CN209275405U - High density intelligent warehousing system - Google Patents

Abstract

The utility model provides a kind of high density intelligent warehousing system, which is applied to warehouse, and warehousing system includes the first conveying device, the second conveying device and composite goods rack；Composite goods rack includes at least one shelf group, and each shelf group includes at least two overhead baggage rack units being laminated vertically, and the inside of each overhead baggage rack unit is respectively formed the space for accommodating cargo；First conveying device includes hanging on the driving of the automatic running at the top of warehouse, driving can be mobile with vertical direction in the horizontal direction, driving is for hanging the overhead baggage rack unit of the designated place in warehouse to shelf group, or the overhead baggage rack unit being located in shelf group is hung and is sent to designated place；Second conveying device includes the transfer cart that can be advanced automatically on the ground in warehouse, transfer cart has the top that can place overhead baggage rack unit, transfer cart is used to for overhead baggage rack unit being transported to the designated place in warehouse, or is sent by traveling crane to the overhead baggage rack unit of designated place for carrying.The utility model can increase the utilization rate of storage area.

Description

High-density intelligent warehousing system

Technical Field

The utility model relates to a logistics storage technical field especially relates to a high density intelligence warehouse system.

Background

The warehouse is a comprehensive place which reflects the activity condition of factory materials in a centralized way, is a transfer station for connecting production, supply and sale, and plays an important auxiliary role in promoting production and improving efficiency. Specifically, the storage is the storage of self-built or leased storehouses, sites, storage, custody, loading, unloading, carrying and goods distribution, the traditional storage definition is given from the perspective of material storage, and the modern storage is not the traditional storage, but the storage under the background of the integration of economic globalization and supply chain, and is the storage in the modern logistics system.

The conventional stereoscopic warehouse in the existing warehouse generally refers to an automatic stacker type stereoscopic warehouse, and particularly, the automatic stacker type stereoscopic warehouse stores goods by using a high-rise goods shelf with a fixed steel structure or a reinforced concrete structure, and a storage area of the stereoscopic warehouse is greatly developed towards high altitude, so that the space utilization rate is improved. The automatic stacker type stereoscopic warehouse is characterized in that: two rows of goods shelves are in one group, and a channel for the stacker to work is reserved between the groups; each row of goods shelves is divided into a plurality of rows and a plurality of layers to form a large number of goods grids, and the goods are stored and taken by a stacker. The stacker adopts a fork with longer horizontal dimension as a fetching device to grab, carry and stack goods in a warehouse or the like or pick and place unit goods from a high-rise goods shelf.

However, in the conventional stereoscopic warehouse, since the fork of the stacker moves up and down on the upright post or rotates around the upright post during the operation of the stacker, a sufficient space is left between the rack groups to ensure the normal operation of the stacker, and since a passage for the stacker to work is left between every two rows of racks, the number of the passages is large, generally speaking, the passage for the stacker to work occupies more than 30% of the ground of the whole warehouse, and thus the utilization rate of the storage area is not high.

SUMMERY OF THE UTILITY MODEL

The utility model provides a high density intelligence warehouse system can increase the utilization ratio of storage area.

The utility model provides a high-density intelligent warehousing system which is applied to warehouses and comprises a first conveying device, a second conveying device and a combined goods shelf; the combined shelf comprises at least one shelf group, each shelf group comprises at least two vertically stacked shelf units, and a space for accommodating goods is formed inside each shelf unit; the first conveying device comprises an automatically-operated travelling crane which is suspended at the top of the warehouse, the travelling crane can move in the horizontal direction and the vertical direction, and the travelling crane is used for hanging the shelf units at the designated place of the warehouse on the shelf group or hanging the shelf units on the shelf group to the designated place; the second conveying device comprises a conveying vehicle which can automatically advance on the ground of the warehouse, the conveying vehicle is provided with a top part on which the shelf units can be placed, and the conveying vehicle is used for conveying the shelf units to a specified place of the warehouse or is used for bearing the shelf units which are hoisted to the specified place by the crane.

Optionally, the first conveying device further comprises a first horizontal rail and a horizontal walking beam located on the first horizontal rail, the length direction of the horizontal walking beam is perpendicular to the first horizontal rail, and the horizontal walking beam can move along the first horizontal rail; the horizontal walking beam is provided with a second horizontal rail, and the travelling crane is positioned on the second horizontal rail and can move along the second horizontal rail.

Optionally, the travelling crane comprises a lifting unit and a grabbing mechanism, the lifting unit is located on the second horizontal rail, and the grabbing mechanism is connected with the lifting unit and used for grabbing the goods shelf unit.

Optionally, each shelf unit includes a cargo carrying portion located at the bottom and a plurality of enclosing portions fixed to the edge of the cargo carrying portion, the cargo carrying portion is used for carrying cargo, and the enclosing portions are used for connecting other shelf units above the shelf unit.

Optionally, a first connecting structure is arranged at the bottom of the cargo bearing part, and a second connecting structure for connecting with the first connecting structure is arranged at the top end of the surrounding barrier part; the first connecting structure is a positioning pin, and the second connecting structure is a positioning hole into which the positioning pin can be clamped; or the first connecting structure is a positioning hole, and the second connecting structure is a positioning pin which can be clamped into the positioning hole.

Optionally, enclose fender portion and be a plurality of supports, this a plurality of supports surround cargo carrying portion along cargo carrying portion's circumference to form the space that is used for the holding goods jointly with cargo carrying portion.

Optionally, the rack groups are densely arranged in a rack area in the warehouse, a distance between two adjacent rack groups is smaller than a traveling path width of the second conveying device, and the designated location is located outside the rack area.

Optionally, the transport cart comprises a navigation assembly for controlling a path of travel of the transport cart.

Optionally, the navigation mode of the navigation component includes any one or a combination of several of the following: magnetic stripe navigation, inertial navigation, laser navigation, natural vision navigation.

Optionally, the high-density smart storage system further comprises an automatic jacking machine, and the automatic jacking machine is used for loading and unloading goods to the transfer cart.

The utility model discloses a high-density intelligent warehousing system is applied to warehouses, and comprises a first conveying device, a second conveying device and a combined goods shelf; the combined shelf comprises at least one shelf group, each shelf group comprises at least two vertically stacked shelf units, and a space for accommodating goods is formed inside each shelf unit; the first conveying device comprises an automatically-operated travelling crane which is suspended at the top of the warehouse, the travelling crane can move in the horizontal direction and the vertical direction, and the travelling crane is used for hanging the shelf units at the designated place of the warehouse on the shelf group or hanging the shelf units on the shelf group to the designated place; the second conveying device comprises a conveying vehicle which can automatically advance on the ground of the warehouse, the conveying vehicle is provided with a top part on which the shelf units can be placed, and the conveying vehicle is used for conveying the shelf units to a specified place of the warehouse or is used for bearing the shelf units which are hoisted to the specified place by the crane. The arrangement is that the travelling crane is used for conveying the goods shelf unit between the station for storing the goods shelf unit and the appointed place, and the conveying vehicle is used for conveying the goods shelf unit between the appointed place and the station for needing the goods shelf unit/the station for taking the goods shelf unit, so that the goods shelf unit can be conveyed between the station for storing the goods shelf unit and the station for needing the goods shelf unit/the station for taking the goods shelf unit by the mutual matching between the travelling crane and the conveying vehicle. The travelling crane is suspended at the top of the warehouse, the conveying process of the travelling crane advances in the air, and the storage space on the ground cannot be occupied, so that a channel for travelling crane operation does not need to be reserved among a plurality of goods shelf groups, and the storage area utilization rate is increased. In addition, in the whole operation process, the transfer cart advances on the ground, and only runs between the designated place and the station of the shelf unit/the station of the shelf to be taken, so that only a transportation roadway is required to be provided for the transfer cart, and compared with the operation roadway of the stacker in the prior art, the transportation roadway reduces the number of the roadways and the floor area of a single roadway, thereby further increasing the utilization rate of the storage area. The problem of storage area utilization ratio is low among the current warehouse system is solved.

Drawings

Fig. 1 is a schematic structural diagram of a high-density smart warehousing system according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a first conveying device in a high-density intelligent warehousing system according to a second embodiment of the present invention;

fig. 3 is a schematic view illustrating a docking process of a traveling crane and a transfer cart in the high-density intelligent warehousing system according to the second embodiment of the present invention;

fig. 4 is a schematic structural diagram of a shelf unit in a high-density intelligent warehousing system according to a second embodiment of the present invention;

fig. 5 is a flowchart of a warehouse loading and unloading method according to a third embodiment of the present invention;

fig. 6 is a block diagram of a warehousing intelligent control system according to a fourth embodiment of the present invention.

Description of reference numerals:

1-a first conveying device; 2-a transfer cart; 3-a combined shelf;

4-a first horizontal guide rail; 5-horizontal walking beam; 6-a second horizontal rail;

8-a warehousing intelligent control system; 11-driving a vehicle; 31-a shelf group;

32-a shelf unit; 81-warehouse management module; 82-a warehousing control module;

101-a lifting unit; 102-a gripping mechanism; 321-a cargo carrying part;

322-a scaffold; 323-locating pin; 324-a leg;

325-grabbing the cross bar; 83-a cart dispatch module; 84-driving scheduling module.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

Example one

Fig. 1 is a schematic structural diagram of a high-density smart warehousing system according to an embodiment of the present invention; as shown in fig. 1, the high-density smart warehousing system (hereinafter, referred to as "warehousing system") provided by the present embodiment is applied to a warehouse, and includes a first conveyor 1, a second conveyor, and a modular rack 3.

The modular shelf 3 includes at least one shelf group 31, each shelf group 31 includes at least two vertically stacked shelf units 32, and a space for receiving goods is formed inside each shelf unit 32. Accordingly, a plurality of rack units 32 can be accumulated in each rack group 31 as needed, the space in the vertical direction of the warehouse is fully utilized, and the stacking height of the rack units 32 can be higher than that in the case where the stacking height is limited by the operation capability of the stacker in the vertical direction in the prior art, and the hanging height of the following traveling crane 11 is not exceeded, so that the unit area of the warehouse is larger than that in the prior art. In addition, as shown in fig. 1, the combined shelf 3 may have only a transportation lane for a transportation vehicle to travel in the middle portion, or two or more transportation lanes may be provided in the combined shelf 3, and here, the number and arrangement manner of the transportation lanes are not limited. The specific use process can be set according to actual needs. Alternatively, the shelf groups 31 are densely arranged in the shelf area in the warehouse, and the distance between two adjacent shelf groups 31 is smaller than the travel path width of the second conveyor, and the designated place is located outside the shelf area. Therefore, no delivery wagon laneway is arranged between all the goods shelf groups 31, and the utilization rate of the warehouse area is increased. Furthermore, the designated location is located outside the rack area, i.e., the conveyor lane is provided in an area outside the modular rack 3.

The first conveyor 1 comprises an automatically operating trolley 11 suspended at the top of the warehouse, the trolley 11 being movable in horizontal and vertical directions, the trolley 11 being adapted to suspend a rack unit 32 at a given location of the warehouse to a rack group 31 or to suspend a rack unit 32 located on a rack group 31 to a given location. That is, the traveling vehicle 11 is capable of traveling in the air to effect the conveyance of the rack units 32 between the work stations where the rack units are stored and the designated locations. Specifically, the traveling crane 11 moves to the position above the shelf unit 32 at the designated location of the warehouse in the horizontal direction, descends in the vertical direction, grabs the shelf unit 32, then ascends in the vertical direction, and then moves to the position above the target storage location of the shelf unit 32 in the horizontal direction, at this time, the traveling crane 11 descends in the vertical direction, and places the shelf unit 32 at the target storage location, and therefore, the traveling crane 11 can hang the shelf unit 32 at the designated location of the warehouse on the shelf group 31. In addition, the traveling crane 11 moves in the horizontal direction above the shelf units 32 on the shelf group 31, and descends in the vertical direction, picks up the shelf units 32, then ascends in the vertical direction, and then moves in the horizontal direction above a designated place of the warehouse, at which time the traveling crane 11 descends in the vertical direction, and places the shelf units 32 at the designated place, whereby the traveling crane 11 can lift the shelf units 32 on the shelf group 31 to the designated place.

The second conveying device comprises a conveying vehicle 2 which can automatically travel on the ground of the warehouse, the conveying vehicle 2 is provided with a top part on which the shelf units 32 can be placed, and the conveying vehicle 2 is used for conveying the shelf units 32 to the appointed place of the warehouse or is used for carrying the shelf units 32 which are hoisted to the appointed place by the crane 11. That is, the carriage 2 is used to carry the rack unit 32 between a designated place and a station requiring/taking a rack unit. Alternatively, the transport vehicle 2 may be provided with an automatic lifting machine (not shown) for loading or unloading the rack unit 32 onto the transport vehicle 2, or in addition, the transport vehicle 2 may be provided with no lifting machine, and a dedicated lifting station is provided in the warehouse, and when the transport vehicle 2 reaches the lifting station, the automatic lifting machine may be controlled to load or unload the rack unit 32 onto the transport vehicle 2.

In this embodiment, the traveling crane 11 and the transport vehicle 2 are matched with each other, so that the rack unit 32 can be transported between the station where the rack unit is stored and the station where the rack unit is needed or the station where the rack unit is taken. Specifically, the working process of the high-density intelligent warehousing system of the embodiment is described by taking the storage of the shelf units, the delivery of the shelf units, the supplement of the empty shelf units in the packaging production line, and the taking of the empty shelf units from the delivery area as examples.

Warehousing the shelf units:

after the shelf units 32 are filled with goods, the goods are placed at a station for taking the shelf units, such as a warehouse door, a warehouse is requested to be put in, the transfer cart 2 runs to the station for taking the shelf units, the shelf units 32 are loaded on the transfer cart 2 by a jacking machine, and then the transfer cart 2 loaded with the shelf units 32 runs to a specified place of the warehouse; the traveling crane 11 moves in the horizontal direction above the rack unit 32 on the transport vehicle 2 located at a designated place of the warehouse, and descends in the vertical direction, grabs the rack unit 32, and then ascends in the vertical direction, at which time the transport vehicle 2 becomes an idle state. The trolley 11 is then moved horizontally to above the target storage location in the work station for storing shelf units, for example, above the target storage location in the modular shelf 3, at which point the trolley 11 is lowered vertically and the shelf unit 32 is placed at the target storage location, thereby realizing the warehousing process of the shelf unit 32. In addition, here, after the transport vehicle 2 carrying the rack unit 32 travels to a specified place of the warehouse, the traveling vehicle 11 moves to the position above the rack unit 32 on the transport vehicle 2 located at the specified place of the warehouse in the horizontal direction, or after the warehouse entry is requested, the traveling vehicle 11 moves to the specified place of the warehouse in the horizontal direction to be ready, then the transport vehicle 2 moves to a station for taking the rack unit, and then the above-mentioned subsequent processes are continued. The order of the actions is not limited. In addition, the shelf units 32 in this process are loaded with goods.

And (4) taking out the shelf units:

when it is necessary to take out the rack unit 32, first, the transport vehicle 2 is moved to a designated place of the warehouse to be on standby. Next, the traveling crane 11 moves in the horizontal direction to the position above the rack unit 32 to be taken on the rack group 31, descends in the vertical direction, grabs the rack unit 32, then ascends in the vertical direction, and then moves in the horizontal direction to the position above the transport vehicle 2 located at the designated place of the warehouse, at this time, the traveling crane 11 descends in the vertical direction, and places the rack unit 32 on the transport vehicle 2, and then the traveling crane 11 ascends in the vertical direction. The carriage 2 loaded with the rack units 32 is moved to a work station requiring a rack unit, such as a warehouse door, and the rack units 32 are unloaded from the carriage 2 by the lift, thereby realizing the unloading process of the rack units 32. In addition, the shelf units 32 in this process are loaded with goods.

And (3) supplementing empty shelf units in a packaging production line:

this process replenishes the stations requiring shelf units, such as the packaging line, with empty shelf units 32, such as empty shelf unit buffers, requiring retrieval of empty shelf units 32 from the stations storing shelf units, such as the empty shelf unit buffer, as full shelf units 32 are removed. The replenishment process is described below, and the transport vehicle 2 is first driven to a specified place of the warehouse to be on standby. Next, the traveling crane 11 moves in the horizontal direction to above the rack unit 32 to be taken in the empty rack unit buffer area, descends in the vertical direction, grabs the rack unit 32, then ascends in the vertical direction, and then moves in the horizontal direction to above the transport vehicle 2 located at the designated place of the warehouse, at this time, the traveling crane 11 descends in the vertical direction, and places the rack unit 32 on the transport vehicle 2, and then the traveling crane 11 ascends in the vertical direction, and returns to the standby point to be ready. The transport vehicle 2 loaded with the shelf units 32 is moved to the station requiring the shelf units, i.e. the packaging line, whereby the packaging line empty shelf unit replenishment process is effected. In addition, the shelf units 32 in this process are empty shelf units 32 without any goods loaded.

Taking empty rack units from a delivery area:

this process is used to remove a rack unit 32 from the location where the rack unit is taken, and specifically, if the task of loading the rack unit 32 is completed at the location where the rack unit is taken, for example, at the loading location in the shipping area, the rack unit 32 that is not loaded with goods remains and the empty rack unit 32 needs to be transported to the empty rack unit buffer area. The transport process is described below. Firstly, the transfer cart 2 moves to a station for taking the shelf units, the jacking machine loads the shelf units 32 for the transfer cart 2, and then the transfer cart 2 loaded with the shelf units 32 moves to a specified place of a warehouse; the traveling crane 11 moves in the horizontal direction above the rack unit 32 on the transport vehicle 2 located at a designated place of the warehouse, and descends in the vertical direction, grabs the rack unit 32, and then ascends in the vertical direction, at which time the transport vehicle 2 becomes an idle state. The row cart 11 is then moved horizontally to a target storage location of the shelf unit 32 in the work station where the shelf unit is stored, for example above a target storage location in the empty shelf unit buffer, whereupon the row cart 11 is lowered vertically and places the shelf unit 32 in the target storage location, thereby effecting the retrieval of an empty shelf unit from the delivery area. In addition, here, after the transport vehicle 2 carrying the rack unit 32 travels to a specified place of the warehouse, the traveling vehicle 11 may move to above the rack unit 32 on the transport vehicle 2 located at the specified place of the warehouse in the horizontal direction, or the traveling vehicle 11 may move to the specified place of the warehouse in the horizontal direction first to be standby, then the transport vehicle 2 travels to a station for taking the rack unit again, and then the above-described subsequent processes are continued. The order of the actions is not limited. In addition, the shelf units 32 in this process are empty shelf units 32 without any goods loaded.

The high-density intelligent warehousing system is applied to warehouses and comprises a first conveying device, a second conveying device and a combined type goods shelf; the combined shelf comprises at least one shelf group, each shelf group comprises at least two vertically stacked shelf units, and a space for accommodating goods is formed inside each shelf unit; the first conveying device comprises an automatically-operated travelling crane which is suspended at the top of the warehouse, the travelling crane can move in the horizontal direction and the vertical direction, and the travelling crane is used for hanging the shelf units at the designated place of the warehouse on the shelf group or hanging the shelf units on the shelf group to the designated place; the second conveying device comprises a conveying vehicle which can automatically advance on the ground of the warehouse, the conveying vehicle is provided with a top part on which the shelf units can be placed, and the conveying vehicle is used for conveying the shelf units to a specified place of the warehouse or is used for bearing the shelf units which are hoisted to the specified place by the crane. The arrangement is that the travelling crane is used for conveying the goods shelf unit between the station for storing the goods shelf unit and the appointed place, and the conveying vehicle is used for conveying the goods shelf unit between the appointed place and the station for needing the goods shelf unit/the station for taking the goods shelf unit, so that the goods shelf unit can be conveyed between the station for storing the goods shelf unit and the station for needing the goods shelf unit/the station for taking the goods shelf unit by the mutual matching between the travelling crane and the conveying vehicle. The travelling crane is suspended at the top of the warehouse, the conveying process of the travelling crane advances in the air, and the storage space on the ground cannot be occupied, so that a channel for travelling crane operation does not need to be reserved among a plurality of goods shelf groups, and the storage area utilization rate is increased. In addition, in the whole operation process, the transfer cart advances on the ground, and only runs between the designated place and the station of the shelf unit/the station of the shelf to be taken, so that only a transportation roadway is required to be provided for the transfer cart, and compared with the operation roadway of the stacker in the prior art, the transportation roadway reduces the number of the roadways and the floor area of a single roadway, thereby further increasing the utilization rate of the storage area.

Example two

In addition to the first embodiment, the present embodiment will further complement the first conveying device, the rack unit, and the second conveying device in the first embodiment. Fig. 2 is a schematic structural diagram of the first conveying device in the high-density intelligent warehousing system according to the second embodiment of the present invention. As shown in fig. 2, the first conveyor 1 further includes a first horizontal rail 4 and a horizontal traveling beam 5 located on the first horizontal rail 4, the length direction of the horizontal traveling beam 5 is perpendicular to the first horizontal rail 4, and the horizontal traveling beam 5 can move along the first horizontal rail 4; the horizontal walking beam 5 is provided with a second horizontal rail 6, and the travelling crane 11 is positioned on the second horizontal rail 6 and can move along the second horizontal rail 6. As shown in fig. 2, the X direction in the drawing is the extending direction of the second horizontal rail 6, the Y direction is the extending direction of the first horizontal rail 4 (a direction perpendicular to the paper surface, not shown), and the Z direction is the vertical direction. When the rack unit 32 is grabbed on the traveling crane 11, if the traveling crane 11 moves along the second horizontal rail 6, the rack unit 32 is driven to move along the extending direction of the second horizontal rail 6, i.e. the X direction, and if the horizontal traveling beam 5 moves along the first horizontal rail 4, because the traveling crane 11 is located on the second horizontal rail 6, the second horizontal rail 6 is arranged on the horizontal traveling beam 5, and then the traveling crane 11 drives the rack unit 32 to move along the extending direction of the first horizontal rail 4, i.e. the Y direction.

Optionally, the traveling crane 11 includes a lifting unit 101 and a grabbing mechanism 102, the lifting unit 101 is located on the second horizontal rail 6, and the grabbing mechanism 102 is connected to the lifting unit 101 and used for grabbing the rack unit 32. Fig. 3 is a schematic diagram of a docking process of the traveling crane and the transfer cart in the high-density intelligent warehousing system provided by the embodiment of the present invention. As shown in fig. 3, when the traveling crane 11 travels to a docking position with the transport vehicle 2 in the horizontal direction, for example, to a designated place of a warehouse, it is necessary to lower the gripping mechanism 102 and the rack unit 32 to the top of the transport vehicle 2 in the Z-axis direction by using the lifting unit 101, and then release the gripping mechanism 102 to load the rack unit 32 on the transport vehicle 2; or when the traveling crane 11 travels to the docking position with the transport vehicle 2 in the horizontal direction, for example, when the traveling crane travels to a designated place of a warehouse, the lifting unit 101 is required to lower the gripping mechanism 102 downward to the top of the rack unit 32 of the transport vehicle 2 along the Z-axis direction, at this time, the gripping mechanism 102 is released, after the gripping mechanism 102 is hung on the rack unit 32, the gripping mechanism 102 is tightened inward to grasp the rack unit 32, at this time, the lifting unit 101 controls the gripping mechanism 102 and the rack unit 32 to ascend upward along the Z-axis direction, so that the rack unit 32 can be lifted. The docking of the travelling crane 11 and the transport vehicle 2 can thereby be completed.

In addition, fig. 4 is a schematic structural diagram of a shelf unit in the high-density intelligent warehousing system provided by the second embodiment of the present invention, as shown in fig. 4, as an optional implementation manner, each shelf unit 32 includes a cargo bearing portion 321 located at the bottom and a blocking portion fixed on the edge of the cargo bearing portion 321, the cargo bearing portion 321 is used for bearing the cargo, and the blocking portion is used for connecting other shelf units 32 above the shelf unit 32. The goods carrying part can be a bottom plate or a railing-shaped structure consisting of a plurality of rod-shaped objects, and the structure of the goods carrying part is not limited in the application as long as the purpose of carrying goods is achieved. The enclosure portion may be a plurality of brackets 322 (as shown in fig. 4), or may be an enclosure wall formed of a plate-like material and serving as an enclosure, as long as the purpose of preventing the goods from falling from the side is achieved, and the structure of the enclosure portion is not limited in the present application. Optionally, a first connecting structure (not shown) is disposed at the bottom of the cargo carrying portion 321, and a second connecting structure for connecting with the first connecting structure is disposed at the top end of the bracket 322; the first connecting structure is a positioning hole (not shown), and the second connecting structure is a positioning pin 323 which can be clamped into the positioning hole. In this way, when two shelf units 32 are stacked, the positioning pin 323 at the tip end of the bracket 322 of one shelf unit 32 is fitted into the positioning hole at the bottom of the load receiving portion 321 of the other shelf unit 32, thereby achieving the relative positioning of the two shelf units 32 in the horizontal direction.

Of course, the first connecting structure may be a positioning pin, and the second connecting structure may be a positioning hole into which the positioning pin is inserted. As long as the two shelf units 32 can be positioned in the horizontal direction, the first connecting structure and the second connecting structure can also select other implementation manners, and the present invention is not limited thereto.

Alternatively, as shown in fig. 4, the bracket 322 surrounds the cargo carrying portion 321 along the circumferential direction of the cargo carrying portion 321, and forms a space for accommodating cargo together with the cargo carrying portion 321. In fig. 4, the support frame 322 comprises four legs 324 vertically fixed on the cargo carrying part 321, wherein a grabbing crossbar 325 is further connected between two adjacent legs 324, and a grabbing crossbar 325 is further provided between the other two legs 324 except the two adjacent legs 324, wherein the two grabbing crossbars 325 are used for cooperating with the grabbing mechanism 102 of the travelling crane 11, that is, the travelling crane 11 grabs the two grabbing crossbars 325 by the grabbing mechanism 102, that is, the shelf unit 32 can be grabbed. At this point, the second connection structure is disposed at the top end of the leg 324.

Optionally, the cart 2 comprises a navigation assembly for controlling the travel path of the cart 2. The navigation module has a plurality of navigation modes, for example, any one or a combination of the following modes can be included: magnetic stripe navigation, inertial navigation, laser navigation, natural vision navigation, but not limited to the above, as long as the navigation components capable of implementing the navigation function are included in the scope of protection of the present application.

In this embodiment, the first conveyor, the rack unit, and the second conveyor in the first embodiment will be described in addition. The first conveying device further comprises a first horizontal rail and a horizontal walking beam positioned on the first horizontal rail, the length direction of the horizontal walking beam is perpendicular to the first horizontal rail, and the horizontal walking beam can move along the first horizontal rail; the horizontal walking beam is provided with a second horizontal rail, and the travelling crane is positioned on the second horizontal rail and can move along the second horizontal rail. The storage rack unit is arranged on the horizontal plane, so that the travelling crane can move on the horizontal plane at will, namely, the storage rack unit can be driven to move on the horizontal plane at will in the warehouse, and therefore the storage rack unit can be stacked into a multi-base and densely-arranged storage mode by the travelling crane, the storage density is improved, and the storage available area is further increased. In addition, the shelf units in the embodiment are independent shelves, that is, goods are stored in the independent shelf units, the independent shelf units are stacked in multiple layers and stacked in multiple rows, so that the purpose of high-density storage can be achieved, and the utilization rate of the ground area of the warehouse can reach 90%.

EXAMPLE III

Fig. 5 is a flowchart of a storage loading and unloading method according to a third embodiment of the present invention, as shown in fig. 5, the present embodiment provides a storage unloading method, which is applied to the high-density intelligent storage system according to the first embodiment or the second embodiment, and includes:

s301: the first vehicle is controlled to perform a cargo handling operation that includes one of loading or unloading cargo.

S302: and controlling a first vehicle to arrive at the designated place so as to enable a second vehicle located at the designated place to carry out goods loading and unloading operations, wherein the first vehicle is one of a travelling vehicle and a delivery vehicle, and the second vehicle is the other of the travelling vehicle and the delivery vehicle.

Here, the type of the goods may be selected according to actual needs, and the present application is not specifically limited, and the specific structure, function, and operation principle of the high-density smart storage system have been described in detail in the foregoing first and second embodiments, and are not described herein again.

Specifically, when the first vehicle is the transport vehicle 2 and the second vehicle is the traveling vehicle 11, the transport vehicle 2 may be controlled to perform the loading operation of the rack unit 32 at the rack unit pickup station, and the transport vehicle 2 may be controlled to arrive at the specified point so that the traveling vehicle 11 located at the specified point performs the operation of removing the rack unit 32 from the transport vehicle 2 and moving the rack unit 32 to the rack unit storage station. This process enables the transfer of the shelving units 32 from a station where shelving units are taken to a station where shelving units are stored. The method may specifically include the operation process of warehousing the shelf units and taking the empty shelf units from the shipment area in the first embodiment. Since the embodiment details the two operation processes, they are not described herein.

When the first vehicle is the traveling crane 11 and the second vehicle is the transport vehicle 2, the traveling crane 11 is controlled to load the rack unit 32 at the position where the rack unit 32 is stored, and the traveling crane 11 is controlled to reach the predetermined place so that the transport vehicle 2 located at the predetermined place can take off the rack unit 32 bicycle 11 and transport it to a work place where the rack unit is needed. This process enables the transfer of the shelving units 32 from the station where the shelving units are stored to the station where the shelving units are needed. The shelf unit unloading process and the empty shelf unit replenishing operation process of the packaging production line in the first embodiment can be included. Since the embodiment details the two operation processes, they are not described herein.

The storage loading and unloading method provided in this embodiment is applied to the high-density intelligent storage system described in the first embodiment or the second embodiment, and includes: controlling a first vehicle to perform a cargo handling operation, the cargo handling operation including one of loading or unloading cargo; and controlling a first vehicle to arrive at the designated place so as to enable a second vehicle located at the designated place to carry out goods loading and unloading operations, wherein the first vehicle is one of a travelling vehicle and a delivery vehicle, and the second vehicle is the other of the travelling vehicle and the delivery vehicle. In this way, by means of the interaction between the first vehicle and the second vehicle, it is possible to carry goods, for example shelf units, between a station for storing shelf units and a station for storing/retrieving shelf units. The travelling crane is suspended at the top of the warehouse, the conveying process of the travelling crane advances in the air, and the storage space on the ground cannot be occupied, so that a channel for travelling crane operation does not need to be reserved among a plurality of goods shelf groups, and the storage area utilization rate is increased. In addition, in the whole operation process, the transfer cart advances on the ground, and only runs between the designated place and the station of the shelf unit/the station of the shelf to be taken, so that only a transportation roadway is required to be provided for the transfer cart, and compared with the operation roadway of the stacker in the prior art, the transportation roadway reduces the number of the roadways and the floor area of a single roadway, thereby further increasing the utilization rate of the storage area.

Example four

Fig. 6 is a block diagram of a warehousing intelligent control system according to a fourth embodiment of the present invention; as shown in fig. 6, the present embodiment provides a warehousing intelligent control system 8, which is used for controlling the high-density intelligent warehousing system according to the first embodiment or the second embodiment, wherein the specific structure, function and operation principle of the high-density intelligent warehousing system are already described in detail in the first and second embodiments, and are not repeated herein. The warehousing intelligent control system 8 of the present embodiment includes: a warehouse management module 81, a warehouse control module 82, a cart dispatching module 83, and a cart dispatching module 84.

The warehousing management module 81 is configured to receive instruction information sent by a manual or upstream system when the shelf unit 32 is transported from the station where the shelf unit is taken to the station where the shelf unit is stored, calculate a target storage location in the station where the shelf unit is stored, and send the instruction information and the calculated target storage location in the station where the shelf unit is stored to the warehousing control module 82; or the warehousing management module 81 is configured to receive instruction information sent by a manual or upstream system when the shelf unit 32 to be taken at the station where the shelf unit is stored is transported to the station where the shelf unit is needed, calculate a position of the shelf unit to be taken in the station where the shelf unit is stored, and send the instruction information and the calculated position of the shelf unit to be taken in the station where the shelf unit is stored to the warehousing control module 82.

The warehousing control module 82 is configured to generate a task signal according to the instruction information sent by the warehousing management module 81, a target storage location in a station where a shelf unit is stored, or a position of a shelf unit to be taken in the station where the shelf unit is stored, and send the task signal to the transport cart scheduling module 83 and the traveling scheduling module 84.

The cart scheduling module 83 schedules the cart 2 to perform a task according to the task signal of the warehousing control module 82. The driving scheduling module 84 schedules the driving 11 to execute the task according to the task signal of the warehousing control module 82.

Specifically, the control process of the intelligent warehousing control system 8 of the embodiment will be described by taking the operation processes of warehousing the shelf units, supplementing the empty shelf units in the packaging production line, and taking the empty shelf units from the shipment area as an example.

Warehousing the shelf units:

when a rack unit 32 is filled with goods, it is placed at a station where the rack unit is taken, such as a warehouse door, and rack unit order information and goods information is sent to the warehouse management module 81 by a human or upstream system. The warehousing management module 81 counts the calculated target storage locations in the stations where the shelf units are stored, and sends the rack unit taking instruction information and the calculated target storage locations in the stations where the shelf units are stored to the warehousing control module 82. The warehousing control module 82 generates task signals according to the order information of the goods taking frame unit and the calculated target storage place, and sends the task signals to the delivery wagon dispatching module 83 and the travelling crane dispatching module 84. The traveling scheduling module 84 replies a response message to the warehousing control module 82 after receiving the task signal, and schedules the traveling crane 11 to execute a task, specifically, the traveling crane 11 runs to a specified location of the warehouse, that is, a position where the traveling crane is butted with the delivery wagon 2, and after the traveling crane 11 arrives at the specified location, the traveling scheduling module 84 sends position information to the traveling scheduling module 84, and the traveling scheduling module 84 sends task ending state information to the warehousing control module 82. The transfer cart dispatching module 83 replies a response message to the warehousing control module 82 after receiving the task signal, dispatches the transfer cart 2 to move to the station of the goods shelf unit, sends position information to the transfer cart dispatching module 83 after the transfer cart 2 reaches the station of the goods shelf unit, and the transfer cart dispatching module 83 sends task ending state information to the warehousing control module 82. The warehousing control system 82 sends the picking rack unit task signal to the transfer cart dispatching module 83, the transfer cart dispatching module 83 replies a response message to the warehousing control module 82 after receiving the picking rack unit task signal, the transfer cart 2 is dispatched to execute the picking rack unit task, the transfer cart 2 sends end information to the transfer cart dispatching module 83 after finishing the picking rack unit task, and the transfer cart dispatching module 83 sends task end state information to the warehousing control module 82. The warehousing control system 82 sends a task signal of arriving at the specified place to the transportation vehicle scheduling module 83, the transportation vehicle scheduling module 83 replies a response message to the warehousing control module 82 after receiving the task signal of arriving at the specified place, schedules the transportation vehicle 2 to run to the specified place of the warehouse, namely, the position in butt joint with the travelling crane 11, the transportation vehicle 2 sends position information to the transportation vehicle scheduling module 83 after arriving at the specified place, and the transportation vehicle scheduling module 83 sends task ending state information to the warehousing control module 82.

After the travelling crane 11 and the delivery truck 2 reach the designated place, the travelling crane scheduling module 84 and the delivery truck scheduling module 83 both send task end state information to the warehousing control module 82, the warehousing control module 82 then respectively sends a docking task signal to the travelling crane scheduling module 84 and the delivery truck scheduling module 83, after the travelling crane scheduling module 84 and the delivery truck scheduling module 83 receive the docking task signal and respectively reply a response message to the warehousing control module 82, the travelling crane 11 docks with the delivery truck 2, the travelling crane 11 takes away the shelf unit 32 on the delivery truck 2 to complete the docking task, the travelling crane 11 and the delivery truck 2 respectively send end information to the travelling crane scheduling module 84 and the delivery truck scheduling module 83, and the travelling crane scheduling module 84 and the delivery truck scheduling module 83 respectively send the task end state information to the warehousing control module 82. The warehousing control system 82 distributes a task-ready signal to the transport vehicle scheduling module 83, and the transport vehicle scheduling module 83 replies a response message to the warehousing control module 82 after receiving the task-ready signal and schedules the transport vehicle 2 to return to the task-ready point. The transport vehicle 2 reaches the standby point and then sends the position information to the transport vehicle scheduling module 83, and the transport vehicle scheduling module 83 sends the task end state information to the warehousing control module 82. In addition, the warehousing control system 82 sends a storage task signal to the traveling scheduling module 84, the traveling scheduling module 84 replies a response message to the warehousing control system 82 after receiving the storage task signal, and the traveling scheduling module 84 schedules the traveling crane 11 to store the shelf unit 32 to the target storage location in the work station where the shelf unit is stored. Then, the traveling crane 11 sends the end information to the traveling crane scheduling module 84, and the traveling crane scheduling module 84 sends the task end state information to the warehousing control system 82. The warehousing control system 82 distributes a task ready signal to the vehicle scheduling module 84, and the vehicle scheduling module 84 replies a response message to the warehousing control module 82 after receiving the task ready. And dispatches the vehicle 11 back to the standby point. After the traveling crane 11 reaches the standby point, the position information is sent to the traveling crane scheduling module 84, and the traveling crane scheduling module 84 sends the task ending state information to the warehousing control module 82. Thereby effecting the warehousing of the shelving units 32. In addition, the shelf units 32 in this process are loaded with goods.

And (4) taking out the shelf units:

when it is desired to retrieve a shelf unit 32, a manual or upstream system sends a retrieval shelf unit command message to the warehouse management module 81. The warehousing management module 81 counts the locations of the shelf units 32 to be taken in the stations where the shelf units are stored, and sends the ex-warehouse shelf unit instruction information and the calculated locations of the shelf units 32 to be taken in the stations where the shelf units are stored to the warehousing control module 82. The warehousing control module 82 generates task signals according to the ex-warehouse shelf unit instruction information and the calculated location of the shelf unit 32 to be taken, and sends the task signals to the transport vehicle scheduling module 83 and the traveling scheduling module 84. The transfer cart dispatching module 83 replies a response message to the warehousing control module 82 after receiving the task signal, and dispatches the transfer cart 2 to execute the task, specifically, the transfer cart 2 runs to the specified place of the warehouse, namely, the position in butt joint with the traveling crane 11, and sends the position information to the transfer cart dispatching module 83 after the transfer cart 2 arrives at the specified place, and the transfer cart dispatching module 83 sends the task ending state information to the warehousing control module 82. The traveling crane scheduling module 84 replies a response message to the warehousing control module 82 after receiving the task signal, and schedules the traveling crane 11 to run to the position of the shelf unit 32 to be taken in the station for storing the shelf unit, after the traveling crane 11 reaches the position of the shelf unit 32 to be taken, the traveling crane scheduling module 84 sends position information to the traveling crane scheduling module 84, and the traveling crane scheduling module 84 sends task ending state information to the warehousing control module 82. The warehousing control system 82 sends a goods shelf unit taking task signal to the driving scheduling module 84, the driving scheduling module 84 replies a response message to the warehousing control module 82 after receiving the goods shelf unit taking task signal, schedules the driving 11 to execute the goods shelf unit taking task, the driving 11 sends end information to the driving scheduling module 84 after completing the goods shelf unit taking task, and the driving scheduling module 84 sends task end state information to the warehousing control module 82. The warehousing control system 82 sends a task signal of arriving at a specified place to the driving scheduling module 84, the driving scheduling module 84 replies a response message to the warehousing control module 82 after receiving the task signal of arriving at the specified place and schedules the driving 11 to run to the specified place of the warehouse, namely, the position of butt joint with the transport vehicle 2, the driving 11 sends position information to the driving scheduling module 84 after arriving at the specified place, and the driving scheduling module 84 sends task ending state information to the warehousing control module 82.

After the travelling crane 11 and the delivery truck 2 reach the designated place, the travelling crane scheduling module 84 and the delivery truck scheduling module 83 both send task end state information to the warehousing control module 82, the warehousing control module 82 then respectively sends docking task signals to the travelling crane scheduling module 84 and the delivery truck scheduling module 83, after the travelling crane scheduling module 84 and the delivery truck scheduling module 83 receive the docking task signals and respectively reply response messages to the warehousing control module 82, the travelling crane 11 docks with the delivery truck 2, the travelling crane 11 loads the shelf unit 32 on the delivery truck 2 to complete docking tasks, the travelling crane 11 and the delivery truck 2 respectively send end information to the travelling crane scheduling module 84 and the delivery truck scheduling module 83, and the travelling crane scheduling module 84 and the delivery truck scheduling module 83 respectively send the task end state information to the warehousing control module 82. The warehousing control system 82 distributes a task ready signal to the vehicle scheduling module 84, and the vehicle scheduling module 84 replies a response message to the warehousing control module 82 after receiving the task ready. And dispatches the vehicle 11 back to the standby point. After the traveling crane 11 reaches the standby point, the position information is sent to the traveling crane scheduling module 84, and the traveling crane scheduling module 84 sends the task ending state information to the warehousing control module 82. In addition, the warehouse control system 82 sends an ex-warehouse task signal to the delivery wagon dispatching module 83, the delivery wagon dispatching module 83 replies a response message to the warehouse control system 82 after receiving the ex-warehouse task signal, and the delivery wagon dispatching module 83 dispatches the delivery wagon 2 to transport the rack unit 32 to a station requiring the rack unit, such as a warehouse door. The cart 2 then sends the end information to the cart dispatching module 83, and the cart dispatching module 83 sends the task end status information to the warehouse control system 82. After unloading the rack units on the delivery wagon 2, the warehousing control system 82 assigns a task-ready signal to the delivery wagon dispatching module 83, and the delivery wagon dispatching module 83 replies a response message to the warehousing control module 82 after receiving the task-ready signal. And dispatches the delivery wagon 2 back to the standby point. The transport vehicle 2 reaches the standby point and then sends the position information to the transport vehicle scheduling module 83, and the transport vehicle scheduling module 83 sends the task end state information to the warehousing control module 82. Thereby effecting an ex-warehouse process for the shelf units 32. In addition, the shelf units 32 in this process are loaded with goods.

And (3) supplementing empty shelf units in a packaging production line:

this process replenishes the stations requiring rack units, such as the packaging line, with unloaded rack units 32, and since the rack units 32 filled with goods are removed, empty rack units 32 need to be dispatched from the stations storing the rack units, such as the empty rack unit buffer. The replenishment process is described as first sending a replenishment rack unit command message to the warehouse management module 81 by a human or upstream system. The warehousing management module 81 calculates the locations of the shelf units 32 to be taken in the stations where the shelf units are stored, for example, in the empty shelf buffer, and sends the replenishment shelf unit instruction information and the calculated locations of the shelf units to be taken in the stations where the shelf units are stored, for example, in the empty shelf buffer, to the warehousing control module 82. The warehousing control module 82 generates task signals based on the replenishment rack unit command information and the calculated location of the rack unit 32 to be retrieved, and sends the task signals to the conveyor scheduling module 83 and the trip scheduling module 84. The transfer cart dispatching module 83 replies a response message to the warehousing control module 82 after receiving the task signal, and dispatches the transfer cart 2 to execute the task, specifically, the transfer cart 2 runs to the specified place of the warehouse, that is, the position butted with the running cart 11, and sends the position information to the transfer cart dispatching module 83 after the transfer cart 2 arrives at the specified place, and the transfer cart dispatching module 83 sends the task ending state information to the warehousing control module 82. The traveling crane scheduling module 84 replies a response message to the warehousing control module 82 after receiving the task signal, and schedules the traveling crane 11 to run to the position of the shelf unit 32 to be taken in the empty shelf buffer area, the traveling crane 11 sends position information to the traveling crane scheduling module 84 after reaching the position of the shelf unit 32 to be taken, and the traveling crane scheduling module 84 sends task ending state information to the warehousing control module 82. The warehousing control system 82 sends a goods shelf unit taking task signal to the driving scheduling module 84, the driving scheduling module 84 replies a response message to the warehousing control module 82 after receiving the goods shelf unit taking task signal, schedules the driving 11 to execute the goods shelf unit taking task, the driving 11 sends end information to the driving scheduling module 84 after completing the goods shelf unit taking task, and the driving scheduling module 84 sends task end state information to the warehousing control module 82. The warehousing control system 82 sends a task signal of arriving at a specified place to the driving scheduling module 84, the driving scheduling module 84 replies a response message to the warehousing control module 82 after receiving the task signal of arriving at the specified place and schedules the driving 11 to run to the specified place of the warehouse, namely, the position of butt joint with the transport vehicle 2, the driving 11 sends position information to the driving scheduling module 84 after arriving at the specified place, and the driving scheduling module 84 sends task ending state information to the warehousing control module 82.

After the travelling crane 11 and the delivery truck 2 reach the designated place, the travelling crane scheduling module 84 and the delivery truck scheduling module 83 both send task end state information to the warehousing control module 82, the warehousing control module 82 then respectively sends docking task signals to the travelling crane scheduling module 84 and the delivery truck scheduling module 83, after the travelling crane scheduling module 84 and the delivery truck scheduling module 83 receive the docking task signals and respectively reply response messages to the warehousing control module 82, the travelling crane 11 docks with the delivery truck 2, the travelling crane 11 loads the shelf unit 32 on the delivery truck 2 to complete docking tasks, the travelling crane 11 and the delivery truck 2 respectively send end information to the travelling crane scheduling module 84 and the delivery truck scheduling module 83, and the travelling crane scheduling module 84 and the delivery truck scheduling module 83 respectively send the task end state information to the warehousing control module 82. The warehousing control system 82 distributes a task ready signal to the vehicle scheduling module 84, and the vehicle scheduling module 84 replies a response message to the warehousing control module 82 after receiving the task ready. And dispatches the vehicle 11 back to the standby point. After the traveling crane 11 reaches the standby point, the position information is sent to the traveling crane scheduling module 84, and the traveling crane scheduling module 84 sends the task ending state information to the warehousing control module 82. In addition, the warehousing control system 82 sends a task signal reaching the station requiring the shelf unit to the cart dispatching module 83, the cart dispatching module 83 replies a response message to the warehousing control system 82 after receiving the task signal reaching the station requiring the shelf unit, and the cart dispatching module 83 dispatches the cart 2 to transport the shelf unit 32 to the station requiring the shelf unit, such as a packaging production line. The cart 2 then sends the end information to the cart dispatching module 83, and the cart dispatching module 83 sends the task end status information to the warehouse control system 82. After unloading the rack units on the delivery wagon 2, the warehousing control system 82 assigns a task-ready signal to the delivery wagon dispatching module 83, and the delivery wagon dispatching module 83 replies a response message to the warehousing control module 82 after receiving the task-ready signal. And dispatches the delivery wagon 2 back to the standby point. The transport vehicle 2 reaches the standby point and then sends the position information to the transport vehicle scheduling module 83, and the transport vehicle scheduling module 83 sends the task end state information to the warehousing control module 82. Thereby effecting replenishment of the shelf units 32 to empty shelf units of the packaging line. In addition, no goods are loaded in the shelf units 32 in the process.

Taking empty rack units from a delivery area:

this process is used to remove empty rack units 32 from the rack unit picking station, and in particular, if the rack unit 32 loading task is completed at the rack unit picking station, for example, the loading station at the delivery area, the unloaded rack units 32 will remain and the empty rack units 32 will need to be transported to the empty rack unit buffer area. The transport process is described below. First, a rack pickup unit command message is sent to the warehouse management module 81 by a human or upstream system. The warehousing management module 81 calculates a target storage location in a station (i.e., an empty rack cache region) where the rack unit is stored, and transmits the rack unit taking instruction information and the calculated target storage location in the empty rack cache region to the warehousing control module 82. The warehousing control module 82 generates task signals according to the order information of the goods taking frame unit and the calculated target storage place, and sends the task signals to the delivery wagon dispatching module 83 and the travelling crane dispatching module 84. The traveling scheduling module 84 replies a response message to the warehousing control module 82 after receiving the task signal, and schedules the traveling crane 11 to execute a task, specifically, the traveling crane 11 runs to a specified location of the warehouse, that is, a position where the traveling crane is butted with the delivery wagon 2, and after the traveling crane 11 arrives at the specified location, the traveling scheduling module 84 sends position information to the traveling scheduling module 84, and the traveling scheduling module 84 sends task ending state information to the warehousing control module 82. The transfer cart dispatching module 83 replies a response message to the warehousing control module 82 after receiving the task signal, dispatches the transfer cart 2 to move to the station of the goods shelf unit, sends position information to the transfer cart dispatching module 83 after the transfer cart 2 reaches the station of the goods shelf unit, and the transfer cart dispatching module 83 sends task ending state information to the warehousing control module 82. The warehousing control system 82 sends the picking rack unit task signal to the transfer cart dispatching module 83, the transfer cart dispatching module 83 replies a response message to the warehousing control module 82 after receiving the picking rack unit task signal, the transfer cart 2 is dispatched to execute the picking rack unit task, the transfer cart 2 sends end information to the transfer cart dispatching module 83 after finishing the picking rack unit task, and the transfer cart dispatching module 83 sends task end state information to the warehousing control module 82. The warehousing control system 82 sends a task signal of arriving at the specified place to the transportation vehicle scheduling module 83, the transportation vehicle scheduling module 83 replies a response message to the warehousing control module 82 after receiving the task signal of arriving at the specified place, schedules the transportation vehicle 2 to run to the specified place of the warehouse, namely, the position in butt joint with the travelling crane 11, the transportation vehicle 2 sends position information to the transportation vehicle scheduling module 83 after arriving at the specified place, and the transportation vehicle scheduling module 83 sends task ending state information to the warehousing control module 82.

After the travelling crane 11 and the delivery truck 2 reach the designated place, the travelling crane scheduling module 84 and the delivery truck scheduling module 83 both send task end state information to the warehousing control module 82, the warehousing control module 82 then respectively sends a docking task signal to the travelling crane scheduling module 84 and the delivery truck scheduling module 83, after the travelling crane scheduling module 84 and the delivery truck scheduling module 83 receive the docking task signal and respectively reply a response message to the warehousing control module 82, the travelling crane 11 docks with the delivery truck 2, the travelling crane 11 takes away the shelf unit 32 on the delivery truck 2 to complete the docking task, the travelling crane 11 and the delivery truck 2 respectively send end information to the travelling crane scheduling module 84 and the delivery truck scheduling module 83, and the travelling crane scheduling module 84 and the delivery truck scheduling module 83 respectively send the task end state information to the warehousing control module 82. The warehousing control system 82 distributes a task-ready signal to the transport cart dispatching module 83, and the transport cart dispatching module 83 replies a response message to the warehousing control module 82 after receiving the task-ready signal. And dispatches the delivery wagon 2 back to the standby point. The transport vehicle 2 reaches the standby point and then sends the position information to the transport vehicle scheduling module 83, and the transport vehicle scheduling module 83 sends the task end state information to the warehousing control module 82. In addition, the warehousing control system 82 sends a storage task signal to the traveling scheduling module 84, the traveling scheduling module 84 replies a response message to the warehousing control system 82 after receiving the storage task signal, and the traveling scheduling module 84 schedules the traveling crane 11 to store the shelf unit 32 to the target storage location in the empty shelf buffer area. Then, the traveling crane 11 sends the end information to the traveling crane scheduling module 84, and the traveling crane scheduling module 84 sends the task end state information to the warehousing control system 82. The warehousing control system 82 distributes a task ready signal to the vehicle scheduling module 84, and the vehicle scheduling module 84 replies a response message to the warehousing control module 82 after receiving the task ready. And dispatches the vehicle 11 back to the standby point. After the traveling crane 11 reaches the standby point, the position information is sent to the traveling crane scheduling module 84, and the traveling crane scheduling module 84 sends the task ending state information to the warehousing control module 82. Thereby effecting the process of retrieving empty rack units 32 from the delivery area. In addition, the shelf units 32 in the process are not loaded with goods.

In the warehousing intelligent control system provided in this embodiment, the warehousing management module 81 and the warehousing control module 82 send task signals to the transport cart scheduling module 83 and the traveling scheduling module 84 according to instruction information sent by a human or an upstream system, and the transport cart scheduling module 83 schedules the transport cart 2 to execute tasks according to the task signals of the warehousing control module 82. The driving scheduling module 84 schedules the driving 11 to execute the task according to the task signal of the warehousing control module 82. Therefore, a set of high-density and high-intelligence warehousing system is formed. Therefore, the carrying, storing and process flow of the shelf units is fully automatically controlled, namely, a full-automatic transportation mode is used for replacing the traditional manual mode, and a special scheduling system is used for replacing the traditional manual planning management. The intelligent system management replaces the traditional manual plan management, so that the storage efficiency is improved, the storage process is simplified, and the management is more strict and standard. The warehousing intelligent control system of the embodiment enables the warehousing space utilization rate to be increased by 80%, the storage efficiency to be improved by 50%, the operation cost to be reduced by 70%, and the labor cost to be greatly reduced. The problem of shortage of warehouse land of enterprises is solved, and more goods can be stored in the same area.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.

Claims (10)

1. A high-density intelligent warehousing system is applied to warehouses and is characterized by comprising a first conveying device, a second conveying device and a combined type goods shelf;

the combined shelf comprises at least one shelf group, each shelf group comprises at least two vertically stacked shelf units, and a space for accommodating goods is formed inside each shelf unit;

the first conveying device comprises an automatically-operated travelling crane suspended at the top of the warehouse, the travelling crane can move in the horizontal direction and the vertical direction, and the travelling crane is used for hanging the shelf units at the appointed place of the warehouse to the shelf group or hanging the shelf units on the shelf group to the appointed place;

the second conveying device comprises a conveying vehicle which can automatically travel on the ground of the warehouse, the conveying vehicle is provided with a top part on which the shelf units can be placed, and the conveying vehicle is used for conveying the shelf units to a specified place of the warehouse or is used for carrying the shelf units hoisted to the specified place by the conveying vehicle.

2. The high-density intelligent warehousing system of claim 1, wherein the first conveyor further comprises a first horizontal rail and a horizontal walking beam on the first horizontal rail, the length direction of the horizontal walking beam is perpendicular to the first horizontal rail, and the horizontal walking beam can move along the first horizontal rail;

and a second horizontal rail is arranged on the horizontal walking beam, and the travelling crane is positioned on the second horizontal rail and can move along the second horizontal rail.

3. The high-density smart storage system as claimed in claim 2, wherein the crane comprises a lifting unit and a grabbing mechanism, the lifting unit is located on the second horizontal rail, and the grabbing mechanism is connected with the lifting unit and used for grabbing the shelf unit.

4. The high-density intelligent warehousing system as claimed in any one of claims 1-3, wherein each shelf unit comprises a cargo carrying portion at the bottom for carrying the cargo and a fence portion fixed on the edge of the cargo carrying portion for connecting other shelf units above the shelf unit.

5. The high-density intelligent warehousing system as claimed in claim 4, wherein the bottom of the cargo bearing part is provided with a first connecting structure, and the top end of the containment part is provided with a second connecting structure for connecting with the first connecting structure; wherein,

the first connecting structure is a positioning pin, and the second connecting structure is a positioning hole into which the positioning pin can be clamped; or, the first connecting structure is the positioning hole, and the second connecting structure is a positioning pin which can be clamped in the positioning hole.

6. The high-density intelligent warehousing system of claim 4, wherein the enclosure is a plurality of brackets which surround the cargo carrying part along the circumference of the cargo carrying part and form a space for accommodating the cargo together with the cargo carrying part.

7. The high-density intelligent warehousing system of any one of claims 1-3, wherein the rack groups are densely arranged in a rack area in the warehouse, and the distance between two adjacent rack groups is smaller than the travel path width of the second conveyor, and the designated place is located outside the rack area.

8. The high-density smart warehousing system of any of claims 1-3, wherein the cart includes a navigation assembly for controlling a travel path of the cart.

9. The high-density intelligent warehousing system of claim 8, wherein the navigation mode of the navigation component comprises any one or a combination of the following: magnetic stripe navigation, inertial navigation, laser navigation, natural vision navigation.

10. The high-density smart warehousing system of any one of claims 1-3, further comprising an auto-lift for loading and unloading operations to the transport cart.