CN219990185U - Conveying system - Google Patents

Abstract

The embodiment of the utility model discloses a carrying system, which comprises: the central control equipment, the lifting machine and the unmanned forklift are respectively in communication connection with the central control equipment; the lifting machine is used for lifting the tray with the materials from the first layer space to the nth layer space of the material working platform; n is an integer greater than 1; the central control equipment is used for sending a first carrying instruction to the unmanned forklift in the nth layer space; and the unmanned forklift is used for responding to the first conveying instruction and conveying the pallet lifted to the nth layer space to the first target warehouse position of the nth layer space by the lifter. By implementing the embodiment of the utility model, the flexibility of carrying materials among different heights can be improved.

Description

Conveying system

Technical Field

The utility model relates to the technical field of automation, in particular to a carrying system.

Background

In industrial logistics, the handling of materials is an important link. In order to improve the space utilization of workshops, materials often need to be carried back and forth at different heights in the floor of the workshops. However, the current mode is to carry the materials back and forth at different heights in the floor of the workshop according to a fixed carrying route, so that the flexibility of carrying the materials between different heights is reduced.

Disclosure of Invention

The embodiment of the utility model discloses a conveying system which can improve the flexibility of conveying materials among different heights.

The embodiment of the utility model discloses a handling system, which comprises: the system comprises central control equipment, a lifting machine and an unmanned forklift, wherein the unmanned forklift and the lifting machine are respectively in communication connection with the central control equipment;

the lifting machine is used for lifting the tray with the materials from the first layer space to the nth layer space of the material working platform; the N is an integer greater than 1;

the central control equipment is used for sending a first carrying instruction to the unmanned forklift in the nth layer space;

the unmanned forklift is used for responding to the first conveying instruction and lifting the lifting machine to the tray in the nth layer space to be conveyed to the first target warehouse in the nth layer space.

As an alternative embodiment, the material working platform comprises at least one platform body and a support structure, the support structure being connected to the platform body;

the support structure is used for supporting the platform main body;

the platform main body is used for dividing the using space of the workshop into at least two layers of spaces up and down, and the at least two layers of spaces comprise the first layer of space and the Nth layer of space.

As an alternative embodiment, the support structure comprises a plurality of uprights and a plurality of cross-posts;

the plurality of upright posts are arranged at intervals along the circumferential direction of the platform main body at the bottom of the platform main body, and are used for supporting the platform main body;

the transverse columns are arranged at intervals along the horizontal direction at the bottom of the platform main body.

As an alternative embodiment, the handling system further comprises: the first conveying line is arranged in a first conveying area corresponding to the first layer space, and the second conveying line is arranged in a second conveying area corresponding to the N layer space; the lifting machine is connected with the outlet of the first conveying line and the inlet of the second conveying line respectively;

the first conveying line is used for conveying the tray with the materials placed in the first layer space to the lifting machine;

the lifting machine is used for lifting the tray transmitted by the first conveying line from the first layer space to the Nth layer space of the material working platform;

the second conveying line is used for conveying the tray from the lifting machine to the goods taking area of the Nth layer space;

the unmanned forklift is used for conveying the second conveying line to the tray of the picking area of the nth layer space to the first target warehouse position of the nth layer space.

As an alternative embodiment, a photoelectric sensor is arranged at the outlet of the second conveying line;

the photoelectric sensor is used for feeding back a photoelectric signal to the central control equipment when detecting that the tray reaches the outlet of the second conveying line;

the central control equipment is further used for sending a first carrying instruction to the unmanned forklift in the Nth layer space according to the photoelectric signal;

the unmanned forklift is further used for responding to the first conveying instruction, going to the picking area of the N-th space, forking the tray and conveying the tray to the first target warehouse position of the N-th space.

As an optional implementation manner, the nth layer space includes a buffer area and a material extraction area; the buffer area is used for temporarily storing a tray with materials; the material extraction area is used for a user or equipment to take away the materials placed on the tray;

in the case that the material extraction area includes an empty bin, the first target bin is an empty bin in the material extraction area; under the condition that the material extraction area does not comprise empty library bits, the first target library bits are the empty library bits in the cache area;

the central control equipment is also used for sending a second carrying instruction to the unmanned forklift in the nth layer space;

the unmanned forklift is further used for responding to the second conveying instruction, going to the cache area, forking the tray placed in the cache area, and conveying the tray to the material extraction area.

As an alternative embodiment, the unmanned forklift comprises a detection device;

the detection device is used for detecting whether the tray is placed in the cache area or not, and detecting the placement offset between the actual placement pose and the preset placement pose of the tray in the cache area under the condition that the tray is placed in the cache area;

the unmanned forklift is further used for adjusting the gesture of the unmanned forklift according to the placement offset, forking the tray placed in the cache area, and carrying the tray to the material extraction area.

As an alternative embodiment, the handling system further comprises: the third conveying line is arranged in a third conveying area corresponding to the N-th layer space; the lifting machine is connected with the outlet of the third conveying line;

the central control equipment is also used for sending a third carrying instruction to the unmanned forklift in the nth layer space;

the unmanned forklift is further used for responding to the third conveying instruction, going to the material extraction area, forking an empty tray in the material extraction area and conveying the empty tray to an inlet of the third conveying line; the empty tray is a tray after a user or equipment takes away materials;

the third conveying line is used for conveying the empty tray to the elevator;

the lifting machine is also used for descending the empty tray from the Nth layer space of the material working platform to the first layer space.

As an alternative embodiment, the nth layer space includes a charging area and a standby area;

and the charging area is used for charging the unmanned forklift.

And the standby area is used for parking the unmanned forklift in an idle state.

As an alternative embodiment, the unmanned forklift comprises a navigation device; the fork of the unmanned forklift is provided with a sensing device;

the navigation device is used for detecting the position information of the unmanned forklift;

the sensing device is used for detecting whether the pallet is dismounted from the fork of the unmanned forklift or not;

the unmanned forklift is further used for reaching a first target warehouse location of the Nth-layer space, and feeding back task completion information to the central control equipment under the condition that the pallet is detached from a fork of the unmanned forklift.

Compared with the related art, the embodiment of the utility model has the following beneficial effects:

the carrying system comprises central control equipment, a lifting machine and an unmanned forklift, wherein the unmanned forklift and the lifting machine are respectively in communication connection with the central control equipment; the lifting machine is used for lifting the tray with the materials from the first layer space to the nth layer space of the material working platform, wherein N is an integer greater than 1; the central control equipment is used for sending a first carrying instruction to the unmanned forklift in the nth layer space; the unmanned forklift is used for responding to a first conveying instruction, and conveying the pallet lifted to the nth layer space to a first target warehouse position of the nth layer space by the lifter. According to the carrying system provided by the embodiment of the utility model, the pallet is lifted to the space with the other height through the lifting machine, and then the unmanned forklift in the space with the height is flexibly dispatched through the central control equipment to carry the pallet to the first target warehouse, so that the flexibility of carrying materials among different heights is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a handling system according to an embodiment of the present utility model;

FIG. 2 is a schematic structural view of a material working platform according to an embodiment of the present utility model;

FIG. 3 is a schematic structural view of another material working platform according to an embodiment of the present utility model;

FIG. 4 is a plan view of a materials handling platform according to an embodiment of the present utility model;

fig. 5 is a schematic structural view of another handling system according to an embodiment of the present utility model.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

It should be noted that the terms "comprising" and "having" and any variations thereof in the embodiments of the present utility model and the accompanying drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.

The embodiment of the utility model discloses a conveying system which can improve the flexibility of conveying materials among different heights. The following will describe in detail.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a handling system according to an embodiment of the utility model.

As shown in fig. 1, the handling system 100 includes: the central control equipment 10, the lifting machine 20 and the unmanned forklift 30; the unmanned forklift 30 and the lifter 20 are respectively in communication connection with the central control equipment 10;

a lifter 20 for lifting the pallet with the material placed therein from the first space to the nth space of the material working platform; n is an integer greater than 1;

the central control device 10 is configured to send a first carrying instruction to the unmanned forklift 30 in the nth layer space;

the unmanned forklift 30 is configured to lift the pallet of the elevator 20 to the nth floor space to the first target storage location of the nth floor space in response to the first conveyance command.

Wherein, the material work platform can be with the space of use of workshop upper and lower partition for two-layer space at least, and every layer of space can include a plurality of storehouse positions that are used for depositing the material to, unmanned fork truck 30 that is used for carrying the material can be placed in every layer of space. Specifically, the lifter 20 may lift the pallet with the material placed in the first layer space to any layer space higher than the first layer space, and the central control device 10 may control the unmanned forklift in the space with the corresponding layer to carry the pallet with the material placed.

The central control device 10 may include, but is not limited to, a cell phone, tablet computer, wearable device, notebook computer, PC (Personal Computer ), etc.

The elevator 20 is used to perform lifting operations on the material at different heights. The elevator 20 may include a lifting mechanism, a motor, a cargo bed, a cargo detection device, a controller; the motor and the cargo carrying platform are respectively connected with the lifting mechanism, and the motor and the cargo detecting device are respectively connected with the controller; the goods detection device can be arranged at a plurality of positions on the cargo carrying platform and can be used for sending detection signals to the controller when detecting that materials are placed on the cargo carrying platform; the controller is used for sending a control signal to the motor when receiving the detection signal; the motor is used for controlling the lifting mechanism to lift the cargo carrying platform according to the control signal.

The unmanned forklift 30 is an automated guided transport vehicle (Automated Guided Vehicle, AGV) that may include, but is not limited to, a latent AGV, a backpack AGV, a counter-weight AGV, and the like.

The central control device 10 may be in communication connection with the lifter 20 and the unmanned forklift 30 through communication technologies such as a wireless fidelity communication technology, a bluetooth communication technology, a ZigBee (ZigBee) communication technology, an RS485 wireless transmission technology, and a cellular communication technology, which is not specifically limited.

According to the carrying system provided by the embodiment of the utility model, the pallet is lifted to the space with the other height through the lifting machine, and then the unmanned forklift in the space with the height is flexibly dispatched through the central control equipment to carry the pallet to the first target warehouse, so that the flexibility of carrying materials among different heights is improved.

Referring to fig. 2, fig. 2 is a schematic structural diagram of a material working platform according to an embodiment of the present utility model. As shown in fig. 2, the material working platform 200 includes at least one platform main body 201 and a support structure 202, and the support structure 202 is connected to the platform main body 201; a support structure 202 for supporting the platform body 201; the platform main body 201 is configured to divide a usage space of the shop into at least two layers of spaces, where the at least two layers of spaces include a first layer of space and an nth layer of space.

The platform body 201 also serves as a bottom support structure for the space above the platform body 201.

Alternatively, the support structure 202 may include a plurality of posts; further, to increase the structural strength of the platform body 201, the support structure 202 may further include a plurality of cross posts; alternatively, to further increase the space utilization of the first layer space of the material working platform 200, the support structure 202 may further include a plurality of shelves, which is not limited in particular.

As an alternative embodiment, support structure 202 includes a plurality of columns and a plurality of cross-columns; the plurality of upright posts are arranged at intervals along the circumferential direction of the platform main body 201 at the bottom of the platform main body 201, and are used for supporting the platform main body 201; the plurality of cross posts are arranged at intervals along the horizontal direction at the bottom of the platform main body 201.

Material working platform 200 may include, but is not limited to, a steel structure platform, an attic platform. The attic platform mainly uses a first layer of goods shelves as a foundation to build up a higher layer, and the steel structure platform mainly uses steel columns as the foundation to build up the higher layer. That is, attic platforms may utilize shelves as support structures 202, and steel structural platforms may utilize multiple steel columns as support structures 202.

Illustratively, the material working platform 200 is a steel structure platform, which can be built for a section bar, the ground is a concrete ground, and the ground bears 1000kg/m2. The total planned dimensions of the steel structure platform may be 48000 millimeters (mm) by 8000 millimeters (mm) by 4500 millimeters (mm). The steel structure platform can plan 51 storage locations for storing insulating materials.

If the number of the platform main bodies 201 is 1, the platform main bodies 201 divide the use space of the workshop into two layers of spaces up and down, and the maximum N may be 2; if the number of the platform main bodies 201 is 2, the platform main bodies 201 divide the use space of the workshop into three layers of spaces up and down, and the maximum N may be 3, so that the use space of the workshop is fully utilized.

According to the embodiment of the utility model, the unmanned forklift 30 carries out carrying operation on the Nth layer space of the material working platform 200, so that the safety of high-altitude operation is improved, the safety and controllability of material transportation are ensured, and meanwhile, the unmanned forklift 30 is scheduled to carry through the central control equipment 10, so that the carrying route can be flexibly adjusted according to actual task requirements, and the flexibility of carrying materials at different heights is improved.

Referring to fig. 3, fig. 3 is a schematic structural diagram of another material working platform according to an embodiment of the present utility model.

The handling system 100 further includes: a first conveying line 3011 and a second conveying line 3021, the first conveying line 3011 being provided in the first conveying area 301 corresponding to the first layer space, and the second conveying line 3021 being provided in the second conveying area 302 corresponding to the nth layer space; the elevator 20 is connected to the outlet of the first conveyor line 3011 and the inlet of the second conveyor line 3021.

A first conveyor line 3011 for conveying the pallet with the material placed in the first layer space to the elevator 20;

a lifter 20, configured to lift the pallet transferred by the first transfer line 3011 from the first layer space to the nth layer space of the material working platform;

a second conveyor line 3021 for conveying pallets from the hoist 20 to the pickup area 303 of the nth floor space;

the unmanned forklift 30 is configured to convey the pallet of the pickup area 303, which is conveyed to the nth floor space by the second conveying line 3021, to the first target storage location in the nth floor space.

Optionally, the first conveying line 3011 and the second conveying line 3021 may include a roller, a motor, and a conveyor belt, where the conveyor belt may be sleeved on the roller, and the roller is electrically connected to the motor; specifically, the tray with the material placed thereon is placed on the conveyor belt of the first conveying line 3011 by a person or an apparatus, wherein the apparatus may be an unmanned carrier, and is not limited in particular; the motor of the first conveying line 3011 can drive the rolling shaft to rotate, and the rotation of the rolling shaft can drive the conveying belt of the first conveying line 3011 to convey the tray to the lifter 20; after the lifting machine 20 lifts the pallet transferred by the first conveying line 3011 from the first layer space to the nth layer space of the material working platform, the motor of the second conveying line 3021 may drive the roller to rotate, and the rotation of the roller may drive the conveyor of the second conveying line 3021 to convey the pallet from the lifting machine 20 to the pickup area 303 of the nth layer space.

It should be noted that, the picking area 303 of the nth space may be an area reached after the pallet passes through the outlet of the second conveying line 3021, that is, the picking area 303 is connected with the outlet of the second conveying line 3021, and the unmanned forklift 30 may be provided to the picking area 303 to take the pallet.

Thus, by introducing the first and second conveyor lines 3011 and 3021, a cushioning effect is provided before the pallet enters the elevator 20 and after leaving the elevator 20; meanwhile, aiming at areas with low requirements on flexible changing of the carrying route, carrying is carried out by using a conveying line, so that the dispatching task of the central control equipment 10 on the unmanned forklift 30 is reduced; and, under the condition that the material work platform divides the space of use of workshop into at least two-layer space, the lifting machine 20 carries the tray based on the fixed carrying route of first transfer chain 3011 and second transfer chain 3021 respectively before and after lifting the tray to the nth layer space, simultaneously, combines with the nimble carrying route that is located the unmanned fork truck 30 in the nth layer space, carries the tray to first target storehouse position, is favorable to improving the flexibility that the material was carried between different altitudes according to actual scene demand.

As an alternative embodiment, a photoelectric sensor is disposed at the outlet of the second conveying line 3021;

the photoelectric sensor is used for feeding back photoelectric signals to the central control equipment when detecting that the tray reaches the outlet of the second conveying line;

the photoelectric sensor may be a laser sensor, an infrared sensor, or the like, and is not particularly limited. Illustratively, the photoelectric sensor is an infrared correlation sensor, which may include a transmitting unit and a receiving unit; when the tray reaches the outlet of the second conveying line 3021, the tray can shield the infrared rays emitted by the emitting unit in the infrared correlation sensor, so that when the receiving unit cannot receive the infrared rays emitted by the emitting unit, it is determined that the tray reaches the outlet of the second conveying line 3021, and the photoelectric signal is fed back to the central control device.

The central control equipment is also used for sending a first carrying instruction to the unmanned forklift in the nth layer space according to the photoelectric signal;

the unmanned forklift is further used for responding to the first conveying instruction, going to the goods taking area of the N-th space, forking the tray and conveying the tray to the first target warehouse position of the N-th space.

In the embodiment of the utility model, the photoelectric sensor is beneficial to timely feeding back the carrying condition of the pallet to the central control equipment 10, and is beneficial to timely dispatching the unmanned forklift 30 to carry the pallet by the central control equipment 10.

Referring further to fig. 4, fig. 4 is a plan view of a material handling platform according to an embodiment of the present utility model. As shown in fig. 4, fig. 4 is a plan view of an nth floor space of the materials handling platform.

The nth layer space 400 includes a buffer area 401 and a material extraction area 402; the buffer area 401 is used for temporarily storing a tray in which materials are placed; the material extraction area 402 is used for a user or device to remove material placed on a tray.

In the case where the material extraction area 402 includes empty slots, the first target slots are empty slots in the material extraction area 402; in the case where the material extraction area 402 does not include an empty bin, the first target bin is an empty bin in the cache area 401.

Wherein, the empty bin is a bin without a tray.

The central control device 10 can obtain the empty and full status of the storage locations of the buffer area 401 and the material extraction area 402, and the material information stored in the storage locations.

For example, the material extraction area 402 may include 13 bins, the trays may be placed in a non-stacked, side-by-side arrangement on the bins of the material extraction area 402, and the material extraction area 402 may include trays with material placed and empty trays with material removed; the cache area 401 may include 51 bins, and the trays may be placed in a stack on the bins of the cache area 401.

The central control device 10 may timely generate a first conveying instruction sent to the unmanned forklift 30 according to the empty and full states of all the storage positions in the material extraction area 402 and according to the empty and full states.

According to the embodiment of the utility model, through the combination of the buffer area 401 and the material extraction area 402, the tray can be transported to the buffer area 401 for temporary storage under the condition that no empty storage position exists in the material extraction area 402, and the ordering of transportation operation is improved.

As an alternative embodiment, the central control apparatus 10 is further configured to send a second handling instruction to the unmanned forklift 30 in the nth layer space 400; the unmanned forklift 30 is further configured to, in response to the second conveying instruction, go to the buffer area 401, fork the pallet placed in the buffer area 401, and convey the pallet to the material extraction area 402.

Therefore, the central control device 10 can schedule the unmanned forklift to carry the tray with the material placed in the buffer area 401 to the material extraction area 402 in time according to the use requirement of the user or the device on the material, so that the unmanned forklift can flexibly carry the tray according to different carrying routes in the nth layer space of the material carrying platform.

As an alternative embodiment, the handling system 100 further comprises: a third conveying line 3041, the third conveying line 3041 being disposed in the third conveying area 304 corresponding to the nth layer space 400; the elevator 20 is connected with the outlet of the third conveyor line 3041;

the central control device 10 is further configured to send a third carrying instruction to the unmanned forklift 30 in the nth layer space 400;

the unmanned forklift 30 is further configured to, in response to a third conveying instruction, go to the material extraction area 402, fork an empty tray of the material extraction area 402, and convey the empty tray to an entrance of the third conveying line 3041; the empty tray is a tray after a user or equipment takes away materials;

a third conveyor line 3041 for conveying empty trays to the elevator 20;

the elevator 20 is also used to lower empty pallets from the nth floor space 400 to the first floor space of the material working platform.

Wherein an empty tray is a tray in the material extraction area 402 from which material has been removed by a user or device.

As can be seen, the nth layer space 400 is provided with two sets of conveyor lines, a second conveyor line 3021 and a third conveyor line 3041, respectively; a second conveyor line 3021 for conveying pallets with material placed therein to the pick region 303; the third conveyor line 3041 is used for plugging in empty trays that unmanned forklift is forked from the material extraction area 402, and carrying the empty trays to the elevator. The entrance and the exit of every transfer chain all can be provided with photoelectric sensor, and the real-time handling condition of material can be confirmed according to photoelectric signal feedback of photoelectric sensor to well accuse equipment. By way of example, the height from ground of the conveying sections of the second conveying line 3021 and the third conveying line 3041 may be 700 millimeters (mm).

As can be seen, after the user or the device takes the material placed on the tray in the material extraction area 402, an empty tray is left, so that the empty tray needs to be cleaned in time, and the usage space of the material extraction area 402 is avoided; therefore, the central control device 10 can timely schedule the unmanned forklift 30 to move away the empty trays in the material extraction area; meanwhile, by introducing the third conveying line 3041, the empty trays can be directionally conveyed to the lifter 20, so that the dispatching task of the central control equipment 10 on the unmanned forklift 30 is lightened, and the empty trays are buffered before entering the lifter; by combining with the elevator 20, the empty trays are transported back to the first floor space of the material working platform. After the empty tray is filled with materials in the first layer space, the empty tray can be lifted to the N layer space through the lifting machine again, and the empty tray is conveyed to the first target storage position through the unmanned forklift, so that the flexibility of conveying the materials among different heights is improved.

Further, as another alternative embodiment, the nth layer space 400 further includes a charging region 403 and a standby region 404;

a charging area 403 for charging the unmanned forklift 30. The charging area 403 may be provided with one or more sets of chargers. The charging area 403 may be disposed near an edge or corner of the nth layer space 400, so as to facilitate the power taking of the unmanned forklift 30.

A standby area 404 for parking the unmanned forklift 30 in an idle state; the idle state may be a state in which the unmanned forklift 30 does not receive or respond to the transfer instruction sent by the central control apparatus 10; the standby area 404 may be disposed near an edge or corner of the nth layer space 400, which is not particularly limited.

The charging area 403 and the standby area 404 help to ensure the normal carrying operation of the unmanned forklift 30.

Referring to fig. 5, fig. 5 is a schematic structural diagram of another handling system according to an embodiment of the utility model.

As an alternative embodiment, the unmanned forklift 30 comprises a detection device 501; a detecting device 501, configured to detect whether a tray is placed in the cache area 401, and detect a placement offset between an actual placement pose and a preset placement pose of the tray in the cache area 401 when it is detected that the tray is placed in the cache area 401;

the unmanned forklift 30 is further configured to adjust a posture of the unmanned forklift 30 according to the placement offset, and fork the tray placed in the cache area 401, and convey the tray to the material extraction area 402.

Alternatively, the detection device 501 may be a laser sensor, a vision sensor, or the like, which is not particularly limited.

If the detection device 501 is a laser sensor, the laser sensor obtains a global map corresponding to the surrounding environment by emitting a laser beam and receiving the laser beam reflected by the surrounding environment; the laser sensor determines whether a tray is placed in the cache area according to laser information such as laser intensity, laser angle and the like of laser beams reflected by surrounding environment; and detecting the actual placing pose of the tray in the global map based on the laser information reflected by the tray, comparing the actual placing pose with the preset placing pose of the tray sent by the central control equipment 10, and detecting the placing offset between the actual placing pose and the preset placing pose.

If the detection device 501 is a visual sensor, the visual sensor obtains a global map corresponding to the surrounding environment by acquiring image data of the surrounding environment; the vision sensor carries out target recognition on the image data and determines whether a tray is placed in the cache area; and identifying the actual placing pose of the tray in the global map from the image data, comparing the actual placing pose with the preset placing pose of the tray sent by the central control equipment 10, and detecting the placing offset between the actual placing pose and the preset placing pose.

The unmanned forklift 30 is provided with the detection device 501, is favorable to unmanned forklift 30 to in time adjust unmanned forklift 30's gesture based on the deviation that the goods put to the realization is put the tray that appears the deviation and is got correctly.

As another alternative embodiment, the unmanned forklift 30 includes a navigation device 502; the forks of the unmanned forklift 30 are provided with a sensing device 503;

a navigation device 502 for detecting position information of the unmanned forklift 30; the navigation device 502 may be a laser navigation device, an electromagnetic navigation device, a visual navigation device, or the like, and the navigation device 502 may obtain the global map generated by the detection device 501, detect the current coordinates and the movement direction of the unmanned forklift in the global map in real time, and generate the position information of the unmanned forklift.

Sensing means 503 for detecting whether the pallet is removed from the fork of the unmanned forklift 30; the sensing device 503 may be a photoelectric sensor, a pressure sensor, or the like. Illustratively, the sensing device 503 may include a tray touch pad and a rebound device; when the tray touch baffle is extruded by the tray, the sensing device 503 can determine that the fork is in a state of forking the tray; when the tray touch baffle is no longer extruded by the tray, the tray touch baffle is automatically reset from the pressed state, and when the tray touch baffle is automatically reset from the pressed state, the sensing device 503 can determine that the pallet is detached from the fork of the unmanned forklift 30.

The unmanned forklift 30 is further configured to reach the first target storage location of the nth floor space 400, and to feed back task completion information to the central control apparatus 10 in a case where the pallet is unloaded by the pallet fork of the unmanned forklift 30.

The unmanned forklift 30 feeds back task completion information to the central control device 10, and the central control device 10 can determine that the unmanned forklift 30 has carried the pallet to the first target warehouse, so that the central control device 10 can acquire progress information of a carrying task in time, and scheduling efficiency of the central control device 10 is improved.

It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present utility model. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Those skilled in the art will also appreciate that the embodiments described in the specification are alternative embodiments and that the acts and modules referred to are not necessarily required for the present utility model.

In various embodiments of the present utility model, it should be understood that the sequence numbers of the foregoing processes do not imply that the execution sequences of the processes should be determined by the functions and internal logic of the processes, and should not be construed as limiting the implementation of the embodiments of the present utility model.

The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment.

In addition, each functional unit in the embodiments of the present utility model may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units described above, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer-accessible memory. Based on this understanding, the technical solution of the present utility model, or a part contributing to the prior art or all or part of the technical solution, may be embodied in the form of a software product stored in a memory, comprising several requests for a computer device (which may be a personal computer, a server or a network device, etc., in particular may be a processor in a computer device) to execute some or all of the steps of the above-mentioned method of the various embodiments of the present utility model.

Those of ordinary skill in the art will appreciate that all or part of the steps of the various methods of the above embodiments may be implemented by a program that instructs associated hardware, the program may be stored in a computer readable storage medium including Read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), programmable Read-Only Memory (Programmable Read-Only Memory, PROM), erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), one-time programmable Read-Only Memory (OTPROM), electrically erasable programmable Read-Only Memory (EEPROM), compact disc Read-Only Memory (Compact Disc Read-Only Memory, CD-ROM) or other optical disk Memory, magnetic disk Memory, tape Memory, or any other medium that can be used for carrying or storing data that is readable by a computer.

The foregoing has outlined a detailed description of a handling system according to embodiments of the present utility model, and the detailed description of the principles and embodiments of the present utility model has been provided herein with the help of examples only to facilitate the understanding of the method and core concepts of the present utility model. Meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present utility model, the present description should not be construed as limiting the present utility model in view of the above.

Claims (10)

1. A handling system, the handling system comprising: the system comprises central control equipment, a lifting machine and an unmanned forklift, wherein the unmanned forklift and the lifting machine are respectively in communication connection with the central control equipment;

the lifting machine is used for lifting the tray with the materials from the first layer space to the nth layer space of the material working platform; the N is an integer greater than 1;

the central control equipment is used for sending a first carrying instruction to the unmanned forklift in the nth layer space;

the unmanned forklift is used for responding to the first conveying instruction and lifting the lifting machine to the tray in the nth layer space to be conveyed to the first target warehouse in the nth layer space.

2. The handling system of claim 1, wherein the material working platform comprises at least one platform body and a support structure, the support structure being connected to the platform body;

the support structure is used for supporting the platform main body;

the platform main body is used for dividing the using space of the workshop into at least two layers of spaces up and down, and the at least two layers of spaces comprise the first layer of space and the Nth layer of space.

3. The handling system of claim 2, wherein the support structure comprises a plurality of columns and a plurality of cross-columns;

the plurality of upright posts are arranged at intervals along the circumferential direction of the platform main body at the bottom of the platform main body, and are used for supporting the platform main body;

the transverse columns are arranged at intervals along the horizontal direction at the bottom of the platform main body.

4. The handling system of claim 1, wherein the handling system further comprises: the first conveying line is arranged in a first conveying area corresponding to the first layer space, and the second conveying line is arranged in a second conveying area corresponding to the N layer space; the lifting machine is connected with the outlet of the first conveying line and the inlet of the second conveying line respectively;

the first conveying line is used for conveying the tray with the materials placed in the first layer space to the lifting machine;

the lifting machine is used for lifting the tray transmitted by the first conveying line from the first layer space to the Nth layer space of the material working platform;

the second conveying line is used for conveying the tray from the lifting machine to the goods taking area of the Nth layer space;

the unmanned forklift is used for conveying the second conveying line to the tray of the picking area of the nth layer space to the first target warehouse position of the nth layer space.

5. The handling system of claim 4, wherein a photoelectric sensor is disposed at an outlet of the second conveyor line;

the photoelectric sensor is used for feeding back a photoelectric signal to the central control equipment when detecting that the tray reaches the outlet of the second conveying line;

the central control equipment is further used for sending a first carrying instruction to the unmanned forklift in the Nth layer space according to the photoelectric signal;

the unmanned forklift is further used for responding to the first conveying instruction, going to the picking area of the N-th space, forking the tray and conveying the tray to the first target warehouse position of the N-th space.

6. The handling system of claim 1, wherein the nth tier space comprises a buffer area and a material extraction area; the buffer area is used for temporarily storing a tray with materials; the material extraction area is used for a user or equipment to take away the materials placed on the tray;

in the case that the material extraction area includes an empty bin, the first target bin is an empty bin in the material extraction area; under the condition that the material extraction area does not comprise empty library bits, the first target library bits are the empty library bits in the cache area;

the central control equipment is also used for sending a second carrying instruction to the unmanned forklift in the nth layer space;

the unmanned forklift is further used for responding to the second conveying instruction, going to the cache area, forking the tray placed in the cache area, and conveying the tray to the material extraction area.

7. The handling system of claim 6, wherein the unmanned forklift includes a detection device;

the detection device is used for detecting whether the tray is placed in the cache area or not, and detecting the placement offset between the actual placement pose and the preset placement pose of the tray in the cache area under the condition that the tray is placed in the cache area;

the unmanned forklift is further used for adjusting the gesture of the unmanned forklift according to the placement offset, forking the tray placed in the cache area, and carrying the tray to the material extraction area.

8. The handling system of claim 6, further comprising: the third conveying line is arranged in a third conveying area corresponding to the N-th layer space; the lifting machine is connected with the outlet of the third conveying line;

the central control equipment is also used for sending a third carrying instruction to the unmanned forklift in the nth layer space;

the unmanned forklift is further used for responding to the third conveying instruction, going to the material extraction area, forking an empty tray in the material extraction area and conveying the empty tray to an inlet of the third conveying line; the empty tray is a tray after a user or equipment takes away materials;

the third conveying line is used for conveying the empty tray to the elevator;

the lifting machine is also used for descending the empty tray from the Nth layer space of the material working platform to the first layer space.

9. The handling system of claim 1, wherein the nth layer space comprises a charging area and a standby area;

the charging area is used for charging the unmanned forklift;

and the standby area is used for parking the unmanned forklift in an idle state.

10. The handling system of claim 1, wherein the unmanned forklift includes a navigation device; the fork of the unmanned forklift is provided with a sensing device;

the navigation device is used for detecting the position information of the unmanned forklift;

the sensing device is used for detecting whether the pallet is dismounted from the fork of the unmanned forklift or not;

the unmanned forklift is further used for reaching a first target warehouse location of the Nth-layer space, and feeding back task completion information to the central control equipment under the condition that the pallet is detached from a fork of the unmanned forklift.