CN216470134U

CN216470134U - Stereoscopic warehouse scheduling system

Info

Publication number: CN216470134U
Application number: CN202122589106.8U
Authority: CN
Inventors: 李洪波; 卢泓翰; 李考准
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2021-10-26
Filing date: 2021-10-26
Publication date: 2022-05-10
Anticipated expiration: 2031-10-26

Abstract

The specification discloses a stereoscopic warehouse dispatching system, through mixing first haulage equipment and second haulage equipment of using at stereoscopic warehouse, utilize the elevating gear transport function in stereoscopic warehouse, make first haulage equipment and elevating gear can cooperate and carry the carrier in intensive storage warehouse, and carry out the warehousing task through the workstation that sets up, realize the promotion to the execution efficiency of processes such as overhead, lower carriage, goods inventory, can improve the handling efficiency of warehouse entry process to the goods, and accessible tally, reduce the occupation to the carrier, and can realize reasonable mixed storage or classified storage of container or goods, improve the storage space utilization in stereoscopic warehouse, reduced running cost.

Description

Stereoscopic warehouse scheduling system

Technical Field

The application relates to the technical field of warehouse logistics, in particular to a stereoscopic warehouse scheduling system.

Background

Currently, with the rapid development of the logistics industry, in order to improve the operation efficiency of the warehouse, an automatic handling device such as an Automated Guided Vehicle (AGV) or an Automated Mobile Robot (AMR) is generally used to realize the automatic transportation of goods. Meanwhile, because the floor space of the warehouse is usually limited, the acquisition cost and the use cost of the land are high, and in order to improve the space utilization rate as much as possible and reduce the operation cost, the conventional warehouse also adopts a dense storage mode to store goods.

In the prior art, in order to solve the two problems of efficiency improvement of automated transportation and cost reduction of dense storage at the same time, a four-way shuttle vehicle (hereinafter referred to as a four-way vehicle) used in a dense storage warehouse and a special stereoscopic warehouse for running the four-way shuttle vehicle are designed, as shown in fig. 1a to 1 b. Fig. 1a is a cross-sectional view of a stereoscopic warehouse, which shows that each layer of the stereoscopic warehouse comprises a plurality of adjacent storage positions for storing goods, wherein a plurality of tunnels for four-way vehicles to carry goods are inserted, each layer of the stereoscopic warehouse comprises a track for four-way vehicles to run, a support for supporting a carrier is arranged on each storage position, and the storage positions share a column support. Fig. 1b is a top view of the stereoscopic warehouse, it can be seen that a large amount of space can be saved by densely stacking the goods, and the four-way vehicle with a small size can flexibly pass through each storage location to consign the goods to the storage location or transport the goods to the connection point of the warehouse for delivery.

However, the four-way vehicle belongs to a handling device with high cost and must run on a track, so that in a warehouse for storing and taking goods by adopting the four-way vehicle, the layout of the warehouse is difficult to flexibly change due to the arrangement of the track, and the warehouse construction and use cost is high. In addition, since the processes such as picking and sorting are performed only by the workers on the ground, the efficiency of performing the picking and sorting of the goods stored in the high-rise storage locations is low.

SUMMERY OF THE UTILITY MODEL

The stereoscopic warehouse scheduling system provided by the embodiment of the specification is used for partially solving the problems in the prior art.

The embodiment of the specification adopts the following technical scheme:

the stereoscopic warehouse scheduling system provided by the specification comprises: one or more control server, one or more first haulage equipment, at least one stereoscopic warehouse, at least one elevating gear, one or more workstation, one stereoscopic warehouse is provided with the multilayer, and by at least one elevating gear intercommunication stereoscopic warehouse's each layer, stereoscopic warehouse's each layer is provided with a plurality of storage bits respectively and supplies the track that first haulage equipment ran, the carrier is arranged to at least some storage bits in a plurality of storage bits, stereoscopic warehouse's at least some layer is provided with at least one workstation respectively, control server with first haulage equipment and elevating gear communication, wherein:

the control server is used for determining a first carrying device and a lifting device for executing the carrying task according to the carrying task, and respectively sending carrying instructions for executing the carrying task to the first carrying device and the lifting device;

the first carrying equipment is used for taking out or putting in the carrier in the storage position according to a carrying instruction sent by the control server and carrying the carrier between the storage position and the workstation or between the workstation and the lifting equipment;

the workstation is used for at least executing warehousing tasks on the containers or goods on the layer;

the lifting equipment is used for ascending or descending to a specified layer according to the conveying instruction sent by the control server, and at least conveying one or more combinations of the carrier and the first conveying equipment among the layers.

Optionally, the warehousing task includes at least one of an racking task, a tallying task, and an inventory task.

Optionally, the system further comprises one or more second handling apparatuses; the bottom layer of the stereoscopic warehouse is provided with a plurality of storage positions and a roadway for the second carrying equipment to pass through, at least part of the storage positions of the bottom layer are provided with carriers, and the bottom layer of the stereoscopic warehouse is provided with at least one work station;

the control server is further used for determining second carrying equipment for executing the carrying task according to the carrying task and sending a carrying instruction for executing the carrying task to the second carrying equipment;

the second carrying equipment is used for taking out or putting in the storage position of the bottom layer according to the carrying instruction sent by the control server, and carrying the carrier between the lifting equipment and the storage position located at the bottom layer, between the storage position located at the bottom layer and the workstation located at the bottom layer or between the lifting equipment and the workstation located at the bottom layer.

Optionally, the vehicle is used to directly hold cargo or carry a container holding cargo.

Optionally, the workstation is provided with container handling equipment;

the container handling device is used for taking goods or containers containing goods from the carrier or placing goods or containers containing goods on the carrier.

Optionally, the container handling apparatus is a robotic arm, the robotic arm being a robotic arm having 6 degrees of freedom.

Optionally, the container handling apparatus includes a frame body, and the frame body is provided with a container taking and delivering assembly and a carrying assembly; the pick-and-place container assembly is configured to move on the rack; the frame body comprises an X-axis track and a Y-axis track which are vertical to each other in direction; the Y-axis track configured to move along the X-axis track, the pick-and-place container assembly configured to move along the Y-axis track; the container taking and delivering assembly is used for taking out containers from the carrier and loading the containers onto the bearing assembly along the Z-axis direction perpendicular to the X-axis track and the Y-axis track, or unloading the containers from the bearing assembly and placing the containers on the carrier.

Optionally, the frame body comprises a gantry assembly, and the X-axis track comprises a ground rail structure and a head rail structure arranged on the gantry assembly; and two ends of the Y-axis track are respectively matched with the ground track structure and the sky track structure in a guiding manner.

Optionally, the number of the Y-axis tracks is at least two, and each Y-axis track is provided with at least one pick-and-place container assembly.

Optionally, the pick-and-place container assembly picks up a container from the carrier or places a container in the carrier by at least one of suction, pushing, gripping, grabbing, hooking, lifting, and lifting.

Optionally, the carrier is a movable shelf.

Optionally, the workstation is further provided with a rotating device, and the carrier is a double-faced container rack carrying a container;

the rotating equipment is used for performing surface turning operation on the double-sided container goods shelf.

Optionally, the workstation is further provided with a transmission line, and one end of the transmission line is butted with the container handling equipment;

the container handling apparatus is also used for placing goods taken out of the carrier or containers containing goods on the transmission line; or, the goods taken out from the transmission line or the container containing the goods are placed on the carrier;

the transmission line is used for receiving the carrier or goods and transmitting the carrier or goods from one end of the transmission line to the other end of the transmission line.

Optionally, the workstation is located on a layer other than the bottom layer, and the other end of the transmission line is butted with the lifting device.

Alternatively, the workstations located at other levels than the bottom level are arranged at edge positions of the stereoscopic warehouse.

Optionally, the workstation comprises a transfer line and a station, an inlet and an outlet of the transfer line are respectively provided with the container handling apparatus, and the station is located in a transfer path of the transfer line;

the container handling equipment is positioned at the entrance of the transmission line and is also used for taking out containers or goods from the carriers positioned at the entrance and placing the containers or goods on the transmission line;

the container loading and unloading equipment positioned at the outlet of the conveying line is also used for acquiring the containers or goods conveyed by the conveying line and putting the containers or goods into the carriers positioned at the outlet.

Optionally, the distance between the position of the storage location carrying the vehicle and the track is larger than the height of the first carrying equipment when the first carrying equipment does not carry the vehicle;

the first carrying equipment is further used for driving into the storage position and carrying the carrier out of the storage position in a piggy-back mode from the lower side of the carrier.

Optionally, when a plurality of lifting devices are included in the stereoscopic warehouse, at least an overlap exists between designated floors that can be reached by the plurality of lifting devices.

Optionally, a rail is arranged in the lifting device and is used for being connected with a rail arranged in the high-rise building, so that the first carrying device runs into the lifting device.

Optionally, the control server is further configured to determine, at least partially according to the transportation tasks to be executed by the respective high floors, the number of the first transportation devices required by the respective high floors, determine, according to the number of the first transportation devices required by the respective high floors and the current number of the first transportation devices of the respective high floors, the first transportation devices that need to be called by the respective high floors, and send a call instruction to the first transportation devices that need to be called;

and the first carrying equipment is also used for driving the first carrying equipment into the lifting equipment according to the received calling instruction and reaching the high level appointed by the calling instruction through the lifting equipment.

Optionally, the carrier comprises a leg, and the leg of the carrier forms an opening with a height higher than the height of the second carrying equipment when the carrier is not carried; the second handling apparatus is further configured to selectively pass under at least some of the vehicles when not carrying the vehicles, or to carry the vehicles piggy-back from under at least some of the vehicles and out of the underlying storage locations.

Optionally, the spacing of the storage position columns of at least part of the floors of the stereoscopic warehouse is larger than the width of the second conveying equipment, and the height of the lowest point of the connecting piece between two adjacent columns of at least part of the floors of the stereoscopic warehouse is higher than the height of the second conveying equipment when the second conveying equipment is not carrying the carrier; the second carrying equipment is further used for selectively passing between at least part of two adjacent upright columns in the bottom layer when the carrier is not carried.

Optionally, the second carrying device is configured to enter the storage location of the bottom layer at a position of a roadway adjacent to the storage location of the bottom layer, and take out the carrier from the storage location of the bottom layer onto the second carrying device, or place the carrier on the second carrying device in the storage location of the bottom layer.

Optionally, the system further comprises: one or more external buffers in the form of at least one of stereoscopic storage or planar storage;

the external buffer and the at least one stereoscopic warehouse share at least part of a second handling device, or the second handling device handles and/or interfaces the vehicles between the external buffer and the at least one stereoscopic warehouse;

the control server is further configured to store the inventory information of the goods in the external cache area and the at least one stereoscopic warehouse.

Optionally, the first transporting device is further configured to transport the target vehicle stored in the high-level storage location to the workstation according to the transporting task, and send arrival information to the workstation;

the workstation is further used for taking out a target container or a target cargo corresponding to the carrying task from an initial carrier in the workstation according to the warehousing task when receiving the arrival information, putting the target container or the target cargo into the target carrier, and sending completion information to the first carrying equipment;

and the first carrying equipment is also used for carrying the target carrier to the high-level storage position according to the carrying task when receiving the completion information.

Optionally, the first transporting device is further configured to transport an initial carrier storing target goods or target containers from the high-level storage location to the workstation according to the transporting task, and send arrival information to the workstation;

and the workstation is further used for taking out the target goods or the target containers from the initial carriers carried by the first carrying equipment according to the warehousing tasks when the arrival information is received and placing the target goods or the target containers into the target carriers in the workstation.

Optionally, the control server is configured to determine, according to the transportation task, at least two first transportation devices and the workstation which execute the transportation task;

the at least two first carrying devices are used for carrying the first carrier and the second carrier to the workstation respectively according to the carrying tasks;

the workstation is further used for taking out at least part of the containers or goods in the first carrier and placing the containers or goods in the second carrier into the first carrier according to the warehousing tasks.

Optionally, the workstation is further configured to take out at least some goods or containers in the first carrier and place them in the second carrier, and take out at least some goods or containers in the second carrier and place them in the first carrier according to the warehousing task.

Optionally, the control server is further configured to determine, according to the transportation task and/or the warehousing task, a first transportation device and the workstation that execute the transportation task;

the first carrying equipment is also used for carrying a first carrier to the workstation according to the carrying task, and carrying a second carrier to the workstation after the workstation takes out at least part of goods or containers of the first carrier;

the workstation is also used for taking out at least part of goods or containers in the first carrier according to the warehousing task and placing the goods or containers in the carriers in the workstation, and placing the at least part of goods or containers in the carriers in the workstation into the second carrier according to the carrying task.

Optionally, the workstation is further configured to send information that the warehousing task is completed to the control server after the warehousing task is completed;

the first carrying equipment is also used for sending information of carrying instruction execution completion to the control server after the carrier is carried to one of the work station at the high level, the storage position at the high level and the lifting equipment according to the carrying task;

and the second carrying equipment is also used for sending information that the carrying instruction is completely executed to the control server after the carrier is carried to one of a work station of a bottom layer, a storage position of the bottom layer and the lifting equipment according to the carrying task.

Optionally, the control server is further configured to update the correspondence among the storage locations, the goods, the containers, and the vehicles in the stereoscopic warehouse based on at least one of the received information that the warehousing task is completed and the information that the carrying instruction is completed, which is sent by the first carrying device and the second carrying device.

The embodiment of the specification adopts at least one technical scheme which can achieve the following beneficial effects:

through mixing at stereoscopic warehouse and using first haulage equipment and second haulage equipment, utilize the jacking equipment transport function in stereoscopic warehouse, make first haulage equipment and jacking equipment can cooperate and carry the carrier in intensive storage warehouse, and carry out the warehousing task through the workstation that sets up, realize the promotion to the execution efficiency of processes such as overhead undercarriage, goods check, can improve the handling efficiency of warehouse entry process to the goods, and accessible tally, reduce the occupation to the carrier, and can realize the reasonable mixed storage or the classified storage of container or goods, improve and store space utilization in the stereoscopic warehouse, warehouse running cost has been reduced.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

FIG. 1a is a schematic cross-sectional structural view of an existing warehouse;

FIG. 1b is a schematic top view of a conventional warehouse;

fig. 2 is a schematic diagram of a stereoscopic warehouse scheduling system provided in an embodiment of the present specification;

fig. 3 is a schematic top view of a stereoscopic warehouse provided in an embodiment of the present disclosure;

FIGS. 4 a-4 b are schematic diagrams of warehouse layouts provided by embodiments of the present description;

FIG. 5 is a schematic view of a container handling apparatus of the present disclosure;

FIG. 6 is a schematic view of a container handling apparatus of the present disclosure;

fig. 7 is a schematic diagram of a transmission line provided herein;

fig. 8 is a schematic view of a first handling apparatus provided in the embodiments of the present disclosure for laterally taking and placing a movable shelf;

fig. 9 is a schematic diagram of a distribution of lifting devices provided in an embodiment of the present disclosure;

fig. 10 is a schematic view of a rail provided in a lifting device of a stereoscopic warehouse according to an embodiment of the present disclosure;

fig. 11 is a schematic diagram of a disconnected area of a stereoscopic warehouse provided in an embodiment of the present disclosure;

fig. 12a and 12b are schematic views of the floor interconnection of two-dimensional warehouses provided by the embodiment of the present disclosure;

fig. 13 is a schematic view of a transfer apparatus in a system provided in an embodiment of the present disclosure;

fig. 14 is a schematic view of a moving path of a system carrier according to an embodiment of the present disclosure;

fig. 15 is a flowchart of a stereoscopic warehouse scheduling method according to an embodiment of the present disclosure.

Detailed Description

In order to make the objects, technical solutions and advantages of the present disclosure more apparent, the technical solutions of the present disclosure will be clearly and completely described below with reference to the specific embodiments of the present disclosure and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person skilled in the art based on the embodiments in the present specification without any inventive step are within the scope of the present application.

The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.

Fig. 2 is a schematic diagram of a stereoscopic warehouse scheduling system provided in an embodiment of the present disclosure, where the system includes: the system comprises one or more control servers 100, one or more first handling devices 102, at least one stereoscopic warehouse 106, at least one lifting device 108 and one or more workstations 112, wherein the stereoscopic warehouse 106 is provided with a plurality of layers, each layer of the stereoscopic warehouse 106 is communicated with the at least one lifting device 108, each layer of the stereoscopic warehouse 106 is provided with a plurality of storage positions and rails 118 for the first handling devices 102 to run, carriers 107 are arranged in at least part of the storage positions, and at least one workstation 112 is arranged in at least part of the layers of the stereoscopic warehouse 106. The control server 100 communicates with the first handling device 102 and the lifting device 108, respectively. Fig. 2 includes only one control server 100 and one stereoscopic warehouse 106 for ease of understanding.

The purpose of warehousing goods is to store a large variety of goods collectively, for example, to facilitate sorting out desired goods according to order requirements, while the present specification provides a system in which the goods of the stereoscopic warehouse are carried by a carrier 107, and the carrier 107 is used to directly hold the goods or to hold a container containing the goods. The carrier 107 needs to be transported by the first handling apparatus 102 and the lifting apparatus 108 within the same floor or between different floors.

In this specification, the transportation task is a task corresponding to the warehousing task. The warehousing task includes at least one of an racking task, a tallying task, and an inventory task, corresponding to a general job in the warehouse. In general, the regular work in the warehouse includes racking work, tallying work, and the like. Since these routine tasks may involve the transport of different vehicles 107 within the stereoscopic warehouse, the transport tasks and the specific warehousing tasks may be determined separately for the execution of one routine task. The handling task and the warehousing task corresponding to the regular work can be determined by the control server 100.

Wherein, the goods are put in storage on the shelf and stored in a warehouse, and the goods are taken out from the warehouse from the storage position on the shelf. The inventory is to perform inventory of the goods stored in the warehouse according to indexes such as type, quantity, Stock Keeping Unit (SKU) and the like. In order to improve the operation efficiency of the stereoscopic warehouse 106, the tallying is an operation of neatening the cargos by reasonably using the transportation resources and the storage resources such as the devices, the storage locations, and the carriers 107 in the warehouse. For example, by combining the loads stored in different vehicles 107 through the tallying operation, the number of vehicles 107 occupied by the loads can be reduced when the number of the loads is constant, and the number of conveying facilities for conveying the vehicles 107 and the number of conveying times can be reduced when a corresponding conveying task is performed. Or, by sorting, the goods stored in different carriers 107 are exchanged, or the containers stored in different storage locations are exchanged and stored, so that the container storing the goods with high delivery frequency can be located in the storage location at the bottom layer, and the carrier 107 is prevented from being frequently transported between different layers by the transporting equipment.

In the present description, the carrier 107 for holding goods may specifically include, but is not limited to: the shelf rack (for directly storing goods), the container rack (for storing containers in the form of containers), the cage trolley (for storing containers in the form of containers), the pallet rack (for storing containers in the form of pallets), and the like, although other forms may be included, and the description is not limited herein.

In the conventional operation of the stereoscopic warehouse 106, picking (sorting goods) is a conventional operation when the above-mentioned conventional operation is performed, for example, when goods are put in storage and put on shelves, the goods need to be sorted and then transported to a designated storage location for storage, so as to realize storage and warehousing of the goods, and when the goods are taken out from the warehouse, the goods need to be taken out from the corresponding storage location and transported to the designated location for sorting and then taken out from the warehouse.

In this specification, the control server 100 is configured to identify a transport task corresponding to a normal operation, identify the first transport device 102 and the lifting device 108 that execute the transport task according to the transport task, and send transport commands for executing the transport task to the identified first transport device 102 and the lifting device 108, respectively.

The first transporting apparatus 102 is configured to take out or put in the carrier 107 indicated by the transporting instruction in the storage location according to the transporting instruction sent by the control server 100, and transport the carrier 107 between the storage location and the workstation 112 or between the workstation 112 and the lifting apparatus 108.

The workstation 112 is used to perform warehousing tasks on at least the containers or goods on the level.

The control server 100 is further configured to determine a warehousing task and determine the workstation 112 to perform the warehousing task, and to send the operating instructions for performing the warehousing task to the determined workstation 112.

The workstation 112 can execute the warehousing task after the first handling equipment 102 carries the carrier 107 with the container or the goods indicated by the operation instruction to the workstation 112 according to the operation instruction.

Specifically, when the warehousing task is executed, the workstation 112 may take the carrier 107 indicated by the handling command out of the first handling apparatus 102 or put the carrier 107 indicated by the handling command into the first handling apparatus 102 according to the received operating command. Alternatively, the workstation 112 may take out the container or the goods indicated by the operation command from the carrier 107 transported by the first transporting apparatus 102 or put the container or the goods indicated by the operation command into the carrier transported by the first transporting apparatus 102 according to the received operation command.

When the transport task is executed, it is specifically necessary to determine the storage location where the carrier 107 storing the container or the cargo is located, first, according to the container or the cargo specified by the transport task. The storage location is the location where the vehicle 107 is placed, and as described above, a plurality of storage locations may be provided on each floor of the stereoscopic warehouse 106 as needed for placing the vehicle 107. After the carrier 107 for storing the goods is determined, the first transporting device 102 and/or the lifting device 108 may execute a transporting task, so that the carrier 107 with the goods or containers specified by the transporting task arrives at the workstation 112, and the workstation 112 executes a warehousing task corresponding to the transporting task on the carrier 107 or the goods in the carrier 107.

Since the transportation of the carrier 107 may span multiple floors in the stereoscopic warehouse 106, that is, the transportation task may require the carrier 107 to be transported between multiple floors, in the present specification, the lifting device 108 is configured to ascend or descend to a specified floor according to the transportation command sent by the control server 100, and to transport at least one or more combinations of the carrier 107 and the first transportation device 102 between the floors.

In this specification, in the transportation task corresponding to the above-described normal operation, since the transportation of the vehicle 107 is involved, the control server 100 is also configured to determine a storage location where the vehicle 107 corresponding to the transportation task is initially stored, and a storage location where the vehicle 107 is finally placed after the transportation task is performed. The storage location where the carrier 107 is initially placed may be the same as or different from the storage location where the carrier is finally placed.

In this way, after the warehousing task at the workstation 112 corresponding to the normal operation is executed, the control server 100 may determine the storage location or the designated area where the carrier 107 indicated by the transport instruction needs to be stored to determine the path for transporting the carrier 107, determine one or more of the first transport device 102 and the lifting device 108 for executing the transport task according to the path, and respectively send the transport instruction for executing the transport task to the determined devices, so as to complete the execution process of the normal operation through the process stereoscopic warehouse 106.

It should be noted that the stereoscopic warehouse 106 and the stereoscopic warehouse scheduling system in the present specification are not only suitable for the operation of goods in a warehousing scene, but also suitable for the operation of goods such as finished products, semi-finished products, or semi-finished products in a factory production scene. The present specification does not specifically limit the stereoscopic warehouse 106 and the application scenario of the stereoscopic warehouse scheduling system.

In this specification, the stereoscopic warehouse scheduling system further includes one or more second handling apparatuses. The stereoscopic warehouse 106 can be divided into a bottom layer and a plurality of high layers, the storage bits arranged on the bottom layer are the storage bits of the bottom layer, and the storage bits arranged on each high layer are the storage bits of the high layer. Also, the rails 118 are provided only at the upper levels, and at least some of the storage locations of the upper levels are provided with vehicles 107, while the lower level is not provided with the rails 118.

In this specification, the movement of the carrier 107 at the upper level may be performed by the first transfer apparatus 102, and the movement of the carrier 107 at the lower level may be performed by the second transfer apparatus.

In this description, the floor is provided with a plurality of storage locations and a roadway for the second handling device to pass through, at least some of the storage locations of the floor are provided with carriers 107, and the floor of the stereoscopic warehouse is provided with at least one workstation 112.

The control server 100 is further configured to determine a second conveyance device 104 that performs the conveyance task, based on the conveyance task, and to send a conveyance instruction for performing the conveyance task to the second conveyance device.

The second transfer device is configured to take out or put in the carrier 107 from or into the storage location of the floor according to the transfer instruction sent by the control server 100, and transfer the carrier 107 between the lifting device 108 and the storage location of the floor, between the storage location of the floor and the workstation 112 of the floor, or between the lifting device 108 and the workstation 112 of the floor.

In this description, the floor of the stereoscopic warehouse 106 is provided with at least one floor storage location for placing the carrier 107 handled by the second handling apparatus. The upper level of the stereoscopic warehouse 106 is provided with at least one upper level storage location for placing the carrier 107 handled by the first handling device 102. The storage positions of the bottom layer and the storage positions of the upper layer can be set as required, for example, when the storage positions of the bottom layer are set at different positions, different areas for placing the carriers 107 can be formed at the bottom layer, and vacant spaces between the areas for placing the carriers 107 can be used as tunnels for the second carrying equipment 104 to pass when bearing the carriers 107.

Further, in this specification, the carrier 107 may contain goods or containers stored in the warehouse, or the idle carrier 107 does not contain goods or containers, that is, the carriers 107 in the stereoscopic warehouse 106 do not need to contain all goods or containers, and the carriers 107 may be placed in storage locations arranged on each floor of the stereoscopic warehouse 106, or the carriers 107 may not be placed in an idle state. The occupancy of the memory bits in each layer, i.e., the ratio of the number of memory bits in which the carriers 107 are arranged to the total number of memory bits in the same layer, may be configured as desired. The occupancy rate of each layer of carriers 107 is the ratio of the number of carriers 107 holding goods or containers to the total number of carriers 107 on the same layer, and both occupancy rates can be configured as desired. The occupancy rate of the storage bits of the upper layer can be set between 0% and 100%, and the occupancy rate of the storage bits of the bottom layer can be set between 0% and 100%. Similarly, the occupancy rate of each layer of carriers 107 can also be set as required.

In the present specification, in the process of performing the above-described normal operation, the operation may be performed by one or a combination of the first conveying device 102, the second conveying device, the workstation 112, and the lifting device 108 alone or in cooperation with each other according to an instruction from the control server 100.

Due to the structure of the stereoscopic warehouse 106, the first transporting apparatus 102 or the second transporting apparatus may not be able to pass through the storage locations when transporting the carrier 107, i.e., the first transporting apparatus 102 or the second transporting apparatus may not be able to directly travel from one storage location to another storage location adjacent to the first storage location when carrying the carrier 107. In each layer of the stereoscopic warehouse 106, there may be a tunnel for the first handling device 102 or the second handling device to pass through when carrying the carrier 107. The first handling device 102 is also used for entering the high-rise storage position at a position of a roadway adjacent to the high-rise storage position, taking the carrier 107 out of the high-rise storage position, or putting the carrier 107 into the high-rise storage position.

The second carrying device is also used for entering the storage position of the bottom layer at the position of the roadway adjacent to the storage position of the bottom layer, taking the carrier 107 out of the storage position of the bottom layer to the second carrying device, or putting the carrier 107 into the storage position of the bottom layer from the second carrying device.

Fig. 3 provided herein is a schematic top view of a stereoscopic warehouse, wherein the left side is a schematic top view of a high level, which is seen to include a track 118 for allowing the first handling apparatus 102 to travel on the track 118, and the right side is a schematic bottom view, which is seen to not include the track 118. In addition, in the top view, it can be seen that each floor of the stereoscopic warehouse 106 is provided with a roadway for the first handling device 102 or the second handling device 104 to pass through.

In addition, it should be noted that, in this specification, the layouts of the lanes in different layers may not be completely the same, and may be specifically set as required. In the dense storage type warehouse, if the carrier 107 in the storage location which is not adjacent to the roadway needs to be transported, the carrier 107 in the storage location which is adjacent to the roadway needs to be transported out first, so that the storage location which is adjacent to the roadway becomes a temporary roadway, and then the goods in the storage location which is not adjacent to the roadway are transported out by the transporting equipment, so that the SKU of the goods stored in the carrier 107 in the storage location which is not adjacent to the roadway is the same as the SKU of the goods stored in the carrier 107 in the storage location which is adjacent to the roadway generally in view of transporting efficiency. At this time, the storage bits and the lanes in the warehouse are arranged in the following sequence: 1 tunnel, 4 storage bits, 1 tunnel as shown in fig. 4a, both can increase goods storage density, do not also influence warehouse operating efficiency.

However, the arrangement shown in fig. 4a may affect the efficiency of warehouse operations when a single SKU does not have enough items to store in more than two storage locations, and therefore the arrangement shown in fig. 4b can be generally used, i.e. the storage locations and lanes in the warehouse are arranged in the order: 1 lane, 2 storage bits and 1 lane.

In this specification, each layer of the stereoscopic warehouse may be laid out in a layout as shown in fig. 4a or fig. 4b, or in a manner of mixing the two layouts, which is not limited in this specification. Moreover, according to the requirement of goods storage, each layer adopts the layout which is not completely the same. For example, if the space occupied by the commodity is large in the layer a, and a single SKU has enough goods to be stored by the carriers 107 corresponding to more than two storage locations, the layer a may all adopt the layout of fig. 4a, and if the space occupied by the commodity in the layer a +1 is small, the layer a +1 may all adopt the layout of fig. 4 b.

In this description, the first transport apparatus 102 may specifically be a transport apparatus traveling on a track 118, such as a four-way shuttle, and the second transport apparatus 104 may specifically be a transport apparatus traveling on a flat surface, such as an AGV. Of course, the present application is not limited to the specific form of the first transporting apparatus 102 and the second transporting apparatus 104, and the specific form may be set as required as long as the first transporting apparatus 102 can travel along the rail and transport the carrier 107 in the high-level storage location, and the second transporting apparatus 104 can travel on the bottom level and transport the carrier 107 in the bottom-level storage location.

In this description, the workstation 112 is provided with a container handling apparatus. The container handling apparatus is used to take goods or containers containing goods from the carriers 107 or to place goods or containers containing goods on the carriers 107.

The container handling apparatus may be of various specific forms, for example, the container handling apparatus may be a robotic arm having 6 degrees of freedom.

In this description, a container handling apparatus may include a frame on which a pick-and-place container assembly configured to move on the frame and a carrier assembly are disposed. The frame body includes an X-axis track and a Y-axis track in mutually perpendicular directions, the Y-axis track is configured to move along the X-axis track, and the pick-and-place container assembly is configured to move along the Y-axis track. The pick-and-place container assembly is used to pick containers from the carrier 107 and load them onto the carrier in a Z-axis direction perpendicular to the X-axis track and the Y-axis track, or to unload containers from the carrier and place them on the carrier 107.

As shown in fig. 5, fig. 5 is a schematic view of a container handling apparatus in the present specification, the container handling apparatus including a frame body 7, the frame body 7 including an X-axis rail 71 and a Y-axis rail 72 perpendicular to each other, the X-axis rail 71 and the Y-axis rail 72 being disposed on a vertical plane. Specifically, the Y-axis track is configured to move along the X-axis track, and the pick-and-place container assembly 2 is configured to move along the Y-axis track. The pick-and-place container assembly 2 may pick containers from the carrier 107 and load them onto the carrier in the Z-axis direction or unload containers from the carrier and place them on the carrier 107. And the X-axis, the Y-axis and the Z-axis form a three-dimensional coordinate system.

In one embodiment, the frame 7 includes a gantry assembly and the X-axis track 71 includes a ground rail structure and a head rail structure disposed on the gantry assembly. The X-axis rails 71 extend in the horizontal direction, and the Y-axis rails 72 extend in the vertical direction. The Y-axis track 72 may be a vertical column structure, two ends of the Y-axis track 72 are respectively matched with the ground track structure and the sky track structure in a guiding manner, and the Y-axis track 72 moves horizontally along the ground track structure and the sky track structure.

Specifically, two X-axis rails 71 are respectively provided with an X-axis moving plate, the X-axis moving plate can move along the horizontal direction of the X-axis rails 71, and two ends of the Y-axis rail 72 are respectively fixedly connected to the two X-axis moving plates. The Y-axis track 72 is provided with a Y-axis moving plate which can move in the vertical direction along the Y-axis track 72, and the picking and feeding container assembly 2 is fixedly connected to the Y-axis moving plate. The X-axis moving plate and the Y-axis moving plate may further have guide assemblies mounted thereon, and may slide along the corresponding X-axis rails 71 and Y-axis rails 72 via the guide assemblies.

The frame body 7 is further provided with a driving system, and the driving system comprises an X-axis driving unit and a Y-axis driving unit. Wherein the X-axis driving unit is used for driving the Y-axis track 72 to move along the X-axis track 71, and the Y-axis driving unit is used for driving the picking container assembly 2 to move along the Y-axis track 72, so that the picking container assembly 2 can be moved to a corresponding position, for example, a target position corresponding to the position of a container to be picked or placed on the shelf. The driving system may include a driving motor, a transmission gear, a transmission chain, a lead screw assembly, etc., and those skilled in the art can arrange the driving system based on the prior art to realize the above functions of the driving system.

In one embodiment disclosed in the present specification, at least two Y-axis rails 72 may be provided, and at least two Y-axis rails 72 move independently between the upper and lower X-axis rails 71. At least one container taking and delivering assembly 2 is arranged on each Y-axis track, and the container taking and delivering assemblies 2 on each Y-axis track can move independently, so that the working efficiency of the container loading and unloading equipment is improved.

In this embodiment, the pick-and-place container assembly 2 can move on the frame body 7 along the X-axis rails 71 and the Y-axis rails 72 to a target position of the shelf.

In this description, the pick-and-place container assembly 2 may pick a container from the carrier 107 or place a container in the carrier 107 by at least one of sucking, pushing, gripping, grabbing, hooking, clasping, lifting.

In the present specification, as described above, the form of the carrier 107 is not limited, and one carrier 107 may be used to carry 1 or more containers or goods without limitation to the number of containers or goods carried in one carrier 107. For example, the carrier 107 may be a movable shelf.

In addition, in the present specification, the lifting device 108 can also carry the second carrying device 104, and therefore, the lifting device 108 is also configured to ascend or descend to a specified floor according to a carrying command sent by the control server 100, so as to carry at least a combination of the carrier 107 indicated by the carrying command and one or more of the first carrying device 102 and the second carrying device 104 between the floors.

In this specification, the designated floor is a floor that the lifting device 108 needs to reach when performing a transportation task, for example, from a 3-floor transportation vehicle 107 to the floor, the control server 100 may respectively send two transportation commands to the lifting device 108, the transportation device 108 may reach the 3-floor according to the first received transportation command (i.e., the designated floor indicated by the first received transportation command), and when the vehicle 107 has been transported into the lifting device 108, the transportation device 108 may reach the floor according to the second received transportation command (i.e., the designated floor indicated by the second received transportation command). Of course, the above is only an example, and in the above example process, the control server 100 may also only send one transport instruction, and the designated floor is 3 floors and the bottom floor respectively according to the sequence, so that the lifting device 108 sequentially reaches the 3 floors and the bottom floor according to the transport instruction, and transports the carriers 107 of the 3 floors to the bottom floor.

In this description, the workstation 112 may also be provided with a rotating device, and the carrier may also be a double-sided container rack carrying containers. When the vehicle is a double-sided container rack carrying containers, the rotary apparatus is used to swivel the double-sided container rack so that the workstation 112 can take containers from different sides of the double-sided container rack or place containers into the double-sided container rack as needed based on the warehousing task.

In one embodiment of the present description, the workstation 112 may also be provided with a transfer line, one end of which interfaces with the container handling apparatus. The container handling equipment in the workstation is also used to place goods or containers containing goods taken from the carriers 107 on a conveyor line. Alternatively, a container that takes out goods or contains goods from the transfer line is placed on the carrier 107. The transmission line is used for receiving the carrier 107 or the goods and transmitting the carrier 107 or the goods from one end to the other end of the transmission line. In this embodiment, the workstation 112 is located on a floor other than the floor, and the other end of the transmission line interfaces with the lift device 108.

In this specification, the workstations 112 located at other levels than the bottom level are arranged at the edge positions of the stereoscopic warehouse 106.

In the present specification, the distance between the position of the storage location where the vehicle 107 is carried and the rail 118 is greater than the height of the first transfer apparatus 102 when the vehicle 107 is not carried, so that the first transfer apparatus 102 can further enter below the storage location, and transfer the vehicle 107 from below the vehicle in a piggyback manner and leave the higher storage location.

In this specification, the carrier 107 may include legs, the legs of the carrier 107 forming an opening having a height higher than the height of the second handling apparatus 104 when not carrying the carrier 107; the second transfer apparatus 104 is further configured to selectively pass under at least a portion of the bottom bay when not carrying a vehicle 107, or to transfer the vehicle 107 piggy-back from under at least a portion of the bottom bay and out of the bottom bay.

In this description, the storage locations may be surrounded by a plurality of columns, the spacing of the columns between at least some of the upper levels of the stereoscopic warehouse 106 is greater than the width of the first handling apparatus 102, and the height of the lowest point of the connecting member between at least some adjacent two columns of the upper levels of the stereoscopic warehouse 106 is higher than the height of the first handling apparatus 102 when not carrying the vehicle 107. The first handling apparatus 102 is further configured to selectively pass between at least some adjacent two pillars in the floor when the vehicle 107 is not carried.

In this specification, the spacing between the storage position columns of at least a part of the bottom floor of the stereoscopic warehouse 106 is larger than the width of the second handling device 104, and the height of the lowest point of the connecting member between two adjacent columns of at least a part of the bottom floor of the stereoscopic warehouse 106 is higher than the height of the second handling device 104 when the second handling device 104 is not carrying the carrier 107, the second handling device 104 is further used for selectively passing between two adjacent columns of at least a part of the bottom floor when the carrier 107 is not carrying.

In this specification, the storage bit on the upper layer and the storage bit on the lower layer may not be surrounded by the pillar, but the storage bits may be provided as needed. For example, the two-dimensional code is positioned, so that the first handling device 102 and the second handling device 104 determine the position of the storage location for placing the carrier 107.

In an embodiment provided in this specification, a description will be given of a process in which the stereoscopic warehouse scheduling system performs a carrying task and a warehousing task corresponding to a conventional operation, taking an example in which the conventional operation is a racking operation process of goods.

After determining the transportation task to be executed, the control server 100 of the stereoscopic warehouse scheduling system may first determine a storage location of a bottom layer where an initial carrier storing a target cargo corresponding to the transportation task is currently located, and finally store the target cargo to the storage location of the target carrier currently located and a storage location of a top layer where the target cargo is finally placed. The storage positions of the target carrier at present and the storage positions of the finally placed high layer can be the same or different, and can be set according to requirements.

Then, the control server 100 is configured to determine, according to the determined storage locations of the bottom layer in which the initial carriers are stored and the determined storage locations of the top layer in which the target carriers are stored, each device for performing the transportation task, and the workstation 112 for implementing the sorting process. Then, the control server 100 may transmit a transport instruction for executing the transport task to each of the specified devices and the workstation 112 in accordance with the transport task.

The second transporting apparatus 104 performing the transporting task is used for transporting the initial carrier of the target cargo to the lifting apparatus 108 at the bottom floor according to the transporting task. The lifting device 108 is also used for transporting the initial carrier to the layer where the workstation 112 is located according to the transporting task. The first transporting apparatus 102 is used for receiving an initial carrier with target cargo from the lifting apparatus 108 and transporting the initial carrier to the workstation 112.

The first transporting apparatus 102 is further configured to transport the target vehicle stored in the high-level storage location to the workstation 112 according to the transporting task, and send arrival information to the workstation 112. The first handling apparatus 102 for carrying the target vehicle to the workstation may be the same as or different from the first handling apparatus 102 for carrying the initial vehicle to the workstation.

The workstation 112 is further configured to, when receiving the arrival information, take out the target container or the target cargo corresponding to the transportation task from the initial carrier according to the warehousing task, place the taken out target container or the target cargo in the target carrier, and send completion information to the first transportation device 102 after placing the target container or the target cargo in the target carrier.

Further, the first transporting apparatus 102 is further configured to, when receiving the completion information, transport the target vehicle to a high-level storage location according to the transporting task, and the execution process of the racking operation is ended.

After the target cargo is placed in the target carrier from the initial carrier at the workstation 112, the initial carrier may be transported to a designated location for storage by each device according to the instruction of the control server 100, or transported to the corresponding workstation 112 as a target carrier or an initial carrier corresponding to another transportation task.

In one or more embodiments of the present disclosure, after the first transporting apparatus 102 transports the target vehicle to the workstation 112, it may also send arrival information to the control server 100 instead of directly sending arrival information to the workstation 112, and the server 100 forwards the arrival information to the workstation 112, or sends an operation instruction related to the transporting task to take or place the vehicle 107 to the workstation 112 according to the arrival information. The workstation 112 may further take out the target cargo from the initial carrier and put the taken-out target cargo into the target carrier according to the transportation task after receiving the arrival information or the operation instruction sent by the control server 100, and send the completion information to the first transportation apparatus 102 or the control server 100 after putting the target cargo into the target carrier.

The control server may also forward the completion information to the first transporting apparatus 102, or send a transporting instruction corresponding to the transporting task to the first transporting apparatus 102 according to the completion information, so that the first transporting apparatus 102 transports the target vehicle to a higher storage location according to the transporting task when receiving the completion information or the transporting instruction sent by the control server 100.

In this specification, when the control server 100 determines the second transfer devices 104 that transfer the initial vehicle to the lift device 108 based on the transfer task, it first determines the second transfer devices 104 on the floor where the initial vehicle is located.

Then, the second conveyance device 104 that executes the conveyance task is identified from among the identified second conveyance devices 104, and a conveyance command is transmitted. The control server 100 may determine the second transporting apparatus 104 for performing the transporting task from the second transporting apparatuses 104 according to whether the second transporting apparatuses 104 are idle, or the number of transporting instructions to be executed, the distance between the initial vehicle and the storage location, and other factors.

When determining the first transporting equipment 102 for transporting the target vehicle to the workstation 112 according to the transporting task, the control server 100 may first determine each first transporting equipment 102 on the upper layer where the target vehicle is located, and determine the first transporting equipment 102 for executing the transporting equipment from the determined first transporting equipment 102 according to whether each first transporting equipment 102 is idle, the number of transporting instructions to be executed, the distance from the storage location where the target vehicle is located, and other factors.

Of course, the selection of the first and

second transfer devices

102 and 104 according to the present application is not limited, and may be specifically set according to the need, for example, the control server 100 may simply select one second transfer device 104 from the idle second transfer devices 104 as the second transfer device 104 for performing the transfer task. Alternatively, the first transfer device 102 closest to the higher-level storage location where the target vehicle corresponding to the transfer task is located is determined from among the empty first transfer devices 102, and is used as the first transfer device 102 for executing the transfer task.

In this specification, the first transfer device 102 that transfers a target carrier that does not contain a target cargo or a target container to the work station 112 may be the same as or different from the first transfer device 102 that transfers a target carrier that contains a target cargo or a target container from the work station 112 to a higher-level storage location.

Furthermore, when the control server 100 sends the transport instruction to the second transport apparatus 104, the control server may also asynchronously send the transport instruction to the lifting apparatus 108, so that the lifting apparatus 108 is lowered to the bottom layer (i.e. the designated layer) where the storage location of the bottom layer is located, that is, the layer where the initial vehicle of the transport task is located. The lift apparatus 108 can move to the floor according to the transporting instruction, wait for the second transporting apparatus 104 to transport the initial carrier to the lift apparatus 108, and transport the initial carrier to the upper floor where the workstation is located. In this specification, the transport instructions sent by the control server 100 to different transport apparatuses are not all identical.

In this specification, at least one of the floors of the stereoscopic warehouse 106 may be provided.

In another embodiment provided in this specification, a process in which the stereoscopic warehouse scheduling system performs a handling task and a warehousing task corresponding to a conventional operation will be described by taking an example in which the conventional operation is a process of lowering goods.

After determining the transportation task to be executed, the control server 100 of the stereoscopic warehouse scheduling system may first determine a storage location of a high layer where an initial carrier storing a target cargo corresponding to the transportation task is currently located, and may finally store the target cargo to a storage location of a bottom layer where the target carrier is located. And determines the devices for executing the handling task and the workstations 112 for implementing the sorting process according to the determined storage locations of the upper layer in which the initial carriers are stored and the storage locations of the lower layer in which the target carriers are stored. Then, the control server 100 may transmit a transport instruction for executing the transport task to each of the specified devices and the workstation 112 in accordance with the transport task.

The first transfer device is also used to transfer the initial carrier with the target cargo stored therein from the higher-level storage location to the workstation 112 according to the transfer task, and to transmit arrival information to the workstation 112. The workstation 112 is further configured to take out the target cargo from the initial carrier transported by the first transporting apparatus 102 according to the warehousing task and place the taken out target cargo into the target carrier in the workstation 112 when the arrival information is received.

The first transporting apparatus 102 is further configured to transport the target vehicle to the lifting apparatus 108 according to the transporting task.

The lifting device 108 is also used for transporting the target vehicle to the bottom floor according to the transporting task.

Further, the second transporting apparatus 104 is further configured to obtain the target vehicle from the lifting apparatus 108 according to the transporting task, and transport the target vehicle to the position specified by the transporting task.

When a target vehicle in the workstation 112 is transported from a high-level storage location to the workstation 112, the target vehicle can be transported to the workstation 112 by the first transporting apparatus 102 according to the transporting task.

In the above-described racking operation, the workstation 112 may not directly communicate with the first conveyance device 102, that is, may communicate with the first conveyance device 102 through the control server 100.

In this description, the workstation 112 may include a buffer rack for temporarily storing at least one of the carriers 107, containers, and goods removed from the first handling apparatus 102 by the workstation 112. Of course, the buffer rack is only an example, and other devices capable of temporarily storing the carriers 107, the containers, and the goods, such as storage locations, carrier supports, container supports, etc., may also be used.

In this description, one or more container handling devices are located in a workstation 112 located at a higher level in the stereoscopic warehouse 106. The container handling apparatus is used to take goods or containers containing goods from the carriers 107 or to place goods or containers containing goods on the carriers 107. As shown in fig. 6, it can be seen that after the first handling apparatus 102 handles the carrier 107 to the workstation, the container handling apparatus 105 can perform an operation on the container or the goods in the container. The cargo-handling apparatus 105 is used to take the carriers 107 from the workstation 112 into the first transfer apparatus 102 according to the warehousing task. Alternatively, the container handler 105 may be configured to retrieve the carrier 107 from the first handler 102 and place the carrier 107 at the workstation 112 based on the warehousing task.

Further, the container handling apparatus 105 is also used for taking goods out of the carriers 107 in the workstation 112 and placing them into the carriers 107 handled by the first handling apparatus 102 or the carriers 107 transported by the drop-in lifting apparatus 108 according to the warehousing task. Alternatively, the container handling apparatus 105 is further configured to take out the goods from the carriers 107 transported by the first transporting apparatus 102 or from the carriers 107 transported by the pick-up and drop-off apparatus 108 according to the warehousing task, and put the goods into the carriers 107 in the workstation 112.

Since the container handling apparatus 105 is used to handle containers on the first transfer apparatus 102 or goods on the first transfer apparatus 102 or the carriers 107 to be transferred, the container handling apparatus 105 needs to be aligned with the carriers 107 when loading and unloading the carriers 107 or goods.

The container handling apparatus 105 may then include a sensor. The sensors of the container handling apparatus 105 are used to determine the relative position of the container handling apparatus 105 and the carrier 107 or container handled by the first handling apparatus 102. The container handling apparatus 105 is also used to pick or place the carrier 107 based on the warehousing task and the relative position determined by the sensors.

The sensor may also be provided as desired, for example, a distance sensor, a vision sensor, or the like. Alternatively, the workstation 112 may include personnel responsible for picking or placing the carrier 107 from or to the first transfer apparatus 102 or the carrier 107, and the picking and placing of the container or cargo may be accomplished by either or a combination of the container handling apparatus 105 and the personnel at the workstation 112.

In this specification, the tallying operation in the stereoscopic warehouse 106 may include synchronous tallying and asynchronous tallying. The tallying operation is a process of performing a transportation task by collectively storing the cargos in the warehouse, for example, by tallying the cargos in the same SKU, reducing the number of carriers 107 occupied when a certain cargo is stored, and transporting and transferring different carriers 107, or combining or exchanging the cargos in different carriers 107. Since the tally operation (i.e., the exchange, consolidation, or exchange of the carriers 107 among the carriers 107) is performed at the workstation 112, and the carriers 107 corresponding to the tally process include at least two carriers, it is necessary to transfer each carrier 107 designated by the transfer task corresponding to the tally process to the workstation 112. The tallying process is divided into synchronous tallying and asynchronous tallying according to whether the workstation 112 waits for the first transporting apparatus 102 to transport each carrier 107 corresponding to the tallying process to the workstation 112 and then starts to execute the tallying operation.

In one or more embodiments of the present disclosure, a process of executing the transporting task and the warehousing task by the stereoscopic warehouse scheduling system is described by taking a synchronous tallying process as an example.

When the transport task is executed, the control server 100 is configured to determine the transport task corresponding to the tally process, determine at least two first transport apparatuses 102 and workstations 112 that execute the transport task according to the transport task, and send a transport instruction to the determined first transport apparatuses 102 and workstations 112. The determined at least two first transporting devices 102 are configured to transport the first carrier and the second carrier to the workstation 112 according to the transporting task after receiving the transporting instruction. The workstation 112 is further configured to take out at least some of the goods or containers in the first carrier and put them into the second carrier, or take out at least some of the goods or containers in the second carrier and put them into the first carrier according to the warehousing task. I.e. to merge or integrate at least part of the goods or containers. For example, if the capacities of the first and second carriers are 20L and 10L of goods are stored in the first and second carriers, the goods in the second carrier can be taken out and put into the first carrier by the above-mentioned tallying operation, so that the first carrier is fully loaded and the second carrier is idle, thereby reducing the occupation of the carrier 107.

In addition, after the determined at least two first transporting devices 102 transport the first carrier and the second carrier to the workstation 112 according to the transporting task, the workstation 112 is further configured to take out at least part of the goods in the first carrier and place the goods in the second carrier according to the transporting task, and take out at least part of the goods in the second carrier and place the goods in the first carrier, that is, exchange the goods. For example, assuming that the capacities of the first and second carriers are 20L, and 10L of cark a and 10L of SKU b are stored in the first and second carriers, the cargo in 10L of SKU a in the second carrier can be taken out and put into the first carrier, and the cargo in 10L of SKU b in the first carrier can be taken out and put into the second carrier, so that the cargo in the same SKU is stored in the same carrier 107.

In one or more embodiments of the present disclosure, the process of executing the transporting task and the warehousing task by the stereoscopic warehouse scheduling system is described by taking an asynchronous tallying process as an example.

When the asynchronous tally process is executed, the control server 100 is configured to determine a handling task corresponding to the asynchronous tally process, and determine the first handling device 102 and the workstation 112 that execute the handling task. The first transporting apparatus 102 is further configured to transport the first vehicle to the workstation 112 according to the transporting task, and transport the second vehicle to the workstation 112 after the workstation 112 takes out at least a part of the goods or containers of the first vehicle. The workstation 112 is further configured to take out at least some goods or containers in the first carrier according to the warehousing task, place the goods or containers in the carrier 107 in the workstation 112 for temporary storage, and place at least some goods or containers in the carrier 107 in the workstation 112 into the second carrier according to the transportation task, until the cargo handling process is finished.

Because the workstation 112 may be provided with a buffer shelf therein, the workstation 112 may also take out at least some of the goods or containers in a carrier 107 and place them into the buffer shelf in the workstation 112 for temporary storage.

The first transfer devices 102 for transferring the first and second carriers to the workstation 112 may be the same first transfer device 102 or different first transfer devices 102, and may be arranged as required, which is not limited herein. When the first transporting apparatus 102 is the same, the first transporting apparatus 102 can transport the first carrier and the second carrier to the workstation 112 twice. When the first transporting apparatuses 102 are different, the determined distances between each first transporting apparatus 102 and the storage locations for storing the first and second vehicles and the distances between the storage locations for storing the first and second vehicles and the workstations 112 may be different, so that the control server 100 can flexibly, synchronously or asynchronously send the transporting instruction to each determined first transporting apparatus 102, so that the first transporting apparatus transports the corresponding first vehicle or the corresponding second vehicle to the workstation 112 successively.

In one or more embodiments of the present disclosure, the workstation 112 is further configured to send information that the warehousing task is completed to the control server 100 after the warehousing task is completed, for example, in the warehousing process, the workstation 112 sends arrival information after receiving arrival information of the first transporting apparatus 102 at the workstation 112, and sends completion information to the control server 100 after the target goods or the target containers are taken out from the initial carriers and placed in the target carriers.

Accordingly, the first transfer device 102 is also configured to transmit information that the execution of the transfer command has been completed to the control server 100 after the carrier 107 is transferred to one of the upper workstation 112, the upper storage location, and the lifting device 108 in accordance with the transfer task.

The second conveyance device 104 is also configured to transmit information that the execution of the conveyance command is completed to the control server 100 after the carrier 107 is conveyed to one of the work station of the floor, the storage location of the floor, and the lifting device 108 according to the conveyance task.

In one or more embodiments of the present disclosure, since the transportation task of the conventional job design in the stereoscopic warehouse 106 may cause the position of the same vehicle 107 to change, the control server 100 may update the stored position relationship. Therefore, the control server 100 is further configured to update the correspondence relationship between the storage locations, the goods, the containers, and the vehicles 107 in the stereoscopic warehouse 106 based on at least one of the received information that the warehousing task is completed and the information that the transportation instruction sent by the first transportation device 102 and the second transportation device 104 is completed.

Since each of the transport apparatus, the workstation 112, and the like may successively transmit the information of the completed execution to the control server 100 multiple times during the process of executing the transport task, or when the transport task and/or the warehousing task are executed by multiple executors (the first transport apparatus 102, the second transport apparatus 104, the lifting apparatus 108, the workstation 112, and the like), even if one executor transmits the information of the completed execution to the control server 100 once, the control server 100 receives the information of the completed execution of multiple transport instructions. In the process of executing the same transportation task and/or warehousing task, the control server 100 may update the corresponding relationship among the storage locations, containers, goods, and carriers 107 in the stereoscopic warehouse 106 each time after receiving the information that the execution is completed, or may finally update the corresponding relationship among the storage locations, goods, containers, and carriers 107 in the stereoscopic warehouse 106 after receiving the information that the execution of the transportation instruction is completed for the last time. Of course, the corresponding relationship among the storage locations, containers, goods, and vehicles 107 in the stereoscopic warehouse 106 may also be updated according to the information that the determined transport instructions corresponding to the links are executed from the links in the process of executing the transport task and/or the warehousing task.

In this description, the workstation 112 also provided in the stereoscopic warehouse 106 may further include a transfer line, the entrance and exit of which are provided with the container handling apparatus 105, respectively, and a station. The stations in the workstation 112 are located in the transport path of the transport line.

In this description, the container handling apparatus 105, located at the entrance of the conveyor line, is also used to pick containers or goods from the carriers 107 located at the entrance and place them on the conveyor line. The container handling apparatus 105, located at the exit of the conveyor line, is also used to pick up containers or goods transported by the conveyor line and place them into the vehicles 107 located at the exit.

Fig. 7 is a schematic diagram of a transmission line provided in the present specification. As shown in the figure: the carriers 107 are transported by a conveyor line and the cargo handling apparatus 105 picks up the carriers 107 at the entrance of the conveyor line onto the conveyor line. The diagonal filled rectangles represent stations, and it can be seen that stations are provided in the transport path of the transport line for sorting the goods in the carriers 107 transported by the transport line. At the exit of the transfer line, the container handling apparatus 105 places the sorted carriers 107 into a second nearby handling apparatus 104102. The transmission lines in fig. 7 are only examples and may be in other forms, for example, they may be ring-shaped transmission lines, and the entrance and exit of the transmission lines may be located at the same position.

In addition, since the carrier 107 is not bound to the goods, the container, and the storage location in this specification, the carrier 107 storing the goods and the storage location in which the carrier 107 is stored may vary. Then, the control server 100 is further configured to determine the liveness of different vehicles 107 according to at least one of the cargo loading/unloading frequency and the cargo access amount, and send the transporting instructions for performing the transporting task to the first transporting apparatus 102, the second transporting apparatus 104 and the lifting apparatus 108 according to the sequence of the liveness of each vehicle 107, so as to adjust at least some vehicles 107 such that the liveness of the vehicle 107 in the storage location at the bottom level is higher than the liveness of the vehicle 107 in the storage location at the top level. Of course, the above process may be performed during the execution of normal tasks, or during other tasks, and the adjustment may be performed as long as the carrier 107 needs to be taken out of the storage location.

In one embodiment, the first handling apparatus 102 and the second handling apparatus 104 can both carry the carrier 107 in a piggy-back manner. For example, the first transport apparatus 102 may travel to a position below the upper storage location where the vehicle 107 of the transport task is located through the roadway of the floor after receiving the transport instruction, transport the vehicle 107 from the upper storage location in a piggyback manner, and transmit information that the transport instruction is completed to the control server 100 after the vehicle 107 is transported to a position (such as an identifier of the workstation 112) specified by the transport instruction.

The transport command transmitted to the first transport facility 102 includes an identifier of an upper storage location where the vehicle 107 to be transported is located, an identifier of the workstation 112 designated by the transport command, and a route from the upper storage location to the workstation 112, and when the stereoscopic warehouse 106 includes a plurality of workstations 112, the control server 100 can determine the identifier and the route of the workstation 112 by route optimization and transmit the information included in the transport command to the first transport facility 102. The first handling apparatus 102 is enabled to carry the carrier 107 to the workstation 112 according to the optimized path.

Further, in this description, the first transfer apparatus 102 may transfer the carriers 107 from the high-level storage locations or store the carriers 107 in various manners.

Specifically, the control server 100 determines, based on the transport task, a storage location of the upper layer corresponding to the transport task, for example, a storage location of the upper layer in which the vehicle 107 is put in storage, and may be regarded as a storage location of the upper layer corresponding to the transport task, or a storage location of the upper layer when the vehicle 107 is put in storage, and may also be regarded as a storage location of the upper layer corresponding to the transport task.

Then, the control server 100 may send a conveying instruction to the determined first conveying device 102 according to the position of the storage location at the upper layer and the position of the lane adjacent to the storage location at the upper layer.

The first conveyance device 102 can take the carrier 107 from the side of the high-rise storage location to the first conveyance device 102 or put the carrier 107 conveyed by the first conveyance device 102 into the high-rise storage location from the side of the high-rise storage location at a position of a lane adjacent to the high-rise storage location in accordance with the conveyance command transmitted from the control server 100. As shown in fig. 8. Fig. 8 is a schematic view of the first handling apparatus provided in the present specification taking and placing a carrier from a side. As can be seen, the first conveyance device 102 is located in a position of a roadway adjacent to the upper storage location, and the carrier 107 storing the goods is taken in and out from the side of the upper storage location.

Alternatively, after determining the upper storage location corresponding to the transport task, the control server 100 transmits a transport instruction to the determined first transport device 102 based on the position of the upper storage location and the positions of the other storage locations above the upper storage location.

The first conveyance device 102 can take the carrier 107 from above the upper-level storage location into the first conveyance device 102 or place the carrier 107 from above the upper-level storage location into the upper-level storage location from the first conveyance device 102, in accordance with the conveyance command sent from the control server 100.

Further, in this description, the second transfer device 104 may transfer the carriers 107 from the underlying storage locations or store the carriers 107 in a variety of ways.

Specifically, the control server 100 determines, according to the transport task, the storage location of the bottom layer corresponding to the transport task, for example, the storage location of the bottom layer in which the vehicle 107 is put in storage may be regarded as the storage location of the bottom layer corresponding to the transport task, or the storage location of the bottom layer when the vehicle 107 is put in storage may be regarded as the storage location of the bottom layer corresponding to the transport task.

Then, the control server 100 may send a conveying instruction to the determined second conveying device 104 according to the position of the storage location of the bottom layer and the position of the lane adjacent to the storage location of the bottom layer.

The second conveyance device 104 can take the carrier 107 out of the side of the storage location of the floor onto the second conveyance device 104 or put the carrier 107 conveyed on the second conveyance device 104 into the storage location of the floor from the side of the storage location of the floor at a position of a lane adjacent to the storage location of the floor in accordance with the conveyance command transmitted from the control server 100.

Alternatively, after determining the storage location of the bottom layer corresponding to the transport task, the control server 100 sends a transport instruction to the determined second transport device 104 according to the location of the storage location of the bottom layer.

The second transporting apparatus 104 may enter the position below the storage position of the bottom floor at the position of the roadway adjacent to the storage position of the bottom floor according to the transporting instruction sent by the control server 100, take the carrier 107 out of the position below the storage position of the bottom floor onto the second transporting apparatus 104, or put the carrier 107 indicated by the transporting instruction into the storage position of the bottom floor from the second transporting apparatus 104.

In addition, in the present specification, since at least one lifting device 108 may be disposed in the stereoscopic warehouse 106 for each stereoscopic warehouse 106, in order to allow the carrier 107 to be placed on any floor of the stereoscopic warehouse 106, when the stereoscopic warehouse 106 includes a plurality of lifting devices 108, there is at least an overlap between designated floors that the plurality of lifting devices 108 can reach.

That is, the lifting devices 108 may be configured to communicate with the various levels of the stereoscopic warehouse 106 via overlapping levels. As shown in fig. 9, the stereoscopic warehouse 106 has 4 floors in total, and 3 lifting devices 108 are respectively communicated, wherein the floors are 1 floor, 1 floor and 2 floor, and 2 floor and 3 floor. Of course, each lifting device 108 may be located at a different location of the stereoscopic warehouse 106.

The control server 100 may transport the vehicle 107 to any floor of the stereoscopic warehouse 106 via one or more lifting devices 108. For example, in fig. 9, if it is desired to transport a load of 3 floors to the floor, the server may call the first transporting devices 102 of 1 to 3 floors and the corresponding lifting devices 108, respectively, so that the lifting devices 108 and the first transporting devices 102 of the respective floors can transport the load from 3 floors to the floor in a relay manner, and the second transporting device 104 of the floor can further transport the carrier 107.

In the present specification, the rail 118 may be provided in the lifting device 108, so that the rail 118 in the lifting device 108 may be connected to the rail 118 provided in the high-rise of the stereoscopic warehouse 106, and the first transfer device 102 may be driven into the lifting device 108 and directly place the carrier 107 in the lifting device 108 when moving along the rail 118 at the high-rise, or the first transfer device 102 may be transferred to another floor by the lifting device 108. As shown in fig. 10.

Further, in this specification, when the rail 118 is also provided in the lifting device 108, the control server 100 may also call up the first carrier device 102 between different layers through the lifting device 108.

Specifically, in this specification, the control server 100 may determine the number of the first conveying devices 102 required for each high-rise floor according to the conveying tasks to be performed corresponding to some or all of the high-rise floors. The control server 100 may set the layer in which the storage bit of the upper layer involved in the transport job is located as the upper layer corresponding to the transport job. For example, if the a transport task needs to transport the vehicle 107 from the 3 levels, the 3 levels correspond to the a transport task, or if the B transport task needs to transport the vehicle 107 to a storage location of any one of the 3 levels, the 3 levels correspond to the B transport task. The control server 100 may determine the number of first conveyance devices 102 required for each higher floor, based on the number of conveyance tasks to be performed corresponding to each higher floor, and the number of first conveyance devices 102 required for each higher floor increases as the number of conveyance tasks to be performed corresponding to each higher floor increases. Of course, since the space of each floor in the warehouse is limited, and an excessive number of the first handling devices 102 may cause a reduction in the device-capable driving route or a congestion of the route, in this specification, the control server 100 may further determine the number of the first handling devices 102 required by each floor according to a preset maximum number of the first handling devices 102 of each floor. The maximum number of the first transfer apparatus 102 may be different according to the layout of each floor, and when the number of the carriers 107 arranged in a higher floor is smaller, it is described that the area through which the first transfer apparatus 102 can pass is larger.

Then, the control server 100 may determine the first conveying equipment 102 to be called by each high-rise floor according to the number of the first conveying equipment 102 required by each high-rise floor and the current number of the first conveying equipment 102 of each high-rise floor, and may send a call instruction to the first conveying equipment 102 to be called.

The first transfer device 102 is further configured to, according to the received call command sent by the control server 100, travel along the rail 118 into the lifting device 108, and reach the upper level specified by the call command through the lifting device 108.

In the above description of the structure of the stereoscopic warehouse 106, the reason why the first transfer device 102 is not able to reach the inside of the lifting device 108 is that the carrier 107 needs to be transferred into the lifting device 108 and then the lifting device 108 transfers the carrier 107 to a predetermined floor, since the respective high floors are independently provided outside the lifting device 108.

In this specification, the lifting device 108 may be provided with a rail 118, and the first conveyance device 102 may be moved into the lifting device 108.

Then, the first transfer device 102 is further configured to travel to a position inside the lifting device 108 and place the carrier 107 in the lifting device or take out the carrier 107 therefrom according to the transfer command sent by the control server 100.

In one or more embodiments of the present description, this may also be provided within the lifting device 108. The first handling apparatus 102 may further be configured to travel to a location within the lifting apparatus 108 to place the vehicle 107 in, or to remove the vehicle 107 therefrom.

Further, in the present specification, since the warehouse construction may be affected in various aspects, each layout is different, and when there are all areas of the high-rise of the stereoscopic warehouse 106 that cannot be connected by the track, as shown in fig. 11, if the first transfer apparatus 102 needs to be called between two areas, the control server 100 may be configured to:

when the first conveying equipment 102 needs to be called between different areas of a floor of all areas which cannot be communicated by the track 118, the control server 100 is configured to determine the floor of all areas communicated by the track nearest to the floor as an intermediate floor by taking the area of the first conveying equipment 102 called out as a departure area and the area of the first conveying equipment 102 called in as a destination area.

The control server 100 sends a call instruction to the first transportation device 102 in the departure area, sends a transportation instruction to the lifting device 108 communicating the middle layer with the departure area, and sends a transportation instruction to the lifting device 108 communicating the middle layer with the destination area, so that the first transportation device 102 passes through the two lifting devices 108 and the track 118 of the middle layer and then reaches the destination area from the departure area.

Further, the present specification provides a system in which, when there are more than two stereoscopic warehouses 106, the floors of the respective stereoscopic warehouses 106 communicate with each other. As shown in fig. 12a and 12 b. Fig. 12a is a simplified schematic view of the two-storied warehouse corresponding to fig. 11, showing that only the bottom stories are connected and thus can be regarded as a whole, and fig. 12b is a detailed schematic view showing that the two stories are independently and respectively disposed on the bottom stories.

And the control server 100 may determine the number of first handling apparatuses 102 required for each stereoscopic warehouse 106 according to the handling tasks to be performed corresponding to at least a part of the stereoscopic warehouses 106.

The first handling equipment 102 to be called by each stereoscopic warehouse 106 is determined according to the number of the first handling equipment 102 required by each stereoscopic warehouse 106 and the number of the first handling equipment 102 of each stereoscopic warehouse 106 at present.

The stereoscopic warehouse 106 from which the first transport apparatus 102 is retrieved is set as a departure warehouse, the stereoscopic warehouse 106 to which the first transport apparatus 102 is retrieved is set as a destination warehouse, and the first transport apparatus 102 is transferred from the departure warehouse to the destination warehouse by transmitting a transfer command to the first transport apparatus 102 in the departure warehouse and transmitting transfer commands to the second transport apparatus 104, the lifting apparatus 108 of the departure warehouse, and the lifting apparatus 108 of the destination warehouse, so that the first transport apparatus 102 is transferred from the departure warehouse to the destination warehouse by the two lifting apparatuses 108 and the second transport apparatus 104.

The second handling device 104 is further configured to handle the first handling device 102 from the bottom of the departure warehouse to the bottom of the destination warehouse according to the call instruction.

It should be noted that, since the first transfer apparatus 102 can travel into the lifting apparatus 108 through the rail 118, the second transfer apparatus 104 can regard the first transfer apparatus 102 in the lifting apparatus 108 as a vehicle in the lifting apparatus 108, and transfer the first transfer apparatus 102 out of the lifting apparatus 108 in the same manner as the transfer vehicle 107. Moreover, since the floors of the warehouses 106 are connected, the second handling device 104 can transfer the first handling device 102 from one warehouse 106 to another warehouse 106 through the floors to realize transfer between different warehouses 106.

In this specification, the lifting/lowering device 108 is provided with a powered transfer device 120, and includes at least the transfer device 120 located in the lifting/lowering device. The powered transfer device 120 may actively move the carrier 107 placed on the transfer device 120, such as a roller line, a transportation line, a bidirectional retractable fork, etc., and the specific form is not limited.

The first transfer device 102 is further configured to travel to a transfer device 120 as a part of the lifting device 108, and place the carrier 107 on the transfer device 120, or take out the carrier 107 from the transfer device 120 as a part.

Further, in this specification, at least a part of the upper floors of the stereoscopic warehouse 106 is provided with a powered transfer facility 120 outside a position where the lifting facility 108 is butted against the upper floors. The present specification also includes at least a transfer device 120 located outside the lifting device. As shown in fig. 13.

When the lifting facility 108 is located at a high level, the transfer facility 120 located outside the lifting facility 108 is brought into contact with the transfer facility 120 located inside the lifting facility 108, and the carrier 107 is transported from the transfer facility 120 located inside the lifting facility 108 to the transfer facility 120 located outside the lifting facility 108, or the carrier 107 is transported from the transfer facility 120 located outside the lifting facility 108 to the transfer facility 120 located inside the lifting facility 108.

In this specification, when the lifting equipment 108 is provided with the transfer equipment 120 inside, the bottom floor of the stereoscopic warehouse 106 may be provided with the powered transfer equipment 120 so that when the lifting equipment 108 is located at the bottom floor, the transfer equipment 120 at the bottom floor is in abutment with the transfer equipment 120 located inside the lifting equipment 108 for transferring the carrier 107 from the transfer equipment 120 at the lifting equipment 108 to the transfer equipment 120 at the bottom floor, so that the carrier 107 can be taken out from the transfer equipment 120 at the bottom floor by the second transport equipment 104, or when the carrier 107 is placed on the transfer equipment 120 at the bottom floor by the second transport equipment 104, the transfer equipment 120 at the bottom floor can transfer the carrier 107 from the transfer equipment 120 at the bottom floor to the transfer equipment 120 at the lifting equipment 108.

Then, the second conveying apparatus 104 in this specification is further configured to take out the carrier 107 from the transfer apparatus 120 on the bottom floor and place the carrier 107 in a predetermined area on the bottom floor. Alternatively, the second transfer apparatus 104 may take out the carrier 107 from the designated area and transfer the carrier 107 to the transfer apparatus 120 on the bottom floor. As shown in fig. 14, the dashed arrow indicates the moving path of the carrier 107.

In another embodiment of the present disclosure, the control server 100 may send a transportation command to the second transportation apparatus 104 to transport to a designated area outside the stereoscopic warehouse 106 as needed, and the second transportation apparatus 104 may transport the carrier 107 to the designated area according to the transportation command. That is, the second transporting apparatus 104 is not limited in this specification to only be able to operate in the stereoscopic warehouse 106, and the second transporting apparatus 104 is not limited by the track because it operates on the underlying platform, and can more flexibly interface with the apparatus outside the system or the stereoscopic warehouse 106 to transport the carrier 107 out of the system or to transport the carrier 107 in. Wherein the external equipment may be a forklift controlled by a worker, a roller line for transporting the carrier 107, a production line, an area where the worker sorts goods, and the like, which is not limited by the present specification.

Further, the system may further include: at least one external buffer 122, where the external buffer 122 is at least one of a stereo storage or a flat storage, which is not limited in this specification. When the external buffer 122 is in a three-dimensional storage form, the external buffer 122 may also be provided with a lifting device 108 for communicating with each layer of the external buffer 122. Of course, if the lifting device 108 is not provided in the external buffer area 122, the carriers 107 at the upper level in the external buffer area 122 may be transported by a three-dimensional transportation device, such as a forklift, and the layout structure of the external buffer area 122 may be the same as the one shown in fig. 2 to 4a and 4 b.

In this specification, the external buffer 122 may share at least a portion of the second handling apparatus 104 with the at least one stereoscopic warehouse 106, or the second handling apparatus 104 may handle and/or interface the vehicle 107 between the external buffer 122 and the at least one stereoscopic warehouse 106. For example, when the goods stored in the carrier 107 in the stereoscopic warehouse 106 need to be transported to the external cache region 122, the control server 100 may send a transport instruction to the second transporting apparatus 104, and the carrier 107 may be transported to the external cache region 122 by the second transporting apparatus 104 for caching.

The external buffer area 122 may be used to hold the goods with high frequency of going out of the warehouse and entering the warehouse, so as to reduce the frequency of going out of the warehouse and entering the warehouse of the goods in the stereoscopic warehouse 106, and reduce the time of each transporting device occupied by the goods with high frequency of entering the warehouse during transporting. Generally speaking, the external buffer area 122 has a smaller storage capacity and a simpler structure relative to the stereoscopic warehouse 106, as long as the buffering of the goods can be realized.

Based on the stereoscopic warehouse dispatching system shown in fig. 2 and the description of the carrying task execution process, it can be seen that the system provided by the present specification, by using the first carrying device and the second carrying device 104 in the stereoscopic warehouse in a mixed manner, and using the lifting device carrying function in the stereoscopic warehouse, the first carrying device and the second carrying device 104 can cooperate to carry the movable shelves in the dense storage warehouse, by setting the container handling device to take or place goods from or into the movable shelves, the movable shelves can place a plurality of containers, so as to improve the utilization rate of the storage space, and by using the container handling device to realize efficient storage and retrieval of the containers from the movable shelves, the sorting efficiency of the goods in the stereoscopic warehouse can be increased, the operation cost of the warehouse is reduced, and the carrying efficiency is improved.

Based on the system shown in fig. 2, in order to facilitate understanding of the operation process of the system, the present specification further provides a stereoscopic warehouse scheduling method, as shown in fig. 15.

Fig. 15 is a schematic flow chart of a stereoscopic warehouse scheduling method provided in this specification, where at least one or more stereoscopic warehouses exist, each layer of the stereoscopic warehouse is communicated with at least one lifting device, one or more container handling devices are disposed in a bottom layer, a movable shelf is disposed in a storage location of at least a part of the bottom layer, each layer of other high layers of the stereoscopic warehouse except the bottom layer is provided with at least one rail for a first transporting device to run, and the stereoscopic warehouse scheduling process may specifically include the following steps:

s200: a handling task to be performed is determined.

The transportation task is a task for enabling the transportation equipment to transport the container, and the transportation task corresponds to a sorting task or a tallying task for the stereoscopic warehouse to realize the delivery and storage of the goods.

In this specification, the stereoscopic warehouse scheduling method may be performed by a server. First, the server may determine the handling task to be performed.

S202: and determining first conveying equipment and lifting equipment for executing the conveying task according to the conveying task.

After the carrying task to be executed is determined, the server can determine first carrying equipment and lifting equipment for executing the carrying task according to the carrying task. The server can also send the operating instruction for executing the warehousing task corresponding to the carrying task to the workstation.

S204: and respectively sending the conveying instructions of the conveying tasks to the determined first conveying equipment and the determined lifting equipment.

After determining each of the conveying apparatus and the lifting apparatus, the server may send a conveying instruction to the determined first conveying apparatus and the determined lifting apparatus, respectively.

The carrying instruction is used for enabling the first carrying equipment and the lifting equipment to be matched with each other to carry the container from the high-rise storage position or the bottom storage position of the stereoscopic warehouse to the workstation, or carrying the container from the workstation to the high-rise storage position or the bottom storage position of the stereoscopic warehouse.

The first conveying device and the lifting device can cooperatively convey the container according to the conveying instruction. The workstation can take the container or the goods out of the first carrying equipment or put the container into the first carrying equipment according to the warehousing task corresponding to the carrying task.

The server may be one cargo or multiple devices, for example, a distributed server composed of multiple servers, which is not limited in this specification, and of course, since the stereoscopic warehouse may be one or multiple, one server may be provided to determine the transport tasks of multiple stereoscopic warehouses and schedule the devices to execute the transport tasks, or multiple servers may respectively determine different transport tasks and schedule the devices to execute the transport tasks. When there are a plurality of servers, each server can share a specific transport task, so that the plurality of servers can cooperatively complete a plurality of transport tasks.

In addition, for the detailed execution process of the method, reference may be made to the description of the process for executing the handling task in the stereoscopic warehouse scheduling system, and details of the process are not described herein again.

Based on the method shown in fig. 15, the first carrying device and the second carrying device 104 are used in the stereoscopic warehouse in a mixed manner, and the carrying function of the lifting device in the stereoscopic warehouse is utilized, so that the first carrying device and the second carrying device 104 can cooperate to carry carriers in the intensive storage warehouse, and the provided workstation executes warehousing tasks, thereby improving the execution efficiency of the processes of shelving and shelving, goods checking and the like, improving the carrying efficiency of goods in the warehouse-out and warehousing processes, reducing the occupation of carriers through goods sorting, realizing reasonable mixed storage or classified storage of containers or goods, improving the utilization rate of storage space in the stereoscopic warehouse, and reducing the operation cost.

It is also noted that the terms "comprises," "comprising," or any other variation thereof, in this specification are intended to cover a non-exclusive inclusion, i.e., that other elements not expressly listed may be included in addition to the elements listed in the specification.

The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments.

The above description is only an example of the present specification, and is not intended to limit the present specification. Various modifications and alterations to this description will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present specification should be included in the scope of the claims of the present specification.

Claims

1. A stereoscopic warehouse scheduling system, the system comprising: one or more control server, one or more first haulage equipment, at least one stereoscopic warehouse, at least one elevating gear, one or more workstation, one stereoscopic warehouse is provided with the multilayer, and by at least one elevating gear intercommunication stereoscopic warehouse's each layer, stereoscopic warehouse's each layer is provided with a plurality of storage bits respectively and supplies the track that first haulage equipment ran, the carrier is arranged to at least some storage bits in a plurality of storage bits, stereoscopic warehouse's at least some layer is provided with at least one workstation respectively, control server with first haulage equipment and elevating gear communication, wherein:

2. The system of claim 1, wherein the warehousing tasks include at least one of racking tasks, tallying tasks, and inventory tasks.

3. The system of claim 1 or 2, further comprising one or more second handling devices; the bottom layer of the stereoscopic warehouse is provided with a plurality of storage positions and a roadway for the second carrying equipment to pass through, at least part of the storage positions of the bottom layer are provided with carriers, and the bottom layer of the stereoscopic warehouse is provided with at least one work station;

4. The system of claim 1, wherein the vehicle is configured to directly hold cargo or carry a container holding cargo.

5. The system of claim 1, wherein the workstation is provided with a container handling apparatus;

6. The system of claim 5, wherein the container handling apparatus is a robotic arm having 6 degrees of freedom.

7. The system of claim 5, wherein the container handling apparatus includes a frame having a pick-and-place container assembly and a carrier assembly disposed thereon; the pick-and-place container assembly is configured to move on the rack; the frame body comprises an X-axis track and a Y-axis track which are vertical to each other in direction; the Y-axis track configured to move along the X-axis track, the pick-and-place container assembly configured to move along the Y-axis track; the container taking and delivering assembly is used for taking out containers from the carrier and loading the containers onto the bearing assembly along the Z-axis direction perpendicular to the X-axis track and the Y-axis track, or unloading the containers from the bearing assembly and placing the containers on the carrier.

8. The system of claim 7, wherein the frame comprises a mast assembly, the X-axis track comprising a ground rail structure and a head rail structure disposed on the mast assembly; and two ends of the Y-axis track are respectively matched with the ground track structure and the sky track structure in a guiding manner.

9. The system of claim 7, wherein there are at least two Y-axis tracks, and wherein there is at least one of the pick-and-place container assemblies disposed on each Y-axis track.

10. The system of any one of claims 7-9, wherein the pick-and-place container assembly removes or places a container from or in the carrier by at least one of suctioning, pushing, gripping, grabbing, hooking, lifting, and lifting.

11. The system of claim 10, wherein the carrier is a movable shelf.

12. The system of claim 5, wherein the workstation is further provided with a rotating apparatus, the vehicle being a double-sided container rack carrying containers;

13. The system of claim 5, wherein said workstation is further provided with a transfer line, one end of said transfer line interfacing with said container handling apparatus;

14. The system of claim 13, wherein the workstation is located on a floor other than the floor, and the other end of the transmission line is docked with the lift device.

15. The system according to claim 1, wherein the workstations located at the other floors than the bottom floor are arranged at edge positions of the stereoscopic warehouse.

16. The system of claim 5, wherein said workstation comprises a transfer line having an inlet and an outlet respectively provided with said container handling apparatus and a station located in a transfer path of said transfer line;

17. The system of claim 1, wherein the storage location carries the vehicle at a distance from the inter-track distance greater than the height of the first handling apparatus when not carrying the vehicle;

18. The system of claim 1, wherein when multiple lift devices are included in the stereoscopic warehouse, there is at least an overlap between designated floors reachable by the multiple lift devices.

19. The system of claim 1, wherein a rail is provided in the lifting device for connection with a rail provided in a high floor to allow the first handling device to travel into the lifting device.

20. The system of claim 19, wherein the control server is further configured to determine the number of first handling devices required by each high level based at least in part on the handling tasks to be performed by each high level, and to determine the first handling devices required to be called by each high level based on the number of first handling devices required by each high level and the current number of first handling devices of each high level, and to send a call instruction to the first handling devices required to be called;

21. The system of claim 3, wherein the carrier includes legs, the legs of the carrier forming an opening having a height that is higher than a height of the second handling apparatus when the carrier is not carried; the second handling apparatus is further configured to selectively pass under at least some of the vehicles when not carrying the vehicles, or to carry the vehicles piggy-back from under at least some of the vehicles and out of the underlying storage locations.

22. The system of claim 21, wherein the spacing of the storage-position columns of at least some of the floors of the stereoscopic warehouse is greater than the width of the second handling apparatus, and the height of the lowest point of the connection between at least some adjacent two columns of the floors of the stereoscopic warehouse is higher than the height of the second handling apparatus when not carrying the vehicle; the second carrying equipment is further used for selectively passing between at least part of two adjacent upright columns in the bottom layer when the carrier is not carried.

23. The system of claim 3, wherein the second transfer apparatus is adapted to access the bottom storage location at a roadway location adjacent the bottom storage location, remove the vehicle from the bottom storage location to the second transfer apparatus, or place the vehicle from the second transfer apparatus in the bottom storage location.

24. The system of claim 3, wherein the system further comprises: one or more external buffers in the form of at least one of stereoscopic storage or planar storage;

25. The system of claim 1, wherein the first handling apparatus is further configured to, in accordance with the handling task, handle a target vehicle stored in a higher storage location to the workstation and send arrival information to the workstation;

26. The system of claim 1, wherein the first handling device is further configured to, in response to the handling task, carry an initial vehicle with target cargo or a target container stored therein from a higher storage location to the workstation, and send arrival information to the workstation;

27. The system of claim 1, wherein the control server is configured to determine, based on the handling task, at least two first handling devices and the workstation to perform the handling task;

28. The system of claim 27, wherein said workstation is further configured to retrieve at least some of said cargo or containers from said first carrier into said second carrier and retrieve at least some of said cargo or containers from said second carrier into said first carrier based on said warehousing task.

29. The system of claim 1, wherein the control server is further configured to determine a first handling apparatus and the workstation to perform the handling task based on the handling task and/or the warehousing task;

30. The system of claim 3, wherein the workstation is further configured to send information to the control server that the warehousing task is completed after the warehousing task is completed;

31. The system of claim 30, wherein the control server is further configured to update the corresponding relationship among the storage locations, the goods, the containers and the vehicles in the stereoscopic warehouse based on at least one of the received information that the warehousing task is completed and the information that the transporting instruction sent by the first transporting device and the second transporting device is completed.