CN115676228A - Goods access method, system and electronic equipment - Google Patents
Goods access method, system and electronic equipment Download PDFInfo
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- CN115676228A CN115676228A CN202211280132.5A CN202211280132A CN115676228A CN 115676228 A CN115676228 A CN 115676228A CN 202211280132 A CN202211280132 A CN 202211280132A CN 115676228 A CN115676228 A CN 115676228A
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Abstract
The embodiment of the invention discloses a goods access method, a system and electronic equipment, wherein the goods access method comprises the following steps: controlling the carrying equipment to move to the butt joint side of the automatic transfer cantilever goods shelf; the carrying equipment is provided with a bearing table for supporting a carrier, and the carrier is used for loading the strip-shaped materials; the automatic circulation cantilever goods shelf is provided with a plurality of layers of loading units for supporting the carriers; controlling the handling apparatus to interface with the automated transfer boom rack to transfer the vehicle between the handling apparatus and a cargo unit in the automated transfer boom. So, promoted the automatic level of transport goods process.
Description
Technical Field
The present application relates to the field of logistics application technologies, and in particular, to a method, a system, and an electronic device for storing and taking goods.
Background
With the rapid development of economy, warehousing technology has been applied to various industries in life, for example, warehousing technology has been applied to finished product warehousing in manufacturing industry, raw material warehousing, centralized turnover warehousing in express delivery and logistics industries, and the like. In the related art, long-strip materials in the manufacturing industry, such as pipes, wood, metal profiles and the like, are generally transported by manually pushing a cart, and the automation level is low.
Disclosure of Invention
In order to solve the above technical problems, or at least partially solve the above technical problems, embodiments of the present invention provide a method, a system and an electronic device for accessing goods.
In a first aspect, an embodiment of the present invention provides a cargo access method, including:
controlling the carrying equipment to move to the butt joint side of the automatic transfer cantilever goods shelf; the carrying equipment is provided with a bearing table for supporting a carrier, and the carrier is used for loading the strip-shaped materials; the automated circulation boom rack having a plurality of tiers of inventory cells for supporting the vehicles;
controlling the handling apparatus to interface with the automated transfer boom rack to transfer the vehicle between the handling apparatus and a cargo unit in the automated transfer boom.
In some embodiments, the docking side of the automatic transfer cantilever shelf is provided with a first safety light barrier spaced apart from the automatic transfer cantilever shelf;
the control the haulage equipment removes to the butt joint side of automatic circulation cantilever goods shelves includes:
receiving a first passing request sent by the carrying equipment; the first passing request is generated when the carrying equipment approaches the detection area of the first safety grating;
controlling a first safety grating to be switched to a closed state according to the first passing request;
and controlling the carrying equipment to pass through the detection area of the first safety grating.
In some embodiments, the docking side of the automatic transfer cantilever shelf is further provided with a second safety grating, the second safety grating is located between the first safety grating and the automatic transfer cantilever shelf, the second safety grating is spaced apart from the automatic transfer cantilever shelf, and a distance between the first safety grating and the second safety grating is larger than a dimension of the handling equipment supporting the carrier along the first direction; the first direction is the direction of the first safety grating towards the second safety grating;
after the handling equipment is controlled to pass through the detection area of the first safety light grating, the method further comprises the following steps:
receiving a second passing request sent by the carrying equipment; the second pass request is generated when the carrying equipment approaches the detection area of the second safety grating;
controlling the first safety grating to be switched to an open state and controlling the second safety grating to be switched to a closed state according to the second passing request;
controlling a carrying device to pass through the detection area of the second safety grating;
receiving confirmation information sent by the carrying equipment, wherein the confirmation information is generated when the carrying equipment leaves the detection area of the second safety grating;
controlling the second safety grating to be switched to an open state according to the confirmation information
In some embodiments, the cargo access method further comprises:
receiving first prompt information sent by the first safety grating; the first prompt information is generated when the carrying equipment enters a detection area of the first safety grating when the first safety grating is in an open state;
or, receiving a second prompt message sent by the second security grating; the second prompt information is generated when the carrying equipment enters the detection area of the second safety grating when the second safety grating is in the open state.
In some embodiments, at least some of the plurality of levels of cargo units are spaced vertically;
the transferring of the carrier between the handling apparatus and the cargo carrying unit of the automatic transfer boom comprises:
transferring the carriers between the handling apparatus and the underlying cargo carrying units in the automated transfer boom racks.
The cargo carrying unit comprises two cantilever beams which are oppositely arranged, the cantilever beams are provided with free ends, and one side of the automatic circulation cantilever goods shelf facing the free ends is a butt joint side;
the control the haulage equipment with automatic flow changes cantilever goods shelves butt joint includes:
and controlling the bearing platform of the carrying equipment to be parallel to the goods carrying unit positioned on the bottom layer in the automatic circulation cantilever goods shelf, and controlling the carrying equipment to enter between two cantilever beams positioned on the bottom layer.
In some embodiments, during inventory, after transferring the vehicle between the handling apparatus and the automated circulation boom, further comprising:
and controlling the automatic circulation cantilever goods shelf to circulate the carriers in the loading units on the bottom layer to the loading units on the upper layer in an idle state.
In some embodiments, after transferring the carrier between the handling apparatus and the automated transfer boom during the picking process, the method further comprises:
and controlling the automatic circulation cantilever shelf to circulate the carriers in the loading units on the upper layer to the loading units on the bottom layer.
In a second aspect, an embodiment of the present invention provides an electronic device, including: a memory storing a computer program and a processor implementing the steps of the method according to any of the preceding claims when the processor executes the computer program.
In a third aspect, an embodiment of the present invention provides a cargo access system, including: automatically circulating the cantilever racks, the handling equipment and the electronic equipment as described in any one of the preceding claims; the automatic transfer cantilever goods shelf is provided with a plurality of layers of loading units, and the loading units are used for supporting carriers loaded with strip-shaped materials; the carrying equipment is provided with a loading platform for bearing the carrier, and the carrying equipment is also provided with a jacking mechanism, wherein the jacking mechanism is used for driving the loading platform to ascend or descend so as to enable the loading platform to be in butt joint with the loading units in the automatic transfer cantilever goods shelf.
In some embodiments, the cargo access system further comprises: the first safety grating and the second safety grating are positioned between the first safety grating and the automatic circulation cantilever goods shelf, the second safety grating and the automatic circulation cantilever goods shelf are arranged at intervals, and the distance between the first safety grating and the second safety grating is larger than the sizes of the handling equipment and the long-strip-shaped materials along the corresponding directions; the first safety grating and the second safety grating are respectively in communication connection with the electronic equipment.
In some embodiments, at least some of the plurality of levels of cargo units are spaced vertically apart.
According to the goods storing and taking method, the goods storing and taking system and the electronic equipment, the carrying equipment is controlled to move to the butt joint side of the automatic transfer cantilever goods shelf; wherein the automatic transfer boom pallet has multiple tiers of cargo carrying units; controlling the handling equipment to be in butt joint with the automatic transfer cantilever shelf so as to place the carriers loaded with the strip-shaped materials on the automatic transfer cantilever shelf or take the carriers loaded with the strip-shaped materials out of the automatic transfer cantilever shelf. So, promoted the automatic level of transport goods in-process, reduced field work personnel's the work degree of difficulty and intensity.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1a is a schematic diagram of a scenario provided by an embodiment;
FIG. 1b is a schematic diagram of device connections in a scenario provided by an embodiment;
FIG. 2 is a flow chart illustrating a cargo access method according to an embodiment;
FIG. 3 is a schematic flow chart of a cargo access method according to another embodiment;
FIG. 4a is a diagram of an inventory scenario provided in one embodiment;
FIG. 4b is a diagram of an inventory scenario diagram two, as provided by one embodiment;
FIG. 4c is a schematic illustration of an inventory scenario three, as provided by an embodiment;
fig. 5 is a schematic structural diagram of an apparatus provided in an exemplary embodiment.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The embodiment provides a goods storing and taking method, a system and electronic equipment, through adopting the handling equipment with the mobile function and the automatic transfer cantilever goods shelf with the goods transfer function, the corresponding cargo carrying unit of the handling equipment and the automatic transfer cantilever goods shelf are butted, a carrier loaded with a long strip-shaped material can be placed into the corresponding cargo carrying unit of the automatic transfer cantilever goods shelf, or the carrier loaded with the long strip-shaped material is taken out from the corresponding cargo carrying unit of the automatic transfer cantilever goods shelf, the automation level in the goods handling process is improved, and the work difficulty and the strength of field workers are reduced.
For convenience of description, the cargo access method according to the embodiment of the present invention will be described below with reference to the accompanying drawings for illustration.
As shown in fig. 1a and 1b, the storage and retrieval scene includes: automatic cantilever goods shelves, haulage equipment and electronic equipment of circulation. Automatic circulation cantilever goods shelves, haulage equipment respectively with electronic equipment communication connection to data transmission carries out.
The automatic circulation cantilever goods shelf is arranged in the storage area in the warehouse. The automated circulation cantilever racking may comprise one or more. When the automatic circulation cantilever shelf comprises a plurality of automatic circulation cantilever shelves, the plurality of automatic circulation cantilever shelves can be arranged along a preset rule, for example, the plurality of automatic circulation cantilever shelves are distributed in parallel; in addition, a plurality of automatic circulation cantilever goods shelves are connected with electronic equipment communication respectively.
Wherein the automatic transfer boom pallet has multiple levels of cargo units. The multiple-layer loading units are respectively used for supporting the carriers loaded with the strip-shaped materials. The automatic circulation cantilever goods shelf is also provided with a mechanical arm, and the mechanical arm is used for clamping the carrier to drive the carrier to circulate between the cargo carrying units. The mechanical arm can be arranged on a stand column of the automatic circulating cantilever shelf and can also be arranged on other parts. The multiple layers of the cargo units may be at least partially spaced apart in the up-down direction.
In addition, the edge position of the storage area can be provided with a safety fence for preventing people from entering. For example, the safety fence may include a plurality of protection posts extending in an up-down direction. A plurality of guard posts may be spaced along the periphery of the storage area. Wherein, the top of every two adjacent protection posts can be connected with the protection crossbeam to prevent personnel from getting into. Or a protective net is connected between every two adjacent protective columns to prevent people from entering. In addition, in order to facilitate the entering and exiting of the carrying equipment into and from the storage area, the safety fence is provided with an opening area for the entering and exiting of the carrying equipment.
The carrying device can comprise a plurality of carrying devices which are respectively connected with the electronic device in a communication mode, and the electronic device is used for respectively dispatching the plurality of carrying devices. The carrying device may employ an Autonomous Mobile Robot (AMR) having an autonomous Mobile function and an obstacle avoidance function.
The carrying equipment is provided with a loading platform for bearing a carrier, and the carrying equipment is also provided with a jacking mechanism, wherein the jacking mechanism is used for driving the loading platform to ascend or descend so as to be butted with a loading unit in the automatic transfer cantilever goods shelf, and then the goods taking and placing are realized.
The electronic device may be one or more. When the electronic equipment is a plurality of, some of the electronic equipment can be used for controlling the automatic circulation of the cantilever goods shelves, and the other electronic equipment can be used for controlling the handling equipment. In addition, the goods storage and taking scene further comprises a man-machine interaction terminal, and the man-machine interaction terminal is in communication connection with the electronic equipment.
Fig. 2 is a schematic flow chart of a cargo access method according to an embodiment, and referring to fig. 2, the cargo access method according to the embodiment includes:
s201, controlling the carrying equipment to move to the butt joint side of the automatic transfer cantilever shelf; the carrying equipment is provided with a bearing table for supporting a carrier, and the carrier is used for loading the strip-shaped materials; the automated flow around cantilever racking has multiple tiers of cargo carrying units for supporting the carriers.
The execution subject of this embodiment may be an electronic device, or may be another controller or processor with information processing capability. For convenience of description, the present embodiment will be described by taking an execution subject as an electronic device as an example.
And after receiving the goods storing and taking instruction, the electronic equipment schedules the carrying equipment to execute the goods storing and taking task according to the goods storing and taking instruction. Illustratively, the electronic device assigns the carrying devices for carrying out the goods access tasks according to the goods access commands, and generates scheduling commands to the assigned carrying devices. The dispatching instruction may include position information of the automatic circulation cantilever shelf corresponding to the current goods storing and taking task.
If the goods are the inventory tasks, the dispatching instruction can further comprise goods taking position information, the carrying equipment reaches the goods taking position according to the goods taking position information in the dispatching instruction and loads the goods, and then the goods are conveyed to the butt joint side of the automatic transfer cantilever goods shelf according to the position information of the automatic transfer cantilever goods shelf in the dispatching instruction. And if the goods taking task is the goods taking task, the carrying equipment moves to the butt joint side of the automatic transfer cantilever goods shelf according to the position information of the automatic transfer cantilever goods shelf in the scheduling instruction.
Wherein, the butt joint side of automatic circulation cantilever goods shelves can set up towards the opening district of security fence to automatic circulation cantilever goods shelves and haulage equipment butt joint.
The automatic circulation cantilever goods shelf is provided with a plurality of layers of loading units for storing strip-shaped materials, and the electronic equipment can control the automatic circulation cantilever goods shelf to transfer the loading tools loaded with the strip-shaped materials among the loading units.
In some examples, the plurality of cargo units may be spaced apart in a horizontal direction. The carriers can be stacked in the cargo carrying unit, and space in the height direction of the automatic circulation cantilever shelf is utilized, so that more strip-shaped materials can be stored in the automatic circulation cantilever shelf.
In other examples, at least some of the multiple-level cargo units are spaced vertically, so that the space in the height direction of the automatic circulation cantilever shelf can be utilized, and the automatic circulation cantilever shelf can store more long-strip-shaped materials. For convenience of description, the present embodiment will be described by taking this as an example. Exemplarily, the automatic circulation cantilever shelf is provided with two oppositely-arranged upright posts, one side of each upright post is connected with a plurality of cantilever beams which are distributed at intervals along the vertical direction, and the cantilever beams connected with the two upright posts are correspondingly arranged. In other examples, a plurality of cantilever beams are respectively connected to two opposite sides of the vertical column, and the cantilever beams connected to two sides of the two vertical columns are respectively and correspondingly arranged. The two cantilever beams connected by the two upright posts and corresponding to the upright posts form a cargo carrying unit, and the cargo carrying unit is used for supporting a carrier loaded with long-strip-shaped materials.
Wherein, the cantilever beam deviates from the one end of stand and is the free end, and in some examples, in order to improve the transport even the convenience of automatic circulation cantilever goods shelves butt joint, the one side at the free end place of cantilever beam can be the butt joint side among the automatic circulation cantilever goods shelves. For example, when the opposite sides of the upright post are respectively connected with the cantilever beams, the corresponding two sides of the automatic circulation cantilever shelf are respectively butt-jointed sides. For another example, when a cantilever beam is connected to one side of the column, the side where the free end of the cantilever beam is located may be the butt-joint side. Of course, in other examples, the side of the automatic circulation cantilever shelf facing away from the free end of the cantilever beam may also serve as the docking side.
And S202, controlling the carrying equipment to be in butt joint with the automatic transfer cantilever shelf so as to transfer the carrier between the carrying equipment and the loading unit in the automatic transfer cantilever.
After the carrying equipment moves to the butt joint side of the automatic transfer cantilever shelf, the bearing table of the carrying equipment is controlled to ascend or descend, the carriers loaded with the long-strip-shaped materials can be transferred between the bearing table and the loading units in the automatic transfer cantilever shelf, and therefore the carriers loaded with the long-strip-shaped materials are placed on the automatic transfer cantilever shelf to achieve goods placing or the carriers loaded with the long-strip-shaped materials are taken out from the automatic transfer cantilever shelf to achieve goods taking.
In some examples, picking and placing may also be automated by handling equipment or automated transfer boom racks to increase the degree of automation. In other examples, after the transfer device is moved to the docking side of the automated transfer boom rack, the carriers may be removed from the load bed of the transfer device and placed onto the load cells of the automated transfer boom rack by field personnel; alternatively, the carriers are removed from the load cells of the automated transfer boom and placed on the load platforms of the handling apparatus by field personnel.
In this example, when at least part of the multiple layers of cargo carrying units of the automatic circulation cantilever shelf are distributed at intervals along the vertical direction, the carrying device can be butted with the cargo carrying unit located at the bottom layer in the automatic circulation cantilever shelf, so that the cargo carrying platform of the carrying device can be transferred with the cargo carrying unit located at the bottom layer in the automatic circulation cantilever shelf without being lifted to an overhigh position, and the requirement on the lifting stroke of the carrying device during butting is reduced. The automatic circulation cantilever goods shelf can transfer the carriers of the loading units on the bottom layer to the loading units on the upper layer or transfer the carriers of the loading units on the upper layer to the loading units on the bottom layer.
According to the goods storing and taking method provided by the embodiment, the carrying equipment is controlled to move to the butt joint side of the automatic transfer cantilever goods shelf; the automatic transfer cantilever goods shelf is provided with a plurality of layers of goods loading units; and controlling the carrying equipment to be in butt joint with the automatic transfer cantilever goods shelf so as to place the carriers loaded with the strip-shaped materials on the automatic transfer cantilever goods shelf or take the carriers loaded with the strip-shaped materials out of the automatic transfer cantilever goods shelf. So, through the haulage equipment that adopts to have from the removal function to and have the automatic cantilever goods shelves that circulate of goods circulation function, just haulage equipment with automatic cantilever goods shelves that circulate can automatic dock in order to realize the transfer of goods like rectangular form material, have promoted the automation level among the haulage goods process, have reduced field work personnel's the work degree of difficulty and intensity, moreover, owing to can automatic handling and automatic transfer, reduced field work personnel and participated in, can reduce or even avoid rectangular form material to receive the damage in handling.
In some embodiments, the docking side of the automated flow-to-cantilever racking is provided with a safety grating for improved safety. The safety grating can be arranged close to the opening area of the safety fence, and the safety grating can be installed on a protective column close to the opening area; when the opening area is provided with a plurality of opening areas, the opening areas can be respectively provided with the safety grating, and certainly, the safety grating can also be arranged in part of the opening areas.
The electronic equipment can control the safety grating to switch between the opening state and the closing state according to the position of the carrying equipment so as to ensure that only the carrying equipment which is allocated to execute the goods storing and taking task can enter, and therefore safety is improved.
The electronic equipment can receive prompt information of the safety grating, wherein the prompt information is generated when the safety grating is in an open state and when the carrying equipment enters a detection area of the safety grating. The safety grating comprises a light emitter and a receiver, and the area where a light curtain formed by light emitted by the light emitter to the receiver is located is the detection area of the safety grating. Specifically, when the safety grating is in an open state and the carrying equipment enters a detection area of the safety grating, the safety grating can generate prompt information, and the electronic equipment can trigger corresponding prompts or control the carrying equipment to stop running according to the prompt information.
In some examples, the security gratings may include two, which are referred to as a first security grating and a second security grating, respectively, for convenience of description. The second safety grating is located between the first safety grating and the automatic-circulation cantilever shelf, the second safety grating and the automatic-circulation cantilever shelf are arranged at intervals, the distance between the first safety grating and the second safety grating is larger than the width of the carrying equipment supporting the carrier along a first direction, and the first direction is the direction in which the first safety grating faces the second safety grating, as shown by an arrow X in fig. 4a to 4 b. Because the distance between the first safety grating and the second safety grating is larger than the width of the carrying equipment supporting the carrier, the distance between the first safety grating and the second safety grating can accommodate the carrying equipment bearing the carrier, and therefore, after the carrying equipment passes through the detection area of the first safety grating, the carrying equipment can be stopped between the first safety grating and the second grating.
The first safety grating and the second safety grating are respectively in communication connection with the electronic equipment. When the electronic equipment schedules the carrying equipment to access goods, the electronic equipment can respectively control the switching state of the first safety grating and the second safety grating according to the position of the carrying equipment so as to ensure that only the carrying equipment which is allocated to execute the task of accessing goods can enter, thereby improving the safety.
In other examples, the number of the safety gratings may be one or more than two, and the implementation process is similar to that of the embodiment.
Fig. 3 is a schematic flow chart of a cargo access method according to another embodiment, referring to fig. 3, the cargo access method according to the embodiment may include:
s301, receiving a first passing request sent by carrying equipment; the first pass request is generated when the handling equipment approaches the detection area of the first safety grating;
s302, controlling the first safety grating to be switched to a closed state according to the first crossing request;
and S303, controlling the carrying equipment to pass through the detection area of the first safety grating.
In steps S301 to S303, in some examples, as shown in fig. 4a, when the transport apparatus determines that the detection area approaching the first security barrier is determined by ground beacon recognition by the downward-looking camera, a first pass request requesting to pass through the detection area of the first security barrier is transmitted to the electronic apparatus. When the distance between the carrying equipment and the detection area of the first safety grating is smaller than or equal to a preset value, the carrying equipment is determined to be close to the detection area of the first safety grating.
After receiving the first passing request, the electronic equipment controls the first safety grating to be switched from the open state to the closed state, and the electronic equipment returns first feedback information that the first safety grating is closed to the carrying equipment. And after receiving the first feedback information, the carrying equipment continues to move to pass through the detection area of the first safety grating.
In some examples, when the first safety light grating is in an open state, if the carrying device enters the detection area of the carrying device, the first safety light grating generates first prompt information and sends the first prompt information to the electronic device. The electronic equipment sends out sound prompt or visual prompt according to the first prompt information, or the electronic equipment controls other equipment to send out sound prompt or visual prompt according to the first prompt information, and timely reminds field workers. Optionally, the electronic device may further control the carrying device entering the detection area of the first safety grating to stop moving according to the first prompt information.
Of course, when the first safety grating is in the open state, if a field worker or other equipment mistakenly enters the detection area of the first safety grating, the first safety grating also generates first prompt information and sends the first prompt information to the electronic equipment.
In the embodiment, the first safety grating is arranged and is controlled to be opened or closed according to the position of the carrying equipment, so that the first safety grating is ensured to be in a closed state only when the carrying equipment for executing goods storing and taking tasks passes through, the safety is improved,
in other embodiments, the electronic device may also acquire the position information of the transportation device in real time, and control the first safety light barrier to switch to the off state when the transportation device is determined to be close to the detection area of the first safety light barrier according to the position information of the transportation device.
In other embodiments, when only the first security grating is set in the goods access scene, after the carrying device leaves the detection area of the first security grating, the carrying device sends information that the carrying device leaves the detection area of the first security grating to the electronic device, and the electronic device controls the first security grating to be opened. The handling apparatus continues to move until it is docked with the automatic transfer boom shelf, and step S309 is performed.
S304, receiving a second passing request sent by the carrying equipment; the second pass-through request is generated when the handling equipment approaches the detection area of the second safety grating;
s305, controlling the first safety grating to be switched to an open state and controlling the second safety grating to be switched to a closed state according to the second pass request;
s306, controlling the carrying equipment to pass through the detection area of the second safety grating.
In steps S304 to S306, in some examples, as shown in fig. 4b, when the conveying apparatus determines that the detection area is close to the second security barrier by the ground beacon recognition by the downward-looking camera, a second pass request requesting to pass through the detection area of the second security barrier is transmitted to the electronic apparatus. And when the distance between the carrying equipment and the detection area of the second safety grating is smaller than or equal to a preset value, determining that the carrying equipment is close to the detection area of the second safety grating.
And after receiving the second pass request, the electronic equipment controls the second safety grating to be switched from the open state to the closed state. And the electronic equipment returns second feedback information that the second safety grating is closed to the carrying equipment. After the second feedback information is received by the carrying equipment, the carrying equipment can move continuously to pass through the detection area of the second safety grating.
In addition, after the electronic equipment receives the second pass request, the electronic equipment can also control the first safety grating to be switched from the closed state to the open state; in other examples, the first safety light barrier may be controlled to switch from the closed state to the open state after the handling device leaves the detection area of the first safety light barrier.
In some examples, when the second security barrier is in an open state, if the carrying device enters the detection area of the carrying device, the second security barrier generates second prompt information and sends the second prompt information to the electronic device. The electronic equipment sends out sound prompt or visual prompt according to the second prompt information, or the electronic equipment controls other equipment to send out sound prompt or visual prompt according to the second prompt information, and timely reminds field workers. Optionally, the electronic device may further control the carrying device entering the detection area of the second safety grating to stop moving according to the second prompt information. Of course, when the second safety grating is in the open state, if a field worker or other equipment mistakenly enters the detection area of the second safety grating, the second safety grating also generates second prompt information and sends the second prompt information to the electronic equipment.
In some examples, before the handling device passes through the detection area of the first safety grating and does not pass through the detection area of the second safety grating, as shown in fig. 4b, the handling device may also stop between the first safety grating and the second grating, a long strip-shaped material that is offline from the production line is placed on the carrier by a field worker, the field worker passes through the human-computer interaction terminal to enter material information of the long strip-shaped material and confirm that the loading is completed, and the field worker may pass through the human-computer interaction terminal to trigger the electronic device to control the handling device to continue to operate towards the automatic circulation cantilever shelf.
In this embodiment, the second safety grating is arranged and is controlled to be opened or closed according to the position of the carrying device, so that the second safety grating is ensured to be in a closed state only when the carrying device executing the goods storing and taking task passes through, and the safety is improved.
In other embodiments, the electronic device may also acquire the position information of the transportation device in real time, and control the second safety light barrier to switch to the off state when the transportation device is determined to be close to the detection area of the second safety light barrier according to the position information of the transportation device.
S307, receiving confirmation information sent by the carrying equipment, wherein the confirmation information is generated when the carrying equipment leaves the detection area of the second safety grating;
and S308, controlling the second safety grating to be switched to an open state according to the confirmation information.
In steps S307 and S308, when the transport apparatus leaves the detection area of the second security barrier, confirmation information that the transport apparatus has left the detection area of the second security barrier is transmitted to the electronic apparatus. And the electronic equipment controls the second safety grating to be switched from the closed state to the open state according to the confirmation information, and the second safety grating continues to detect.
S309, controlling the carrying platform of the carrying equipment to be parallel to the goods carrying unit located at the bottom layer in the automatic circulation cantilever goods shelf, and controlling the carrying equipment to enter between two cantilever beams corresponding to the goods carrying unit located at the bottom layer so as to place the carrier in the goods carrying unit located at the bottom layer of the automatic circulation cantilever goods shelf or take the carrier out of the goods carrying unit located at the bottom layer of the automatic circulation cantilever goods shelf.
In some examples, after the electronic device receives the confirmation message, the carrying platform of the handling device is controlled to be parallel to the bottom loading unit in the automatic circulation cantilever shelf, so that the stability of the long strip materials can be ensured when the handling device accesses the goods. For example, the automatic robot can adjust the carrier table by its jacking mechanism until it is parallel to the underlying load unit in the automatic circulation boom shelf. After determining that the load platform is parallel to the load unit at the bottom level, the handling apparatus can enter between the two cantilever beams corresponding to the load unit at the bottom level, as shown in fig. 4c, to place the carriers loaded with elongated material on the automatic transfer cantilever racks or to take the carriers loaded with elongated material out of the automatic transfer cantilever racks.
When the carrying equipment enters between the two cantilever beams corresponding to the cargo unit positioned at the bottom layer in the stock process, the upper surface of the bearing platform of the carrying equipment can be slightly higher than the upper surfaces of the two cantilever beams, so that the carrier and the cantilever beams are prevented from interfering with each other in the process that the carrying equipment enters between the two cantilever beams; when the carrying equipment is withdrawn between the two cantilever beams, the upper surface of the bearing table of the carrying equipment can be slightly lower than the upper surfaces of the two cantilever beams, so that the carrying equipment and the carrier are prevented from interfering with each other.
In the goods taking process, when the carrying equipment enters between the two cantilever beams corresponding to the goods carrying unit positioned at the bottom layer, the upper surface of the bearing platform of the carrying equipment can be slightly lower than the upper surfaces of the two cantilever beams, so that the carrier and the carrying equipment are prevented from interfering with each other in the process that the carrying equipment enters between the two cantilever beams; when the carrying equipment bearing carrier exits from between the two cantilever beams, the upper surface of the bearing table of the carrying equipment can be slightly higher than the upper surfaces of the two cantilever beams so as to prevent the carrier and the cantilever beams from interfering with each other.
In other examples, after receiving the confirmation message, the electronic device further controls the handling device to enter between two cantilever beams corresponding to the cargo units located on the bottom layer, and then controls the handling device to adjust the loading platform to be parallel to the cargo units located on the bottom layer in the automatic circulation cantilever shelf. Of course, the carrying equipment is controlled to enter between the two cantilever beams corresponding to the cargo carrying units positioned on the bottom layer, and the carrying equipment is controlled to adjust the bearing table to be parallel to the cargo carrying units positioned on the bottom layer in the automatic circulation cantilever goods shelf, and the operation can also be carried out simultaneously.
In some examples, during the inventory process, the handling device may enter between two cantilever beams located at the bottom layer from the butt side of the free end of the cantilever beam on the automatic transfer cantilever shelf so as not to interfere with the upright of the automatic transfer cantilever shelf, so that the carrier carrying the strip-shaped material can be smoothly and smoothly transferred to the loading unit consisting of the cantilever beams.
In the process of taking goods, the carrying equipment can enter the lower part of the loading unit positioned at the bottom layer from any direction, and after a carrier bearing strip-shaped materials is transferred to a bearing table of the carrying equipment, the carrying equipment moves along the butt joint side of the free end of the cantilever beam on the automatic flow cantilever shelf, so as not to interfere with the upright post of the automatic flow cantilever shelf.
After the goods are taken or put, the carrying equipment leaves the storage area where the automatic circulation cantilever shelf is located. The handling device can be moved away from the same opening area or from another opening area. The implementation process of the carrying equipment when leaving is similar to that when entering. The method comprises the steps that a third passing request for applying to pass through a detection area of a second safety grating is sent to the electronic equipment when the carrying equipment is close to the detection area of the second safety grating, the electronic equipment controls the second safety grating to be switched to a closed state according to the third passing request, after the carrying equipment passes through the detection area of the second safety grating, a fourth passing request is sent to the electronic equipment when the carrying equipment is close to the detection area of a first safety grating, the electronic equipment controls the first safety grating to be switched to the closed state and controls the second safety grating to be switched to an open state according to the fourth passing request, after the carrying equipment leaves the detection area of the first safety grating, confirmation information for confirming that the carrying equipment leaves the first safety grating is sent to the electronic equipment, and the electronic equipment controls the first safety grating to be switched to the open state.
In some embodiments, during the inventory process, after placing the carriers loaded with the strip materials on the automatic circulation cantilever shelf, the method further comprises:
and controlling the automatic circulation cantilever shelf to circulate the carriers in the cargo units on the bottom layer to the cargo units on the upper layer in an idle state.
After the carrying equipment places the carriers on the loading units of the automatic circulation cantilever goods shelves, the carriers in the loading units of the bottom layer are circulated to the loading units of the upper layer through the mechanical arms of the automatic circulation cantilever goods shelves, and the loading units of the bottom layer are emptied for the next inventory task.
In some embodiments, after the carrier loaded with the long strip materials is taken out from the automatic transfer cantilever shelf in the goods taking process, the method further comprises the following steps:
and controlling the automatic circulation cantilever shelf to circulate the carriers in the loading units on the upper layer to the loading units on the bottom layer.
After the carrying equipment places the carriers on the bottom-layer loading unit of the automatic circulation cantilever shelf, the carriers in the upper-layer loading unit are circulated to the bottom-layer loading unit through the mechanical arm, and the carriers are used for the next goods taking task.
The following illustrates the implementation process of the cargo access method of the present embodiment.
The implementation of the inventory is described herein. The implementation process of picking up goods is similar to that of inventory, and this embodiment is not described in detail again.
Step 1: the carrying equipment carries the carrier loaded with the strip-shaped materials to automatically navigate to the butt joint surface of the automatic circulation cantilever goods shelf in the storage area under the distribution of the electronic equipment. The carrying device performs ground beacon recognition through the downward-looking camera, and when the carrying device approaches the detection area of the first safety grating, as shown in fig. 4a, a first passing request is sent to the electronic device, the electronic device controls the first safety grating to be closed, the electronic device sends first feedback information to the carrying device, and the carrying device passes through the detection area of the first safety grating. After the carrying equipment passes through the detection area of the first safety grating, the carrying equipment can continuously run forwards; or, accurately stop between first safety grating and second safety grating to carry out the material loading, specifically, the rectangular form material that produces the line and roll off the production line hangs on carriers such as the peg of platform truck through field work personnel, and field work personnel inputs the material information of rectangular form material through human-computer interaction terminal, and confirms that the material loading is accomplished.
Step 2: the carrying equipment continues to operate, the carrying equipment performs ground beacon identification through the downward-looking camera, and when the carrying equipment is close to the detection area of the second safety grating, the carrying equipment accurately stops between the first grating and the second grating, as shown in fig. 4b, a second passing request is sent to the electronic equipment, the electronic equipment controls the first safety grating to be opened and the second safety grating to be closed, the electronic equipment sends second feedback information to the carrying equipment, the carrying equipment passes through the detection area of the second safety grating, confirmation information for confirming passing is sent to the electronic equipment after the carrying equipment passes through, and the electronic equipment controls the second safety grating to be opened.
And step 3: the carrying equipment realizes that the bearing platform is parallel to the bottom-layer cargo carrying unit in the automatic circulation cantilever goods shelf through ground beacon identification, then starts to be butted, and after the carrying equipment enters the goods shelf, as shown in fig. 4c, the carrier is placed on the bottom-layer cargo carrying unit in the automatic circulation cantilever goods shelf. Wherein, the carrying equipment is with the unit butt joint precision of carrying cargo that is located the bottom in the automatic cantilever goods shelves that circulate be 15mm, or be 10mm, specifically can set up according to actual need.
And 4, step 4: the mechanical arm of the automatic circulation cantilever goods shelf transfers the carriers in the bottom loading unit to the upper loading unit, and the bottom loading unit is emptied for the next inventory task.
And 5: the carrying equipment places the carriers after the carriers are placed on the cargo carrying units positioned at the bottom layer in the automatic circulation cantilever goods shelf, and the carriers leave the storage area where the automatic circulation cantilever goods shelf is positioned. The handling device may exit along a path into the storage area or along another path. When the carrying equipment leaves, the carrying equipment sequentially passes through the second safety grating and the first safety grating. Specifically, the carrying equipment performs ground beacon identification through the downward-looking camera, and when the carrying equipment is close to the detection area of the second safety grating, a third passing request is sent to the electronic equipment, the electronic equipment controls the second safety grating to be closed, the electronic equipment sends third feedback information to the carrying equipment, and the carrying equipment passes through the detection area of the second safety grating; the carrying equipment carries out ground beacon identification through the downward-looking camera, when the carrying equipment is close to the detection area of the first safety grating, a fourth passing request is sent to the electronic equipment, the electronic equipment controls the second safety grating to be opened and controls the first safety grating to be closed, the electronic equipment sends third feedback information to the carrying equipment, the carrying equipment passes through the detection area of the first safety grating, confirmation information for confirming passing is sent to the electronic equipment after the carrying equipment passes through the detection area, and the electronic equipment controls the first safety grating to be opened.
Fig. 5 is a schematic structural diagram of an apparatus provided in an exemplary embodiment, please refer to fig. 5, which further provides an electronic apparatus, which may include: a processor 501, a memory 502, an input device 503, and an output device 504. The number of processors 501 in the device may be one or more. In some embodiments, the processor 501, the memory 502, the input device 503, and the output device 504 may be connected by a bus or other means.
The memory 502 may be used to store software programs and modules, and the processor 501 executes various functional applications of the device and data processing by operating the software programs and modules stored in the memory 502. The memory 502 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function, and the like. Further, the memory 502 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device. The input device 503 may be used to receive input numeric or character information.
Specifically, in this embodiment, the processor 501 loads an executable file corresponding to a process of one or more application programs into the memory 502 according to the following instructions, and the processor 501 runs the application programs stored in the memory 902, thereby implementing various functions of the above-described cargo access method.
This embodiment also provides a goods access system, includes: the cantilever goods shelf, the carrying equipment and the electronic equipment in the embodiment are automatically circulated; the automatic flow-rotation cantilever goods shelf is provided with a plurality of layers of goods carrying units, and the goods carrying units are used for supporting carriers loaded with strip-shaped materials; the carrying equipment is provided with a loading platform for bearing the carrier, and the carrying equipment is also provided with a jacking mechanism, wherein the jacking mechanism is used for driving the loading platform to ascend or descend so as to enable the loading platform to be in butt joint with the loading unit in the automatic transfer cantilever goods shelf.
In some embodiments, the cargo access system further comprises: the safety device comprises a first safety grating and a second safety grating, wherein the second safety grating is positioned between the first safety grating and an automatic circulation cantilever goods shelf, the second safety grating is arranged at an interval with the automatic circulation cantilever goods shelf, and the distance between the first safety grating and the second safety grating is larger than the sizes of handling equipment and strip-shaped materials along the corresponding directions; the first safety grating and the second safety grating are respectively in communication connection with the electronic equipment.
In some embodiments, at least some of the multiple levels of cargo units are spaced vertically apart.
In this embodiment, the implementation process of the functions of each device in the cargo access system may be the same as or similar to that in the foregoing embodiment, and is not described here again.
The present embodiment also provides a computer-readable storage medium, in which instructions are stored, and when the instructions are executed on a terminal device, the terminal device is enabled to implement the method for transporting a trolley in any one of the foregoing embodiments.
It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Further, the computer readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following technologies, which are well known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Furthermore, the terms "first", "second", and the like used in the embodiments of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated in the embodiments. Thus, a feature of an embodiment of the present invention that is defined by the terms "first," "second," etc. may explicitly or implicitly indicate that at least one of the feature is included in the embodiment. In the description of the present invention, the word "plurality" means at least two or two and more, such as two, three, four, etc., unless specifically limited otherwise in the examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A method for storing and retrieving goods, comprising:
controlling the carrying equipment to move to the butt joint side of the automatic transfer cantilever goods shelf; the carrying equipment is provided with a bearing table for supporting a carrier, and the carrier is used for loading the strip-shaped materials; the automatic circulation cantilever goods shelf is provided with a plurality of layers of loading units for supporting the carriers;
controlling the handling apparatus to interface with the automated transfer boom rack to transfer the vehicle between the handling apparatus and a cargo unit in the automated transfer boom.
2. The goods access method according to claim 1, wherein a first safety grating is arranged on the butt joint side of the automatic circulation cantilever shelf, and the first safety grating and the automatic circulation cantilever shelf are distributed at intervals;
the control the haulage equipment removes to the butt joint side of automatic circulation cantilever goods shelves includes:
receiving a first passing request sent by the carrying equipment; the first pass request is generated when the carrying equipment approaches the detection area of the first safety grating;
controlling a first safety grating to be switched to a closed state according to the first passing request;
and controlling the carrying equipment to pass through the detection area of the first safety grating.
3. The cargo access method according to claim 2, wherein a second safety grating is further disposed on the butt joint side of the automatic circulation cantilever shelf, the second safety grating is located between the first safety grating and the automatic circulation cantilever shelf, the second safety grating and the automatic circulation cantilever shelf are distributed at intervals, and the distance between the first safety grating and the second safety grating is larger than the size of the carrying equipment supporting the carrier along the first direction; the first direction is the direction of the first safety grating towards the second safety grating;
after the handling equipment is controlled to pass through the detection area of the first safety light grating, the method further comprises the following steps:
receiving a second passing request sent by the carrying equipment; the second pass request is generated when the carrying equipment approaches the detection area of the second safety grating;
controlling the first safety grating to be switched to an open state and controlling the second safety grating to be switched to a closed state according to the second passing request;
controlling a carrying device to pass through the detection area of the second safety grating;
receiving confirmation information sent by the carrying equipment, wherein the confirmation information is generated when the carrying equipment leaves the detection area of the second safety grating;
and controlling the second safety grating to be switched to an open state according to the confirmation information.
4. The cargo access method of claim 3, further comprising:
receiving first prompt information sent by the first safety grating; the first prompt information is generated when the carrying equipment enters a detection area of the first safety grating when the first safety grating is in an open state;
or, receiving a second prompt message sent by the second security grating; the second prompt information is generated when the carrying equipment enters the detection area of the second safety grating when the second safety grating is in the open state.
5. The method of claim 1, wherein at least some of said plurality of levels of said plurality of cargo units are spaced vertically;
the transferring of the carrier between the handling apparatus and the cargo carrying unit of the automatic transfer boom comprises:
transferring the carriers between the handling apparatus and the underlying cargo carrying units in the automated transfer boom racks.
6. The method of claim 5, wherein the cargo unit comprises two oppositely disposed cantilever beams having free ends, and wherein a side of the self-circulating cantilever racking facing the free ends is a docking side;
the control the haulage equipment with automatic flow changes cantilever goods shelves butt joint includes:
and controlling the bearing platform of the carrying equipment to be parallel to the goods carrying units positioned on the bottom layer in the automatic circulation cantilever goods shelf, and controlling the carrying equipment to enter between two cantilever beams positioned on the bottom layer.
7. The method of claim 5, further comprising, after transferring the carriers between the handling apparatus and the load carrying unit of the automated transfer boom during the inventory process:
controlling the automatic circulation cantilever goods shelf to circulate the carriers in the goods carrying units at the bottom layer to the goods carrying units at the upper layer and in an idle state; alternatively, the first and second electrodes may be,
during the process of picking up goods, after the carriers are transferred between the carrying equipment and the loading unit of the automatic transfer cantilever, the method further comprises the following steps:
and controlling the automatic circulation cantilever shelf to circulate the carriers in the loading units on the upper layer to the loading units on the bottom layer.
8. An electronic device, comprising: a memory storing a computer program and a processor implementing the steps of the method according to any one of claims 1 to 7 when the processor executes the computer program.
9. A cargo access system, comprising: automatically circulating the cantilever racking, handling device and the electronic device of claim 8;
the automatic transfer cantilever goods shelf is provided with a plurality of layers of loading units, and the loading units are used for supporting carriers loaded with strip-shaped materials;
the carrying equipment is provided with a loading platform for bearing the carrier, and the carrying equipment is also provided with a jacking mechanism, wherein the jacking mechanism is used for driving the loading platform to ascend or descend so as to enable the loading platform to be in butt joint with the loading units in the automatic transfer cantilever goods shelf.
10. The cargo access system of claim 9, further comprising: the first safety grating and the second safety grating are positioned between the first safety grating and the automatic circulation cantilever goods shelf, the second safety grating and the automatic circulation cantilever goods shelf are arranged at intervals, and the distance between the first safety grating and the second safety grating is larger than the sizes of the handling equipment and the long-strip-shaped materials along the corresponding directions; the first safety grating and the second safety grating are respectively in communication connection with the electronic equipment;
alternatively, at least some of the multiple layers of the cargo units are spaced vertically.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202211280132.5A CN115676228A (en) | 2022-10-19 | 2022-10-19 | Goods access method, system and electronic equipment |
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| CN202211280132.5A CN115676228A (en) | 2022-10-19 | 2022-10-19 | Goods access method, system and electronic equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117718715A (en) * | 2024-02-18 | 2024-03-19 | 宁德时代新能源科技股份有限公司 | Storage device, battery assembly system, control method and battery production system |
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- 2022-10-19 CN CN202211280132.5A patent/CN115676228A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117718715A (en) * | 2024-02-18 | 2024-03-19 | 宁德时代新能源科技股份有限公司 | Storage device, battery assembly system, control method and battery production system |
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