WO2021114728A1

WO2021114728A1 - Self-driven mobile device, warehouse system, and related method

Info

Publication number: WO2021114728A1
Application number: PCT/CN2020/111419
Authority: WO
Inventors: 汪旭; 刘凯
Original assignee: 北京极智嘉科技股份有限公司
Priority date: 2019-12-13
Filing date: 2020-08-26
Publication date: 2021-06-17
Also published as: CN111605950B; CN111099232B; CN111099232A; CN111605950A

Abstract

A self-driven mobile device, a warehouse system, and a related method. A temporary storage rack (103, 104) in the self-driven mobile device may be docked with a docking mechanism and may also be undocked with the docking mechanism, that is, the temporary storage rack (103, 104) and a device body (101) are separably provided. Therefore, a control module (301) may first control the self-driven mobile device to grab an appropriate temporary storage rack (103, 104) and place same on the device body to be docked with the docking mechanism, and then controls the self-driven mobile device to grab a target cargo container and place same in the temporary storage rack (103, 104).

Description

Self-driven mobile equipment, warehouse system and related methods

This application claims the priority of a Chinese patent filed with the Chinese Patent Office on December 13, 2019 with the application number 201911282443.3 and the application name "self-driving mobile equipment and warehouse system", the entire content of which is incorporated into this application by reference.

Technical field

This application relates to the field of robotics, in particular to self-driving mobile equipment, warehouse systems and related methods.

Background technique

Among the automated solutions for warehousing goods-to-person dismantling and picking, the existing multi-layer picking solutions that can solve the use of three-dimensional space are mainly three-dimensional shuttles and multi-layer shuttles. The shuttle scheme requires high precision for the three-dimensional rack track, and also has higher requirements for the ground subsidence index and flatness index, otherwise the shuttle will get stuck on the track, so the construction cost is very high. In addition, the repair and maintenance of the system is complicated after a system failure, and it is dangerous for personnel to enter the three-dimensional rack track. Manual operations cannot be performed after the system fails, or manual mixed operations are added during peak business periods.

In order to solve this problem, a flexible automation solution based on a self-driving mobile device with a mechanism for accessing cargo containers (such as bins) has been produced on the market. At present, self-driving mobile devices such as Automated Guided Vehicles (AGV) have been widely used in warehousing, logistics and other fields to realize automated transportation of goods.

Summary of the invention

Generally, the self-driving mobile equipment used for picking includes a lifting mechanism, a grasping mechanism, an equipment body, and a temporary storage bracket. When the equipment is selected, it needs to travel through the equipment body to the inventory bracket (for example, a shelf), and then pass The lifting mechanism raises the grasping mechanism to a height that is level with the cargo container on the inventory bracket, and grabs the cargo container into the temporary storage bracket, and finally drives to the operating station. The operator or robot arm and other automated equipment complete the follow-up Steps.

However, in the prior art, the temporary storage bracket of the self-driving mobile device and the device body are fixedly connected together, that is, the two cannot be separated. After the self-driving mobile equipment transports the cargo container to the operating station, it is necessary to wait for the operator or the robot arm to complete all the operations at the operating station before leaving the station. This process takes a long time, making the use of the self-driving mobile equipment The rate is very low; in addition, because the types and sizes of the cargo containers on the inventory brackets are also different, if the temporary storage bracket of the self-driving mobile device is not suitable for storing the cargo containers it grabs, you need to replace the self-driving Moving the equipment may cause damage to the cargo container.

The embodiments of this specification provide a self-driving mobile device and warehouse system to at least partially solve the problems in the prior art.

The embodiments of this specification adopt the following technical solutions:

The self-driving mobile device provided in this specification is characterized in that the self-driving mobile device includes: an equipment body, a lifting mechanism, a grasping mechanism, and a docking mechanism; the lifting mechanism and the docking mechanism are fixed to the device On the body, the grasping mechanism is supported on the lifting mechanism; wherein:

The docking mechanism is used for docking and undocking the temporary storage bracket;

The device body is used for driving in the work area autonomously according to instructions sent by the control module;

The lifting mechanism is used to drive the grabbing mechanism up or down to the height of the target cargo container to be grabbed;

The grabbing mechanism is configured to perform at least one of the following operations: grab the target cargo container from the inventory support, and place the target cargo container in the temporary storage support docked with the docking structure; Grab a target cargo container from the temporary storage rack docked with the docking structure, and place the target cargo container on the inventory rack.

The warehouse system provided in this specification is characterized in that the system includes: a control module and at least one self-driving mobile device, the control module respectively wirelessly communicates with the at least one self-driving mobile; wherein:

The control module is used to send instructions to the respective driving mobile devices according to the goods that are allocated to the operating stations and the order hits and the states of the respective driving mobile devices;

The self-driving mobile device includes a device body, a lifting mechanism, a temporary storage bracket, and a docking mechanism. The docking mechanism is used for docking and undocking with the temporary storage bracket; the device body self-driving in the work area according to the instruction The lifting mechanism is used to drive the grasping mechanism up or down to the height of the target cargo container to be grasped; the grasping mechanism is used to perform at least one of the following operations: grasping the Target cargo container, and place the target cargo container in the temporary storage bracket docked with the docking structure; grab the target cargo container from the temporary storage bracket docked with the docking structure, and place the target cargo container in the temporary storage bracket docked with the docking structure. The target cargo container is placed on the inventory holder.

This specification provides a method for unloading inventory goods. The unloading method is executed by a self-driving mobile device. The self-driving mobile device includes: an equipment body, a lifting mechanism, a grasping mechanism, and a docking mechanism. The lifting mechanism And the docking mechanism is arranged on the device body, and the grasping mechanism is connected to the lifting mechanism; in response to the unloading instruction, the unloading method executed by the self-driving mobile device includes:

The self-driving mobile device is docked with the temporary storage support through the docking mechanism, and transports the temporary storage support to the position of one or more designated inventory supports, and one or more designated inventory supports are placed on the designated one or more inventory supports. Or multiple target cargo containers containing the cargo to be removed from the shelf;

The self-driving mobile device drives the grabbing mechanism up or down to the height of the target cargo container through the lifting mechanism, and grabs the target cargo container from the designated inventory bracket by the grabbing mechanism and puts it in the temporary storage. In the stent

The self-driving mobile device transports the temporary storage rack on which one or more target cargo containers are placed and travels to the position of the designated operating station, so that the goods in the one or more target cargo containers are removed from the shelf.

This specification provides a method for loading inventory of goods. The loading method is executed by a self-driving mobile device. The self-driving mobile device includes: an equipment body, a lifting mechanism, a grasping mechanism, and a docking mechanism. The docking mechanism is provided on the device body, and the grasping mechanism is connected to the lifting mechanism; in response to a mounting instruction, the mounting method executed by the self-driving mobile device includes:

The self-driving mobile device is docked with the temporary storage support through the docking mechanism, and transports the temporary storage support to the position of one or more designated inventory supports, and one or more designated inventory supports are placed on the designated one or more inventory supports. Or multiple target cargo containers containing the cargo to be put on the shelf;

The self-driving mobile device transports the temporary storage rack on which one or more target cargo containers are placed and travels to the position of the designated operation station, so that the goods in the one or more target cargo containers are put on the shelf.

The above-mentioned at least one technical solution adopted in the embodiment of this specification can achieve the following beneficial effects:

Since the temporary storage bracket and the docking mechanism in the self-driving mobile device provided in this manual can be docked or undocked, that is to say, the temporary storage bracket and the device body can be set separately, so the control module can first control the self-driving The mobile device grabs a suitable temporary storage bracket and places it on the device body and the docking mechanism, and then controls the self-driving mobile device to grab the target cargo container and place it in the temporary storage bracket. In addition, the control module can also control the self-driving mobile device to use the docking mechanism to place the temporary storage bracket at the operating station and leave, without having to be in a waiting state all the time.

Description of the drawings

The drawings described here are used to provide a further understanding of the application and constitute a part of the application. The exemplary embodiments and descriptions of the application are used to explain the application, and do not constitute an improper limitation of the application. In the attached picture:

Figure 1 is a schematic structural diagram of a self-driving mobile device provided by an embodiment of this specification;

Figure 2 is a schematic structural diagram of another self-driving mobile device provided by an embodiment of the specification;

Figure 3 is a schematic diagram of a warehouse system provided by an embodiment of the specification.

Detailed ways

In order to make the purpose, technical solution and advantages of this specification clearer, the technical solution of this application will be clearly and completely described below in conjunction with specific embodiments of this specification and the corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the specification, all other embodiments obtained by a person of ordinary skill in the art without creative work shall fall within the protection scope of this application.

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

In the embodiments of this specification, the temporary storage bracket and the self-driving mobile device are detachable, and are not fixed on the self-driving mobile device. The self-driving mobile device can choose to be separated from the temporary storage bracket (that is, undocking) or docking according to the working conditions. Choose to keep docking with the temporary storage bracket. For example, when the temporary storage bracket is not suitable for continuing to store the cargo container to be grabbed by the self-driving mobile device, the self-driving mobile device can freely and conveniently replace the temporary storage bracket.

As shown in Figure 1, Figure 1 is a schematic structural diagram of a self-driving mobile device provided by an embodiment of this specification. In Figure 1, the handling equipment includes an equipment body 101, a grasping mechanism 102, a lifting mechanism 103, and a docking mechanism (not shown in Figure 1 Shown) and the temporary storage bracket 104. The lifting mechanism 103 and the docking mechanism are fixed on the equipment body 101, the grasping mechanism 102 is supported on the lifting mechanism 103, and the lifting mechanism 103 is used to drive the grasping mechanism 102 up or down to the height of the target cargo container to be grasped. The size of the grasping mechanism 102 can be adjusted adaptively according to the size of the grasped cargo container. The grasping mechanism 102 may be a clamping mechanism or other types of mechanisms.

The temporary storage bracket 104 is detachably arranged on the device body 101 for storing the target cargo container. Specifically, the docking mechanism can be docked or undocked with the temporary storage bracket 104. The self-driving mobile device may also include electronic equipment for communicating with the control module and controlling the device body 101, the lifting mechanism 103, the grasping mechanism 102, and the docking mechanism to perform corresponding actions. The electronic equipment is not shown in FIG. 1 .

Specifically, the above-mentioned electronic device can receive the instructions sent by the control center, and the electronic device can control the device body 101 to drive in the work area (ie, self-driving) according to the received instructions, and drive to the target location on the device body 101 After that, the electronic device can control the lifting mechanism 103 to drive the grabbing mechanism 102 to grab the target cargo container from the inventory support according to the instruction, and place the target cargo container in the temporary storage support 104 docked with the docking mechanism, or electronic According to the instruction, the device can control the lifting mechanism 103 to drive the grabbing mechanism 102 to grab the target cargo container from the temporary storage rack 104 docked with the docking mechanism, and place the grabbed target cargo container on the inventory rack.

In addition, in the actual picking application scenario, the instruction sent by the control module to the self-driving mobile device may include an instruction instructing the self-driving mobile device to remove a certain cargo container from the inventory cradle, or it may include instructing the self-driving mobile device to remove the inventory from the inventory. An instruction for transporting the cargo container taken out of the cradle to the operating station (hereinafter referred to as the first picking instruction).

When the instruction received by the self-driving mobile device includes an instruction to remove a certain cargo container from the inventory rack, the electronic device of the self-driving mobile device can control the device body to travel to the designated inventory rack position in the warehouse according to the instruction, and Control the grabbing mechanism to grab the target cargo container, and then place the grabbed target cargo in the temporary storage bracket.

When the instruction received by the self-driving mobile device includes the above-mentioned first picking instruction, the electronic device of the self-driving mobile device can control the device body to drive to the second identification according to the second identification of the operating station carried in the first picking instruction. Identify the position of the corresponding operating station, and undo the docking with the temporary storage bracket being docked, so that the temporary storage bracket after the undocking is placed at the position of the operating station, and then the next instruction can be continued.

It should be noted that since the temporary storage bracket 104 and the device body 101 in the embodiment of this specification are detachable, the self-driving mobile device can directly place the cargo container taken out of the warehouse in the temporary storage bracket. Place the temporary storage bracket at the position of the operating station, so that you don’t have to wait for the staff at the operating station to complete the picking and other operations, but can continue to execute the follow-up instructions. When the staff at the operating station completes the operation, they can The self-driving mobile device or other self-driving mobile devices retrieve the temporary storage bracket at the operating station, and finally put the goods container in the retrieved temporary storage bracket back on the inventory bracket in the warehouse. That is to say, in the embodiment of this specification, the control module can send more than two instructions to the self-driving mobile device at one time, and the self-driving mobile device can determine the execution order of these instructions and execute these instructions in sequence. The control module can also Two or more operation commands (for example, the above-mentioned instruction for the self-driving mobile device to remove a certain container from the inventory holder and the first picking instruction) are combined into one instruction.

As mentioned above, the instruction sent by the control module to the self-driving mobile device in the embodiment of this specification may also include an instruction to put the cargo container in the temporary storage rack at the operating station back to the warehouse (hereinafter referred to as the second picking instruction). When the instruction received by the self-driving mobile device includes the second picking instruction, the electronic device of the self-driving mobile device controls the device body to drive to the second picking instruction according to the second identification of the operating station carried in the second picking instruction. Identify the position of the corresponding operating station, place the temporary storage bracket at the position of the operating station on the self-driving mobile device, control the docking mechanism to dock with the temporary storage bracket, and then continue to execute the next instruction.

In the embodiment of this specification, in order to make the self-driving mobile device run as automatically as possible and reduce human intervention, the self-driving mobile device provided by the embodiment of this specification may further include a pick-and-place mechanism (not shown in FIG. 1). The placing mechanism is used to automatically remove the temporary storage bracket 104 on the device body 101, or automatically pick up and place the temporary storage bracket placed at a designated position on the device body 101.

For example, in the application scenario of transporting cargo containers in the warehouse to the operating station, the electronic device can control the device body to drive to the operating station corresponding to the second identifier according to the second identification of the operating station carried in the first picking instruction And control the docking mechanism to release the docking from the temporary storage bracket, and then control the pick-and-place mechanism to place the temporary storage bracket on the equipment body at the position of the operating station. In the application scenario of transporting the cargo container of the operating station to the warehouse, the electronic device can control the device body to drive to the position of the operating station corresponding to the second identification according to the second identification of the operating station carried in the second picking instruction , And control the pick-and-place mechanism to place the temporary storage bracket at the position of the operating station on the equipment body, and then control the docking mechanism to dock with the temporary storage bracket.

Of course, in addition to the structure shown in Figure 1 above, the self-driving mobile device can also include two device bodies. One device body is fixedly provided with a lifting mechanism and a grasping mechanism, and the other device body is provided with a docking mechanism. That is, a temporary storage bracket is detachably provided on the other equipment body, and the two equipment bodies drive synchronously, as shown in FIG. 2.

Figure 2 is a schematic structural diagram of another self-driving mobile device provided by an embodiment of this specification. In Figure 2, the self-driving mobile device includes a device body 1011 and a device body 1012 that can be driven synchronously. The device body 1011 is fixedly provided with a gripper The mechanism 102 and the lifting mechanism 103, and the device body 1012 are detachably provided with a temporary storage bracket 103 and a docking mechanism (not shown in FIG. 2). The control logic and usage method of the self-driving mobile device shown in FIG. 2 are completely the same as those of the self-driving mobile device shown in FIG. 1, and will not be repeated here.

In the embodiment of this specification, special positions for placing different types of temporary storage brackets can be set in the working area where the self-driving mobile device is traveling, and the control module can send the self-driving mobile device to the self-driving mobile device. The instruction to place the temporary storage bracket on the upper side (hereinafter referred to as the third picking instruction), or the cargo container transported by the self-driving mobile device as needed, and the preset correspondence between each type of cargo container and each type of temporary storage bracket , Send an instruction for obtaining a suitable temporary storage rack to the self-driving mobile device (hereinafter referred to as the fourth picking instruction).

Specifically, when the electronic device driving the mobile device receives the third picking instruction, it can control the device body to drive to the location corresponding to the first mark according to the first identification of the temporary storage bracket carried in the third picking instruction. The position of the temporary storage bracket is controlled, and the docking mechanism is controlled to release the docking from the temporary storage bracket, and then the pick-and-place mechanism is controlled to place the temporary storage bracket on the device body at this position.

When the electronic device driving the mobile device receives the fourth picking instruction, it can control the device body to drive to the temporary storage stand corresponding to the first mark according to the first identification of the temporary storage bracket carried in the fourth picking instruction And control the pick-and-place mechanism to place the temporary storage bracket placed in this position on the device body, and then control the docking mechanism to dock with the temporary storage bracket.

Based on the above-mentioned self-driving mobile equipment and handling method, this specification also provides a warehouse system, as shown in Figure 3.

3 is a schematic diagram of a warehouse system provided by an embodiment of this specification, including a control module 301 and at least one self-driving mobile device 302, the control module 301 wirelessly communicates with each self-driving mobile device 302, respectively. The warehouse system shown in FIG. 3 can be applied to the above-mentioned working area where the operating station 303, the position 304 for placing different types of temporary storage racks, and the inventory rack 305 are set.

Specifically, the control module 301 may send instructions to the respective driving mobile devices 302 according to the goods that are allocated to each operating station 303 and the status of the respective driving mobile devices 302;

The self-driving mobile device 302 includes a device body, a lifting mechanism, a temporary storage bracket, and a docking mechanism. The docking mechanism is used for docking and undocking with the temporary storage bracket; the device body is self-driving in the work area according to the instruction. Driving; the lifting mechanism is used to drive the grabbing mechanism up or down to the height of the target cargo container to be grabbed; the grabbing mechanism is used to perform at least one of the following operations: grabbing from the inventory bracket 305 The target cargo container, and place the target cargo container in the temporary storage bracket docked with the docking structure; grab the target cargo container from the temporary storage bracket docked with the docking structure, and The target cargo container is placed on the inventory support 305.

The control module 301 may send an instruction carrying a first identification, and the self-driving mobile device 302 may drive to a position for placing a temporary storage bracket corresponding to the first identification according to the first identification carried in the instruction 304, and place the temporary storage bracket on the self-driving mobile device 302 at the position 304; or, the self-driving mobile device 302 can also drive to the position for placement according to the first identifier carried in the instruction The position 304 of the temporary storage bracket corresponding to the first identification, and the temporary storage bracket placed at the position 304 is placed on the self-driving mobile device 302.

The control module 301 may also send an instruction carrying a second identifier, and the self-driving mobile device 302 may drive to the position of the operating station 303 corresponding to the second identifier according to the second identifier carried in the instruction, And place the temporary storage bracket on the self-driving mobile device 302 at the position of the operating station 303; alternatively, the self-driving mobile device 302 can drive to the operating station 303 according to the second identifier carried in the instruction The second mark corresponds to the position of the operating station 303, and the temporary storage bracket at the position of the operating station 303 is placed on the self-driving mobile device 302.

The self-driving mobile device 302 may also place the temporary storage bracket on the self-driving mobile device 302 at the position of the operating station 303 or temporarily store the position of the operating station 303 After the stand is placed on the self-driving mobile device 302, it continues to travel according to the instructions sent by the control module 301.

Further, the above-mentioned system may also include a picking terminal (not shown in FIG. 3) arranged at the operating station 303. On the one hand, the control module 301 may send information about the goods to be picked corresponding to the order to be allocated to the picking terminal. On the other hand, according to the goods to be picked corresponding to the orders assigned to each operating station 303 and the status of the respective driving mobile devices 302, instructions are sent to the respective driving mobile devices 302.

After the self-driving mobile device 302 places the temporary storage bracket in the position of the operating station 303, it can continue to execute the next instruction without waiting for the completion of the picking. After the staff of the operating station 303 completes the operation, they can send to the control module 301 through the picking terminal After reporting the order that has been picked, the control module 301 can send a third message to the self-driving mobile device 302 (which can be the self-driving mobile device that places the temporary storage bracket at the operating station 303, or other self-driving mobile devices). The picking instruction causes the self-driving mobile device 302 to return the goods in the temporary storage rack of the operating station 303 to the warehouse.

In actual application scenarios, a unique storage location identification can be set for each storage location on the inventory support, and a unique container identification can also be set for each cargo container. The corresponding relationship between the storage location identifier and the container identifier can be maintained by the control module. A container identifier corresponding to a storage location identifier means that a cargo container corresponding to the container identifier is placed on the storage location corresponding to the storage location identifier. In order to improve the handling efficiency as much as possible, the cargo container containing the higher-heat cargo can be placed on the inventory bracket with a short distance from the operating station.

Similarly, a unique temporary storage support identifier can be set for each temporary storage support, and the control module maintains the type of temporary storage support corresponding to each temporary storage support identifier.

When the control module dispatches the self-driving mobile equipment, it can dispatch the self-driving mobile equipment to grab the appropriate temporary storage bracket according to the target cargo container, and make the self-driving mobile equipment drive to the position of the target cargo container, and the self-driving mobile equipment adjusts the lifting The height of the mechanism enables the grasping mechanism to take out the target cargo container from the inventory bracket and place it in the temporary storage bracket, and then the control module can continue to dispatch the self-driving mobile device to the position of the next target cargo container and continue to grab the next one Target cargo container. When certain conditions are met (for example, the temporary storage bracket is fully loaded, or the distance to the operating station is the shortest at this time), the control module schedules the self-driving mobile device to drive to the operating station, and causes the self-driving mobile device to temporarily The storage bracket is placed on the operating station so that the staff can complete the picking. Then, the control module can determine another operating station that is closest to the self-driving mobile device at this time and has completed the picking operation, and schedule the self-driving mobile device to drive to the determined location of the other operating station. The temporary storage bracket placed in the other operating station is placed on the equipment body of the self-driving mobile device, and the self-driving mobile device is finally scheduled to return to the warehouse or the temporary storage bracket placed on the equipment body at this time is transported to the next operator Bit.

Among them, in the above process, after the staff completes the picking operation, they can set the corresponding state of the temporary storage bracket placed on the corresponding operating station to the "completed" state through the picking terminal, so that the control module can learn the status of the operating station. Working status.

Further, in the embodiment of the present specification, the aforementioned inventory support 305 may include two types, one is a support fixed on the ground, and the other is a movable support. Both brackets can be used to carry cargo containers, but the bracket itself fixed on the ground cannot be carried by the self-driving mobile device, and the movable bracket itself can also be carried by the self-driving mobile device. When the inventory rack is a movable rack, the self-driving mobile device can also carry the movable rack (carrying all the goods carried on the movable rack together with all the goods carried on the movable rack) according to the instruction sent by the control module.

Furthermore, the working area described in this specification can be a multi-layer structure. That is, the above-mentioned inventory racks can be distributed in multiple floors, and the operating stations are arranged in at least one floor. Among them, at least one operating station can be set on each floor, or only one floor or several floors can be set up with operating stations.

Based on the above description, the self-driving mobile device provided in this manual can be used in the following scenarios:

Scenario 1. The cargo containers placed on the warehouse's inventory brackets are all of a uniform type, and all the inventory brackets are brackets fixed on the ground. At this time, the self-driving mobile device does not need to replace the temporary storage bracket, nor does it need to carry the inventory bracket.

Scenario 2: The cargo containers placed on the warehouse's inventory brackets are all of a uniform type. The inventory brackets include not only brackets fixed on the ground, but also movable brackets. At this time, the distance between the movable bracket and the operating station is smaller than the distance between the bracket fixed on the ground and the operating station. Goods with higher heat can be placed on a movable support. Therefore, the self-driving mobile device does not need to replace the temporary storage bracket, and can not only move the cargo container on the inventory bracket, but also directly move the movable bracket.

Scenario 3: Various types of cargo containers are placed on the warehouse's inventory support, and all the inventory supports are fixed on the ground. At this time, the self-driving mobile device needs to replace a suitable temporary storage bracket according to the cargo container that needs to be moved.

The above-mentioned scenarios can use either the self-driving mobile device containing only one device body as shown in Figure 1, or the self-driving mobile device containing two device bodies as shown in Figure 2, or the self-driving mobile device with two device bodies as shown in Figure 2. Self-driving mobile device with variable pitch function.

It should also be noted that the terms "include", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or equipment including a series of elements not only includes those elements, but also includes Other elements that are not explicitly listed, or also include elements inherent to such processes, methods, commodities, or equipment. If there are no more restrictions, the element defined by the sentence "including a..." does not exclude the existence of other identical elements in the process, method, commodity, or equipment that includes the element.

The above descriptions are only examples of the present application, and are not used to limit the present application. For those skilled in the art, this application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included in the scope of the claims of this application.

Claims

A self-driving mobile device, characterized in that the self-driving mobile device includes: an equipment body, a lifting mechanism, a grasping mechanism, and a docking mechanism; the lifting mechanism and the docking mechanism are fixed on the device body, so The grabbing mechanism is supported on the lifting mechanism; wherein:

The docking mechanism is used for docking and undocking the temporary storage bracket;

The device body is used for driving in the work area autonomously according to instructions sent by the control module;

The lifting mechanism is used to drive the grabbing mechanism up or down to the height of the target cargo container to be grabbed;

The grabbing mechanism is used to perform at least one of the following operations:

Grab the target cargo container from the inventory support, and place the target cargo container in the temporary storage support docked with the docking structure;

Grab a target cargo container from the temporary storage rack docked with the docking structure, and place the target cargo container on the inventory rack.
The self-driving mobile device of claim 1, wherein:

The device body is specifically used to drive to the position of the operating station according to the instruction sent by the control module;

The docking mechanism is specifically configured to perform at least one of the following operations:

Undocking with the temporary storage bracket that is being docked, so that the temporary storage bracket after the undocking is placed at the position of the operating station;

Docking with the temporary storage bracket at the position of the operating station.
The self-driving mobile device according to claim 2, wherein the device body is further used to: after the docking mechanism places the temporary storage bracket on the device body at the position of the operating station, Or, after placing the temporary storage bracket at the position of the operating station on the equipment body, continue to drive according to the instruction sent by the control module.
The self-driving mobile device according to claim 1, wherein the size of the grasping mechanism can be adjusted adaptively according to the size of the grasped cargo container.
The self-driving mobile device according to any one of claims 1 to 4, wherein the grasping mechanism is a clamping mechanism.
The self-driving mobile device according to any one of claims 1-5, wherein the device body is a device body; or,

The device body is two device bodies, one of the two device bodies is fixedly provided with the lifting mechanism, and the other device body is provided with the docking mechanism.
A warehouse system, characterized in that, the warehouse system comprises: a control module and at least one self-driving mobile device, the control module respectively wirelessly communicates with the at least one self-driving mobile device; wherein:

The control module is used to send instructions to the respective driving mobile devices according to the goods that are allocated to the operating stations and the order hits and the states of the respective driving mobile devices;

The self-driving mobile device includes a device body, a lifting mechanism, a temporary storage bracket, and a docking mechanism. The docking mechanism is used for docking and undocking with the temporary storage bracket; the device body self-driving in the work area according to the instruction The lifting mechanism is used to drive the grasping mechanism up or down to the height of the target cargo container to be grasped; the grasping mechanism is used to perform at least one of the following operations: grasping the Target cargo container, and place the target cargo container in the temporary storage bracket docked with the docking structure; grab the target cargo container from the temporary storage bracket docked with the docking structure, and place the target cargo container in the temporary storage bracket docked with the docking structure. The target cargo container is placed on the inventory holder.
The warehouse system according to claim 7, wherein:

The device body is specifically used to drive to the position of the operating station according to the instruction sent by the control module;

The docking mechanism is specifically configured to perform at least one of the following operations:

Undocking with the temporary storage bracket that is being docked, so that the temporary storage bracket after the undocking is placed at the position of the operating station;

Docking with the temporary storage bracket at the position of the operating station.
8. The warehouse system according to claim 8, wherein the equipment body is further used to: after the docking mechanism places the temporary storage bracket on the equipment body at the position of the operating station, or, After placing the temporary storage bracket at the position of the operating station on the equipment body, continue to drive according to the instructions sent by the control module.
The warehouse system according to any one of claims 7-9, wherein the inventory support comprises: a support fixed on the ground, and/or a movable support.
The warehouse system according to claim 10, wherein when the inventory rack is a movable rack, the self-driving mobile device is also used to transport the movable rack according to an instruction sent by the control module Bracket.
The warehouse system according to any one of claims 7-11, wherein the inventory racks are distributed in multiple floors;

The operating station is arranged in at least one floor.
The warehouse system according to any one of claims 7-12, wherein the size of the grasping mechanism of the self-driving mobile device can be adjusted adaptively according to the size of the grasped cargo container.
The warehouse system according to any one of claims 7-13, wherein the grasping mechanism is a clamping mechanism.
The warehouse system according to any one of claims 7-14, wherein the equipment body is an equipment body; or,

The device body is two device bodies, one of the two device bodies is fixedly provided with the lifting mechanism, and the other device body is provided with the docking mechanism.
The warehouse system according to any one of claims 7-15, wherein the working area of the warehouse system is provided with positions for placing different types of temporary storage racks.
A method for unloading inventory goods, characterized in that the unloading method is executed by a self-driving mobile device, the self-driving mobile device comprising: an equipment body, a lifting mechanism, a grasping mechanism, and a docking mechanism, the lifting mechanism And the docking mechanism is arranged on the device body, and the grasping mechanism is connected to the lifting mechanism; in response to the unloading instruction, the unloading method executed by the self-driving mobile device includes:

The self-driving mobile device is docked with the temporary storage support through the docking mechanism, and transports the temporary storage support to the position of one or more designated inventory supports, and one or more designated inventory supports are placed on the designated one or more inventory supports. Or multiple target cargo containers containing the cargo to be removed from the shelf;

The self-driving mobile device drives the grabbing mechanism up or down to the height of the target cargo container through the lifting mechanism, and grabs the target cargo container from the designated inventory bracket by the grabbing mechanism and puts it in the temporary storage. In the stent

The self-driving mobile device transports the temporary storage rack on which one or more target cargo containers are placed and travels to the position of the designated operating station, so that the goods in the one or more target cargo containers are removed from the shelf.
The delisting method according to claim 17, wherein the method further comprises:

After driving to the position of the designated operating station, the self-driving mobile device releases the docking from the temporary storage bracket through the docking mechanism.
The delisting method according to claim 18, wherein the method further comprises:

After the self-driven mobile device is disconnected from the temporary storage bracket, the next task is continued.
The method for removing the shelf according to claim 19, wherein after the self-driving mobile device is disconnected from the temporary storage stand, continuing to execute the next task comprises:

The self-driving mobile device travels to the designated operating station, docks with the temporary storage bracket at the designated operating station and has completed the operation through the docking mechanism, and transports it back to the inventory bracket area or to the next operating station.
The method for removing the shelves according to any one of claims 17-20, wherein the inventory support includes a support fixed on the ground, and/or a movable support.
The method of removing the shelves according to claim 21, wherein the goods on the movable inventory support are high-heat goods.
The removal method according to claim 21 or 22, wherein, in response to the removal instruction, the removal method executed by the self-driving mobile device further comprises:

The self-driving mobile device is docked with the designated inventory support through the docking mechanism, and the designated inventory support is transported to the position of the designated operating station, and then the docking mechanism is released from the inventory support through the docking mechanism. One or more target cargo containers containing the goods to be removed are placed on the designated inventory support.
A method for loading inventory of goods, characterized in that the loading method is executed by a self-driving mobile device, the self-driving mobile device includes: an equipment body, a lifting mechanism, a grasping mechanism and a docking mechanism, the lifting mechanism and the The docking mechanism is provided on the device body, and the grasping mechanism is connected to the lifting mechanism; in response to a mounting instruction, the mounting method executed by the self-driving mobile device includes:

The self-driving mobile device is docked with the temporary storage support through the docking mechanism, and transports the temporary storage support to the position of one or more designated inventory supports, and one or more designated inventory supports are placed on the designated one or more inventory supports. Or multiple target cargo containers containing the cargo to be put on the shelf;

The self-driving mobile device drives the grabbing mechanism up or down to the height of the target cargo container through the lifting mechanism, and grabs the target cargo container from the designated inventory bracket by the grabbing mechanism and puts it in the temporary storage In the stent

The self-driving mobile device transports the temporary storage rack on which one or more target cargo containers are placed and travels to the position of the designated operation station, so that the goods in the one or more target cargo containers are put on the shelf.
The method of listing according to claim 24, wherein the method further comprises:

After driving to the position of the designated operating station, the self-driving mobile device releases the docking from the temporary storage bracket through the docking mechanism.
The method of listing according to claim 25, wherein the method further comprises:

After the self-driven mobile device is disconnected from the temporary storage bracket, the next task is continued.
The method of loading shelves according to claim 26, characterized in that, continuing to execute the next task after the self-driving mobile device is disconnected from the temporary storage bracket comprises:

The self-driving mobile device travels to the designated operating station, docks with the temporary storage bracket at the designated operating station and has completed the operation through the docking mechanism, and transports it back to the inventory bracket area or to the next operating station.
The method of loading shelves according to any one of claims 24-27, wherein the inventory support includes a support fixed on the ground, and/or a movable support.
The method of putting on shelves according to claim 28, wherein the goods on the movable inventory support are high-heat goods.
The method of listing according to claim 28 or 29, wherein, in response to a listing instruction, the listing method executed by the self-driving mobile device further comprises:

The self-driving mobile device is docked with the designated inventory support through the docking mechanism, and the designated inventory support is transported to the designated operating station position, and then the docking mechanism is released from the inventory support through the docking mechanism. One or more target cargo containers containing the goods to be put on the shelf are placed on the designated inventory support.