is also provided with a roller conveying device, and when goods are conveyed on the roller, the friction force is reduced, so that the labor-saving effect is achieved;

the sponge sucker is a vacuum sucker with stronger compatibility, is mainly used for adsorbing special articles such as cartons and the like, and simultaneously can not additionally occupy left and right spaces of a goods shelf because the sponge sucker mainly acts on the front position of the goods, thereby having lower requirements on the spacing of the goods.

And the goods taking mechanism is provided with an RFID read-write module which is used for reading and checking RFID electronic tags on goods.

The weighing instrument is arranged on the goods taking mechanism, the goods with the weight lower than WL (W0 is less than or equal to 5kg and less than or equal to 10 kg) are light goods, the goods with the weight higher than WH (W0 is less than or equal to 15kg and less than or equal to 20 kg) are heavy goods, and the goods with the weight in the [ WL, WH ] interval are normal goods.

The cooperative robot firstly weighs the goods before the goods are put on the rack, and the weight of the goods is W0;

if W0 is more than WH, the goods are heavy and are placed in the empty goods space at the lower layer of the goods shelf;

if W0 is less than WL, the goods are light goods, and the goods are placed in the empty goods space on the upper layer of the goods shelf;

otherwise, the goods are normal goods, and the goods shelf is placed in the middle layer empty goods space of the goods shelf.

Preferably, the uppermost X of each shelf is provided ₃ The goods place with the value of 20% in the invention is the upper layer of the goods shelf and the lowest X ₄ The goods space (the value is 20 percent in the invention) is the lower layer of the goods shelf and the middle X ₅ The goods space with the value of 60 percent is the middle layer of the goods shelf;

and loading the goods on the goods shelves from the lower layer to the upper layer in sequence, and synchronizing the corresponding relation between the goods positions and the goods to the storage management system WMS.

When the system is put on the shelf, the processes of putting the goods on the shelf and warehousing the goods are completed, the batch putting on the shelf and warehousing are supported, the idle goods shelf and goods space which meet the optimal condition are automatically searched, and the method specifically comprises the following steps:

step a1, placing cargoes to be put on a cache rack, and sequentially scanning cargo codes;

step a2, acquiring the retrieval frequency of goods through a warehouse management system WMS, searching for an unfilled goods shelf according to the retrieval frequency, searching for a goods shelf with a hot attribute if the retrieval frequency is high, searching for a goods shelf with a warm attribute if the retrieval frequency is medium, and searching for a goods shelf with a cold attribute if the retrieval frequency is low;

step a3, searching the goods shelves S1 meeting the condition of the step a2 in a sorting area, if not, carrying 1 group of goods shelves from a storage area to the sorting area by a carrying robot, and updating the properties of the goods shelves into the corresponding properties (namely, updating to be hot, stable and cold);

step a4, the cooperative robot takes the goods from the cache rack, weighs the goods, judges whether the goods are heavy goods, light goods or normal goods according to the weight of the goods, and if the goods with the weight higher than WH (15 kg is less than or equal to 20 kg) are heavy goods, the goods with the weight lower than WL (5 kg is less than or equal to 10 kg) are light goods, and the goods with the weight in the [ WL, WH ] interval are normal goods;

step a5, searching an empty cargo space L1 of the goods shelf S1 meeting the condition according to the type of the goods, searching an empty cargo space of the lower layer of the goods shelf S1 if the goods are heavy goods, searching an empty cargo space of the middle layer of the goods shelf S1 if the goods are normal goods, and searching an empty cargo space of the upper layer of the goods shelf S1 if the goods are light goods;

step a6, loading the goods to an empty goods space L1 by the cooperative robot, binding the goods on the goods space by a storage management system WMS after loading the goods, and updating the information of the goods space;

step a7, searching whether the goods shelf S1 has an idle goods space or not through the storage management system WMS, if so, continuing to execute the steps a 2-a 7, otherwise, updating the goods shelf state to be full, and executing the steps a 8-a 10;

step a8, the warehouse management system WMS searches the warehouse-in point positions of the goods shelves according to the properties of the goods shelves: if the goods shelf attribute is hot, searching idle points of the hot area, if the goods shelf attribute is warm, searching idle points of the warm area by the storage control system WCS, and if the goods shelf attribute is cold, searching idle points of the cold area;

step a9, the carrier robot carries the goods shelf to the idle point searched in the step a 8;

and a10, after the storage of the goods shelves is completed, the storage management system WMS updates the information of the goods shelves, and the transfer robot returns to the charging area to wait.

When the system is put down, the process of picking goods in the goods shelves for delivery is completed, the batch delivery and the batch put down are supported, the positions of the delivery ports can be designated or the optimal delivery ports for delivery can be automatically selected, and the following steps are specifically executed:

step b1, inputting a goods code to be put down, and inquiring goods positions and goods shelf information of the goods;

step b2, searching whether the road blocking shelves exist around the shelves according to the shelves to be delivered, if so, delivering the shelves in the direction with the least number of the road blocking shelves, and sequentially carrying the road blocking shelves to idle points by a carrying robot;

step b3, the carrying robot carries the goods shelves S2 to be delivered to the sorting area, and the storage management system WMS unbinds goods shelf information;

step b4, the cooperative robot picks the goods of the corresponding goods layer in the sorting area and places the goods in the buffer rack, and after the picking is finished, the storage management system WMS unbinds the goods position information;

step b5, according to whether the road blocking goods shelves selected by the user need to be returned to the warehouse, performing the next operation, if the road blocking goods shelves in the storage area need to be returned to the warehouse, performing the steps a 8-a 10 to store the road blocking goods shelves, otherwise, continuously performing the step b6;

and b6, after the picking is finished, carrying out steps a 8-a 10 on the shelf S2 to be delivered to the warehouse for warehousing.

The invention has the following beneficial effects:

(1) The expandability is strong, and the flexibility is high. From the perspective of hardware, the shelf is a movable flexible shelf, can be compatible with carriers of different sizes, is provided with hot, warm and cold partitions, can be flexibly placed according to actual requirements according to local conditions, and can be ensured to run continuously for 20-30 years; from the software application perspective, the properties of the warehouse are systematically managed and distributed, and the same system can be applied to a plurality of different warehouses.

(2) The storage space height limit is broken through, the storage shelf arrangement space is smaller, the capacity of unit area is higher, the storehouse utilization rate reaches more than 3 times of the traditional storage space, the occupied area is effectively saved, and the storehouse cost is reduced.

(3) The operation is more efficient. The system supports simultaneous work of a plurality of robots, and the efficiency maximization of the automatic equipment is realized by fully utilizing the idle time and the waiting time of the robots through nearby vehicle selection and optimal path planning.

(4) The batch delivery efficiency is higher, and the single delivery can be more than 50 cases.

(5) Intelligent safety. And the warehouse operation is automatic, so that the direct contact between a person and the files is reduced, and the operation record has marks and is traceable.

Drawings

The foregoing and/or other advantages of the invention will become more apparent from the following detailed description of the invention when taken in conjunction with the accompanying drawings and detailed description.

Fig. 1 is a system composition diagram of the present invention.

Fig. 2 is a top view of an ultra-flat stock area.

Fig. 3 is a front view and a side view of a super flat library shelf.

Fig. 4 is a bottom view of the super flat warehouse rack.

Fig. 5 is a plan view of the transfer robot.

Fig. 6 is a three view of a collaborative robot.

Fig. 7 is a schematic diagram of a first tier of work for a collaborative robot.

Fig. 8 is a schematic view of the uppermost task of the cooperative robot.

Fig. 9 is a shelf flow chart of the present invention.

Fig. 10 is a flowchart of the present invention.

Detailed Description

The invention provides a high-density ultra-flat warehouse system.

The system composition diagram of the invention is shown in fig. 1, and is characterized by comprising: super-flat warehouse shelves, transfer robots, collaborative robots, warehouse control system WCS and warehouse management system WMS.

The super-flat warehouse goods shelf is a flexible movable goods shelf placed in the super-flat warehouse and is used for storing goods;

the transfer robot is a modified latent AGV, has a transfer function, can empty or load goods shelves to move, is mainly used for completing goods shelf transfer and distribution, can communicate with an elevator, realizes the distribution of goods among floors, and can be automatically started to charge a charging area in an idle state or in a low power state;

the cooperative robot is a novel double-deep box type sorting robot, has the functions of carrying, lifting, selecting and checking, can select or check cargoes, and can automatically start to charge a charging area for charging in an idle state or low power;

the storage control system WCS has the functions of warehouse map programming, dynamic path planning, task monitoring, equipment scheduling and fault monitoring, is responsible for data communication and interaction between the transfer robot and the cooperative robot, and can issue scheduling task instructions to the transfer robot and the cooperative robot;

the warehouse management system WMS is used for enabling the end user to finish the loading and unloading operations of cargoes and inventory operations, collecting and storing data, automatically splitting loading and unloading tasks according to the idle and occupied states of the cargoes, butting the warehouse control system WCS, and generating permanently stored operation records and logs.

As shown in fig. 2, which is a top view of the ultra-flat storage area, in this embodiment, the safety distance D0 of the shelf is 50mm;

the area a is a cold area, and 12 rows of shelves are arranged in 19 rows, and the shelves with cold attributes are mainly stored, namely, the low-retrieval-frequency goods are stored;

region b is a warm zone; 8 rows of 19 columns of shelves are arranged in total, a sorting aisle is reserved in the middle of each 4 rows of shelves, and the shelves with warm properties are mainly stored, namely, the goods with normal retrieval frequency are stored;

the area c is a hot area, 5 rows of shelves are arranged in 19 rows, a sorting aisle is reserved in the middle of each 2 rows of shelves, and the shelves with the hot attribute are mainly stored, namely, the goods with high retrieval frequency are stored.

A front view and a side view of the super flat warehouse rack are shown in fig. 3.

The ultra-flat warehouse shelf is provided with a ranging system, and the ranging system comprises: the device comprises a distance measuring instrument 1 and a contact type female interface 2, wherein the distance measuring instrument 1 is arranged at the periphery of a goods shelf, and the contact type female interface 2 is arranged on a chassis of the goods shelf;

in this embodiment, every goods shelves sets up 7 goods shelves layers, and every layer sets up 4 storage goods shelves, can put 4 cartons, wherein: the 1 layer and the 2 layer are lower layers of the goods shelf, the 3-5 layers are middle layers of the goods shelf, and the 6 layer and the 7 layer are upper layers of the goods shelf;

and a laser displacement sensor 1 is arranged at each of the 4 corners of the 7 th layer of the shelf.

As shown in fig. 4, which is a bottom view of the super flat warehouse pallet, the pallet chassis is provided with the contact female interface 2.

As shown in fig. 5, which is a top view of a transfer robot, in this embodiment, the transfer robot adopts an 800kg latent AGV, the model is t6-800, and a contact male connector 3 is installed on the top, when the transfer robot lifts a shelf, the contact male connector 3 contacts and communicates with the contact female connector 2, and the transfer robot starts to supply power and communicate to the ranging system; the laser displacement sensor 1 measures the accurate distance between a shelf and the surrounding shelves in real time, the distance between the shelf and the front shelf is D1, the distance between the shelf and the rear shelf is D2, the distance between the shelf and the left shelf is D3, the distance between the shelf and the right shelf is D4, after receiving a ranging instrument signal, the carrying robot judges that if any one of the D1, D2, D3 and D4 is smaller than the safety distance D0, the carrying robot executes a discharging instruction to put down the shelf, feeds ranging information back to the storage control system WCS, the storage control system WCS carries out early warning, otherwise, the carrying robot judges that the shelf is safe, and the carrying robot can continue to pass.

Fig. 6 shows three views of the collaborative robot.

Fig. 7 is a schematic diagram of a first-layer job of the collaborative robot.

Fig. 8 is a schematic diagram of the uppermost task of the cooperative robot.

The collaborative robot includes: a body 4 and a pickup mechanism 5;

the body adopts the structure of scalable over-and-under type workbin robot of mainstream, includes: chassis 6, portal 7 and shelf layer 8, in this embodiment, the robot model for reference is F0-50DCH (T); the chassis adopts a 1.5t hidden AGV with the model of t6-1500 for carrying and walking, and integrates a vacuum pump on the chassis for conveying an air source to the sponge sucker; the portal frame adopts a two-stage lifting mechanism and is used for supporting high-level operation, so that the cooperative robot is not limited by the height of a storehouse, and can normally work in environments with different heights, when in high-level operation, the portal frame is lifted to the corresponding high level for storing or checking, and when in walking, the portal frame is lowered to the lowest point, thereby ensuring the walking stability; the goods shelf layer is used for caching goods and can store and fetch 1 box or more than two boxes of goods at one time;

the goods taking mechanism is arranged on the portal frame, adopts a three-stage telescopic mechanism, can be lifted or lowered to the height corresponding to goods taking and storing, is used for taking and checking high-low-level goods, supports the taking and storing of double-deep-level goods, and can be telescopic to a second goods place for taking and storing; a visual positioning device is arranged on the goods taking mechanism, and the position of goods is confirmed by identifying a two-dimensional code on a goods position through a visual camera; the gripper of the goods taking mechanism adopts a sponge sucker 9, and sucks or pushes goods from or into a goods space in a direct suction or direct pushing mode of the sponge sucker; the goods taking mechanism is also provided with a roller conveying device 10, and when goods are conveyed on the rollers, the friction force is reduced, so that the labor-saving effect is achieved;

The goods taking mechanism is also provided with an RFID read-write module 12 which is responsible for reading and checking RFID electronic tags on goods;

the goods taking mechanism is further provided with a weighing instrument 13, and the goods with the weight lower than WL (W0 is less than or equal to 5kg and less than or equal to 10 kg) are light goods, the goods with the weight higher than WH (W0 is less than or equal to 15kg and less than or equal to 20 kg) are heavy goods, and the goods with the weight in the (WL, WH) interval are normal goods.

When the cooperative robot works on the first layer of the super-flat warehouse goods shelf 11, the door frame 7 and the goods taking mechanism 5 descend to the lowest point for carrying out storing or checking operation, and when the robot walks, the door frame 7 and the goods taking mechanism 5 are kept at the lowest point.

When the cooperative robot works at the high position of the super-flat garage shelf 11, the door frame 7 and the goods taking mechanism 5 can ascend to the corresponding high positions for carrying out storage or inventory work, and when the robot walks, the door frame 7 and the goods taking mechanism 5 descend to the lowest point, so that the walking stability is ensured.

As shown in fig. 9, the loading flow chart of the invention is that the flow of loading cargoes and warehousing the cargoes is completed, the batch loading and warehousing are supported, and the idle cargoes and the cargoes which meet the optimal conditions are automatically searched.

Parameter definition:

cargo coding: q1001

Cargo weight WL:10kg of

Cargo weight WH:15kg of

The process comprises the following steps:

step a1, placing goods to be put on a buffer storage rack, and scanning goods codes: q1001;

step a2, acquiring the retrieval frequency of the goods through the WMS: high frequency of reading;

step a3, there are not full shelves S3 in the sorting area, the shelf codes are: 3-1;

step a4, the cooperative robot takes the goods from the cache rack, weighs the goods, and the weight W0 of the goods is 12kg, which is the goods with normal weight;

step a5, the WMS searches a middle empty cargo space of the goods shelf S3, and sends a command to the WCS, and the WCS dispatches the cooperative robot to store the cargo to a target cargo space;

step a6, after the cooperative robot is put on the shelf, binding the goods on the goods space through the WMS and updating the information of the goods space;

step a7, searching whether the shelf S3 has an idle goods space or not through the WMS, updating the state of the shelf to be full if the shelf is full, and executing the steps a 8-a 10;

step a8, the WMS searches for free points in the hot zone: (10, 1);

step a9, the transfer robot transfers the S3 goods shelf to the point with the coordinates of (10, 1);

and a10, after the goods shelves are put in storage, the WMS updates goods shelf information, and the transfer robot returns to the charging area to wait.

As shown in FIG. 10, the process of picking up goods from the shelf is completed, the batch delivery and batch unloading are supported, and the position of the delivery port can be designated or the optimal delivery port position can be automatically selected for delivery.

Parameter definition:

cargo coding: q1002

The process comprises the following steps:

(1) Inputting a goods code Q1002, and acquiring goods shelf information of the goods, wherein the goods shelf is positioned in a2 nd row and a2 nd column of a warm zone;

(2) The 2 nd row and the 1 st column of shelves are road blocking shelves, and the WCS dispatches the transfer robot to remove the road blocking shelves to idle points;

(3) The 2 nd row and the 2 nd column of shelves are ex-warehouse shelves, the WCS schedules the carrying robot to carry the shelves to a sorting area, schedules the cooperative robot to pick the goods, takes the goods out and places the goods in a cache shelf, and the WMS unbundles the goods;

(4) After the picking is finished, the WCS dispatches the carrying robot to put the goods shelves in storage.

In a specific implementation, the application provides a computer storage medium and a corresponding data processing unit, where the computer storage medium is capable of storing a computer program, and when the computer program is executed by the data processing unit, the computer program can run the inventive content of the high-density ultra-flat library system and some or all steps in each embodiment. The storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), a random-access memory (random access memory, RAM), or the like.

It will be apparent to those skilled in the art that the technical solutions in the embodiments of the present invention may be implemented by means of a computer program and its corresponding general hardware platform. Based on such understanding, the technical solutions in the embodiments of the present invention may be embodied essentially or in the form of a computer program, i.e. a software product, which may be stored in a storage medium, and include several instructions to cause a device (which may be a personal computer, a server, a single-chip microcomputer, MUU or a network device, etc.) including a data processing unit to perform the methods described in the embodiments or some parts of the embodiments of the present invention.

The present invention provides a high-density ultra-flat library system, and the method and the way for realizing the technical scheme are numerous, the above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several improvements and modifications can be made, and these improvements and modifications should also be considered as the protection scope of the present invention, without departing from the principle of the present invention. The components not explicitly described in this embodiment can be implemented by using the prior art.

Claims

1. The high-density super-flat warehouse system is characterized by comprising super-flat warehouse shelves, a carrying robot, a cooperative robot, a warehouse control system WCS and a warehouse management system WMS;

the carrying robot has a carrying function, can carry out no-load or loading goods shelf movement, is used for carrying and distributing goods shelves, and can automatically start to charge a charging area for charging in an idle state or in a low power state;

the cooperative robot has the functions of carrying, lifting, selecting and checking, can select or check goods, and can automatically start to charge a charging area for charging in an idle state or low power;

the warehouse management system WMS is used for enabling the end user to finish the operations of loading and unloading cargoes and checking, collecting and storing warehouse data, splitting the loading and unloading tasks according to the cargo space state, butting the warehouse control system WCS, and generating permanently stored operation records and logs;

the super-flat warehouse goods shelf is provided with X ₁ Row X ₂ The storage system comprises a storage room, wherein the storage room is internally provided with a plurality of storage racks, the storage racks are sequentially arranged from inside to outside and from left to right, the safety distance between the storage racks is defined as D0, the reserved distance between the storage racks is not lower than D0, each storage rack is provided with more than two storage goods layers from bottom to top, each storage goods layer is provided with more than two storage goods positions from left to right, the center of each storage goods position is provided with a two-dimensional code for positioning the goods positions, goods are arranged on each storage goods position, each goods has retrieval frequency, and the retrieval frequency refers to the probability of retrieval of a file original; the retrieval frequency of the goods comprises the following steps: high, medium, low; leading-in retrieval frequency through a warehouse management system WMS before goods are put on shelf, counting to obtain the quantity of goods with each retrieval frequency, wherein the quantity of goods with high retrieval frequency is n1, the quantity of goods with medium retrieval frequency is n2, the quantity of goods with low retrieval frequency is n3, the total quantity of goods is n0, the proportion of goods with high retrieval frequency is P1, the proportion of goods with medium retrieval frequency is P2, and the proportion of goods with low retrieval frequency is P3, then:

n0＝n1+n2+n3

P1＝n1÷n0，P2＝n2÷n0，P3＝n3÷n0；

the super-flat warehouse is a super-flat layer warehouse and comprises a storage area, a sorting area and a charging area;

the storage area is used for storing goods; the storage area is used for placing empty shelves; one or more than two cache racks are arranged in the sorting area and used for finishing the operations of loading and unloading; the charging area is used for charging the robot;

the total usable area of the storage area is S, a hot area, a warm area and a cold area are arranged according to the equal proportion of the number of goods with each retrieval frequency, the area of the hot area is S1, the area of the warm area is S2, and the area of the cold area is S3, and then:

S1＝S×P1，S2＝S×P2，S3＝S×P3；

the hot goods shelves are used for placing goods with high retrieval frequency, the goods are placed in a warehouse hot area during warehouse entry, sorting channels are reserved among the goods shelves in the hot area, namely, one sorting channel is reserved between every two rows of goods shelves, the collaborative robot can directly store and fetch the goods, and the average retrieval time of the goods in the hot area is t1;

the goods shelves with the attribute of temperature are used for placing goods with medium retrieval frequency, and are placed in a warehouse temperature area during warehouse entry, sorting passageways are reserved on the goods shelves in the temperature area according to the timeliness requirement of normal retrieval, the average retrieval time of the goods in the temperature area is t2, the proportion of the goods shelves to the sorting passageways is R, and then: r= (2×t2)/(t 1);

the goods shelf with the cold attribute is used for placing goods with low retrieval frequency, and is placed in a cold area of a storehouse during warehouse entry.

2. The system of claim 1, wherein the ultra-flat warehouse rack is provided with a ranging system, the ranging system comprises a ranging instrument and a contact type female interface, the ranging instrument is arranged at the periphery of the rack, and the contact type female interface is arranged on a chassis of the rack;

the top of the transfer robot is provided with a contact type male interface, when the transfer robot lifts a goods shelf, the contact type male interface is in contact with and communicated with the contact type female interface, and the transfer robot starts to supply power and communicate with the ranging system and receives signals of the ranging instrument.

3. The system of claim 2, wherein the distance measuring instrument measures the distance from the surrounding shelves in real time, measures the distance between one shelf and the front shelf as D1, the distance between the one shelf and the rear shelf as D2, the distance between the one shelf and the left shelf as D3, the distance between the one shelf and the right shelf as D4, and the transfer robot determines after receiving the distance measuring instrument signal: if any one of the D1, the D2, the D3 and the D4 is smaller than the safety distance D0, the carrier robot executes a discharging instruction to put down the goods shelf, and feeds ranging information back to the storage control system WCS, the storage control system WCS performs early warning, otherwise, the carrier robot is safe, and the carrier robot can continue to pass.

4. The system of claim 3, wherein the collaborative robot comprises a body and a pick mechanism;

the body includes: chassis, door frame and goods shelf layer; the chassis is used for carrying and walking, and a vacuum pump is integrated on the chassis and used for conveying an air source to the sponge sucker; the portal frame adopts a two-stage lifting mechanism and is used for supporting high-level operation, when the high-level operation is carried out, the portal frame is lifted to the corresponding high level for storing or checking, and when the portal frame walks, the portal frame descends to the lowest point; the goods shelf layer is used for caching goods and can store and fetch 1 box or more than two boxes of goods at one time;

the goods taking mechanism is arranged on the portal frame, adopts a three-stage telescopic mechanism and is used for storing and taking goods and checking, and can be telescopic to a second goods place for storing and taking;

the visual positioning device is arranged on the goods taking mechanism and comprises a visual camera, and the two-dimensional code on the goods space is identified through the visual camera so as to confirm the position of the goods; the gripper of the goods taking mechanism adopts a direct suction or direct pushing mode of a sponge sucker, and sucks or pushes goods into a goods space from the goods space through the sponge sucker; the goods taking mechanism is also provided with a roller conveying device; the sponge sucker is a vacuum sucker and is used for adsorbing articles.

5. The system of claim 4, wherein the pick-up mechanism is provided with a weighing instrument, and the goods with the weight lower than WL are light goods, the goods with the weight higher than WH are heavy goods, and the goods with the weight in the range of [ WL, WH ] are normal goods;

if W0 is more than WH, placing the goods in the empty goods space at the lower layer of the goods shelf;

if W0 is less than WL, placing the goods in an empty goods space on the upper layer of the goods shelf;

otherwise, placing the goods shelf in the middle layer empty goods space.

6. The system of claim 5, wherein in the super flat warehouse racks, an uppermost X of each rack is set ₃ The goods space of (2) is the upper layer of the goods shelf and the lowest X ₄ The goods space is the lower layer of the goods shelf and the middle X ₅ The goods space is the middle layer of the goods shelf;

7. The system of claim 6, wherein the system performs the steps of:

step a1, placing cargoes on a cache rack, and sequentially scanning cargo codes;

step a3, searching the goods shelves S1 meeting the condition of the step a2 in a sorting area, carrying 1 group of goods shelves from a storage area to the sorting area by a carrying robot if the goods shelves S1 are not found, and updating the properties of the goods shelves into the corresponding properties;

step a4, the cooperative robot takes the goods from the cache rack, weighs the goods, and judges whether the goods are heavy goods, light goods or normal goods according to the weight of the goods;

step a6, loading cargoes to an empty cargo space L1 by the cooperative robot, binding the cargoes to the cargo space by a storage management system WMS after loading the cargoes, and updating cargo space information;

8. The system of claim 7, wherein the system performs the following steps when off-shelf: