CN117875839A

CN117875839A - Material handling method, device, equipment and storage medium based on forklift

Info

Publication number: CN117875839A
Application number: CN202410048085.4A
Authority: CN
Inventors: 王继鹏; 张健鸿; 麻斌斌
Original assignee: Guangdong Minghe Intelligent Equipment Co ltd
Current assignee: Guangdong Minghe Intelligent Equipment Co ltd
Priority date: 2024-01-11
Filing date: 2024-01-11
Publication date: 2024-04-12

Abstract

The material handling method based on the forklift responds to a material warehouse-in request through a warehouse data management system, performs warehouse-in calculation and distribution, generates a target warehouse-in number of the material warehouse, and is beneficial to improving the efficiency and accuracy of warehouse-in distribution; and generating a material warehousing task according to the target bin number through the warehouse data management system and issuing the material warehousing task to the forklift scheduling management system, acquiring the position information of at least one empty forklift through the forklift scheduling management system in response to the material warehousing task, generating a planning route according to the position information and the target bin number, so that the empty forklift can carry out material warehousing according to the planning route, and completing material warehousing through automatic cooperation of the warehouse data management system, the forklift scheduling management system and the empty forklift, thereby being beneficial to reducing labor cost, improving safety and improving warehousing efficiency.

Description

Material handling method, device, equipment and storage medium based on forklift

Technical Field

The application relates to the field of intelligent warehouses, in particular to a forklift-based material handling method, a forklift-based material handling device, forklift-based material handling equipment and a forklift-based storage medium.

Background

In the traditional warehouse material management, the warehouse personnel are required to observe the gaps of the warehouse, and then drive a forklift or manually convey the materials to the gaps, so that the warehouse entry of the materials is realized; similarly, the warehouse-out also requires warehouse personnel to drive a forklift or manually handle the materials for the warehouse-out. Therefore, the traditional warehouse material management can cause errors in inventory quantity, inconsistent records of goods and systems because of the operation of different personnel, uncontrollable technology of driving a forklift by warehouse personnel, potential safety hazard and high labor cost, and the warehouse material management efficiency is low by means of pure manual completion.

Disclosure of Invention

The embodiment of the application provides a forklift-based material handling method, device, equipment and storage medium, so as to solve at least one problem existing in the related art, and the technical scheme is as follows:

in a first aspect, embodiments of the present application provide a method of forklift-based material handling, comprising:

responding to a material warehouse-in request through a warehouse data management system, and performing warehouse-in calculation and distribution to generate a target warehouse-in number of the material warehouse;

generating a material warehousing task according to the target position number by the warehouse data management system and issuing the material warehousing task to a forklift dispatching management system;

and responding to the material warehousing task through the forklift dispatching management system, acquiring the position information of at least one empty forklift, and generating a planning route according to the position information and the target bin number so as to allow the empty forklift to carry out material warehousing according to the planning route.

In one embodiment, the step of performing bin calculation and allocation by the warehouse data management system in response to the material warehouse entry request, and generating the target bin number of the material warehouse entry includes:

responding to the establishing instruction through the warehouse data management system, and establishing a material warehouse entry list in the warehouse data management system as a material warehouse entry request;

and responding to the material warehouse entry list through the warehouse data management system, and carrying out calculation and distribution of warehouse positions according to the material information and warehouse information of the material warehouse entry list to generate a target warehouse position number of the material warehouse.

In one embodiment, the generating a planned route according to the location information and the target bin number includes:

according to the position information, determining an empty forklift nearest to a material inlet where the material is located;

determining a target coordinate number corresponding to the target bin number on a warehouse map according to the target bin number and the warehouse map;

and generating the planned route taking the position of the target bin number as a destination according to the target coordinate number and the position information of the empty forklift.

In one embodiment, the warehouse map is obtained by:

carrying out laser scanning on the warehouse through a forklift to obtain an optical signal;

and converting the optical signal into a digital signal, and modeling the digital signal through an RMS-Slam algorithm to obtain the warehouse map.

In one embodiment, the empty forklift performs material warehousing according to the planned route, including:

the material is forked through moving to a material inlet through an empty forklift;

the empty forklift after forking materials moves along the planned route, wherein when an obstacle is encountered in the moving process, the empty forklift is used for carrying out laser scanning to generate a reference object model corresponding to the obstacle and coordinate information of the reference object model on the warehouse map, and obstacle avoidance is carried out according to the coordinate information;

when the empty forklift moves to the destination, the current position of the empty forklift is compared with the corresponding position of the target bin number through the forklift scheduling management system, and when the comparison result is consistent, the empty forklift is used for discharging materials.

In one embodiment, the method further comprises:

after unloading materials, feeding back a completion signal to the forklift scheduling management system, and sending the completion signal to the warehouse data management system through the forklift scheduling management system;

and determining whether a new warehouse entry request exists through the warehouse data management system, and if the new warehouse entry request does not exist or is completed through other empty forklifts, returning the empty forklifts for unloading materials to a standby point or charging.

In one embodiment, the generating, by the warehouse data management system, the material warehouse entry task according to the target warehouse location number and issuing the material warehouse entry task to the forklift dispatching management system includes:

generating a two-dimensional code corresponding to the target bin number by the warehouse data management system in response to the material shot by the handheld terminal, wherein the two-dimensional code is used for being pasted to the material;

and responding to an operation determining instruction through the warehouse data management system, generating a material warehouse-in task according to the target warehouse position number, and transmitting the material warehouse-in task to a forklift dispatching management system.

In a second aspect, embodiments of the present application provide a forklift-based material handling apparatus, comprising:

the generation module is used for responding to a material warehouse-in request through the warehouse data management system, carrying out warehouse-in calculation and distribution, and generating a target warehouse-in number of the material warehouse;

the issuing module is used for generating a material warehousing task according to the target position number through the warehouse data management system and issuing the material warehousing task to a forklift dispatching management system;

the planning module is used for responding to the material warehouse-in task through the forklift scheduling management system, acquiring the position information of at least one empty forklift, and generating a planning route according to the position information and the target warehouse position number so as to enable the empty forklift to carry out material warehouse-in according to the planning route.

In one embodiment, the planning module is further configured to:

In a third aspect, an embodiment of the present application provides an electronic device, including: a processor and a memory in which instructions are stored, the instructions being loaded and executed by the processor to implement the method of any of the embodiments of the above aspects.

In a fourth aspect, embodiments of the present application provide a computer readable storage medium storing a computer program, where the computer program when executed implements a method in any one of the embodiments of the above aspects.

The beneficial effects in the technical scheme at least comprise:

the warehouse data management system responds to the material warehouse-in request to perform warehouse-in calculation and distribution to generate a target warehouse-in number of the material warehouse-in, so that the efficiency and the accuracy of warehouse-in distribution are improved; and generating a material warehousing task according to the target bin number through the warehouse data management system and issuing the material warehousing task to the forklift scheduling management system, acquiring the position information of at least one empty forklift through the forklift scheduling management system in response to the material warehousing task, generating a planning route according to the position information and the target bin number, so that the empty forklift can carry out material warehousing according to the planning route, and completing material warehousing through automatic cooperation of the warehouse data management system, the forklift scheduling management system and the empty forklift, thereby being beneficial to reducing labor cost, improving safety and improving warehousing efficiency.

The foregoing summary is for the purpose of the specification only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present application will become apparent by reference to the drawings and the following detailed description.

Drawings

In the drawings, the same reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily drawn to scale. It is appreciated that these drawings depict only some embodiments according to the disclosure and are not therefore to be considered limiting of its scope.

FIG. 1 is a flow chart illustrating steps of a forklift-based material handling method according to an embodiment of the present application;

FIG. 2 is a block diagram of a forklift-based material handling apparatus according to one embodiment of the present application;

fig. 3 is a block diagram of an electronic device according to an embodiment of the present application.

Detailed Description

Hereinafter, only certain exemplary embodiments are briefly described. As will be recognized by those of skill in the pertinent art, the described embodiments may be modified in various different ways without departing from the spirit or scope of the present application. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive.

Referring to FIG. 1, a flow chart of a forklift-based material handling method according to an embodiment of the present application is shown, which may include at least steps S100-S300:

s100, responding to a material warehouse-in request through a warehouse data management system, performing warehouse-in calculation and distribution, and generating a target warehouse-in number of the material warehouse.

And S200, generating a material warehousing task according to the target position number through a warehouse data management system and transmitting the material warehousing task to a forklift dispatching management system.

S300, responding to a material warehouse-in task through a forklift dispatching management system, acquiring the position information of at least one empty forklift, and generating a planning route according to the position information and the target warehouse position number so as to enable the empty forklift to warehouse in the material according to the planning route.

According to the technical scheme, the warehouse data management system responds to the material warehouse-in request, the warehouse position calculation and distribution are carried out, the target warehouse position number of the material warehouse-in is generated, and the efficiency and the accuracy of warehouse position distribution are improved; and generating a material warehousing task according to the target bin number through the warehouse data management system and issuing the material warehousing task to the forklift scheduling management system, acquiring the position information of at least one empty forklift through the forklift scheduling management system in response to the material warehousing task, generating a planning route according to the position information and the target bin number, so that the empty forklift can carry out material warehousing according to the planning route, and completing material warehousing through automatic cooperation of the warehouse data management system, the forklift scheduling management system and the empty forklift, thereby being beneficial to reducing labor cost, improving safety and improving warehousing efficiency.

In one embodiment, step S100 includes steps S110-S120:

s110, responding to the establishment instruction through the warehouse data management system, and establishing a material warehouse entry list in the warehouse data management system as a material warehouse entry request.

In the embodiment of the application, warehouse personnel can perform creation operation in a warehouse data management system (WMS warehouse system) to generate an establishment instruction, the warehouse data management system responds to the establishment instruction to establish a material warehouse entry in the warehouse data management system, and the material warehouse entry can comprise material information and serve as a material warehouse entry request.

S120, responding to the material warehouse entry list through the warehouse data management system, and performing warehouse position calculation and distribution according to the material information and warehouse information of the material warehouse entry list to generate a target warehouse position number of the material warehouse entry.

In the embodiment of the application, the warehouse data management system responds to the material warehouse entry, and the calculation and the distribution of the warehouse positions are performed according to the material information and the warehouse information of the material warehouse entry. For example, the material information is a material type, and the size information of the material is obtained by inquiring the database according to the material type or the material information comprises the material size. The warehouse information is stored in the warehouse data management system and can comprise warehouse management information, for example, size information of each warehouse, a warehouse number and whether each warehouse stores materials and the like, and the warehouse number can be generated according to warehouse codes and different row and column depths, so that the warehouse calculation and distribution can be performed by comparing the size of the materials with the size information of each warehouse, whether the materials are frequently discharged or not, and the warehouse number of the warehouse which can have a vacancy and can contain the current materials can be used as a target warehouse number. If the material is frequently discharged, selecting a space which is closer to a discharge outlet in the space capable of containing the current material as a target space, and taking the bin number of the target space as a target bin number.

In one embodiment, step S200 includes steps S210-S220:

s210, responding to the materials shot by the handheld terminal through the warehouse data management system, and generating a two-dimensional code corresponding to the target warehouse position number.

In the embodiment of the application, after the material warehouse entry list is generated, warehouse personnel can shoot the material through the handheld terminal to carry out further real object confirmation, the shot material can be transmitted to the warehouse data management system, the warehouse data management system responds to the material shot by the handheld terminal to generate and print the two-dimensional code corresponding to the target warehouse position number, and the warehouse personnel can paste the two-dimensional code to the material.

S220, responding to the operation determining instruction through the warehouse data management system, generating a material warehouse-in task according to the target warehouse position number, and transmitting the material warehouse-in task to the forklift dispatching management system.

In this embodiment of the present application, after a warehouse personnel has confirmed a physical object and attached the physical object to a material, a confirmation operation may be performed in the warehouse data management system to generate an operation determination instruction, and the warehouse data management system responds to the operation determination instruction to generate a material warehouse-in task according to a target warehouse location number and send the material warehouse-in task to a forklift scheduling management system (forklift AGV scheduling management system). In one embodiment, the material entry order may also be utilized when generating the material entry task, i.e., the material entry task may also include a material entry order.

In one embodiment, in step S300, the fork truck dispatching management system responds to the material warehouse-in task to obtain the position information of at least one empty fork truck. It should be noted that, the position information of all forklifts may be obtained, and then the position information of the empty forklifts may be screened out, or the empty forklifts may be determined from all forklifts, and then the position information of the empty forklifts may be obtained. Each forklift is provided with an AGV controller and a positioning module, the AGV controller is connected with the positioning module, and the forklift scheduling management system is communicated with the AGV controller through a 5G communication technology, so that position coordinate information of each forklift can be known.

In one embodiment, generating the planned route according to the location information and the target bin number in step S300 includes steps S310-S330:

s310, determining an empty forklift nearest to a material inlet where the material is located according to the position information.

Optionally, the forklift scheduling management system may calculate, according to the location information and the location of the material inlet where the material is located in the warehouse map, the distance between each location information and the location of the material inlet, so as to determine an empty forklift with the shortest distance, that is, the closest to the material inlet where the material is located, and record the empty forklift as an empty forklift a.

S320, determining a target coordinate number corresponding to the target bin number on the warehouse map according to the target bin number and the warehouse map.

Optionally, the warehouse map is stored in the vehicle dispatching management system, the warehouse map can scan the warehouse by laser through the light speed of the laser radar of the forklift in advance, the floor or the wall of the factory is scanned to obtain the light signal of the floor or the wall of the factory, the receiver receives the light signal and converts the light signal into a digital signal, then the vehicle dispatching management system models the digital signal through the RMS-Slam algorithm, for example, a color image is generated, the position of the origin of coordinates is set, a map is obtained, the coordinate number corresponding to each bin number is generated on the map, the warehouse map is obtained, and the specific position of the bin number can be determined by the warehouse map based on the bin number. Therefore, according to the target bin number and each coordinate number on the warehouse map, the target coordinate number corresponding to the target bin number can be determined on the warehouse map.

S330, generating a planned route taking the position of the target bin number as a destination according to the target coordinate number and the position information of the empty forklift.

Optionally, according to the target coordinate number and the position information of the empty forklift truck a, a planned route with the position of the target bin number as a destination, such as the shortest planned route with the shortest distance and the shortest possibility, is generated.

In one embodiment, the step S300 of the hollow forklift performs the material warehouse entry according to the planned route, including steps S340 to S360:

s340, moving the material to the material inlet through the empty forklift to fork and take the material.

Optionally, the forklift scheduling management system sends a control signal to enable the empty forklift A to move to the material inlet for forking materials.

S350, the empty forklift after forking materials moves along a planned route, wherein when an obstacle is encountered in the moving process, laser scanning is performed through the empty forklift, coordinate information of a reference object model corresponding to the obstacle is generated on a warehouse map, and obstacle avoidance is performed according to the coordinate information.

Optionally, the empty forklift a after forking the materials moves along the planned route, wherein when an obstacle is encountered in the moving process, the empty forklift a performs real-time laser scanning and real-time comparison with a warehouse map generated in advance, and coordinate information of the reference object model and the reference object model corresponding to the obstacle is generated on the warehouse map, so that the accuracy of the coordinate information is determined. Then, obstacle avoidance is carried out according to the coordinate information, and the empty forklift A is ensured to smoothly complete a planned route.

S360, when the empty forklift moves to a destination, comparing the current position of the empty forklift with the corresponding position of the target bin number through the forklift scheduling management system, and discharging materials through the empty forklift when the comparison result is consistent.

Optionally, when the empty forklift a moves to the destination, the current position of the empty forklift a is compared with the target bin number by the forklift scheduling management system, for example, the current position is compared with the corresponding position of the target bin number, and when the comparison result is consistent, the material is unloaded by the empty forklift a. In some embodiments, warehouse personnel can determine a target bin number corresponding to the two-dimensional code and a corresponding position of the target bin number by scanning the two-dimensional code, compare the corresponding position with the current position, and indicate that the corresponding bin is reached when the corresponding position is consistent, so that materials are discharged through the empty forklift A.

In one implementation, the forklift-based material handling method of the embodiments of the present application may further include steps S410-S420:

and S410, feeding back a completion signal to the forklift dispatching management system after unloading the materials, and sending the completion signal to the warehouse data management system through the forklift dispatching management system.

Optionally, after the empty forklift a unloads the material, the AGV controller of the empty forklift a feeds back a completion signal to the forklift scheduling management system, and sends the completion signal to the warehouse data management system through the forklift scheduling management system, so that the warehouse data management system knows that the current material warehouse task is completed, and the empty forklift a in the forklift scheduling management system becomes an idle state. Meanwhile, the warehouse data management system updates the warehouse position management information and sets the information corresponding to the target warehouse position number as occupied.

S420, determining whether a new warehouse-in request exists through a warehouse data management system, and if the new warehouse-in request does not exist or is completed through other empty forklifts, returning the empty forklifts for unloading materials to a standby point or charging.

Optionally, determining whether a new warehouse-in request exists through the warehouse data management system, if the new warehouse-in request does not exist or is completed through other empty forklifts, for example, determining that other empty forklifts such as an empty forklift B are the empty forklifts with the nearest tasks for completing the new warehouse-in request according to the position information of the empty forklifts, and returning the empty forklifts A for unloading materials to a standby point or charging; otherwise, the empty forklift A continues to finish the next task.

It should be noted that, the forklift-based material handling method in the embodiment of the present application may further include step S500, and material delivery is performed. For example, similarly, after warehouse management personnel establishes a warehouse outlet bill in the operation of the warehouse data management system, the warehouse data management system can issue a transport task, the forklift scheduling management system receives the warehouse outlet task, acquires the position information of an empty forklift (AGV forklift) nearby the site, plans a task route, and transports materials to a material outlet according to the specified task route to the material position. Similarly, if the empty forklift has a returning task, the empty forklift can continuously transport the residual materials back to the original goods shelf and feed back the command completion condition to update the stock, if the empty forklift has other tasks, the empty forklift can continuously execute, and if the empty forklift does not have the returning task, the empty forklift returns to the standby point or is charged.

According to the method, the reflective materials are distributed and controlled on the warehouse site, the positioning and the movement of the forklift are realized by utilizing laser scanning, compared with the traditional warehouse physical management, the potential safety hazard caused by the driving technology or negligence of different personnel in the material carrying process can be reduced, the errors of the stock quantity and the storage position of the materials in and out warehouse due to the different personnel are avoided, different carrying tasks can be processed efficiently, and the personnel cost of enterprises is reduced.

Referring to fig. 2, a block diagram of a forklift-based material handling apparatus according to an embodiment of the present application is shown, which may include:

the issuing module is used for generating a material warehousing task according to the target warehouse position number through the warehouse data management system and issuing the material warehousing task to the forklift dispatching management system;

In one embodiment, the planning module is further configured to:

and converting the optical signal into a digital signal, and modeling the digital signal through an RMS-Slam algorithm to obtain a warehouse map.

In one embodiment, the planning module is further configured to:

after unloading materials, feeding back a completion signal to a forklift dispatching management system, and sending the completion signal to a warehouse data management system through the forklift dispatching management system;

and determining whether a new warehousing request exists through the warehouse data management system, and if the new warehousing request does not exist or is completed through other empty forklifts, returning the empty forklifts for unloading materials to a standby point or charging.

The functions of each module in each apparatus of the embodiments of the present application may be referred to the corresponding descriptions in the above methods, which are not described herein again.

Referring to fig. 3, a block diagram of an electronic device according to an embodiment of the present application is shown, the electronic device including: memory 310 and processor 320, the memory 310 having stored thereon instructions executable on the processor 320, the processor 320 loading and executing the instructions implementing the forklift-based materials handling method of the above-described embodiments. Wherein the number of memory 310 and processors 320 may be one or more.

In one embodiment, the electronic device further includes a communication interface 330 for communicating with an external device for data interactive transmission. If the memory 310, the processor 320 and the communication interface 330 are implemented independently, the memory 310, the processor 320 and the communication interface 330 may be connected to each other and communicate with each other through buses. The bus may be an industry standard architecture (Industry Standard Architecture, ISA) bus, peripheral interconnect (Peripheral ComponentInterconnect, PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, among others. The bus may be classified as an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in fig. 3, but not only one bus or one type of bus.

Alternatively, in a specific implementation, if the memory 310, the processor 320, and the communication interface 330 are integrated on a chip, the memory 310, the processor 320, and the communication interface 330 may communicate with each other through internal interfaces.

Embodiments of the present application provide a computer readable storage medium storing a computer program which, when executed by a processor, implements the forklift-based materials handling method provided in the above embodiments.

The embodiment of the application also provides a chip, which comprises a processor and is used for calling the instructions stored in the memory from the memory and running the instructions stored in the memory, so that the communication device provided with the chip executes the method provided by the embodiment of the application.

The embodiment of the application also provides a chip, which comprises: the input interface, the output interface, the processor and the memory are connected through an internal connection path, the processor is used for executing codes in the memory, and when the codes are executed, the processor is used for executing the method provided by the application embodiment.

It should be appreciated that the processor may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (digital signal processing, DSP), application specific integrated circuits (application specific integrated circuit, ASIC), field programmable gate arrays (fieldprogrammablegate array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or any conventional processor or the like. It is noted that the processor may be a processor supporting an advanced reduced instruction set machine (advanced RISC machines, ARM) architecture.

Further, optionally, the memory may include a read-only memory and a random access memory, and may further include a nonvolatile random access memory. The memory may be volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The nonvolatile memory may include a read-only memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an electrically Erasable EPROM (EEPROM), or a flash memory, among others. Volatile memory can include random access memory (random access memory, RAM), which acts as external cache memory. By way of example, and not limitation, many forms of RAM are available. For example, static RAM (SRAM), dynamic RAM (dynamic random access memory, DRAM), synchronous DRAM (SDRAM), double data rate synchronous DRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous DRAM (SLDRAM), and direct memory bus RAM (DR RAM).

In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions in accordance with the present application are produced in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable devices. Computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another.

In the description of the present specification, a description referring to the terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means 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 present application. 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 different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Furthermore, the terms "first," "second," and the like 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. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

Any process or method description in a flowchart or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process. And the scope of the preferred embodiments of the present application includes additional implementations in which functions may be performed in a substantially simultaneous manner or in an opposite order from that shown or discussed, including in accordance with the functions that are involved.

Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing 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.

It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. All or part of the steps of the methods of the embodiments described above may be performed by a program that, when executed, comprises one or a combination of the steps of the method embodiments, instructs the associated hardware to perform the method.

In addition, each functional unit in each embodiment of the present application may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules described above, if implemented in the form of software functional modules and sold or used as a stand-alone product, may also be stored in a computer-readable storage medium. The storage medium may be a read-only memory, a magnetic or optical disk, or the like.

The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think of various changes or substitutions within the technical scope of the present application, and these should be covered in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A forklift-based material handling method, comprising:

2. The forklift-based materials handling method as claimed in claim 1, wherein: the step of responding to the material warehouse-in request through the warehouse data management system, performing warehouse-in calculation and distribution, and generating a target warehouse-in number of the material warehouse-in comprises the following steps:

3. The forklift-based materials handling method according to claim 1 or 2, wherein: the generating a planned route according to the location information and the target bin number includes:

4. A forklift-based materials handling method as claimed in claim 3, wherein: the warehouse map is obtained through the following steps:

5. A forklift-based materials handling method as claimed in claim 3, wherein: the empty forklift carrying out material warehousing according to the planned route comprises the following steps:

6. The forklift-based materials handling method of claim 5, wherein: the method further comprises the steps of:

7. The forklift-based materials handling method according to claim 1 or 2, wherein: the step of generating a material warehousing task according to the target position number and issuing the material warehousing task to a forklift dispatching management system through the warehouse data management system comprises the following steps:

8. A forklift-based material handling apparatus, comprising:

9. An electronic device, comprising: a processor and a memory in which instructions are stored, the instructions being loaded and executed by the processor to implement the method of any one of claims 1 to 7.

10. A computer readable storage medium having stored therein a computer program which when executed implements the method of any of claims 1-7.