WO2021093058A1 - 物流系统及物流控制方法 - Google Patents

物流系统及物流控制方法 Download PDF

Info

Publication number
WO2021093058A1
WO2021093058A1 PCT/CN2019/123702 CN2019123702W WO2021093058A1 WO 2021093058 A1 WO2021093058 A1 WO 2021093058A1 CN 2019123702 W CN2019123702 W CN 2019123702W WO 2021093058 A1 WO2021093058 A1 WO 2021093058A1
Authority
WO
WIPO (PCT)
Prior art keywords
goods
instruction
pick
conveying
conveying device
Prior art date
Application number
PCT/CN2019/123702
Other languages
English (en)
French (fr)
Inventor
李国辉
郭丽
冯峻
Original Assignee
上海快仓智能科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201911120351.5A external-priority patent/CN110733820A/zh
Priority claimed from CN201921977196.4U external-priority patent/CN211495520U/zh
Application filed by 上海快仓智能科技有限公司 filed Critical 上海快仓智能科技有限公司
Priority to EP19952514.8A priority Critical patent/EP4059870A4/en
Priority to KR1020227020113A priority patent/KR20220098232A/ko
Publication of WO2021093058A1 publication Critical patent/WO2021093058A1/zh

Links

Images

Classifications

    • 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
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • 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
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1378—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on fixed commissioning areas remote from the storage areas
    • 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
    • B65G1/0485—Check-in, check-out devices
    • 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
    • B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
    • 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
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles

Definitions

  • This application relates to the field of logistics, in particular to a logistics system and a logistics control method.
  • the handling robot can only carry one piece of goods or one bin at a time, so that the turnover speed of the goods in the entire storage space is low. Even if the handling robot can carry multiple goods for transportation at a time, due to the limited picking or sorting capabilities of the docking sorters, the handling robot needs to wait in place before completing the picking or sorting of all goods, and cannot perform other tasks. Operation reduces the work efficiency of the handling robot. Moreover, the above two problems also make the operation process of the entire logistics system unable to be smoothly connected, which reduces the working time and working cost of the entire logistics system.
  • embodiments of the present application provide a logistics system and a logistics control method.
  • an embodiment of the present application provides a logistics system, including:
  • each shelf is arranged at intervals, and an aisle is formed between two adjacent shelves;
  • the conveying device includes a vehicle body and a bracket.
  • the bracket is arranged on the upper part of the vehicle body.
  • the first side of the bracket is provided with a plurality of load-bearing parts, and the second side of the bracket is provided with a liftable pickup part.
  • the conveying device is used to transport goods from the shelf To the assembly line device;
  • the assembly line device includes a first ring-shaped conveying platform, and the first ring-shaped conveying platform has a plurality of first circulation channels;
  • a plurality of workbenches are respectively connected with each first turnover channel, and a sorting station is arranged on the workbenches, and the sorting station is used for sorting the goods on the corresponding first turnover channel.
  • the supporting parts are stacked in sequence along the height direction of the bracket, and the open end of the receiving cavity of each supporting part is arranged toward the second side.
  • the pick-up part includes a supporting plate, and the supporting plate is slidably connected with the receiving cavity of each supporting part.
  • the first endless conveyor platform further has a plurality of first inlet channels and a plurality of first outlet channels.
  • the assembly line device further includes a second annular conveyor platform located above the first annular conveyor platform, the second annular conveyor platform has a plurality of second circulation channels, and each second circulation channel is respectively connected to each work platform.
  • the second endless conveyor platform further has a plurality of second inlet channels and a plurality of second outlet channels.
  • the first annular conveyor table has at least two first circulation channels with different calibers.
  • the embodiments of the present application provide a logistics control method applied to the logistics system of the first aspect, including:
  • the first pick-up instruction is used to control the first conveying device to move to the shelf to pick up multiple goods, and store each goods to each load according to the pick-up section of the first conveying device Ministry;
  • the first handling instruction is sent to the first handling device.
  • the first handling instruction is used to control the first handling device to move to the assembly line device, and use the pick-up unit to place each cargo on On the first circular conveyor platform, the first circular conveyor platform can transport the goods to the corresponding first circulation channel;
  • the sorting instruction is sent to the workbench.
  • the sorting instruction is used to control the sorting station of the workbench to grab the first goods to be sorted from the corresponding first turnover channel. .
  • the logistics control method further includes:
  • the replenishment instructions are used to control the sorting station to place the second goods to be replenished to the shelves on the second circulation channel, so that the second circulation channel will transport the second goods to the second ring Conveyor
  • the second pick-up instruction is used to control the second conveying device to move to the assembly line device, and use the pick-up part of the second conveying device to transfer the second goods on the second circular conveyor Stored on the carrying part of the second conveying device;
  • a second handling instruction is sent to the second handling device.
  • the second handling instruction is used to control the second handling device to move to the shelf, and use the pick-up unit to store the second cargo to Shelves.
  • the logistics control method further includes:
  • a turnover instruction is sent to the workbench.
  • the turnover instruction is used to control the sorting station to place the remaining goods on the first turnover channel on the second turnover channel, so that the second turnover channel Transport the remaining goods to the second circular conveyor;
  • the third pick-up instruction is used to control the second conveying device to move to the assembly line device, and use the pick-up section of the second conveying device to place the remaining goods on the second circular conveyor. Onto the carrying part of the second conveying device;
  • a third conveying instruction is sent to the second conveying device.
  • the third conveying instruction is used to control the second conveying device to move to the shelf, and use the pick-up unit to store the remaining goods on the shelf .
  • an embodiment of the present application provides a logistics control device, including:
  • the first sending module is used to send a first pick-up instruction to the first conveying device, and the first pick-up instruction is used to control the first conveying device to move to the shelf to pick up multiple goods, and according to the pick-up unit of the first conveying device Store each cargo in each load-bearing part;
  • the second sending module is used to send a first handling instruction to the first handling device according to the feedback result of the cargo storage received from the first handling device.
  • the first handling instruction is used to control the first handling device to move to the assembly line device and use the fetching
  • the cargo department places the goods on the first circular conveyor platform so that the first circular conveyor platform transports the goods to the corresponding first circulation channel;
  • the third sending module is used to send sorting instructions to the workbench according to the inspection results of the goods received from the first turnover channel.
  • the sorting instructions are used to control the sorting station of the workbench to grab from the corresponding first turnover channel The first item to be sorted.
  • the logistics control device further includes:
  • the fourth sending module is used to send replenishment instructions to the workbench.
  • the replenishment instructions are used to control the sorting station to place the second goods to be replenished on the shelf on the second turnover channel, so that the second turnover channel will be the first 2.
  • the goods are transported to the second circular conveyor platform;
  • the fifth sending module is used to send a second pick-up instruction to the second conveying device.
  • the second pick-up instruction is used to control the second conveying device to move to the assembly line device, and use the pick-up part of the second conveying device to transfer the second ring
  • the second goods on the conveying platform are stored on the carrying part of the second conveying device;
  • the sixth sending module is used to send a second handling instruction to the second handling device according to the feedback result of the goods storage received from the second handling device.
  • the second handling instruction is used to control the second handling device to move to the shelf and use the pick-up The department stores the second goods on the shelf.
  • the logistics control device further includes:
  • the seventh sending module is used to send a turnover instruction to the workbench when the sorting of the first goods is completed.
  • the turnover instruction is used to control the sorting station to place the remaining goods on the first turnover channel to the second turnover channel Up, so that the second circulation channel will transport the remaining goods to the second circular conveyor platform;
  • the eighth sending module is used to send a third pick-up instruction to the second conveying device, and the third pick-up instruction is used to control the second conveying device to move to the assembly line device, and use the pick-up part of the second conveying device to transfer the second ring
  • the remaining goods on the conveying platform are placed on the carrying part of the second conveying device;
  • the ninth sending module is used to send a third handling instruction to the second handling device according to the feedback result of the goods storage from the second handling device.
  • the third handling instruction is used to control the second handling device to move to the shelf and use the pick-up unit Store the remaining goods on the shelf.
  • the embodiments of the present application provide a logistics control terminal, and the functions of the logistics control terminal can be implemented by hardware, or implemented by hardware executing corresponding software.
  • the hardware or software includes one or more modules corresponding to the above-mentioned functions.
  • the structure of the logistics control terminal includes a processor and a memory, the memory is used to store a program that supports the logistics control terminal to execute the above logistics control method, and the processor is configured to The program stored in the memory is executed.
  • the logistics control terminal may also include a communication interface for communicating with other equipment or a communication network.
  • an embodiment of the present application provides a computer-readable storage medium for storing computer software instructions used by a logistics control terminal, which includes a program for executing the above-mentioned logistics control method.
  • the multiple load-bearing parts of the conveying device of the embodiment of the present application can convey more goods at a time, which improves the logistics efficiency of the material system.
  • the assembly line device is used as the transportation medium between the handling device and the workbench, the speed of goods transport to the workbench is increased, and the logistics efficiency of the material system is further improved.
  • Fig. 1 shows a structural diagram of a logistics system according to an embodiment of the present application.
  • Fig. 2 shows a structural diagram of a transport device of a logistics system according to an embodiment of the present application.
  • Fig. 3 shows a structural diagram of the working state of the conveying device and the shelf of the logistics system according to an embodiment of the present application.
  • Fig. 4 shows a structural diagram of a first circular conveyor platform of a logistics system according to an embodiment of the present application.
  • Fig. 5 shows a structural diagram of a second circular conveyor platform of a logistics system according to an embodiment of the present application.
  • Fig. 6 shows a flowchart of a logistics control method according to an embodiment of the present application.
  • Fig. 7 shows a flowchart of another logistics control method according to an embodiment of the present application.
  • Fig. 8 shows a flowchart of another logistics control method according to an embodiment of the present application.
  • Fig. 9 shows a structural block diagram of a logistics control device according to an embodiment of the present application.
  • Fig. 10 shows a structural block diagram of a logistics control device according to another embodiment of the present application.
  • Fig. 11 shows a structural block diagram of a logistics control device according to another embodiment of the present application.
  • Fig. 12 shows a schematic structural diagram of a logistics control terminal according to an embodiment of the present application.
  • Fig. 1 shows a structural diagram of a logistics system according to an embodiment of the present application.
  • the logistics system includes a plurality of shelves 1, at least one conveying device 2, an assembly line device 3 and a plurality of workbenches 4.
  • a plurality of shelves 1 are arranged at intervals, and an aisle 11 is formed between two adjacent shelves 1.
  • the lane 11 is used for the conveying device 2 to move.
  • the shape and structure of the shelf 1 and the storage capacity of the goods 100 can be selected and adjusted as required.
  • the conveying device 2 includes a vehicle body 21 and a bracket 22 (as shown in FIG. 2).
  • the bracket 22 is provided on the upper part of the vehicle body 21, and the first side 221 of the bracket 22 is provided with a plurality of bearing parts 23.
  • the second side 222 of the bracket 22 is provided with a pickup portion 24 that can be raised and lowered.
  • the conveying device 2 is used to convey the goods 100 from the shelf 1 to the assembly line device 3 (as shown in FIG. 3).
  • the number of conveying devices 2 can be selected and adjusted according to the transport capacity requirements of the rack 1, the goods 100 or the logistics system.
  • the structure of the vehicle body 21 can be selected as required, for example, a mobile robot or an automated guided vehicle (AGV, Automated Guided Vehicle), etc., which are not specifically limited herein.
  • the assembly line device 3 includes at least one first annular conveyor platform 31 (as shown in FIG. 4 ), and the first annular conveyor platform 31 has a plurality of first circulating passages 32.
  • each first revolving channel 32 is in communication with the conveyor belt 33 of the first endless conveyor platform 31, so that the goods 100 on the conveyor belt 33 can be transported to the first revolving channel 32.
  • the number of the first endless conveyor platform 31 can be selected and adjusted according to the transportation capacity requirements of the logistics system.
  • a plurality of workbenches 4 are respectively connected to each first circulation channel 32, and a sorting station 41 is provided on the workbench 4, and the sorting station 41 is used for picking the goods 100 on the corresponding first circulation channel 32.
  • the number of workbenches 4 can be set according to the length of the first circulation channel 32.
  • the arrangement position of the workbench 4 can be set according to the relative position of the assembly line device 3 and each shelf 1. For example, when each shelf 1 is arranged on one side along the length direction of the assembly line device 3, the workbench 4 may be arranged on the other side along the length direction of the assembly line device 3.
  • the process of performing the sorting of goods can be executed by the mechanical grabbing arm on the sorting station 41, or manually executed by the sorting station 41, or by the mechanical grabbing arm and manual on the sorting station 41. Carry out the sorting operation of goods 100 together.
  • the sorting performed by the sorting station 41 can be understood as sorting, sorting, total sorting or secondary sorting of the goods 100, which is not specifically limited here.
  • the cargo 100 may include a material package, an article, a bin carrying the article, and the like.
  • the carrying parts 23 are stacked in sequence along the height direction of the bracket 22, and the opening end of the accommodating cavity of each carrying part 23 is arranged toward the second side 222 to facilitate the picking part 24
  • the goods 100 in the accommodating cavity of the carrying portion 23 can be taken out through the open end.
  • the pickup part 24 includes a supporting plate 231, and the supporting plate 231 is used to carry the goods 100.
  • the supporting plate 231 is slidably connected with the accommodating cavity of each supporting part.
  • the first side 221 of the bracket 22 is vertically provided with a frame, and a plurality of compartments are arranged in the height direction in the frame, and each compartment constitutes the carrying part 23.
  • the pick-up part 24 is connected to the bracket 22 through a lifting mechanism, so as to realize the lifting movement in the vertical direction.
  • a slide rail is provided at the bottom of each compartment, and the pick-up part 24 is matched with the slide rail. After the pick-up unit 24 is moved to the corresponding position of the grid by the lifting mechanism, the pick-up unit 24 slides into the sliding rail and lifts the goods 100 through the sliding mechanism, and then the pick-up unit 24 slides out and slides out through the sliding mechanism. Rails, so as to take the goods 100 out of the grille.
  • the first annular conveying platform 31 further has a plurality of first feeding passages 34 and a plurality of first discharging passages 35.
  • the first feeding channel 34 is used for conveying the goods 100 loaded on the conveying device 2 to the conveying belt 33 of the first endless conveying platform 31.
  • the first discharge channel 35 is used for conveying the goods 100 on the conveyor belt 33 of the first endless conveyor platform 31 to the conveying device 2.
  • first feeding channel 34 and the first discharging channel 35 can be used as the first discharging channel 35 according to different material conveying strategies.
  • the first discharging channel 35 can also be used as the first discharging channel 35.
  • part of the first feeding channel 34 and part of the first discharging channel 35 may be respectively corresponding to each lane 11 Therefore, the transport device 2 can transport the goods 100 on the shelf 1 to the assembly line device 3 more quickly, or transport the goods 100 on the assembly line device 3 to the shelf 1 more quickly.
  • the assembly line device 3 further includes at least one second annular conveyor platform 36 located above the first annular conveyor platform 31.
  • the second endless conveyor platform 36 has a plurality of second circulation passages 37.
  • Each second circulation channel 37 is connected to each workbench 4 respectively.
  • the sorting station 41 of the workbench 4 is used for sorting the goods 100 on the corresponding second circulation channel 37.
  • the number of the second annular conveyor platform 36 can be selected and adjusted according to the transportation capacity requirements of the logistics system.
  • the sorting station 41 of the workbench 4 can sort the goods 100 on the corresponding first revolving channel 32 and/or the second revolving channel 37, and can also sort the goods 100 on the corresponding first revolving channel 32 and /Or the cargo 100 is placed on the second circulation channel 37.
  • the goods 100 on the conveyor belt 33 of the first revolving passage 32 and/or the second revolving passage 37 may be put in by the conveying device 2 or by the sorting station 41.
  • the second annular conveying platform 36 further has a plurality of second feeding passages 38 and a plurality of second discharging passages 39.
  • the second feeding channel 38 is used for conveying the goods 100 loaded on the conveying device 2 to the conveying belt 33 of the second endless conveying platform 36.
  • the second discharge channel 39 is used to transport the goods 100 on the conveyor belt 33 of the second endless conveyor platform 36 to the conveying device 2.
  • the second feeding channel 38 may also serve as the second feeding channel 39, and the second feeding channel 39 may also serve as the second feeding channel 38.
  • part of the second feeding channel 38 and part of the second discharging channel 39 may be respectively corresponding to each lane 11 Therefore, the transport device 2 can transport the goods 100 on the shelf 1 to the assembly line device 3 more quickly, or transport the goods 100 on the assembly line device 3 to the shelf 1 more quickly.
  • first annular conveyor table 31 and the second annular conveyor table 36 can be used in conjunction to improve the working efficiency of the entire assembly line device 3.
  • the goods 100 transported by the first endless conveyor platform 31 are used for sorting by the work platform 4, and the goods 100 transported by the second endless conveyor platform 36 are used for replenishing the rack 1 by the conveying device 2.
  • the first annular conveying platform 31 has at least two first circulating passages 32 with different calibers.
  • the first revolving passage 32 of different calibers can be adapted to different sizes of the goods 100, so that the goods 100 of various sizes can automatically enter into the first revolving passage 32 of the corresponding diameter when being transported by the conveyor belt 33 and arrive there.
  • the second annular conveying platform 36 has at least two second circulating passages 37 with different calibers.
  • the second revolving channel 37 of different calibers can be adapted to different sizes of the goods 100, so that when the goods 100 of various sizes are transported by the conveyor belt 33, they can automatically enter the second revolving channel 37 of the corresponding caliber and arrive there.
  • a first detection device is provided on the first endless conveyor platform 31, and the first detection device determines the first circulation channel 32 to which each cargo 100 needs to be transported by scanning the identification code on the cargo 100. After determining the first circulation channel 32 to which each cargo 100 needs to be transported, the cargo 100 can be transferred from the conveyor belt 33 to the sorting station 41 of the corresponding workbench 4 through the fork set on the first circular conveyor 31 On the first circulation channel 32 connected to the corresponding workbench 4. The first detection device and the shift fork can also be provided on the second circular conveying platform 36, which will not be repeated here.
  • a second detection device is provided on the handling device 2, and the second detection device determines the target cargo 100 by scanning the identification code on the cargo 100.
  • the target cargo 100 may be the cargo 100 on the shelf 1 or the cargo 100 on the first circular conveyor platform 31 or the second circular conveyor platform 36.
  • the logistics system may further include a control unit, which is electrically connected to the handling device 2 and the workbench 4.
  • the control unit can be used to control the transport device 2 to take the goods 100 from the shelf 1 and transport to the assembly line device 3, and can be used to control the transport device 2 to remove the goods 100 from the assembly line device 3 and transport them to the shelf 1.
  • the control unit can also be used to control the workbench 4 to sort the goods 100 conveyed on the assembly line device 3 and can be used to place the goods 100 on the assembly line device 3.
  • an embodiment of the present application provides a logistics control method, which is applied to the logistics system of any of the foregoing embodiments.
  • the logistics control method includes:
  • S100 Send a first pick-up instruction to the first conveying device.
  • the first pick-up instruction is used to control the first conveying device to move to the shelf to pick up multiple goods, and use the pick-up section of the first conveying device to store each goods to In each bearing part.
  • the first pick-up instruction may include shelf information and goods information.
  • the shelf information is used for the first conveying device to determine the target shelf.
  • the cargo information is used to enable the pick-up department of the first conveying device to determine the specific position of the target cargo on the target shelf.
  • the first conveying device can pick up multiple goods on one shelf, or can pick up multiple goods from multiple shelves respectively.
  • the specific rack allocated for the first handling device depends on the first pick-up instruction.
  • S200 Send a first handling instruction to the first handling device according to the feedback result of the cargo storage received from the first handling device.
  • the first handling instruction is used to control the first handling device to move to the assembly line device, and use the pick-up unit to transfer each cargo It is placed on the first circular conveying platform so that the first circular conveying platform transports the goods to the corresponding first circulation channel.
  • the feedback result of the storage of the goods can be sent by the first conveying device.
  • the feedback result of the storage of the goods may include feedback information that the goods have been stored in the carrying part, and may also include feedback information of the number of free carrying parts currently possessed by the first conveying device.
  • S300 Send a sorting instruction to the workbench according to the inspection result of the goods received from the first turnover channel.
  • the sorting instruction is used to control the sorting station of the workbench to grab the first to be sorted from the corresponding first turnover channel.
  • One cargo When the first circulation channel detects that there is goods transported by the first circular conveyor, the goods detection result is sent.
  • the logistics control method further includes:
  • S400 Send a replenishment instruction to the workbench.
  • the replenishment instruction is used to control the sorting station to place the second goods on the second circulation channel of the second circular conveyor, so that the second circulation channel will transport the second goods to the second circulation channel.
  • Two ring conveyors Two ring conveyors.
  • the second goods may be goods that have not been sorted on the first circular conveyor platform.
  • the second goods can also be goods taken from the outside by the workbench and need to be added to the shelf.
  • S500 Send a second pick-up instruction to the second conveying device, the second pick-up instruction is used to control the second conveying device to move to the assembly line device, and use the pick-up section of the second conveying device to transfer the The second cargo is stored on the carrying part of the second conveying device.
  • S600 Send a second handling instruction to the second handling device according to the feedback result of the cargo storage received from the second handling device.
  • the second handling instruction is used to control the second handling device to move to the shelf and use the pick-up unit to transfer the second cargo. Store on the shelf.
  • the feedback result of the storage of the goods can be sent by the second conveying device.
  • the feedback result of the storage of the goods may include feedback information that the goods have been stored in the carrying part, and may also include feedback information of the number of free carrying parts currently possessed by the second conveying device.
  • the second handling instruction may include shelf information and cargo information.
  • the shelf information is used for the second conveying device to determine the target shelf.
  • the cargo information is used to enable the pick-up department of the second conveying device to determine the specific position of the target cargo on the target shelf.
  • the second conveying device can store multiple goods on one shelf, or store multiple goods on multiple shelves respectively.
  • the rack allocated to the second conveying device depends on the second conveying instruction.
  • the logistics control method includes:
  • control unit determines the shelf where the material box is located, the specific location on the shelf, and the inventory quantity.
  • the first pick-up instruction is generated.
  • the lane corresponding to the rack is determined, and a first conveying device is selected from a plurality of conveying devices.
  • the strategy for selecting the first conveying device may be determined according to the traveling path of the conveying device, or may be determined according to the number of free carrying parts of the conveying device.
  • the first conveying device moves to the shelf to pick up multiple bins according to the first pick-up instruction, and uses the pick-up part to store each bin in each carrying part.
  • the first conveying device sends to the control unit the feedback result of the person performing the completion of the pick-up or the feedback result that there is no free carrying part.
  • the control unit sends the first conveying instruction to the first conveying device according to the feedback result of the storage of the bin of the first conveying device.
  • the first conveying device moves to the assembly line device according to the first conveying instruction, and uses the pick-up unit to place each container on the first circular conveying platform, so that the first circular conveying platform transports each container to the corresponding first circulation channel , And transported to the corresponding workbench through the corresponding first turnover channel.
  • the workbench grabs the first bin to be sorted from the corresponding first turnover channel, and sorts the goods in the first bin.
  • the workbench After the workbench completes the sorting task, it sends feedback results to the control unit, and the control unit sends replenishment instructions to the workbench based on the feedback results.
  • the workbench controls the sorting station to place the second goods on the second circulation channel of the second circular conveyor, so that the second circulation channel transports the second goods to the second circular conveyor.
  • the second transport device moves to the assembly line device according to the second pick-up instruction, and uses the pick-up section of the second transport device to store the second goods on the second circular conveyor to On the carrying part of the second conveying device.
  • the control unit sends a second conveying instruction to the second conveying device.
  • the second conveying device moves to the shelf according to the second conveying instruction, and uses the pick-up unit to store the second goods on the shelf.
  • the logistics control method includes:
  • the control unit determines the replenishment bins, replenishment shelves, and replenishment locations on the shelves according to the replenishment order.
  • a second pick-up instruction is generated.
  • the lane corresponding to the rack is determined, and a second conveying device is selected from a plurality of conveying devices.
  • the sorting station of the control workbench places the bins to be replenished on the second circular conveyor.
  • the second transport device moves to the assembly line device according to the second pick-up instruction, and uses the pick-up section of the second transport device to store the second goods on the second circular conveyor to On the carrying part of the second conveying device.
  • the control unit sends a second conveying instruction to the second conveying device.
  • the second conveying device moves to the shelf according to the second conveying instruction, and uses the pick-up unit to store the second goods on the shelf.
  • the logistics control method further includes:
  • S700 When sorting the first goods is completed, send a turnover instruction to the workbench.
  • the turnover instruction is used to control the sorting station to place the remaining goods on the first turnover channel on the second turnover channel, so that the second The revolving channel conveys the remaining goods to the second circular conveying platform.
  • S800 Send a third pick-up instruction to the second conveying device.
  • the third pick-up instruction is used to control the second conveying device to move to the assembly line device, and use the pick-up part of the second conveying device to transfer the remaining goods on the second circular conveyor.
  • the goods are placed on the carrying part of the second conveying device.
  • S900 Send a third handling instruction to the second handling device according to the feedback result of the cargo storage received from the second handling device.
  • the third handling instruction is used to control the second handling device to move to the shelf, and use the pick-up department to store the remaining cargo To the shelf.
  • an embodiment of the present application provides a logistics control device, as shown in FIG. 9, including:
  • the first sending module 10 is used to send a first pick-up instruction to the first conveying device, and the first pick-up instruction is used to control the first conveying device to move to the shelf to pick up multiple goods, and according to the pick-up of the first conveying device
  • the department stores the goods in each load-bearing department.
  • the second sending module 20 is used to send a first handling instruction to the first handling device according to the feedback result of the cargo storage received from the first handling device.
  • the first handling instruction is used to control the first handling device to move to the assembly line device and use
  • the pick-up department places the goods on the first circular conveying platform so that the first circular conveying platform transports the goods to the corresponding first circulation channel.
  • the third sending module 30 is used to send a sorting instruction to the workbench according to the detection result of the goods received from the first turnover channel.
  • the sorting instruction is used to control the sorting station of the workbench to grab the corresponding first turnover channel. Take the first item to be sorted.
  • the logistics control device further includes:
  • the fourth sending module 40 is used to send replenishment instructions to the workbench.
  • the replenishment instructions are used to control the sorting station to place the second goods to be replenished on the shelf on the second turnover channel, so that the second turnover channel will The second cargo is conveyed to the second circular conveying platform.
  • the fifth sending module 50 is used to send a second pick-up instruction to the second conveying device.
  • the second pick-up instruction is used to control the second conveying device to move to the assembly line device, and use the pick-up part of the second conveying device to transfer the second
  • the second goods on the endless conveyor are stored on the carrying part of the second conveying device.
  • the sixth sending module 60 is used to send a second handling instruction to the second handling device according to the feedback result of the cargo storage received from the second handling device.
  • the second handling instruction is used to control the second handling device to move to the shelf and use the fetching
  • the cargo department stores the second cargo on the shelf.
  • the logistics control device further includes:
  • the seventh sending module 70 is used to send a turnover instruction to the workbench when the sorting of the first goods is completed, and the turnover instruction is used to control the sorting station to place the remaining goods on the first turnover channel into the second turnover On the channel, the second revolving channel is used to transport the remaining goods to the second circular conveying platform.
  • the eighth sending module 80 is used to send a third pick-up instruction to the second conveying device.
  • the third pick-up instruction is used to control the second conveying device to move to the assembly line device, and use the pick-up section of the second conveying device to transfer the second The remaining goods on the circular conveyor are placed on the carrying part of the second conveying device.
  • the ninth sending module 90 is used to send a third handling instruction to the second handling device according to the feedback result of the cargo storage received from the second handling device.
  • the third handling instruction is used to control the second handling device to move to the shelf and use the The cargo department stores the remaining goods on the shelves.
  • Fig. 12 shows a structural block diagram of a logistics control terminal according to an embodiment of the present application.
  • the terminal includes: a memory 910 and a processor 920, and a computer program that can run on the processor 920 is stored in the memory 910.
  • the processor 920 implements the logistics control method in the foregoing embodiment when the computer program is executed.
  • the number of the memory 910 and the processor 920 may be one or more.
  • the terminal also includes:
  • the communication interface 930 is used to communicate with external devices and perform data interactive transmission.
  • the memory 910 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), for example, at least one disk memory.
  • the bus may be an Industry Standard Architecture (ISA, Industry Standard Architecture) bus, a Peripheral Component Interconnect (PCI, Peripheral Component Interconnect) bus, or an Extended Industry Standard Architecture (EISA, Extended Industry Standard Architecture) bus, etc.
  • ISA Industry Standard Architecture
  • PCI Peripheral Component Interconnect
  • EISA Extended Industry Standard Architecture
  • the bus can be divided into an address bus, a data bus, a control bus, and so on. For ease of representation, only one thick line is used in FIG. 12 to represent it, but it does not mean that there is only one bus or one type of bus.
  • the memory 910, the processor 920, and the communication interface 930 may communicate with each other through internal interfaces.
  • the embodiments of the present application provide a computer-readable storage medium that stores a computer program, and when the program is executed by a processor, the method described in any of the above-mentioned embodiments is implemented.
  • first and second are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with “first” and “second” may explicitly or implicitly include at least one of the features. In the description of the present application, "a plurality of” means two or more than two, unless otherwise specifically defined.
  • a "computer-readable medium” can be any device that can contain, store, communicate, propagate, or transmit a program for the instruction execution system, device, or device, or use it in combination with these instruction execution systems, devices, or devices.
  • computer readable media include the following: electrical connections (electronic devices) with one or more wiring, portable computer disk cases (magnetic devices), random access memory (RAM), Read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable read-only memory (CDROM).
  • the computer-readable medium may even be paper or other suitable medium on which the program can be printed, because it can be used, for example, by optically scanning the paper or other medium, followed by editing, interpretation, or other suitable media if necessary. The program is processed in a way to obtain the program electronically and then stored in the computer memory.
  • each part of this application can be implemented by hardware, software, firmware, or a combination thereof.
  • multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system.
  • a suitable instruction execution system For example, if it is implemented by hardware, as in another embodiment, it can be implemented by any one or a combination of the following technologies known in the art: Discrete logic circuits, application-specific integrated circuits with suitable combinational logic gates, programmable gate arrays (PGA), field programmable gate arrays (FPGA), etc.
  • a person of ordinary skill in the art can understand that all or part of the steps carried in the method of the foregoing embodiments can be implemented by a program instructing relevant hardware to complete.
  • the program can be stored in a computer-readable storage medium, and the program can be stored in a computer-readable storage medium. When executed, it includes one of the steps of the method embodiment or a combination thereof.
  • each functional unit in each embodiment of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units may be integrated into one module.
  • the above-mentioned integrated modules can be implemented in the form of hardware or software function modules. If the integrated module is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.
  • the storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

Abstract

一种物流系统及物流控制方法，物流系统包括多个货架（1）、搬运装置（2）、流水线装置（3）和多个工作台（4）；各货架间隔设置，相邻两个货架之间形成巷道（11）；搬运装置包括车本体（21）和支架（22），支架设置在车本体上部，支架的第一侧（221）设置有多个承载部（23），支架的第二侧（222）设置有可升降的取货部（24）；流水线装置包括第一环形输送台（31），第一环形输送台具有多个第一周转通道（32）；多个工作台分别与各第一周转通道连接，工作台上设置有分拣工位（41）。搬运装置的多个承载部一次可以搬运更多的货物（100），提高了物料系统的物流效率。同时，由于将流水线装置作为搬运装置和工作台之间的运输媒介，因此提高了货物输送至工作台的速度，更进一步地提高了物料系统的物流效率。

Description

物流系统及物流控制方法
优先权
本申请要求于2019年11月15日提交的第2019111203515号中国专利申请和第2019219771964号中国专利申请的优先权，其公开内容通过引用并入本文。
技术领域
本申请涉及物流领域，特别是涉及一种物流系统及物流控制方法。
背景技术
在现有的物流系统中，通常搬运机器人一次仅能够搬运一件货物或一个料箱，因此使得货物在整个仓储空间内的周转速度较低。而即便搬运机器人一次能够搬运多个货物进行运输，由于对接的分拣人员拣选或分拣能力有限，因此在完成所有货物的拣选或分拣之前，搬运机器人需要在原地进行等待，而无法进行其他作业，降低了搬运机器人的工作效率。并且上述两方面的问题还使得整个物流系统的作业流程无法顺畅衔接，降低了整个物流系统的工作时间和工作成本。
在背景技术中公开的上述信息仅用于加强对本申请的背景的理解，因此其可能包含没有形成为本领域普通技术人员所知晓的现有技术的信息。
发明内容
为了解决背景技术中的一个或多个技术问题，本申请实施例提供一种物流系统及物流控制方法。
第一方面，本申请实施例提供了一种物流系统，包括：
多个货架，各货架间隔设置，相邻两个货架之间形成巷道；
搬运装置，包括车本体和支架，支架设置在车本体上部，支架的第一侧设置有多个承载部，支架的第二侧设置有可升降的取货部，搬运装置用 于从货架搬运货物至流水线装置；
流水线装置，包括第一环形输送台，第一环形输送台具有多个第一周转通道；
多个工作台，分别与各第一周转通道连接，工作台上设置有分拣工位，分拣工位用于分拣对应的第一周转通道上的货物。
在一种实施方式中，各承载部沿支架的高度方向依次堆叠设置，各承载部的容纳腔的开口端朝向第二侧设置。
在一种实施方式中，取货部包括承托板，承托板与各承托部的容纳腔滑动连接。
在一种实施方式中，第一环形输送台还具有多个第一入料通道和多个第一出料通道。
在一种实施方式中，流水线装置还包括位于第一环形输送台上方的第二环形输送台，第二环形输送台具有多个第二周转通道，各第二周转通道分别与各工作台连接。
在一种实施方式中，第二环形输送台还具有多个第二入料通道和多个第二出料通道。
在一种实施方式中，第一环形输送台至少具有两个口径不同的第一周转通道。
第二方面，本申请实施例提供了一种物流控制方法，应用于第一方面的物流系统，包括：
向第一搬运装置发送第一取货指令，第一取货指令用于控制第一搬运装置移动至货架拿取多个货物，并根据第一搬运装置的取货部将各货物存放至各承载部中；
根据从第一搬运装置接收的货物存放反馈结果，向第一搬运装置发送第一搬运指令，第一搬运指令用于控制第一搬运装置移动至流水线装置，并利用取货部将各货物放置到第一环形输送台上，使第一环形输送台将各货物输送至对应的第一周转通道；
根据从第一周转通道接收的货物检测结果，向工作台发送分拣指令，分拣指令用于控制工作台的分拣工位从对应的第一周转通道上抓取需分拣的第一货物。
在一种实施方式中，物流控制方法还包括：
向工作台发送补货指令，补货指令用于控制分拣工位将待向货架进行补充的第二货物放置到第二周转通道上，使第二周转通道将第二货物输送至第二环形输送台；
向第二搬运装置发送第二取货指令，第二取货指令用于控制第二搬运装置移动至流水线装置，并利用第二搬运装置的取货部将第二环形输送台上的第二货物存放至第二搬运装置的承载部上；
根据从第二搬运装置接收的货物存放反馈结果，向第二搬运装置发送第二搬运指令，第二搬运指令用于控制第二搬运装置移动至货架，并利用取货部将第二货物存放至货架。
在一种实施方式中，物流控制方法还包括：
在对第一货物分拣完成的情况下，向工作台发送周转指令，周转指令用于控制分拣工位将第一周转通道上的剩余货物放置到第二周转通道上，使第二周转通道将剩余货物输送至第二环形输送台；
向第二搬运装置发送第三取货指令，第三取货指令用于控制第二搬运装置移动至流水线装置，并利用第二搬运装置的取货部将第二环形输送台上的剩余货物放至第二搬运装置的承载部上；
根据从第二搬运装置接收的货物存放反馈结果，向第二搬运装置发送第三搬运指令，第三搬运指令用于控制第二搬运装置移动至货架，并利用取货部将剩余货物存放至货架。
第三方面，本申请实施例提供了一种物流控制装置，包括：
第一发送模块，用于向第一搬运装置发送第一取货指令，第一取货指令用于控制第一搬运装置移动至货架拿取多个货物，并根据第一搬运装置的取货部将各货物存放至各承载部中；
第二发送模块，用于根据从第一搬运装置接收的货物存放反馈结果，向第一搬运装置发送第一搬运指令，第一搬运指令用于控制第一搬运装置移动至流水线装置，并利用取货部将各货物放置到第一环形输送台上，使第一环形输送台将各货物输送至对应的第一周转通道；
第三发送模块，用于根据从第一周转通道接收的货物检测结果，向工作台发送分拣指令，分拣指令用于控制工作台的分拣工位从对应的第一周转通道上抓取需分拣的第一货物。
在一种实施方式中，物流控制装置还包括：
第四发送模块，用于向工作台发送补货指令，补货指令用于控制分拣工位将待向货架进行补充的第二货物放置到第二周转通道上，使第二周转通道将第二货物输送至第二环形输送台；
第五发送模块，用于向第二搬运装置发送第二取货指令，第二取货指令用于控制第二搬运装置移动至流水线装置，并利用第二搬运装置的取货部将第二环形输送台上的第二货物存放至第二搬运装置的承载部上；
第六发送模块，用于根据从第二搬运装置接收的货物存放反馈结果，向第二搬运装置发送第二搬运指令，第二搬运指令用于控制第二搬运装置移动至货架，并利用取货部将第二货物存放至货架。
在一种实施方式中，物流控制装置还包括：
第七发送模块，用于在对第一货物分拣完成的情况下，向工作台发送周转指令，周转指令用于控制分拣工位将第一周转通道上的剩余货物放置到第二周转通道上，使第二周转通道将剩余货物输送至第二环形输送台；
第八发送模块，用于向第二搬运装置发送第三取货指令，第三取货指令用于控制第二搬运装置移动至流水线装置，并利用第二搬运装置的取货部将第二环形输送台上的剩余货物放至第二搬运装置的承载部上；
第九发送模块，用于根据从第二搬运装置的货物存放反馈结果，向第二搬运装置发送第三搬运指令，第三搬运指令用于控制第二搬运装置移动至货架，并利用取货部将剩余货物存放至货架。
第四方面，本申请实施例提供了一种物流控制终端，所述物流控制终端的功能可以通过硬件实现，也可以通过硬件执行相应的软件实现。所述硬件或软件包括一个或多个与上述功能相对应的模块。
在一个可能的设计中，所述物流控制终端的结构中包括处理器和存储器，所述存储器用于存储支持所述物流控制终端执行上述物流控制方法的程序，所述处理器被配置为用于执行所述存储器中存储的程序。所述物流控制终端还可以包括通信接口，用于与其他设备或通信网络通信。
第五方面，本申请实施例提供了一种计算机可读存储介质，用于存储物流控制终端所用的计算机软件指令，其包括用于执行上述物流控制方法所涉及的程序。
上述技术方案中的一个技术方案具有如下优点或有益效果：本申请实施例的搬运装置的多个承载部一次可以搬运更多的货物，提高了物料系统的物流效率。同时，由于将流水线装置作为搬运装置和工作台之间的运输媒介，因此提高了货物输送至工作台的速度，更进一步地提高了物料系统的物流效率。
上述概述仅仅是为了说明书的目的，并不意图以任何方式进行限制。除上述描述的示意性的方面、实施方式和特征之外，通过参考附图和以下的详细描述，本申请进一步的方面、实施方式和特征将会是容易明白的。
附图说明
图1示出根据本申请实施例的物流系统的结构图。
图2示出根据本申请实施例的物流系统的搬运装置的结构图。
图3示出根据本申请实施例的物流系统的搬运装置与货架的工作状态结构图。
图4示出根据本申请实施例的物流系统的第一环形输送台的结构图。
图5示出根据本申请实施例的物流系统的第二环形输送台的结构图。
图6示出根据本申请实施例的物流控制方法的流程图。
图7示出根据本申请实施例的另一物流控制方法的流程图。
图8示出根据本申请实施例的另一物流控制方法的流程图。
图9示出根据本申请实施例的物流控制装置的结构框图。
图10示出根据本申请另一实施例的物流控制装置的结构框图。
图11示出根据本申请另一实施例的物流控制装置的结构框图。
图12示出根据本申请实施例的物流控制终端的结构示意图。
具体实施方式
在下文中，仅简单地描述了某些示例性实施例。正如本领域技术人员可认识到的那样，在不脱离本申请的精神或范围的情况下，可通过各种不同方式修改所描述的实施例。因此，附图和描述被认为本质上是示例性的而非限制性的。
图1示出本申请实施例的物流系统的结构图。如图1所示，该物流系统包括多个货架1、至少一个搬运装置2、流水线装置3以及多个工作台4。
多个货架1间隔设置，相邻两个货架1之间形成巷道11。巷道11用于供搬运装置2进行移动。货架1的形状、结构、货物100存储量可以根据需要进行选择和调整。
搬运装置2包括车本体21和支架22(如图2所示)。支架22设置在车本体21上部，支架22的第一侧221设置有多个承载部23。支架22的第二侧222设置有可升降的取货部24。搬运装置2用于从货架1搬运货物100至流水线装置3(如图3所示)。
需要说明的是，搬运装置2的数量可以根据货架1、货物100或物流系统的运输能力要求等进行选择和调整。车本体21的结构可以根据需要进行选择，例如，可移动机器人或自动导引输送车(AGV，Automated Guided Vehicle，)等，在此不做具体限定。
流水线装置3包括至少一个第一环形输送台31(如图4所示)，第一环形输送台31具有多个第一周转通道32。在一个示例中，各第一周转通 道32与第一环形输送台31的输送带33连通，从而实现将位于输送带33上的货物100输送至第一周转通道32中。第一环形输送台31的数量可以根据物流系统的运输能力要求进行选择和调整。
多个工作台4分别与各第一周转通道32连接，工作台4上设置有分拣工位41，分拣工位41用于拣选对应的第一周转通道32上的货物100。工作台4的数量可以根据第一周转通道32的长度进行设置。工作台4的布置位置可以根据流水线装置3与各货架1的相对位置进行设置。例如，当各货架1设置在沿流水线装置3长度方向的一侧时，工作台4可以设置在沿流水线装置3长度方向的另一侧上。执行分拣货物的过程可以由分拣工位41上的机械抓取臂执行，也可以由分拣工位41上的人工执行，还可以由分拣工位41上的机械抓取臂和人工一同执行货物100的分拣作业。分拣工位41进行的拣选可以理解为对货物100进行拣选、分拣、总拣或二次分拣等，在此不做具体限定。
在一个示例中，货物100可以包括物料包裹、物品、承载有物品的料箱等。
在一种实施方式中，如图2所示，各承载部23沿支架22的高度方向依次堆叠设置，各承载部23的容纳腔的开口端朝向第二侧222设置，以便于取货部24能够通过开口端将承载部23的容纳腔中的货物100取出。
在一种实施方式中，取货部24包括承托板231，承托板231用于承载货物100。承托板231与各承托部的容纳腔滑动连接。
在一个示例中，支架22的第一侧221竖直设置有框架，在框架中沿高度方向设置有多个格口，每个格口构成承载部23。取货部24通过升降机构与支架22连接，从而实现沿竖直方向的升降运动。每个格口的底部设置有滑轨，取货部24与滑轨相配合。取货部24通过升降机构移动到对应的格口位置后，通过滑动机构使得取货部24滑入到滑轨中并将货物100顶起，然后在通过滑动机构使得取货部24滑出滑轨，从而将货物100从格口中取出。
在一种实施方式中，如图1、图4所示，第一环形输送台31还具有多个第一入料通道34和多个第一出料通道35。第一入料通道34用于将搬运装置2上装载的货物100输送到第一环形输送台31的输送带33上。第一出料通道35用于将第一环形输送台31的输送带33上的货物100输送至搬运装置2。
需要说明的是，第一入料通道34和第一出料通道35根据物料输送策略的不同，第一入料通道34也可以作为第一出料通道35，第一出料通道35也可以作为第一入料通道34。
在一个示例中，为了使得搬运装置2能够通过最短的行驶距离在流水线装置3和货架1之间移动，可以将部分第一入料通道34和部分第一出料通道35分别与各巷道11对应，从而使得搬运装置2能够更快的将货架1上的货物100搬运至流水线装置3上，或将流水线装置3上的货物100更快的搬运至货架1上。
在一种实施方式中，如图5所示，流水线装置3还包括位于第一环形输送台31上方的至少一个第二环形输送台36。第二环形输送台36具有多个第二周转通道37。各第二周转通道37分别与各工作台4连接。工作台4的分拣工位41用于分拣对应的第二周转通道37上的货物100。第二环形输送台36的数量可以根据物流系统的运输能力要求进行选择和调整。
在一个示例中，工作台4的分拣工位41可以对对应的第一周转通道32和/或第二周转通道37上的货物100进行分拣，也可以向对应的第一周转通道32和/或第二周转通道37上放入货物100。也即是说，第一周转通道32和/或第二周转通道37的输送带33上的货物100，可以是由搬运装置2放入的，也可以是由分拣工位41放入的。
在一种实施方式中，如图5所示，第二环形输送台36还具有多个第二入料通道38和多个第二出料通道39。第二入料通道38用于将搬运装置2上装载的货物100输送到第二环形输送台36的输送带33上。第二出料通道39用于将第二环形输送台36的输送带33上的货物100输送至搬运装置 2。
需要说明的是，根据物料输送策略的不同，第二入料通道38也可以作为第二出料通道39，第二出料通道39也可以作为第二入料通道38。
在一个示例中，为了使得搬运装置2能够通过最短的行驶距离在流水线装置3和货架1之间移动，可以将部分第二入料通道38和部分第二出料通道39分别与各巷道11对应，从而使得搬运装置2能够更快的将货架1上的货物100搬运至流水线装置3上，或将流水线装置3上的货物100更快的搬运至货架1上。
在一个示例中，第一环形输送台31和第二环形输送台36可以配合使用，以提高整个流水线装置3的工作效率。例如，第一环形输送台31输送的货物100用于供工作台4分拣，第二环形输送台36输送的货物100用于供搬运装置2向货架1补货。
在一种实施方式中，第一环形输送台31至少具有两个口径不同的第一周转通道32。不同口径的第一周转通道32可以适配不同的货物100尺寸，从而实现各个尺寸的货物100在被输送带33输送过程中，到达对应口径的第一周转通道32时能够自动进入其中，并到达与第一周转通道32连接的工作台4处。使得工作台4与流水线装置3间的工作流程衔接更加顺畅。
在一种实施方式中，第二环形输送台36至少具有两个口径不同的第二周转通道37。不同口径的第二周转通道37可以适配不同的货物100尺寸，从而实现各个尺寸的货物100在被输送带33输送过程中，到达对应口径的第二周转通道37时能够自动进入其中，并到达与第二周转通道37连接的工作台4处。使得工作台4与流水线装置3间的工作流程衔接更加顺畅。
在一个示例中，第一环形输送台31上设置有第一检测装置，第一检测装置通过扫描货物100上的标识码确定各个货物100需输送至的第一周转通道32。在确定各货物100需输送至的第一周转通道32后，可以通过设置在第一环形输送台31上的拨叉或对应工作台4的分拣工位41将货物100从输送带33转移至与对应工作台4连接的第一周转通道32上。第二环形 输送台36上也可设置第一检测装置和拨叉，在此不再赘述。
在一个示例中，搬运装置2上设置有第二检测装置，第二检测装置通过扫描货物100上的标识码确定目标货物100。目标货物100可以是位于货架1上的货物100，也可以是位于第一环形输送台31或第二环形输送台36上的货物100。
在一个示例中，物流系统还可以包括控制单元，控制单元与搬运装置2和工作台4电连接。控制单元可以用于控制搬运装置2从货架1拿取货物100并搬运至流水线装置3，以及可以用于控制搬运装置2将流水线装置3上的货物100取下并搬运至货架1。控制单元还可以用于控制工作台4对流水线装置3上输送的货物100进行分拣，以及可以用于向流水线装置3上放置货物100。
第二方面，本申请实施例提供了一种物流控制方法，应用于上述任意实施例的物流系统，如图6所示，物流控制方法包括：
S100：向第一搬运装置发送第一取货指令，第一取货指令用于控制第一搬运装置移动至货架拿取多个货物，并利用第一搬运装置的取货部将各货物存放至各承载部中。
第一取货指令可以包括货架信息以及货物信息。货架信息用于使第一搬运装置确定目标货架。货物信息用于使第一搬运装置的取货部确定目标货物在目标货架上的具体位置。第一搬运装置可以在一个货架上拿取多个货物，也可以分别从多个货架上拿取多个货物。具体为第一搬运装置分配的货架取决于第一取货指令。
S200：根据从第一搬运装置接收的货物存放反馈结果，向第一搬运装置发送第一搬运指令，第一搬运指令用于控制第一搬运装置移动至流水线装置，并利用取货部将各货物放置到第一环形输送台上，使第一环形输送台将各货物输送至对应的第一周转通道。
货物存放反馈结果可以由第一搬运装置发出。货物存放反馈结果可以包括货物已经存放至承载部中的反馈信息，还可以包括第一搬运装置当前 所具有的空闲承载部数量的反馈信息。
S300：根据从第一周转通道接收的货物检测结果，向工作台发送分拣指令，分拣指令用于控制工作台的分拣工位从对应的第一周转通道上抓取需分拣的第一货物。在第一周转通道检测到其上存在由第一环形输送台输送的货物时，发送货物检测结果。
在一种实施方式中，如图7所示，物流控制方法还包括：
S400：向工作台发送补货指令，补货指令用于控制分拣工位将第二货物放置到第二环形输送台的第二周转通道上，使第二周转通道将第二货物输送至第二环形输送台。
第二货物可以是第一环形输送台上未被工作台分拣的货物。第二货物也可以是工作台从外部拿取的需要补入货架的货物。
S500：向第二搬运装置发送第二取货指令，第二取货指令用于控制第二搬运装置移动至流水线装置，并利用第二搬运装置的取货部将第二环形输送台上的第二货物存放至第二搬运装置的承载部上。
S600：根据从第二搬运装置接收的货物存放反馈结果，向第二搬运装置发送第二搬运指令，第二搬运指令用于控制第二搬运装置移动至货架，并利用取货部将第二货物存放至货架。
货物存放反馈结果可以由第二搬运装置发出。货物存放反馈结果可以包括货物已经存放至承载部中的反馈信息，还可以包括第二搬运装置当前所具有的空闲承载部数量的反馈信息。
第二搬运指令可以包括货架信息以及货物信息。货架信息用于使第二搬运装置确定目标货架。货物信息用于使第二搬运装置的取货部确定目标货物在目标货架上的具体位置。第二搬运装置可以向一个货架上存放多个货物，也可以分别向多个货架上存放多个货物。具体为第二搬运装置分配的货架取决于第二搬运指令。
在一个示例中，物流控制方法包括：
控制单元根据料箱订单，确定料箱所在货架、货架上的具体库位以及 库存量。
根据确定料箱所在货架、货架上的具体库位以及库存量，生成第一取货指令。
根据料箱所在货架的位置，确定该货架所对应的巷道，并从多个搬运装置中选择一个第一搬运装置。选择第一搬运装置的策略可以是根据搬运装置行驶路径确定，也可以是根据搬运装置的空闲承载部数量确定。
向第一搬运装置发送第一取货指令。第一搬运装置根据第一取货指令移动至货架拿取多个料箱，并利用取货部将各料箱存放至各承载部中。
第一搬运装置向控制单元发送执行完成取货人物的反馈结果，或无空闲承载部的反馈结果。
控制单元根据第一搬运装置的料箱存放反馈结果，向第一搬运装置发送第一搬运指令。第一搬运装置根据第一搬运指令移动至流水线装置，并利用取货部将各料箱放置到第一环形输送台上，使第一环形输送台将各料箱输送至对应的第一周转通道，并通过对应的第一周转通道输送至对应的工作台。
向工作台发送分拣指令。工作台根据分拣指令中的订单信息，从对应的第一周转通道上抓取需分拣的第一料箱，并对第一料箱中的货物进行分拣。
工作台完成分拣任务后，向控制单元发送反馈结果，控制单元根据反馈结果向工作台发送补货指令。
工作台根据补货指令，控制分拣工位将第二货物放置到第二环形输送台的第二周转通道上，使第二周转通道将第二货物输送至第二环形输送台。
向第二搬运装置发送第二取货指令，第二搬运装置根据第二取货指令移动至流水线装置，并利用第二搬运装置的取货部将第二环形输送台上的第二货物存放至第二搬运装置的承载部上。
根据第二搬运装置的货物存放反馈结果，控制单元向第二搬运装置发送第二搬运指令。第二搬运装置根据第二搬运指令移动至货架，并利用取 货部将第二货物存放至货架。
在一个示例中，物流控制方法包括：
控制单元根据补货订单，确定需补货的料箱、补货货架以及货架上的补货库位。
根据需补货的料箱、补货货架以及货架上的补货库位，生成第二取货指令。
根据料箱所在货架的位置，确定该货架所对应的巷道，并从多个搬运装置中选择一个第二搬运装置。
控制工作台的分拣工位将需补货的料箱放置到第二环形输送台上。
向第二搬运装置发送第二取货指令，第二搬运装置根据第二取货指令移动至流水线装置，并利用第二搬运装置的取货部将第二环形输送台上的第二货物存放至第二搬运装置的承载部上。
根据第二搬运装置的货物存放反馈结果，控制单元向第二搬运装置发送第二搬运指令。第二搬运装置根据第二搬运指令移动至货架，并利用取货部将第二货物存放至货架。
在一种实施方式中，如图8所示，物流控制方法还包括：
S700：在对第一货物分拣完成的情况下，向工作台发送周转指令，周转指令用于控制分拣工位将第一周转通道上的剩余货物放置到第二周转通道上，使第二周转通道将剩余货物输送至第二环形输送台。
S800：向第二搬运装置发送第三取货指令，第三取货指令用于控制第二搬运装置移动至流水线装置，并利用第二搬运装置的取货部将第二环形输送台上的剩余货物放至第二搬运装置的承载部上。
S900：根据从第二搬运装置接收的货物存放反馈结果，向第二搬运装置发送第三搬运指令，第三搬运指令用于控制第二搬运装置移动至货架，并利用取货部将剩余货物存放至货架。
第三方面，本申请实施例提供了一种物流控制装置，如图9所示，包括：
第一发送模块10，用于向第一搬运装置发送第一取货指令，第一取货指令用于控制第一搬运装置移动至货架拿取多个货物，并根据第一搬运装置的取货部将各货物存放至各承载部中。
第二发送模块20，用于根据从第一搬运装置接收的货物存放反馈结果，向第一搬运装置发送第一搬运指令，第一搬运指令用于控制第一搬运装置移动至流水线装置，并利用取货部将各货物放置到第一环形输送台上，使第一环形输送台将各货物输送至对应的第一周转通道。
第三发送模块30，用于根据从第一周转通道接收的货物检测结果，向工作台发送分拣指令，分拣指令用于控制工作台的分拣工位从对应的第一周转通道上抓取需分拣的第一货物。
在一种实施方式中，如图10所示，物流控制装置还包括：
第四发送模块40，用于向工作台发送补货指令，补货指令用于控制分拣工位将待向货架进行补充的第二货物放置到第二周转通道上，使第二周转通道将第二货物输送至第二环形输送台。
第五发送模块50，用于向第二搬运装置发送第二取货指令，第二取货指令用于控制第二搬运装置移动至流水线装置，并利用第二搬运装置的取货部将第二环形输送台上的第二货物存放至第二搬运装置的承载部上。
第六发送模块60，用于根据从第二搬运装置接收的货物存放反馈结果，向第二搬运装置发送第二搬运指令，第二搬运指令用于控制第二搬运装置移动至货架，并利用取货部将第二货物存放至货架。
在一种实施方式中，如图11所示，物流控制装置还包括：
第七发送模块70，用于在对第一货物分拣完成的情况下，向工作台发送周转指令，周转指令用于控制分拣工位将第一周转通道上的剩余货物放置到第二周转通道上，使第二周转通道将剩余货物输送至第二环形输送台。
第八发送模块80，用于向第二搬运装置发送第三取货指令，第三取货指令用于控制第二搬运装置移动至流水线装置，并利用第二搬运装置的取货部将第二环形输送台上的剩余货物放至第二搬运装置的承载部上。
第九发送模块90，用于根据从第二搬运装置接收的货物存放反馈结果，向第二搬运装置发送第三搬运指令，第三搬运指令用于控制第二搬运装置移动至货架，并利用取货部将剩余货物存放至货架。
本申请实施例各装置中的各模块的功能可以参见上述方法中的对应描述，在此不再赘述。
图12示出根据本申请实施例的物流控制终端的结构框图。如图12所示，该终端包括：存储器910和处理器920，存储器910内存储有可在处理器920上运行的计算机程序。所述处理器920执行所述计算机程序时实现上述实施例中的物流控制方法。所述存储器910和处理器920的数量可以为一个或多个。
该终端还包括：
通信接口930，用于与外界设备进行通信，进行数据交互传输。
存储器910可能包含高速RAM存储器，也可能还包括非易失性存储器(non-volatile memory)，例如至少一个磁盘存储器。
如果存储器910、处理器920和通信接口930独立实现，则存储器910、处理器920和通信接口930可以通过总线相互连接并完成相互间的通信。所述总线可以是工业标准体系结构(ISA，Industry Standard Architecture)总线、外部设备互连(PCI，Peripheral Component Interconnect)总线或扩展工业标准体系结构(EISA，Extended Industry Standard Architecture)总线等。所述总线可以分为地址总线、数据总线、控制总线等。为便于表示，图12中仅用一条粗线表示，但并不表示仅有一根总线或一种类型的总线。
可选的，在具体实现上，如果存储器910、处理器920及通信接口930集成在一块芯片上，则存储器910、处理器920及通信接口930可以通过内部接口完成相互间的通信。
本申请实施例提供了一种计算机可读存储介质，其存储有计算机程序，该程序被处理器执行时实现上述实施例中任一所述方法。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示 例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或隐含地包括至少一个该特征。在本申请的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
流程图中或在此以其他方式描述的任何过程或方法描述可以被理解为，表示包括一个或更多个用于实现特定逻辑功能或过程的步骤的可执行指令的代码的模块、片段或部分，并且本申请的优选实施方式的范围包括另外的实现，其中可以不按所示出或讨论的顺序，包括根据所涉及的功能按基本同时的方式或按相反的顺序，来执行功能，这应被本申请的实施例所属技术领域的技术人员所理解。
在流程图中表示或在此以其他方式描述的逻辑和/或步骤，例如，可以被认为是用于实现逻辑功能的可执行指令的定序列表，可以具体实现在任何计算机可读介质中，以供指令执行系统、装置或设备(如基于计算机的系统、包括处理器的系统或其他可以从指令执行系统、装置或设备取指令并执行指令的系统)使用，或结合这些指令执行系统、装置或设备而使用。就本说明书而言，“计算机可读介质”可以是任何可以包含、存储、通信、传播或传输程序以供指令执行系统、装置或设备或结合这些指令执行系统、装置或设备而使用装置。计算机可读介质的更具体的示例(非穷尽性列表)包括以下：具有一个或多个布线的电连接部(电子装置)，便携式计算机盘盒(磁装置)，随机存取存储器(RAM)，只读存储器(ROM)，可擦除可编辑只读存储器(EPROM或闪速存储器)，光纤装置，以及便携式只读存 储器(CDROM)。另外，计算机可读介质甚至可以是可在其上打印所述程序的纸或其他合适的介质，因为可以例如通过对纸或其他介质进行光学扫描，接着进行编辑、解译或必要时以其他合适方式进行处理来以电子方式获得所述程序，然后将其存储在计算机存储器中。
应当理解，本申请的各部分可以用硬件、软件、固件或它们的组合来实现。在上述实施方式中，多个步骤或方法可以用存储在存储器中且由合适的指令执行系统执行的软件或固件来实现。例如，如果用硬件来实现，和在另一实施方式中一样，可用本领域公知的下列技术中的任一项或他们的组合来实现：具有用于对数据信号实现逻辑功能的逻辑门电路的离散逻辑电路，具有合适的组合逻辑门电路的专用集成电路，可编程门阵列(PGA)，现场可编程门阵列(FPGA)等。
本技术领域的普通技术人员可以理解实现上述实施例方法携带的全部或部分步骤是可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，该程序在执行时，包括方法实施例的步骤之一或其组合。
此外，在本申请各个实施例中的各功能单元可以集成在一个处理模块中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。所述集成的模块如果以软件功能模块的形式实现并作为独立的产品销售或使用时，也可以存储在一个计算机可读存储介质中。所述存储介质可以是只读存储器，磁盘或光盘等。
以上仅是本发明的优选实施方式，应当指出的是，上述优选实施方式不应视为对本发明的限制，本发明的保护范围应当以权利要求所限定的范围为准。对于本技术领域的普通技术人员来说，在不脱离本发明的精神和范围内，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。

Claims (15)

  1. 一种物流系统，其特征在于，包括：
    多个货架，各所述货架间隔设置，相邻两个所述货架之间形成巷道；
    搬运装置，包括车本体和支架，所述支架设置在所述车本体上部，所述支架的第一侧设置有多个承载部，所述支架的第二侧设置有可升降的取货部，所述搬运装置用于从所述货架搬运货物至流水线装置；
    所述流水线装置，包括第一环形输送台，所述第一环形输送台具有多个第一周转通道；以及
    多个工作台，分别与各所述第一周转通道连接，所述工作台上设置有分拣工位，所述分拣工位用于分拣对应的所述第一周转通道上的货物。
  2. 如权利要求1所述的物流系统，其特征在于，各所述承载部沿所述支架的高度方向依次堆叠设置，各所述承载部的容纳腔的开口端朝向所述第二侧设置。
  3. 如权利要求2所述的物流系统，其特征在于，所述取货部包括承托板，所述承托板与各所述承托部的容纳腔滑动连接。
  4. 如权利要求1所述的物流系统，其特征在于，所述第一环形输送台还具有多个第一入料通道和多个第一出料通道。
  5. 如权利要求1所述的物流系统，其特征在于，所述流水线装置还包括位于所述第一环形输送台上方的第二环形输送台，所述第二环形输送台具有多个第二周转通道，各所述第二周转通道分别与各所述工作台连接。
  6. 如权利要求5所述的物流系统，其特征在于，所述第二环形输送台还具有多个第二入料通道和多个第二出料通道。
  7. 如权利要求1所述的物流系统，其特征在于，所述第一环形输送台至少具有两个口径不同的所述第一周转通道。
  8. 一种物流控制方法，应用于权利要求1-7任一项所述的物流系统，其特征在于，包括：
    向第一搬运装置发送第一取货指令，所述第一取货指令用于控制所述第一搬运装置移动至货架拿取多个货物，并根据所述第一搬运装置的取货部将各所述货物存放至各承载部中；
    根据从所述第一搬运装置接收的货物存放反馈结果，向所述第一搬运装置发送第一搬运指令，所述第一搬运指令用于控制所述第一搬运装置移动至流水线装置，并利用所述取货部将各所述货物放置到第一环形输送台上，使所述第一环形输送台将各所述货物输送至对应的第一周转通道；
    根据从所述第一周转通道接收的货物检测结果，向工作台发送分拣指令，所述分拣指令用于控制所述工作台的分拣工位从对应的所述第一周转通道上抓取需分拣的第一货物。
  9. 如权利要求8所述的物流控制方法，其特征在于，还包括：
    向所述工作台发送补货指令，所述补货指令用于控制所述分拣工位将待向所述货架进行补充的第二货物放置到第二周转通道上，使所述第二周转通道将所述第二货物输送至第二环形输送台；
    向第二搬运装置发送第二取货指令，所述第二取货指令用于控制所述第二搬运装置移动至所述流水线装置，并利用所述第二搬运装置的取货部将所述第二环形输送台上的所述第二货物存放至所述第二搬运装置的承载部上；
    根据从所述第二搬运装置接收的货物存放反馈结果，向所述第二搬运装置发送第二搬运指令，所述第二搬运指令用于控制所述第二搬运装置移动至所述货架，并利用所述取货部将所述第二货物存放至所述货架。
  10. 如权利要求8所述的物流控制方法，其特征在于，还包括：
    在对所述第一货物分拣完成的情况下，向所述工作台发送周转指令，所述周转指令用于控制所述分拣工位将所述第一周转通道上的剩余货物放置到第二周转通道上，使所述第二周转通道将所述剩余货物输送至第二环形输送台；
    向第二搬运装置发送第三取货指令，所述第三取货指令用于控制所述第二搬运装置移动至所述流水线装置，并利用所述第二搬运装置的取货部将所述第二环形输送台上的所述剩余货物放至所述第二搬运装置的承载部上；
    根据从所述第二搬运装置接收的货物存放反馈结果，向所述第二搬运装置发送第三搬运指令，所述第三搬运指令用于控制所述第二搬运装置移动至所述货架，并利用所述取货部将所述剩余货物存放至所述货架。
  11. 一种物流控制装置，其特征在于，包括：
    第一发送模块，用于向第一搬运装置发送第一取货指令，所述第一取货指令用于控制所述第一搬运装置移动至货架拿取多个货物，并根据所述第一搬运装置的取货部将各所述货物存放至各承载部中；
    第二发送模块，用于根据从所述第一搬运装置接收的货物存放反馈结果，向所述第一搬运装置发送第一搬运指令，所述第一搬运指令用于控制所述第一搬运装置移动至流水线装置，并利用所述取货部将各所述货物放置到第一环形输送台上，使所述第一环形输送台将各所述货物输送至对应的第一周转通道；
    第三发送模块，用于根据从所述第一周转通道接收的货物检测结果，向工作台发送分拣指令，所述分拣指令用于控制所述工作台的分拣工位从对应的所述第一周转通道上抓取需分拣的第一货物。
  12. 根据权利要求11所述的物流控制装置，其特征在于，还包括：
    第四发送模块，用于向所述工作台发送补货指令，所述补货指令用于控制所述分拣工位将待向所述货架进行补充的第二货物放置到第二周转通道上，使所述第二周转通道将所述第二货物输送至所述第二环形输送台；
    第五发送模块，用于向第二搬运装置发送第二取货指令，所述第二取货指令用于控制所述第二搬运装置移动至所述流水线装置，并利用所述第二搬运装置的取货部将所述第二环形输送台上的所述第二货物存放至 所述第二搬运装置的承载部上；
    第六发送模块，用于根据从所述第二搬运装置接收的货物存放反馈结果，向所述第二搬运装置发送第二搬运指令，所述第二搬运指令用于控制所述第二搬运装置移动至所述货架，并利用所述取货部将所述第二货物存放至所述货架。
  13. 根据权利要求11所述的物流控制装置，其特征在于，还包括：
    第七发送模块，用于在对所述第一货物分拣完成的情况下，向所述工作台发送周转指令，所述周转指令用于控制所述分拣工位将所述第一周转通道上的剩余货物放置到第二周转通道上，使所述第二周转通道将所述剩余货物输送至第二环形输送台；
    第八发送模块，用于向第二搬运装置发送第三取货指令，所述第三取货指令用于控制所述第二搬运装置移动至所述流水线装置，并利用所述第二搬运装置的取货部将所述第二环形输送台上的所述剩余货物放至所述第二搬运装置的承载部上；
    第九发送模块，用于根据从所述第二搬运装置接收的货物存放反馈结果，向所述第二搬运装置发送第三搬运指令，所述第三搬运指令用于控制所述第二搬运装置移动至所述货架，并利用所述取货部将所述剩余货物存放至所述货架。
  14. 一种物流控制终端，其特征在于，包括：
    一个或多个处理器；
    存储装置，用于存储一个或多个程序；
    当所述一个或多个程序被所述一个或多个处理器执行时，使得所述一个或多个处理器实现如权利要求8至10中任一项所述方法。
  15. 一种计算机可读存储介质，其存储有计算机程序，其特征在于，该程序被处理器执行时实现如权利要求8至10中任一项所述方法。
PCT/CN2019/123702 2019-11-15 2019-12-06 物流系统及物流控制方法 WO2021093058A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP19952514.8A EP4059870A4 (en) 2019-11-15 2019-12-06 LOGISTICS SYSTEM AND LOGISTICS CONTROL METHOD
KR1020227020113A KR20220098232A (ko) 2019-11-15 2019-12-06 물류 시스템 및 물류 제어 방법

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN201921977196.4 2019-11-15
CN201911120351.5A CN110733820A (zh) 2019-11-15 2019-11-15 物流系统及物流控制方法
CN201921977196.4U CN211495520U (zh) 2019-11-15 2019-11-15 物流系统
CN201911120351.5 2019-11-15

Publications (1)

Publication Number Publication Date
WO2021093058A1 true WO2021093058A1 (zh) 2021-05-20

Family

ID=75911789

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/123702 WO2021093058A1 (zh) 2019-11-15 2019-12-06 物流系统及物流控制方法

Country Status (3)

Country Link
EP (1) EP4059870A4 (zh)
KR (1) KR20220098232A (zh)
WO (1) WO2021093058A1 (zh)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201911964U (zh) 2010-12-29 2011-08-03 黄照林 设有一体式台盆的浴室柜
CN201920351U (zh) 2011-01-20 2011-08-10 黄英英 一种纸杯套
JP2016055966A (ja) * 2014-09-08 2016-04-21 株式会社日立製作所 入出荷支援システム、コンベア及び入出荷支援方法
CN106144380A (zh) * 2015-03-26 2016-11-23 西安永松智能仓储设备有限公司 一种自动存取仓库
CN108146948A (zh) * 2016-12-01 2018-06-12 Wrh沃尔特·赖特控股有限公司 用于存入和取出物体的方法以及用于执行该方法的仓储系统
CN110040412A (zh) * 2019-04-24 2019-07-23 深圳市海柔创新科技有限公司 智能仓储系统、处理终端、仓储机器人及智能仓储方法
CN110255029A (zh) * 2019-06-25 2019-09-20 上海快仓智能科技有限公司 仓储和具有其的分拣系统及分拣方法、装置

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110356754A (zh) * 2018-11-06 2019-10-22 北京京东尚科信息技术有限公司 货物拣选系统及方法

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201911964U (zh) 2010-12-29 2011-08-03 黄照林 设有一体式台盆的浴室柜
CN201920351U (zh) 2011-01-20 2011-08-10 黄英英 一种纸杯套
JP2016055966A (ja) * 2014-09-08 2016-04-21 株式会社日立製作所 入出荷支援システム、コンベア及び入出荷支援方法
CN106144380A (zh) * 2015-03-26 2016-11-23 西安永松智能仓储设备有限公司 一种自动存取仓库
CN108146948A (zh) * 2016-12-01 2018-06-12 Wrh沃尔特·赖特控股有限公司 用于存入和取出物体的方法以及用于执行该方法的仓储系统
CN110040412A (zh) * 2019-04-24 2019-07-23 深圳市海柔创新科技有限公司 智能仓储系统、处理终端、仓储机器人及智能仓储方法
CN110255029A (zh) * 2019-06-25 2019-09-20 上海快仓智能科技有限公司 仓储和具有其的分拣系统及分拣方法、装置

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP4059870A4

Also Published As

Publication number Publication date
EP4059870A4 (en) 2023-12-06
KR20220098232A (ko) 2022-07-11
EP4059870A1 (en) 2022-09-21

Similar Documents

Publication Publication Date Title
CN110733820A (zh) 物流系统及物流控制方法
US11702289B2 (en) Two-stage picking by means of sorter having high-dynamic sorter trays
CN110431097B (zh) 用于处理包括运输车辆的物体的系统和方法
JP6435463B2 (ja) 保管設備からの運搬ユニットを提供するための方法
CN211495520U (zh) 物流系统
US8634954B2 (en) System and method for handling returned goods in an order-picking system
CN110721914A (zh) 分拣系统、分拣方法、存储介质及装置
CN113978993B (zh) 料箱调度方法、装置、调度设备、仓储系统及存储介质
US20210061566A1 (en) Warehouse automation system methods and apparatus
CN111589719A (zh) 分拣系统、方法、电子设备及存储介质
CN109311608B (zh) 一种货物处理系统及货物处理方法
CN111960015A (zh) 仓储系统、货物上架方法和货物拣选方法
CN115649726A (zh) 料箱运输方法、装置、多层提升机、系统及存储介质
CN113291682A (zh) 分拣系统及仓储订单处理系统
CN112906996A (zh) 仓储拣货优化方法、仓储拣货系统及仓储运营系统
KR102585593B1 (ko) 이송 로봇을 이용한 물품 분류 방법
JP5930406B2 (ja) ピッキング設備
CN113511447B (zh) 料箱处理系统、方法、设备、电子设备及存储介质
JP2018052671A (ja) 仕分け装置
CN110422526B (zh) 仓储系统及物流控制方法
WO2021093058A1 (zh) 物流系统及物流控制方法
JP4090227B2 (ja) 処理設備
CN114549263A (zh) 料箱调度方法、装置、调度设备、仓储系统及存储介质
CN113978988A (zh) 货物输送系统和货物输送方法
JP6772850B2 (ja) スタッカクレーン及びスタッカクレーンの集品方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19952514

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 20227020113

Country of ref document: KR

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 2019952514

Country of ref document: EP

Effective date: 20220615