WO2020082812A1 - 高密度智能仓储系统及仓储装卸方法 - Google Patents

高密度智能仓储系统及仓储装卸方法 Download PDF

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Publication number
WO2020082812A1
WO2020082812A1 PCT/CN2019/095183 CN2019095183W WO2020082812A1 WO 2020082812 A1 WO2020082812 A1 WO 2020082812A1 CN 2019095183 W CN2019095183 W CN 2019095183W WO 2020082812 A1 WO2020082812 A1 WO 2020082812A1
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WIPO (PCT)
Prior art keywords
shelf
vehicle
warehouse
unit
shelf unit
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PCT/CN2019/095183
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English (en)
French (fr)
Inventor
卢振威
罗习达
王忠岐
陈优飞
许世杰
刘瑞
李庆民
Original Assignee
广东科达洁能股份有限公司
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Publication of WO2020082812A1 publication Critical patent/WO2020082812A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical

Definitions

  • the invention relates to the technical field of logistics storage, in particular to a high-density intelligent storage system and a storage loading and unloading method.
  • Warehousing is a comprehensive place that reflects the factory's material activities. It is a transit station connecting production, supply and sales, and plays an important auxiliary role in promoting production and improving efficiency.
  • warehousing is the use of self-built or leased warehouses, sites, storage, storage, loading and unloading, and distribution of goods.
  • the traditional definition of warehousing is given from the perspective of material reserves, and modern "warehousing" is not "warehouse” in the traditional sense It is warehousing in the context of economic globalization and supply chain integration. It is warehousing in a modern logistics system.
  • the three-dimensional warehouse commonly used in existing warehousing generally refers to an automatic stacker-type three-dimensional warehouse.
  • the automatic stacker-type three-dimensional warehouse uses a fixed steel structure or a reinforced concrete structure of high-level shelves to store goods.
  • the storage area has been greatly developed to high altitude, which improves the space utilization rate.
  • the characteristics of the automated stacker-type three-dimensional warehouse are: two rows of shelves are a group, and there are channels for the stacker to work; each row of shelves is divided into several columns and several layers to form a large number of goods grids.
  • the stacker uses a fork with a longer horizontal size as the picking device, grabbing, transporting and stacking in a warehouse or other places or picking and placing unit goods from high-level shelves.
  • the fork in the existing three-dimensional warehouse, due to the stacker's operation, the fork must move up and down on the column or rotate around the column, so there is enough space between the rack groups to ensure the normal operation of the stacker, and Since there is a channel for stacker to work between every two rows of shelves, the number of the channel is also large. Generally speaking, the laneway for stacker operation accounts for more than 30% of the entire warehouse floor. Therefore, the utilization rate of storage area is not high.
  • the invention provides a high-density intelligent storage system and a storage loading and unloading method, which can increase the utilization rate of the storage area.
  • the present invention provides a high-density intelligent warehousing system applied to a warehouse.
  • the high-density intelligent warehousing system includes a first conveying device, a second conveying device, and a combined shelf;
  • the combined shelf includes at least one shelf group, each Each shelf group includes at least two vertically stacked shelf units, and the interior of each shelf unit forms a space for containing goods;
  • the first conveying device includes an automatic traveling vehicle suspended on the top of the warehouse, which can travel along the horizontal direction And moving in the vertical direction, the vehicle is used to hang the shelf unit at the designated location of the warehouse to the shelf group, or the shelf unit located at the shelf group to the designated location;
  • the second conveying device includes A transport vehicle that travels automatically has a top on which a shelf unit can be placed. The transport vehicle is used to transport the shelf unit to a designated location in a warehouse or to carry a shelf unit that is hoisted to a designated location by the vehicle.
  • the present invention provides a storage loading and unloading method, which is applied to the high-density intelligent storage system described in any one of the above technical solutions.
  • the storage loading and unloading method includes:
  • the cargo loading and unloading operations include one of loading cargo or removing cargo;
  • the high-density intelligent storage system and storage loading and unloading method of the present invention are applied to a warehouse.
  • the high-density intelligent storage system includes a first conveying device, a second conveying device, and a combined shelf;
  • the combined shelf includes at least one shelf group, each Each shelf group includes at least two vertically stacked shelf units, and the interior of each shelf unit forms a space for containing goods;
  • the first conveying device includes an automatic traveling vehicle suspended on the top of the warehouse, which can travel along the horizontal direction And moving in the vertical direction, the vehicle is used to hang the shelf unit at the designated location of the warehouse to the shelf group, or the shelf unit located at the shelf group to the designated location;
  • the second conveying device includes A transport vehicle that travels automatically has a top on which a shelf unit can be placed.
  • the transport vehicle is used to transport the shelf unit to a designated location in a warehouse or to carry a shelf unit that is hoisted to a designated location by the vehicle.
  • the carriage is used to transport the shelf unit between the station where the shelf unit is stored and the designated location
  • the transportation vehicle is used to implement the shelf unit between the designated location and the station that requires the shelf unit / the station that takes the shelf unit
  • Transportation therefore, through the cooperation between the driving vehicle and the transportation vehicle, the transportation of the shelf unit between the station storing the shelf unit and the station requiring the shelf unit / the station taking the shelf unit can be realized.
  • the truck is hung on the top of the warehouse. The transportation process is to travel in the air, and it will not occupy the storage space on the ground.
  • FIG. 1 is a schematic structural diagram of a high-density intelligent warehousing system provided by Embodiment 1 of the present invention
  • FIG. 2 is a schematic structural diagram of a first conveying device in a high-density intelligent storage system according to Embodiment 2 of the present invention
  • FIG. 3 is a schematic diagram of a docking process of a driving vehicle and a delivery vehicle in a high-density intelligent storage system provided by Embodiment 2 of the present invention
  • FIG. 4 is a schematic structural diagram of a shelf unit in a high-density intelligent storage system provided by Embodiment 2 of the present invention.
  • FIG. 5 is a flowchart of a warehouse loading and unloading method provided in Embodiment 3 of the present invention.
  • FIG. 6 is a structural block diagram of a warehouse intelligent control system according to Embodiment 4 of the present invention.
  • 32-shelf unit 32-shelf unit; 81-storage management module; 82-storage control module;
  • 101-elevating unit 101-elevating unit; 102-grip mechanism; 321-cargo bearing department;
  • 325- grab bar 83- transportation vehicle scheduling module; 84- driving scheduling module.
  • FIG. 1 is a schematic structural diagram of a high-density intelligent warehousing system provided in Embodiment 1 of the present invention; as shown in FIG.
  • the intelligent storage system includes a first conveying device 1, a second conveying device, and a combined shelf 3.
  • the combined shelf 3 includes at least one shelf group 31, and each shelf group 31 includes at least two vertically stacked shelf units 32, and the interior of each shelf unit 32 forms a space for accommodating goods. Therefore, each rack group 31 can accumulate a plurality of rack units 32 as needed, and the space in the vertical direction of the warehouse is fully utilized. Compared with the prior art, the stacking height is affected by the stacker in the vertical direction. In the case of limited working capacity in the direction, the stacking height of the shelf unit 32 here can be higher, as long as it does not exceed the suspension height of the carriage 11 described below, so compared with the prior art, the storage amount per unit area More. In addition, as shown in FIG.
  • the combined rack 3 may leave only a transport vehicle lane for the following transport vehicle to travel in the middle portion, or two or more transport vehicle lanes may be provided in the combined rack 3, here , Do not limit the number and setting method of transport vehicle lanes.
  • the specific use process can be set according to actual needs.
  • the rack groups 31 are densely arranged in the rack area in the warehouse, and the distance between two adjacent rack groups 31 is smaller than the travel path width of the second conveyor, and the designated location is outside the rack area. In this way, no transportation lanes are provided between all the rack groups 31, which further increases the utilization rate of the warehouse area.
  • the designated location is outside the shelf area, that is, the transportation lane is provided in the area outside the combined shelf 3.
  • the first conveying device 1 includes an automatic traveling carriage 11 suspended on the top of the warehouse.
  • the traveling carriage 11 can be moved in the horizontal direction and the vertical direction.
  • the traveling carriage 11 is used to hang the rack unit 32 at the designated location of the warehouse to the rack group 31, Or, the shelf unit 32 located on the shelf group 31 is hoisted to a designated place. That is, the traveling vehicle 11 can travel in the air to realize the transportation of the shelf unit 32 between the station where the shelf unit is stored and the designated place.
  • the carriage 11 moves horizontally to the shelf unit 32 at the designated location of the warehouse, and descends vertically, grabs the shelf unit 32, then rises vertically, and then moves to the shelf unit 32 horizontally Above the target storage location, at this time, the traveling vehicle 11 descends in the vertical direction and places the shelf unit 32 at the target storage location, whereby the traveling vehicle 11 can hang the shelf unit 32 at the designated location of the warehouse to the shelf group 31.
  • the carriage 11 moves horizontally above the rack unit 32 on the rack group 31, and descends vertically, grabs the rack unit 32, then rises vertically, and then moves horizontally to the designated warehouse Above the location, the traveling vehicle 11 descends in the vertical direction at this time, and the rack unit 32 is placed at the designated location, whereby the traveling vehicle 11 can lift the shelf unit 32 located on the shelf group 31 to the designated location.
  • the second conveying device includes a transport vehicle 2 that can automatically travel on the floor of the warehouse.
  • the transport vehicle 2 has a top on which the rack unit 32 can be placed.
  • the transport vehicle 2 is used to transport the rack unit 32 to a designated location of the warehouse, or used to carry The crane 11 is hoisted to the shelf unit 32 at the designated place. That is, the transport vehicle 2 is used to transport the shelf unit 32 between the designated location and the station where the shelf unit is needed / the station where the shelf unit is taken.
  • the transport vehicle 2 may be provided with an automatic jack (not shown), which is used to load or unload the rack unit 32 to the transport vehicle 2, or in addition, it may not A jacking machine is provided, and a dedicated jacking station is provided in the warehouse. When the delivery truck 2 reaches the jacking station, the automatic jacking machine can be controlled to load or unload the rack unit 32 for the delivery truck 2.
  • the rack unit 32 can be transported between the station storing the rack unit and the station requiring the rack unit / the station taking the rack unit .
  • the working process of the high-density intelligent warehousing system of this embodiment will be described by taking the storage of shelf units, the storage of shelf units, the replenishment of empty shelf units on a packaging production line, and the removal of empty shelf units from the shipping area as examples.
  • the rack unit 32 After the rack unit 32 is full of goods, it is placed at the station where the rack unit is picked up, for example, at the door of the warehouse, and the storage is requested. Unit 32, and then the transport vehicle 2 carrying the shelf unit 32 travels to the designated location of the warehouse; the carriage 11 moves horizontally above the shelf unit 32 on the transport vehicle 2 located at the designated location of the warehouse, and descends in the vertical direction, The rack unit 32 is grasped and then raised in the vertical direction, and at this time, the transport vehicle 2 becomes an idle state.
  • the traveling vehicle 11 moves in the horizontal direction to the target storage location in the station where the shelf unit is stored, for example, above the target storage location in the combined shelf 3, at this time, the traveling vehicle 11 descends in the vertical direction and places the shelf unit 32 in The target storage location, thereby realizing the storage process of the shelf unit 32.
  • the traveling vehicle 11 moves horizontally above the shelf unit 32 on the transport vehicle 2 located at the designated location of the warehouse, or it may be a request
  • the carriage 11 first moves to the designated location of the warehouse in the horizontal direction and stands by, then the carriage 2 runs to the station where the rack unit is picked up, and then continues the above-mentioned subsequent processes. There is no limitation on the sequence of the two actions.
  • the rack unit 32 in this process is loaded with goods.
  • the transport vehicle 2 runs to a designated place in the warehouse and stands by.
  • the traveling vehicle 11 moves in the horizontal direction above the shelf unit 32 to be taken on the shelf group 31, and descends in the vertical direction, grabs the shelf unit 32, then rises in the vertical direction, and then moves in the horizontal direction to Located above the transport vehicle 2 at the designated location of the warehouse, at this time, the traveling vehicle 11 is lowered in the vertical direction, and the rack unit 32 is placed on the transport vehicle 2, and then the traveling vehicle 11 is raised in the vertical direction.
  • the transport vehicle 2 carrying the shelf unit 32 travels to a station that requires the shelf unit, such as a warehouse door, and the rack unit 32 is unloaded for the transport vehicle 2 by the jacking machine, thereby implementing the warehouse unit 32 out of storage process.
  • the rack unit 32 in this process is loaded with goods.
  • This process supplements the rack unit 32 that does not contain goods for the station that needs the rack unit.
  • the station that needs the rack unit may be, for example, a packaging production line. Since the rack unit 32 filled with goods is removed, it is necessary to store the rack unit. The station, for example, the empty shelf unit buffer area, retrieves the empty shelf unit 32.
  • the carriage 11 moves horizontally to the shelf unit 32 to be taken in the empty shelf unit buffer area, and descends vertically, grabs the shelf unit 32, then rises vertically, and then moves horizontally
  • the vehicle 11 is lowered in the vertical direction at this time, and the rack unit 32 is placed on the delivery vehicle 2, and then the vehicle 11 is raised in the vertical direction and returned to the standby point to stand by.
  • the transport vehicle 2 carrying the rack units 32 travels to the packaging production line where the rack units are needed, thereby realizing an empty rack unit replenishment process on the packaging production line.
  • the shelf unit 32 in this process has no goods loaded and is an empty shelf unit 32.
  • This process is used to remove the shelf unit 32 from the station where the shelf unit is taken. Specifically, the shelf unit 32 loading task is completed at the station where the shelf unit is taken, for example, at the loading station in the shipping area, then Shelf units 32 that are not loaded with goods will be left, and empty shelf units 32 need to be transported to the empty shelf unit buffer area.
  • the shipping process is described below.
  • the transport vehicle 2 runs to the station where the rack unit is taken, and the jack unit loads the transport unit 2 with the rack unit 32, and then the transport vehicle 2 carrying the rack unit 32 travels to the designated location of the warehouse;
  • the direction moves to above the shelf unit 32 on the transport vehicle 2 at the designated location of the warehouse, and descends in the vertical direction, grabs the shelf unit 32, and then rises in the vertical direction, at this time, the transport vehicle 2 becomes idle.
  • the driving vehicle 11 moves in the horizontal direction to the target storage position of the shelf unit 32 in the station where the shelf unit is stored, for example, above the target storage location in the buffer area of the empty shelf unit.
  • the driving vehicle 11 descends in the vertical direction and moves The rack unit 32 is placed at the target storage location, thereby realizing the empty rack unit from the shipping area.
  • the traveling vehicle 11 moves horizontally to the rack unit 32 on the transport vehicle 2 located at the designated place of the warehouse, or it may be a traveling vehicle 11 Move to the designated location of the warehouse in the horizontal direction to stand by, and then transport the truck 2 to the station where the rack unit is picked up, and then continue the above-mentioned subsequent processes.
  • the shelf unit 32 in this process has no goods loaded and is an empty shelf unit 32.
  • the high-density intelligent storage system of this embodiment is applied to a warehouse.
  • the high-density intelligent storage system includes a first conveying device, a second conveying device, and a combined shelf;
  • the combined shelf includes at least one shelf group, and each shelf group includes at least two A vertically stacked shelf unit, the interior of each shelf unit forms a space for accommodating goods;
  • the first conveying device includes an automatic running vehicle suspended on the top of the warehouse, the vehicle can move in the horizontal direction and the vertical direction, The carriage is used to hang the shelf unit at the designated location of the warehouse to the shelf group, or to hoist the shelf unit located at the shelf group to the designated location;
  • the second conveyor includes a transport vehicle that can automatically travel on the floor of the warehouse, The transport vehicle has a top on which the shelf unit can be placed.
  • the transport vehicle is used to transport the shelf unit to a designated place in the warehouse or to carry the shelf unit that is hoisted to the designated place by the vehicle.
  • the carriage is used to transport the shelf unit between the station where the shelf unit is stored and the designated location
  • the transportation vehicle is used to implement the shelf unit between the designated location and the station that requires the shelf unit / the station that takes the shelf unit
  • Transportation therefore, through the cooperation between the driving vehicle and the transportation vehicle, the transportation of the shelf unit between the station storing the shelf unit and the station requiring the shelf unit / the station taking the shelf unit can be realized.
  • the truck is hung on the top of the warehouse. The transportation process is to travel in the air, and it will not occupy the storage space on the ground.
  • this embodiment further supplements the description of the first conveying device, the shelf unit, and the second conveying device in the foregoing first embodiment.
  • 2 is a schematic structural diagram of a first conveying device in a high-density intelligent warehousing system provided by Embodiment 2 of the present invention.
  • the first conveying device 1 further includes a first horizontal rail 4 and a horizontal walking beam 5 located on the first horizontal rail 4.
  • the length of the horizontal walking beam 5 is perpendicular to the first horizontal rail 4 and runs horizontally
  • the beam 5 can move along the first horizontal rail 4;
  • the horizontal walking beam 5 is provided with a second horizontal rail 6, and the traveling vehicle 11 is located on the second horizontal rail 6 and can move along the second horizontal rail 6.
  • FIG. 1 is a schematic structural diagram of a first conveying device in a high-density intelligent warehousing system provided by Embodiment 2 of the present invention.
  • the first conveying device 1 further includes a first horizontal rail 4 and a horizontal walking beam 5 located on the first horizontal
  • the X direction in the figure is the extending direction of the second horizontal guide rail 6
  • the Y direction is the extending direction of the first horizontal guide rail 4 (the direction perpendicular to the paper surface, not shown)
  • the Z direction is vertical direction.
  • the traveling vehicle 11 includes a lifting unit 101 and a grabbing mechanism 102.
  • the lifting unit 101 is located on the second horizontal rail 6.
  • the grabbing mechanism 102 and the lifting unit 101 are connected and used to grab the shelf unit 32.
  • 3 is a schematic diagram of a docking process of a driving vehicle and a delivery vehicle in a high-density intelligent storage system provided by Embodiment 2 of the present invention. As shown in FIG.
  • the lifting unit 101 when the traveling vehicle 11 runs to the docking position with the transport vehicle 2 in the horizontal direction, for example, to a designated place in the warehouse, the lifting unit 101 is required to move the grasping mechanism 102 and the shelf unit 32 along the Z axis direction Go down to the top of the transport vehicle 2 and release the gripping mechanism 102 to load the rack unit 32 on the transport vehicle 2; or when the traveling vehicle 11 runs horizontally to the docking position with the transport vehicle 2, for example
  • the lifting unit 101 When arriving at the designated location of the warehouse, the lifting unit 101 is needed to lower the gripping mechanism 102 in the Z-axis direction to the top of the rack unit 32 of the transport vehicle 2, at this time, the gripping mechanism 102 is released, and the pending gripping mechanism 102 hangs After reaching the shelf unit 32, the grasping mechanism 102 is tightened inward to grasp the shelf unit 32.
  • the lifting unit 101 controls the grasping mechanism 102 and the shelf unit 32 to rise upward in the Z-axis direction, and the shelf unit 32 can be lifted .
  • FIG. 4 is a schematic structural diagram of a shelf unit in a high-density intelligent warehousing system according to Embodiment 2 of the present invention.
  • each shelf unit 32 includes a bottom portion.
  • the cargo carrying part 321 and the enclosure part fixed on the edge of the cargo carrying part 321 are used to carry the cargo, and the enclosure part is used to connect other shelf units 32 above the shelf unit 32.
  • the cargo carrying portion here may be a bottom plate or a railing-like structure composed of a plurality of rods, as long as the purpose of carrying cargo can be achieved, the structure of this application is not limited.
  • the enclosure here may be a plurality of brackets 322 (as shown in FIG.
  • the bottom of the cargo carrying portion 321 is provided with a first connection structure (not shown), and the top of the bracket 322 is provided with a second connection structure for connecting with the first connection structure; the first connection structure is a positioning hole (not shown) ), The second connection structure is a positioning pin 323 that can be snapped into the positioning hole.
  • first connection structure may be a positioning pin
  • second connection structure may be a positioning hole into which the positioning pin can be inserted.
  • first connection structure and the second connection structure can also select other implementation manners, which is not limited by the present invention.
  • the bracket 322 surrounds the cargo carrying part 321 along the circumferential direction of the cargo carrying part 321 and forms a space for accommodating cargo together with the cargo carrying part 321.
  • the bracket 322 includes four legs 324 that are vertically fixed on the cargo carrying portion 321, and a grab bar 325 is also connected between two adjacent legs 324. There are also grab bars 325 between the other two legs 324 except for the two legs 324.
  • the two grab bars 325 here are used to cooperate with the grab mechanism 102 of the driving 11 11 Grab the two grab bars 325 by the grab mechanism 102 to grasp the shelf unit 32.
  • the second connection structure is provided on the top end of the leg 324.
  • the transport vehicle 2 includes a navigation component, and the navigation component is used to control the travel path of the transport vehicle 2.
  • the navigation component can include any one or a combination of the following: magnetic stripe navigation, inertial navigation, laser navigation, natural visual navigation, but not limited to the above, as long as the navigation function can be achieved Navigation components are included in the scope of protection of this application.
  • the first conveying device further includes a first horizontal rail and a horizontal walking beam on the first horizontal rail, the length of the horizontal walking beam is perpendicular to the first horizontal rail, and the horizontal walking beam can move along the first horizontal rail;
  • This arrangement allows the truck to move arbitrarily on the horizontal plane, that is, it can drive the rack unit to move arbitrarily on the horizontal plane in the warehouse. Therefore, the truck can be used to stack the rack units into a multi-block storage mode to increase the storage density and further Increased available storage area.
  • the shelf unit is an independent shelf, that is, the goods are stored in the independent shelf unit.
  • the method of multi-barrier storage can achieve the purpose of high-density storage.
  • the floor area of the warehouse is used The rate can reach 90%.
  • Embodiment 5 is a flowchart of a warehouse loading and unloading method provided by Embodiment 3 of the present invention. As shown in FIG. 5, this embodiment provides a warehouse loading and unloading method, which is applied to the high-density intelligence described in Embodiment 1 or Embodiment 2 above Warehousing system, including:
  • the cargo loading and unloading operations include one of loading the cargo or removing the cargo.
  • S302 Control the first vehicle to reach the designated location, so that the second vehicle located at the designated location performs cargo loading and unloading operations, wherein the first vehicle is one of the traveling vehicle and the delivery vehicle, and the second vehicle is the traveling vehicle and the delivery vehicle The other.
  • the type of goods can be selected according to actual needs, and this application does not specifically limit, and the specific structure, function, and working principle of the high-density intelligent warehousing system have been described in detail in the foregoing embodiments one and two. I will not repeat them here.
  • the goods are used as the shelf unit 32 as an example for description.
  • the transport vehicle 2 can be controlled to perform racking at the station where the rack unit is taken
  • the loading operation of the unit 32 controls the transport vehicle 2 to reach the designated location so that the carriage 11 located at the designated location performs the operation of removing the rack unit 32 from the transport vehicle 2 and moving it to the station where the shelf unit is stored.
  • This process can realize the transportation of the shelf unit 32 from the station where the shelf unit is taken to the station where the shelf unit is stored. It may specifically include the operation process of storing the shelf units in the first embodiment and taking the empty shelf units from the shipping area. Since the embodiment gives a detailed introduction to the above two operation processes, it will not be repeated here.
  • the driving vehicle 11 can be controlled to carry out the loading operation of the shelf unit 32 at the position where the shelf unit 32 is stored, and the driving vehicle 11 can be controlled to reach the designated place to make the transportation at the designated place
  • the cart 2 performs an operation of removing the rack unit 32 and the bicycle 11 and transporting it to a station requiring the rack unit. This process can realize the transportation of the shelf unit 32 from the station where the shelf unit is stored to the station where the shelf unit is needed. It may include the shelf unit outbound process of the first embodiment and the operation process of replenishing empty shelf units in the packaging production line. Since the embodiment gives a detailed introduction to the above two operation processes, it will not be repeated here.
  • the storage loading and unloading method provided in this embodiment which is applied to the high-density intelligent storage system described in the first embodiment or the second embodiment, includes: controlling the first vehicle to perform cargo loading and unloading operations. One of the removal of goods; controlling the first vehicle to reach the designated location, so that the second vehicle located at the designated location performs the loading and unloading operation of the cargo, where the first vehicle is one of the driving and delivery vehicles, and the second vehicle is The other of driving and delivery vehicles.
  • the first vehicle is one of the driving and delivery vehicles
  • the second vehicle is The other of driving and delivery vehicles.
  • the transportation process is to travel in the air, and it will not occupy the storage space on the ground. Therefore, there is no need to leave a passage for driving operations between multiple rack groups, which increases the utilization of the storage area.
  • the transport vehicle travels on the ground, and only runs between the designated location and the station that needs the rack unit / the station that takes the shelf. Therefore, it is only necessary to provide the transport lane for the transport vehicle.
  • the number of aisles and the floor area of a single aisle are reduced, thereby further increasing the utilization rate of the storage area.
  • FIG. 6 is a structural block diagram of a warehouse intelligent control system according to Embodiment 4 of the present invention; as shown in FIG. 6, this embodiment provides a warehouse intelligent control system 8, which is used to control the first embodiment or the second embodiment described above.
  • the warehouse intelligent control system 8 of this embodiment includes: a warehouse management module 81, a warehouse control module 82, a delivery vehicle scheduling module 83, and a driving scheduling module 84.
  • the storage management module 81 transports the shelf unit 32 from the station where the shelf unit is taken to the station where the shelf unit is stored, it is used to receive the instruction information sent by a manual or an upstream system and calculate the station where the shelf unit is stored The target storage location in the system, and send the instruction information and the calculated target storage location in the storage shelf unit to the warehouse control module 82; or the warehouse management module 81 at the location where the shelf unit is to be stored
  • the shelf unit 32 is transported to the station that needs the shelf unit, it is used to receive the instruction information sent by the manual or upstream system, and calculate the position of the shelf unit to be taken in the station where the shelf unit is stored, and the instruction information And the calculated position of the rack unit to be taken in the storage rack storage station is sent to the storage control module 82.
  • the warehouse control module 82 is used to generate a task signal according to the instruction information sent by the warehouse management module 81, the target storage location in the station storing the shelf unit or the position of the shelf unit to be taken in the station storing the shelf unit, and The task signal is sent to the transportation vehicle scheduling module 83 and the driving scheduling module 84.
  • the delivery vehicle scheduling module 83 dispatches the delivery vehicle 2 to perform tasks according to the task signal of the warehouse control module 82.
  • the driving scheduling module 84 schedules the driving 11 to execute the task according to the task signal of the warehouse control module 82.
  • the operation process of the storage intelligent control system 8 of this embodiment will be described by taking the operation process of rack unit storage, rack unit storage, replenishment of empty rack units on a packaging production line, and taking empty rack units from a shipping area as an example. .
  • the rack unit 32 When the rack unit 32 is full of goods, it is placed at the station where the rack unit is picked up, such as the door of the warehouse, and the manual rack or upstream system sends the rack unit retrieval information and the goods information to the warehouse management module 81.
  • the warehousing management module 81 calculates the target storage location in the station storing the shelf unit, and sends the fetch unit instruction information and the calculated target storage location in the storage shelf unit to the storage control module 82.
  • the warehouse control module 82 generates a task signal according to the shelf unit instruction information and the calculated target storage location, and sends the task signal to the delivery vehicle scheduling module 83 and the driving scheduling module 84.
  • the driving scheduling module 84 After receiving the task signal, the driving scheduling module 84 replies to the warehouse control module 82 with a response message, and schedules the traveling vehicle 11 to perform the task. Specifically, the traveling vehicle 11 runs to the designated location of the warehouse, that is, the position docked with the transport vehicle 2, arrives at the traveling vehicle 11 After the designated location, the location information is sent to the driving scheduling module 84, and the driving scheduling module 84 sends the task end status information to the warehouse control module 82.
  • the delivery vehicle scheduling module 83 After receiving the task signal, the delivery vehicle scheduling module 83 replies to the warehouse control module 82 with a response message, and dispatches the delivery vehicle 2 to the station where the rack unit is picked up, and the delivery vehicle 2 sends the position information to the station where the rack unit is picked up.
  • the delivery vehicle scheduling module 83 sends the task end status information to the warehouse control module 82.
  • the warehousing control system 82 sends the task signal for picking the shelf unit to the delivery vehicle scheduling module 83.
  • the delivery vehicle scheduling module 83 After receiving the task signal for picking the shelf unit, the delivery vehicle scheduling module 83 replies to the storage control module 82 with a response message, and dispatches the delivery vehicle 2 to perform the picking For the shelf unit task, the delivery vehicle 2 sends the end information to the delivery vehicle scheduling module 83 after completing the shelf unit fetching task, and the delivery vehicle scheduling module 83 sends the task end status information to the warehouse control module 82.
  • the warehouse control system 82 sends the task signal to the designated location to the delivery vehicle scheduling module 83.
  • the delivery vehicle scheduling module 83 replies to the warehouse control module 82 with a response message, and dispatches the delivery vehicle 2 to the designated location of the warehouse.
  • the location that is, the location docked with the driving vehicle 11, after the delivery vehicle 2 reaches the designated location, it sends the location information to the delivery vehicle scheduling module 83, and the delivery vehicle scheduling module 83 sends the task end status information to the warehouse control module 82.
  • the driving scheduling module 84 and the transportation vehicle scheduling module 83 both send task end status information to the warehouse control module 82, the warehouse control system 82 then schedules the driving scheduling module 84 and the transportation vehicle respectively
  • the module 83 sends a docking task signal.
  • the traffic dispatching module 84 and the transport vehicle dispatching module 83 receive the docking task signal and respectively reply to the storage control module 82 with a response message, the traveling vehicle 11 and the transport vehicle 2 are docked, and the traveling vehicle 11 takes away the transport
  • the rack unit 32 on the vehicle 2 completes the docking task, and the driving vehicle 11 and the transportation vehicle 2 respectively send end information to the driving scheduling module 84 and the transportation vehicle scheduling module 83.
  • the warehouse control system 82 distributes the standby task signal to the delivery vehicle scheduling module 83.
  • the delivery vehicle scheduling module 83 replies to the warehouse control module 82 with a response message, and dispatches the delivery vehicle 2 to the standby point.
  • the delivery vehicle 2 After the delivery vehicle 2 reaches the standby point, it sends position information to the delivery vehicle scheduling module 83, and the delivery vehicle scheduling module 83 sends the task end status information to the warehouse control module 82.
  • the warehouse control system 82 sends a storage task signal to the driving scheduling module 84. After receiving the storage task signal, the driving scheduling module 84 replies to the warehouse control system 82 with a response message.
  • the driving scheduling module 84 schedules the driving 11 to store the shelf unit 32 to the storage shelf The target storage location in the unit's station. After that, the vehicle 11 sends the end information to the vehicle scheduling module 84, and the vehicle scheduling module 84 sends the task end status information to the warehouse control system 82.
  • the warehouse control system 82 distributes the standby task signal to the driving scheduling module 84, and the driving scheduling module 84 replies to the warehouse control module 82 with a response message after receiving the standby task. And dispatch 11 trips to the standby point. After the driving vehicle 11 reaches the standby point, it sends position information to the driving scheduling module 84, and the driving scheduling module 84 sends task end status information to the warehouse control module 82.
  • the storage process of the shelf unit 32 is realized.
  • the rack unit 32 in this process is loaded with goods.
  • the manual or upstream system sends the warehouse shelf unit instruction information to the warehouse management module 81.
  • the warehousing management module 81 calculates the location of the shelf unit 32 to be taken in the station where the shelf unit is stored, and compares the outbound shelf unit instruction information and the calculated shelf unit to be taken in the station where the shelf unit is stored
  • the location of 32 is sent to the warehouse control module 82.
  • the warehousing control module 82 generates a task signal according to the outbound shelf unit instruction information and the calculated location of the shelf unit 32 to be taken, and sends the task signal to the delivery vehicle scheduling module 83 and the driving scheduling module 84.
  • the delivery vehicle scheduling module 83 After receiving the task signal, the delivery vehicle scheduling module 83 replies to the warehouse control module 82 with a response message, and dispatches the delivery vehicle 2 to perform the task. Specifically, the delivery vehicle 2 runs to the designated location of the warehouse, that is, the position where it is docked with the vehicle 11, during delivery After the vehicle 2 arrives at the designated location, it sends position information to the delivery vehicle scheduling module 83, and the delivery vehicle scheduling module 83 sends task end status information to the warehouse control module 82.
  • the driving scheduling module 84 replies to the warehouse control module 82 with a response message, and schedules the driving 11 to run to the position of the shelf unit 32 to be taken in the station where the shelf unit is stored.
  • the position information is sent to the driving scheduling module 84, and the driving scheduling module 84 sends the task end status information to the warehouse control module 82.
  • the warehouse control system 82 sends the task signal of picking the shelf unit to the driving scheduling module 84.
  • the driving scheduling module 84 replies to the storage control module 82 with a response message, and dispatches the vehicle 11 to execute the task of picking the shelf unit
  • the vehicle 11 completes the task of taking the shelf unit, it sends an end message to the vehicle scheduling module 84, and the vehicle scheduling module 84 sends the task end status information to the warehouse control module 82.
  • the warehouse control system 82 sends the task signal to the designated location to the driving scheduling module 84.
  • the driving scheduling module 84 After receiving the task signal to the designated location, the driving scheduling module 84 replies to the warehouse control module 82 with a response message, and schedules the driving of the vehicle 11 to the designated location of the warehouse, namely At the position docked with the transport vehicle 2, the driving vehicle 11 sends the location information to the driving scheduling module 84 after arriving at the designated location, and the driving scheduling module 84 sends the task end status information to the warehouse control module 82.
  • the driving scheduling module 84 and the transportation vehicle scheduling module 83 both send task end status information to the warehouse control module 82, the warehouse control system 82 then schedules the driving scheduling module 84 and the transportation vehicle respectively
  • the module 83 sends a docking task signal.
  • the traveling vehicle 11 and the transporting vehicle 2 are docked. 32 is loaded on the delivery vehicle 2 to complete the docking task.
  • the vehicle 11 and the delivery vehicle 2 send end information to the vehicle dispatch module 84 and the vehicle dispatch module 83 respectively, and the vehicle dispatch module 84 and the vehicle dispatch module 83 respectively send the task end status information Send to the warehouse control system 82.
  • the warehouse control system 82 distributes the standby task signal to the driving scheduling module 84, and the driving scheduling module 84 replies to the warehouse control module 82 with a response message after receiving the standby task. And dispatch 11 trips to the standby point. After the driving vehicle 11 reaches the standby point, it sends position information to the driving scheduling module 84, and the driving scheduling module 84 sends task end status information to the warehouse control module 82.
  • the warehouse control system 82 sends a delivery task signal to the delivery vehicle scheduling module 83.
  • the delivery vehicle scheduling module 83 After receiving the delivery task signal, the delivery vehicle scheduling module 83 returns a response message to the warehouse control system 82.
  • the delivery vehicle scheduling module 83 dispatches the delivery vehicle 2 to place the rack
  • the unit 32 is transported to a station that requires a shelf unit, such as a warehouse door. Then, the delivery vehicle 2 sends the end information to the delivery vehicle scheduling module 83, and the delivery vehicle scheduling module 83 sends the task end status information to the warehouse control system 82.
  • the storage control system 82 assigns the standby task signal to the transport vehicle scheduling module 83, and the transport vehicle scheduling module 83 returns a response message to the storage control module 82 after receiving the standby task. And dispatch the delivery vehicle to 2 standby points.
  • the delivery vehicle 2 After the delivery vehicle 2 reaches the standby point, it sends position information to the delivery vehicle scheduling module 83, and the delivery vehicle scheduling module 83 sends the task end status information to the warehouse control module 82. In this way, the warehouse unit 32 is shipped out. In addition, the rack unit 32 in this process is loaded with goods.
  • This process supplements the rack unit 32 that does not load goods for the station that needs the rack unit.
  • the station that needs the empty rack unit can be, for example, a packaging production line. Since the rack unit 32 filled with goods is removed, it needs to store the racks The unit station, for example, the empty shelf unit buffer area, retrieves the empty shelf unit 32.
  • the manual or upstream system sends the replenishment shelf unit instruction information to the warehouse management module 81.
  • the warehousing management module 81 calculates the location of the shelf unit 32 in the storage shelf unit, such as the empty shelf buffer area, and adds the shelf unit instruction information and the calculated storage shelf unit location, For example, the location of the shelf unit 32 to be taken in the empty shelf buffer area is sent to the warehouse control module 82.
  • the warehousing control module 82 generates a task signal according to the supplementary shelf unit instruction information and the calculated location of the shelf unit 32 to be taken, and sends the task signal to the delivery vehicle scheduling module 83 and the driving scheduling module 84.
  • the delivery vehicle scheduling module 83 replies to the warehouse control module 82 with a response message, and dispatches the delivery vehicle 2 to perform the task.
  • the delivery vehicle 2 runs to the designated location of the warehouse, that is, the position where it is docked with the operation vehicle 11, at After the delivery vehicle 2 arrives at the designated location, it sends position information to the delivery vehicle scheduling module 83, and the delivery vehicle scheduling module 83 sends task end status information to the warehouse control module 82.
  • the driving scheduling module 84 replies to the warehouse control module 82 with a response message, and schedules the driving 11 to run to the position of the shelf unit 32 to be taken in the empty shelf buffer area, and the driving 11 arrives at the shelf unit 32 to be taken
  • the driving scheduling module 84 sends the task end status information to the warehouse control module 82.
  • the warehouse control system 82 sends the task signal of picking the shelf unit to the driving scheduling module 84.
  • the driving scheduling module 84 replies to the storage control module 82 with a response message, and dispatches the vehicle 11 to execute the task of picking the shelf unit
  • the vehicle 11 After the vehicle 11 completes the task of taking the shelf unit, it sends an end message to the vehicle scheduling module 84, and the vehicle scheduling module 84 sends the task end status information to the warehouse control module 82.
  • the warehouse control system 82 sends the task signal to the designated location to the driving scheduling module 84.
  • the driving scheduling module 84 After receiving the task signal to the designated location, the driving scheduling module 84 replies to the warehouse control module 82 with a response message, and schedules the driving of the vehicle 11 to the designated location of the warehouse, namely At the position docked with the transport vehicle 2, the driving vehicle 11 sends the location information to the driving scheduling module 84 after arriving at the designated location, and the driving scheduling module 84 sends the task end status information to the warehouse control module 82.
  • the driving scheduling module 84 and the transportation vehicle scheduling module 83 both send task end status information to the warehouse control module 82, the warehouse control system 82 then schedules the driving scheduling module 84 and the transportation vehicle respectively
  • the module 83 sends a docking task signal.
  • the traveling vehicle 11 and the transporting vehicle 2 are docked. 32 is loaded on the delivery vehicle 2 to complete the docking task.
  • the vehicle 11 and the delivery vehicle 2 send end information to the vehicle dispatch module 84 and the vehicle dispatch module 83 respectively, and the vehicle dispatch module 84 and the vehicle dispatch module 83 respectively send the task end status information Send to the warehouse control system 82.
  • the warehouse control system 82 distributes the standby task signal to the driving scheduling module 84, and the driving scheduling module 84 replies to the warehouse control module 82 with a response message after receiving the standby task.
  • dispatch 11 trips to the standby point. After the driving vehicle 11 reaches the standby point, it sends position information to the driving scheduling module 84, and the driving scheduling module 84 sends task end status information to the warehouse control module 82.
  • the warehousing control system 82 sends a task signal to the delivery vehicle scheduling module 83 to the station requiring the shelf unit, and the delivery vehicle scheduling module 83 receives the task signal to the station requiring the shelf unit to reply a response message to the warehouse control system 82
  • the delivery vehicle scheduling module 83 dispatches the delivery vehicle 2 to transport the shelf unit 32 to a station that requires the shelf unit, such as a packaging production line. Then, the delivery vehicle 2 sends the end information to the delivery vehicle scheduling module 83, and the delivery vehicle scheduling module 83 sends the task end status information to the warehouse control system 82.
  • the storage control system 82 assigns the standby task signal to the transport vehicle scheduling module 83, and the transport vehicle scheduling module 83 returns a response message to the storage control module 82 after receiving the standby task. And dispatch the delivery vehicle to 2 standby points. After the delivery vehicle 2 reaches the standby point, it sends position information to the delivery vehicle scheduling module 83, and the delivery vehicle scheduling module 83 sends the task end status information to the warehouse control module 82.
  • the replenishment process of the shelf unit 32 to the empty shelf unit of the packaging production line is realized. In addition, no goods are loaded in the shelf unit 32 during this process.
  • This process is used to remove the unloaded shelf unit 32 from the station where the shelf unit is taken, specifically, the loading of the shelf unit 32 at the station where the shelf unit is taken, for example, at the loading station in the shipping area
  • the task will leave the unloaded shelf units 32, and the empty shelf units 32 need to be transported to the empty shelf unit buffer area.
  • the shipping process is described below.
  • the manual or upstream system sends the shelf unit instruction information to the warehouse management module 81.
  • the warehousing management module 81 calculates the target storage location in the station (ie empty shelf buffer area) where the shelf unit is stored, and sends the fetch unit instruction information and the calculated target storage location in the empty shelf buffer area to the storage control module 82.
  • the warehouse control module 82 generates a task signal according to the shelf unit instruction information and the calculated target storage location, and sends the task signal to the delivery vehicle scheduling module 83 and the driving scheduling module 84.
  • the driving scheduling module 84 replies to the warehouse control module 82 with a response message, and schedules the traveling vehicle 11 to perform the task. Specifically, the traveling vehicle 11 runs to the designated location of the warehouse, that is, the position docked with the transport vehicle 2, arrives at the traveling vehicle 11 After the designated location, the location information is sent to the driving scheduling module 84, and the driving scheduling module 84 sends the task end status information to the warehouse control module 82.
  • the delivery vehicle scheduling module 83 After receiving the task signal, the delivery vehicle scheduling module 83 replies to the warehouse control module 82 with a response message, and dispatches the delivery vehicle 2 to the station where the rack unit is picked up, and the delivery vehicle 2 sends the position information to the station where the rack unit is picked up.
  • the delivery vehicle scheduling module 83 sends the task end status information to the warehouse control module 82.
  • the warehousing control system 82 sends the task signal for picking the shelf unit to the delivery vehicle scheduling module 83.
  • the delivery vehicle scheduling module 83 After receiving the task signal for picking the shelf unit, the delivery vehicle scheduling module 83 replies to the storage control module 82 with a response message, and dispatches the delivery vehicle 2 to perform the picking For the shelf unit task, the delivery vehicle 2 sends the end information to the delivery vehicle scheduling module 83 after completing the shelf unit fetching task, and the delivery vehicle scheduling module 83 sends the task end status information to the warehouse control module 82.
  • the warehouse control system 82 sends the task signal to the designated location to the delivery vehicle scheduling module 83.
  • the delivery vehicle scheduling module 83 replies to the warehouse control module 82 with a response message, and dispatches the delivery vehicle 2 to the designated location of the warehouse.
  • the location that is, the location docked with the driving vehicle 11, after the delivery vehicle 2 reaches the designated location, it sends the location information to the delivery vehicle scheduling module 83, and the delivery vehicle scheduling module 83 sends the task end status information to the warehouse control module 82.
  • the driving scheduling module 84 and the transportation vehicle scheduling module 83 both send task end status information to the warehouse control module 82, the warehouse control system 82 then schedules the driving scheduling module 84 and the transportation vehicle respectively
  • the module 83 sends a docking task signal.
  • the traveling vehicle 11 and the transport vehicle 2 are docked, and the traveling vehicle 11 takes away the transport
  • the shelf unit 32 on the vehicle 2 completes the docking task, and the driving vehicle 11 and the transportation vehicle 2 respectively send end information to the driving scheduling module 84 and the transportation vehicle scheduling module 83, and the driving scheduling module 84 and the transportation vehicle scheduling module 83 respectively send the task end status information Send to the warehouse control system 82.
  • the warehouse control system 82 distributes the standby task signal to the delivery vehicle scheduling module 83. After receiving the standby task, the delivery vehicle scheduling module 83 returns a response message to the warehouse control module 82.
  • the delivery vehicle 2 After the delivery vehicle 2 reaches the standby point, it sends position information to the delivery vehicle scheduling module 83, and the delivery vehicle scheduling module 83 sends the task end status information to the warehouse control module 82.
  • the warehouse control system 82 sends a storage task signal to the driving scheduling module 84.
  • the driving scheduling module 84 replies to the warehouse control system 82 with a response message.
  • the driving scheduling module 84 schedules the driving 11 to store the rack unit 32 to the empty The target storage location in the shelf buffer area. After that, the vehicle 11 sends the end information to the vehicle scheduling module 84, and the vehicle scheduling module 84 sends the task end status information to the warehouse control system 82.
  • the warehouse control system 82 distributes the standby task signal to the driving scheduling module 84, and the driving scheduling module 84 replies to the warehouse control module 82 with a response message after receiving the standby task. And dispatch 11 trips to the standby point. After the driving vehicle 11 reaches the standby point, it sends position information to the driving scheduling module 84, and the driving scheduling module 84 sends task end status information to the warehouse control module 82. Thus, the process of taking the empty rack unit 32 from the shipping area is realized. In addition, no goods are loaded in the shelf unit 32 during this process.
  • the warehouse management module 81 and the warehouse control module 82 send task signals to the transportation vehicle scheduling module 83 and the driving scheduling module 84 according to the instruction information sent by the manual or upstream system, and the transportation vehicle scheduling module 83
  • the delivery vehicle 2 is scheduled to execute the task according to the task signal of the warehouse control module 82.
  • the driving scheduling module 84 schedules the driving 11 to execute the task according to the task signal of the warehouse control module 82.
  • Intelligent system management replaces traditional man-made plan management, improves storage efficiency, simplifies the storage process, and makes management more strict and standardized.
  • the intelligent storage control system of this embodiment increases the storage space utilization rate by 80%, the storage efficiency by 50%, and the operating cost by 70%, which greatly reduces labor costs. It also solves the problem of the shortage of land for enterprise warehouses, and can store more goods under the same area.

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Abstract

一种高密度智能仓储系统及仓储装卸方法，仓储系统包括第一输送装置（1）、第二输送装置和组合式货架（3）；组合式货架（3）包括至少一个货架组（31），每个货架组（31）包括至少两个竖直层叠的货架单元（32），每个货架单元（32）的内部均形成用于容置货物的空间；第一输送装置（1）包括悬挂于仓库顶部的自动运行的行车（11），行车（11）可沿水平方向和竖直方向移动，行车（11）用于将仓库的指定地点的货架单元（32）吊挂至货架组（31）上，或者将位于货架组（31）上的货架单元（32）吊送至指定地点；第二输送装置包括可在仓库的地面上自动行进的运送车（2），运送车（2）具有可放置货架单元（32）的顶部，运送车（2）用于将货架单元（32）运送至仓库的指定地点，或者用于承载被行车（11）吊送至指定地点的货架单元（32），从而增加仓储面积的利用率。

Description

高密度智能仓储系统及仓储装卸方法 技术领域
本发明涉及物流仓储技术领域，尤其涉及一种高密度智能仓储系统及仓储装卸方法。
背景技术
仓储是集中反映工厂物资活动状况的综合场所，是连接生产、供应、销售的中转站，对促进生产提高效率起着重要的辅助作用。具体的，仓储是利用自建或租赁库房、场地、储存、保管、装卸搬运、配送货物，传统的仓储定义是从物资储备的角度给出的，现代“仓储”不是传统意义上的“仓库”，而是在经济全球化与供应链一体化背景下的仓储，是现代物流系统中的仓储。
现有仓储中常用的立体仓库一般指的是自动化堆垛机式立体仓库，具体的，自动化堆垛机式立体仓库是利用固定的钢结构或钢筋混凝土结构的高层货架来存储货物，立体仓库的存储区域向高空大幅度发展，提高了空间使用率。自动化堆垛机式立体仓库的特点是：两排货架为一组，组间留有供堆垛机工作的通道；每排货架被分成若干列、若干层，组成大量货格，存储取货靠堆垛机来完成。堆垛机采用水平方向尺寸较长的货叉作为取物装置，在仓库等处攫取、搬运和堆垛或从高层货架上取放单元货物。
然而，现有立体仓库中由于堆垛机在作业过程中，货叉要在立柱上进行上下运动或绕立柱旋转，因而货架组之间要留有足够的空间以保证堆垛机正常作业，并且由于每两排货架之间就要留有供堆垛机工作的通道，因而该通道的数量也较多，一般说来，供堆垛机作业的巷道占了整个仓库地面30％以上的面积，因而仓储面积利用率并不高。
发明内容
本发明提供一种高密度智能仓储系统及仓储装卸方法，能够增加仓 储面积的利用率。
第一方面，本发明提供一种高密度智能仓储系统，应用于仓库，该高密度智能仓储系统包括第一输送装置、第二输送装置和组合式货架；组合式货架包括至少一个货架组，每个货架组包括至少两个竖直层叠的货架单元，每个货架单元的内部均形成用于容置货物的空间；第一输送装置包括悬挂于仓库顶部的自动运行的行车，行车可沿水平方向和竖直方向移动，行车用于将仓库的指定地点的货架单元吊挂至货架组上，或者将位于货架组上的货架单元吊送至指定地点；第二输送装置包括可在仓库的地面上自动行进的运送车，运送车具有可放置货架单元的顶部，运送车用于将货架单元运送至仓库的指定地点，或者用于承载被行车吊送至指定地点的货架单元。
第二方面，本发明提供一种仓储装卸方法，应用于上述技术方案中任一项所述的高密度智能仓储系统，该仓储装卸方法包括：
控制第一车辆进行货物的装卸操作，货物装卸操作包括装载货物或者将货物取下中的一种；
控制第一车辆到达指定地点，以使位于指定地点的第二车辆进行货物的装卸操作，其中，第一车辆为行车和运送车中的一者，第二车辆为行车和运送车中的另一者。
本发明的高密度智能仓储系统及仓储装卸方法，仓储系统应用于仓库，该高密度智能仓储系统包括第一输送装置、第二输送装置和组合式货架；组合式货架包括至少一个货架组，每个货架组包括至少两个竖直层叠的货架单元，每个货架单元的内部均形成用于容置货物的空间；第一输送装置包括悬挂于仓库顶部的自动运行的行车，行车可沿水平方向和竖直方向移动，行车用于将仓库的指定地点的货架单元吊挂至货架组上，或者将位于货架组上的货架单元吊送至指定地点；第二输送装置包括可在仓库的地面上自动行进的运送车，运送车具有可放置货架单元的顶部，运送车用于将货架单元运送至仓库的指定地点，或者用于承载被行车吊送至指定地点的货架单元。这样设置，利用行车实现货架单元在存放货架单元的工位和指定地点之间的运送，利用运送车实现货架单元在指定地点和需要货架单元的工位/拿取货架单元的工位之间的运送，因 而通过行车和运送车之间的相互配合，就能够实现货架单元在存放货架单元的工位和需要货架单元的工位/拿取货架单元的工位之间的运送。行车悬挂于仓库顶部，其运送过程是在空中行进，不会占用地面的仓储空间，因而多个货架组之间不需要留有供行车作业的通道，这样就增加了仓储面积利用率。此外，整个作业过程中，运送车在地面行进，并且仅在指定地点和需要货架单元的工位/拿取货架的工位之间运行，因而只需要为运送车提供运输巷道，该运输巷道与现有技术的堆垛机的作业巷道相比，减少了巷道的数量以及单个巷道的占地面积，因而进一步增加了仓储面积的利用率。解决了现有仓储系统中仓储面积利用率低的问题。
附图说明
图1为本发明实施例一提供的高密度智能仓储系统的结构示意图；
图2为本发明实施例二提供的高密度智能仓储系统中第一输送装置的一种结构示意图；
图3为本发明实施例二提供的高密度智能仓储系统中行车和运送车的对接过程的示意图；
图4为本发明实施例二提供的高密度智能仓储系统中货架单元的一种结构示意图；
图5为本发明实施例三提供的仓储装卸方法的流程图；
图6为本发明实施例四提供的仓储智能控制系统的结构框图。
附图标记说明：
1-第一输送装置；      2-运送车；           3-组合式货架；
4-第一水平导轨；      5-水平行走梁；       6-第二水平轨道；
8-仓储智能控制系统；  11-行车；            31-货架组；
32-货架单元；         81-仓储管理模块；    82-仓储控制模块；
101-升降单元；        102-抓取机构；       321-货物承载部；
322-支架；            323-定位销；         324-支腿；
325-抓取横杆；        83-运送车调度模块；  84-行车调度模块。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
实施例一
图1为本发明实施例一提供的高密度智能仓储系统的结构示意图；如图1所示，本实施例提供的高密度智能仓储系统(以下简称“仓储系统”)应用于仓库，该高密度智能仓储系统包括第一输送装置1、第二输送装置和组合式货架3。
组合式货架3包括至少一个货架组31，每个货架组31包括至少两个竖直层叠的货架单元32，每个货架单元32的内部均形成用于容置货物的空间。由此，各个货架组31中可以根据需要而累积多个货架单元32，将仓库竖直方向上的空间进行了充分地利用，相比于现有技术中堆叠高度要受堆垛机在竖直方向上的作业能力限制的情况而言，此处的货架单元32的堆叠高度可以更高，只要不超过下述行车11的悬挂高度即可，因而与现有技术相比，单位面积储物量更多。此外，组合式货架3可以如图1那样，仅在中间部分留有供下述运送车行进的运送车巷道，也可以在组合式货架3中设有两条或多条运送车巷道，此处，不对运送车巷道的个数和设置方式做限定。具体使用过程中可以根据实际需要而进行设置。可选的，货架组31在仓库内的货架区域内密集排布，且相邻两个货架组31之间的间距小于第二输送装置的行进路径宽度，并且指定地点位于货架区域之外。这样一来，在所有货架组31之间均不设有运送车巷道，这样更加增大了仓库面积的利用率。此外，指定地点位于货架区域之外，即，运送车巷道设置在组合式货架3之外的区域中。
第一输送装置1包括悬挂于仓库顶部的自动运行的行车11，行车11可沿水平方向和竖直方向移动，行车11用于将仓库的指定地点的货架单元32吊挂至货架组31上，或者将位于货架组31上的货架单元32吊送至指定地点。即，行车11能够在空中行进从而实现货架单元32在存放货架 单元的工位和指定地点之间的运送。具体的，行车11沿水平方向移动到仓库的指定地点的货架单元32上方，并沿竖直方向下降，抓取货架单元32，然后沿竖直方向上升，再沿水平方向移动至该货架单元32的目标存放地点上方，此时行车11沿竖直方向下降，并将货架单元32放置于目标存放地点，由此，行车11能够将仓库的指定地点的货架单元32吊挂至货架组31上。此外，行车11沿水平方向移动到位于货架组31上的货架单元32上方，并沿竖直方向下降，抓取货架单元32，然后沿竖直方向上升，再沿水平方向移动至该仓库的指定地点的上方，此时行车11沿竖直方向下降，并将货架单元32放置于指定地点，由此，行车11能够将位于货架组31上的货架单元32吊送至指定地点。
第二输送装置包括可在仓库的地面上自动行进的运送车2，运送车2具有可放置货架单元32的顶部，运送车2用于将货架单元32运送至仓库的指定地点，或者用于承载被行车11吊送至指定地点的货架单元32。即，利用运送车2实现货架单元32在指定地点和需要货架单元的工位/拿取货架单元的工位之间的运送。可选的，运送车2可以设有自动顶升机(图略)，该自动顶升机用于向运送车2装载或者卸载货架单元32，除此之外，也可以是运送车2上不设有顶升机，而在仓库中设有专用的顶升工位，当运送车2到达顶升工位时，可以控制自动顶升机为运送车2装载或者卸载货架单元32。
本实施例中，通过行车11和运送车2之间的相互配合，就能够实现货架单元32在存放货架单元的工位和需要货架单元的工位/拿取货架单元的工位之间的运送。具体的，以货架单元入库、货架单元出库、包装生产线空货架单元补充、自出货区拿取空货架单元为例，来说明本实施例的高密度智能仓储系统的工作过程。
货架单元入库：
货架单元32装满货物后，放置在拿取货架单元的工位，例如仓库门口，请求入库，运送车2运行至拿取货架单元的工位，并由顶升机为运送车2装载货架单元32，然后载有货架单元32的运送车2行驶至仓库的指定地点；行车11沿水平方向移动到位于仓库的指定地点的运送车2上的货架单元32上方，并沿竖直方向下降，抓取货架单元32，然后沿竖直方 向上升，此时，运送车2变为空闲状态。行车11再沿水平方向移动至存放货架单元的工位中的目标存放地点上方，例如组合式货架3中的目标存放地点上方，此时行车11沿竖直方向下降，并将货架单元32放置于该目标存放地点，由此实现货架单元32入库过程。此外，此处是载有货架单元32的运送车2行驶至仓库的指定地点后，行车11再沿水平方向移动到位于仓库的指定地点的运送车2上的货架单元32上方，也可以是请求入库后，行车11先沿水平方向移动到仓库的指定地点待命，然后运送车2再运行至拿取货架单元的工位，然后继续进行上述的后续工序。这里对二者的动作顺序不做限定。另外，此过程中的货架单元32中装载有货物。
货架单元出库：
当需要使货架单元32出库时，首先，运送车2运行至仓库的指定地点待命。其次，行车11沿水平方向移动到位于货架组31上的待拿取的货架单元32上方，并沿竖直方向下降，抓取货架单元32，然后沿竖直方向上升，再沿水平方向移动至位于该仓库的指定地点的运送车2上方，此时行车11沿竖直方向下降，并将货架单元32放置于运送车2上，然后行车11沿竖直方向上升。载有货架单元32的运送车2运行至需要货架单元的工位例如仓库门口，由顶升机为运送车2卸下货架单元32，由此实现货架单元32出库过程。另外，此过程中的货架单元32中装载有货物。
包装生产线空货架单元补充：
此过程为需要货架单元的工位补充未装货物的货架单元32，此处需要货架单元的工位例如可以是包装生产线，由于装满货物的货架单元32被取走，需要自存放货架单元的工位例如空货架单元缓存区调取空货架单元32。下面介绍补充过程，首先运送车2行驶至仓库的指定地点待命。其次，行车11沿水平方向移动到空货架单元缓存区中的待拿取的货架单元32上方，并沿竖直方向下降，抓取货架单元32，然后沿竖直方向上升，再沿水平方向移动至位于该仓库的指定地点的运送车2上方，此时行车11沿竖直方向下降，并将货架单元32放置于运送车2上，然后行车11沿竖直方向上升，并回待命点待命。载有货架单元32的运送车2运行至需要货架单元的工位即包装生产线，由此实现包装生产线空货架单元 补充过程。另外，此过程中的货架单元32中未装载有货物，为空货架单元32。
自出货区拿取空货架单元：
此过程用于从拿取货架单元的工位拿走货架单元32，具体而言，在拿取货架单元的工位、例如在出货区的装车工位完成货架单元32装货任务，则会留下未装载货物的货架单元32，需要将空载的货架单元32运送至空货架单元缓存区。下面介绍运送过程。首先，运送车2运行至拿取货架单元的工位，并由顶升机为运送车2装载货架单元32，然后载有货架单元32的运送车2行驶至仓库的指定地点；行车11沿水平方向移动到位于仓库的指定地点的运送车2上的货架单元32上方，并沿竖直方向下降，抓取货架单元32，然后沿竖直方向上升，此时，运送车2变为空闲状态。行车11再沿水平方向移动至该货架单元32在存放货架单元的工位中的目标存放位置，例如空货架单元缓存区中的目标存放地点上方，此时行车11沿竖直方向下降，并将货架单元32放置于该目标存放地点，由此实现自出货区拿取空货架单元。此外，此处是载有货架单元32的运送车2行驶至仓库的指定地点后，行车11再沿水平方向移动到位于仓库的指定地点的运送车2上的货架单元32上方，也可以是行车11先沿水平方向移动到仓库的指定地点待命，然后运送车2再运行至拿取货架单元的工位，然后继续进行上述的后续工序。这里对二者的动作顺序不做限定。另外，此过程中的货架单元32中未装载有货物，为空货架单元32。
本实施例的高密度智能仓储系统应用于仓库，该高密度智能仓储系统包括第一输送装置、第二输送装置和组合式货架；组合式货架包括至少一个货架组，每个货架组包括至少两个竖直层叠的货架单元，每个货架单元的内部均形成用于容置货物的空间；第一输送装置包括悬挂于仓库顶部的自动运行的行车，行车可沿水平方向和竖直方向移动，行车用于将仓库的指定地点的货架单元吊挂至货架组上，或者将位于货架组上的货架单元吊送至指定地点；第二输送装置包括可在仓库的地面上自动行进的运送车，运送车具有可放置货架单元的顶部，运送车用于将货架单元运送至仓库的指定地点，或者用于承载被行车吊送至指定地点的货架单元。这样设置，利用行车实现货架单元在存放货架单元的工位和指 定地点之间的运送，利用运送车实现货架单元在指定地点和需要货架单元的工位/拿取货架单元的工位之间的运送，因而通过行车和运送车之间的相互配合，就能够实现货架单元在存放货架单元的工位和需要货架单元的工位/拿取货架单元的工位之间的运送。行车悬挂于仓库顶部，其运送过程是在空中行进，不会占用地面的仓储空间，因而多个货架组之间不需要留有供行车作业的通道，这样就增加了仓储面积利用率。此外，整个作业过程中，运送车在地面行进，并且仅在指定地点和需要货架单元的工位/拿取货架的工位之间运行，因而只需要为运送车提供运输巷道，该运输巷道与现有技术的堆垛机的作业巷道相比，减少了巷道的数量以及单个巷道的占地面积，因而进一步增加了仓储面积的利用率。
实施例二
在实施例一的基础上，本实施例对前述实施例一中的第一输送装置、货架单元以及第二输送装置作进一步补充说明。图2为本发明实施例二提供的高密度智能仓储系统中第一输送装置的一种结构示意图。如图2所示，第一输送装置1还包括第一水平轨道4和位于第一水平轨道4上的水平行走梁5，水平行走梁5的长度方向与第一水平轨道4垂直，且水平行走梁5可沿第一水平轨道4移动；水平行走梁5上设置有第二水平轨道6，行车11位于第二水平轨道6上，并可沿第二水平轨道6移动。如图2所示，图中的X方向即第二水平导轨6的延伸方向，Y方向即第一水平导轨4的延伸方向(垂直于纸面的方向，未图示)，Z方向即竖直方向。当行车11上抓取有货架单元32时，若行车11沿第二水平轨道6移动时，则带动货架单元32沿第二水平导轨6的延伸方向即X方向移动，若水平行走梁5沿第一水平轨道4移动时，由于行车11位于第二水平导轨6上，第二水平导轨6设置在水平行走梁5上，则行车11带动货架单元32沿第一水平导轨4的延伸方向，即沿Y方向移动。
可选的，行车11包括升降单元101和抓取机构102，升降单元101位于第二水平轨道6上，抓取机构102和升降单元101连接并用于抓取货架单元32。图3为本发明实施例二提供的高密度智能仓储系统中行车和运送车的对接过程的示意图。如图3所示，当行车11在水平方向运行到与运送车2的对接位置时，例如运行到仓库的指定地点时，需要利用升降 单元101将抓取机构102和货架单元32沿Z轴方向向下下降至运送车2的顶部，再松开抓取机构102，以将货架单元32装载在运送车2上；或者当行车11在水平方向运行到与运送车2的对接位置时，例如运行到仓库的指定地点时，需要利用升降单元101将抓取机构102沿Z轴方向向下下降至运送车2的货架单元32的顶部，此时松开抓取机构102，待抓取机构102挂到货架单元32上之后，抓取机构102向内收紧即可抓紧货架单元32，此时升降单元101控制抓取机构102和货架单元32沿Z轴方向向上上升，即可将货架单元32提起。由此可完成行车11和运送车2的对接。
此外，图4为本发明实施例二提供的高密度智能仓储系统中货架单元的一种结构示意图，如图4所示，作为一种可选的实施方式，每个货架单元32均包括位于底部的货物承载部321和固定在货物承载部321边缘上的围挡部，货物承载部321用于承载货物，围挡部用于连接货架单元32上方的其它货架单元32。这里的货物承载部可以是底板，也可以是由多个杆状物组成的栏杆状的结构，只要达到能够承载货物的目的即可，本申请对其结构不做限定。另外，这里的围挡部可以是多个支架322(如图4所示)，也可以是由板状材料形成的起到围挡作用的围挡壁，只要达到能够防止货物从侧面掉落的目的即可，本申请对其结构不做限定。可选的，货物承载部321的底部设置有第一连接结构(图略)，支架322的顶端设置有用于和第一连接结构连接的第二连接结构；第一连接结构为定位孔(图略)，第二连接结构为可卡入定位孔内的定位销323。这样，当两个货架单元32进行层叠时，一个货架单元32的支架322的顶端的定位销323卡入另一个货架单元32的货物承载部321底部的定位孔中，由此实现两个货架单元32在水平方向上的相对定位。
当然，也可以是第一连接结构为定位销，第二连接结构为可供定位销卡入的定位孔。只要能够实现两个货架单元32在水平方向上的彼此定位，第一连接结构和第二连接结构也可以选择其它的实现方式，本发明对此不做限制。
可选的，如图4所示，支架322沿货物承载部321的周向围绕货物承载部321，并与货物承载部321共同形成用于容置货物的空间。在图4中，支架322包含四根竖直固定在货物承载部321上的支腿324，在其中 相邻的两个支腿324之间还连接有抓取横杆325，在除了上述相邻的两个支腿324之外的其余两个支腿324之间也设有抓取横杆325，这里的两个抓取横杆325用于和行车11的抓取机构102相配合，即行车11通过抓取机构102抓取两个抓取横杆325，即可抓紧货架单元32。此时，第二连接结构设置在支腿324的顶端。
可选的，运送车2包括导航组件，导航组件用于控制运送车2的行进路径。导航组件的导航方式有多种，例如可以包括以下的任意一种或几种的组合：磁条导航、惯性导航、激光导航、自然视觉导航，但不限于上述几种，只要能实现导航功能的导航组件都包含在本申请的保护范围内。
本实施例中，是对前述实施例一中的第一输送装置、货架单元和第二输送装置作进一步补充说明。第一输送装置还包括第一水平轨道和位于第一水平轨道上的水平行走梁，水平行走梁的长度方向与第一水平轨道垂直，且水平行走梁可沿第一水平轨道移动；水平行走梁上设置有第二水平轨道，行车位于第二水平轨道上，并可沿第二水平轨道移动。这样设置，使行车可以在水平面上任意移动，即能够带动货架单元在仓库内、在水平面上任意移动，因而能够利用行车将货架单元叠放成多垒密排的存储模式，提高存储密度，进一步增加了仓储可利用面积。此外，本实施例中货架单元是独立货架，即将货物存放在独立的货架单元中，通过将独立的货架单元堆叠多层，多垒密排的方式能够达到高密度存储的目的，仓库地面面积利用率可达90％。
实施例三
图5为本发明实施例三提供的仓储装卸方法的流程图，如图5所示，本实施例提供一种仓储装卸方法，其应用于上述实施例一或实施例二所述的高密度智能仓储系统，其包括：
S301：控制第一车辆进行货物的装卸操作，货物装卸操作包括装载货物或者将货物取下中的一种。
S302：控制第一车辆到达指定地点，以使位于指定地点的第二车辆进行货物的装卸操作，其中，第一车辆为行车和运送车中的一者，第二车辆为行车和运送车中的另一者。
此处，货物的种类可以根据实际需要选择，本申请不做具体限定，并且，高密度智能仓储系统的具体结构、功能以及工作原理均已在前述实施例一和二中进行了详细说明，此处不再赘述。
这里以所述货物为货架单元32为例来进行说明，具体的，当第一车辆为运送车2、第二车辆为行车11时，可以控制运送车2在拿取货架单元的工位进行货架单元32的装载操作，控制运送车2到达指定地点，以使位于指定地点的行车11进行将货架单元32自运送车2取下、并运动到存放货架单元的工位的操作。此过程能够实现货架单元32从拿取货架单元的工位到存放货架单元的工位的运送。可以具体包括实施例一的货架单元入库以及自出货区拿取空货架单元的作业过程。由于实施例一对上述两个作业过程做了详细介绍，此处不再赘述。
当第一车辆为行车11、第二车辆为运送车2时，可以控制行车11在存放货架单元32的位置进行货架单元32的装载操作，控制行车11到达指定地点，以使位于指定地点的运送车2进行将货架单元32自行车11取下、并运送到需要货架单元的工位的操作。此过程能够实现货架单元32从存放货架单元的工位到需要货架单元的工位的运送。可以包括实施例一的货架单元出库过程以及包装生产线空货架单元补充的作业过程。由于实施例一对上述两个作业过程做了详细介绍，此处不再赘述。
本实施例提供的仓储装卸方法，其应用于上述实施例一或实施例二所述的高密度智能仓储系统，其包括：控制第一车辆进行货物的装卸操作，货物装卸操作包括装载货物或者将货物取下中的一种；控制第一车辆到达指定地点，以使位于指定地点的第二车辆进行货物的装卸操作，其中，第一车辆为行车和运送车中的一者，第二车辆为行车和运送车中的另一者。这样通过第一车辆和第二车辆之间的相互配合，就能够实现货物，例如货架单元在存放货架单元的工位和需要货架单元的工位/拿取货架单元的工位之间的运送。行车悬挂于仓库顶部，其运送过程是在空中行进，不会占用地面的仓储空间，因而多个货架组之间不需要留有供行车作业的通道，这样就增加了仓储面积利用率。此外，整个作业过程中，运送车在地面行进，并且仅在指定地点和需要货架单元的工位/拿取货架的工位之间运行，因而只需要为运送车提供运输巷道，该运输巷道 与现有技术的堆垛机的作业巷道相比，减少了巷道的数量以及单个巷道的占地面积，因而进一步增加了仓储面积的利用率。
实施例四
图6为本发明实施例四提供的仓储智能控制系统的结构框图；如图6所示，本实施例提供一种仓储智能控制系统8，其用于控制如上述实施例一或实施例二所述的高密度智能仓储系统，其中，高密度智能仓储系统的具体结构、功能以及工作原理均已在前述实施例一和二中进行了详细说明，此处不再赘述。本实施例的仓储智能控制系统8包括：仓储管理模块81、仓储控制模块82、运送车调度模块83、以及行车调度模块84。
其中，仓储管理模块81在将货架单元32从拿取货架单元的工位运送至存放货架单元的工位时，用于接收人工或上游系统发送的指令信息，并计算出存放货架单元的工位中的目标存放地点，并将指令信息和计算出的存放货架单元的工位中的目标存放地点发送至仓储控制模块82；或者仓储管理模块81在将存放货架单元的工位处的待拿取的货架单元32运送至需要货架单元的工位时，用于接收人工或上游系统发送的指令信息，并计算出存放货架单元的工位中的待拿取的货架单元的位置，并将指令信息和计算出的存放货架单元的工位中的待拿取的货架单元的位置发送至仓储控制模块82。
仓储控制模块82用于根据仓储管理模块81发送的指令信息、存放货架单元的工位中的目标存放地点或存放货架单元的工位中的待拿取的货架单元的位置产生任务信号，并将该任务信号发送至运送车调度模块83、以及行车调度模块84。
运送车调度模块83根据仓储控制模块82的任务信号调度运送车2执行任务。行车调度模块84根据仓储控制模块82的任务信号调度行车11执行任务。
具体的，以货架单元入库、货架单元出库、包装生产线空货架单元补充、自出货区拿取空货架单元的作业过程为例，来说明本实施例的仓储智能控制系统8的控制过程。
货架单元入库：
当货架单元32装满货物时，放置在拿取货架单元的工位，例如仓库 门口，由人工或上游系统向仓储管理模块81发送取货架单元指令信息和货物信息。仓储管理模块81统计算出存放货架单元的工位中的目标存放地点，并将取货架单元指令信息和计算出的存放货架单元的工位中的目标存放地点发送至仓储控制模块82。仓储控制模块82根据所述取货架单元指令信息和计算出的目标存放地点产生任务信号，并将任务信号发送至运送车调度模块83、以及行车调度模块84。行车调度模块84收到任务信号后向仓储控制模块82回复应答消息，并调度行车11执行任务，具体的，行车11运行至仓库的指定地点，即和运送车2对接的位置，在行车11到达该指定地点后发送位置信息给行车调度模块84，行车调度模块84发送任务结束状态信息给仓储控制模块82。运送车调度模块83收到任务信号后向仓储控制模块82回复应答消息，并调度运送车2运行至拿取货架单元的工位，运送车2到达拿取货架单元的工位后发送位置信息给运送车调度模块83，运送车调度模块83发送任务结束状态信息给仓储控制模块82。仓储控制系统82将拿取货架单元任务信号发送至运送车调度模块83，运送车调度模块83收到拿取货架单元任务信号后向仓储控制模块82回复应答消息，并调度运送车2执行拿取货架单元任务，运送车2完成货架单元拿取任务后发送结束信息给运送车调度模块83，运送车调度模块83发送任务结束状态信息给仓储控制模块82。仓储控制系统82将到达指定地点任务信号发送至运送车调度模块83，运送车调度模块83收到到达指定地点任务信号后向仓储控制模块82回复应答消息，并调度运送车2运行至仓库的指定地点，即与行车11对接的位置，运送车2到达指定地点后发送位置信息给运送车调度模块83，运送车调度模块83发送任务结束状态信息给仓储控制模块82。
在行车11与运送车2都到达指定地点、行车调度模块84和运送车调度模块83均发送任务结束状态信息给仓储控制模块82之后，仓储控制系统82再分别对行车调度模块84和运送车调度模块83发送对接任务信号，在行车调度模块84和运送车调度模块83收到该对接任务信号并分别向仓储控制模块82回复应答消息后，行车11与运送车2进行对接，行车11取走运送车2上的货架单元32，完成对接任务，行车11和运送车2分别发送结束信息给行车调度模块84和运送车调度模块83，行车调度模块84 和运送车调度模块83分别将任务结束状态信息发送至仓储控制系统82。仓储控制系统82分配待命任务信号给运送车调度模块83，运送车调度模块83收到待命任务后向仓储控制模块82回复应答消息，并调度运送车2回待命点。运送车2到达待命点后发送位置信息给运送车调度模块83，运送车调度模块83发送任务结束状态信息给仓储控制模块82。此外，仓储控制系统82对行车调度模块84发送存放任务信号，行车调度模块84收到存放任务信号后向仓储控制系统82回复应答消息，行车调度模块84调度行车11将货架单元32存放至存放货架单元的工位中的目标存放地点。之后，行车11发送结束信息给行车调度模块84，行车调度模块84将任务结束状态信息发送至仓储控制系统82。仓储控制系统82分配待命任务信号给行车调度模块84，行车调度模块84收到待命任务后向仓储控制模块82回复应答消息。并调度行车11回待命点。行车11到达待命点后发送位置信息给行车调度模块84，行车调度模块84发送任务结束状态信息给仓储控制模块82。由此实现货架单元32的入库过程。另外，此过程中的货架单元32中装载有货物。
货架单元出库：
当需要使货架单元32出库时，由人工或上游系统向仓储管理模块81发送出库货架单元指令信息。仓储管理模块81统计算出存放货架单元的工位中的待拿取的货架单元32的地点，并将出库货架单元指令信息和计算出的存放货架单元的工位中的待拿取的货架单元32的地点发送至仓储控制模块82。仓储控制模块82根据所述出库货架单元指令信息和计算出的待拿取的货架单元32的地点产生任务信号，并将任务信号发送至运送车调度模块83、以及行车调度模块84。运送车调度模块83收到任务信号后向仓储控制模块82回复应答消息，并调度运送车2执行任务，具体的，运送车2运行至仓库的指定地点，即和行车11对接的位置，在运送车2到达该指定地点后发送位置信息给运送车调度模块83，运送车调度模块83发送任务结束状态信息给仓储控制模块82。行车调度模块84收到任务信号后向仓储控制模块82回复应答消息，并调度行车11运行至存放货架单元的工位中的待拿取的货架单元32的位置，行车11到达拿待拿取的货架单元32的位置后发送位置信息给行车调度模块84，行车调度模块 84发送任务结束状态信息给仓储控制模块82。仓储控制系统82将拿取货架单元任务信号发送至行车调度模块84，行车调度模块84收到拿取货架单元任务信号后向仓储控制模块82回复应答消息，并调度行车11执行拿取货架单元任务，行车11完成货架单元拿取任务后发送结束信息给行车调度模块84，行车调度模块84发送任务结束状态信息给仓储控制模块82。仓储控制系统82将到达指定地点任务信号发送至行车调度模块84，行车调度模块84收到到达指定地点任务信号后向仓储控制模块82回复应答消息，并调度行车11运行至仓库的指定地点，即与运送车2对接的位置，行车11到达指定地点后发送位置信息给行车调度模块84，行车调度模块84发送任务结束状态信息给仓储控制模块82。
在行车11与运送车2都到达指定地点、行车调度模块84和运送车调度模块83均发送任务结束状态信息给仓储控制模块82之后，仓储控制系统82再分别对行车调度模块84和运送车调度模块83发送对接任务信号，在行车调度模块84和运送车调度模块83收到该对接任务信号并分别向仓储控制模块82回复应答消息后，行车11与运送车2进行对接，行车11将货架单元32装载在运送车2上，完成对接任务，行车11和运送车2分别发送结束信息给行车调度模块84和运送车调度模块83，行车调度模块84和运送车调度模块83分别将任务结束状态信息发送至仓储控制系统82。仓储控制系统82分配待命任务信号给行车调度模块84，行车调度模块84收到待命任务后向仓储控制模块82回复应答消息。并调度行车11回待命点。行车11到达待命点后发送位置信息给行车调度模块84，行车调度模块84发送任务结束状态信息给仓储控制模块82。此外，仓储控制系统82对运送车调度模块83发送出库任务信号，运送车调度模块83收到出库任务信号后向仓储控制系统82回复应答消息，运送车调度模块83调度运送车2将货架单元32运输至需要货架单元的工位例如仓库门口。然后，运送车2发送结束信息给运送车调度模块83，运送车调度模块83将任务结束状态信息送至仓储控制系统82。在对运送车2上的货架单元进行了卸载之后，仓储控制系统82分配待命任务信号给运送车调度模块83，运送车调度模块83收到待命任务后向仓储控制模块82回复应答消息。并调度运送车2回待命点。运送车2到达待命点后发送位置信息给运 送车调度模块83，运送车调度模块83发送任务结束状态信息给仓储控制模块82。由此实现货架单元32的出库过程。另外，此过程中的货架单元32中装载有货物。
包装生产线空货架单元补充：
此过程为需要货架单元的工位补充未装载货物的货架单元32，此处需要空载货架单元的工位例如可以是包装生产线，由于装满货物的货架单元32被取走，需要自存放货架单元的工位例如空货架单元缓存区调取空货架单元32。下面介绍补充过程，首先由人工或上游系统向仓储管理模块81发送补充货架单元指令信息。仓储管理模块81统计算出存放货架单元的工位中，例如空货架缓存区中的待拿取的货架单元32的地点，并将补充货架单元指令信息和计算出的存放货架单元的工位中、例如空货架缓存区中的待拿取的货架单元32的地点发送至仓储控制模块82。仓储控制模块82根据所述补充货架单元指令信息和计算出的待拿取的货架单元32的地点产生任务信号，并将任务信号发送至运送车调度模块83、以及行车调度模块84。运送车调度模块83收到任务信号后向仓储控制模块82回复应答消息，并调度运送车2执行任务，具体的，运送车2运行至仓库的指定地点，即和运行车11对接的位置，在运送车2到达该指定地点后发送位置信息给运送车调度模块83，运送车调度模块83发送任务结束状态信息给仓储控制模块82。行车调度模块84收到任务信号后向仓储控制模块82回复应答消息，并调度行车11运行至空货架缓存区中的待拿取的货架单元32的位置，行车11到达待拿取的货架单元32的位置后发送位置信息给行车调度模块84，行车调度模块84发送任务结束状态信息给仓储控制模块82。仓储控制系统82将拿取货架单元任务信号发送至行车调度模块84，行车调度模块84收到拿取货架单元任务信号后向仓储控制模块82回复应答消息，并调度行车11执行拿取货架单元任务，行车11完成货架单元拿取任务后发送结束信息给行车调度模块84，行车调度模块84发送任务结束状态信息给仓储控制模块82。仓储控制系统82将到达指定地点任务信号发送至行车调度模块84，行车调度模块84收到到达指定地点任务信号后向仓储控制模块82回复应答消息，并调度行车11运行至仓库的指定地点，即与运送车2对接的位置，行车11到达指定地点后 发送位置信息给行车调度模块84，行车调度模块84发送任务结束状态信息给仓储控制模块82。
在行车11与运送车2都到达指定地点、行车调度模块84和运送车调度模块83均发送任务结束状态信息给仓储控制模块82之后，仓储控制系统82再分别对行车调度模块84和运送车调度模块83发送对接任务信号，在行车调度模块84和运送车调度模块83收到该对接任务信号并分别向仓储控制模块82回复应答消息后，行车11与运送车2进行对接，行车11将货架单元32装载在运送车2上，完成对接任务，行车11和运送车2分别发送结束信息给行车调度模块84和运送车调度模块83，行车调度模块84和运送车调度模块83分别将任务结束状态信息发送至仓储控制系统82。仓储控制系统82分配待命任务信号给行车调度模块84，行车调度模块84收到待命任务后向仓储控制模块82回复应答消息。并调度行车11回待命点。行车11到达待命点后发送位置信息给行车调度模块84，行车调度模块84发送任务结束状态信息给仓储控制模块82。此外，仓储控制系统82对运送车调度模块83发送到达需要货架单元的工位的任务信号，运送车调度模块83收到到达需要货架单元的工位的任务信号后向仓储控制系统82回复应答消息，运送车调度模块83调度运送车2将货架单元32运输至需要货架单元的工位例如包装生产线。然后，运送车2发送结束信息给运送车调度模块83，运送车调度模块83将任务结束状态信息送至仓储控制系统82。在对运送车2上的货架单元进行了卸载之后，仓储控制系统82分配待命任务信号给运送车调度模块83，运送车调度模块83收到待命任务后向仓储控制模块82回复应答消息。并调度运送车2回待命点。运送车2到达待命点后发送位置信息给运送车调度模块83，运送车调度模块83发送任务结束状态信息给仓储控制模块82。由此实现货架单元32向包装生产线空货架单元的补充过程。另外，此过程中的货架单元32中未装载有货物。
自出货区拿取空货架单元：
此过程用于从拿取货架单元的工位拿走空载的货架单元32，具体而言，在拿取货架单元的工位、例如在出货区的装车工位完成货架单元32装车任务，则会留下未装载货物的货架单元32，需要将空载的货架单元 32运送至空货架单元缓存区。下面介绍运送过程。首先，由人工或上游系统向仓储管理模块81发送取货架单元指令信息。仓储管理模块81统计算出存放货架单元的工位(即空货架缓存区)中的目标存放地点，并将取货架单元指令信息和计算出的空货架缓存区中的目标存放地点发送至仓储控制模块82。仓储控制模块82根据所述取货架单元指令信息和计算出的目标存放地点产生任务信号，并将任务信号发送至运送车调度模块83、以及行车调度模块84。行车调度模块84收到任务信号后向仓储控制模块82回复应答消息，并调度行车11执行任务，具体的，行车11运行至仓库的指定地点，即和运送车2对接的位置，在行车11到达该指定地点后发送位置信息给行车调度模块84，行车调度模块84发送任务结束状态信息给仓储控制模块82。运送车调度模块83收到任务信号后向仓储控制模块82回复应答消息，并调度运送车2运行至拿取货架单元的工位，运送车2到达拿取货架单元的工位后发送位置信息给运送车调度模块83，运送车调度模块83发送任务结束状态信息给仓储控制模块82。仓储控制系统82将拿取货架单元任务信号发送至运送车调度模块83，运送车调度模块83收到拿取货架单元任务信号后向仓储控制模块82回复应答消息，并调度运送车2执行拿取货架单元任务，运送车2完成货架单元拿取任务后发送结束信息给运送车调度模块83，运送车调度模块83发送任务结束状态信息给仓储控制模块82。仓储控制系统82将到达指定地点任务信号发送至运送车调度模块83，运送车调度模块83收到到达指定地点任务信号后向仓储控制模块82回复应答消息，并调度运送车2运行至仓库的指定地点，即与行车11对接的位置，运送车2到达指定地点后发送位置信息给运送车调度模块83，运送车调度模块83发送任务结束状态信息给仓储控制模块82。
在行车11与运送车2都到达指定地点、行车调度模块84和运送车调度模块83均发送任务结束状态信息给仓储控制模块82之后，仓储控制系统82再分别对行车调度模块84和运送车调度模块83发送对接任务信号，在行车调度模块84和运送车调度模块83收到该对接任务信号并分别向仓储控制模块82回复应答消息后，行车11与运送车2进行对接，行车11取走运送车2上的货架单元32，完成对接任务，行车11和运送车2分别 发送结束信息给行车调度模块84和运送车调度模块83，行车调度模块84和运送车调度模块83分别将任务结束状态信息发送至仓储控制系统82。仓储控制系统82分配待命任务信号给运送车调度模块83，运送车调度模块83收到待命任务后向仓储控制模块82回复应答消息。并调度运送车2回待命点。运送车2到达待命点后发送位置信息给运送车调度模块83，运送车调度模块83发送任务结束状态信息给仓储控制模块82。此外，仓储控制系统82对行车调度模块84发送对存放任务信号，行车调度模块84收到存放任务信号后向仓储控制系统82回复应答消息，行车调度模块84调度行车11将货架单元32存放至空货架缓存区中的目标存放地点。之后，行车11发送结束信息给行车调度模块84，行车调度模块84将任务结束状态信息发送至仓储控制系统82。仓储控制系统82分配待命任务信号给行车调度模块84，行车调度模块84收到待命任务后向仓储控制模块82回复应答消息。并调度行车11回待命点。行车11到达待命点后发送位置信息给行车调度模块84，行车调度模块84发送任务结束状态信息给仓储控制模块82。由此实现自出货区拿取空载货架单元32的过程。另外，此过程中的货架单元32中未载有货物。
本实施例提供的仓储智能控制系统中，仓储管理模块81和仓储控制模块82根据人工或上游系统发送的指令信息向运送车调度模块83、以及行车调度模块84发送任务信号，运送车调度模块83根据仓储控制模块82的任务信号调度运送车2执行任务。行车调度模块84根据仓储控制模块82的任务信号调度行车11执行任务。由此，组成一套高密度的高智能的仓储系统。因而，货架单元的搬运、储存、工艺流程为全自动化控制，即用全自动化的运输方式去取代传统的人工模式，用专用的调度系统代替以往的人工规划管理。以智能化的系统管理代替传统的人为计划管理，提高存储效率，简化储存流程，使管理更严格规范。本实施例的仓储智能控制系统使得仓储空间利用率增加80％，存储效率提高50％，运营成本降低70％，极大地缩减了人工成本。并解决了企业仓库用地紧张的问题，同等面积下能够存放更多的货物。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领 域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (10)

  1. 一种高密度智能仓储系统，应用于仓库，其特征在于，所述仓储系统包括第一输送装置、第二输送装置和组合式货架；
    所述组合式货架包括至少一个货架组，每个所述货架组包括至少两个竖直层叠的货架单元，每个所述货架单元的内部均形成用于容置货物的空间；
    所述第一输送装置包括悬挂于所述仓库顶部的自动运行的行车，所述行车可沿水平方向和竖直方向移动，所述行车用于将所述仓库的指定地点的货架单元吊挂至所述货架组上，或者将位于所述货架组上的所述货架单元吊送至所述指定地点；
    所述第二输送装置包括可在所述仓库的地面上自动行进的运送车，所述运送车具有可放置所述货架单元的顶部，所述运送车用于将所述货架单元运送至所述仓库的指定地点，或者用于承载被所述行车吊送至所述指定地点的货架单元。
  2. 根据权利要求1所述的高密度智能仓储系统，其特征在于，所述第一输送装置还包括第一水平轨道和位于所述第一水平轨道上的水平行走梁，所述水平行走梁的长度方向与所述第一水平轨道垂直，且所述水平行走梁可沿所述第一水平轨道移动；
    所述水平行走梁上设置有第二水平轨道，所述行车位于所述第二水平轨道上，并可沿所述第二水平轨道移动。
  3. 根据权利要求2所述的高密度智能仓储系统，其特征在于，所述行车包括升降单元和抓取机构，所述升降单元位于所述第二水平轨道上，所述抓取机构和所述升降单元连接并用于抓取所述货架单元。
  4. 根据权利要求1-3任一项所述的高密度智能仓储系统，其特征在于，每个所述货架单元均包括位于底部的货物承载部和固定在所述货物承载部边缘上的围挡部，所述货物承载部用于承载所述货物，所述围挡部用于连接所述货架单元上方的其它所述货架单元。
  5. 根据权利要求4所述的高密度智能仓储系统，其特征在于，所述货物承载部的底部设置有第一连接结构，所述围挡部的顶端设置有用于和所述第一连接结构连接的第二连接结构；其中，
    所述第一连接结构为定位销，所述第二连接结构为可供所述定位销卡入的定位孔；或者，所述第一连接结构为所述定位孔，所述第二连接结构为可卡入所述定位孔内的定位销。
  6. 根据权利要求4所述的高密度智能仓储系统，其特征在于，所述围挡部为多个支架，所述多个支架沿所述货物承载部的周向围绕所述货物承载部，并与所述货物承载部共同形成用于容置所述货物的空间。
  7. 根据权利要求1-3任一项所述的高密度智能仓储系统，其特征在于，所述货架组在所述仓库内的货架区域内密集排布，且相邻两个所述货架组之间的间距小于所述第二输送装置的行进路径宽度，所述指定地点位于所述货架区域之外。
  8. 根据权利要求1-3任一项所述的高密度智能仓储系统，其特征在于，所述运送车包括导航组件，所述导航组件用于控制所述运送车的行进路径。
  9. 根据权利要求8所述的高密度智能仓储系统，其特征在于，所述导航组件的导航方式包括以下的任意一种或几种的组合：磁条导航、惯性导航、激光导航、自然视觉导航。
  10. 一种仓储装卸方法，应用于权利要求1-9任一项所述的高密度智能仓储系统，其特征在于，包括：
    控制第一车辆进行货物的装卸操作，所述货物装卸操作包括装载所述货物或者将所述货物取下中的一种；
    控制所述第一车辆到达指定地点，以使位于所述指定地点的第二车辆进行所述货物的装卸操作，其中，所述第一车辆为行车和运送车中的一者，所述第二车辆为所述行车和所述运送车中的另一者。
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