WO2022033499A1 - 一种库位单元、立体仓库及其货物存储方法 - Google Patents

一种库位单元、立体仓库及其货物存储方法 Download PDF

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Publication number
WO2022033499A1
WO2022033499A1 PCT/CN2021/111968 CN2021111968W WO2022033499A1 WO 2022033499 A1 WO2022033499 A1 WO 2022033499A1 CN 2021111968 W CN2021111968 W CN 2021111968W WO 2022033499 A1 WO2022033499 A1 WO 2022033499A1
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WIPO (PCT)
Prior art keywords
storage
goods
turnover box
sorting
moving
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Ceased
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PCT/CN2021/111968
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English (en)
French (fr)
Inventor
久恒理树
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Individual
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Individual
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Publication date
Priority claimed from CN202010809342.3A external-priority patent/CN111942791B/zh
Priority claimed from CN202010809338.7A external-priority patent/CN112046983B/zh
Priority claimed from CN202010809343.8A external-priority patent/CN112061654B/zh
Priority claimed from CN202010808608.2A external-priority patent/CN112046982B/zh
Priority claimed from CN202010808612.9A external-priority patent/CN112158498B/zh
Priority claimed from CN202010808630.7A external-priority patent/CN111942790B/zh
Application filed by Individual filed Critical Individual
Priority to JP2023509370A priority Critical patent/JP7656959B2/ja
Publication of WO2022033499A1 publication Critical patent/WO2022033499A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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

Definitions

  • the invention relates to the technical field of logistics, in particular to a storage unit, a three-dimensional warehouse and a method for storing goods thereof.
  • the logistics industry is rapidly transforming from traditional logistics to modern logistics.
  • the logistics chain involved in transportation, storage, distribution and other links is evolving towards automation, informatization, intelligence and unmanned operation.
  • the warehouse for storing goods is an important link. Whether it is a traditional warehouse or a modern smart warehouse, the goods are basically placed on the shelves. Channels are reserved between the racks for goods moving operations such as loading and unloading of goods.
  • cargo areas such as inbound and outbound areas, sorting areas, etc.
  • the loading, unloading, and movement of goods are basically realized by manual or manual-assisted handling equipment (such as forklifts).
  • a movable rack is disclosed in a Chinese patent application with publication number CN107577215A and titled "Shelving and Scheduling Method and Operational Height Method, Center and System", which can be moved in different areas in the warehouse, thereby improving the quality of goods. Delivery efficiency.
  • the aforementioned smart warehouses have greatly improved the automation of goods movement and work efficiency.
  • the present invention proposes a storage location unit, a three-dimensional warehouse and a cargo storage method thereof, so as to improve the space utilization rate of the warehouse.
  • the present invention provides a storage unit of a three-dimensional warehouse, comprising a storage space and a moving space, the storage space is configured to accommodate a storage device; the A moving space is configured to accommodate a moving device for moving the storage device, the moving space is above or below the storage space; wherein the storage space is connected to the moving space
  • the volume ratio is greater than or equal to 4:1, or 5:1, or 6:1, or 7:1, or 8:1, or 9:1, or 10:1.
  • the present invention provides a three-dimensional warehouse, comprising two or more horizontally connected and/or stacked aforementioned storage location units, a moving device and a control system; wherein, the storage location units are configured to receiving a storage device; the moving device is configured to move the storage device between the location units; the control system is configured to control the movement of the moving device between the location units move.
  • the present invention also provides a three-dimensional warehouse comprising a frame, a plurality of support structures and a floor, wherein the frame is configured to define a plurality of storage location units, the storage location units are configured Arranged horizontally and vertically to form an array, wherein the location units are configured to accommodate storage devices; the plurality of support structures are provided on the frame and are configured to support the storage units in the respective location units an object device; the bottom plate is disposed under the plurality of support structures, wherein a space for object removal is defined between the support structure and the bottom plate, which is configured to accommodate the object transfer device, and the object transfer device is configured to move the storage device between different location units.
  • the present invention further provides a three-dimensional warehouse, comprising a plurality of storage layers with different heights, a plurality of moving layers with different heights, and a lifting system, wherein the storage layer includes a plurality of storage layers.
  • a storage space the storage space is configured to accommodate a storage device;
  • the object-moving layer is disposed above or below the storage layer, and is configured to provide a moving space for the object-moving device;
  • the system is configured to move the storage device and/or the transfer device between different transfer layers; wherein the height ratio of the storage layer to the transfer layer is greater than or equal to 4:1, Or 5:1, or 6:1, or 7:1, or 8:1, or 9:1, or 10:1.
  • the present invention also provides a method for storing goods in a three-dimensional warehouse, wherein the three-dimensional warehouse includes a plurality of horizontally connected and/or stacked storage location units, and the method includes the following steps: placing the goods In the storage device, the storage device is located in the first storage location unit; the storage device is separated from the support structure of the first storage location unit by a moving device; the storage device is driven by the moving device moving the storage device to the second storage location unit; and using the object moving device to release the storage device to the support structure of the second storage location unit.
  • the three-dimensional warehouse provided by the present invention is composed of storage unit, and most of the space in the storage unit is storage space.
  • the ratio of the thickness of the moving device to the height of the storage unit can be 1/11-1 /5, that is to say, the space utilization rate of one location unit 1 can reach 80%-90%.
  • the space utilization rate can reach 95%.
  • the goods are located in storage devices within the location unit, thus also reducing the possibility of damage to goods due to piles of goods being piled together.
  • the present invention also relates to an AGV (automatic guided handling device), the AGV includes a seat, a jacking mechanism, a traveling mechanism and a guiding mechanism, wherein the seat includes a drive assembly, a steering assembly, a jacking assembly and electrical components; the jacking mechanism cooperates with the jacking assembly, and is configured to extend or retract the ejector rod from the upper surface of the seat body; the walking mechanism is arranged under the seat body, and is configured to be connected to the seat body.
  • the driving assembly and the steering assembly are matched; the guiding mechanism is arranged under the seat body, and is configured to guide the traveling direction of the traveling mechanism.
  • the walking mechanism includes more than one roller assembly.
  • the roller assembly includes at least one or more roller bodies and a roller axle configured to be centrally fixed to the roller body.
  • the drive assembly includes a drive motor and a transmission mechanism, the drive motor is used to output a driving force for walking; the transmission mechanism includes a driving driving wheel synchronizing wheel at the head end and a roller axle at the end; the driving motor outputs The shaft transmits the power to the driving synchronous wheel through the driving driving wheel, and the driving synchronous wheel transmits the power to the roller axle, thereby driving the roller body to rotate in the radial direction.
  • the steering assembly includes a steering motor and a steering mechanism, the steering motor is used to output steering power;
  • the steering mechanism includes a steering driving wheel, a steering synchronizing wheel, and a steering frame integrally connected therewith, the steering
  • the steering synchronous wheel is coaxially fixed with the bogie and the drive synchronous wheel axle, and the bogie is fixed with the roller axle;
  • the steering motor output shaft transmits power to the steering synchronous wheel through the steering driving wheel, and the steering synchronous wheel drives and is fixed to the bogie
  • the connected drive synchronizing wheel axle and the roller axle rotate integrally, thereby changing the running direction of the roller body.
  • a reversing mechanism is further included between the end of the output shaft of the driving motor and the driving drive wheel shaft, so as to change the direction of power transmission. In one embodiment, a reversing mechanism is further included between the end of the output shaft of the steering motor and the steering drive wheel shaft, so as to change the direction of power transmission. In one embodiment, the transmission mechanism further comprises a roller synchronizing wheel, and the axle of the driving synchronizing wheel is connected to the axle of the roller synchronizing wheel through a reversing mechanism; the driving synchronizing wheel transmits the power to the roller synchronizing wheel, which is then synchronized by the roller wheel. The wheel is transmitted to the roller axle.
  • the reversing mechanism is a bevel gear that cooperates with each other.
  • the jacking assembly includes a jacking motor, a transmission mechanism and a reversing mechanism, and the jacking motor is used to output jacking power;
  • the transmission mechanism includes a jacking driving wheel and a jacking synchronous wheel ;
  • the reversing mechanism is connected to the end of the axle of the jacking synchronous wheel and the head end of the jacking mechanism, and is used to change the direction of the jacking power.
  • the jacking mechanism includes: a gear as the head end of the jacking mechanism, a transmission rack, a jack and a locking mechanism; wherein the gear serving as the head end of the jacking mechanism is in phase with the reversing mechanism
  • the transmission rack is provided with a cross bar on the side of the rack; the transmission rack is meshed with the gear, and drives the cross bar to move up and down with the rotation of the gear; the bottom end of the top rod is connected to the
  • the horizontal bars are opposite to each other, and when the horizontal bar moves upward with the rotation of the gear, the ejector bar is pushed out; the locking mechanism is connected with the ejector bar, and when the ejector bar is ejected to the preset position, the ejector bar is pushed out.
  • the AGV further includes a positioning rod, the top end of which is opposite to the cross rod, and when the cross rod moves downward with the rotation of the gear, the positioning rod is protruded from the lower surface of the seat body.
  • the positioning rod and the cross rod are integrally provided; or, a positioning rod reset structure is further included, when the cross rod moves upward along with the rotation of the gear and leaves the positioning rod, the positioning rod is reset. the positioning rod.
  • the guide mechanism includes at least two sets of guide wheel assemblies with vertical directions, which include guide wheels and their wheel frames and a guide wheel controller, the guide wheels and their wheel frames are arranged at the bottom of the seat body.
  • the guide wheel controller is arranged in the groove and fixed with the wheel frame, so as to control the guide wheel to be released or retracted from the groove.
  • the AGV further includes a positioning sensor, which is arranged in the groove at the bottom of the base body; and sends a signal after the guide wheel is correctly lowered into the guide groove on the running surface.
  • the AGV further includes a control device disposed inside the base, including: a task management module, a movement control module, and a handling control module, the task management module being configured to receive handling tasks, including target goods and target position; the movement control module controls the driving assembly and the steering assembly according to the received walking route or the walking route calculated according to the target position and the current self-position, so that the walking mechanism can walk and/or turn according to the planned route;
  • the handling control module is used to control the jacking mechanism to lift and jack up the goods after determining the target goods, and to control the jacking mechanism to retract to put down the goods after reaching the target position of the destination.
  • control device further includes electronic tag readers and writers disposed on the outside of the upper surface and the outside of the lower surface of the base body, for identifying target goods and positions.
  • control device further includes a forced positioning module, which controls the positioning rod to protrude from the lower surface of the seat for positioning when the operation is unstable and the position needs to be confirmed or accurately corrected after reaching the target position.
  • control device further includes one or more sensors and/or laser SLAM or visual VSLAM systems for assisting the movement control module and the handling control module.
  • the movement control module controls the steering assembly to rotate the running mechanism by 90 degrees when steering is required according to the walking route.
  • the operation method of the automatic guided transport device includes: determining a walking route, the walking route includes more than one straight line segment, and two adjacent straight line segments are perpendicular to each other; After the route reaches the transport target position, the jacking mechanism is extended to jack up the target cargo; and according to the walking route, the jacking mechanism is retracted to release the target cargo after reaching the destination target position against the target cargo.
  • the operation method further includes: after reaching the transport target position and the destination target position according to the walking route, identifying whether the current position is the transport target position and the destination target position.
  • the operation method further includes: after determining the transport target position, identifying whether the goods on the transport target position are the target goods.
  • the operation method includes: the target goods are located in a mother turnover box in the storage space of the storage unit, and an electronic identity label is provided at the bottom of the mother turnover box; the automatic guiding and handling device walks In the object moving space of the storage location unit, an electronic identity label is arranged on the bottom plate of the object moving space of the storage location unit, and the automatic guiding and handling device is identified by reading the electronic identity label.
  • the operation method includes: when the conveying environment is unstable, when the automatic guiding conveying device reaches the target position, using a positioning rod to force the positioning after precise positioning.
  • the AGV automated guiding and handling device
  • the AGV has small thickness, small occupied space and accurate operation, which can save the space for moving objects and passage space inside the three-dimensional warehouse, and thus can improve the space utilization rate of the three-dimensional warehouse in which it is applied.
  • the following cargo warehousing method includes the following steps: docking the storage space in the transportation means with the three-dimensional warehouse, wherein the storage space and the three-dimensional warehouse have one or more storage positions unit; drive the object moving device to move the inbound storage device from the first storage location unit in the storage space, and release the identity binding relationship between the inbound storage device and the first storage location unit, wherein the The storage device is equipped with goods; and the moving device is driven to transport the inbound storage device to the second storage location unit in the three-dimensional warehouse, and establish an identity binding relationship between the inbound storage device and the second storage location unit.
  • the storage method further includes: directly docking one or more storage location units of the three-dimensional warehouse with one or more storage location units of the storage space in the transportation means. In one embodiment, the storage method further includes: using a docking plate or a docking pipe to connect one or more storage location units of the three-dimensional warehouse with one or more storage location units of the storage space in the transportation tool . In one embodiment, the docking plate or the docking pipe has a guiding structure of the object moving device. In one embodiment, in the storage method, the guiding structure on the docking plate or the docking pipe is the same as the guiding structure in the storage location unit.
  • the first storage location unit of the storage space in the docked transport means and the second storage location unit of the three-dimensional warehouse are located on the same or different storage layers.
  • the warehousing method includes: when the means of transport is a drone, the drone is positioned and hovered above the drone interface of the three-dimensional warehouse, and docked with the three-dimensional warehouse through a gripper or a lift . In one embodiment, the warehousing method further includes: determining a single maximum handling amount at least according to the number of warehousing storage devices, the number of location units on the docking surface, and the number of currently available moving devices.
  • the warehousing method further includes: determining available object moving devices according to the current task volume in the storage space in the three-dimensional warehouse and the transportation means. In one embodiment, the warehousing method further includes: the available object-moving device is attached to a three-dimensional warehouse or a transportation tool; or the object-moving device is a spare object-moving device. In one embodiment, the storage method includes: when the number of available object-moving devices is more than one, the multiple object-moving devices cooperate to transport the storage device into the warehouse. In one embodiment, the warehousing method further comprises: sending a list of warehousing storage devices to the available moving devices, and updating the list of warehousing storage devices in real time.
  • the storage method includes: when the object moving device enters the storage space, identifying the storage storage device to be carried out according to the storage storage device list. In one embodiment, the storage method further includes: determining a plurality of second storage location units according to the quantity of storage storage devices, the positions and the quantity of free storage location units in the three-dimensional warehouse. In one embodiment, the warehousing method further includes: before warehousing, acquiring the quantity of warehousing storage devices; and according to the quantity of warehousing storage devices, clearing out the warehouse door area of the three-dimensional warehouse that is greater than or equal to the warehousing quantity A plurality of second storage location units for the number of storage devices.
  • the warehousing method further includes: before warehousing, transporting the warehousing storage device to a storage space warehouse door area in the transportation means.
  • the storage storage device has an identity tag
  • the moving device has a tag reader/writer; the storage storage device is released from the first storage location.
  • the step of identifying the unit's identity binding relationship further includes: reading the identity label of the storage device, and modifying the identity information of the location unit in the label information.
  • the warehousing method further includes: when the warehousing storage device is moved away from the first location unit in the storage space of the conveyance, converting the warehousing storage device label information into The identity information of the storage location unit is modified to a mobile state; after the storage storage device is transported to the second storage location unit in the three-dimensional warehouse, the identity information of the storage location unit in the label information of the storage storage device is modified is the identity information of the second location unit.
  • a method for unloading goods from the three-dimensional warehouse includes the following steps: docking the three-dimensional warehouse and the storage space in the transportation means, wherein the storage space and the three-dimensional warehouse have one or more A plurality of storage location units; drive the object moving device to carry out the storage storage device from the third storage location unit of the three-dimensional warehouse, and release the identity binding relationship between the storage storage device and the third storage location unit, wherein the The storage device is equipped with outgoing goods; and the outgoing storage device is driven to move the outgoing storage device to the fourth storage location unit in the storage space of the transportation tool, and the outgoing storage device and the fourth storage location are established.
  • the identity binding relationship of the unit is also provided, which includes the following steps: docking the three-dimensional warehouse and the storage space in the transportation means, wherein the storage space and the three-dimensional warehouse have one or more A plurality of storage location units; drive the object moving device to carry out the storage storage device from the third storage location unit of the three-dimensional warehouse, and release the identity binding relationship between the storage storage device and the
  • a method for exchanging goods between three-dimensional warehouses including the following steps: docking a first three-dimensional warehouse and a second three-dimensional warehouse, wherein the first three-dimensional warehouse and the second three-dimensional warehouse Each includes a plurality of storage location units; the first object moving device is driven to carry out the first storage device from the first storage location unit of the first three-dimensional warehouse, and the identity binding of the first storage device and the first storage location unit is released. determine the relationship; drive the first moving device to transport the first storage device to the second storage location unit of the second three-dimensional warehouse, and establish the identity binding relationship between the first storage device and the second storage location unit; drive the first storage device and the second storage location unit.
  • a moving device carries out the second storage device from the third storage location unit of the second three-dimensional warehouse, and releases the identity binding relationship between the second storage device and the second storage location unit; and drives the first object moving device
  • the second storage device is transported to the fourth storage location unit of the first three-dimensional warehouse, and the identity binding relationship between the second storage device and the fourth storage location unit is established.
  • the present invention relates to a three-dimensional warehouse with high space utilization.
  • the whole or part of the two three-dimensional warehouses are directly connected door-to-door and layer-to-layer, and the goods can be transported on different layers at the same time.
  • the warehouse has very high efficiency in outbound and inbound goods, and can complete the handling operation of a large amount of goods in a short period of time.
  • the present invention also relates to a sub turnover box, which includes a first body, a sorting catch and a first identity label, the first body is provided with a box opening and a corresponding box cover, and the box cover is provided with one or more locks. is locked and closed with the first body, and defines a storage space for storing goods with the first body; the sorting catch is arranged on the first body or the box cover; the first identity tag is configured to record at least the sub-turnover The identity information of the box and the logistics information of the built-in goods.
  • the logistics information in the sub-conversion box at least includes built-in cargo information and position change information during the cargo circulation process.
  • the materials of the first body and the tank cover are hard materials.
  • the lock is configured to open in response to confirmation of the identity of the consignee.
  • the storage space includes a buffer structure that cannot be taken out. In one embodiment, the cargo in the storage space does not require additional packaging.
  • the present invention also relates to a logistics child and mother turnover box, including the aforementioned child turnover box and the mother turnover box, wherein the first identity label of the child turnover box is configured to at least record the identity binding information of the child turnover box and the parent turnover box;
  • the parent tote includes a second body, a handling structure, and a second identity tag, the second body is configured to accommodate one or more child totes; the handling structure is disposed on the second body and is configured to communicate with the mobile
  • the second identity tag is configured to record at least the associated information of the parent turnover box and its location.
  • the top of the second body is open, for taking and placing the sub-tote from the top surface.
  • the side of the second body is provided with a side door that can be opened and closed, for taking and placing the sub-conversion box from the side.
  • the carrying structure is a positioning groove provided at the bottom of the second body for positioning with the object moving device.
  • the carrying structure is a handle provided on the top of the second body, which is used to cooperate with a manipulator as the second carrying structure in the object moving device.
  • the conveying structure is an adsorption device disposed on the top of the second body, which is used to cooperate with the adsorption mechanism as the second conveying structure in the object moving device.
  • the location of the parent turnover box is a storage unit, and the association information between the parent turnover box and the location is the identity binding information of the parent turnover box and the storage unit where it is located.
  • the plurality of sub tote boxes include various specifications, and the size of the mother tote box is designed to match the combination of the plurality of sub-tote boxes of the same or different specifications, so that the volume of the mother tote box can be fully utilized.
  • the present invention also relates to a logistics system based on a parent-child turnover box, comprising one or more mobile warehouses and/or fixed-position warehouses, a plurality of the logistics child-parent turnover boxes, and the mobile warehouses and/or fixed position warehouses.
  • the location warehouse includes one or more location units; wherein, the received goods are placed in the sub-conversion box, the sub-conversion box is placed in the parent container, and the parent container is accommodated in one location unit, wherein the said The location unit, the parent turnover box, the child turnover box and the goods are related to each other; the child turnover box with built-in goods is delivered to the consignee through the mobile warehouse or vehicle.
  • the fixed location warehouse includes a three-dimensional warehouse having a plurality of location units.
  • the mobile warehouse includes a vehicle and a three-dimensional warehouse having one or more location units, which are placed on the vehicle.
  • the logistics system further includes a sorting device, which is arranged in the mobile warehouse or the fixed-position warehouse, and sorts the sub-conversion boxes according to the logistics destination of the next outgoing warehouse.
  • the logistics system further includes a courier robot, which includes one or more storage location units for accommodating the mother turnover box.
  • the fixed location warehouse includes a courier locker that includes one or more location units for accommodating a parent-child tote.
  • the present invention also relates to a method for associating goods based on the sub-conversion box, comprising the following steps: placing the goods in the sub-conversion box, recording at least the information of the goods on the first identity label of the sub-conversion box; placing the sub-conversion box on the In the parent turnover box, the identity binding information of the child turnover box and the mother turnover box is recorded on the first identity label of the child turnover box; Record the identity binding information of the parent turnover box and the storage location unit; and the aforementioned binding information associated with the storage location unit, the parent turnover box and the child turnover box.
  • the method for associating goods further includes: when changing the storage location unit where the parent turnover box is located, changing the binding relationship between the parent turnover box and the storage location unit.
  • the method for associating goods further includes: when changing the parent turnover box where the child turnover box is located, changing the binding relationship between the child turnover box and the parent turnover box.
  • the goods are always in the child turnover box, the child turnover box circulates in different logistics equipment along with the parent turnover box, and the change of the association relationship with the parent turnover box and the storage location unit during the circulation process is recorded in real time, so as to The real-time position of the goods in the logistics system can be obtained, which provides data support for the supervision of the goods in the system. Since the mother turnover box is stored in the storage unit in the three-dimensional warehouse, the goods will not be backlogged and pushed together.
  • the sub-turnover box has a variety of specifications to adapt to goods of various shapes and sizes, therefore, the goods in the present invention save various packaging tapes, packaging boxes, foam boxes, fillers, etc.
  • the mother turnover box can be used repeatedly, so it is more environmentally friendly. Since the freight units are all three-dimensional warehouses of the same specification, the parent crate for storing the child crates can be used in all freight units. Therefore, when the goods are handed over, the parent crate is directly transported from the current freight unit to another freight unit, i.e. Yes, thus speeding up the delivery of goods and improving logistics efficiency.
  • the present invention also relates to a mobile warehouse, including a three-dimensional warehouse, a storage device, a moving device, a sorting device and a vehicle, wherein the three-dimensional warehouse includes a plurality of storage location units, wherein the storage location unit includes The storage space and the object moving space are stacked; the storage device is accommodated in the storage space in the storage location unit; the object moving device is configured to move in the space formed by the object moving spaces of the multiple storage location units, used to transport the storage device; the sorting device is configured to occupy a plurality of adjacent storage space units for sorting the goods in the storage device; the vehicle is used to carry the three-dimensional warehouse, and provides mobile functionality.
  • the vehicle includes a cargo box support and an enclosure structure, the enclosure structure is connected with the cargo box support to form a cargo box body with an internal space, and the three-dimensional warehouse is arranged in the cargo box. in the inner space of the box body.
  • the enclosure structure includes one or more box doors, and the area of the box doors is an integer multiple of the storage unit in the three-dimensional warehouse.
  • the box door includes a first box door disposed on the side and/or rear of the cargo box support; or a second box door disposed on the top surface of the cargo box for docking with the drone.
  • the mobile warehouse further includes one or more support rods, the two ends of which are respectively connected to the box door and the box support, so as to support the fixed position when the box door is opened. the box door.
  • the mobile warehouse further includes a lifting and docking device, which includes a lifting rail, a lifting bracket and a docking plate, wherein the lifting rail is fixed on a cargo box bracket in the box door; the lifting bracket is matched with It is arranged in the lifting track and can be raised or lowered along the track; one end of the docking plate is movably connected to the end of the lifting bracket, and the upper surface is the support structure of the object moving device; the docking plate can be opened when the box door is opened.
  • the length of the docking plate is adapted to the width of a storage location unit; or adapted to the width of the box door.
  • the mobile warehouse further comprises an X-Y driving platform, which is arranged at the bottom of the cargo box support, and the three-dimensional warehouse is fixed on the X-Y driving platform.
  • the box door is adapted to the length or width of the X-Y drive platform.
  • the mobile warehouse further includes a shock-absorbing airbag, which is arranged between the cargo box support and the vehicle body.
  • the mobile warehouse further includes a control system, which includes: a communication module, a navigation module and a docking control module, the communication module is configured to interact with the cloud system; the navigation module is used for The travel route of the vehicle is determined according to the planned route; the docking control module is configured to determine the docking mode according to the second mobile warehouse docked with it, and control the actions of the corresponding components according to the determined docking mode.
  • the control system further includes a geographic location positioning device to acquire the real-time geographic location and send it to the cloud system through the communication module.
  • the docking control module further includes a box door control unit and a lift docking device control unit, wherein the box door control unit is used to control the opening and closing of the box door; the lift docking device control unit is used for controlling the opening and closing of the box door; To control the lifting, opening and retracting of the docking plate.
  • control unit of the lifting docking device further includes one or more of the following sensors: a docking board positioning sensor, which sends a docking completion signal when the docking board is accurately docked with the storage unit of the docking three-dimensional warehouse;
  • a lift positioning sensor is configured to issue a positioning signal when the docking plate reaches a preset position at the bottom of the second mobile warehouse and the second mobile warehouse can be safely lifted;
  • a docking completion signal is sent.
  • the docking control module further includes an X-Y drive platform control unit configured to drive the X-Y drive platform to move in the X direction or the Y direction, so as to drive the three-dimensional warehouse to move a preset distance outside the box.
  • the mobile warehouse further comprises: a shock-absorbing airbag control module configured to adjust the air pressure of the shock-absorbing airbag when docking, so as to adjust the level of the three-dimensional warehouse.
  • the moving device in the mobile warehouse includes an AGV.
  • the AGV includes a seat, a jacking mechanism, a walking mechanism and a guiding mechanism
  • the seat includes a drive assembly, a steering assembly, a jacking assembly and electrical components
  • the jacking The mechanism cooperates with the jacking assembly and is configured to extend or retract from the upper surface of the seat body
  • the running mechanism is arranged under the seat body and cooperates with the driving assembly and the steering assembly
  • the guide The guiding mechanism is arranged under the seat body and is used to guide the traveling of the traveling mechanism.
  • the sorting device includes a support part, a moving part and a sorting robot, the support part is connected with at least one sorting unit, the sorting unit is used for placing the mother turnover box, the mother Goods are placed in the turnover box; the sorting unit is connected with the storage unit; the moving part is movably connected to the supporting part, and can move among a plurality of sorting units along the supporting part; the The sorting robot is connected to the moving part, and is used for grabbing the goods according to the sorting task, and sorting the goods from the first mother turnover box to the second mother turnover box with the movement of the moving part.
  • the storage device in the mobile warehouse includes child and parent turnover boxes, wherein the child turnover boxes have built-in goods, the mother turnover box has built-in one or more child turnover boxes, and the mother turnover boxes are placed in the warehouse
  • the storage space in the bit unit; the parent turnover box is associated with the child turnover box in it and the identity of the location unit where it is located.
  • the present invention also provides a method for transporting goods in a mobile warehouse, comprising the steps of: acquiring a cargo delivery task within its transport distance, where the cargo delivery task includes a docking point and a docked second mobile warehouse or fixed location warehouse; sorting the goods to be delivered during the movement to the docking point; and delivering goods at the docking point with a second mobile warehouse or fixed location warehouse.
  • the method for transporting goods in a mobile warehouse includes: interacting with a cloud system, and receiving a goods delivery task sent by the cloud.
  • a planned travel route is received; or the travel route is calculated according to the current position and the docking point.
  • the method for transporting goods in a mobile warehouse further includes: obtaining a goods sorting list according to a goods delivery task; and sorting goods according to the goods sorting list.
  • the goods sorting list is received from the cloud; or the goods sorting list is determined according to the goods information and the docking point in the three-dimensional warehouse.
  • the mobile warehouse provided by the present invention also has the function of goods storage while transporting goods. Sorting is done during the movement process according to the logistics direction of the goods before delivery.
  • the scale of goods stored in the mobile warehouse can be large or small, and the docking methods are flexible and diverse.
  • the big data-based cargo sorting algorithm, cargo exchange algorithm, and travel path algorithm can improve transportation efficiency and cargo exchange efficiency during docking, reducing the overall Therefore, the logistics system involved in the present invention is more flexible and more efficient in terms of cargo transportation.
  • the invention also relates to a sorting robot applied to a three-dimensional warehouse, which comprises: a balance arm, a gripper module and a motion drive part, the balance arm is used to keep the moving process stable; the gripper module is connected to the The end of the balance arm is used for grabbing the goods; the motion driving part is connected with the balance arm, and is used for driving the telescopic and moving of the balance arm and the grabbing and placing of the goods by the gripper module.
  • the balance arm includes at least two support arms connected by a first joint.
  • the support arm at least comprises an upper arm and a lower arm connected together by a second joint, wherein the upper arm of one support arm and the lower arm of the other support arm are connected through the first joint.
  • the two arms of the first articulation are juxtaposed and adjacent in the retracted state.
  • the upper arm and the lower arm that are movably connected together by the second joints fit together in a retracted state.
  • the gripper module includes a gripper body and a gripper, the gripper body is fixed on the end of the lower arm of the balance arm; the gripper is movably connected to the gripper body.
  • the gripper module further includes an identification part, which is connected with the gripper body to identify the goods to be sorted.
  • the gripper includes a plurality of gripping parts, and each gripping part is individually movably connected with the gripper body, so as to change one or more of the overall shape, size and position of the contact part with the goods .
  • the grabbing part adopts an adsorption type and/or a mechanical type.
  • the mechanical gripping portion has a catch configured with a cargo handle.
  • the gripper body is provided with a guide rail corresponding to each gripping portion, and the gripping portion is fixedly connected to the guide rail slider.
  • the gripper module further includes a shock-absorbing pressure plate, which is movably connected to the gripper body, and is used to fit in the space between the gripper and the goods when the gripper grabs the goods, and uses To restrain the goods from shaking.
  • the identification part is a cargo identification tag reader/writer.
  • the identity tag reader/writer is an RFID reader/writer or a two-dimensional code reader/writer.
  • the recognition unit is an image recognition unit, which recognizes the goods by collecting images of the goods.
  • the image recognition unit includes a camera and an image recognition subunit, the camera collects images of goods or goods identity labels, and the image recognition subunit recognizes the goods according to the collected images.
  • the motion driving part includes a joint driver for controlling the deployment and retraction of the balance arm.
  • the joint driver includes a drive motor, a wire rope winder and a wire rope, the driving motor is used to provide driving power; the wire rope extends from the winder and is fixed at the end of the balance arm through a guide wheel, The output shaft of the driving motor is connected to the wire winder, and the wire rope is controlled by the driving motor to retract and unwind the wire rope, thereby controlling the unfolding and retracting of the balance arm.
  • the motion driving part further includes a gripper driver for controlling the pick-and-place action of the gripping part.
  • the sorting robot further includes a control unit, which is signal-connected to the motion drive unit and the gripper module respectively, and cooperates with the gripper module and the motion drive unit to complete the sorting of the goods according to the received sorting task. pick.
  • the cargo is contained in a sub-tote.
  • the sorting robot further includes a communication unit for communicating with the upper computer.
  • the sorting robot further includes a sensor unit including one or more of one or more positioning sensors, anti-collision sensors, laser SLAM and visual VSLAM.
  • the invention also relates to a sorting device applied to a three-dimensional warehouse, comprising a support part, a moving part and a sorting robot, the support part is connected with at least one sorting unit, and the sorting unit is used for placing the first sorting unit.
  • a mother turnover box the goods to be sorted are placed in the first mother turnover box;
  • the moving part is movably connected to the support part, and can move between more than one sorting unit along the support part;
  • the sorting unit The picking robot is fixed on the moving part, used for grabbing the goods according to the sorting task, and sorting the goods from the first mother turnover box to the second mother turnover box with the movement of the moving part.
  • the support is attached above or to the side of a sorting unit.
  • the moving part includes a guide rail and a cross beam
  • the guide rail is fixed on the support part
  • the cross beam is connected to the guide rail through a guide rail slide
  • the sorting robot is connected to the cross beam.
  • the sorting unit and the location unit are the same in size or adapted.
  • the goods are accommodated in the sub-totes
  • the sorting device further includes a sorting subsystem including a communication module, an identification module and an information modification module, the communication module is used for receiving sorting tasks, the sorting
  • the picking task includes at least a list of target child turnover boxes, and the target child turnover box list includes at least the identity information of the target child turnover box, the identity information of the originally bound first mother turnover box, and the second mother turnover box for placing the target child turnover box.
  • the identification module is configured to identify whether a parent tote and child totes in the sorting unit are target parent totes and target child totes;
  • the information modification module is configured to When the turnover box is grabbed from the first mother turnover box, the identity binding relationship between the target child turnover box and the first mother turnover box is released; when the target child turnover box is placed in the second mother turnover box, the target child turnover box and the second mother turnover box are established.
  • the sorting subsystem includes a motion control module configured to control the sorting robot's telescoping, moving, and picking and placing of target sub-totes.
  • the present invention also relates to a three-dimensional warehouse sorting system, which includes: the aforementioned sorting device, a moving device and a control system.
  • the sorting device is scattered in the three-dimensional warehouse and communicates with the location units.
  • Sorting target child turnover boxes in the target mother turnover box the moving device is distributed in the moving space of the storage unit in the warehouse, and transports the mother turnover box according to the handling task;
  • the control system is configured with the sorting
  • the device communicates with the moving device for dispatching sorting and handling tasks and maintaining sorting information.
  • control system includes: a task determination module, a cargo statistics module and a task planning module, wherein the task determination module is configured to determine a current sorting logistics location according to logistics information; the cargo statistics module, It is configured to analyze the address information of the goods in each parent turnover box and its inner sub turnover boxes in the warehouse according to the sorting logistics location and cargo scheduling information, so as to determine the target parent turnover box and the target child turnover box; It is configured to determine a corresponding task for each sorting device and each object moving device at least according to the distribution information of the target mother turnover box in the warehouse, the distribution information of the sorting device, and the quantity and position information of the moving device.
  • the task planning module includes a sorting task unit and a handling task unit, the sorting task unit being configured to determine and maintain a list of target sub-totes sorted by each sorting device;
  • the target The child turnover box list includes at least the identity information of the target child turnover box, the identity information of the originally bound first parent turnover box, and the identity information of the second mother turnover box put into the sorted target child turnover box;
  • the handling task unit is configured with According to the distribution position information of the object-moving device, the first mother turnover box, the second mother turnover box and the sorting device, the handling task is assigned to each object-moving device in real time.
  • the distribution location information is location unit identity information.
  • control system further includes: a cargo information maintenance module, configured to maintain the binding relationship between the child turnover box, the parent turnover box, and the binding relationship between the parent turnover box and the storage location unit in the warehouse.
  • control system is located in the cloud, the three-dimensional warehouse includes a local module, and the control system communicates with the sorting device and the object-moving device through the local module.
  • the present invention also relates to a method for sorting goods in a three-dimensional warehouse, comprising the following steps: transporting the first mother turnover box and the second mother turnover box to a sorting unit through an object moving device; a sorting robot of the sorting unit removes the goods from The first mother turnover box is grabbed into the second mother turnover box; and the first mother turnover box and the second mother turnover box are moved away from the sorting unit by the object moving device.
  • the sorting method further includes: determining the sorting logistics location according to the logistics transportation information.
  • the sorting method further includes: determining the second parent turnover box based on the scheduling information of the goods in the three-dimensional warehouse and the first parent turnover box in which the goods are located.
  • the sorting method further includes: determining a corresponding sorting device for the sorting device according to the distribution information of the first and second mother turnover boxes in the warehouse, the distribution information of the sorting device, and the quantity and position information of the moving device. Picking tasks and determining the corresponding handling tasks for the moving device.
  • the sorting method further comprises: in response to the second parent tote having no target child tote locations and no non-target child totes in the second parent tote, transporting the second parent tote to storage Location unit.
  • the sorting method further includes: determining a storage location unit for storing the sorted second parent turnover box according to the distribution of free storage location units in the warehouse.
  • the sorting method further includes: preferentially determining a free storage location unit in the outbound area as a storage location unit for storing the sorted second parent tote.
  • the sorting system provided by the present invention does not require an excessively large space, and through the cooperation of the object-moving device, the sorting robot can quickly and accurately sort the goods, which is not limited by time and space, and has high sorting efficiency.
  • FIG. 1 is a schematic diagram of transportation of a multi-level freight device according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of the transport distance of a multi-stage freight device according to an embodiment of the present invention
  • FIG. 3 is a perspective structural view of a storage location unit according to an embodiment of the present invention.
  • Fig. 4 is a state schematic diagram of a storage device placed in a storage location unit according to an embodiment of the present invention.
  • 5A is a schematic diagram of a storage device according to an embodiment of the present invention.
  • 5B is a schematic diagram of a storage device according to another embodiment of the present invention.
  • 5C is a bottom schematic diagram of a storage device according to an embodiment of the present invention.
  • FIG. 6A is a front perspective schematic diagram of a storage table according to an embodiment of the present invention.
  • 6B is a schematic perspective view of the back of a storage table according to an embodiment of the present invention.
  • FIGS. 7A-7B are schematic diagrams of states in which an AGV is stopped in a storage location unit according to an embodiment of the present invention.
  • FIGS. 8A-8B are schematic diagrams of states in which a storage unit is loaded with a storage device and an AGV is parked according to an embodiment of the present invention
  • FIG. 9 is a schematic diagram of a location unit according to another embodiment of the present invention.
  • FIG. 10 is a schematic diagram of a location unit according to another embodiment of the present invention.
  • FIG. 11 is a schematic diagram of a mother turnover box according to another embodiment of the present invention.
  • FIG. 12 is a schematic diagram of the connection of a location unit according to an embodiment of the present invention.
  • FIG. 13 is a schematic diagram of the connection of a location unit according to another embodiment of the present invention.
  • 14A is a schematic diagram of a partial connection structure of a location unit according to another embodiment of the present invention.
  • Fig. 14B is a schematic diagram of a partial connection structure of a location unit corresponding to the structure shown in Fig. 14A;
  • Fig. 14C is an enlarged view of another schematic diagram of a location unit connection structure based on the structure shown in Fig. 14B;
  • 15 is a schematic diagram of a three-dimensional warehouse according to an embodiment of the present invention.
  • 16A is a schematic diagram of a three-dimensional warehouse according to another embodiment of the present invention.
  • 16B is a schematic diagram of goods movement in a three-dimensional warehouse according to another embodiment of the present invention.
  • 17A is a schematic diagram of a three-dimensional warehouse with a horizontal layer according to an embodiment of the present invention.
  • 17B is a schematic diagram of a three-dimensional warehouse with two horizontal layers according to another embodiment of the present invention.
  • FIG. 18 is a schematic diagram of a three-dimensional warehouse according to another embodiment of the present invention.
  • Figures 19A-19B are schematic structural diagrams of a sub turnover box according to an embodiment of the present invention.
  • 20A-20D are overall schematic diagrams of an AGV according to an embodiment of the present invention.
  • 21A-21B are overall schematic diagrams of a drive assembly according to an embodiment of the present invention.
  • Figure 22 is a schematic diagram after removing the drive wheel bracket according to an embodiment of the present invention.
  • FIG. 23 is a schematic structural diagram of a roller assembly and part of a drive assembly according to an embodiment of the present invention.
  • 24 is a schematic structural diagram of a roller assembly and a roller bracket according to an embodiment of the present invention.
  • 25 is a schematic diagram of the overall structure of a steering assembly according to an embodiment of the present invention.
  • FIG. 26 is a schematic structural diagram of a part of a steering assembly according to an embodiment of the present invention.
  • FIG. 27 is a schematic structural diagram of a steering mechanism according to an embodiment of the present invention.
  • FIG. 28 is a schematic diagram of the overall structure of another steering assembly according to an embodiment of the present invention.
  • Figure 29 is a schematic structural diagram of a jacking assembly according to an embodiment of the present invention.
  • Fig. 30 is a partial schematic diagram of a jacking assembly according to an embodiment of the present invention.
  • Fig. 31 is one of the structural schematic diagrams of the jacking mechanism according to an embodiment of the present invention.
  • Fig. 32 is the second structural schematic diagram of a jacking mechanism according to an embodiment of the present invention.
  • Fig. 33 is a third structural schematic diagram of a jacking mechanism according to an embodiment of the present invention.
  • 34A-34B are schematic structural diagrams of a guide wheel assembly in the guide mechanism
  • 35 is a schematic block diagram of an AGV stand-alone control device according to an embodiment of the present invention.
  • 36A-36D are schematic diagrams of a sorting device applied in a three-dimensional warehouse according to an embodiment of the present invention.
  • 37A-37C are schematic structural diagrams of a sorting robot balance arm according to an embodiment of the present invention.
  • 38A-38C are schematic diagrams of a motion driving part of a sorting robot according to an embodiment of the present invention.
  • 39A-39C are schematic diagrams of a sorting robot gripper module according to an embodiment of the present invention.
  • 40A-40C are schematic diagrams of a sorting robot gripper module according to another embodiment of the present invention.
  • 41A-41H are schematic diagrams of picking up goods by a sorting robot according to an embodiment of the present invention.
  • 42A-42B are schematic diagrams of a sorting robot grabbing and sorting goods according to an embodiment of the present invention.
  • FIG. 43 is a schematic diagram of a sorting device applied in a three-dimensional warehouse according to another embodiment of the present invention.
  • Fig. 44 is a schematic block diagram of a sorting device control system according to an embodiment of the present invention.
  • 45 is a schematic diagram of the interior of a three-dimensional warehouse according to an embodiment of the present invention.
  • 46A-46B are schematic structural diagrams of express cabinets according to an embodiment of the present invention.
  • 47A-47B are schematic diagrams of another side of the express cabinet structure according to an embodiment of the present invention.
  • 48A-48B are schematic structural diagrams of a minivan according to an embodiment of the present invention.
  • 49A-49B are schematic diagrams of the structure of an urban circulation truck according to an embodiment of the present invention.
  • Figures 50A-50B are schematic diagrams of sliding out of the box of an inner three-dimensional warehouse of an urban circulation truck according to an embodiment of the present invention.
  • Fig. 51 is a schematic block diagram of a freight device control system according to an embodiment of the present invention.
  • 52A is a schematic block diagram of a docking control module according to another embodiment of the present invention.
  • Fig. 52B is a schematic block diagram of a sorting control module according to another embodiment of the present invention.
  • Figure 53 is a schematic block diagram of a freight device control system according to another embodiment of the present invention.
  • FIG. 54 is an overall structural diagram of a courier robot according to an embodiment of the present invention.
  • Figure 55 is one of the internal schematic diagrams of the base of the express robot according to an embodiment of the present invention.
  • Fig. 56 is the second internal schematic diagram of the base of the express robot according to an embodiment of the present invention.
  • Fig. 57 is the third internal schematic diagram of the base of the express robot according to an embodiment of the present invention.
  • Figure 58 is a schematic diagram of a container support of a courier robot according to an embodiment of the present invention.
  • 59A-59D are schematic structural diagrams of a cargo box of a courier robot according to an embodiment of the present invention.
  • Figure 60 is a schematic diagram of the drive assembly of the express robot inside the base according to an embodiment of the present invention.
  • Figure 61 is a schematic diagram of the connection between a roller assembly and a drive assembly of a delivery robot according to an embodiment of the present invention.
  • Figure 62 is an enlarged view of the reversing mechanism with the support removed at A in Figure 61;
  • 63-66 are schematic diagrams of a drive assembly transmission mechanism according to an embodiment of the present invention.
  • Figure 67 is an overall schematic diagram of a steering assembly located in a base according to an embodiment of the present invention.
  • Figure 68 is a schematic diagram of a roller assembly connected to a steering assembly according to an embodiment of the present invention.
  • Figure 69 is a schematic diagram of the roller assembly rotating an angle under the control of the steering assembly according to an embodiment of the present invention.
  • Fig. 70 is a schematic block diagram of a control device of a courier robot according to an embodiment of the present invention.
  • 71 is a schematic block diagram of an interactive control module of a courier robot according to an embodiment of the present invention.
  • Figure 72 is a schematic block diagram of a logistics control system according to an embodiment of the present invention.
  • 73 is a schematic block diagram of the customer service system according to an embodiment of the present invention.
  • 74 is a schematic diagram of a logistics control module according to an embodiment of the present invention.
  • Fig. 75 is a flowchart of an operation method of a courier robot when picking up goods according to an embodiment of the present invention.
  • Fig. 76 is a flow chart of guiding a user to deliver goods when a courier robot picks up goods according to an embodiment of the present invention
  • Figure 77 is a flow chart of a courier robot taking empty boxes from a courier cabinet according to an embodiment of the present invention.
  • 78A-78C are action diagrams of a courier robot taking empty boxes from a courier cabinet according to an embodiment of the present invention.
  • Figure 79 is a flow chart of a delivery operation of a courier robot according to an embodiment of the present invention.
  • Figure 80 is a flow chart of a delivery robot according to an embodiment of the present invention when performing multiple tasks
  • Figure 81 is a flowchart of self-service delivery by a delivery user through a courier locker according to an embodiment of the present invention
  • 82A-82C are schematic diagrams of docking between a minivan and a courier robot according to an embodiment of the present invention.
  • Figure 83 is a schematic diagram of docking between a fixed-position warehouse and a minivan according to an embodiment of the present invention.
  • Figure 84 is a schematic diagram of the docking between a miniature truck and an urban circulation truck according to an embodiment of the present invention.
  • Figure 85 is a schematic diagram of the docking of two urban circulation trucks according to an embodiment of the present invention.
  • Figure 86 is a schematic diagram of the docking between a small unmanned aerial vehicle and a fixed location warehouse according to an embodiment of the present invention.
  • Figure 87 is a schematic diagram of docking between a fixed-position warehouse and a freight device according to an embodiment of the present invention.
  • Fig. 88 is a flow chart of goods warehousing when a fixed-position warehouse is docked with a freight device according to an embodiment of the present invention
  • Figure 89 is a schematic flow chart of a handling AGV according to an embodiment of the present invention when handling the mother turnover box;
  • FIG. 90 is a schematic flow chart of goods leaving the warehouse according to an embodiment of the present invention.
  • Figure 91 is a schematic flow chart of transporting a mother turnover box to a designated storage location unit according to another embodiment of the present invention.
  • Figure 92 is a flow chart of goods exchange between three-dimensional warehouses according to an embodiment of the present invention.
  • 93A-93D are flowcharts of a sorting method according to an embodiment of the present invention.
  • Figure 94 is a flow chart of a logistics method according to an embodiment of the present invention.
  • FIG. 95 is a schematic diagram of a flow chart of generating a logistics order according to an embodiment of the present invention.
  • FIG. 96 is a schematic diagram of a pickup process according to an embodiment of the present invention.
  • 97A-97B are schematic diagrams of a cargo transportation process according to an embodiment of the present invention.
  • Figure 98 is a schematic diagram of a dispatch flow according to an embodiment of the present invention.
  • Figure 99 is a flow chart of a logistics method for reducing the dwell time of goods according to an embodiment of the present invention.
  • Figure 100 is a flow chart of a logistics method for reducing sorting time according to an embodiment of the present invention.
  • Figure 101 is a flowchart of a logistics route planning method according to an embodiment of the present invention.
  • Figure 102 is a schematic block diagram of a logistics system according to an embodiment of the present invention.
  • Fig. 103 is a flow chart of a cargo supervision method according to one embodiment of the present invention.
  • Fig. 104 is a flowchart of a method for dispatching goods according to an embodiment of the present invention.
  • each link in the logistics chain has the following characteristics:
  • the warehouse for storing goods is an important link. Whether it is a traditional warehouse or a modern smart warehouse, the goods are basically placed on the shelves. Channels are reserved between the racks for goods moving operations such as loading and unloading of goods. In some large warehouses, there are also different cargo areas, such as inbound and outbound areas, sorting areas, etc. In traditional warehouses, the loading, unloading, and movement of goods are basically realized by manual or manual-assisted handling equipment (such as forklifts).
  • a movable rack is disclosed in a Chinese patent application with publication number CN107577215A and titled "Shelving and Scheduling Method and Operational Height Method, Center and System", which can be moved in different areas in the warehouse, thereby improving the quality of goods. Delivery efficiency.
  • the aforementioned smart warehouses have greatly improved the automation of goods movement and work efficiency.
  • it is necessary to reserve enough space in the warehouse it is necessary to reserve enough space in the warehouse. The movement of goods can be completed smoothly, the storage space for storing goods is less than half of the overall space of the warehouse, and the space utilization rate of the warehouse is not high.
  • the handling of goods in the logistics system usually includes manual, semi-manual and fully automated equipment.
  • most of the current logistics systems are semi-manual, that is, staff use equipment to move goods.
  • the staff drives forklifts and cooperates with elevators to retrieve and store goods.
  • the current smart warehouses mostly use AGV (Automated Guided Vehicle) trolleys to transport goods.
  • AGV trolley According to the scale of the warehouse, the volume and size of the goods, the AGV trolley has various forms.
  • the patent with the authorization announcement number CN203715182U and the invention name "An AGV trolley" provides an AGV trolley with a lifting frame; Publication No.
  • the invention name is "a new type of fork-type AGV trolley", a fork-type AGV trolley that can rotate in place and reduce the turning radius when turning is provided.
  • AGV traction AGV, etc.
  • the structure and operation methods of the various AGVs mentioned above are suitable for the current logistics mode, mainly used in various large warehouses, running in the channel between the shelves, or handling goods in different areas, such as the sorting area and the outbound area. .
  • sorting is another important link in the logistics chain.
  • the logistics system usually sets up multi-level sorting centers. For example, a piece of goods collected from a user will be sorted, transported by a sorting center, sorted by the next-level sorting center, and transported again... until it reaches the distribution station, and is distributed from the distribution station to the destination.
  • a sorting center includes at least a warehouse for temporary storage of goods. In the warehouse, the inbound goods are sorted at the corresponding level by manual or equipment, and then collected and transported to the designated area for storage. When the transport vehicle arrives, the box is transported from the sorting center to the next sorting center or distribution station.
  • a sorting device including a goods delivery conveyor, a goods conveying roller, a plurality of sorting equipment Picking conveyors and cargo identification equipment.
  • the goods delivery conveyor puts the goods into the goods conveying roller table, and is recognized by the goods identification equipment and sent to the corresponding sorting port conveyor.
  • sorting scheme provided by the patent application with publication number CN103949408B and titled "High-speed cargo sorting vehicle and sorting system", which is to set up an assembly-line sorting system in the warehouse of the sorting center, in the assembly-line conveying channel. Set up multiple sorting ports, and use sorting trucks to load the goods to be sorted.
  • the sorting vehicle identifies the goods during the movement of the conveying channel, and pushes the identified goods into the sorting port when passing through the corresponding sorting port.
  • sorting equipment or sorting robots There are also various other types of sorting equipment or sorting robots.
  • a courier needs to drive a vehicle to the user to pick up or deliver the goods.
  • these courier robots need to cooperate with the staff, and the staff of the station can put and collect the goods of the courier robots, and they cannot complete the picking and placing of the goods independently.
  • the present invention provides a revolutionary new logistics system, and proposes a number of breakthrough solutions different from the existing logistics system for each link of the logistics chain, which can Reduce the dwell time of the goods, improve the transportation efficiency of the goods, reduce the use of fixed-position warehouses, increase the space utilization of the warehouses, ensure the full supervision of the goods, and reduce the environmental pressure caused by excessive packaging.
  • the logistics system of the present invention includes: a customer service system, a multi-stage halfway transfer logistics equipment and a plurality of logistics control modules, wherein, for the convenience of the overall description of the system, the following description Name the various logistics equipment accordingly in order to make this scheme easier to understand.
  • FIG. 1 is a schematic diagram of multi-level logistics equipment transportation according to an embodiment of the present invention.
  • the terminal logistics equipment includes a courier robot 8, a warehouse in a fixed position (such as a courier cabinet 10), an unmanned aerial vehicle M1 (including small and large unmanned aerial vehicles, and a small unmanned aerial vehicle is shown in the figure) and a miniature truck 9a et al.
  • the dotted line is the terminal logistics chain.
  • the user interacts with the terminal logistics equipment, so that the goods enter the logistics system from the user or come out of the logistics system and return to the user.
  • the thin line is a secondary logistics chain, which occurs between terminal logistics equipment and transfers goods in a small area.
  • the thick solid line is the tertiary logistics chain, which transfers goods between the terminal logistics equipment and the tertiary logistics equipment with a longer transportation distance, and is used to transport goods in a small area by the tertiary logistics equipment with a longer transportation distance.
  • the thick dotted line is the four-level logistics chain that transfers goods between the three groups of logistics equipment and the intercity logistics equipment. In this level of logistics chain, the third-level logistics equipment transfers the goods to the intercity logistics equipment, and the intercity logistics equipment transports the goods from one city or one country to another city or another country.
  • the logistics equipment includes city-level freight devices such as miniature trucks 9a and relatively large urban circulating freight vehicles 9b as shown in the figure, and international and intercity logistics equipment.
  • a courier robot is used as an example of an end logistics chain for description.
  • Those skilled in the art should understand that the work of the courier robot can also be replaced by a courier. This will not be repeated in the following description herein.
  • the logistics equipment includes a fixed-position warehouse and a movable freight device, each logistics equipment has a unique identification, and the movable freight device has a corresponding transportation distance range, and the overall freight is transported according to the size of the transportation distance range.
  • the installations are divided into multiple levels, for example, the overall level is divided into three levels: international, intercity and municipal.
  • the city-level freight device can be divided into several different levels according to the size of the city and the transportation distance of the freight device.
  • Figure 2 it is a schematic diagram of the transportation distance of a municipal-level multi-level freight device.
  • the transportation distance S1 of the courier robot 8 at the end of the logistics is the shortest, so the number of the courier robot 8 is the largest.
  • the minivan 9a is a secondary freight device, and its transportation distance S2 is greater than the transportation distance S1 of the courier robot 8.
  • the urban circular truck is a tertiary freight device, and its transportation distance S3 is the largest in the city.
  • the required quantity decreases.
  • the quantity is also related to the amount of freight. In the case of large logistics volume, there are more freight devices, and the more freight devices, the faster the flow of goods.
  • the logistics system of the present invention has more obvious advantages and higher efficiency when the logistics flow is larger.
  • the shipping area of each stage of the freight unit changes as it moves, thus allowing for more flexibility in scheduling.
  • the distribution of the freight devices and their transportation directions are used to calculate and determine the docking point of the freight device and the docked freight device, so the delivery and docking of the goods are more flexible and fast, and the dwell time of the goods is reduced, thereby improving the Logistics efficiency.
  • each class of freight devices includes vehicles that can accommodate that class of transportation.
  • the present invention is not limited to this.
  • a large truck which is usually used as a freight device in a secondary logistics chain, can also be used as an end logistics chain device to directly collect goods from users.
  • the minivan as the end of the logistics chain, it is also possible to directly transfer the goods with the aircraft, which is usually the cargo device of the third-level logistics chain, without passing through other levels of cargo devices.
  • fixed-location warehouses may not be included in the logistics chain of the present invention. Goods are transferred between freight units at various levels of the physical chain without first transporting the goods to a warehouse (or sorting center) at a fixed location, and then picking up the goods from the warehouse at the fixed location by another freight unit. This can greatly reduce the dwell time of goods, improve logistics efficiency, and reduce logistics costs.
  • fixed location warehouses (including express lockers) may be added as ancillary facilities to the logistics chain of the present invention. For example, in the receiving and delivery links, if the user and the freight device at the end of the logistics chain cannot match in time, the user experience will be degraded. Adding express lockers can make up for the difference in time between the two and improve user satisfaction.
  • fixed-location warehouses may serve as an important part of the logistics chain and become an important link in the logistics chain.
  • a fixed location warehouse can be used as a buffer warehouse for a large number of goods entering and leaving the city, so as to facilitate the scheduling of freight devices.
  • the ratio of the quantity of goods in the freight unit to the quantity of goods in the fixed location warehouse is above 50%, above 80%, above 90%, above 95%, or above 99%.
  • the freight device includes a three-dimensional warehouse, which not only plays the role of goods transportation, but also achieves the purpose of goods storage.
  • the freight device includes a three-dimensional warehouse, a storage device, a moving device, a sorting device, and a vehicle.
  • the three-dimensional warehouse is carried by means of transportation.
  • the specifications of the three-dimensional warehouse vary according to the type of transportation and the carrying capacity. For example, when the means of transportation are small vehicles, planes, and ships, it can carry smaller-scale three-dimensional warehouses; when the means of transportation are large trucks, trains, cargo planes, and ocean freighters, it can carry larger-scale three-dimensional warehouses.
  • the storage device inside the three-dimensional warehouse has built-in goods.
  • the storage device includes a mother-child turnover box.
  • the goods are built into the sub-tote boxes, and the mother tote box accommodates multiple sub-to-boxes.
  • the mother turnover box is accommodated in the storage space in the storage location unit of the three-dimensional warehouse.
  • the object-moving device is, for example, a small, ultra-thin AGV, which is located in the object-moving space of the storage unit, and is used to transport the mother turnover box.
  • different numbers of sorting devices are scattered in the three-dimensional warehouse, connected with adjacent storage location units, and integrated into the storage location units.
  • the goods are placed in the child turnover box, and the child turnover box is placed in the parent turnover box, and the mother turnover box is stored in the storage location unit in the three-dimensional warehouse.
  • the goods will not be backlogged and pushed together.
  • the sub-transport box which can be adapted to various shapes and sizes of goods; for some fragile goods, the sub-transit box is designed with structures such as anti-collision parts, which can protect the goods in the sub-transit box and avoid transportation, Collision or damage during handling.
  • the handling of goods is carried out by the object moving device provided in the present invention, such as AGV, to transport the mother turnover box, and the operation is stable, and no longer appears in the existing logistics system.
  • the object moving device such as AGV
  • the goods in the present invention no longer need various packaging tapes, packaging boxes, foam boxes, fillers, etc. in the existing logistics system, which can avoid the problem of excessive packaging in the existing logistics system, and is more environmentally friendly.
  • each freight device is a three-dimensional warehouse with a location unit of the same specification, and the mother tote for storing the sub-tote can be commonly used in each cargo device.
  • the AGV can directly transport the sorted parent turnover box from the current freight device to another freight device. Since the unloading and loading links in the existing logistics system are no longer required, the time for loading and unloading of goods can be saved. Moreover, each docking link does not require personnel intervention, which is not only efficient, but also avoids contact between goods and people.
  • cargo is transferred from one freight unit to another in a logistical direction during transportation.
  • Different levels of freight units form multiple logistics chain levels. From delivery to destination, the goods are delivered through the aforementioned multiple freight devices with different transportation distances, through or not through a warehouse at a fixed location, and finally delivered to the receiving user.
  • the three-dimensional warehouse has high space utilization. Most of the space in the library is used as storage space to accommodate storage devices.
  • the storage device is, for example, a storage box or a storage table.
  • the storage device includes child and mother turnover boxes, the child turnover box is a closed device for placing goods, and the child turnover box is placed in the mother turnover box.
  • Above the storage space or below the storage space is provided a moving space for accommodating a moving device, for example, an ultra-thin AGV trolley.
  • the storage device that moves the storage space through the object-moving device completes the operations of goods in, out of the warehouse, and movement in the warehouse.
  • the volume ratio of the storage space to the moving space may be greater than or equal to 4:1, or 5:1, or 6:1, or 7:1 , or 8:1, or 9:1, or 10:1. Therefore, the space utilization of the three-dimensional warehouse provided by the present invention far exceeds any traditional warehouse or modern intelligent warehouse in the prior art.
  • the present invention provides a standardized and modular storage location unit, and multiple storage location units are stacked together to form a three-dimensional warehouse with high space utilization.
  • FIG. 3 is a perspective structural diagram of a standardized and modular storage location unit according to an embodiment of the present invention.
  • the storage location unit 1 includes at least one cubic frame, which includes four uprights 111 , four frames 112 at the top, and a bottom plate 113 .
  • the four upright columns 111 of the cubic frame are connected with a support structure through which the storage device is supported.
  • the support structure is a support block, and each upright column is connected with two support blocks 12 facing inward.
  • the support structure may also be a fan-shaped structure connected to the upright and facing the storage space, wherein the arc of the fan-shaped structure is less than or equal to 90 degrees.
  • each storage location unit is provided with an identity label 14 .
  • the identity label 14 may be an electronic label located at an appropriate position on the base plate 113 , and the identity information of the location unit, such as the serial number in the warehouse, is recorded therein.
  • a schematic diagram of the state in which the mother turnover box 2 is placed in the storage location unit 1 is shown.
  • the purpose of setting the mother turnover box 2 is to utilize the storage space of the storage unit as much as possible. Since the stored goods have various possibilities in specifications, volume shapes, etc., goods of different specifications and different volumes can be collected in an orderly manner through the mother turnover box 2 .
  • the four support blocks 12 of the cubic frame support the bottom of the mother turnover box 2 , so that the mother turnover box 2 can be stably stored in the storage space 101 .
  • the goods are placed in a sub-tote (not shown in the figure).
  • the child turnover box is placed in the mother turnover box 2.
  • the mother turnover box 2 includes a first body 20 whose size matches the specifications of the storage space 101 of the storage location unit 1 in this embodiment.
  • the height of the first body 20 of the mother turnover box 2 matches the storage space 101
  • the top of the first body 20 is open for taking and placing the child turnover box from the top surface.
  • the height of the first body 20 of the mother turnover box 2 is lower than the height of the storage space 101 .
  • the first body 20 of the mother turnover box 2 is in the shape of a storage table and includes a rim 22a.
  • the positioning grooves 23a of various specifications arranged in an orderly manner on the first body 20 are used for accommodating goods of different specifications and different volumes.
  • the bottom of the first body 20 of the mother turnover box 2 has a carrying structure.
  • the carrying structure can be a positioning structure 21 matched with the jacking mechanism of the object moving device, so that the object moving device can jack up the mother turnover box 2 from the bottom of the first body 20 of the mother turnover box 2 .
  • each parent tote 2 is provided with an identity tag 24, as shown in Figure 5C.
  • the identity label is an electronic label, which records the identity information of the parent turnover box 2 , such as the serial number of the parent turnover box 2 .
  • the object moving space 102 is from the support block 12 to the bottom of the cubic frame.
  • a walking space as a moving device.
  • the object moving device adopts AGV3.
  • the AGV3 moves within the object moving space 102 .
  • the bottom plate 113 of the storage location unit 1 is the running surface of the AGV3.
  • FIGS. 7A-7B it is a schematic diagram of the state in which the AGV3 stops in the storage location unit 1 .
  • guide grooves 1131 are orthogonally provided on the bottom plate 113 .
  • the orthogonally arranged guide grooves 1131 are respectively parallel to the corresponding bottom sides.
  • the guide groove 1131 there are two guide wheels 31 at the bottom of the AGV3 that cooperate with it, as shown in FIG. 7B, to prevent the AGV3 from deviating from the driving route during the driving process.
  • a group of guide grooves 1131 in an orthogonal relationship are provided on the bottom plate 113, and two or three groups may also be provided.
  • Corresponding guide wheels 31 are also provided at the corresponding positions of the bottom of the AGV3.
  • Guide grooves and guide wheels are used to force the AGV to stay on the route without deviating from it during the driving process.
  • protruding strips can be provided on the bottom surface 113 of the frame, and matching grooves can be provided on the bottom surface of the AGV, which can also play a guiding role.
  • the mechanical method has low cost, high stability, and the control system is easier to implement.
  • AGV3 In addition to these two mechanical structures, other structures can also be used to guide the AGV3, such as electromagnetic, laser, infrared, ultrasonic, UWB, or optical structures.
  • a person of ordinary skill in the art can choose any guiding structure according to actual needs, which will not be repeated here.
  • a jacking mechanism 32 is provided on the top surface of the AGV3.
  • the jacking mechanism 32 is retracted and stored in the top surface of the AGV3.
  • the jacking mechanism 32 protrudes from the top surface of the AGV3 and cooperates with the positioning structure 21 at the bottom of the mother turnover box 2.
  • the mother turnover box 2 can be lifted from the support block. jack up.
  • an electronic tag reader/writer (not shown in the figure) is provided outside the lower surface of the base of the AGV3 to read the identity tag of the location unit 1; an electronic tag reader/writer is provided outside the upper surface of the base (not shown in the figure), to read the identity label of the mother turnover box 2 .
  • FIGS. 8A-8B show a state in which a storage location unit 1 is loaded with a mother turnover box 2 and an AGV 3 is parked.
  • the AGV3 travels to the bottom of the moving mother turnover box 2 and stops.
  • the mother turnover box 2 is jacked up by the jacking mechanism 32, so that the mother turnover box 2 is separated from the support block 12, and then the AGV3 drives the mother turnover box 2.
  • the turnover box 2 moves.
  • a lifting space 103 is reserved for the mother turnover box 2 in the storage location unit 1, so that the AGV 3 can lift the mother turnover box 2 from the support block 12, so as to be separated from the support block 12 for easy movement.
  • the height of the lifting space 103 is matched with the lifting distance of the jacking mechanism of the AGV3. After the jacking mechanism 32 of the AGV3 jacks up the mother turnover box 2, it can move without hindrance. Therefore, the lifting The space 103 need not be too large, for example, the height of the lift space 103 may be less than 5 cm, or less than 3 cm, or less than 1 cm.
  • the thickness of the AGV3 used to move the goods determines the size of the object moving space 102 , and the thickness of the AGV3 only occupies a small part of the height of the storage location unit 1 . Therefore, most of the space in the storage location unit 1 for storage space.
  • the ratio of the thickness of the AGV to the height of the storage unit 1 can be 1/8-1/4 , that is to say, the space utilization rate of one location unit 1 can reach 75%-90%.
  • the space utilization rate can reach 95%.
  • the storage unit 1b includes at least one cubic frame 11b, and the cubic frame 11b includes four uprights 111b, a top plate 112b and a bottom plate 113b.
  • the top plate 112b is provided with a guide rail 1121b, and the object moving device is a retractable manipulator 3b, which is connected to the guide rail 1121b through a suspension mechanism 31b.
  • the suspension mechanism 31b can rotate 360 degrees, rotate the direction of the manipulator 3b, and can also extend up and down. , used to lift the manipulator 3b.
  • the mother turnover box 2b is different from the previous embodiment in that its handling structure is a handle 21b arranged on the four top sides of the first body, and its identity label can be arranged on the four sides of the first body. on any of the top edges to facilitate reading by the moving device above it.
  • the mother turnover box 2b is placed on the bottom plate 113b, the suspension mechanism 31b drives the manipulator 3b to move along the guide rail 1121b to the top of the mother turnover box 2b, expands the manipulator 3b, and makes it correspond to the position of the handle 21b, thereby grasping the mother turnover box
  • the handle 21b of 2b grabs the mother turnover box 2b away from the bottom plate 113b, and moves along the x-direction or the y-direction through the guide rail, thereby realizing the horizontal cross movement of the goods.
  • the object-moving space 102b where the object-moving device is located is above the storage space 101b. By setting the structure of the object-moving device, such as the manipulator 3b, the space occupied by the object-moving device can be reduced.
  • the ratio of the object space 101b to the object moving space 102b may be at least greater than 2/1.
  • the storage location unit 1c includes at least one cubic frame, and the cubic frame includes four upright columns 111c, a partition plate 112c and a bottom plate 113c.
  • the partition 112c is connected to the upper half of the upright column 111c, and forms an object moving space 102c with the plane where the top of the upright column is located.
  • the partition plate 112c is provided with a guide rail or a guide groove, which is used for the operation of the object moving device 3c on the partition plate 112c. guide.
  • the mother turnover box 2 is placed on the bottom plate 113c.
  • the mother turnover box 2 and the object moving device 3c have a non-contact connection structure.
  • the object moving device 3c generates suction when the mother turnover box 2 needs to be moved, and the suction can be the suction generated when the vacuum is drawn, or the electromagnetic suction.
  • the first body of the mother turnover box 2 is provided with an adsorption device, which may be a vacuum adsorption device or an electromagnetic adsorption device corresponding to the object transfer device 3c, which is attracted by the object transfer device 3c to leave the bottom plate 113c, and follows the object to be transferred.
  • the device 3c moves so as to complete the cross movement of the goods in the horizontal direction.
  • a lifting space 103c and a storage space 101c are included between the partition plate 112c and the bottom plate 113c, and the object moving space 102c is above the partition plate 112c.
  • the height of the lifting space 103c is the height at which the mother turnover box 2 is separated from the bottom plate 113c when it is adsorbed, so the height of the space can be very small, such as centimeter level or millimeter level.
  • the volume of the object moving device 3c does not need to be large, so the height of the object moving space 102c is relatively small relative to the height of the storage space 101c, so most of the space in the storage unit 1c is the storage space 101c, and the storage space 101c can reach more than 75% of the overall space.
  • the mother turnover box can also have a structure as shown in FIG. 11 , the side door 201c of the first body 20c is provided with a switchable side door 201c, which can be set into two parts, when opened, respectively. Slide open to the top and bottom for picking and placing sub-totes from the side.
  • the side door 201c is a rolling shutter door, and can also be a slidable door made of other flexible materials.
  • the side door 201c is in a closed state, and the side door 201c is opened when the sub-tote box is put in or taken out therefrom.
  • the side door 201c is open.
  • the top surface of the first body 20c is further provided with an adsorption device 21c that cooperates with the adsorption structure of the object moving device.
  • the storage location unit provided by the present invention is a modularized and standardized storage unit, and when a plurality of such units are stacked and connected together, a three-dimensional warehouse can be obtained.
  • adjacent bin units may share uprights. That is to say, the columns of the three-dimensional warehouse can be shared by the storage location units adjacent to the left and right or up and down.
  • multiple location units are also formed at the same time.
  • all or part of the adjacent storage location units in the three-dimensional warehouse may each have their own uprights.
  • the three-dimensional frame of the storage location unit provided by the present invention is provided with connection structures of corresponding dimensions in three dimensions respectively, for connecting different storage location units together.
  • FIG. 12 is a schematic diagram of a storage location unit connection.
  • the three-dimensional frame of the storage unit is provided with connecting holes 11a.
  • the respective connecting holes 11a communicate with each other.
  • bolts can be used to match nuts (Fig. 12). not shown) connects the two location units 1 together.
  • FIG. 13 it is a schematic diagram of another storage location unit connection.
  • more than one groove is set on a column or edge on the three-dimensional frame.
  • the two grooves correspond to each other, and the buckle 11b is buckled in the groove. , thereby connecting the two location units together.
  • other location units can be connected in three dimensions, and any number of location units can be connected as needed.
  • FIG. 14A-14C it is a schematic diagram of yet another storage location unit connection.
  • more than one groove 11c is provided on each column or edge on the three-dimensional frame.
  • another storage unit is provided with a protruding strip or a convex block 11d.
  • the protruding strips or bumps 11d of one storage location unit and the grooves 11c of the other storage location unit are matched and inserted together.
  • FIG. 14A In addition, in order to make the connection of the two storage location units more secure after insertion, as shown in FIG.
  • a hook 11e can be provided at the end of the convex block 11d, and a corresponding groove is provided in the corresponding groove 11c (not shown in the figure). shown), when the protrusion 11d is inserted into the groove 11c, the hook 11e and the groove are engaged with each other, so that the connection is more firm.
  • connection structures are respectively arranged in three dimensions, so any other storage location units can be connected in two horizontal X directions, two vertical Y directions and two Z directions 1, so that three-dimensional warehouses with different numbers of storage units and different volumes can be obtained.
  • the three-dimensional warehouse includes a plurality of storage location units that are connected together horizontally.
  • Each storage unit can be extended and connected in the x and y directions, so as to form three-dimensional warehouses of different specifications according to actual needs.
  • their respective moving spaces are connected to each other, forming an integral and large moving space. Since the support structure supporting the storage device has a small protruding length, it will not hinder the movement of the AGV. Thus, the AGV can freely cross and move in the x-direction and the y-direction within the overall moving object space.
  • the AGV jacks up its storage device in one of the storage location units, and then moves to another storage location unit; after positioning, withdraw the jacking mechanism and place the storage device on the support of the new storage location unit Structurally, the movement of the storage device is completed.
  • FIG. 16A it is a schematic diagram of a three-dimensional warehouse according to another embodiment of the present invention.
  • a plurality of storage location units are stacked and connected to each other to form a two-layer three-dimensional warehouse.
  • the lifting system 4 includes a supporting column 41 and a lifting platform 42 .
  • the lifting platform 42 cooperates with the supporting column 41, and can be raised or lowered under the driving of the driving mechanism, and can be connected to a storage unit of any height.
  • the table top of the lift table 42 has the same structure as the storage unit base plate 113 . After the lift table 42 is docked and positioned with the storage unit 1 , the table top of the lift table 42 forms a part of the object moving space.
  • the lifting table 42 moves to the corresponding layer, the AGV3 moves to the table surface of the lifting table 42, the lifting table 42 moves to the target layer, docks with the storage unit of the target layer and stops after positioning, and the AGV3 moves from the lifting table 42 Move the mesa to the target layer.
  • the AGV3 carries the storage device and moves to the lifting platform 42, as shown in FIG. 16B.
  • the lift table 42 rises under the drive of the driving mechanism, and when it reaches the upper floor, the lift table 42 stops rising, and is docked and positioned with the storage unit on the upper floor.
  • the AGV3 carries the mother turnover box 2 and moves to the target location unit. When the target storage unit stops, the jacking mechanism is withdrawn, and the mother turnover box 2 is placed on the support structure of the target storage unit.
  • the three-dimensional warehouse includes an integral frame, and the integral frame is cross-connected by a plurality of beams 111c and a plurality of uprights 112c, thereby forming a plurality of storage units 1 .
  • the storage unit 1 forms a unit array in horizontal and vertical directions. As shown in FIG. 17A , a three-dimensional warehouse of one level is formed, and as shown in FIG. 17B , a three-dimensional warehouse of two floors is formed.
  • the storage unit 1 is used for accommodating a storage device (not shown in the figure), such as a storage device or a storage table.
  • a support structure 12 is provided on each of the uprights 112c, and the storage device is placed on the support structure 12.
  • the space between the support structure 12 and the top of the mother turnover box 2 constitutes the storage space 101
  • the space between the support structure 12 and the bottom plate 113c constitutes the moving space 102 .
  • the object moving device In order for the object moving device to move the storage device together in the object moving space 102, the object moving device is moved under the storage device, and the storage device is jacked up by the jacking mechanism, and then the object moving space 102 is unobstructed. Move horizontally. Therefore, the height of the lifting space 103 is determined according to whether the mother turnover box 2 can be moved unobstructed by the jacking mechanism. For example, the height may be less than 5 cm, or less than 3 cm, or less than 1 cm.
  • a lifting system may also be included, such as the lifting system shown in FIG. 16A .
  • FIG. 18 is a schematic diagram of a three-dimensional warehouse according to another embodiment of the present invention.
  • the three-dimensional warehouse includes a plurality of storage layers and a plurality of transfer layers (two layers of storage layers and two layers of transfer layers are shown in this embodiment), the storage layers and the transfer layers are shown in this embodiment.
  • the structural relationship of the material layers can be as in any one of the first to third embodiments.
  • the difference from the first to third embodiments is that the heights of the object-moving layer and the object-moving layer in this embodiment are not all the same, wherein the height of the upper storage location unit 1a1 is smaller than the height of the lower storage location unit 1a2, so that the Storage devices of different specifications, thus increasing the specifications of the goods that can be stored.
  • the overall frame adopted by the three-dimensional warehouse may also be formed by combining and connecting a plurality of individual storage location units.
  • the sub turnover box 7 includes: a second body 70 , a catch 71 and an identity tag 72 .
  • the second body 70 includes a box cover 701.
  • the catch 71 is arranged in the middle of the box cover 701.
  • the cover 701 is placed on the box cover 701.
  • the top surface is also provided with other protrusions 702, the height of which is the same as that of the catch 71, so that the stability of the top surface of the sub-turnover box can be maintained.
  • the gripper 71 is used to cooperate with the gripper of the sorting robot during the sorting process.
  • the identity label 72 may be an RFID electronic label or a two-dimensional code label, and is used to at least record the identity binding relationship information with the parent turnover box and the logistics information in the circulation process.
  • the second body 70 is used for placing goods.
  • the box cover 701 is locked and closed with the second body 70 through one or more locks.
  • an electronic lock 703 is provided on both sides of the box cover 701.
  • the lock used in this embodiment can be any form of lock, such as a mechanical lock, a combination lock, a fingerprint lock and so on.
  • the box cover 701 and the second body 20 are movably connected together through a connecting member 704 .
  • a damper is provided on the connecting piece.
  • the box cover 701 and the second body 20 can also be arranged separately, and the box cover and the second body are respectively provided with a fixing structure, such as a buckle structure, a plug-in structure or an adsorption structure, etc.
  • the second bodies are connected together when closed.
  • buffers of various structures may also be provided in the second body to suit the built-in cargo.
  • the AGV includes a base 30 , a drive assembly 33 , a steering assembly 34 , a jacking assembly 35 , an electrical component box 36 and a battery box 37 are placed in sequence inside the casing.
  • a guide mechanism is provided under the base 30 , which is a guide wheel 31 in this embodiment, and there are two groups, two in each group, for guiding the AGV to travel in two directions perpendicular to each other.
  • the jacking mechanism including the jack 32 and other structures cooperates with the jacking assembly 35 inside the base 30 , and can be extended or retracted from the upper surface of the base 30 .
  • the base 30 is also provided with a walking mechanism, which in this embodiment is four roller assemblies 38 located at four corners, which cooperate with the driving assembly 33 and the steering assembly 34 inside the base 30 .
  • FIGS. 21A-21B are overall schematic views of the drive assembly 33 , wherein FIG. 21B is a schematic view of removing the base housing, and reference is made to FIG. 20D .
  • the drive assembly 33 includes a drive motor 330 for outputting a traveling driving force.
  • a multi-stage transmission mechanism is also included.
  • a synchronous belt transmission mechanism is adopted.
  • the primary transmission mechanism includes a driving pulley 332 and four driving synchronous pulleys 334 , and the power of the driving motor 330 is transmitted to the driving synchronous pulleys 334 through the synchronous belt 333 .
  • the driving synchronous pulley 334 corresponds to the traveling mechanism.
  • the present invention also includes a reversing mechanism between the end of the output shaft of the driving motor 330 and the axle of the driving driving wheel 332, as shown in FIG. 22, after removing the bracket 331 of the driving wheel 332 schematic diagram.
  • the end of the driving wheel shaft 3321 is connected with a bevel gear 3351, and the end of the output shaft of the drive motor 330 is connected with a bevel gear 3352 that cooperates with each other.
  • the power in the vertical direction of the shaft is turned into the power in the horizontal direction.
  • an idler wheel is provided on both sides of the driving wheel 332 to ensure that the driving wheel 332 and the timing belt have sufficient contact area to transmit power.
  • the running mechanism in this embodiment includes a roller assembly 38 , which includes a roller body 381 , the centers of the two are fixed by a roller axle 382 .
  • the roller body 381 can be driven to rotate in the radial direction of the shaft. Therefore, the power for driving the roller shaft 382 is in the vertical direction, and the power transmitted from the driving synchronous pulley 334 is in the horizontal direction. Therefore, a secondary reversing mechanism is also included.
  • a bevel gear 3361 is connected to the end of the driving synchronous pulley 334, and another bevel gear 3362 matched with it can convert the horizontal power transmitted by the driving synchronous pulley 334 into vertical power. .
  • the roller synchronizing wheel 337 is coaxially connected with the bevel gear 3362 (the shaft is not shown in the figure), and the roller synchronizing wheel 337 and the roller axle 382 are connected by a synchronous belt, which can drive the roller axle 382 to rotate, thereby driving the roller body 381 to roll.
  • roller assemblies there are four roller assemblies in this embodiment, and one drive motor is used. Those skilled in the art should know that an appropriate number of roller assemblies and drive motors can be set according to the size of the AGV base. When there are a plurality of drive motors, it is necessary to control the synchronous operation of the drive motors.
  • the steering assembly 34 includes a steering motor 340 and a steering mechanism.
  • the steering mechanism and the traveling mechanism are fixed together, and in order to transmit the steering power to the steering mechanism, a transmission mechanism is also included.
  • the transmission mechanism includes a steering driving wheel 342 and a steering synchronizing wheel 344 located in the steering mechanism.
  • the steering driving wheel 342 uses the synchronous belt 343 to drive the steering synchronous wheel 344 to rotate.
  • a reversing mechanism is also included between the output shaft of the steering motor 340 and the steering driving wheel 342, as shown in FIG. 26 .
  • a bevel gear 3451 is connected to the axle end of the steering driving wheel 342
  • a bevel gear 3452 is connected to the end of the output shaft of the steering motor 340 to change the axial power transmitted by the output shaft of the steering motor 340.
  • Radial power that is, converting the direction of power transmission from vertical to horizontal.
  • FIG. 27 is a schematic structural diagram of a steering mechanism according to an embodiment of the present invention.
  • the steering synchronous wheel 344 is connected with a bogie, and the bogie mainly includes a bogie 3461 and a wheel frame 3462 .
  • the two side ears of the wheel frame 3462 are fixed with the roller wheel shaft 382 , the top of the wheel frame 3462 is a fixed surface, the top is provided with connecting holes, such as screw holes, and the periphery is provided with bosses.
  • the steering synchronizing wheel 344 is fixed on the boss of the fixing surface of the wheel frame 3462 .
  • the bottom of the bogie 3461 is matched with the top of the wheel frame 3462, and is provided with a connecting hole corresponding to the connecting hole on the fixing surface of the wheel frame 3462, so as to fix the bogie 3461 and the wheel frame 3462 together through a connecting piece.
  • the top of the bogie 3461 is fixed to the axle that drives the synchronous wheel 334 .
  • the steering motor 340 When the steering motor 340 is rotated, its output shaft is configured to output axial power.
  • the axial power is converted into radial power
  • the steering driving wheel shaft coaxial with the bevel gear drives the steering driving wheel 342 to rotate
  • the steering driving wheel 342 drives the steering driving wheel 344 to rotate through the synchronous belt
  • the steering driving wheel 344 drives the bogie fixed to it to rotate
  • the bogie 346 drives the roller axle and the roller synchronizing mechanism, reversing mechanism and driving synchronizing wheel 334 connected to it to rotate together, thereby changing the rolling direction of the roller body 381 and cooperating with the control of the driving mechanism , it can be turned in place, and the turning radius is 0.
  • FIG. 28 it is a schematic diagram after being rotated 90 degrees with respect to FIG. 25 .
  • the driving synchronizing wheel of the driving mechanism and the steering synchronizing wheel of the steering mechanism are coaxially fixed, and are integrated with the roller assembly in the traveling mechanism through the bogie, so as to ensure the miniaturization of the AGV and reduce its thickness , reduce the space occupied during transportation.
  • FIG. 29 is a schematic structural diagram of a jacking assembly according to an embodiment of the present invention.
  • the jacking assembly 35 includes a jacking motor 350 for outputting jacking power.
  • a transmission mechanism is also included.
  • the present invention includes the jacking driving pulley 352 and the four jacking synchronizing pulleys 354 located in the four jacking mechanisms.
  • a guide wheel 321 is provided on each ejector rod 32 .
  • Idler pulleys are respectively provided on both sides of the jacking driving pulley 352 and the jacking synchronous pulley 354 to adjust the direction of the synchronous belt 353 .
  • FIG. 30 is a partial schematic view of a jacking assembly according to an embodiment of the present invention.
  • the end of the output shaft of the jacking motor 350 and the end of the axle of the jacking driving wheel 352 are provided with a reversing mechanism, such as a pair of matching umbrella wheels, for changing the transmission direction of the jacking power.
  • the supporting jacking mechanism including the ejector rod 32 further includes a gear 321 , a transmission rack 322 , a transverse rod 323 on the side of the rack, and a locking solenoid valve 324 .
  • a reversing mechanism is also included in order to transmit the power transmitted from the jacking driving wheel 352 to the gear 321.
  • a pair of bevel gears 3541 and bevel gears 3542 are shown in the figure.
  • the gear 321 is coaxial with the bevel gear 3542 (the shaft is not shown in the figure).
  • the jacking motor 350 rotates, after the direction of the machine changing mechanism is changed, the jacking motor 350 drives the jacking driving wheel 352 to rotate, and the jacking driving wheel 352 drives the jacking synchronous wheel 354 to rotate.
  • 354 drives the gear 321 to rotate, and the transmission rack 322 meshing with the gear 321 rises or falls with the rotation direction of the gear 321 .
  • the ejector rod 32 is in a retracted state.
  • the horizontal bar 323 on the side of the rack bears against the bottom end of the ejector bar 32.
  • the horizontal bar 323 pushes the ejector bar 32 to rise, and the ejector bar 32 extends out of the base
  • the jacking motor 350 stops rotating, and the driving rack 322 stops rising.
  • the locking solenoid valve 324 works to lock the ejector rod 32 so that it no longer descends, as shown in FIG. 33 .
  • the number of jacking mechanisms is not only four, but can also be, for example, multiple, such as eight.
  • the jacking mechanism for example, according to the force calculation, thickening the ejector rod, or improving the structure of the top of the ejector rod to increase its area, and designing a locking mechanism with suitable force, it can also be reduced to 3 or 2. one, or one.
  • the present invention also includes a positioning mechanism.
  • the positioning mechanism is the positioning rod 39, and the mechanism for driving its rise and fall adopts the structure of driving the ejector rod 32, which can not only realize the control of the positioning rod 39 rising and falling, but also reduce the space required. occupied.
  • the top end of the positioning rod 39 is opposite to the horizontal rod 323 , and when the horizontal rod 323 moves downward with the drive rack 322 , the positioning rod 39 is pressed out from the lower surface of the base.
  • the positioning rod 39 and the horizontal rod 323 can be designed as one piece, that is, the positioning rod 39 moves together with the horizontal rod 323.
  • a return structure such as a return spring, can be designed for the positioning rod 39 .
  • the return spring is compressed while the cross bar 323 presses the positioning rod 39 to descend.
  • the reset spring drives the positioning rod 39 to reset.
  • the driving motor 330, the steering motor 340 and the jacking motor 350 can all be stepping motors or servo motors, so that the running distance can be precisely controlled. Since the lifting and lowering distance of the jacking motor 350 is small and the torque is large, in order to achieve control accuracy, a planetary reducer may be configured for it.
  • the reversing mechanism can be determined according to the installation direction of the motor.
  • the output shafts of the various motors are parallel to the bottom surface, so a reversing mechanism is required. When turning the motor 90 degrees so that its output shaft is perpendicular to the bottom surface, the reversing mechanism is not required.
  • the bevel gear is used for reversing, and other structures, such as a turbine worm structure, may also be used, depending on the internal space of the base and the like.
  • 34A-34B are schematic structural diagrams of a guide wheel assembly in the guide mechanism.
  • the bottom of the housing of the base 30 is provided with a built-in guide groove 301 , which has a built-in guide wheel assembly.
  • the guide wheel assembly includes a wheel frame 310, a guide wheel 31, a control rod 312 and a position sensor (not shown in the figure).
  • One end of the wheel frame 310 is fixed to one end of the guide groove 301 through the shaft 3100, the other end of the wheel frame 310 is fixed to the guide wheel 31, and the middle position is connected to the end of the control rod 312 through the shaft 3120, and the head end of the control rod 312 is fixed at the In the guide groove 301, a position sensor is arranged in the guide groove 301, and is adjusted so that it is triggered after the guide wheel 31 is lowered into the guide groove of the running surface to issue a positioning signal.
  • the control lever 312 is set as an electromagnetic lock.
  • the state shown in FIG. 34A is the state when the control lever 312 is not powered on.
  • FIG. 34B shows the state when the control lever 312 is energized, and the control lever 312 at this time generates suction, and the suction wheel frame 310 lifts the guide wheel 31 .
  • FIG. 20B in this embodiment, there are two sets of guide wheel assemblies, two in each set, and the two sets are vertically arranged. When the AGV moves in one direction, the two guide wheels 31 in that direction descend to cooperate with the guide grooves, as shown in Figure 34A.
  • the positioning sensor is triggered and a signal is sent; the other two guide wheels are raised and retracted, as shown in Figure 34A.
  • the corresponding positioning sensor stops generating signals, so that it can be determined that the guide wheel and the guide groove are in good condition, so as to ensure the normal running of the AGV.
  • the two guide wheels in the original direction are first raised and retracted. It is determined by the positioning signal that the current guide wheels have been retracted, and then the steering is 90 degrees. After turning, the other two guide wheels go down to match with the guide grooves, and it starts to run after it is determined by the positioning sensor signal that the guide wheels and the guide grooves are well matched.
  • FIG. 35 is an AGV stand-alone control device according to an embodiment of the present invention, which is arranged inside the base 30 and includes: a task management module 305 , a movement control module 302 and a handling control module 303 .
  • the task management module 305 communicates with the upper computer through the communication module 304, so as to receive the handling task, and send the relevant information of the completion process of the task to the upper computer.
  • the handling task includes at least the identity identifier of the target goods and the target location, and in this embodiment, the target location is a specific storage location unit.
  • the planned walking route that is, the walking route from the current position to the transport target position, and then to the destination target position, may also be received from the host computer.
  • the task management module 305 sends the target position or the planned walking route to the movement control module 302 .
  • the movement control module 302 calculates the walking route according to the current self-position and the internally stored positional relationship data, and if the walking route is received, the driving motor and the steering motor are controlled according to the walking route to walk and walk according to the planned route and / or steering.
  • the walking route is composed of several straight line segments.
  • the two adjacent straight line segments are at 90 degrees, that is, the AGV travels in both vertical and horizontal directions.
  • the movement control module 302 determines the total number of turns that the drive motor 330 should make according to the distance of the straight line segment and the distance traveled by the roller assembly 38 for each revolution of the drive motor 330, and determines the required number of turns according to the total number of turns.
  • the number of driving pulses so that the travel distance of the AGV can be precisely controlled.
  • the mobile control module determines the number of pulses required to rotate 90 degrees according to the radius of the steering synchronizing wheel 344, and controls the steering motor 340 to rotate 90 degrees.
  • the left and right guide wheels are lowered
  • the rear and front guide wheels are raised.
  • the synchronizing wheel 334 Since the synchronizing wheel 334 is driven to rotate synchronously during steering, and the synchronous rotation of the driving synchronizing wheel 334 will drive the roller assembly to walk, therefore, the corresponding number of pulses is sent to the driving motor 330 when the pulses are sent to the steering motor 340 to control the steering, so that the The corresponding difference when the drive synchronous wheel 334 is rotated 90 degrees is offset. Therefore, the AGV roller in this embodiment can be rotated 90 degrees on the spot to ensure that the guide wheel 31 at the bottom of the base 30 can still cooperate with the guide groove at the bottom after turning.
  • the movement control module 302 sends a corresponding notification to the transport control module 303.
  • the transport control module 303 receives the identification and target position of the transport target goods sent by the task management module 305, and when receiving the notification sent by the movement control module 302, determines whether the current position is the transport target position or the destination target position according to the content of the notification. And through the electronic label reader 3052 outside the lower surface of the base 30 to read the identity of the current position to determine whether it is consistent with the target position in the handling task, if not, send a corresponding message to the task management module 305, task management Module 305 communicates with the host computer to determine the problem.
  • the electronic label reader 3051 disposed outside the upper surface of the base 30 reads the electronic label of the goods (such as the mother turnover box 2 ), and the target goods (such as the target mother turnover box) in the task of determining and transporting are read. ), the jacking motor 350 is controlled to work, and the ejector rod 32 is ejected to jack up the goods. When the ejector rod 32 is raised to a predetermined position, the goods are ejected away from the original placement position. When the AGV reaches the destination target position, after the same identification and confirmation, the jacking motor is controlled to work, and the jack 32 is lowered to release the goods to the target position.
  • a weight sensor (not shown in the figure) is also provided on the AGV.
  • the weight of the goods can be sensed by the weight sensor, and the task management module 305 records the weight of the goods, Upload to the host computer.
  • the AGV stand-alone control device further includes a positioning module.
  • the positioning module first controls the jacking motor 350 to control the positioning rod 39 to extend downward from the base 30 in order to be able to accurately locate the target position. After the precise positioning, the jacking motor 350 is controlled to control the jack 32 to rise to carry the goods.
  • the AGV is also provided with various sensors for sensing distance and position, such as laser sensors, vision sensors, infrared sensors, and the like.
  • the AGV may also include a laser SLAM (Simultaneous localization and mapping, simultaneous localization and mapping) or visual VSLAM system to assist the AGV in tasks such as path planning, autonomous exploration, and navigation when handling goods.
  • laser SLAM Simultaneous localization and mapping, simultaneous localization and mapping
  • visual VSLAM visual VSLAM system
  • the walking route is first determined, and the walking route includes more than one straight line segment, and two adjacent straight line segments are perpendicular to each other; then the AGV walks in the moving object space of the storage unit according to the walking route to reach the handling target. After the position is reached, the jacking mechanism is extended to jack up the target cargo; and then according to the walking route, the jacking mechanism is retracted to release the target cargo after reaching the destination target position against the target cargo.
  • the target goods are located in the mother turnover box of the storage space of the storage unit, and the bottom of the mother turnover box is provided with an electronic identity label;
  • the AGV arrives at the transport target position and the destination target position according to the walking route, it can identify whether the current position is the transport target position by reading the electronic identity label on the bottom plate of the moving object space of the storage unit, and the destination target position.
  • the target position is reached, whether the goods on the target position to be transported are the target goods is identified by reading the electronic identification label at the bottom of the mother turnover box.
  • the positioning rod is used for forced positioning after precise positioning.
  • the AGV provided by the present invention has various compact structures.
  • the partial structure of the steering assembly is integrated with the partial structure of the driving assembly and the rollers, and the lifting structure of the ejector rod and the positioning rod is shared, thereby greatly reducing the need for the present invention.
  • the thickness of the AGV reduces the occupation of the three-dimensional space.
  • AGV has a small thickness, small footprint, and accurate operation, which can be well applied to new three-dimensional warehouses. It can also work normally in swaying trucks, planes, and ships, and can work together in various mobile warehouses and fixed-position warehouses of the same specification.
  • Each parent turnover box 2 in the three-dimensional warehouse of the present invention includes a plurality of sub turnover boxes 7, and the destination of the goods in these sub turnover boxes 7 may or may not be the same.
  • the present invention in order to improve the transportation efficiency, multiple cargo handover processes are set up in the logistics process, so as to deliver a piece of cargo from the place of delivery to the destination. Therefore, in the process of goods circulation, it is necessary to sort out the target goods that need to be handed over for each handover.
  • the present invention provides a sorting robot and a sorting device, which are used to sort the goods in the three-dimensional warehouse. According to the flow of the goods when the next time out of the warehouse, the AGV in the three-dimensional warehouse cooperates with the sorting robot to sort. Out of the next out of the warehouse goods.
  • sub-tote box can also be replaced by the existing express parcels.
  • existing express packages can also be accommodated in the mother tote.
  • sorting robot of the sorting device can also be replaced by the manipulator for sorting existing express packages.
  • 36A-36B are schematic diagrams of a sorting device applied in a three-dimensional warehouse according to an embodiment of the present invention.
  • the sorting device 6 includes a support part 61 , a moving part 62 and a sorting robot 5 .
  • the sorting robot 5 provided by the present invention includes a balance arm 50, a gripper module 51 and a motion driving part 52, wherein the balance arm 50 is used to keep the movement process stable.
  • a gripper module 51 is connected to the end of the balance arm 50 for gripping goods.
  • the motion driving part 52 is connected with the balance arm 50 and is used for driving the extension and movement of the balance arm 50 .
  • the balance arm 50 includes two or more support arms 501 connected by the first joint 500 .
  • the one support arm 501 at least includes an upper arm 503 and a lower arm 504 connected together by a second joint 502 .
  • the end of the upper arm 503 and the lower arm 504 connected by the second joint 502 is called the connecting end, and the other end is called the free end. Therefore, each arm has two free ends.
  • the first arm has two free ends.
  • the second free end of the second arm is connected with the first free end of the second arm through the first joint 500 .
  • the above arm 503 is taken as an example, it includes four connecting rods 5031 parallel to each other, and a connecting block 5032 at the free end, on which two shafts 5033 are arranged, and two connecting rods 5031 are connected to the two ends of each shaft.
  • one end of the two parallel links is designed as an arc, and the arc ends of the two links are located in the free Therefore, when the balance arm 50 is retracted, the two links 5031 can be juxtaposed together, so that the upper arm 503 and the lower arm 504 can be embedded together when the balance arm 50 is retracted, so as to reduce the space occupied by the balance arm. As shown in FIG.
  • the two arms 501 connected by the first joint 500 are juxtaposed and adjacent to each other.
  • the upper arm 503 and the lower arm 504 movably connected by the second joint 502 are embedded in each other in the retracted state. .
  • the second joint 502 includes two connecting plates 5021 and a set of pull rods 5022 .
  • the two connecting rods of the upper arm constituting the upper plane are connected by a connecting plate, and a shaft seat 5023 is arranged on the connecting plate.
  • the lower arm also has the same axle seat.
  • Slide rails 5024 are provided on the connecting plate 5021 .
  • One end of the pull rod 5022 is fixed on the axle seat 5023 , and the other end is matched with the slide rail 5024 .
  • the motion driving part 52 includes a driving box 520 , which is provided with a driving motor and a wire winding mechanism for controlling the support arm.
  • a driving box 520 which is provided with a driving motor and a wire winding mechanism for controlling the support arm.
  • there are two supporting arms so there are two sets of motors and their wire winding mechanisms, that is, the two supporting arms are controlled by wire ropes 521 and 522 respectively.
  • the wire ropes 521, 522 drawn from the drive box 520 are installed on the first free end connecting block 5032a of the first arm through the guide wheel, and the end of the wire rope 521 is connected to the second free end of the first arm. on the connection block 5032b.
  • the wire rope 522 drawn from the drive box 520 is connected to the guide wheel through the connecting block 5032b fixed on the second free end of the first arm and the connecting block 5032c of the first free end of the second arm. on the connecting block 5032d of the second free end of the second arm.
  • the internal motor of the drive box 520 drives the wire winding mechanism of the second arm to release the wire rope, and the state shown in FIG. 38C is obtained; At this time, the release of the wire rope by the wire winding mechanism of the second arm is stopped, and the wire winding mechanism of the first arm is driven to release the wire rope, and the state shown in FIG. 38A is obtained. Since the balance arm 50 in this embodiment can independently control the action of a single arm, it runs smoothly during extension and contraction. Through the design of the upper arm and the lower arm of the single arm, the ratio of its height and vertical stroke can reach more than 1:7.
  • the gripper module 51 includes a gripper body 510 , a gripper and an identification part 512 .
  • the gripper body 510 is fixed on the free end connecting block 5032 of the lower arm of the balance arm.
  • the gripper body 510 is provided with a guide rail, and the gripper has a plurality of gripping parts 511 , as shown in the figure, there are two gripping parts 511 , and the fixed end of the gripping parts 511 is set on the guide rail through a slider.
  • the opening and closing size of the grabbing portion 511 can be adjusted.
  • the sliding of each gripping portion 511 can be individually controlled to suit the shape, size or position of different cargo gripping portions.
  • the grasping part 511 can grasp the goods in an adsorption mode and/or a mechanical mode.
  • the end structure of the grasping part 511 corresponds to the handle structure of the goods.
  • the distal end of the grasping portion 511 is configured as a concave structure.
  • the handle on the sub turnover box 7 is a structure with a protruding outer edge and a concave middle, which is called a catch 71 here.
  • the grab portion 511 is controlled to move relatively inwardly on the guide rail, so as to be fastened together with the catch 71 , and when the balance arm 50 is retracted, the sub-transport box 7 is grabbed.
  • the grasping part may also adopt a suction mode, for example, a vacuum suction type or an electromagnetic suction type.
  • a suction mode for example, a vacuum suction type or an electromagnetic suction type.
  • the identification part 512 is provided on the gripper body 510 to identify the sorted goods.
  • the identification unit 512 may adopt technologies such as radio frequency identification, image identification, and two-dimensional code identification.
  • the identification part 512 is an RFID reader, which corresponds to the RFID identification tag of the sub-tote 7 . If the identity label of the sub-turnover box 7 is a two-dimensional code or a barcode, the identification part 512 corresponds to a two-dimensional code/barcode reader/writer.
  • the recognition unit 512 can also be an image recognition unit, including a camera and an image recognition sub-unit. The camera collects images of goods or goods identity labels, and the image recognition sub-unit recognizes the goods according to the collected images, or determines the distance from the current position to the goods. the distance.
  • the gripper module 51 further includes a shock-absorbing pressure plate 513, which is movably connected to the gripper body 510 through a shaft, so as to fit between the gripper and the separator when the gripper grabs and sorts goods. The space between the picks prevents the goods from shaking.
  • shock pressing plates 513 In order to well fit the space between the gripper and the sorted goods, in this embodiment, there are multiple, such as four, shock pressing plates 513, one end of which is axially connected to the gripper body 510 and can be rotated around the axis , so that the shock-absorbing pressure plate 513 can be unfolded or retracted, so as to adapt to the sub-transport boxes 7 of different specifications and sizes.
  • FIG. 40A when the shock-absorbing pressure plate 513 is fully retracted, it is completely retracted at the lower part of the grip body 510 .
  • the shock-absorbing pressure plate 513 is unfolded to accommodate the sub-return box 7 with a larger area.
  • the shock-absorbing pressure plate 513 is covered with upper and lower layers, the upper layer is a rigid plate, and the lower layer is an elastic plate with damping, so as to meet the requirements of rigidity and elastic shock absorption with damping.
  • the sorting robot further includes a control unit, which is signal-connected to the motion drive unit and the gripper module, respectively, and cooperates with the gripper module and the motion drive unit to complete the sorting of the target sub-transport box according to the received sorting task.
  • a control unit which is signal-connected to the motion drive unit and the gripper module, respectively, and cooperates with the gripper module and the motion drive unit to complete the sorting of the target sub-transport box according to the received sorting task.
  • the operation of the internal motor of the drive box 520 is controlled, and the extension and retraction of the balance arm is controlled by retracting and retracting the wire rope.
  • the driver of the grabbing portion 511 is controlled, such as the retraction and retraction of a motor or a wire rope, and the sliding of the grabbing portion 511 on the guide rail is controlled, so that the opening and closing size of the grabbing portion 511 can be changed.
  • Another example is the control of the shock-absorbing pressure plate and so on.
  • the sorting robot also includes various sensors (not shown in the figure), such as one or more positioning sensors, anti-collision sensors, laser SLAM (Simultaneous localization and mapping) system or visual VSLAM system , which is used to assist sorting robots in tasks such as itinerary planning, autonomous exploration, and navigation when sorting goods.
  • sensors such as one or more positioning sensors, anti-collision sensors, laser SLAM (Simultaneous localization and mapping) system or visual VSLAM system , which is used to assist sorting robots in tasks such as itinerary planning, autonomous exploration, and navigation when sorting goods.
  • the support part 61 is connected to at least one sorting unit 60, the sorting unit 60 is equivalent to a storage unit, and the bottom surface thereof is provided with a guide groove 631 for moving an object moving device such as an AGV, A support block 612 is provided on the upright column for placing the storage device to be sorted, such as the mother turnover box 2 .
  • the moving part 62 includes a slide rail 621 and its driver 622 and a beam 623 and its driver 624 .
  • a slide rail 621 is fixed on the top left and right sides of the support portion 61.
  • the slide rail 621 is a nested multi-level slide rail, and each level of slide rail is provided with a driver 622, which can The driving slide rails extend forward to expand the moving range of the sorting robot 5 .
  • Both ends of the beam 623 are respectively fixed on the slide rails 621 , and the slide rails and their drivers 624 are provided on the beam 623 .
  • the sorting robot 5 is fixed on the slide rail, and the driver 624 drives the slide rail to move, which can drive the sorting robot 5 to move in two directions of the x-direction.
  • the driver 622 drives the beam 623 to move in two directions of the y direction, so that the sorting robot 5 moves in the two directions of the y direction.
  • the top of the sorting robot 5 is provided with a connecting rotating mechanism, as shown in Figures 36C-36D, including a rotating shaft 632 and a drive motor 633.
  • the rotating shaft 632 is connected to the beam 623 through a bracket, and the drive motor 633 is connected to the rotating shaft 632 through a synchronous belt, which can drive the entire The sorting robot 5 rotates.
  • the track surfaces of the slide rails 621 face the side surfaces, and the track surfaces of the left and right slide rails 621 are arranged to face each other.
  • the track surfaces of the two slide rails 621 may also face upwards at the same time.
  • the rails of the slide rails of the beam 623 face downward, of course, they can also stand up and face the side.
  • the moving part 62 in this embodiment is arranged on the top of the supporting part 61, and the supporting part 61 is fixed on the top of a sorting unit 60 (equivalent to a storage unit).
  • the total height of the support part 61 plus the sliding rail 621 of the moving part 62 should be less than or equal to one storage unit.
  • the sorting robot 5 grabs the goods, such as the sub turnover box 7, from the parent turnover box 2 in one sorting unit, and the slide rail 621 moves with the movement of the moving part 62, and puts it into another sorting unit In the mother tote 2 of the unit 60.
  • FIGS. 42A-42B it is a schematic diagram of a sorting robot grabbing goods according to an embodiment of the present invention.
  • the sorting operation flow of the sorting robot 5 is shown in FIGS. 42A-42B .
  • the sorting robot 5 When the sorting robot 5 is in the standby state, it is above the first sorting unit 60, wherein the first sorting unit 60 is placed with the mother turnover box 2, and the child turnover box 7 is placed in the mother turnover box 2 (FIGS. 41A-41C). not shown, see Figure 41E).
  • FIG. 41A the sorting robot 5 is in a retracted and standby state.
  • FIG. 42A-42B A sorting process of the goods by the sorting device 6 is shown in Figures 42A-42B, including the following steps:
  • Step S6101 unfold the balance arm, lower the gripper module 51 and monitor the lowering height.
  • the motor inside the motion drive part 52 drives the wire winding mechanism to release the wire rope of the second arm, so that the lower arm of the second arm extends downward.
  • the state of the sorting robot 5 is shown in Figure 41B (the wire rope is not shown in the figure). , see Figure 38C or 36C).
  • the motor inside the motion drive part 52 drives the wire winding mechanism to release the wire rope of the first arm, so that the lower arm of the first arm extends downward.
  • the state of the sorting robot 5 is shown in Figure 41C (the wire rope is not shown in the figure). , see Figure 38A).
  • the sorting robot 5 can also be rotated to adjust the corresponding relationship with the sub-totes 7, as shown in FIG. 41D .
  • the identification unit built in the sorting robot 5 monitors the distance to the sub-return box 7 .
  • Step S6102 confirm whether the gripper module 51 has reached an appropriate height, for example, about 20-50 mm from the top of the sub-turnover box 7 . If so, go to step S6103, if not, go back to step S6101.
  • Step S6103 the built-in RFID reader/writer of the sorting robot 5 reads the RFID information of the target sub-tote 7 .
  • step S6104 it is judged whether the target sub-tote 7 is the designated target, and if so, in step S6105, the identity information of the sub-tote is uploaded to the logistics control module system, and then step S6107 is executed. If not, step S6106 is executed.
  • Step S6106 adjust the height and position of the sorting robot 5, take another sub-tote as a target, and return to step S6103.
  • Step S6107 according to the size of the target sub-return box 7, open the shock-absorbing pressure plate 513 to an appropriate angle, usually not exceeding the size of the sub-return box.
  • step S6108 the balance arm continues to descend and fine-tune the horizontal coordinate until the sensor senses that the grasping part 511 and the claw buckle 71 of the target sub-return box 7 are concentric and reach the grasping height.
  • step S6109 the grasping portion 511 grasps the grasping buckle 71 .
  • the grasping portion 511 and the claw buckle 71 of the target sub-return box 7 are concentric and reach the grasping height, the grasping portion 511 is contracted to grasp the grasping buckle 71 .
  • Figure 41E As shown in Figure 41E.
  • Step S6110 the built-in RFID reader in the sorting robot 5 updates the RFID information of the parent turnover box 2, that is, the identity binding relationship between the target child turnover box 7 and the parent turnover box 2 is released, and uploaded to the logistics control module of the cloud system.
  • step S6111 the balance arm of the sorting robot 5 lifts the target child turnover box 7 to an appropriate height, for example, 2-5 cm higher than the top of the mother turnover box 2 . state as shown in Figure 41F.
  • step S6112 the sorting robot 5 moves horizontally to the second sorting unit.
  • the second sorting unit is adjacent to the current first sorting unit in the y direction.
  • the driver 622 synchronously drives the slide rails 621 on both sides of the support part to extend forward, and the beam 623 fixed with the slide rail drives the sorting robot 5 to extend forward, as shown in Figure 41G, until it moves horizontally to the second sorting unit, The state shown in Figure 41H.
  • step S6113 the sorting robot 5 confirms that the current position is above the second mother turnover box through the sensor.
  • step S6114 the balance arm 51 of the sorting robot 5 descends into the second mother turnover box, and fine-tunes the horizontal coordinates, while monitoring the current position of the target child turnover box 7 .
  • the sorting robot 5 can establish a 3D coordinate system in its sorting area, and determine whether the target sub-tote 7 has reached its designated position by monitoring the 3D coordinates of the target sub-tote 7 .
  • step S6115 it is judged whether the target child turnover box 7 has reached the designated position, and if it has reached the designated position, then in step S6116, the grasping part 511 releases the catch and places the target child turnover box 7 in the second mother turnover box , and bind the identity relationship between the target child turnover box 7 and the second mother turnover box, and upload it to the logistics control module. If the target sub-tote 7 has not reached the designated position, the process returns to step S6114.
  • step S6117 the balance arm is retracted and returned to the standby state.
  • the support part of the sorting device can be arranged on the side of the sorting unit. side.
  • the moving part drives the sorting robot to grab the sub-totes from the side of the sorting unit.
  • a storage space for placing storage devices such as a mother turnover box.
  • the partition 63a is used as the running surface of the object moving device of the object moving space, and a guide groove 631a is provided on it, so that the AGV can freely travel on it.
  • the support part 61a is connected to the storage space of the sorting unit 60a from the side, two sliding rails 621a are respectively arranged on the upper and lower sides of the side, and the sorting robot (not shown in the figure) is connected to the sliding rail 621a through the beam 623a .
  • the structure of the sorting robot is the same as the structure in the first embodiment of the sorting device. Its balance arm can be extended in the x-direction to extend into the sorting unit 60a, and can slide along the slide rail 621a in the y-direction to move to the second The side of the sorting unit (not shown).
  • the second sorting unit is adjacent to the sorting unit 60a in the y direction.
  • the sorting unit 60a and the parent tote 2c in the second sorting unit can be opened laterally.
  • the side of the mother turnover box 2c is a door 201c that can slide up and down in two directions.
  • the door 201c opens both upward and downward, so that the balance arm of the sorting robot can enter the parent tote 2c, the gripper body 510 of the gripper module 51 is rotated to be parallel to the top of the sub-revolving box 7, so that the gripping hand is parallel to the gripping buckle in the sub-revolving box 7, thereby grasping the gripping buckle.
  • the balance arm is retracted to drive the child turnover box 7 to move out of the mother turnover box 2c.
  • the driving slide rail 621a extends toward the y direction, and drives the sorting robot to move toward the second sorting unit.
  • the sorting process is the same as that of the first embodiment, and will not be repeated here.
  • Fig. 44 is a schematic block diagram of a sorting device control system according to an embodiment of the present invention.
  • the sorting device 6 may further include a sorting subsystem 66 for performing sorting tasks.
  • the sorting subsystem 66 includes a communication module 661 , an identification module 662 , an information modification module 663 and a motion control module 664 .
  • the communication module 661 is used to receive a sorting task, and the sorting task includes at least a list of target sub-tote boxes, and the list of target sub-tote boxes at least includes the identity information of the target sub-tote boxes, the originally bound first target The identity information of the mother turnover box and the identity information of the second target mother turnover box used to place the target sub turnover box; the identification module 662 corresponds to the identity labels of the mother turnover box and the child turnover box.
  • the identity label is an RFID label
  • the identification module For the RFID reader.
  • the information modification module 663 releases the identity binding relationship between the target child turnover box and the first target mother turnover box; when placing the target child turnover box on the second target mother turnover box , and establish the identity binding relationship between the target child turnover box and the second target mother turnover box.
  • the motion control module 664 is used to control the action flow required by the sorting robot 5 and the moving part 62 to complete a sorting task.
  • One of the sorting processes is shown in Figures 41A-41H. It is not repeated here.
  • the sorting robot provided by the invention is suitable for use in a three-dimensional warehouse, occupies a small warehouse space, and the sorting of goods is not limited in time and place.
  • the parallel arm structure of the sorting robot can keep the posture of the sub-transport box stable during grasping and transporting. By further setting the deformable elastic shock-absorbing pressure plate corresponding to the sub-transit boxes of various sizes, it can effectively restrain the sub-transport box. The shaking of the turnover box when it is transported.
  • the gripper module of the sorting robot can be designed as an adsorption or mechanical type, and with the intelligent identification part, such as cameras, RFID and QR code readers and other various sensors, it can accurately identify and grasp the sub-totes.
  • the motion drive part in the sorting robot can quickly and smoothly control the elongation, contraction and movement of the robot.
  • the synchronous toothed belt used in the control can realize the functions of low torque, miniaturization and precise positioning of the transmission device.
  • FIG. 45 it is a schematic structural diagram of a three-dimensional warehouse with built-in storage devices, object moving devices and sorting devices.
  • the structure of the three-dimensional warehouse is as shown in the foregoing three-dimensional warehouse structure embodiment, and the description is not repeated here.
  • the goods in the warehouse are built into the child turnover box 7 , and the parent turnover box 2 has a plurality of child turnover boxes 7 built therein.
  • the mother turnover box 2 is placed in the storage space in the storage unit of the three-dimensional warehouse.
  • the location unit has unique identity information, for example, the number is used as the identity information, which represents its position in the three-dimensional warehouse. For example, the number C0F11001 represents the first location of the first column on the first floor, and C0F22001 represents the second column on the second floor.
  • the first warehouse location of , C0F34002 represents the second warehouse location in the fourth column of the third floor, etc.
  • the first three characters represent the identity of the logistics warehouse.
  • an electronic label RFID or a two-dimensional code is used as the identity label of the location unit, in which the serial number information of each location unit is recorded.
  • RFID is used as an example for description.
  • the mother turnover box 2 and the child turnover box 7 respectively have unique identification identifiers, for example, numbered with letters, numbers, and the like.
  • the ID of the child turnover box 7 is A300x180x180
  • the ID of the parent turnover box 2 is M500B700C100.
  • the binding relationship of the identity is changed in real time, so as to ensure the accurate real-time position information of the goods.
  • the small, ultra-thin AGV 3 in the three-dimensional warehouse is located in the moving space of the storage location unit 1, and is used to transport the mother turnover box 2.
  • the sorting device 6 includes two sorting units 60 which are connected with other storage location units 1 in the three-dimensional warehouse.
  • the moving device in the warehouse such as the AGV3 to transport the mother turnover box 2
  • the sorting is completed with the sorting device 6.
  • the express cabinet 10 includes a cabinet body 110, and at least one cabinet door 111 is provided on the cabinet body 110.
  • the folding door in the figure may also be a door opened by a support rod or a rolling shutter door.
  • Inside the cabinet 110 is a three-dimensional warehouse with multiple storage layers composed of multiple storage units. The number of storage layers and the number of storage units on each layer are determined according to specific needs.
  • the location unit of the three-dimensional warehouse is equipped with child and parent turnover boxes.
  • One or more AGV3s are placed in the three-dimensional warehouse according to the scale to carry the mother turnover box.
  • the lifting system completes the transportation of goods between different storage levels.
  • the lifting system is installed at the cabinet door 111 .
  • the lift table 42 can move up and down along the support column, thereby driving the AGV3 on it to reach different storage layers.
  • a sorting device 6 is also arranged inside.
  • the express cabinet further includes a lifting docking frame, including a rail 120, which is installed at the cabinet door 111, and is provided with a sliding rail. 121 , the sliding rail 121 drives the docking plate 122 .
  • the docking plate 122 is used as the running surface of the AGV3, and is provided with a running surface for the AGV3 to run on, and a guide groove matched with the guide wheel 31 . As shown in the figure, the left and right sides of the butt plate 122 are the running surfaces of the running wheels, and the middle is the guide groove.
  • the elevating docking frame is opposite to the elevating system 4 in the three-dimensional warehouse, and the docking plate 122 can be docked with the elevating platform 42 .
  • a positioning sensor such as a position switch, a photoelectric proximity device, etc., is arranged at the appropriate position of the docking plate 122 or the lifting platform 42.
  • the positioning sensor is triggered to send a signal. According to the signal, it can be determined that the docking of the docking plate 122 and the lifting platform 42 is completed.
  • the other side of the express cabinet 10 also includes a cabinet door 112 for interacting with the user.
  • a cabinet door 112 is provided corresponding to each storage unit, and the cabinet door 112 is locked by an electronic lock.
  • the opening and closing of the cabinet door 112 can be automatically controlled by the door driving mechanism.
  • FIG. 47B it is a schematic diagram when the cabinet door 112 is opened. It corresponds to a storage location unit, and has a built-in mother turnover box 2, and the mother turnover box 2 has a built-in child turnover box 7.
  • the sub turnover box 7 may be a sub turnover box provided for the shipping user, or may be a sub turnover box that will have goods receivable by the receiving user.
  • a drone interface and a cover plate 112 are further provided on the top of the express cabinet 10 . It is used to receive sub-totes sent by drones or to provide sub-totes for drones.
  • minivan One of the cargo devices: minivan
  • the miniature truck 9a includes the three-dimensional warehouse 91 in the second embodiment of the three-dimensional warehouse, further includes the mother turnover box 2 and the sub turnover box 7 as storage devices, and also includes the AGV 3 as a moving device, sorting Device 6 and vehicle 90 .
  • Vehicle 90 is a small cargo device, thus forming a minivan.
  • the vehicle 90 includes a cargo box support 93 and an enclosure structure 92.
  • the enclosure structure 92 is connected with the cargo box support 93 to form a cargo box body with an interior space, and the three-dimensional warehouse 91 is arranged in the interior space of the cargo box body. .
  • the enclosure structure 92 includes one or more box doors 94, and the area of the box doors is an integral multiple of the storage unit in the three-dimensional warehouse. In this embodiment, the entire rear enclosure structure of the cargo box is used as the box door 94. In order to keep the box door in an open state when the box door bar is opened, it also includes one or more support rods 95, such as electric oil Press support rod. Both ends of the support rod 95 are respectively connected to the box door 94 and the cargo box bracket 93 , and can support and fix the box door 94 when the box door 94 is opened.
  • a lifting and docking device which includes a lifting rail 961 , a lifting bracket 962 and a docking plate 963 .
  • the lift rail 961 is fixed to the cargo box support 93 in the box door 94 .
  • the lifting bracket 962 is arranged in the lifting rail 961 , and can ascend or descend along the rail 961 .
  • One end of the docking plate 963 is movably connected to the end of the lifting bracket 962, and the upper surface is the running surface of the object moving device.
  • the docking plate 963 can be opened to the outside of the box space when the box door 94 is opened, as shown in FIG. 48A, and can also be retracted to close the box door 94, as shown in FIG. 48B.
  • the length of the docking plate 963 is adapted to the width of one storage unit.
  • the width of the box door 94 can also be adapted to increase the amount of goods exchanged during docking.
  • a shock absorbing airbag 97 is further included between the cargo box support 93 of the freight device in this embodiment and the vehicle body of the vehicle 90 to reduce vibration during driving and docking.
  • the second freight device urban circulation truck
  • 49A-49B are schematic diagrams of the structure of an urban circulation truck according to an embodiment of the present invention.
  • the vehicle 90 in the urban circulation truck 9b is a medium or large freight device.
  • the entire rear enclosure structure of the cargo box is used as the box door 941, and the side and part of the top of the enclosure structure can be opened upward as the wing door 942, as shown in FIG. 49B.
  • This embodiment includes an X-Y drive platform 98 , which is disposed at the bottom of the cargo box support 93 and includes an X-direction rail 981 and a Y-direction rail 982 .
  • the X-Y drive stage 98 is driven by the drive means and can slide in the X and Y directions.
  • the three-dimensional warehouse 91 is fixed on the X-Y drive platform 98 and can move with the movement of the X-Y drive platform 98 . As shown in FIGS. 50A-50B , it is a schematic diagram of the three-dimensional warehouse 91 sliding out with the X-Y driving platform 98 in the freight device 9b.
  • the freight device in the present invention also includes a control system, and the control system of the freight device can have different forms and connection structures according to the connection and distribution with the cloud system.
  • FIG. 51 it is a schematic block diagram of a freight device control system according to an embodiment of the present invention.
  • the functional modules in the control system 99 that control the vehicle are located locally in the freight device, and include a communication module 990 , a navigation module 991 and a docking control module 992 .
  • the control of goods management, sorting, and handling of goods in the warehouse is completed by the three-dimensional warehouse management system, which is composed of local modules or/and cloud logistics control modules.
  • the communication module 990 exchanges information with the cloud system, and transmits data and information between the local and the cloud.
  • the navigation module 991 determines the travel route of the vehicle according to the planned route; wherein, the travel route of the freight device can be planned and calculated by the cloud system and sent to the freight device, or can be obtained by the positioning device 993 in the freight device from the cloud according to the freight device. The docking point is calculated.
  • the positioning device 993 also acquires the real-time geographic location of the freight device, and sends the real-time geographic location to the cloud.
  • the docking control module 992 determines the docking mode according to other freight devices docked with it, and controls the actions of the corresponding components according to the determined docking mode. As shown in FIG. 52A , it is a functional block diagram of a docking control module according to an embodiment of the present invention.
  • the docking control module 992 includes a box door control unit 9920 and a lift docking device control unit 9921 .
  • the box door is provided with an electronic lock 950 and a support rod driving device 951, for example, a driving motor of an electric hydraulic support rod and its hydraulic system.
  • the box door control unit 9920 can control the box door electronic lock 950 and the support rod driving device 951, so as to control the opening and closing of the box door.
  • the lifting and docking device control unit 9921 is used to control the lifting, opening and retracting of the docking plate.
  • the lifting bracket is provided with a driver 9620, such as a stepping motor or a servo motor, for controlling the lifting and lowering of the lifting bracket on the lifting rail.
  • the docking plate is provided with a corresponding driver 9630, and the docking plate driver 9630 controls the connection between the docking plate 963 and the end of the lifting bracket 962. For example, by controlling the rotation of the connecting shaft at the connection by the motor, the docking plate 963 can be stowed, and the lifting and lowering bracket 963 can be retracted.
  • the brackets 962 are juxtaposed in parallel, or the docking plate 963 is lowered so that the docking plate 963 and the lifting bracket 962 are in a vertical state.
  • this embodiment also includes various positioning sensors.
  • a docking plate positioning sensor 9631 is provided on the docking plate. When the two are accurately docked, the docking board positioning sensor 9631 is triggered to send a signal, and whether the docking is completed and whether the docking is accurate can be determined according to whether the signal is received.
  • a lift positioning sensor 8000 is also provided at the preset position of the docking plate 963.
  • the lifting positioning sensor 8000 is triggered to send a signal, so that it can be determined that the courier robot is docked with the docking board 963.
  • the lifting bracket 962 can be safely activated to lift the express robot 8 upward, so that the traveling surface of the container moving space of the express robot 8 is docked with the storage unit in the three-dimensional warehouse. At this time, it is equivalent to the docking of two storage location units.
  • a positioning sensor 1130 is set on the storage location unit used for docking of the freight device 9, and the other freight devices After accurate docking between the storage unit and the storage unit in the three-dimensional warehouse, the storage unit positioning sensor 1130 is triggered to send a signal. For example, when the courier robot is lifted to a certain position, after the running surface of the cargo box moving space is docked with the storage unit of the freight device 9, the storage unit positioning sensor 1130 can be triggered to send a signal. According to the signal, it can be known that the docking is accurate. and complete the connection.
  • the docking control module 992 also includes an XY-direction drive platform control unit 9922, so that the XY-direction drive platform can move along the X-direction rail 981 or the Y-direction rail 982 on the box support 93,
  • the XY-direction drive platform is provided with an X-direction driver 9810 and a Y-direction driver 9820, such as a motor, a hydraulic driver, etc.
  • the XY-direction drive platform control unit 9922 outputs a corresponding drive signal to control the XY-direction.
  • the driving platform moves along the X-direction rail 981 or the Y-direction rail 982, and the amount of movement is controllable.
  • the local module of the control system further includes a shock-absorbing airbag control module 994, which is used to adjust the air pressure of each shock-absorbing airbag when docking with other freight devices or freight devices, so that the level of the three-dimensional warehouse can be adjusted so that the two The three-dimensional warehouse of each freight device can be accurately docked.
  • a shock-absorbing airbag control module 994 which is used to adjust the air pressure of each shock-absorbing airbag when docking with other freight devices or freight devices, so that the level of the three-dimensional warehouse can be adjusted so that the two The three-dimensional warehouse of each freight device can be accurately docked.
  • the management system of the three-dimensional warehouse includes a motion control system 162, a goods management system 161 and a sorting system 64, which are mainly used to control the driving and sorting device 6 of the AGV, and complete the delivery, storage, and exchange of goods. etc.
  • the motion control system 162 is located locally, and includes a walking control module 1621 for controlling the AGV and a lifting control module 1622 for controlling the lifting system, wherein the walking control module 1621 is the upper control module of the AGV3, mainly used for For the task management, vehicle driving, route planning management, traffic management, communication management and other functional units of multiple AGVs in the warehouse.
  • the task management functional unit provides the execution environment of the AGV stand-alone. Scheduling the operation of multiple AGVs according to task priority and start-up time; providing various operations on a single AGV such as start, stop, cancel, etc.
  • the vehicle drive function unit is responsible for the collection of the AGV state, and sends the permission request for the walking segment to the traffic management function unit, and at the same time sends the confirmation segment to the AGV.
  • the route planning function unit allocates and schedules the AGV to perform tasks according to the needs of the cargo handling task, calculates the shortest walking path of the AGV according to the principle of the shortest walking time of the AGV, and controls and directs the walking process of the AGV.
  • the traffic management functional unit provides measures for AGVs to automatically avoid each other according to the AGV operating status and the AGV walking path conditions in the warehouse.
  • Wireless communication is used between the walking control module 1621 and the AGV stand-alone system, and the walking control module 1621 uses polling to communicate with multiple AGV stand-alone systems; the walking control module 1621 and other upper computers, such as cloud-related logistics control modules, can use TCP /IP communication.
  • a task management module 305 a movement control module 302 and a handling control module 303 .
  • the lift control module 1622 is used to control the lift table driving mechanism 163 of the lift system.
  • the lift table driving mechanism 163 adopts a servo system, and the lift control module 1622 sends drive information to the servo system according to the lift stroke, which drives the lift table to a preset position.
  • the servo system in a normal state, can accurately stop at the predetermined position, however, due to the unstable state of the three-dimensional warehouse when moving, the position reached by the elevator platform deviates from the original predetermined position. If the lift table deviates from the original predetermined position, the docking state of the lift table and the storage unit will be poor, making it difficult for the AGV to walk, or even damage the AGV.
  • more than one position sensor is provided on the support column at the position where each layer is butted with the storage unit, so that the lifting platform can be accurately stopped at a predetermined position.
  • the lifting platform has a built-in weight weighing analysis system, which determines the output voltage and current required to achieve the speed and acceleration set for each lifting stroke according to the weight of the goods loaded on the lifting platform.
  • the cargo management system 161 and the sorting system 64 may be located in the cloud.
  • the sorting system 64 is a sorting control module in the cloud
  • the cargo management system 161 is a cargo monitoring module in the cloud.
  • the cargo management system 161 is used to maintain the cargo information and equipment information in the three-dimensional warehouse 91, such as the cargo order information, logistics information, the binding relationship between the cargo and the child turnover box, the parent turnover box, the parent turnover box and the current warehouse.
  • the binding relationship of the location unit it also includes the number and identity information of AGVs in the current warehouse, the identity information and location distribution information of the sorting device, and so on.
  • the sorting system 64 communicates with the sorting device 6 and the AGV 3 through the communication module 990 to assign sorting tasks and handling tasks.
  • the motion control module 1621 in the motion control system 162 is used as the upper control module of the multiple AGV3 in the warehouse.
  • the AGV handling task sent by the sorting system 64 it performs task management, vehicle driving, route planning management, traffic management, Communication management, etc., so that each AGV3 can complete the corresponding handling tasks.
  • the sorting device 6 receives the sorting task and completes the sorting of the designated target sub-totes.
  • the sorting module 64 includes a cargo statistics module 642 and a task planning module 643.
  • the cargo statistics module 642 analyzes each parent tote in each freight device according to the sorting address and the address information of its internal sub-conversion boxes to determine the target parent container and target sub-conversion boxes.
  • the task planning module 643 determines a corresponding task for each sorting device and each object moving device according to at least the distribution information of the target storage devices in the warehouse, the distribution information of the sorting devices, and the quantity and position information of the object moving devices.
  • the task planning module 643 includes a sorting task unit 6431 and a handling task unit 6432 .
  • the sorting task unit 6431 obtains the specification information of the target child turnover box according to the target child turnover box determined by the goods statistics module 642 according to the cargo information, and determines the paired target mother turnover box for placing the sorted target child turnover box. box, so as to get the list of target sub-turnover boxes.
  • the target child turnover box list at least includes the identity information of the target child turnover box, the original bound target mother turnover box identity information, and the paired target mother turnover box identity information and the corresponding storage location unit that should be placed in the target child turnover box after sorting. Identity Information. As shown in the table below:
  • the first target mother turnover box first location unit The second target mother turnover box Second location unit A300x180x180 M500B700C100 A-100-201-3001 N385B769F269 A-100-202-4002 ... ... ... ... ... ...
  • the target parent turnover box where the target child turnover box is located is referred to as the first target parent turnover box. It is called the second target mother turnover box.
  • the sorting task unit 6431 assigns an equal number of sorting tasks to each sorting device according to the distribution of the first target parent turnover box, the second target parent turnover box and the sorting devices in the three-dimensional warehouse. Or determine the sorting task according to the principle of the least time required for the handling process. Among them, sorting a target sub-tote is called a sorting task.
  • the handling task unit 6432 is used to assign handling tasks to each object moving device in real time according to the distribution of the object moving device, the sorting device and the target parent turnover box.
  • the handling task refers to transporting a target parent turnover box to the sorting unit of the sorting device, or transporting the first target parent turnover box that has been sorted in the sorting unit to its storage location unit, or transporting the sorted parent turnover box to its storage unit.
  • the second target mother turnover box is transported to the free storage unit in the outgoing area.
  • the handling task sent to the moving device includes the identity information of the mother turnover box, the identity information of the storage location unit where the mother turnover box is located, and the identity information of the storage location unit where the mother turnover box is placed, wherein the storage location unit where the mother turnover box is placed may be.
  • the sorting unit can also be a common location unit or a location unit in the outbound area.
  • the first target mother turnover box and the second target mother turnover box required for sorting may be transported by one object moving device, or may be transported by two different object moving devices. After the moving device has been transported, it can stop and wait for the sorting to be completed before transporting, or it can perform other transporting tasks after it has been transported.
  • the goods management system 161 maintains the binding relationship between the child turnover box and the parent turnover box in the warehouse, and the binding relationship between the parent turnover box and the storage location unit. For example, when the first target parent turnover box is moved away from the first storage location unit, the binding relationship between the first target parent turnover box and the first storage location unit is released. When the first target parent turnover box is placed in the sorting unit, a binding relationship between the first target parent turnover box and the sorting unit is established. When the first target parent turnover box has been sorted and moved away from the sorting unit, the binding relationship between the first target parent turnover box and the sorting unit is released. In the same way, do the same establishment and release of the identity binding relationship for the second target mother turnover box.
  • the freight device control system includes a vehicle control module and a three-dimensional warehouse management system
  • the vehicle control module includes the navigation module 991 and the docking control module 992, the positioning device 993 and the reduction module of the previous embodiment.
  • the three-dimensional warehouse management system communicates with the cloud control module to receive exchange tasks, for example, the exchange tasks include docking locations, goods exchanged during docking, and the like.
  • the vehicle control module is connected with the three-dimensional warehouse management system. According to the docking point in the exchange task, it moves to the docking point according to the planned route, and controls the box door, lifting bracket, docking plate, and XY drive platform in the vehicle at the docking point.
  • the three-dimensional warehouse management system in this embodiment is located locally in the freight device, and mainly controls the AGV3 to carry the goods during sorting, outgoing and incoming goods. Drive on the optimal path.
  • the sorting system 64 in the three-dimensional warehouse management system determines the sorting task and the AGV handling task during sorting.
  • the sorting device 6 completes the sorting of the exchanged goods before docking.
  • Fig. 54 is an overall structural diagram of a courier robot according to an embodiment of the present invention.
  • the express delivery robot 8 in this embodiment includes: a base 80 , a cargo box 81 , a walking mechanism and an interaction mechanism 83 .
  • the base 80 includes a bottom case 800 with various components and equipment built in, such as the drive assembly 84 and the steering assembly 85 corresponding to the traveling mechanism, the top cover 811 and the control box 81 .
  • the front cover 812 (see FIGS. 59A-59D ) opens and closes the motor 86 and integrates electrical components, power supplies and other equipment in the electrical box 87 .
  • These components and equipment are housed in the component cover 801 and are connected to the output shaft of the motor 86 synchronously Straps 861 extend from both sides.
  • a cargo box bottom plate 810 is installed on the bottom shell 800, and the bottom plate 810 is provided with a longitudinal guide groove 8100, which is used to guide the traveling of a moving device, such as an AGV, entering the cargo box 81.
  • a moving device such as an AGV
  • Two side ears 8111 are provided at both ends of the side frame 811 to provide installation positions for the synchronous pulley and its axle.
  • a column 812 is provided on the rear side of the cargo box bottom plate 810 for connecting various communication cables at the bottom to the interaction mechanism 83 at the top.
  • 59A-59D are schematic diagrams illustrating the composition of a cargo cover according to an embodiment of the present invention.
  • the cargo box in this embodiment includes a movable top cover 813 and a front cover 814, and a rear cover 815 is fixed.
  • Two side ears 8111 are arranged at both ends of the side frame 811 and the synchronous pulley 816 and its axle are fixedly installed.
  • the timing belt pulley 816 is connected with the motor in the base through the timing belt 816 .
  • the synchronous pulleys 816 on both sides correspond to a motor respectively, and are used to control the opening and closing of the top cover 813 and the front cover 814 respectively.
  • the traveling mechanism is the roller assemblies 82 arranged at the four corners of the base 80 , and each roller assembly 82 independently corresponds to a driving assembly and a steering assembly, so that the walking and running of each roller assembly 82 can be individually controlled. Therefore, the express robot can realize all-wheel independent drive (AWD), and has a variety of different walking modes, so as to adapt to the walking surface in various environments.
  • ATD all-wheel independent drive
  • Figure 60 shows a schematic view of the drive assembly within the base.
  • Figure 61 is a schematic diagram of the connection between a roller assembly and a drive assembly.
  • the drive assembly 84 includes a drive motor 840 and a multi-stage transmission mechanism.
  • the first-stage transmission mechanism in the multi-stage transmission mechanism includes a driving driving wheel 842 and a first-stage synchronous wheel 844, and the two are driven by a synchronous belt.
  • the primary reversing mechanism connected between the driving motor 840 and the driving driving wheel 842 is shown in FIG. 62 .
  • FIG. 62 is an enlarged view of the reversing mechanism with the support removed at A in FIG. 61 .
  • the end of the output shaft of the drive motor 840 is connected to the bevel gear 8401, and the end of the axle 8421 of the driving drive wheel 842 is connected to the bevel gear 8402.
  • the two bevel gears cooperate with each other to convert the radial power output by the drive motor 840 into axial power, that is, Power transmitted in the horizontal direction.
  • the driving motor 840 , the driving driving wheel 842 , and the primary reversing mechanism are fixed inside the base 800 through the support 841 .
  • Figures 63-64 are schematic diagrams of the transmission mechanism in the drive assembly with brackets etc. removed.
  • the primary synchronizing wheel 844 in the primary transmission mechanism is connected with a secondary reversing mechanism 845, as shown in the circled part in the figure, its structure is similar to that in Figure 62, and a pair of mutually matched umbrellas are used. Shape gears change axial power to radial power, even if the power transmitted in the horizontal direction is converted into the vertical direction.
  • the secondary reversing mechanism 845 is sequentially connected with transmission mechanisms 846, 847, 848.
  • the roller assembly 82 includes two coaxially connected roller bodies 821 , a roller synchronizing wheel 8211 is connected to the roller axle 8210 , and the roller synchronizing wheel 8211 is the end of the transmission mechanism 848 .
  • the driving motor 840 After the power output from the driving motor 840 passes through the primary reversing mechanism, it drives the driving driving wheel 842 , and the driving wheel 842 drives the primary synchronizing wheel 844 through the synchronous belt 843 .
  • the horizontal direction power transmitted by the primary transmission mechanism is converted into the vertical direction power, and the power transmission mechanism 846, 847, 848 in turn converts the power. It is transmitted to the roller synchronization wheel 8211, and the roller synchronization wheel 8211 drives the coaxial roller body 821 to rotate, thereby realizing the function of driving the roller body 821 to walk.
  • the secondary reversing mechanism 845 and the transmission mechanism 846 are built into the bracket 845 .
  • the transmission mechanisms 846 , 847 , 848 and the roller synchronizing wheel 8211 are built in the wheel frame 822 .
  • the head end of the wheel frame 822 is fixed with the end of the bracket 845, and the end of the wheel frame 822 is fixed with the roller axle 8210 through a bearing.
  • the roller body 821 is disposed at both ends of the roller shaft 8210 .
  • FIG. 67 is an overall schematic view of a steering assembly in a base according to one embodiment of the present invention.
  • FIG. 68 is a schematic diagram of a roller assembly connected to a steering assembly 85 .
  • the steering assembly 85 includes a steering motor 850 and a steering mechanism.
  • the steering mechanism and the traveling mechanism are fixed together, and in order to transmit the steering power of the steering motor 850 to the steering mechanism, a transmission mechanism is also included.
  • the transmission mechanism includes a steering driving wheel 851 and a steering synchronizing wheel 852 located in the steering mechanism.
  • the steering driving wheel 851 uses the synchronous belt 853 to drive the steering synchronous wheel 852 to rotate.
  • a reversing mechanism is also included between the output shaft of the steering motor 850 and the steering driving wheel 851, and its structure is as follows: As shown in FIG. 62 , a pair of bevel gears that cooperate with each other is used to convert the axial power transmitted by the output shaft of the steering motor 850 into radial power, that is, to convert the power transmission direction from vertical to horizontal.
  • the steering synchronizing wheel 852 is connected with a bogie.
  • the bogie mainly includes a bogie 8531 and a wheel frame 8532 .
  • the wheel frame 8532 is fixed with the bracket 8451 outside the secondary reversing mechanism of the drive assembly. Or use the wheel carrier 8532 and the bracket 8451 as one part.
  • the top of the wheel frame 8532 is a fixed surface, the top is provided with connecting holes, such as screw holes, and the periphery is provided with a boss. See Figure 64.
  • the bottom of the bogie 8531 is matched with the top of the wheel frame 8532, and is provided with connecting holes corresponding to the connecting holes on the fixed surface of the wheel frame 8532, so as to fix the bogie 8531 and the wheel frame 8532 together by connecting pieces.
  • the top of the bogie 8531 is fixed with the axle of the primary synchronizing wheel 844 of the drive assembly.
  • the steering motor 850 When the steering motor 850 is rotated, its output shaft is configured to output axial power. Through the bevel gear, the axial power is converted into radial power, and the steering driving wheel shaft coaxial with the bevel gear drives the steering driving wheel 851 to rotate.
  • the driving wheel 851 drives the steering synchronization wheel 852 to rotate through the synchronous belt, and the steering synchronization wheel 852 Drive the bogie 8531 fixed to it, the bogie 8531 drives the wheel frame 8532, the wheel frame 8532 drives the bracket 8451, the bracket 8451 drives the roller wheel frame 822, and then drives the entire roller body 821 to rotate together, thereby changing the rolling direction of the roller body 381.
  • FIG. 69 it is a schematic diagram after being rotated by an angle from FIG. 68 .
  • each roller assembly is matched with a drive assembly and a steering assembly, various walking modes can be realized through the independent control and cooperation of each roller assembly.
  • the express robot can be made to move forward or backward in the direction of walking.
  • the body of the courier robot can be kept still, such as still facing the original walking direction, but the roller body under the base can rotate in place.
  • the roller assembly By controlling the roller assembly to rotate 45 degrees at the same time, the body of the courier robot can be translated and still face the original walking direction, but the direction of the roller assembly is inclined at a certain angle (such as 45 degrees) to the original walking direction. .
  • the body of the courier robot can be kept still, and it still faces the original walking direction, but the direction of the roller assembly and the original walking direction are moved at an angle of 90 degrees, that is, At this time, the courier robot moves laterally.
  • the aforementioned different walking modes are used to adapt to various situations in the walking route. For example, when there is an obstacle in the original walking direction, the courier robot can change the forward straight forward to the left or right lateral movement, and then return to the original route when bypassing the obstacle. During the whole walking process mentioned above, there is no need to rotate the body, thus reducing the shaking caused by the rotating body, and ensuring the stability of the express robot during the walking process.
  • the interaction mechanism 83 is located above the cargo box 81 , and its signal lines, power lines, etc. are connected to the electrical box of the base through the wiring channel provided in the upright column 812 on the rear side of the cargo box bottom plate 810 .
  • the interaction mechanism 83 includes a camera 831, a display screen 832, and a voice device integrated on the display screen 832, such as a speaker and a microphone (not shown in the figure). Through the interaction mechanism 83 , it is possible to interact with the user, and monitor the picking and placing of goods inside the cargo box during the interaction with the user.
  • one parent turnover box 2 can be placed on the bracket inside the cargo box of the express robot.
  • the cargo box 81 can also be enlarged, and two positions are set inside it to place two mother turnover boxes 2.
  • the pickup volume and delivery volume can be increased, and the pickup and delivery can be carried out at the same time.
  • a top cover that is independently controlled is provided, respectively corresponding to the picking mother turnover box and the delivery mother turnover box.
  • Fig. 70 is a schematic block diagram of a control device of a courier robot according to an embodiment of the present invention.
  • the control device 88 includes a communication module 880 , a task management module 881 , a walking control module 882 and an interaction control module 883 .
  • the communication module 880 is configured to communicate with the cloud management system to transfer information, data, etc. to each other.
  • the task management module 881 is configured to receive the pickup/delivery task and docking information through the communication module 880, and send the corresponding pickup/delivery task information to the cloud management system.
  • the cloud management system maintains the logistics information of the goods, and the logistics information includes the identity information of the sub-container for loading the goods during the logistics process, the identity information of the parent container for loading the sub-container and the time of its change, the courier robot or the courier robot for transporting the goods. Shipping unit identification information and when it was changed, etc.
  • the pickup task received by the task management module 881 includes part of the information in the order, such as: delivery user information, including name, phone number, delivery address, etc., and also includes goods information, such as the name of the goods, the size, the subclass that should be used Turnover boxes, etc.
  • the cloud management system determines whether there are suitable sub-conversion boxes that meet the specifications in the current courier robot. If not, the location of the sub-container will also be obtained, such as the surrounding post station, the three-dimensional warehouse inside the express cabinet, or the nearby freight device passing by, and the pickup location will be sent to the express robot together with the pickup task.
  • the task management module 881 also collects the information during the pickup process and sends it to the cloud management system.
  • the delivery task received by the task management module 881 includes order information of the goods, such as recipient information, such as delivery address, recipient identity information, and the like.
  • the travel control module 882 is configured to control the drive motor and steering motor to travel and/or steer according to the planned route according to the travel route.
  • the walking route can be received from the cloud management system, or the walking route can be automatically calculated according to the target position and the road condition information monitored by the laser navigation SLAM or visual navigation VSLAM system. Therefore, in one embodiment, the control system further includes a geographic location module 884, so as to obtain geographic information between the current geographic location and target locations, and provide geographic location information for calculating the walking route. At the same time, the real-time geographic location and road condition information are reported to the cloud management system through the communication module 880 .
  • the walking route includes urban roads, bridges and other sidewalks that can be passed by pedestrians.
  • the control device also includes various sensors, such as various visual sensors, sound sensors, distance sensors, etc. and their respective processing units.
  • the walking control module 882 has built-in walking rules and corresponding control modes, and adopts corresponding control modes through the information collected by the sensors during the walking process. For example, stop, decelerate, avoid, accelerate, increase power, change course, etc.
  • the camera and its image processing unit in the interactive mechanism can also be used as a video sensor, or a separate visual sensor composed of a graphics sensor and a light projector.
  • the vision sensor can obtain the overall image information in front of and around the road, and after processing the image information, it can determine whether there are obstacles ahead, whether there are traffic lights, and so on.
  • the sound sensor can distinguish abnormal sounds, and with the visual sensor, abnormal situations can be judged.
  • the distance sensor is, for example, a laser ranging sensor, a photoelectric sensor, an infrared sensor, etc., which can measure the distance to a target object or obstacle.
  • the visual sensor can determine that the road ahead is uphill. At this time, each roller assembly needs to be adjusted so that the courier robot can walk on the slope safely. If it is judged that there is an obstacle ahead through the visual sensor, the size of the obstacle can be judged, and the avoidance measures can be determined. For example, if the obstacle is only pedestrians, give the distance for pedestrians in advance. After the pedestrian has passed, return to the original route. If an obstacle ahead occupies the entire road, change the route one block ahead.
  • Sound sensors can pick up surrounding sounds and determine if a response is required. For example, when a sharp ground friction sound is collected, it can be judged that there may be a traffic accident according to the pitch, size, distance and direction of the sound, and then the image collected by the visual sensor can be configured to determine the current accident. Then through the distance sensor, such as a laser rangefinder, you can determine the distance between the accident and yourself, and judge whether you need to avoid it and so on.
  • Distance sensors such as laser ranging sensors, photoelectric ranging sensors, etc., can detect not only things that are far away in front, but also things that are close.
  • the travel control module 882 controls the output power of the driving motor or the steering motor to adapt to the frictional resistance of different road surfaces. For example, increase the output power of the motor when walking on roads with high frictional resistance, such as unremoved snow, uneven gravel roads, etc., and reduce the motor when walking on smooth ground, such as tiles, ice, etc. The output power, and through the direction of the roller, reduce the possibility of losing the center of gravity of the sliding.
  • the interactive control module 883 is connected to the walking control module 882, the task management module 881 and the communication module 880, obtains the task information of picking up/delivery and the task information of docking goods from the task management module 881, and docks the goods according to the task of picking up/delivering goods
  • the task and the corresponding interactive scene are completed to pick up or deliver the goods and dock the goods.
  • FIG. 71 it is a functional block diagram of an interaction control module according to an embodiment of the present invention.
  • the interactive control module 883 includes an operating unit 8831 to open the case according to instructions, for example, in a pickup/delivery scenario, open the top cover 813 at the beginning, close the top cover 813 at the end, and lock the top cover 813 to Guarantee the safety of goods.
  • the front cover 814 is opened at the beginning and closed at the end to ensure the safety of the cargo.
  • It also includes operation indicators, such as operating a laser prompter according to the user's instructions to prompt the target sub-tote in the parent tote, or to activate the indicator of the sub-tote to emit light or sound to remind the user that it is the target sub-tote .
  • operation indicators such as operating a laser prompter according to the user's instructions to prompt the target sub-tote in the parent tote, or to activate the indicator of the sub-tote to emit light or sound to remind the user that it is the target sub-tote .
  • the interactive control module 883 also includes a voice unit 8832, including a voice module, a speaker and a microphone, for dialogue with the shipping user or the receiving user, guiding the shipping user to carry out the shipping process, and guiding the receiving user to carry out the receiving process. For example, check the identity of the shipping user or the receiving user, check the goods, prompt the shipping user or the receiving user to watch the demo video, give a reminder when the shipping user or the receiving user has made an error, and so on.
  • a voice unit 8832 including a voice module, a speaker and a microphone
  • the interactive control module 883 also includes a video unit 8833, including an image capture device (eg, a camera 831 ) and a video output device (eg, a display screen 832 ).
  • the camera 831 captures the video images during the whole process of delivery and receipt, and sends them to the cloud management system through the Nengxin module 880 .
  • the camera 831 can capture the situation in the mother turnover box, so as to monitor the operation of the shipping user or the receiving user.
  • the video output device plays related videos, such as greeting videos, operation demonstration videos, logistics process demonstration videos, etc. interacting with the shipping user or the receiving user. Interacting with users through voice and video, it can visually output necessary information to users and answer users' questions.
  • the logistics control system in the present invention includes: a customer service system and a logistics control module. As shown in Figure 72, it is the principle block diagram of the logistics control system.
  • the logistics control system in this embodiment includes one or more customer service systems, and multiple logistics control modules with the same function or not.
  • the customer service system includes a customer service server and a customer service client.
  • the client terminal provides a user interface, and the user can input the relevant information of the goods to be sent through the client terminal, and the input method can be text, pictures, voice or video. For example, enter the recipient and its address, sender and address, the type or name of the goods, and special items in text, such as information such as fragile, urgent, ordinary, express, etc. You can also upload photos and videos of the goods to It is convenient to judge the size, weight, etc., and indicate the delivery method, such as door-to-door pickup, self-service delivery by users, etc.
  • the user confirms the sending after entering the information.
  • the client generates a user logistics order and sends it to the server.
  • the server parses the information required by the logistics control system, such as recipient address, fragile characteristics of the goods, and logistics level, and sends the above order information to the logistics control module. Group.
  • the logistics control module performs corresponding control operations such as picking up, transporting, and dispatching according to the order.
  • the server also receives cargo circulation information from the relevant logistics control modules, such as the predetermined transportation route and the freight device corresponding to each logistics chain, the current logistics chain and the corresponding freight device and the weight sensor of the region and the freight device at all levels. Information such as records on the way, whether there is a collision, etc., for users to understand the progress of the circulation of the goods they send.
  • the client can also provide relevant logistics information, such as cost query, logistics order, real-time query of goods status, etc.
  • the server publishes the user's logistics order information to more than one logistics control module, and one of the logistics control modules processes the order, such as receipt and delivery, transportation docking, and the like.
  • the logistics control modules processes the order, such as receipt and delivery, transportation docking, and the like.
  • the user chooses to pick up the goods, they can be picked up by courier robots or drones.
  • the available courier cabinets can be recommended to the user, and recommended to the user according to the distance from the user, travel time, etc. of multiple express cabinets to sort.
  • a logistics control module may include multiple modules with different functions. As shown in FIG. 74 , in an example embodiment, it includes a geographic information module and a route planning module.
  • the geographic information module is used to acquire and maintain the real-time geographic location of the freight device.
  • the geographic information module includes a geographic information system, or is connected with an existing geographic information system through a dedicated interface, so as to obtain geographic location information.
  • various freight devices in the present invention have positioning devices, such as GPS and other positioning systems, to determine their real-time geographic locations, and send the real-time geographic locations to the geographic information module, so that the real-time geographic location of each freight device can be obtained. Location.
  • the route planning module determines the freight device to hand over the goods, the handover point and the corresponding logistics information according to the real-time geographic location and driving capability of the freight device, geographic traffic information and logistics information for transporting the goods.
  • the traveling route to the handover point is also calculated for the freight device to be handed over.
  • the positioning device in the freight device calculates the driving route from the current position to the intersection by itself with reference to the real-time traffic information.
  • the logistics level of the goods is referred to, and the logistics information of the goods with a high logistics level is used to determine the docking point and the freight device; when the quantity of the docking goods exceeds the docking freight When the capacity of the device is increased, the goods with high logistics level are preferentially exchanged, so as to ensure that the goods with high logistics level can be delivered quickly and in time.
  • the logistics control module also includes a cargo supervision module, which is used to obtain and maintain the logistics information of the transported goods from the customer service system, and the logistics information includes the cargo order information, such as consignee and address, consignor and address, contact method, logistics level, such as express, normal, etc.
  • the logistics information also includes the identity binding information and change information between the goods and the freight device, the storage location unit, the parent turnover box, and the child turnover box. Through these binding relationship information, the current carrying capacity of the freight unit can be determined, such as the number of location units in each freight unit and its distribution in the three-dimensional warehouse.
  • the freight device that transports the goods and its position in the three-dimensional warehouse can be determined.
  • This information is constantly changing with the transportation of goods, and the information of these changes is recorded in detail in the logistics information of each sub-container, so that it can be used to track the entire logistics process of a piece of goods and leave the logistics system during the transportation of the goods.
  • the logistics control module in the present invention also includes a sorting control module, which determines the corresponding sorting goods list according to the freight device, express cabinet and other possible fixed position warehouses and handover points for handing over the goods, and provides the freight device in the built-in three-dimensional warehouse.
  • the sorting device assigns sorting tasks, and the moving device assigns handling tasks, so that the two cooperate to complete the sorting of goods before docking.
  • the above-mentioned sorting control module may be located in a logistics equipment with a three-dimensional warehouse such as a freight device, or may be located in the cloud.
  • the present invention employs a decentralized control model.
  • the goods information is sent to each module.
  • One or more modules control the freight devices in an area to complete the operations of receiving, transporting, docking, sorting, and dispatching goods.
  • one of the functional modules fails, other identical functional modules can replace the faulty functional modules to achieve corresponding control functions.
  • the control module will replace the faulty cargo device with another cargo device after reasonable planning and calculation.
  • the midway delivery logistics method provided by the present invention mainly includes the following aspects: the receiving and dispatching of goods, the transportation of goods, and the delivery and sorting of goods during the transportation of goods.
  • a transportable parent-child turnover box is provided in the logistics system.
  • the goods are collected, the goods are stored in the sub-totes.
  • the child turnover boxes are stored in the parent turnover box, and one parent turnover box is built with one or more child turnover boxes.
  • the freight unit has a built-in three-dimensional warehouse, including one or more location units.
  • the mother totes are stored in the location unit.
  • Each freight unit, the location unit in each freight unit, the child turnover box, and the mother turnover box are provided with a unique identification mark, and in the logistics process, they are established or removed according to the sorting, exchange and other conditions during the transportation process. The binding relationship between them, so that accurate information on the flow of goods can be obtained.
  • multi-level freight devices are used to transport the goods within their respective transportation distances, and the goods are transferred from one freight device to another according to the distribution position and logistics direction of the freight devices.
  • the freight unit repeats this transfer process until it reaches the logistics destination. Since the goods need to be transferred between different freight units, the goods need to be sorted out of the original freight units before the transfer.
  • the sorting of the present invention takes place in a freight unit while the goods are in transit.
  • the goods are sent from the delivery user into the logistics system, and the flow of the goods is ended according to the receipt of the terminal logistics equipment, the transfer of different freight devices in the middle, and the delivery of the terminal logistics equipment until the receiving user receives it.
  • the logistics method of the present invention will be described below from the end of the logistics system.
  • the delivery robot can interact with the delivery user to complete the delivery and delivery; the delivery user uses the express cabinet and the drone to complete the delivery by himself. , receiving goods; and couriers driving minivans and interacting with delivery users to complete delivery and delivery.
  • Scenario 1 The courier robot picks up the goods from the delivery user
  • Fig. 75 is a flow chart of an operation method of a courier robot when picking up goods according to an embodiment of the present invention.
  • the delivery operation method of the express delivery robot provided by the present invention includes the following steps:
  • a parent turnover box with a built-in predetermined child turnover box is loaded into the storage layer in the cargo box.
  • the courier robot receives the pickup task, it also includes the specification information of the sub-conversion box required for the pickup.
  • the cloud can determine whether the courier robot currently has a sub-conversion box of the required specifications, and if not, send it an address to obtain the sub-conversion box, such as a nearby fixed-position warehouse, express cabinet, or other freight devices passing through the area . If the courier robot currently has sub-totes with the required specifications, step S82a is executed.
  • the courier robot exchanges the mother turnover box in its cargo box and the child turnover box inside it with the mother turnover box at the exchange location and the corresponding child turnover box that meets the specifications. Further, the courier robot can pick up multiple goods from multiple pickup locations at one time, and thus, upon departure, sub-towers corresponding to multiple goods are placed in its cargo box.
  • Step S82a the courier robot arrives at the pickup location according to the planned route.
  • the walking mode can be adjusted according to the road conditions. During walking, monitor the surroundings to prevent collisions and avoid obstacles in time.
  • the courier robot in order to improve efficiency, notifies the shipping user by phone/SMS 10 minutes before arrival and after arrival.
  • Step S83a guiding the shipping user to complete the shipping process. After connecting with the shipping user, it includes the following process, as shown in Figure 76:
  • Step S831a the courier robot verifies the user's identity and the goods. Check whether the person and the goods are consistent with the information in the pickup task according to the pickup task information. For example, the name of the shipping user, the phone number, the name of the goods, the characteristics, etc.
  • step S832a after checking the information, the courier robot opens the top cover of the cargo box, and prompts the user to find and open the sub-transport box. At the same time, the operation demonstration video of unpacking and placing goods in the sub-converter box is played on the display screen. If there are multiple child turnover boxes in the parent turnover box, the courier robot can prompt the user to open the corresponding child turnover box in different ways.
  • a light-emitting indicator is provided on the sub-tote box, and the courier robot activates the light-emitting indicator of the corresponding sub-tote box to make it glow and flash, or inform the receiving user of the number on the shell of the sub-tote box by voice; or through the cursor
  • the indicator emits a light spot to the corresponding sub-turnover box.
  • step S833a after the user correctly places the goods in the sub-transport box, closes, weighs, charges and confirms delivery, the courier robot locks the sub-transit box, and establishes the identity binding between the goods and the sub-transit box relationship, and write the binding relationship and the password of the sub-turnover box into the electronic label of the sub-turnover box. And upload the electronic label information and confirmed delivery information of the sub turnover box to the cloud.
  • the cargo supervision module in the cloud records the information into the logistics information of the cargo.
  • step S84a the courier robot arrives at the docking point according to the planned route, and delivers the goods to the next-level logistics chain.
  • the cloud calculates the delivery information, including the docking location, the identity information of the freight device docked with it, and the planned route, and sends the delivery information to the courier robot.
  • the courier robot arrives at the docking point according to the planned route.
  • the courier robot opens the front cover of the cargo box, and the AGV in the cargo unit enters the cargo box of the courier robot, lifts up the mother turnover box, and transports it back to the cargo unit.
  • the courier robot releases the identity binding relationship between the courier robot and the mother turnover box, and uploads it to the cloud to complete the pickup task and complete the docking and delivery.
  • the cloud records the change information of the identity binding information into the logistics information of the goods.
  • the freight device After receiving the mother turnover box, the freight device establishes an identity binding relationship between the freight device and the mother turnover box.
  • Scenario 2 The courier robot delivers the goods to the receiving user
  • FIG. 79 is a flow chart of a delivery operation of a courier robot according to an embodiment of the present invention.
  • the delivery operation process includes the following steps:
  • Step S80c receiving the goods to be dispatched.
  • the courier robot receives the delivery task, during docking, after delivering its mother turnover box to the docking freight device, it receives the goods that need to be dispatched.
  • the AGV in the cargo unit is transported to the cargo box of the courier robot.
  • Step S81c the express robot walks to the delivery location according to the walking route planned by the cloud or calculated by itself.
  • the courier robot in order to improve efficiency, notifies the receiving user by phone/SMS 10 minutes before arrival and after arrival.
  • Step S82c and after arriving at the delivery location, interact with the receiving user to complete the delivery task.
  • the courier robot voice prompts the receiving user to find and open the sub turnover box and take out the goods. After the receiving user confirms the receipt of the goods, cover the sub turnover box and click the confirmation button on the display to send the goods. Goods completed.
  • the courier robot collects the video of the interactive process, helps the receiving user to operate correctly in time, and finally uploads the collected video to the cloud management system.
  • the courier robot can also deliver at the same time during the pickup process.
  • the cargo box of the courier robot includes two mother turnover boxes, one is a delivery mother turnover box, and the other is a pickup turnover box, and each mother turnover box may include more than one child turnover box crates.
  • Each sub-tote corresponds to a task.
  • the courier robot performs multiple tasks, its walking route is designed according to the destination address in the task, the docking address at the time of delivery and the current address of the courier robot.
  • the walking route can be planned by the cloud management system or by the courier robot itself.
  • Fig. 80 is a flow chart of a delivery robot according to an embodiment of the present invention when multiple tasks are performed.
  • the execution process includes the following steps:
  • Step S80d move to the first execution location according to the planned route.
  • the execution location is a pickup location or a delivery location.
  • step S81d it is determined whether the current execution location is picking up or delivering the goods. If the current execution location is picking up the goods, the process of interacting with the delivery user is executed from step S831a in FIG. 76 to complete the picking task. In the process of picking up goods, the top cover of the container corresponding to the mother turnover box for picking up the goods is opened, and the sub turnover box corresponding to the specifications of the goods being picked up is placed inside. If the delivery is at the current execution location, step S82c in FIG. 79 is executed to complete the delivery task. During the delivery process, the top cover of the corresponding delivery mother turnover box in the cargo box is opened, and the child turnover box containing the goods is placed inside.
  • step S82d is executed to determine whether there is still an unexecuted place, if so, move to a new execution place in step S83d, and then execute step S81d. If there is no unexecuted location, that is, all the pickup and delivery tasks have been completed, then in step S84d, the courier robot moves to the docking location according to the planned route, and in step S85d, the courier robot is at the docking location and the next logistics chain. After the device is docked, the pickup mother turnover box and the delivery turnover box (the inner child turnover box is empty at this time) are delivered to the freight device.
  • the freight device collects the sub-transport boxes of goods that need to be dispatched into one mother tote box, and collects the sub-transition boxes for the delivery robot to pick up the goods into another mother tote box, and delivers them to the courier robot together. So far, the courier robot has completed the execution of the last multi-task, and started the execution of the next pickup and delivery tasks.
  • the courier robot can both pick up and deliver goods during one walking process.
  • the useless work of the courier robot moving empty boxes is reduced, so the work efficiency of the courier robot is higher. high.
  • Scenario 4 Users use express cabinets for self-service delivery
  • the delivery user When the delivery user needs to deliver the goods, if he chooses to deliver from the express locker, the delivery user can deposit the goods in the express locker to complete self-service delivery. Specifically, it includes the following steps shown in Figure 81:
  • Step S1000 the delivery user generates a logistics order through a customer service client, such as an APP or a small program supported by a mobile phone, including the name, address and contact information of the consignee; the name, address and contact information of the consignor; the logistics level (air express). ); size; insured price and selected courier cabinet for delivery and other information.
  • a customer service client such as an APP or a small program supported by a mobile phone
  • Step S1001 after receiving the user order, the cloud system sends delivery information to the corresponding express cabinet. Include order details and the required sub-tote ID.
  • step S1002 the express cabinet 10 sorts out the corresponding child turnover box into a parent turnover box according to the required identification of the child turnover box, and sends it to a storage location unit that interacts with the user by the AGV3, and the storage location unit corresponds to the cabinet door. 112, see Figure 47B.
  • step S1003 after the delivery user arrives at the express locker, he can interact with the express locker through his mobile client to confirm the identity information of both parties.
  • Step S1004 after the identity information is confirmed to be correct, the express cabinet 10 opens the user interaction cabinet door 112. Under the prompt of the client, the shipping user opens the sub-turnover box, puts the goods into the sub-turnover box, and puts them back into the express cabinet. After it is determined that the delivery is completed, the express cabinet 10 closes the cabinet door 112 .
  • step S1005 the AGV inside the express cabinet 10 reads the identity label of the sub-transport box 7, establishes the identity binding relationship between the goods and the sub-transit box 7, and the identity binding relationship between the sub-transit box 7 and the current parent turnover box, and uploads it to Cloud, waiting for pickup.
  • the height of the parent turnover box (hereinafter referred to as the mother turnover box for cabinets) for receiving and dispatching the goods of the user is relatively small, as shown in FIG. 47B , which is convenient for the user to take the child turnover box.
  • the mother turnover box with the smaller height can be left in the express cabinet 10 and is dedicated to the interaction with the user. Therefore, after the delivery user completes the delivery of the goods, the child turnover box containing the goods needs to be transferred into the transport mother turnover box.
  • the AGV can transport the mother turnover box for cabinets to the sorting unit of the sorting device, and the sorting device transfers it to the transport mother turnover box.
  • Scenario 5 The user uses the express cabinet to receive the goods by himself
  • the receiving user can go to the express cabinet 10 to complete the receiving of the goods by himself.
  • the receiving user can interact with the express cabinet 10 through the client.
  • the sorting device in the express cabinet 10 sorts the child turnover box 7 containing the user's goods into the mother turnover box 2 for cabinets.
  • the AGV3 is transported to the storage location unit 1 where the user interacts, and the corresponding cabinet door 112 is opened.
  • the user can know the password for opening the sub-turnover box 7 according to the information received by the mobile phone client, and open the sub-turnover box 7 to take out the goods at the prompt of the mobile phone client, such as a video demonstration, etc.
  • the cabinet door 112 is closed.
  • the express cabinet opens the special cabinet door 112.
  • the cabinet door 111 when it is docked with the express robot 8 or other freight devices can also be used.
  • the cabinet is sent out, if the user picks up the goods, the corresponding sub-turnover box 7 containing the goods is sent out, and if the user delivers the goods, the corresponding required sub-turnover box 7 is sent out.
  • Scenario 6 The user interacts with the drone, picking up and delivering
  • users can choose to pick up or receive the goods by drone.
  • the drone arrives at the user with the sub-conversion box of the corresponding specification, and the user puts the goods into the sub-sub-conversion box according to the instructions, such as the voice device in the drone or the demonstration video and text explanation of the customer service client. .
  • the drone is equipped with a weight sensor. After the user packs the box, the weighing fee is charged. After the user pays, the pickup process ends, and the goods enter the logistics system.
  • the interaction process with the user is similar and will not be repeated here.
  • the user can also interact with a courier-driven or driverless minivan to ship or receive goods.
  • a courier-driven or driverless minivan to ship or receive goods.
  • the minivan is unmanned, it is equipped with interactive equipment.
  • the interactive equipment of the courier robot please refer to the interactive equipment of the courier robot. The process is similar to the interaction process of the courier robot, and will not be repeated here.
  • the goods After the goods enter the logistics system through terminal logistics equipment, such as courier robots, drones, courier cabinets or minivans, the goods will be delivered in different freight units.
  • terminal logistics equipment such as courier robots, drones, courier cabinets or minivans
  • the goods will be delivered in different freight units.
  • the following docking scenarios are included:
  • the purpose of docking the courier robot with the courier cabinet can be to obtain empty boxes, or temporarily store the goods that cannot be delivered to the receiving user in the courier cabinet, or take out the goods that need to be delivered from the courier cabinet.
  • the empty box as an example, the docking process between the courier robot and the courier cabinet is described as follows:
  • the courier robot 8 when it does not currently have a suitable sub-return box, it can be obtained from a nearby courier cabinet, which specifically includes the following steps shown in Figure 77:
  • step S80b the cloud system inquires about the express cabinets and moving freight devices within the driving range of the express delivery robot 8, and determines the position where the express delivery robot 8 can obtain the required sub-totes according to the principle of the shortest acquisition time.
  • express cabinet 10 such as express cabinet 10.
  • step S81b the cloud system sends a message for obtaining the child and mother turnover boxes to the express robot 8 and the determined express cabinet 10, wherein the information received by the express robot 8 includes the location of the express cabinet 10, and may also include a planned travel route.
  • the information received by the express cabinet 10 includes the identification of the sub-transport box and the identification of the courier robot, wherein, according to the needs of picking up the goods, there may be one or more sub-transit boxes required.
  • step S82b the courier robot 8 moves to the position of the courier cabinet 10 according to the planned route.
  • the courier cabinet 10 according to the received message, the sorting device inside it, with the cooperation of the AGV3, sorts the required sub-transport boxes. Pick a parent turnover box, and establish the identity binding relationship between the parent turnover box and the child turnover box.
  • Step S83b after the courier robot 8 arrives at the position of the courier cabinet 10, it mutually confirms the identity with the courier cabinet 10. As shown in Figure 78A.
  • Step S84b after both parties confirm their identities, the express cabinet 10 opens the cabinet door, puts down the docking plate 122, drives the slide rail 121 to descend with the docking plate 122, and at the same time, the express robot 8 opens the front cover of its cargo box, and the two are ready for docking. As shown in Figure 78B.
  • step S85b the courier robot 8 moves forward to make the docking plate 122 enter under its base.
  • the lift sensor When the lift sensor is triggered, it means that the courier robot 8 is accurately docked with the docking plate 122, and then the slide rail 121 is driven to rise together with the courier robot 8 , until the signal sent by the positioning sensor is received, indicating that the running surface of the moving space in the cargo box of the courier robot 8 is accurately docked with the running surface on the lifting platform 42 .
  • the lift sensor may be arranged at an appropriate position under the base of the express robot 8 , or may be arranged at an appropriate position of the docking plate 122 .
  • Positioning sensors may be provided at appropriate locations on the docking plate 122 or the lift table 42 .
  • step S86b the AGV3 inside the express cabinet 10 transports the mother turnover box with the child turnover box already placed into the cargo box of the express robot 8, and then returns it to the express cabinet 10. If there is a mother turnover box inside the express robot 8, the AGV3 inside the express cabinet 10 first transports the mother turnover box inside the express robot 8 into the express cabinet 10, and then transports the child turnover box required by the express robot 8 together with a mother turnover box into the cargo box of the courier robot 8.
  • step S87b the express cabinet 10 drives the slide rail 121 and descends together with the express robot 8.
  • step S88b the express cabinet 10 is separated from the express robot 8. After the courier robot 8 hits the ground, it retreats and leaves the docking plate 122, but closes the front cover, and at the same time, the courier cabinet 10 retracts the docking plate 122, rises to a certain height, and closes the cabinet door 111.
  • the courier robot 8 successfully obtains the required sub-totes from the courier cabinet 10 .
  • the courier robot delivers the goods and cannot deliver the goods to the receiving user, or store the goods in the express cabinet.
  • the courier robot stores the goods to be delivered together with the parent turnover box in the express cabinet, it sends the binding change information of the parent turnover box to the cloud management system, and the delivery task is completed.
  • the consignee is notified by the cloud management system by phone, text message or email to pick up the goods.
  • the process is similar to the process of taking out the empty box, and will not be repeated here.
  • the courier robot can also pick up the goods to be delivered from the express cabinet according to the instructions of the cloud, which is similar to the process of picking up empty boxes, and will not be repeated here.
  • the courier robot can deliver the goods collected from the user to the minivan, and can also receive the goods that need to be dispatched from the minivan.
  • FIGS. 82A-82C a schematic diagram of the docking between the miniature truck and the express delivery robot of this embodiment is shown.
  • the box door 94 is opened, and the lifting bracket 962 of the lifting and docking device is lowered to a preset position along the lifting rail 961, and the docking plate 963 is opened.
  • Figure 82A a schematic diagram of the docking between the miniature truck and the express delivery robot of this embodiment is shown.
  • the courier robot 8 moves forward, so that the docking plate 963 extends to the bottom of the cargo box base of the courier robot 8, and after the position of the cargo box base is determined, the lifting bracket 962 is controlled to rise to the preset position along the lifting track 961, so that the courier robot 8 cargo box
  • the running surface of the docking plate 963 of the object-moving space contacts the running surface of the bottom of the storage unit in the three-dimensional warehouse and then stops rising.
  • the AGV3 inside the minivan 9a enters the cargo box of the courier robot 8 and transports the parent turnover box inside it to the minivan 9a, or transports the corresponding mother turnover box in the minivan 9a to the cargo box of the courier robot 8 as required .
  • the courier robot can also deliver the goods collected by the user to the urban circular truck, and receive the goods that need to be delivered from the urban circular truck. This process is similar to the docking of a minivan, and will not be repeated here.
  • courier robots can also be docked with intercity freight devices, such as long-distance or short-distance trucks, trains, and ocean ships that take a break.
  • UAVs can be divided into large UAVs and small UAVs.
  • Small UAVs only transport one sub-container, that is, one piece of cargo at a time.
  • Large-scale drones have multiple storage units inside, which can store multiple sub-conversion boxes.
  • the drone can deposit the goods collected from the user into the express locker, or obtain the goods that need to be dispatched from the express locker.
  • the goods can be transferred to other logistics equipment, such as express cabinets, minivans, and urban circulation trucks.
  • the drone stores the goods to be sent in the express cabinet 10, or takes the goods to be taken out from the express cabinet.
  • the express cabinet 10 opens the cover 113 at the top drone interface. If the user deposits goods, the lifting platform of the lifting system in the cabinet moves up with the mother turnover box 2 to reach the drone interface. The drone drops the sub-tote 7 with cargo into the mother tote 2.
  • the lifting platform moves up with the mother turnover box 2 with the built-in sub turnover box 7 to reach the drone interface.
  • the drone grabs the child turnover box 7 from the mother turnover box 2 .
  • the cover plate 113 is closed, and the lift platform descends with the mother turnover box 2 .
  • the drone can deliver the ordered goods in the express cabinet to the receiving user.
  • the interaction process between the drone and the express cabinet is similar to the above process, and the description will not be repeated here.
  • FIG. 86 is a schematic diagram of docking a small unmanned aerial vehicle with a fixed-position warehouse according to an embodiment of the present invention.
  • the fixed-position warehouse (or the first three-dimensional warehouse) 100 is also provided with a drone interface 106 on the top thereof, and the interface corresponds to one or more warehouse units.
  • the small unmanned aerial vehicle wants to put the sub-transport box 7 into the first three-dimensional warehouse 100
  • the first three-dimensional warehouse 100 opens the cover plate at the interface to expose the corresponding storage unit under it.
  • the small drone can hover over the interface, or be supported on the peripheral positioning groove 107 of the interface through a bracket to stop above the interface.
  • the small UAV puts the sub-transport box into the storage unit at the interface through the mechanical gripper, etc., and at the same time releases the identity binding relationship between the sub-transit box and the drone.
  • the sub-conversion box that needs to be carried by the small unmanned aerial vehicle is placed in the storage unit at the interface, and the small unmanned aerial vehicle can read it through RFID.
  • the writer and the like recognize the sub-transport box, grab it and take it away through the mechanical gripper, etc., and at the same time release the identity binding relationship between the sub-transit box and the storage unit, and establish the identity binding relationship between the sub-transit box and the drone.
  • docking is performed through the drone interface 106 in FIG. 86 .
  • a large drone hovers over the interface, or is supported by a bracket on the peripheral positioning groove 107 of the interface so as to stop over the interface. After the location is determined, the large drone puts down the lift and connects with the interface, so as to complete the exit, storage and exchange of goods.
  • the large drone hovers or falls on the ground on the side of the three-dimensional warehouse, and connects with the three-dimensional warehouse through the docking plate or the docking pipeline, thereby completing the exit, entry and exchange of goods.
  • Drones can also interact with cargo devices such as minivans and urban cycle vans to deposit or withdraw goods.
  • Micro trucks and urban circulation trucks can be equipped with drone interfaces, such as drone interfaces in express cabinets or fixed-position warehouses. Different from the interaction of express cabinets and fixed-position warehouses, when drones interact with movable logistics equipment such as minivans and urban circulation trucks, the movable freight device does not need to stop, and when the two maintain the same speed , the sub-conversion box carried by the drone can be deposited into the cargo device from the drone interface of the cargo device, or the goods can be extracted from the cargo device.
  • FIG. 83 is a schematic diagram of the docking of a minivan with a fixed-position warehouse according to an embodiment of the present invention.
  • a fixed-position warehouse such as a courier cabinet
  • the minivan 9a is moved to an appropriate position so that the doors of the two are opposite, and the box door 94 and the cabinet door 111 are opened.
  • the warehouse door 105 in the fixed position is opened, and the lifting bracket 962 of the lifting and docking device of the minivan 9a lifts the docking plate 963 to a preset position along the lifting rail 961, and the docking plate 963 is opened.
  • the position of the mini-truck 9a is adjusted and the shock-absorbing air bag is adjusted so that the docking plate 963 is accurately docked with the lifting platform 42 or the storage unit of the warehouse at the fixed position.
  • the AGV3 inside the minivan 9a enters the fixed-position warehouse to transport the parent turnover box containing the sub-transportation boxes to be sent into the minivan 9a, or the microvan 9a needs to be self-received by the user as required.
  • the child turnover box and the mother turnover box are transported to the fixed position warehouse container.
  • FIG. 84 is a schematic diagram of the docking between a miniature truck and an urban circulation truck according to an embodiment of the present invention. Since the mini-truck 9a is a small freight device, its height is smaller than that of the urban circulation truck 9b, so the three-dimensional warehouse inside it cannot be directly connected with the three-dimensional warehouse in the urban circular truck 9b. After the doors of the two boxes are opened, the lifting bracket in the docking device in the minivan 9a rises, and the docking plate is lowered, so that the docking plate is completely docked with the running surface of the bottom surface of the storage unit inside the urban circulation truck 9b.
  • the goods can also be delivered to other mini-trucks when the goods cannot be delivered to the urban circulating truck in time.
  • FIG. 85 is a schematic diagram of the docking of two urban circulation trucks 9b.
  • the opposite wing doors 942 are opened in sequence, and then the level and alignment height are adjusted.
  • shock-absorbing airbags are arranged between the box body frame and the vehicle body of the urban circulating freight vehicle 9b, and the level can be adjusted conveniently and quickly by adjusting the air pressure of each airbag.
  • the X-Y drive platform is activated to drive the whole three-dimensional warehouse 91 to slide out to the side. When the two three-dimensional warehouses are docked and positioned, the sliding stops, and a unified three-dimensional warehouse is formed after the docking.
  • Other freight devices such as freight trains, freight planes, and ocean freighters, are equipped with three-dimensional warehouses.
  • the circulating truck drives its XY drive platform, moves its three-dimensional warehouse out, and directly docks with the three-dimensional warehouse in other freight devices.
  • these freight devices open their docking plates 300, and use the lifting mechanism to raise or lower them to the proper position to accurately dock with the urban circulating freight vehicle.
  • two three-dimensional warehouses can also be connected by pipes whose bottom surfaces are butting plates, so that the goods are not affected by weather and climate when entering and leaving the warehouses.
  • the two logistics equipment When the two logistics equipment are docked, it includes the delivery, storage and exchange of goods. Taking the warehouse structure shown in FIG. 87 as an example, the process of outgoing, incoming and exchanging goods will be described.
  • FIG. 87 is a schematic diagram of the docking between a three-dimensional warehouse and a freight device according to an embodiment of the present invention. Taking FIG. 87 as an example, the process of goods warehousing will be described.
  • the first three-dimensional warehouse 100 is a fixed-position warehouse
  • the second three-dimensional warehouse 200 is a three-dimensional warehouse in a freight device, which is not shown in FIG. 87 . out of transportation.
  • the cargo warehousing process includes the following steps:
  • the freight device drives to the side of the first three-dimensional warehouse 100, and both sides open the warehouse door.
  • the first three-dimensional warehouse 100 may be a fixed logistics warehouse.
  • Step S9102 docking the freight device with the first three-dimensional warehouse 100 .
  • the storage location unit 20 in the small second three-dimensional warehouse 200 in the freight transport device has the same specifications as the storage location unit in the first three-dimensional warehouse 100 .
  • the second three-dimensional warehouse 200 and the fixed first three-dimensional warehouse 100 in the freight device can be directly connected door-to-door when conditions permit.
  • the level can be adjusted conveniently and quickly, so that the warehouse door 205 of the second three-dimensional warehouse 200 and the warehouse door 105 in the fixed first three-dimensional warehouse 100 are completely butted together.
  • the warehouse door 105 of the fixed first three-dimensional warehouse 100 is large, the warehouse door 205 of the second three-dimensional warehouse 200 is small, and the warehouse door 105 of the first three-dimensional warehouse 100 is large, when it is opened, multiple rows can be exposed.
  • Multi-layer storage unit When docking with the small second three-dimensional warehouse 200 in the freight device, it can be docked at any row and at any floor.
  • the positioning sensor is triggered when the docking of the two three-dimensional warehouses is completed. After the local module in the three-dimensional warehouse receives the signal from the positioning sensor, it indicates that the docking has been completed.
  • the communication module sends the completion information of the three-dimensional warehouse docking to the cloud logistics control module.
  • the cloud logistics control module sends transportation instructions to the AGV to move the goods.
  • the number of AGVs for transportation is determined according to the number of inbound storage devices of the second three-dimensional warehouse 200 in the freight device, the number of storage location units on the docking surface, and the number of currently available AGVs. In this embodiment, it is assumed that there is only one parent turnover box in the freight device to be stored in the first three-dimensional warehouse 100, so only one AGV is required.
  • When determining the AGV first select an idle AGV, and then interrupt the task of the working AGV when there is no idle AGV, so that it can carry the storage device.
  • step S9103 it is determined whether there are available AGVs in the two warehouses. If there are, for example, there are AGVs 230 available in the second three-dimensional warehouse 200, or there are AGVs 130 available in the first three-dimensional warehouse 100, then in step S9104, the cloud The logistics control module sends handling instructions to the available AGV23 or AGV130. Then step S9108 is executed.
  • step S9105 If there are no AGVs available in both warehouses, it is determined in step S9105 whether there are spare AGVs, such as those provided inside the first three-dimensional warehouse 100 or in the freight device.
  • step S9106 If there is a backup AGV, in step S9106, a transfer instruction is sent to the backup AGV, and then step S9018 is executed. If there is no spare AGV, in step S9107, the task of one AGV in the first three-dimensional warehouse 100 is interrupted, and a transport instruction is sent to it.
  • Step S9108 the AGV is transported into the storage location unit 20 of the mother turnover box 220 to be transported. If the handling AGV is the AGV 130 in the first three-dimensional warehouse 100, since the bottom plates of the storage units of the two warehouses are butted and connected to each other after the docking of the two warehouse doors to the door, the AGV 130 can travel to the second three-dimensional warehouse 200. in location unit 20.
  • Step S9109 the handling AGV lifts the mother turnover box 220, reads the RFID information of the mother turnover box 220, modifies the bound storage location unit number therein to the transport state, and sends the RFID information of the mother turnover box 220 to the cloud logistics control module.
  • Step S9110 the conveying AGV enters a storage unit in the first three-dimensional warehouse 100 against the mother turnover box 220 . Since only one mother turnover box is put into storage this time, it can be transported into any free storage location unit in the first three-dimensional warehouse 100 . If there are more than one parent turnover box into the warehouse, it is necessary to determine the placement position and sequence of the parent turnover box according to the number of the parent turnover box. The storage location unit of the door 105 is reserved for the mother turnover box for subsequent storage. If there are multiple handling AGVs and multiple warehousing mother turnover boxes, the cloud will also calculate the walking route and mutual cooperation mode of the AGVs during handling, and obtain the handling plan with the shortest handling time. According to the plan, multiple AGVs are controlled to complete multiple The warehousing task of a mother turnover box.
  • Step S9111 the handling AGV reads the RFID information of the storage location unit to obtain the serial number.
  • Step S9112 when the handling AGV releases the parent turnover box 220 to the storage location unit, and writes the number of the storage location unit into the RFID information of the parent turnover box 220, the parent turnover box 220 and the storage location are completed.
  • the unit is bound, and the rewritten RFID information of the parent turnover box 220 is sent to the cloud logistics control module.
  • step S9113 it is judged whether the conveying AGV is an AGV in the warehouse of the first three-dimensional warehouse 100, and if so, in step S9114, waiting for a new task to be accepted. If not, in step S9115, it is judged whether the conveying AGV is a standby AGV, if so, in step S9116, return to the original position. If not, it means that the conveying AGV is an AGV in the freighter, and the process returns to the freighter in step S9117.
  • step S9118 the warehouse doors of both parties are closed to complete the warehousing of goods. If there is a docking plate, retract the docking plate before closing the door.
  • the cloud logistics control module determines the number of handling AGVs that can be used for handling according to the current task volume of the two three-dimensional warehouses.
  • the cloud-based logistics control module controls the AGV and the sorter device 6 in the three-dimensional warehouse to sort out the next outgoing cargo according to the flow direction of the next outgoing cargo.
  • the AGV transports the target mother turnover box to the sorting robot, and the sorting robot sorts it. After the sorting is completed, the AGV will transport the sorted parent turnover box to the area near the warehouse door or to the designated area.
  • the AGV and sorting robot in the freight device need to sort the goods to be unloaded next time.
  • the cloud logistics control module determines the AGV data available for this transport according to the time required for the next delivery of goods by the first three-dimensional warehouse 100 (such as the outgoing time) and the sorting time required for the outgoing of the goods. In the same way, the cloud logistics control module determines the number of AGVs available for this transportation based on the on-road transportation time when the freight device delivers the goods to the next docking point, and the sorting time for sorting the goods to be delivered.
  • spare AGVs are usually reserved in fixed three-dimensional warehouses to prevent the rapid delivery of goods due to too many tasks in each three-dimensional warehouse. Therefore, the spare AGV may also be included in the statistics of the available AGVs, so as to obtain the total number of available AGVs.
  • the cloud logistics control module determines the maximum single handling volume according to the current storage volume, the number of storage units corresponding to the docking surface after the warehouse door is opened, and the number of available handling AGVs, so that the maximum single handling volume can be determined. Efficiently complete goods warehousing. As shown in FIG. 87 , when the first three-dimensional warehouse 100 and the second three-dimensional warehouse 200 are docked door-to-door, the docking surface has two floors and two columns of storage location units. Therefore, according to the number of storage location units on the docking surface, Four inbound mother turnover boxes can be transported at a time.
  • the first three-dimensional warehouse 100 has 4 AGVs
  • the second three-dimensional warehouse 200 of the freight device has 2 AGVs, so the total There are 6 AGVs available, so the maximum single handling can be 4 inbound mother totes.
  • the cloud logistics control module sends a list of incoming mother turnover boxes in the second three-dimensional warehouse 200 that need to be transported into the first three-dimensional warehouse 100 to each available AGV.
  • the identity information and status of each inbound mother turnover box are recorded in the inbound mother turnover box list. As shown in Table 2 below:
  • Table 2 List of Incoming Mother Turnover Boxes
  • identity marker condition total weight of the cargo A-100-201-300001 N (not transported) xxxg A-100-201-300002 Moving xxxxg A-100-201-300003 Y (moved) xxxg ... ... ...
  • Each handling AGV internally stores a list of inbound mother turnover boxes.
  • the AGV identifies the inbound mother turnover box to be moved out according to the inbound mother turnover box list, and sends a message to the cloud logistics control module when the inbound mother turnover box is transported, and the cloud logistics control
  • the module updates the inbound mother turnover box list in each available AGV.
  • FIG. 89 it is a schematic flow chart of a handling AGV when handling a mother turnover box in storage according to an embodiment of the present invention.
  • Step S9210 the cloud logistics control module sends a list of inbound mother turnover boxes to the handling AGV.
  • Step S9200 the handling AGV receives the inbound mother turnover box list and stores it locally, and updates and maintains the inbound mother turnover box list according to the update message sent by the cloud logistics control module.
  • Step S9201 the handling AGV enters the three-dimensional warehouse.
  • the handling AGV is the AGV 130 entering the first three-dimensional warehouse 100 , and may also be the AGV 230 in the second three-dimensional warehouse 200 , or a backup AGV.
  • Step S9202 the handling AGV reads the identity label of a parent turnover box 220 it encounters, and obtains the identity information of the parent turnover box 220 from it.
  • step S9203 it is judged whether the parent turnover box 220 is in the stock-in parent turnover box list and whether its status is not transported, and if it is, and it is not transported, step S9204 is executed. If not, return to step S9202 to read the identity tag of another parent turnover box.
  • step S9204 the parent turnover box 220 is jacked up, and the information of the storage location unit in the label information of the parent turnover box 220 is rewritten to a moving state, that is, the binding relationship between the parent turnover box 220 and its current second storage location unit is released.
  • Step S9205 the handling AGV sends the modified identity label information of the parent turnover box 220 back to the cloud logistics control module, that is, sends the unbinding message to the cloud logistics control module.
  • Step S9211 the cloud logistics control module records the current state of the inbound mother turnover box, and updates the inbound mother turnover box list.
  • Step S9212 the cloud logistics control module sends the updated list of inbound mother turnover boxes to all available AGVs.
  • Step S9206 the conveying AGV returns to the first three-dimensional warehouse 100 against the mother turnover box 220, and places it in a first storage location unit.
  • Step S9207 the handling AGV writes the identity information of the first storage location unit into the identity label information of the mother turnover box 220, and binds the identity of the mother turnover box 220 and the first storage location unit information.
  • Step S9208 the handling AGV sends the bound identity information of the parent turnover box 220 to the cloud logistics control module.
  • Step S9213 the cloud logistics control module records the new binding relationship of the parent turnover box 220, and updates the stock-in parent turnover box list.
  • Step S9214 the cloud logistics control module sends the updated list of inbound mother turnover boxes to all available AGVs.
  • the first three-dimensional warehouse 100 is close to the warehouse door and is used to receive goods. Keep idle so that inbound mother totes can be received quickly.
  • the handling AGV randomly places the incoming mother turnover box at the innermost end of the free area, so as to free the outer end area for the mother turnover box to be put into storage later. For example, when a handling AGV enters the first three-dimensional warehouse 100, it is queried whether there are free storage units around its current position. When the current storage unit already has a parent turnover box, move to the left or right, and the storage mother The crate is placed to the end of the current direction. Then, it returns to the second three-dimensional warehouse 200 of the freight device to carry the next inbound mother turnover box.
  • Each handling AGV can be placed in the storage mother turnover box according to the same placement principle.
  • the cloud logistics control module can divide a storage area for this storage operation according to the number of mother turnover boxes put in this time, and the positions and numbers of free storage units in the first three-dimensional warehouse 100 .
  • the handling AGV can place the inbound mother turnover boxes in sequence in the storage unit of the inbound area.
  • the present invention also provides a flow when there are goods to be shipped out of the warehouse. As shown in Figure 90.
  • step S9300 when the freight device arrives, the freight device drives to the side of the first three-dimensional warehouse 100, and both sides open the warehouse door.
  • Step S9301 the freight device is docked with the first three-dimensional warehouse 100 .
  • the docking is the same as the docking when entering the warehouse. It can be docked door-to-door, or one or more docking plates and docking pipes can be docked.
  • Step S9302 determine the available AGV.
  • Step S9303 the transporting AGV transports the outbound mother turnover box 120 , and releases the binding relationship between the outbound mother turnover box and the current first location unit 10 . Send the unbinding message to the cloud logistics control module.
  • Step S9304 the transport AGV transports the outbound mother turnover box to a second location unit 20 in the second three-dimensional warehouse 200 in the freight device.
  • Step S9305 establishing a binding relationship between the outgoing mother turnover box and the second storage location unit 20, and sending it to the logistics control module in the cloud.
  • the cloud logistics control module maintains two tables: the inbound list and the outbound list. After the available AGVs are determined by calculation, the two tables are sent to the available AGVs. Drive the available AGVs in the two warehouses, transport the outgoing mother turnover box of this library to the other party, and then transport it from the other party back to the inbound mother turnover box. During the transportation process, the cloud logistics control module maintains two tables in real time.
  • the location of the goods in the warehouse and the handling route of the AGV during the exchange process can be planned.
  • Fig. 91 is a flow chart of transporting a mother turnover box to a designated storage location unit according to another embodiment of the present invention.
  • the cloud logistics control module determines in real time the parent container to be taken and the storage location to be placed for each available AGV according to the current positions of the first and second parent containers and the first and second storage location units. unit. Therefore, in this embodiment, the cloud logistics control module maintains the list of the first and second warehouse mother turnover boxes and the list of outbound and inbound locations in real time, and firstly sends each AGV to each AGV according to the current outbound and inbound conditions of the two warehouses. Send the identity information of the parent turnover box to be transported.
  • the cloud logistics control module When the AGV transports the parent turnover box from the first three-dimensional warehouse to the second three-dimensional warehouse, the cloud logistics control module will be based on the current location unit of the first three-dimensional warehouse and the busy situation of transportation. , determine the storage location unit to be placed, and send the storage location unit identity information to the AGV, and the AGV places the mother turnover box in the designated storage location unit according to the designated storage location unit identity information.
  • the unbinding and binding of the identity relationship between the parent turnover box and the location unit, and the steps of updating the list are omitted in the following description.
  • the process of transporting a mother turnover box to the designated storage location unit includes the following steps:
  • Step 9401 the cloud logistics control module sends the identity information of the first mother turnover box to be transported to a first AGV in the first three-dimensional warehouse.
  • the first parent turnover box should be a parent turnover box closest to the first AGV.
  • Step 9402 the first AGV transports the first mother turnover box to the second three-dimensional warehouse according to the received message.
  • Step 9403 The cloud logistics control module determines a second storage location unit that can be placed according to the current state and handling status of the second storage location unit, and sends the information of the second storage location unit to the first AGV.
  • Step 9404 the first AGV places the first mother turnover box in the designated second storage location unit according to the received second storage location unit information.
  • FIG. 92 is a flow chart of goods exchange between three-dimensional warehouses according to an embodiment of the present invention.
  • the two three-dimensional warehouses divide the area near their respective warehouse doors into a warehouse-out area and a warehouse-in area, and the cloud-based logistics control module saves and maintains the corresponding warehouse-out location list and warehouse-in location list.
  • the conveying process of the AGVs in the first three-dimensional warehouse 100 and the second three-dimensional warehouse is the same.
  • a first AGV in a first three-dimensional warehouse 100 is used as an example for description.
  • the outbound mother turnover box in the warehouse 100 is called the first mother turnover box
  • the outbound mother turnover box in the second three-dimensional warehouse 200 is called the second mother turnover box.
  • step S9500 the cloud logistics control module sends the list of the first and second warehouse mother turnover boxes and the list of outbound and inbound locations to all available AGVs.
  • Step S9501 each available AGV stores and maintains the above-mentioned multiple lists.
  • Step S9502 the first AGV transports a first mother turnover box in the first three-dimensional warehouse 100 to the second three-dimensional warehouse. It also includes unbinding the binding relationship between the first mother turnover box and the original first storage location unit, and sending it to the cloud logistics control module, and the cloud logistics control module changes the first mother turnover box in the first mother turnover box.
  • the state in the manifest is the mobile state. And use the updated information to update the list of the first mother turnover box in all AGVs.
  • Step S9503 the first AGV identifies the second storage area of the second three-dimensional warehouse, for example, reads the identity label of the free storage location unit in the warehouse, and compares the second storage storage location list of the second three-dimensional warehouse saved locally, thereby Find the second storage area.
  • Step S9504 place the first mother turnover box into a second storage location unit in the second storage area, bind the identity relationship between the first mother turnover box and the second storage location unit, and send it to cloud logistics control module.
  • the cloud logistics control module updates the first parent turnover box list and the second storage location list according to the information, and uses the updated information to update the local lists of all AGVs.
  • step S9505 the first AGV determines whether there is a second mother turnover box that has not been transported, if so, executes step S9507, and if the second mother turnover box has been transported, returns to the first three-dimensional warehouse in step S9506.
  • Step S9507 identifying the second outbound area.
  • Step S9508 the first AGV transports the second mother turnover box from the second outbound area to the first inbound area of the first three-dimensional warehouse.
  • the binding relationship between the second mother turnover box and the second storage location unit is unbound, and the second mother turnover box is placed in the first storage area.
  • the cloud logistics control module updates the change information brought about by these unbinding and binding relationships, and updates multiple lists in all AGVs.
  • step S9509 the first AGV determines whether there is still a first parent turnover box that has not been transported, and if so, it returns to step S9502, and if the first parent turnover box has been transported, the cargo exchange process ends.
  • the AGV can have a clear goal when handling and placing the mother turnover box.
  • the cloud logistics control module is used, but those of ordinary skill in the art should know that it can also be located in a local management system, that is, each three-dimensional warehouse may include a local management system, which Data, messages, etc. can be exchanged with each other through the communication module, and the processes in the above embodiments can also be completed.
  • the logistics system provided by the present invention does not need a sorting center in a fixed place, and does not need to unload the goods from the transportation to the sorting center for sorting and then continue to transport, but the sorting device is placed in the three-dimensional warehouse of the freight device, Sorting during shipment.
  • the three-dimensional warehouse cargo sorting method in one embodiment includes:
  • Step S620 Determine the current sorting address information according to the logistics and transportation information. For example, according to the current location of the three-dimensional warehouse and the logistics direction of the freight device docked with the three-dimensional warehouse, determine the logistics location of the goods that need to be sorted out when docking next time.
  • the logistics location may be geographic location information, or may be based on geographic location information. defined administrative area.
  • Step S621 analyze the address information of each child turnover box in the three-dimensional warehouse and the parent turnover box where it is located according to the sorting address information to determine the target parent turnover box and the target child turnover box.
  • the target child turnover box to be sorted can be determined.
  • the target parent turnover box where the target child turnover box is located (hereinafter referred to as the first target parent turnover box) and the first location unit where it is located is obtained, thereby determining the distribution of the first target parent turnover box in the warehouse.
  • the second target mother turnover box for storing the sorted target child turnover box is determined by querying the built-in child turnover box of the mother turnover box.
  • some empty parent turnover boxes may also be placed in the warehouse for use as second target parent turnover boxes during sorting, so that sorting efficiency can be improved.
  • the location of the second storage location unit can be known, thereby determining the distribution of the second target parent turnover box in the warehouse .
  • the above information is formed into a target sub-tote to record the information related to it, as shown in Table 1.
  • Step S622 according to the distribution information of the target parent turnover box in the warehouse, the distribution information of the sorting device, and the number and position information of the moving device, determine the corresponding sorting task for each sorting device, and determine the corresponding transportation for each moving device.
  • Task In order to improve the sorting efficiency, the principle of proximity is usually adopted, that is, the sorting device is the center, and the target parent turnover box near it is allocated to the sorting device. Or, considering that the sorting corresponding to one target child turnover box needs to transport two target mother turnover boxes, according to the positions of the two target mother turnover boxes and the position of the sorting device, calculate and transport the two target mother turnover boxes to each branch.
  • each sorting device generates a sorting list, which includes target sub-totes, corresponding first target mother totes and second target mother totes.
  • the corresponding handling tasks are allocated to the object moving devices.
  • one object-moving device can transport the first and second target mother turnover boxes twice.
  • the first and second target mother turnover boxes can also be transported by two object-moving devices respectively.
  • the AGV can stay there and wait for the sorting to be completed, then move the first and second target parent turnover boxes away from the sorting unit, or After being transported to the sorting unit of the sorting device, a new transport task is accepted.
  • the object moving device is transporting the first and second target mother turnover boxes, it also executes the establishment and release of the identity binding relationship between the mother turnover box and the storage location unit.
  • Step S623 the AGV transports the first and second target parent turnover boxes to the first and second sorting units of the sorting device.
  • Step S624 the sorting device sorts the target child turnover box from the first target parent turnover box to the second target parent turnover box.
  • the corresponding processing is performed according to the situation of the first target parent turnover box and the second target parent turnover box. For example, there are still target child turnover boxes in the first target parent turnover box, while the second target parent turnover box If the box has a corresponding position, continue sorting. The details are shown in Fig. 93B.
  • step S625 it is judged whether there are new target sub-totes that have not been sorted in the first target parent tote. If so, step S6251 is executed. If not, step S626 is executed in FIG. 93C.
  • step S6251 it is judged whether there is a position corresponding to the new target child turnover box in the second target parent turnover box, if so, return to step S624 to continue sorting in the original two original first and second target mother turnover box . If not, go to step S6252.
  • step S6252 it is judged whether the original second target mother turnover box is already the target child turnover box, if so, in step S6253, the original second target mother turnover box is transported to the outgoing area, and then step S6254 is executed. If the original second target parent turnover box is not all target child turnover boxes, that is, there are other non-target child turnover boxes, the second target parent turnover box is updated in step S6254, that is, the original second target mother turnover box is removed, The new parent turnover box with the new target child turnover box position is transported as the second target parent turnover box, and then step S624 is executed. Sorting is performed between the original first target parent tote and the new second target parent tote.
  • the first target parent turnover box has no unsorted new target child turnover box, that is, the first target parent turnover box has been sorted, in order to reduce the number of transports and improve the sorting efficiency, it also includes: process.
  • step S626 it is judged whether there is a position of the new target child tote box in the original first target parent turnover box. If not, step S627 is performed in FIG. 93D, and if so, step S6261 is performed.
  • Step S6261 it is judged whether there is a corresponding new target child turnover box in the original second target parent turnover box, if so, step S6265 is executed, if not, step S6262 is executed.
  • step S6262 it is judged whether the original second target mother turnover box is all the target child turnover box, if so, then in step S6263, the original second target mother turnover box is transported to the outgoing area, and then step S6264 is executed. There are also non-target child turnover boxes in the second target parent turnover box, and step S6264 is executed.
  • step S6264 the second target parent turnover box is updated, that is, the original second target parent turnover box is removed, and a new parent turnover box with the new target child turnover box is transported, and then step S6265 is executed.
  • Step S6265 the identities of the current first target mother turnover box and the new second target mother turnover box are replaced, that is, the original first target mother turnover box for outward sorting is converted into the second target mother turnover box for receiving the target child turnover box , the current parent turnover box with the target child turnover box is used as the first target parent turnover box of the outward sorting target child turnover box, and then step S624 is performed to perform sorting.
  • step S627 it is determined whether there is any target child turnover box to be sorted, If no, the sorting is completed and the sorting process ends. If there is, it is necessary to check the current situation of the original second target mother turnover box, that is, step S628 is executed.
  • step S628 it is judged whether there is a position of a new target child turnover box in the original second target parent turnover box, and if so, in step S6281, the first target parent turnover box is updated, that is, the first target mother turnover box that has been sorted The turnover box is removed, and then a parent turnover box that matches the position of the new target child turnover box in the current second target parent turnover box is transported, and then step S624 is performed to perform sorting. If there is no position of the new target child turnover box in the original second target parent turnover box, step S629 is executed.
  • Step S629 judges whether there is a new target child turnover box in the original second target parent turnover box, if not, then in step S6291, update the current two first and second target parent turnover boxes, and then execute step S624 to perform sorting. If there is a new target child turnover box in the original second target parent turnover box, step S630 is executed.
  • Step S630 replacing the identity of the original second target parent turnover box with the first target parent turnover box.
  • step S631 the original first target parent turnover box is transported away, and the new parent turnover box is transported as the second target parent turnover box, and then step S624 is performed to perform sorting.
  • the sorting device needs to identify whether the parent turnover box of the current first sorting unit is the first target parent turnover box to be sorted, and then put the target child turnover box into the parent turnover box of the current second sorting unit. When it is in the box, it is necessary to identify and judge whether it is the designated second target mother turnover box, so as to prevent sorting errors.
  • the sorting device also needs to modify the binding relationship between the child turnover box and the parent turnover box. For example, when the target child turnover box is taken out from the first target parent turnover box, the target child turnover box is released from the first target parent turnover box.
  • the identity binding relationship of the turnover box is established when the target child turnover box is put into the second target parent turnover box, and the identity binding relationship between the target child turnover box and the second target parent turnover box is established.
  • the second target mother turnover box for storing and sorting is determined before the second target parent turnover box filled with the target child turnover box is transported to the outgoing area.
  • the free storage location unit in the outbound area is preferentially determined as the storage location unit for storing the second target mother turnover box that has been sorted.
  • the AGV transports the second target mother turnover box that is full of the target child turnover box, it transports the second target mother turnover box to the designated storage location unit. Since it is preferentially placed in the outbound area, when it is docked with other three-dimensional warehouses and cargo transportation devices, it can quickly complete the outbound delivery of goods.
  • the logistics process includes the following steps:
  • Step S1 generating a logistics order. Including the steps shown in Figure 95:
  • Step S11 Ms.
  • A generates a logistics order through a customer service client, such as an APP or a small program supported by a mobile phone, including the name, address and contact information of the consignee; the name, address and contact information of the consignor; logistics level (air express) ; size; insured price and reservation delivery method and time, etc.
  • the customer service client generates a QR code based on this information and sends it to the server. The process took about 2 minutes.
  • step S12 after receiving the two-dimensional code, the server parses the two-dimensional code to obtain order information, stores the order information in a database, and notifies each logistics control module in the cloud.
  • Step S13 according to the pickup location, determine the relevant logistics control module.
  • Step S14 the logistics control module determines a delivery robot for picking up the goods according to the pickup location, the scheduled pickup time, the current traffic situation, and the distribution and workload of the express robots in the area, such as the number R005569, and according to the order
  • the cargo information of the sub-total box is determined, that is, the identity of the sub-total box is determined, such as A300x180x180, and the pickup location, time, shipper information, cargo information, etc. are generated and assigned to the determined courier robot R005569.
  • Step S2 pick up the goods. Including the steps shown in Figure 96:
  • step S21 the express robot R005569 carries the designated sub-conversion box according to the information in the received pick-up task, and arrives at the pick-up location L1 according to the designated route or the route calculated by its own geographic information system.
  • the courier robot R005569 informs Ms. A by phone/text 10 minutes before arrival and after arrival.
  • Step S22 verify the identity of the consignor and load the goods. After verifying Ms. A's mobile phone and identity, open the top cover of the cargo box, and guide Ms. A through voice or video to open the designated sub-conversion box A300x180x180, put in the simple package of porcelain, seal the lid, and set the opening password.
  • Step S23 weighing and charging.
  • the courier robot R005569 calculates the fee based on the weighing information and informs it via voice and display. After Ms. A agrees, she will confirm by voice or click the confirmation button on the display to complete the pickup.
  • the courier robot R005569 uploads the video of the whole process of interacting with Ms. A to pick up the goods to the cloud, and stores it in the database for retrieval and viewing in case of problems. It takes about 3 minutes for the courier robot R005569 to interact with the user to pick up the goods. After the pickup is completed, the goods enter the logistics system, and the delivery of the goods begins at 10:00 am.
  • the child turnover box containing Ms. A's goods is located in the mother turnover box M500B700C100 in the courier robot R005569 cargo box.
  • the express robot R005569 establishes the identity binding relationship between the lady's goods and the child turnover box A300x180x180, and establishes the child turnover box A300x180x180 The identity binding relationship with the mother turnover box M500B700C100, and the identity identification of the courier robot R005569.
  • Step S3 cargo transportation. Specifically, it includes the steps shown in Figures 97A-97B:
  • Step S31 after the goods are picked up, the logistics control module in the cloud determines the logistics direction of the goods according to the current position L1 of the courier robot R005569 (this is the position of the delivery point of the goods, that is, the place where Ms. A will meet to pick up the goods) ,
  • the distribution of other freight devices in the area and the direction of transportation determine the location L2 and the freight device for the first docking of the goods. For example, it is determined that the minivan A0101 is docked with the courier robot R005569. Since the user chooses air express, the logistics control module inquires about the latest cargo flight from the airport to the destination, and determines the reasonable time for boarding the cargo arriving at the airport. In the subsequent determination of the cargo device, the airport direction and the boarding time are used as the determination information.
  • step S32 the express robot R005569 arrives at the designated docking location L2 according to the designated route or the self-calculated route to meet with the minivan A0101.
  • the distance is 0.5km and it takes 10 minutes.
  • step S33 the moving device of the three-dimensional warehouse in the mini-truck A0101, such as an AGV, transports the mother turnover box in the cargo box of the express robot R005569 to the three-dimensional warehouse of the micro-truck A0101. If there are delivered goods in the minivan A0101, the mother turnover box that needs to be delivered will be transported to the cargo box of the courier robot R005569. This process takes about 5 minutes. At this point, the pickup task of the courier robot R005569 is completed, and a new dispatch task is started. At this time, according to the logistics direction, the express robot R005569 is the upper-level logistics chain, and the minivan A0101 is the lower-level logistics chain.
  • step S34 the logistics control module in the cloud determines the current location L2 of the mini-truck A0101, the logistics direction of the cargo airport, the boarding time, and the distribution of other cargo devices in the area, such as other mini-trucks, urban circulation trucks, etc. Its current transportation direction, determine the freight device of the lower-level logistics chain (such as the urban circular truck B011), the docking point L3 (and the driving route) connected with the minivan A0101, and send this information to the minivan A0101 and the urban circular truck B011.
  • the freight device of the lower-level logistics chain such as the urban circular truck B011
  • the docking point L3 and the driving route
  • Step S35 the sorting control module in the cloud determines two vehicle sorting cargo lists according to the cargo information and sorting addresses of the three-dimensional warehouse in the mini-truck A0101 and the urban circulating truck B011, and sends them to the three-dimensional warehouse and the city in the mini-truck A0101 respectively.
  • step S36 the minivan A0101 and the urban circulation truck B011 travel to the docking point L3 according to the designated or self-calculated travel route, respectively.
  • the sorting device in the built-in three-dimensional warehouse of the mini-truck A0101 and the urban circulating truck B011 sorts the sub-conversion boxes according to the received sorting goods list, so as to sort out the goods that need to be exchanged before merging. For Ms. A's goods just received, this sorting is primary sorting. Since there are other goods on the minivan A0101, it may also need to be transferred to the urban circulating truck B011 at the docking point L3 according to its logistics direction.
  • minivan A0101 it takes about 10 minutes to move to the meeting point according to the cloud-planned path.
  • step S37 after the minivan A0101 and the urban circulation truck B011 are docked at the docking point L3, the two exchange goods. It takes about 5 minutes.
  • step S38 the logistics control module in the cloud determines the driving route of the urban circular truck B011 and the goods that need to be boarded at the airport according to the current location L3 of the urban circular truck B011 and the location of the airport. Wherein, with reference to the boarding time of the cargo, it can be determined whether the cargo can be exchanged with other cargo devices in the intermediate journey from the position L3 to the airport.
  • step S39 the urban circulating freight vehicle B011 travels to the airport according to the planned route, and sorts out the sub-conversion boxes that need to be boarded during the traveling process, which can be called district-level sorting. If time permits, other cargo units can also be received on the road, such as those transported by minivans or courier robots to the airport.
  • the distance from the location L3 and the airport is 40km, and it takes about 60 minutes.
  • step S310 after the urban circulating truck B011 is docked with the cargo plane, the moving device in the three-dimensional warehouse, such as an AGV, transports the mother turnover box to the three-dimensional warehouse of the cargo plane, which takes about 30 minutes.
  • the moving device in the three-dimensional warehouse such as an AGV
  • step S311 the cargo plane takes off from Beijing, and the sorting robot performs city-level sorting on the sub-conversion boxes during the flight, that is, sorting out goods destined for different cities, which is called city-level sorting.
  • Step S312 the logistics control module in the cloud determines a plurality of urban circulation trucks that need to be docked according to the landing time of the aircraft, the destination of the next take-off of the aircraft, and the destination of the goods transported in the aircraft, including the goods sent by Ms.
  • step S313 the cargo plane lands in Shenzhen Airport, which takes about 220 minutes (take off at 12:00 ⁇ land at 15:40), and dock with multiple urban circulation trucks, including the urban circulation truck B708, and exchange the mother turnover box. It takes about 30 minutes.
  • step S314 the cloud customer service system notifies Mr. A of Shenzhen of the approximate delivery time by phone or text message, and at the same time, the route planning module on the cloud plans the delivery route. For example, according to the destination of the goods and the distribution of freight devices in the current urban area and the flow direction of the goods, determine the freight device and location L4 to be docked with the urban circulating freight vehicle B708, such as the minivan A5603.
  • step S315 the urban circulating freight vehicle B708 performs district-level sorting on the sub-totes during the moving process.
  • the mini-truck A5603 carries out district-level sorting by the sub-conversion boxes during the moving process. Assuming that the distance between the location L4 and the airport is 40km, the time it takes for the urban circular truck B708 to reach the docking location L4 is 60 minutes.
  • step S316 after the urban circulation truck B708 is docked with the minivan A5603, goods are exchanged. It takes about 5 minutes.
  • step S317 the route planning module in the cloud determines the courier robot R110020 and the docking point L5 to be docked with the minivan A5603 according to the destination of the goods and the distribution and operation of the courier robots in the area.
  • step S3108 the minivan A5603 moves to the docking point L5, and performs final sorting during the moving process, that is, sorting out the goods sent by Ms. A.
  • the minivan A5603 arrives at the docking point L5, it travels 2km and takes 10 minutes.
  • step S319 the minivan A5603 converges with the express robot R110020, and transfers the mother turnover box containing the goods of Ms. A to the express robot R110020. It takes about 5 minutes. If the courier robot R110020 also has goods to be transferred to the minivan A5603, the courier robot R110020's goods are first transported to the minivan A5603, and then the mother turnover box with Ms. A's goods is delivered to the courier robot.
  • Step S4 dispatch.
  • the cloud customer service system determines the delivery location of the goods according to the communication with Mr. A, or the cloud customer service system determines the delivery location L6 according to the order address, or the goods storage cabinet in the order address area.
  • Mr. A's designated location is taken as an example. Specifically, it includes the steps shown in Figure 98:
  • Step S41 the express robot R110020 moves to the delivery location L6 according to the path planned by the cloud or calculated by itself.
  • the distance is 1km
  • the time is 30 minutes.
  • Step S42 the courier robot R110020 notifies Mr. A by phone/SMS 10 minutes before arrival and after arrival.
  • the courier robot R110020 When arriving at location L6, wait for the preset time. If the preset time is exceeded, please ask the cloud customer service system to extend the waiting time or place it in a nearby express cabinet (with a small stereo library of the same specification) and upload the change information to the customer service system. The customer service system will notify Mr. A to pick up the goods by phone, text message or email.
  • step S43 Mr. A arrives within the longest waiting time, and the express robot R110020 automatically opens the cargo box cover after verifying Mr. A's mobile phone and identity.
  • step S44 the express robot R110020 voice guides Mr. A to open the sub-turnover box, take out the porcelain, and cover the sub-turnover box after confirming that it is intact and click the confirmation button on the display screen to complete the delivery.
  • the courier robot R110020 recorded the entire interaction with Mr. A and uploaded it to the cloud, which took about 3 minutes.
  • this logistics transportation spans more than half of China, the whole journey is about 2,000 kilometers, and it only takes about 480 minutes (8 hours, not counting the waiting time for dispatch). If shipped at 10:00 am, it will be delivered at 18:00 pm. Compared with the existing logistics system, the transportation effect has been improved several times.
  • the target cargo needs to be moved between two cities.
  • a cargo plane is selected.
  • railway transportation or long-distance truck transportation can also be selected.
  • the system determines different logistics levels for users to choose according to the freight device, time and cost.
  • cargo planes have the shortest time and the highest cost, which can satisfy users who have high time requirements but unlimited cost.
  • the freight time is not important, so they can choose the ordinary level first, which corresponds to the logistics
  • the freight unit used in the system may be rail transportation or long-distance truck transportation. Therefore, the present invention can satisfy various user requirements.
  • the freight devices and docking points of each logistics chain level that need to be docked are calculated at the beginning of transportation, and then continuously corrected during the real-time transportation process to cope with emergencies caused by emergencies. changes.
  • the route planning module in the cloud determines the docking point—the airport and the determined time according to the current target goods, and calculates the various freight devices and their transportation directions along the way from the location L1 of the courier robot to the airport.
  • the current traffic situation so as to determine the multiple docking points and docking cargo devices needed from the location L1 of the courier robot to the airport.
  • the multiple docking points and docking cargo devices required from the current location to the airport are calculated again. If the two are inconsistent, the latest calculation result shall prevail, that is, this calculation corrects the initial route plan.
  • the docking of multi-level freight devices in the city is as follows: the first-level freight device express robots are docked with the second-level freight device micro-trucks, and the second-level freight device micro-trucks are docked with the third-level urban circulation trucks.
  • this process is only an example.
  • the courier robot of the first-level freight device can also dock with the third-level urban circulating freight vehicle. If the intercity freight device such as trains and cars that need to stop in the middle is used, as long as the two The logistics direction is consistent, time and place are matched, and various freight devices in the city can also be directly connected with intercity freight devices. Therefore, the logistics system of the present invention is more flexible and more efficient in terms of cargo transportation.
  • the present invention proposes a distributed logistics system, including a plurality of freight devices and one or more fixed-position warehouses; wherein, a plurality of goods entering the logistics system are distributed in a plurality of freight forwarders In one or more of a unit and a plurality of fixed location warehouses; wherein the ratio of the quantity of goods in the plurality of freight units to the quantity of goods in the fixed location warehouse is 50% or more, 80% or more, 90% or more, 95% or more % or more, or 99% or more.
  • the freight device not only acts as a vehicle to transport goods, but also acts as a kind of goods storage device, and, in the logistics system, the quantity of goods stored in the freight device and in the transport state is greater than that stored in the fixed-position warehouse That is to say, most of the goods in the logistics system are in the state of transportation, so the logistics efficiency is high and the time of goods retention is reduced.
  • the freight devices are configured to interface with the fixed-position warehouse and transfer goods, so that the goods in the fixed-position warehouse also enter the transportation state, or, as required, will be in transit
  • the goods are temporarily stored in the fixed location warehouse.
  • the freight device can temporarily store its goods in a warehouse at a fixed location, which does not affect the transportation efficiency of the freight device and improves the flexibility of cargo handling.
  • the freight units are capable of docking and transferring cargo at locations other than the fixed location warehouse.
  • different types of freight devices can be docked at any suitable venue to transfer goods.
  • the cargo devices rely on the structure of their own devices to complete the docking, and there is no need to provide equipment at the docking site.
  • the three-dimensional warehouses on the freight devices can be directly docked to form a unified three-dimensional warehouse.
  • the two urban circular trucks are docked as shown in Figure 85, by driving the respective XY driving platforms, the The respective three-dimensional warehouses slide out of the box to form a unified three-dimensional warehouse.
  • the object moving support structures of the three-dimensional warehouse in each freight device are directly or indirectly docked, so that the goods can be transferred.
  • the AGV running surface in the cargo box of the courier robot 8 is accurately docked with the AGV running surface of the lift platform in the mini-truck 9a.
  • the AGV can directly enter the cargo box of the courier robot 8 from the lift platform in the minivan 9a.
  • the docking plate of the mini-truck 9a needs to be connected between the AGV running surface of the storage unit of the mini-truck 9a and the AGV running surface of the storage unit of the urban circular truck 9b. , so as to connect the storage unit of the minivan 9a and the storage unit of the urban circulating cargo vehicle 9b, so that the AGV can travel between the minivan 9a and the urban circulating cargo vehicle 9b.
  • the object-moving guiding devices in the object-moving spaces of the two three-dimensional warehouses are directly docked.
  • the moving object guide device adopts a mechanical structure, such as the guide groove 1131 in FIG. 1 and the guide rail 1121b in FIG. 9 in the previous embodiment.
  • the moving object guiding device set in the object moving space can also be docked together, for example, the two three-dimensional warehouses are directly docked
  • the guide grooves 1131 of the storage unit are precisely butted together.
  • the moving object guiding device is an electromagnetic, laser, infrared, ultrasonic, UWB, or optical structure
  • the moving object guiding devices of the storage location units directly connected to the two three-dimensional warehouses must also communicate with each other and communicate with each other. Complete the expansion or docking of the navigation range. In this way, when the corresponding mobile device moves on the object-moving support structure, it can drive according to the correct route and avoid accidents such as deviation and collision.
  • two three-dimensional warehouses are connected indirectly, for example, when the docking plate of the minivan 9a is docked, the same moving object guiding device is provided on the docking plate, so that when the two freight devices are docked through the docking plate, the moving device can be moved. The goods can be correctly transferred between the two three-dimensional warehouses through the docking plate without deviation and collision.
  • the transfer of goods between freight devices uses part or all of the moving devices in the three-dimensional warehouse in the freight device to transfer the goods, such as one or more AGVs, and it is not necessary to provide a moving device at the docking point. Therefore, the freight device provided by the present invention has no equipment requirements for the meeting point, and the cloud only needs to consider whether the site is suitable when determining the docking point. For example, when the courier robot is docked with the minivan 9a, only a small space is required, while when the two urban circulation trucks 9b are docked, a large space is required, and a public parking lot can be used as the docking point.
  • a sorting system In order to meet the requirements of goods transfer between freight devices or between freight devices and a warehouse at a fixed position during docking, a sorting system is provided in the three-dimensional warehouse.
  • the sorting system sorts and classifies the goods to be delivered when docking.
  • the sorting system changes the position of the goods to be delivered according to the configuration of the cloud, and transports them to an area close to the freight device when docking. For example, set the outbound area and the inbound area.
  • the sorting center or warehouse in the prior art is provided with a separate goods sorting area, and the goods are transported to the sorting area for sorting, and then transported to different areas for storage.
  • a sorting system is provided in the three-dimensional warehouse in part of the fixed position warehouse, however, the fixed position warehouse in the present invention does not include the sorting area of the prior art.
  • the three-dimensional warehouse of the freight device and the fixed-position warehouse in the present invention is like the three-dimensional warehouse in the previous embodiment, as shown in FIG. 16A , including a plurality of stacked storage location units.
  • the sorting system only occupies two or four of the bin units, such as the sorting device shown in Figures 41A-41D.
  • a three-dimensional warehouse including a sorting device is shown in Figure 45.
  • the goods in the logistics system of the present invention are mainly distributed in the freight device in a state of transportation, and the fixed-position warehouse in the present invention is only used as a supplementary logistics equipment, for example, the express cabinet at the end of the logistics, which can not be delivered by the freight device to the receiving goods.
  • express cabinets set up in remote mountainous areas to solve the problem of not being able to connect with the freight devices in time due to the small logistics volume and few freight devices.
  • Most of the goods in the present invention are in the transport state most of the time in the logistics system. Therefore, compared with the existing logistics system, the logistics system provided by the present invention has less retention time and high efficiency.
  • the present invention provides a logistics system for reducing the dwell time of goods, comprising: a first freight device and a second freight device, wherein the first freight device and the second freight device are, for example, It is the city-level freight device in FIG. 1, such as the urban circulation truck 9b, the mini-truck 9a, the express robot 8 and the unmanned aerial vehicle M1, and may also include intercity/international freight devices, such as cargo planes, marine ships or various long-distance freight devices. , short-distance trucks.
  • the first freight unit moves from the first location to the second location, and the second freight unit moves from the third location to the fourth location.
  • any two of the first location, the second location, the third location and the fourth location may be the same or different.
  • the first freighter and the second freighter interface at a first meeting point and transfer one or more shipments (ie, one or more first shipments).
  • the minivan 9a transfers the goods destined to other cities or other areas to the urban circular truck 9b, and can also receive the goods sent from other cities or other areas to the local area from the urban circular truck 9b. goods.
  • the urban circulating freight vehicle 9b transfers the cargo to the cargo plane that is bound for other cities, and receives the local cargo from the cargo plane to other cities.
  • the number of the first cargo unit and the second cargo unit can be set as required.
  • the logistics system further includes a third freight device that can receive goods directly from the user or a consignee or courier locker in direct contact with the user.
  • a third freight device that can receive goods directly from the user or a consignee or courier locker in direct contact with the user.
  • the third freighter interfaces with the first freighter at the second meeting point and transfers one or more shipments (ie, one or more second shipments).
  • the cargo transferred between the third cargo unit and the first cargo unit may not be the same as the cargo transferred between the first cargo unit and the second cargo unit.
  • the third freight device is not directly connected with the first freight device, but after docking with other freight devices through multiple locations (ie, multiple second meeting points) and transferring the goods, that is, after passing through multiple links in the logistics chain. , and transfer one or more second cargoes with the first cargo unit.
  • the third cargo device when the third cargo device is an unmanned aerial vehicle M1, it is docked with the aforementioned first cargo device at a second meeting point.
  • the third freight device is a courier robot 8 or a minivan 9a, when it picks up goods from the user, it can pick up multiple goods in one pick-up route, and deliver different goods to the second meeting point. Different cargo units, including the first cargo unit.
  • the third freight device and the first freight device it is also possible to connect and transfer goods through one or more other freight devices.
  • the courier robot 8 wants to send the collected goods to the urban circulating freight vehicle 9b as the first freight device, it may also pass through one or more minivans 9a or other urban circulating freight vehicles 9b for docking and delivery.
  • the logistics system further includes a fourth shipping device configured to deliver goods directly to the user or to a delivery person or courier locker in direct contact with the user.
  • a fourth shipping device configured to deliver goods directly to the user or to a delivery person or courier locker in direct contact with the user.
  • the third freight device can be the terminal logistics equipment in the foregoing embodiment, such as the drone M1, the express robot 8, or the minivan 9a, and so on.
  • the fourth cargo unit interfaces with the second cargo unit at the third meeting point and transfers one or more cargoes (ie, one or more third cargoes).
  • the minivan 9a as the fourth cargo unit can hold a plurality of cargoes, so that it can interface with different second cargo units at a plurality of different third rendezvous points to receive cargoes destined for different destinations.
  • the minivan 9a as the fourth cargo unit can either receive cargo from the second cargo unit at a different or the same third meeting point on the way to deliver the cargo, or as the third cargo unit from the user Pick up the goods.
  • the fourth freight device and the second freight device may also pass through the cargo transfer process of multiple freight devices.
  • the fourth freight device is a minivan 9a and the second freight device is an urban circulating freight vehicle 9b
  • the goods that need to be transferred to the minivan 9a may pass through other urban circulating freight vehicles 9b and other minivans 9a before being transferred. to the minivan 9a as the fourth cargo unit.
  • the aforementioned freight devices when the aforementioned freight devices are docked at the meeting point, they can complete the docking and dispatching by themselves, that is, it is not necessary to provide equipment at the meeting point to assist in docking and delivery of goods, but complete docking and delivery of goods through their own devices and structures. . In this way, it will be very flexible when planning the meeting point, which can greatly improve the logistics efficiency. For example, as long as it is a parking lot with enough space, each cargo unit can complete the docking and cargo transfer.
  • the three-dimensional warehouses in each freight device can be directly docked to form a unified three-dimensional warehouse.
  • the object moving support structures of the three-dimensional warehouse in each freight device are directly or indirectly docked, so that the goods can be transferred.
  • the AGV running surface in the cargo box of the courier robot 8 is accurately docked with the AGV running surface of the lift platform in the mini-truck 9a.
  • the AGV can directly enter the cargo box of the courier robot 8 from the lift platform in the minivan 9a.
  • the docking plate of the mini-truck 9a needs to be connected between the AGV running surface of the storage unit of the mini-truck 9a and the AGV running surface of the storage unit of the urban circular truck 9b. , so as to connect the storage unit of the minivan 9a and the storage unit of the urban circulating cargo vehicle 9b, so that the AGV can travel between the minivan 9a and the urban circulating cargo vehicle 9b.
  • the object moving guide devices of the object moving spaces of the two three-dimensional warehouses are directly connected to each other.
  • the moving object guide device adopts a mechanical structure, such as the guide groove 1131 in FIG. 1 and the guide rail 1121b in FIG. 9 in the previous embodiment.
  • the moving object guiding device set in the object moving space can also be docked together, for example, the two three-dimensional warehouses are directly docked
  • the guide grooves 1131 of the storage unit are precisely butted together.
  • the moving object guiding device is an electromagnetic, laser, infrared, ultrasonic, UWB, or optical structure
  • the moving object guiding devices of the storage location units directly connected to the two three-dimensional warehouses must also communicate with each other and communicate with each other. Complete the expansion or docking of the navigation range. In this way, when the corresponding mobile device moves on the object-moving support structure, it can drive according to the correct route and avoid accidents such as deviation and collision.
  • two three-dimensional warehouses are connected indirectly, for example, when the docking plate of the minivan 9a is docked, the same moving object guiding device is provided on the docking plate, so that when the two freight devices are docked through the docking plate, the moving device can be moved. The goods can be correctly transferred between the two three-dimensional warehouses through the docking plate without deviation and collision.
  • the transfer of goods between freight devices utilizes the object-moving device of the three-dimensional warehouse in the freight device, such as one or more AGVs, and does not need to provide the object-moving device at the meeting point.
  • the logistics system provided by the invention has no equipment requirements for the meeting point, and the cloud only needs to consider whether the venue is suitable when determining the meeting point. For example, when the courier robot is docked with the minivan 9a, only a smaller space is required, while when the two urban circulation trucks 9b are docked, a larger space is required. Often a public parking lot etc. can be used as a meeting point.
  • the logistics process between a third freight unit that receives the goods directly or indirectly from the sending user to a fourth freight unit that delivers the goods directly or indirectly to the receiving user the cargo is always in the cargo unit.
  • 94-98 after the goods enter the logistics system through the express machine 8, when they are delivered in different freight devices, they are always in the three-dimensional warehouses of different freight devices, thus greatly improving the logistics efficiency.
  • the goods can be temporarily stored in a warehouse at a fixed location during the transportation process from the third freight unit to the fourth freight unit, as described above, when the courier robot or courier personnel cannot deliver the goods to the recipient.
  • the goods can be temporarily stored in the express cabinet 10 .
  • the ratio of the quantity of goods stored in the fixed-location warehouse to the quantity of goods in the freight unit is less than 50%, less than 30%, less than 20%, or less than 10%, or less than 5%, or less than 1%.
  • Different freight devices can be docked with fixed-position warehouses to deliver goods, such as the docking of express robots and express cabinets in the aforementioned embodiments, the docking of drones and express cabinets, and the docking of mini-trucks with express cabinets or other fixed-position warehouses.
  • the structure of the three-dimensional warehouse in the fixed position warehouse is the same as that of the three-dimensional warehouse in the freight device, the two can be directly connected or indirectly connected by a structure such as a butt plate, and the goods can be transferred by the moving device in the two according to the needs.
  • a sorting system In order to meet the requirements of goods transfer between freight devices or between freight devices and a warehouse at a fixed position during docking, a sorting system is provided in the three-dimensional warehouse.
  • the sorting system sorts and classifies the goods to be delivered when docking.
  • the sorting system changes the position of the goods to be delivered according to the configuration of the cloud, and transports the goods to the area close to the freight device when docking. For example, set the outbound area and the inbound area.
  • the present invention also provides a logistics method for reducing the residence time of goods, as shown in Figure 99, including the following steps:
  • the third freight device 900 receives the goods directly or indirectly from the user.
  • the third cargo device 900 may be a drone. Drones can receive goods in direct interaction with the user, or they can receive goods from a minivan, which is driven by a courier to receive the goods from the user.
  • the third freight device 900 may be a courier robot, which may directly interact with a user to receive goods, or may receive goods from a minivan driven by a courier.
  • step S2a the third freight device 900 moves to the second meeting point, and at the same time performs sorting during the moving process to sort out the goods that need to be delivered.
  • the delivered goods are placed in the area close to the docking of the freight device, such as the outbound area set up.
  • Step S3a the third freight device 900 docks with the first freight device 901 at the second meeting point and transfers one or more second goods.
  • the second goods are goods received from the user. If the third freight device 900 has a plurality of second goods with different logistics directions, it will dock with a plurality of different first freight devices at a plurality of second meeting points and transfer the second goods.
  • Step S4a during the process of running from the first location to the second location, the first freight device 901 docks with the second freight device 902 that runs from the third location to the fourth location at the first meeting point and transfers one or more first cargo. Similarly, before the first meeting point is docked, the first freight device 901 sorts the goods to be delivered during the operation.
  • step S5a the second freight device 902 continues to operate after the connection with the first freight device 901 is completed.
  • Step S6a the second freight device 902 and the fourth freight device 903 are docked at the third meeting point and transfer one or more third goods, where the third goods are goods that need to be dispatched by the fourth freight device 903 .
  • the second freight device 903 sorts out the goods that need to be dispatched by the fourth freight device 903 before reaching the third meeting point.
  • Step S7a the fourth freight device 903 continues to operate after receiving the goods.
  • Step S8a the fourth freight device 903 interacts with the user to complete the delivery of the goods.
  • the aforementioned third and fourth freight devices can directly interact with the user, or the courier can interact with the user to complete the collection and delivery of goods.
  • the goods can be directly docked to transfer the goods, or can pass through multiple times. Docking and transfer with other cargo units.
  • the goods are delivered to the user through the delivery of the freight device for many times during transportation, and the goods no longer need to be sent to different sorting centers for sorting, and the pause time of sorting in the sorting center is omitted, thereby reducing the need for sorting.
  • the dwell time of goods in transit thus improving logistics efficiency.
  • the present invention provides a logistics system for reducing sorting time
  • the logistics system includes a plurality of first freight devices, a plurality of second freight devices, and of course may or may not include a or a plurality of fixed-location warehouses;
  • the first freighter is configured to transfer goods with the second freighter and/or the fixed-location warehouse; wherein the first freighter includes a goods sorting system configured to The cargo in the first freight unit is sorted during operation.
  • the first freight device may include various freight devices in the foregoing embodiments, such as minivans, urban circulation trucks, and the like.
  • the three-dimensional warehouse Since the three-dimensional warehouse has a goods sorting system, it can sort out the goods that need to be delivered before it is docked with the second freight device or the fixed-position warehouse.
  • the goods of the present invention are sorted during transportation, instead of sorting in a fixed warehouse or a fixed area of a sorting center as in the prior art, and then entering the transport state, omitting the sorting of goods in the existing logistics system Duration of stay in the center.
  • the present invention only needs to sort out the goods that need to be transferred during docking, and does not need to carry out large-scale sorting as in the prior art, so the sorting time is short and the pertinence is strong.
  • the cargo sorting system of the present invention is configured to collect cargo to be delivered to the second freight unit and/or to the fixed location warehouse. That is, the position of the goods to be transferred is changed so that it is close to the area where it is docked with the second freight unit and/or the fixed position warehouse.
  • the outgoing area and the incoming area are set up in the area near the warehouse door, and the movement trajectory control of the moving device is configured to improve the transfer efficiency of the goods during docking.
  • the first shipping device includes a three-dimensional warehouse, which includes a plurality of stacked storage location units, and the goods sorting system occupies some of the storage location units, for example, two or four stacked storage location units.
  • the storage location unit of the three-dimensional warehouse can accommodate the first turnover box, such as the mother turnover box 2 in the foregoing embodiment, and the storage location unit occupied by the first turnover box can be changed by the object moving device of the three-dimensional warehouse.
  • the first turnover box can be configured to accommodate a plurality of second turnover boxes, such as the sub-rotation box 7 in the previous embodiment.
  • the second turnover box is configured to accommodate the goods, and can also directly accommodate the goods.
  • the packaging of the goods is the same as that in the prior art.
  • the packaging is the same, and the logo is set on the packaging.
  • the cargo sorting system in the present invention allocates the second tote or cargo to a different first tote.
  • the second freight device in the system can also be, for example, a minivan or an urban circulation truck, and the aforementioned fixed-position warehouse can be the express locker 10 as shown in FIGS. 46A-46B or as shown in FIGS. 83 and 86 .
  • the stationary logistics warehouse shown which also includes the goods sorting system.
  • the second freight unit and the fixed location warehouse do not include a separate cargo sorting area.
  • the second freight unit and the fixed-position warehouse include a three-dimensional warehouse that includes a plurality of stacked location units, some of which are occupied by the cargo sorting system.
  • the first freight device and the second freight device can be docked with each other or with a fixed-position warehouse and transfer goods according to the configuration.
  • the goods are docked and transferred between the freight device and the fixed position warehouse; as shown in Figure 84, the goods are docked and transferred between two different types of freight devices; as shown in Figure 85, two of the same type
  • the cargo is docked and delivered between the cargo units.
  • their respective three-dimensional warehouses are directly connected to form a unified three-dimensional warehouse, as shown in Figure 85.
  • Two urban circulation trucks 9b When docking, by driving the respective XY drive platforms, the respective three-dimensional warehouses can be slid out of the box to form a unified three-dimensional warehouse, and two three-dimensional warehouses can also be connected by their respective docking plates, such as shown in Figure 84. condition.
  • the moving support structures of the three-dimensional warehouse of the two are directly or indirectly docked, so that the goods can be transferred.
  • the moving object support structures of the three-dimensional warehouse such as the AGV running surface
  • the docking plate of the mini-truck 9a needs to be connected between the AGV running surface of the storage unit of the mini-truck 9a and the AGV running surface of the storage unit of the urban circular truck 9b. , so as to connect the storage unit of the minivan 9a and the storage unit of the urban circulating cargo vehicle 9b, so that the AGV can travel between the minivan 9a and the urban circulating cargo vehicle 9b.
  • the object-moving guiding devices in the object-moving spaces of the two three-dimensional warehouses are directly docked during docking.
  • the object-moving guiding device adopts a mechanical structure, as shown in FIG. 1 of the previous embodiment
  • the guide groove 1131 and the guide rail 1121b in FIG. 9 When docking, through the positioning sensor of the equipment in the appropriate position, when the storage unit of the two three-dimensional warehouses are directly docked, the moving object guiding device set in the object moving space can also be docked together, for example, the two three-dimensional warehouses are directly docked
  • the guide grooves 1131 of the storage unit are precisely butted together.
  • the moving object guiding device is an electromagnetic, laser, infrared, ultrasonic, UWB, or optical structure
  • the moving object guiding device of the storage location unit directly connected to the two three-dimensional warehouses must also be accurately docked. Together, in this way, when the mobile device moves on the moving object support structure, it can travel on the correct route, avoiding accidents such as deviation and collision.
  • the same moving object guiding device is provided on the docking plate, so that when the two freight devices are docked through the docking plate, the moving device can be moved. The goods can be correctly transferred between the two three-dimensional warehouses through the docking plate without deviation and collision.
  • the present invention also provides a logistics method for reducing sorting time, as shown in FIG. 100 , which is a logistics method for reducing sorting time according to an embodiment of the present invention, which includes the following steps:
  • step S1b the first freight device transports the goods according to the plan.
  • the minivan 9a and the urban circulation truck 9b in the above-mentioned embodiment transport goods according to the route planned by the cloud within their respective transport distances.
  • Step S2b it is judged whether the goods need to be docked and delivered.
  • the cloud logistics control module determines which freight devices are docked, or which freight devices are docked with which fixed-position warehouses, and determines the docking point according to the logistics direction of the goods, the distribution of freight devices, and the current transportation direction.
  • the first freight device determines whether docking is required according to the information sent by the cloud. If docking is required, step S3b is performed, and if docking is not required, step S1b is continued.
  • the first freight device determines the goods that need to be sorted according to the docking information in the cloud, and sorts out the goods that need to be delivered during docking while traveling. For example, these goods are first identified and then moved to an area that is close to the docking logistics equipment when docked.
  • the freight device includes a three-dimensional warehouse, which is composed of a plurality of stacked storage location units, the goods are located in the second (child) turnover box, the second turnover box is located in the first (parent) turnover box, and the divided When picking, the second turnover box in one first turnover box is sorted into another first turnover box as required, and is transported by a moving device, such as an AGV, to the outbound area near the warehouse door.
  • the packaging of the goods adopts the current traditional packaging, the first turnover box accommodates a plurality of goods, and during sorting, the goods are sorted into different first turnover boxes.
  • Step S4b the first freight device is docked with the second freight device or a fixed-position warehouse at the docking point.
  • the three-dimensional warehouses of the two are directly connected to form a unified three-dimensional warehouse, or the two three-dimensional warehouses are connected indirectly by means of a docking plate and other devices.
  • a docking plate and other devices please refer to the aforementioned various docking embodiments.
  • step S5b the goods that need to be delivered in the first freight device are transported to the second freight device or the fixed position warehouse docked with it, and the goods in the second freight device can also be transported to the first freight device as required. middle.
  • the goods in the second freight device can also be transported to the first freight device as required. middle.
  • step S6b it is judged whether all the goods to be delivered have been transported. If it has been transported, then in step S7b, the first freight device continues its transportation process, and in step S2b, it is judged whether to carry out the next docking. If the transportation has not been completed, the process returns to step S5b.
  • the first freight device continuously connects with the second freight device or the warehouse at a fixed location and transfers the goods according to the control and planning of the cloud.
  • it can not only deliver the goods in it, but also receive the goods delivered from the second freight device or the fixed location warehouse. Therefore, after the goods enter the logistics system, there is no special reason, and the goods are always in each freight device. transfer, transfer.
  • the freight device uses the transportation time to complete the sorting, so the logistics system and method provided by the present invention do not occupy the logistics time during sorting, and omit the sorting time in the multiple and multi-level fixed sorting centers in the existing logistics mode.
  • the logistics system provided by the present invention can effectively improve the logistics efficiency.
  • Figure 101 is a flowchart of a logistics route planning method according to an embodiment of the present invention. The method includes the following steps:
  • Step S1c determining a first shipping device that is configured to receive cargo.
  • a first freight device is determined from the freight devices in the area where the address is located.
  • the delivery address of the goods may be the user, the courier who receives the goods, or the courier cabinet used by the user for self-delivery.
  • the first freight device may be a courier robot 8, an unmanned aerial vehicle M1 or a miniature truck 9a, that is, the terminal movable logistics equipment in the foregoing embodiments of the present invention.
  • Step S2c the first freight device receives the goods.
  • a courier robot or drone as the first cargo device receives goods directly from the user; or a minivan as the first cargo device receives cargo from a courier; or a minivan or courier robot as the first cargo device, or The drone arrives at a receiving container (such as the express container 10 in the previous embodiment) to receive the goods.
  • Step S3c based on the sending place and destination of the goods, determine the logistics equipment that receives the goods and the goods receiving location.
  • the logistics equipment and location for receiving the goods can be determined by various factors. For example, the current position and running direction of the first freight forwarding device, the storage location unit and vacant storage location unit occupied by the goods in the first freight forwarding device, the destination of the goods, the position and running direction of other freight forwarding devices, and other fixed-position warehouses s position.
  • the freight device when the first freight device is in operation, for example, a piece of goods is received during the process from location A to location B, when it is determined to receive the goods logistics equipment when the goods are delivered, the freight device is first considered, and the first The running direction of a cargo unit and the distribution of the positions of the cargo units determine a possible second cargo unit, that is, the second cargo unit should be determined during the operation from location A to location B.
  • the transport timeliness level of the goods also needs to be considered.
  • the aging class is equivalent to the logistics class in the foregoing embodiment, such as urgent, urgent class 1, urgent class 2, ordinary, etc., and the freight device is selected according to the aging class.
  • the first meeting point it is also necessary to consider the running directions of the first freight device and the second freight device, for example, according to the running directions of the two, determine the first meeting point where the two meet when they are running. In this way, docking and cargo transfer can be carried out on the premise of not interfering with each other's operation.
  • the principle of the shortest time can be followed. For example, according to the calculation, it is possible to determine multiple qualified freight devices and possibly multiple fixed-position warehouses. At this time, each determined logistics device is used as a cargo receiving logistics device, and the calculation starts from the first freight device to completion.
  • step S4c is executed. If the determined logistics equipment is a fixed-position warehouse, step S31c is performed.
  • Step S4c the first freight device runs to the first meeting point, transfers the cargo from the first freight device to the second freight device, and then executes step S5c.
  • Step S31c the first freight device runs to the fixed location warehouse, and temporarily stores the goods in the fixed location warehouse.
  • Step S32c determining a fourth freight device that receives the goods from the warehouse at the fixed location.
  • other freight devices used for transporting the goods except the first, second and end third freight devices are referred to as fourth freight devices.
  • Multiple fourth cargo units may be required during the transport of the cargo.
  • Step S33c the fourth freight device transports the goods to the three-dimensional warehouse inside the warehouse at the fixed position, and then transfers the goods according to the planned route and determines other fourth freight devices, until step S6c, determines the docking with it.
  • the cargo unit is the third cargo unit.
  • Step S5c the second freight device transports the goods.
  • Step S6c determining a third freighter and a second meeting point for receiving the goods from the second freighter or receiving the goods through one or more fourth freighter delivery.
  • the third shipping device is configured to deliver the shipment directly to the user or to a delivery person or container in direct contact with the user. That is, the third freight device is the terminal mobile logistics equipment in the foregoing embodiments, such as drones, express robots, and minivans 9a. The goods are delivered to the receiving users through the mobile logistics equipment at these terminals.
  • the method for determining the third freight device and the second meeting point is similar to the method for determining the second freight device and the first meeting point, for example, based on the destination of the goods, the logistics direction of the second and third freight devices, and the aging level, etc. Determine the third transport device and the second meeting point.
  • step S7c the second freight device or the fourth freight device transfers the cargo to the third freight device at the second meeting point.
  • Step S8c the third freight device dispatches the goods to the receiving user according to the destination of the goods.
  • the aforementioned first cargo unit, second cargo unit and third cargo unit are on the way to their corresponding meeting points, if an instruction to change the destination of the cargo is received, a new cargo unit is re-determined based on the new destination and their meeting points, or identify one or more fixed-location warehouses.
  • a new second freight device and its meeting point are re-determined based on the new destination, which is referred to as the first Three rendezvous points; at the third rendezvous point to interface with the new second cargo unit and transfer the cargo to the new second cargo unit. Or determine a new fixed-location warehouse based on the new destination, and temporarily store the goods in the fixed-location warehouse.
  • a new third freight unit and its meeting point are re-determined based on the new destination, and the new meeting point and the new the third cargo unit of the new 3rd cargo unit docks and transfers the cargo to the new third cargo unit. Or determine a fixed-location warehouse based on the new destination, and temporarily store the goods in the fixed-location warehouse.
  • the third freight device When the third freight device receives an instruction to change the destination of the goods during the operation to the destination of the goods, it will send the goods to the new destination, or determine a fixed location warehouse and dispatch the goods to the fixed location warehouse.
  • the aforementioned first freight unit, second freight unit, and third freight unit may also receive an indication of a change in the transit time limit of the cargo on the way to their corresponding meeting points. For example, from the original ordinary change to expedited, at this time, the new freight unit and its meeting point are re-determined based on the new transportation time limit, or one or more fixed-location warehouses are re-determined. The process is the same as when the destination change instruction is received. The process is similar and will not be repeated here.
  • the freight device transfers the goods, whether it is between two freight devices, or between the freight device and the fixed location warehouse
  • the freight device when transferring the goods, there is no need to provide equipment at the meeting point to help complete the transfer of the goods, only the freight
  • the structure of the device itself completes the docking and the transfer of goods.
  • the docking of various freight devices in the aforementioned embodiments, or the direct docking of the three-dimensional warehouses inside the two freight devices, or the docking plate and the lifting docking device brought by itself, and providing a moving object support structure Use the moving device in the warehouse to move the goods.
  • the logistics system provided by the present invention does not require a sorting center at a fixed location, and only determines the freight device that needs to receive the goods and its meeting point or the fixed location warehouse for receiving the goods when planning the route during the transportation of the goods, and the determined location of the meeting point is flexible. , reasonable and diverse, to ensure that the goods can be transported the largest distance in the shortest time, thus effectively improving the logistics efficiency.
  • the present invention provides a logistics system, as shown in FIG. 102 , which is a schematic block diagram of the system.
  • the logistics system includes a plurality of logistics equipment (such as a plurality of mobile warehouses Q1 and A plurality of fixed location warehouses Q4), an identification system Q2 and a database Q3, wherein at least part of the logistics equipment includes a plurality of storage location units, wherein the storage location units are associated with the logistics equipment in which they are located.
  • the location unit number C0F11001 of the three-dimensional warehouse in the previous embodiment the first three characters represent the identity of the three-dimensional warehouse.
  • the location unit can be a mobile warehouse or a fixed location warehouse, and the last five digits in the number It represents the location number of the location unit in the three-dimensional warehouse.
  • the location unit is associated with the logistics equipment, and the location unit can be located in the logistics equipment through the number of the location unit.
  • the mobile warehouse Q1 includes a three-dimensional warehouse and a vehicle.
  • the mobile warehouse Q1 includes a freight device with a three-dimensional warehouse in the foregoing embodiments, such as a minivan 9a, an urban circulating truck 9b, There are cargo planes, shipping ships, freight trains and various long-distance and short-distance trucks with three-dimensional warehouses.
  • the fixed-position warehouse Q4 is used as a supplementary logistics equipment, such as the aforementioned express cabinet 10 at the end of the logistics.
  • the internal three-dimensional warehouse also includes multiple storage location units, and each storage location unit has a unique number, which represents the storage location unit. It also represents the express cabinet in which it is located.
  • the location unit accommodates a first turnover box, such as the mother turnover box 2 in the aforementioned embodiment, which houses a plurality of second turnover boxes, such as the aforementioned sub turnover box 7, which are configured to accommodate goods.
  • the specific structure refers to the foregoing embodiments, and the description is not repeated here.
  • the first turnover box and the second turnover box have corresponding identification marks.
  • the association relationship of the box, whether in the mobile warehouse or in the fixed position warehouse, the first turnover box is accommodated by the location unit, so the relationship between the location unit and the first turnover box can be established, so that the goods and the first turnover box can be obtained.
  • the relationship of the location unit is accommodated by the location unit, so the relationship between the location unit and the first turnover box can be established, so that the goods and the first turnover box can be obtained.
  • the above-mentioned solution of using the second turnover box is only an example, and the second turnover box may not be used, but, as in the existing packaging, the identification mark of the goods is marked on the packaging, so that only Establish the association relationship between the goods and the first turnover box and the association relationship between the first turnover box and the storage location unit where the first turnover box is located, and also obtain the association relationship between the goods and the storage location unit.
  • the association relationship is modified by the device that leads to the change of the position of the goods, and is sent to the database Q3 for storage.
  • the identity binding relationship between the parent turnover box and the location unit will be changed.
  • the sorting device will change the identity binding relationship between the child turnover box and the parent turnover box when sorting the child turnover box.
  • the AGV will modify the association relationship in real time every time the AGV and the sorting device sorts the goods each time.
  • the change message is sent to the database Q3 for storage. Therefore, the relationship between the goods and the location unit recorded in the database Q3 will be constantly changed in the whole logistics process, until the goods are dispatched to the receiving user, and the logistics process is ended.
  • the identification system Q2 can identify the goods entering the mobile warehouse Q1 or the fixed position warehouse Q4 and the changes of the goods through the association between the goods and the storage location unit, or the goods are between different mobile warehouses Q1, mobile warehouse Q1 and fixed position warehouse Q4. changes between.
  • the logistics system further includes a cargo supervision system Q5 configured to issue an alert in response to a cargo being located outside the dispatched location unit.
  • the cargo supervision system Q5 monitors the changes in the relationship between the goods and the storage location unit of each product in the system. When the relationship between the goods and the storage location unit of a cargo stops changing within a predetermined time, it can be determined that the location of the goods has been changed. If it is not in the scheduled storage location unit, that is, the goods leave the logistics system, the reason may be the loss of goods, illegal operations, accidents, etc., and an alarm will be issued at this time.
  • the logistics equipment where the goods leave the logistics system is located, such as a mobile warehouse or a fixed-position warehouse, according to the latest association relationship between the goods and the location unit, so as to It can be dealt with in a timely and targeted manner.
  • the logistics system further includes a location system Q6, which is configured to determine the location of the logistics equipment, such as a geographic information location system, which can determine each mobile warehouse and each fixed location in the logistics system in real time. The location of the warehouse.
  • the logistics system further includes a scheduling system Q7, which is used to schedule the delivery of goods between different logistics equipment. Compared with logistics equipment, the scheduling of goods includes receiving goods and delivering goods to the outside.
  • the dispatching system Q7 determines whether the goods need to be dispatched based on the storage location units occupied by the goods and the spare storage location units in the logistics equipment.
  • the dispatching system Q7 When the dispatching system Q7 dispatches goods between different logistics equipment, it can dispatch goods based on the running direction of the mobile warehouse and the logistics direction of the goods. For example, when dispatching goods in a mobile warehouse, the dispatching system Q7 determines the docking position and the goods to be transferred between the mobile warehouses based on the running direction of the mobile warehouse and the logistics direction of the goods. When the mobile warehouse transfers goods at the docking position, there is no need to provide equipment at the docking position. It only needs to complete the docking of the mobile warehouse according to its own structure. etc. Since the docking does not need to rely on external help, the docking position can be flexibly selected.
  • the dispatching system Q7 determines the goods to be transferred between the fixed-location warehouse and the fixed-location warehouse based on the running direction of the mobile warehouse and the logistics direction of the goods and the position of the fixed-location warehouse. As in the previous embodiment, the goods are transferred between the express cabinet and the minivan, or the goods are transferred between the express robot/drone and the express cabinet. During the transportation of goods, when the destination of the goods is changed or the aging level is changed, the dispatching system Q7 needs to reschedule the goods, such as re-determining the docking logistics equipment and docking positions.
  • the adjustment system Q7, the location system Q6, the cargo supervision system Q5 and the database Q3 can be any one or more of the logistics control modules in FIG. 72 or any one or more modules thereof .
  • the present invention also provides a method for monitoring goods in a logistics system, as shown in Figure 103, which is a flowchart of a method for monitoring goods in an embodiment of the present invention, and the method includes:
  • Step S1d identify the goods entering the logistics equipment. For example, according to the relationship between the goods and the location unit, the goods entering a logistics equipment can be determined.
  • the AGV modifies the RFID information of the parent turnover box, and changes the bound storage location unit number to the transportation status. According to the identity of the parent turnover box bound to the storage location unit, and the child turnover box are bound.
  • the goods currently being put into storage can be identified by the order information and the binding information between the sub-container and the goods. For details, please refer to the aforementioned method and process of goods storage.
  • Step S2d record the relationship between the goods in the logistics equipment and the location unit where the goods are located. After the goods enter the logistics equipment, when the handling AGV releases the mother turnover box to the storage location unit, the number of the storage location unit is written into the RFID information of the mother turnover box, and the communication between the mother turnover box and the storage location unit is completed. bind. Thus, the relationship between the goods and the location unit where the goods are located is determined. For details, please refer to the aforementioned warehousing process and exchange process.
  • Step S3d determining the change of the location unit where the goods are located in the logistics equipment. Since the logistics equipment needs to sort the goods during transportation, or needs to be connected with other logistics equipment to receive or transmit the goods, the position of the goods in the logistics equipment needs to be changed frequently.
  • the change of the position includes changing the location unit occupied by the parent turnover box where the goods are located, changing the parent turnover box where the child turnover box where the goods are located, and the like. Every time the position of the goods changes, the device that changes its position, such as AGV or sorting device, changes the corresponding binding relationship, and records the changed relationship in the database, through the goods and the mother turnover box, Changes in the relationship between location units and the like can determine changes in the location of goods.
  • Step S4d according to the association relationship between the goods and the location units, to identify the changes of the goods between the mobile warehouses and/or between the mobile warehouses and the fixed position warehouses.
  • the number of the storage location unit associated with the goods can determine whether the current change occurs between different logistics equipment, and which logistics equipment is passed from one logistics equipment to which logistics equipment.
  • the location unit associated with the goods has changed from C0F11001 to M3H34002. Since the first three code names of the logistics equipment have changed, it means that the goods were transferred from the logistics equipment code-named C0F to the logistics equipment code-named M3H, and It is stored in the second location unit of the third floor and the fourth column of the logistics equipment M3H.
  • the specific logistics equipment can be determined.
  • the logistics equipment code-named C0F is a mini-truck running in xx city, xx province
  • the logistics equipment code-named M3H is an urban circulation truck in xx city, xx province.
  • Step S5d monitoring whether the association relationship between the goods and the location unit changes within a predetermined time period. For example, according to the scheduling information of the goods in the scheduling system, the maximum time period for the goods to be delivered to the next logistics equipment in the current logistics equipment can be known, and the time period can be used as the predetermined time period. If the relationship between the goods and the location unit does not change within a predetermined period of time, an alarm is issued in step S6d. And locate the specific logistics equipment according to the location unit in the latest association relationship.
  • the alarm information can include cargo information and its logistics information and the last logistics equipment.
  • Fig. 104 is a flowchart of a method for dispatching goods according to an embodiment of the present invention.
  • step S1e the unit rate of a spare location of a target logistics equipment is obtained.
  • Step S2e judging whether the vacant location unit rate of the target logistics equipment is less than a predetermined value. If it is less than the predetermined value, in step S3e, reduce the goods received by the target logistics equipment. If the spare location unit rate is greater than the predetermined value, in step S4e, the goods received by the target logistics equipment are increased. Wherein, when the goods that the target logistics equipment should receive and the goods are transferred from the target logistics equipment to the outside, it is necessary to determine the logistics equipment that is docked with it. In one embodiment, the docking logistics equipment when the goods are delivered is determined by the running direction of the mobile warehouse and the logistics direction of the goods, or the goods delivered between the mobile warehouse and the fixed-position warehouse are determined.
  • the target logistics equipment is a mobile warehouse
  • the target logistics equipment is a mobile warehouse
  • the running direction of the target mobile warehouse and other mobile warehouses and the logistics direction of the goods a mobile warehouse with the same logistics direction as the goods is determined as the docking station
  • the mobile warehouse, and the docking position of the two is determined according to the running route of the two. If there is no suitable mobile warehouse for docking with the target mobile warehouse, or the time required is too long, it can be determined through calculation that a fixed-location warehouse is docked with the target mobile warehouse, and the target mobile warehouse transfers the goods to the fixed-location warehouse, and then from the fixed-location warehouse.
  • the warehouse is passed to other mobile warehouses.
  • shipments are also dispatched according to aging levels.
  • the aging level is a logistics level, such as express, ordinary, and the like.
  • priority is given to dispatching goods with high logistics level, thereby ensuring that goods with high logistics level can be delivered quickly and in time.
  • the goods are rescheduled, that is, the logistics equipment for transporting the goods and the docking between the logistics equipment are re-determined.
  • the position of the goods in the logistics system can be known in real time, and the goods leaving the system can be found at the first time, so that unexpected events can be solved in time.
  • the present invention can accurately and timely provide reasonable and suitable logistics equipment for the dispatch of the goods, thereby improving the logistics efficiency of the goods.

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Abstract

一种库位单元、立体仓库及其货物存储方法；其中，所述库位单元（1）包括储物空间（101）和移物空间（102），所述储物空间（101）用以容纳储物装置（2），所述移物空间（102）用以容纳用于移动所述储物装置（2）的移物装置（3），所述移物空间（102）在所述储物空间（101）的上方或者下方。所述立体仓库由储物单元连接构成，利用库位单元配合储物装置和移物装置，可以提高所述储物空间与所述移物空间的体积比，因而有效地提高了仓库的空间利用率。

Description

一种库位单元、立体仓库及其货物存储方法 技术领域
本发明涉及物流技术领域，特别地涉及一种库位单元、立体仓库及其货物存储方法。
背景技术
在科技和经济的双重推动下，物流业正在从传统物流向现代物流快速转型。在将商品从产地到消费地的移动过程中，涉及到的关于运输、保管、配送等多个环节的物流链向着自动化、信息化、智能化、无人化的方向演进。在物流链中，用于存储货物的仓库是其中重要的一个环节。无论是传统仓库还是现代智能仓库，基本由货架摆放货物。货架与货架之间留有通道用于货物的上架、下架等货物移动操作。在一些大型仓库中，还分有不同的货物区域，如进、出库分区、分拣区等。在传统仓库，货物的上架、下架、移动基本通过人工或者人工辅助搬运设备(如叉车)实现。在公开号为CN107577215A、名称为“货架和调度方法以及运营高度方法、中心和系统”的中国专利申请中揭示了一种可移动的货架，其可在仓库内的不同区域移动，从而提高货物的配送效率。相对传统仓库而言，前述的智能仓库在货物移动的自动化、工作效率上有了很大的提高，然而，无论是传统仓库还是现代的智能仓库，都需要在仓库内预留出足够的空间才可以顺利完成货物的移动，用于存储货物的储物空间不到仓库整体空间的一半，仓库的空间利用率不高。
发明内容
针对现有技术中存在的技术问题，本发明提出了一种库位单元、立体仓库及其货物存储方法，用以提高仓库的空间利用率。
为了解决上述技术问题，根据本发明的一个方面，本发明提供了一种立体仓库的库位单元，包括储物空间和移物空间，所述储物空间经配置以容纳储物装置；所述移物空间经配置以容纳用于移动所述储物装置的移物装置，所述移物空间在所述储物空间的上方或者下方；其中，所述储物空间与所述移物空间的体积比为大于或等于4:1，或者5:1，或者6:1，或者7:1，或者8:1，或者9:1，或者10:1。
根据本发明的另一个方面，本发明提供了一种立体仓库，包括两个以上水平连接和/或堆叠的前述库位单元、移物装置和控制系统；其中，所述库位单元经配置以容纳储物装置；所述移物装置经配置以在所述库位单元之间移动所述储物装置；所述控制系统经配置以控制所述移物装置在所述库位单元之间的移动。
根据本发明的另一个方面，本发明还提供了一种立体仓库，包括框架、多个支撑结构及底板，其中，所述框架经配置以定义多个库位单元，所述库位单元经配置在水平和垂直方向排列形成阵列，其中，所述库位单元经配置以容纳储物装置；所述多个支撑结构设置在所述框架上，经配置以在各个库位单元中支撑所述储物装置；所述底板设置在所述多个支撑结构下方，其中，所述支撑结构与所述底板之间定义为移物空间，其经配置以容纳移物装置，所述移物装置经配置以在不同的库位单位之间移动所述储物装置。
根据本发明的另一个方面，本发明又提供了一种立体仓库，包括多个不同高度的储物层、多个不同高度的移物层和升降系统，其中，所述储物层包括多个储物空间，所述储物空间经配置以容纳储物装置；所述移物层设置在所述储物层的上方或者下方，经配置以提供用于移物装置的移动空间；所述升降系统经配置以在不同移物层之间移动所述储物装置和/或所述移物装置；其中，所述储物层与所述移物层的高度比为大于或等于4:1，或者5:1，或者6:1，或者7:1，或者8:1，或者9:1，或者10:1。
根据本发明的另一个方面，本发明还提供了一种立体仓库货物存储方法，其中所述立体仓库包括多个水平连接和/或堆叠的库位单元，所述方法包括以下步 骤：将货物放置在储物装置内，所述储物装置位于第一库位单元中；利用移动装置使得所述储物装置脱离所述第一库位单元的支撑结构；利用所述移物装置带动所述储物装置移动到第二库位单元；以及利用所述移物装置将所述储物装置释放到所述第二库位单元的支撑结构。
本发明提供的立体仓库由库位单元构成，库位单元中的大部分空间为储物空间。根据储物装置的大小及载重量和移物装置的内部元器件所占空间及其载重量，通过计算可得知，移物装置的厚度与库位单元高度的比可在1/11-1/5，也就是说，一个库位单元1的空间利用率可以达到80％-90％。当移物装置采用其他方式，如磁悬浮等方式时，空间利用率可以达到95％。另外，货物位于库位单元内的储物装置内，因而也减小了由于货物堆压在一起而造成的货物损坏的可能性。
本发明还涉及到AGV(自动导引搬运装置)，所述AGV包括座体、顶升机构、行走机构和导引机构，其中，所述座体内部包括驱动总成、转向总成、顶升总成及电气元件；所述顶升机构与所述顶升总成配合，经配置其从所述座体上表面伸出或收回顶杆；所述行走机构设置在座体下，经配置与所述驱动总成和转向总成相配合；所述导引机构设置在座体下，经配置以导引行走机构的行走方向。其中，所述行走机构包括一个以上的滚轮总成。在一个实施例中，所述滚轮总成至少包括一个或多个滚轮本体以及滚轮轮轴，所述滚轮轮轴经配置与滚轮本体中心固定。在一个实施例中，所述驱动总成包括驱动电机和传动机构，所述驱动电机用以输出行走驱动力；所述传动机构包括首端的驱动主动轮同步轮和末端的滚轮轮轴；驱动电机输出轴通过驱动主动轮将动力传递到驱动同步轮，由驱动同步轮将动力传递到所述滚轮轮轴，从而带动滚轮本体沿径向转动。在一个实施例中，所述转向总成包括转向电机和转向机构，所述转向电机用以输出转向动力；所述转向机构包括转向主动轮、转向同步轮以及与其一体连接的转向架，所述转向同步轮与转向架、驱动同步轮轮轴同轴固定，所述转向架与滚轮轮轴固定；所 述转向电机输出轴通过转向主动轮将动力传递到转向同步轮，转向同步轮带动与转向架固定连接的驱动同步轮轮轴和滚轮轮轴一体转动，从而改变滚轮本体行走方向。在一个实施例中，在所述驱动电机输出轴末端和驱动主动轮轮轴之间所述还包括换向机构，用以改变动力传递方向。在一个实施例中，在所述转向电机输出轴末端和转向主动轮轮轴之间所述还包括换向机构，用以改变动力传递方向。在一个实施例中，所述传动机构还包括滚轮同步轮，驱动同步轮的轮轴通过换向机构连接所述滚轮同步轮轮轴；驱动同步轮将动力传递到所述滚轮同步轮，再由滚轮同步轮传递到滚轮轮轴。在一个实施例中，所述换向机构为相互配合的伞形齿轮。在一个实施例中，所述顶升总成包括顶升电机、传动机构和换向机构，所述顶升电机用以输出顶升动力；所述传动机构包括顶升主动轮和顶升同步轮；所述换向机构连接在顶升同步轮轮轴末端和顶升机构首端，用于改变顶升动力方向。在一个实施例中，所述顶升机构包括：作为顶升机构首端的齿轮、传动齿条、顶杆以及锁止机构；其中，所述作为顶升机构首端的齿轮与所述换向机构相连接，所述传动齿条在齿条侧面设置有横杆；所述传动齿条与所述齿轮相啮合，带动横杆随着所述齿轮的转动上、下移动；所述顶杆底端与横杆相对，在横杆随着所述齿轮的转动向上移动时，将顶杆顶出；所述锁止机构与所述顶杆相连接，在所述顶杆顶出到达预置位置时，锁定所述顶杆。在一个实施例中，所述AGV还包括定位杆，其顶端与所述横杆相对，在横杆随着所述齿轮的转动向下移动时，使定位杆从座体下表面伸出。在一个实施例中，所述定位杆与所述横杆一体设置；或者，还包括定位杆复位结构，在所述横杆随着所述齿轮的转动向上移动而离开所述定位杆时，复位所述定位杆。在一个实施例中，所述导引机构包括至少两组方向垂直的导向轮总成，其包括导向轮及其轮架和导向轮控制器，所述导向轮及其轮架设置在座体底部的凹槽内；所述导向轮控制器设置在凹槽内，与轮架固定，以用控制导向轮从凹槽内放出或收回。在一个实施例中，所述AGV还包括定位传感器，设置在座体底部的凹槽内；在导向轮正确放下进入行驶面的 导向槽中后发送信号。
在一个实施例中，所述AGV还包括控制装置，其设置在座体内部，包括：任务管理模块、移动控制模块和搬运控制模块，所述任务管理模块经配置以接收搬运任务，包括目标货物及目标位置；所述移动控制模块根据接收的行走路线或根据目标位置与当前自身位置计算的行走路线，控制驱动总成、转向总成，使行走机构按照规划好的线路行走和/或转向；所述搬运控制模块用于在确定目标货物后，控制顶升机构升起顶起货物，在到达目的地的目标位置后，控制顶升机构收回以放下货物。在一个实施例中，所述控制装置还包括设置在所述座体上表面外部和下表面外部的电子标签读写器，用于识别目标货物和位置。在一个实施例中，所述控制装置还包括强制定位模块，在运行不稳定、且到达目标位置后需要确认或精确修正自身位置时，控制定位杆从座体下表面伸出以定位。在一个实施例中，所述控制装置还包括一种以上的传感器和/或激光SLAM或视觉VSLAM系统，用于辅助移动控制模块和搬运控制模块。在一个实施例中，移动控制模块根据行走路线在需要转向时，控制转向总成使行走机构转动90度。
在一个实施例中，所述的自动导引搬运装置的作业方法包括：确定行走路线，所述行走路线包括一个以上的直线段，相邻两个直线段相互垂直；自动导引搬运装置按照行走路线到达搬运目标位置后，伸出顶升机构以顶起目标货物；以及按照行走路线，顶着所述目标货物到达目的地目标位置后收回顶升机构以释放目标货物。在一个实施例中，所述的作业方法进一步包括：按照行走路线到达搬运目标位置及目的地目标位置后，识别当前位置是否为搬运目标位置及目的地目标位置。在一个实施例中，所述的作业方法进一步包括：在确定了搬运目标位置后，识别搬运目标位置上的货物是否为目标货物。在一个实施例中，所述的作业方法包括：所述目标货物位于库位单元的储物空间的母周转箱，所述母周转箱底部设置有电子身份标签；所述自动导引搬运装置行走在库位单元的移物空间，在库位单元移物空间的底板上设置有电子身份标签，所述自动导引搬运装置通过 读取电子身份标签进行识别。在一个实施例中，所述的作业方法包括：在搬运环境不稳定时，所述自动导引搬运装置到达目标位置时，在精确定位后采用定位杆强制定位。
本发明提供的AGV(自动导引搬运装置)厚度小，占用空间小，运行精准，能够节省立体仓库内部的移物空间和通道空间，因而，可以提高其应用的立体仓库的空间利用率。
基于本发明的立体仓库，还提供了以下货物入库方法，包括以下步骤：将运输工具中的储物空间与立体仓库对接，其中，所述储物空间和立体仓库具有一个或多个库位单元；驱动移物装置从储物空间中的第一库位单元中搬出入库储物装置，并解除所述入库储物装置与第一库位单元的身份绑定关系，其中，所述储物装置中装置有货物；以及驱动移物装置将入库储物装置搬运至立体仓库中的第二库位单元，并建立入库储物装置与第二库位单元的身份绑定关系。在一个实施例中，所述的入库方法进一步包括：将立体仓库的一个或多个库位单元和运输工具中的储物空间的一个或多个库位单元直接对接。在一个实施例中，所述的入库方法进一步包括：利用对接板或对接管道将立体仓库的一个或多个库位单元和运输工具中的储物空间的一个或多个库位单元对接起来。在一个实施例中，所述对接板或对接管道上具有移物装置的导向结构。在一个实施例中，所述的入库方法其中所述对接板或对接管道上的导向结构与库位单元中导向结构相同。在一个实施例中，对接后的运输工具中的储物空间的第一库位单元与立体仓库的第二库位单元位于相同或不同的库层。在一个实施例中，所述的入库方法包括：当运输工具为无人机时，无人机定位悬停在所述立体仓库的无人机接口上方，通过抓手或升降机与立体仓库对接。在一个实施例中，所述的入库方法进一步包括：至少根据入库储物装置数量、对接面的库位单元数量、及当前可用移物装置的数量确定单次最大搬运量。在一个实施例中，所述的入库方法进一步包括：根据立体仓库和运输工具中的储物空间中的当前任务量确定可用的移物装置。在一个 实施例中，所述的入库方法进一步包括：可用的移物装置隶属于立体仓库或运输工具；或者所述移物装置为备用移物装置。在一个实施例中，所述的入库方法包括：当可用移物装置数量为一个以上时，多个移物装置协同搬运入库储物装置。在一个实施例中，所述的入库方法进一步包括：向可用所述移物装置发送入库储物装置清单，并实时更新所述入库储物装置清单。在一个实施例中，所述的入库方法包括：所述移物装置进入储物空间时，根据所述入库储物装置清单识别要搬出的入库储物装置。在一个实施例中，所述的入库方法进一步包括：根据入库储物装置的数量、立体仓库中空闲库位单元的位置和数量确定多个第二库位单元。在一个实施例中，所述的入库方法进一步包括：在入库之前，获取入库储物装置数量；以及根据入库储物装置数量，在立体仓库仓门区域清出大于或等于入库储物装置数量的多个第二库位单元。在一个实施例中，所述的入库方法进一步包括：在入库之前，将入库储物装置搬运到运输工具中的储物空间仓门区域。在一个实施例中，所述的入库方法进一步地，所述入库储物装置具有身份标签，所述移物装置具有标签读写器；解除所述入库储物装置与第一库位单元的身份绑定关系的步骤进一步包括：读取入库储物装置的身份标签，修改标签信息中的库位单元的身份信息。在一个实施例中，所述的入库方法进一步包括：在将所述入库储物装置搬离运输工具储物空间中的第一库位单元时，将入库储物装置标签信息中的库位单元的身份信息修改为移动状态；在将所述入库储物装置搬运至立体仓库中的第二库位单元之后，将入库储物装置标签信息中的库位单元的身份信息修改为第二库位单元的身份信息。
基于本发明的立体仓库，还提供了一种立体仓库的货物出库方法，包括以下步骤：将立体仓库和运输工具中的储物空间对接，其中，所述储物空间和立体仓库具有一个或多个库位单元；驱动移物装置从立体仓库的第三库位单元搬出出库储物装置，并解除所述入库储物装置与第三库位单元的身份绑定关系，其中，所述储物装置中装置有出库货物；以及驱动移物装置将出库储物装置搬运至运 输工具储物空间中的第四库位单元中，并建立出库储物装置与第四库位单元的身份绑定关系。
基于本发明的立体仓库，还提供了一种立体仓库之间的货物交换方法，包括以下步骤：对接第一立体仓库和第二立体仓库，其中，所述第一立体仓库和所述第二立体各自包括多个库位单元；驱动第一移物装置从第一立体仓库的第一库位单元搬出第一储物装置，并解除所述第一储物装置与第一库位单元的身份绑定关系；驱动第一移物装置将第一储物装置搬运至第二立体仓库的第二库位单元中，并建立第一储物装置与第二库位单元的身份绑定关系；驱动第一移物装置从第二立体仓库的第三库位单元搬出第二储物装置，并解除所述第二储物装置与第二库位单元的身份绑定关系；以及驱动第一移物装置将第二储物装置搬运至第一立体仓库的第四库位单元，并建立第二储物装置与第四库位单元的身份绑定关系。
本发明中涉及一种高空间利用率的立体仓库，在货物进出库时，将两个立体仓库直接门对门、层对层的整体或部分对接，货物可以在不同层同时搬运，相比于现有技术中仓库的货物出库与入库，效率非常高，可以在短时间内完成大量货物的搬运操作。
本发明中还涉及了一种子周转箱，其包括第一本体、分拣抓扣和第一身份标签，所述第一本体设有箱口及对应的箱盖，箱盖通过一个或多个锁与第一本体锁定闭合，并与第一本体定义存储货物的储物空间；所述分拣抓扣设置于第一本体上或箱盖上；所述第一身份标签经配置以至少记录子周转箱的身份信息及内置货物的物流信息。在一个实施例中，所述子周转箱中物流信息至少包括内置货物信息及货物流通过程中的位置变化信息。在一个实施例中，所述第一本体和箱盖的材料为硬质材料。在一个实施例中，所述的锁经配置以响应收货人身份确认后开启。在一个实施例中，所述储物空间内包括无法取出的缓冲结构。在一个实施例中，所述储物空间中的货物无需额外包装。
本发明中还涉及了一种物流子母周转箱，包括前述的子周转箱和母周转箱，其中子周转箱的第一身份标签经配置以至少记录其与母周转箱的身份绑定信息；所述母周转箱包括第二本体、搬运结构和第二身份标签，所述第二本体经配置以容纳一个或多个子周转箱；所述搬运结构设置在第二本体上，经配置以与移物装置相配合；所述第二身份标签经配置至少记录母周转箱与其所在位置的关联信息。在一个实施例中，所述第二本体的顶部开放，用于从顶面取、放子周转箱。在一个实施例中，所述第二本体的侧面设置可开关的侧门，用于从侧面取、放子周转箱。在一个实施例中，所述搬运结构为设置在第二本体底部的定位槽，用于与移物装置之间的定位。在一个实施例中，所述搬运结构为设置在第二本体顶部的提手，用于与移物装置中作为第二搬运结构的机械手相配合。在一个实施例中，所述搬运结构为设置在第二本体顶部的吸附装置，用于与移物装置中作为第二搬运结构的吸附机构相配合。在一个实施例中，母周转箱所在位置为库位单元，母周转箱与所在位置的关联信息为母周转箱与其所在库位单元的身份绑定信息。在一个实施例中，多个子周转箱包括多种规格，母周转箱的尺寸经设计以与相同或者不同规格的多个子周转箱的组合相配合，从而能够充分利用母周转箱的容积。
本发明中还涉及了一种基于子母周转箱的物流系统，包括一个或多个流动仓库和/或固定位置仓库、多个所述的物流子母周转箱，所述流动仓库和/或固定位置仓库包括一个或多个库位单元；其中，收货后的货物放置在子周转箱内，子周转箱放置在母周转箱内，母周转箱容纳于一个库位单元中，其中，所述库位单元、母周转箱、子周转箱及货物相互关联；通过流动仓库或者交通工具将内置货物的子周转箱送达收货人处。在一个实施例中，所述固定位置仓库包括具有多个库位单元的立体仓库。在一个实施例中，流动仓库包括交通工具和具有一个或多个库位单元的立体仓库，其置于所述交通工具上。在一个实施例中，所述的物流系统还包括分拣装置，其设置于流动仓库或固定位置仓库内，根据下一次出库的 物流目的地，对子周转箱进行分拣。在一个实施例中，所述的物流系统还包括快递机器人，其包括一个或多个用于容纳母周转箱的库位单元。在一个实施例中，所述固定位置仓库包括快递柜，其包括一个或多个用于容纳子母周转箱的库位单元。
本发明中还涉及了一种基于子母周转箱的货物关联方法，包括如下步骤：将货物放置在子周转箱内，在子周转箱的第一身份标签至少记录货物信息；将子周转箱放置在母周转箱内，在子周转箱的第一身份标签记录子周转箱与所述母周转箱的身份绑定信息；将母周转箱放置在库位单元，在母周转箱的第二身份标签记录母周转箱与所述库位单元的身份绑定信息；以及关联所述库位单元、母周转箱及子周转箱的前述绑定信息。在一个实施例中，所述的货物关联方法还包括：在变更母周转箱所在的库位单元时，更改所述母周转箱与库位单元的绑定关系。在一个实施例中，所述的货物关联方法还包括：在变更子周转箱所在的母周转箱时，更改子周转箱与母周转箱的绑定关系。
在本发明中，货物始终在子周转箱内，子周转箱随着母周转箱在不同的物流设备内流通，并实时记录流通过程中与母周转箱、库位单元的关联关系的变化，从而可以得到货物在物流系统中的实时位置，为货物在系统内的监管提供了数据支持。由于母周转箱存储在立体仓库中的库位单元，所以货物不会积压、推积在一起。子周转箱有多种规格以适应于各种形状、尺寸的货物，因而，本发明中的货物节省了现有物流系统中的各种包装胶带、包装箱、泡沫箱、填充物等，且子、母周转箱可重复多次使用，因而更加环保。由于货运装置中都是相同规格的立体仓库，存放子周转箱的母周转箱可通用在各个货运装置中，因而在货物交接时，将母周转箱从当前货运装置直接搬运到另一个货运装置即可，因而加快了货物的传递，提高了物流效率。
本发明还涉及了一种流动仓库，包括立体仓库、储物装置、移物装置、分拣装置和交通工具，其中，所述立体仓库包括多个库位单元，其中，所述库位单元 包括堆叠设置的储物空间和移物空间；所述储物装置容纳于库位单元中的储物空间；所述移物装置经配置以在多个库位单元的移物空间形成的空间移动，用于搬运所述储物装置；所述分拣装置经配置以占据多个相邻的库位单元，用以分拣储物装置中的货物；所述交通工具用于承载所述立体仓库，并提供移动功能。在一个实施例中，所述交通工具包括货箱支架和围护结构，所述围护结构与所述货箱支架相连接构成具有内部空间的货箱本体，所述立体仓库设置在所述货箱本体的内部空间中。在一个实施例中，所述围护结构包括一个或一个以上的箱门，所述箱门的面积为立体仓库中库位单元的整数倍。在一个实施例中，所述箱门包括设置在货箱支架侧面和/或后面的第一箱门；或设置在货箱顶面与无人机对接的第二箱门。在一个实施例中，所述的流动仓库还包括一个以上的支撑杆，其两端分别连接在所述箱门和所述货箱支架上，以用在所述箱门打开时，支撑固定所述箱门。在一个实施例中，所述的流动仓库还包括升降对接装置，其包括升降轨道、升降支架以及对接板，其中，所述升降轨道固定在箱门内的货箱支架上；所述升降支架配合设置在所述升降轨道中，可沿所述轨道上升或下降；所述对接板一端活动连接在所述升降支架末端，上表面为移物装置支撑结构；所述对接板能够在箱门打开时向箱体空间外打开，在箱门关闭时收起。在一个实施例中，所述对接板的长度与一个库位单元的宽度相适应；或与箱门的宽度相适应。在一个实施例中，所述的流动仓库还包括X-Y驱动平台，其设置在货箱支架底部，所述立体仓库固定在所述X-Y驱动平台上。在一个实施例中，所述箱门与所述X-Y驱动平台的长度或宽度相适应。在一个实施例中，所述的流动仓库还包括减震气囊，其设置在货箱支架与车体之间。在一个实施例中，所述的流动仓库还包括控制系统，其包括：通信模块、导航模块和对接控制模块，所述通信模块经配置以与云端系统进行信息的交互；所述导航模块用于根据规划好的路线确定交通工具的行驶路线；所述对接控制模块，经配置以根据与其对接的第二流动仓库确定对接模式，根据确定的对接模式控制相应部件的动作。在一个实施例中，所述控 制系统还包括地理位置定位装置，用以获取实时地理位置，并通过通信模块发送给云端系统。在一个实施例中，所述对接控制模块进一步包括箱门控制单元和升降对接装置控制单元，其中，所述箱门控制单元用以控制箱门的打开与关闭；所述升降对接装置控制单元用以控制对接板的升降、打开与收起。在一个实施例中，所述升降对接装置控制单元还包括以下传感器中的一者或多者：对接板定位传感器，在对接板与对接立体仓库的库位单元准确对接时，发出对接完成信号；抬升定位传感器，经配置在对接板到达第二流动仓库底部的预置位置可以安全抬升所述第二流动仓库时，发出定位信号；以及库位单元定位传感器，经配置在第二流动仓库的库位单元与立体仓库内库位单元准确对接时，发出对接完成信号。在一个实施例中，所述对接控制模块进一步包括X-Y驱动平台控制单元，经配置以驱动X-Y驱动平台在X向或Y向移动，以带动所述立体仓库向箱体外移动预置距离。在一个实施例中，所述的流动仓库其中进一步包括：减震气囊控制模块，经配置以在对接时调整减震气囊气压，以调整立体仓库的水平。在一个实施例中，所述的流动仓库中的所述移物装置包括AGV。在一个实施例中，所述AGV包括座体、顶升机构、行走机构和导引机构，所述座体内部包括驱动总成、转向总成、顶升总成及电气元件；所述顶升机构与所述顶升总成配合，经配置以从所述座体上表面伸出或收回；所述行走机构设置在座体下，与所述驱动总成和转向总成相配合；所述导引机构设置在座体下，用于导引行走机构的行驶。在一个实施例中，所述分拣装置包括支撑部、移动部和分拣机器人，所述支撑部至少与一个分拣单元相连接，所述分拣单元用于放置母周转箱，所述母周转箱中放置有货物；所述分拣单元与库位单元相连接；所述移动部活动连接在所述支撑部上，可沿所述支撑部在多个分拣单元之间移动；所述分拣机器人连接在所述移动部上，用于根据分拣任务抓取货物，随着所述移动部的移动，将货物从第一母周转箱分拣到第二母周转箱。在一个实施例中，所述的流动仓库中的所述储物装置包括子、母周转箱，其中，子周转箱内置货物，母周转箱内置一个或多个子周转箱，母周 转箱放置在库位单元中的储物空间；母周转箱与其内的子周转箱、其所在的库位单元的身份相关联。
在一个实施例中，本发明还提供了一种流动仓库的货物运输方法，包括以下步骤：获取在其运输距离内的货物传递任务，所述货物传递任务包括对接地点及对接的第二流动仓库或固定位置仓库；在向对接地点移动的过程中分拣待传递的货物；以及在对接地点与第二流动仓库或固定位置仓库传递货物。在一个实施例中，所述的流动仓库货物运输方法包括：与云端系统交互，接收云端发送的货物传递任务。在一个实施例中，在接收到货物传递任务的同时，接收规划好的行驶路线；或者根据当前位置和对接地点计算行驶路线。在一个实施例中，所述的流动仓库货物运输方法中进一步包括：根据货物传递任务，获取货物分拣清单；按照所述货物分拣清单分拣货物。在一个实施例中，在接收到货物传递任务的同时，从云端接收货物分拣清单；或者根据立体仓库内的货物信息和对接地点确定出货物分拣清单。
本发明提供的流动仓库在运输货物的同时，也兼具有货物存储的功能。在传递货物之前，按照货物的物流方向，在移动过程中完成分拣。流动仓库存储货物的规模可大可小，对接方式灵活多样，基于大数据的货物分拣算法、货物交换算法、行驶路径算法等，可以提高运输效率和对接时货物交换效率，从整体上减少了货物停留时间，因而，本发明涉及的物流系统在货物运输方面更加灵活，效率也更高。
本发明还涉及了一种应用于立体仓库的分拣机器人，其包括：平衡臂、抓手模块和运动驱动部，所述平衡臂用以保持移动过程的平稳；所述抓手模块连接在所述平衡臂末端，用于抓取货物；所述运动驱动部与所述平衡臂连接，用于驱动平衡臂的伸缩与移动及抓手模块的抓放货物。在一个实施例中，所述平衡臂包括至少两个由第一关节连接的支臂。在一个实施例中，所述支臂至少包括由第二关节连接在一起的上臂与下臂，其中一个支臂的上臂与另一个支臂的下臂通过第 一关节连接。在一个实施例中，第一关节连接的两个支臂在收缩状态时并列相邻。在一个实施例中，第二关节活动连接在一起的上臂与下臂在收缩状态时相互嵌合在一起。在一个实施例中，所述抓手模块包括抓手本体和抓手，所述抓手本体固定在平衡臂下臂末端；所述抓手活动连接在所述抓手本体上。在一个实施例中，所述抓手模块还包括识别部，其与所述抓手本体连接在一起，用以识别待分拣的货物。在一个实施例中，所述抓手包括多个抓取部，每个抓取部与抓手本体单独活动连接，用以改变与货物接触部的整体形状、大小、位置中一者或多者。在一个实施例中，所述抓取部采用吸附式和/或机械式。在一个实施例中，所述机械式抓取部具有与货物提手配置的抓扣。在一个实施例中，所述抓手本体对应每个抓取部设有导轨，抓取部固定连接在导轨滑块上。在一个实施例中，所述抓手模块还包括减震压板，其活动连接在所述抓手本体上，用以在抓手抓取货物时，契合在抓手与货物之间的空间，用以抑制货物晃动。在一个实施例中，所述识别部为货物身份标签读写器。在一个实施例中，所述身份标签读写器为RFID读写器或二维码读写器。在一个实施例中，所述识别部为图像识别单元，通过采集货物图像识别货物。在一个实施例中，所述图像识别单元包括摄像头和图像识别子单元，所述摄像头采集货物或货物身份标签图像，所述图像识别子单元根据采集的图像识别货物。在一个实施例中，所述运动驱动部包括关节驱动器，用以控制平衡臂的展开与收回。在一个实施例中，所述关节驱动器包括驱动电机以及钢丝绳卷绕器及钢丝绳，所述驱动电机用以提供驱动动力；所述钢丝绳从卷绕器伸出，经过导向轮固定在平衡臂末端，驱动电机的输出轴连接所述钢丝卷绕器，通过驱动电机控制钢丝卷绕器对钢丝绳的收放，从而控制平衡臂的展开与收回。在一个实施例中，所述运动驱动部还包括抓手驱动器，用于控制抓取部的抓放动作。在一个实施例中，所述的分拣机器人还包括控制单元，分别与运动驱动部和抓手模块信号连接，根据接收到的分拣任务协同抓手模块和所述运动驱动部完成货物的分拣。在一个实施例中，货物容纳于子周转箱中。在一个实施例中，所述的分 拣机器人还包括通信单元，用于与上位机通信。在一个实施例中，所述的分拣机器人还包括传感器单元，包括一个或多个定位传感器、防撞传感器、激光SLAM和视觉VSLAM中的一者或多者。
本发明还涉及了一种应用于立体仓库的分拣装置，包括支撑部、移动部和分拣机器人，所述支撑部至少与一个分拣单元相连接，所述分拣单元用于放置第一母周转箱，所述第一母周转箱中放置待分拣货物；所述移动部活动连接在所述支撑部上，可沿所述支撑部在一个以上分拣单元之间移动；所述分拣机器人固定在所述移动部上，用于根据分拣任务抓取货物，随着所述移动部的移动，将货物从第一母周转箱分拣到第二母周转箱。在一个实施例中，所述支撑部连接在一个分拣单元上方或侧面。在一个实施例中，所述移动部包括导轨和横梁，所述导轨固定在支撑部上，所述横梁通过导轨滑件连接在所述导轨上，所述分拣机器人连接在所述横梁上。在一个实施例中，所述分拣单元与库位单元在规格上相同或相适应。在一个实施例中，货物容纳于子周转箱中，分拣装置还包括分拣子系统，其包括通信模块、识别模块和信息修改模块，所述通信模块用以接收分拣任务，所述分拣任务至少包括目标子周转箱清单，所述目标子周转箱清单至少包括目标子周转箱身份信息、原绑定的第一母周转箱身份信息及用于放置目标子周转箱的第二母周转箱身份信息；所述识别模块经配置以识别分拣单元中的母周转箱及其中的子周转箱是否为目标母周转箱和目标子周转箱；所述信息修改模块经配置以在将目标子周转箱抓离第一母周转箱时解除目标子周转箱与第一母周转箱的身份绑定关系；在将目标子周转箱放置到第二母周转箱时，建立目标子周转箱与第二母周转箱的身份绑定关系。在一个实施例中，所述分拣子系统包括运动控制模块，经配置以控制分拣机器人的伸缩、移动、对目标子周转箱的抓放。
本发明还涉及了一种立体仓库分拣系统，其包括：前述的分拣装置、移物装置和控制系统，所述分拣装置分散在立体仓库中与库位单元相连通，根据分拣任务分拣目标母周转箱中的目标子周转箱；所述移物装置分布在库内库位单元的 移物空间中，根据搬运任务搬运母周转箱；所述控制系统经配置与所述分拣装置和移物装置通信，用于分派分拣任务和搬运任务并维护分拣信息。在一个实施例中，所述控制系统包括：任务确定模块、货物统计模块和任务规划模块，其中，所述任务确定模块经配置以根据物流信息确定当前分拣物流地；所述货物统计模块，经配置以根据分拣物流地、货物调度信息分析库内每一个母周转箱及其内部子周转箱内货物的地址信息，以确定目标母周转箱及目标子周转箱；所述任务规划模块经配置以至少根据库内目标母周转箱分布信息、分拣装置分布信息和移物装置数量及位置信息，为每一个分拣装置和每一个移物装置确定对应的任务。在一个实施例中，所述任务规划模块包括分拣任务单元和搬运任务单元，所述分拣任务单元经配置以确定并维护每一个分拣装置分拣的目标子周转箱清单；所述目标子周转箱清单至少包括目标子周转箱身份信息、原绑定的第一母周转箱身份信息及放入分拣后目标子周转箱的第二母周转箱身份信息；所述搬运任务单元经配置以根据移物装置、第一母周转箱、第二母周转箱及分拣装置的分布位置信息，实时为每一个移物装置分派搬运任务。在一个实施例中，所述分布位置信息为库位单元身份信息。在一个实施例中，所述控制系统还包括：货物信息维护模块，经配置以维护库内子周转箱、母周转箱的绑定关系及母周转箱与库位单元的绑定关系。在一个实施例中，所述控制系统位于云端，所述立体仓库包括本地模块，控制系统通过本地模块与分拣装置和移物装置通信。
本发明还涉及了一种立体仓库货物分拣方法，包括以下步骤：通过移物装置将第一母周转箱和第二母周转箱搬运到分拣单元；分拣单元的分拣机器人将货物从第一母周转箱抓取到第二母周转箱中；以及通过移物装置将所述第一母周转箱和第二母周转箱搬离分拣单元。在一个实施例中，所述分拣方法进一步包括：根据物流运输信息确定分拣物流地。在一个实施例中，所述分拣方法进一步包括：基于立体仓库内货物的调度信息及其所在的第一母周转箱，以确定第二母周转箱。在一个实施例中，所述分拣方法进一步包括：根据库内第一和第二母周转箱 分布信息、分拣装置分布信息和移物装置数量及位置信息，为分拣装置确定对应的分拣任务和为移物装置确定对应的搬运任务。在一个实施例中，所述分拣方法进一步包括：响应于所述第二母周转箱中没有目标子周转箱位置、且没有非目标子周转箱，将所述第二母周转箱搬运至存储库位单元。在一个实施例中，所述分拣方法进一步包括：根据库内空闲库位单元的分布，确定用于存储完成分拣的第二母周转箱的存储库位单元。在一个实施例中，所述分拣方法进一步包括：优先将出库区域的空闲库位单元确定用于存储完成分拣的第二母周转箱的存储库位单元。
本发明提供的分拣系统不需要过大的空间位置，通过移物装置的配合，利用分拣机器人可以快速、准确地分拣货物，不受时间、空间的限制，分拣效率高。
附图说明
下面，将结合附图对本发明的优选实施方式进行进一步详细的说明，其中：
图1是根据本发明的一个实施例的多级货运装置运输示意图；
图2是根据本发明的一个实施例的多级货运装置运输距离的示意图；
图3是根据本发明的一个实施例的库位单元的立体结构图；
图4是根据本发明的一个实施例的储物装置放置在库位单元中的状态示意图；
图5A是根据本发明的一个实施例的一种储物装置的示意图；
图5B是根据本发明的另一个实施例的储物装置的示意图；
图5C是根据本发明的一个实施例的一种储物装置的底部示意图；
图6A是根据本发明的一个实施例的一种储物台的正面立体示意图；
图6B是根据本发明的一个实施例的一种储物台的背面立体示意图；
图7A-7B是根据本发明的一个实施例的AGV停止在库位单元中的状态示意图；
图8A-8B是根据本发明的一个实施例中的一个库位单元中装载有储物装置、并停置一个AGV的状态示意图；
图9是根据本发明另一个实施例的库位单元示意图；
图10是根据本发明另一个实施例的库位单元示意图；
图11是根据本发明另一个实施例的母周转箱示意图；
图12是根据本发明一个实施例的库位单元连接示意图；
图13是根据本发明另一个实施例的库位单元连接示意图；
图14A是根据本发明另一个实施例的库位单元局部连接结构示意图；
图14B是与图14A所示结构对应的库位单元局部连接结构示意图；
图14C是基于图14B所示结构另一种库位单元连接结构示意图的放大图；
图15是根据本发明一个实施例的立体仓库示意图；
图16A是根据本发明另一个实施例的立体仓库示意图；
图16B是根据本发明另一个实施例的立体仓库中货物移动示意图；
图17A是根据本发明一个实施例的具有水平一层的立体仓库示意图；
图17B是根据本发明另一个实施例的具有水平两层的立体仓库示意图；
图18是根据本发明另一个实施例的立体仓库示意图；
图19A-19B是根据本发明一个实施例的子周转箱结构示意图；
图20A-20D是根据本发明一个实施例的AGV整体示意图；
图21A-21B是根据本发明一个实施例的驱动总成整体示意图；
图22是根据本发明一个实施例去掉了主动轮支架之后的示意图；
图23是根据本发明一个实施例的滚轮总成及部分驱动总成结构示意图；
图24是根据本发明一个实施例的滚轮总成及滚轮支架的结构示意图；
图25是根据本发明一个实施例的转向总成总体结构示意图；
图26是根据本发明一个实施例的转向总成部分结构示意图；
图27是根据本发明一个实施例的转向机构结构示意图；
图28是根据本发明一个实施例的另一个转向总成总体结构示意图；
图29是根据本发明一个实施例的顶升总成结构示意图；
图30是根据本发明一个实施例的顶升总成局部示意图；
图31是根据本发明一个实施例的顶升机构的结构示意图之一；
图32是根据本发明一个实施例的顶升机构的结构示意图之二；
图33是根据本发明一个实施例的顶升机构的结构示意图之三；
图34A-34B是导向机构中一个导向轮总成的结构示意图；
图35是根据本发明一个实施例的AGV单机控制装置原理框图；
图36A-36D是根据本发明一个实施例的应用于立体仓库中的分拣装置示意图；
图37A-37C是根据本发明一个实施例的一种分拣机器人平衡臂的结构示意图；
图38A-38C是根据本发明一个实施例的分拣机器人运动驱动部示意图；
图39A-39C是根据本发明一个实施例的分拣机器人抓手模块示意图；
图40A-40C是根据本发明另一个实施例的分拣机器人抓手模块示意图；
图41A-41H是根据本发明一个实施例的分拣机器人抓取货物示意图；
图42A-42B是根据本发明一个实施例的分拣机器人抓取、分拣货物流程示意图；
图43是根据本发明另一个实施例的应用于立体仓库中的分拣装置示意图；
图44是根据本发明一个实施例的分拣装置控制系统原理框图；
图45是根据本发明一个实施例的立体仓库内部示意图；
图46A-46B是根据本发明一个实施例的快递柜结构示意图；
图47A-47B是根据本发明一个实施例的快递柜结构另一侧面的示意图；
图48A-48B是根据本发明一个实施例的微型货车结构示意图；
图49A-49B是根据本发明一个实施例的市区循环货车结构示意图；
图50A-50B是根据本发明一个实施例的市区循环货车内部立体仓库滑出车箱示意图；
图51是根据本发明一个实施例的货运装置控制系统原理框图；
图52A是根据本发明另一个实施例的对接控制模块的原理框图；
图52B是根据本发明另一个实施例的分拣控制模块原理框图；
图53是根据本发明另一个实施例的货运装置控制系统原理框图；
图54是根据本发明的一个实施例的快递机器人整体结构图；
图55是根据本发明的一个实施例的快递机器人底座内部示意图之一；
图56是根据本发明的一个实施例的快递机器人底座内部示意图之二；
图57是根据本发明的一个实施例的快递机器人底座内部示意图之三；
图58是根据本发明的一个实施例的快递机器人货箱支架示意图；
图59A-59D是根据本发明的一个实施例的快递机器人货箱结构示意图；
图60是根据本发明的一个实施例的快递机器人的驱动总成在底座内部的示意图；
图61是根据本发明的一个实施例的快递机器人的一个滚轮总成与一个驱动总成的连接示意图；
图62是图61中A处去掉支座的换向机构放大图；
图63-66是根据本发明的一个实施例的驱动总成传动机构示意图；
图67是根据本发明的一个实施例的转向总成位于底座内的整体示意图；
图68是根据本发明的一个实施例的滚轮总成连接一个转向总成的示意图；
图69是根据本发明的一个实施例的滚轮总成在转向总成的控制下转动一个角度的示意图；
图70是根据本发明的一个实施例的快递机器人的控制装置的原理框图；
图71是根据本发明的一个实施例的快递机器人的交互控制模块的原理框图；
图72是根据本发明的一个实施例的物流控制系统的原理框图；
图73是根据本发明的一个实施例的述客服系统原理框图；
图74是根据本发明一个实施例的物流控制模组原理图；
图75是根据本发明一个实施例的快递机器人取货时的作业方法流程图；
图76是根据本发明一个实施例的快递机器人取货时引导用户发货流程图；
图77是根据本发明一个实施例的快递机器人到快递柜取空箱流程图；
图78A-78C是根据本发明一个实施例的快递机器人到快递柜取空箱动作图；
图79是根据本发明一个实施例的快递机器人送货作业流程图；
图80是根据本发明一个实施例的快递机器人执行多个任务时的流程图；
图81是根据本发明一个实施例的发货用户通过快递柜自助发货的流程图；
图82A-82C是根据本发明一个实施例的微型货车与快递机器人的对接示意图；
图83是根据本发明一个实施例的固定位置仓库与微型货车对接示意图；
图84是根据本发明一个实施例的微型货车与市区循环货车对接示意图；
图85是根据本发明一个实施例的两个市区循环货车对接示意图；
图86是根据本发明一个实施例的小型无人机与固定位置仓库的对接示意图；
图87是根据本发明一个实施例的固定位置仓库与货运装置对接示意图；
图88是根据本发明一个实施例的固定位置仓库与货运装置对接时的货物入库流程图；
图89是根据本发明一个实施例的一个搬运AGV搬运入库母周转箱时的流程示意图；
图90是根据本发明一个实施例的货物出库时的流程示意图；
图91是根据本发明另一个实施例将一个母周转箱搬运到指定库位单元的流程示意图；
图92是根据本发明一个实施例的立体仓库之间货物交换流程图；
图93A-93D是根据本发明一个实施例的分拣方法流程图；
图94是根据本发明一个实施例的物流方法流程图；
图95是根据本发明的一个实施例的生成物流订单流程示意图；
图96是根据本发明的一个实施例的取货流程示意图；
图97A-97B是根据本发明的一个实施例的货物运输流程示意图；
图98是根据本发明的一个实施例的派件流程示意图；
图99是根据本发明的一个实施例的减少货物停留时间的物流方法流程图；
图100是根据本发明的一个实施例减少分拣时间的物流方法流程图；
图101是根据本发明一个实施例的物流线路规划方法流程图；
图102是根据本发明的一个实施例的物流系统原理框图；
图103是根据本发明一个实施例的货物监管方法流程图；以及
图104是根据本发明一个实施例的货物调度方法流程图。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
在以下的详细描述中，可以参看作为本申请一部分用来说明本申请的特定实施例的各个说明书附图。在附图中，相似的附图标记在不同图式中描述大体上类似的组件。本申请的各个特定实施例在以下进行了足够详细的描述，使得具备本领域相关知识和技术的普通技术人员能够实施本申请的技术方案。应当理解，还可以利用其它实施例或者对本申请的实施例进行结构、逻辑或者电性的改变。
在现有技术中，物流链中的各个环节有着如下一些特点：
首先，在物流链中，用于存储货物的仓库是其中重要的一个环节。无论是传 统仓库还是现代智能仓库，基本由货架摆放货物。货架与货架之间留有通道用于货物的上架、下架等货物移动操作。在一些大型仓库中，还分有不同的货物区域，如进、出库分区、分拣区等。在传统仓库，货物的上架、下架、移动基本通过人工或者人工辅助搬运设备(如叉车)实现。在公开号为CN107577215A、名称为“货架和调度方法以及运营高度方法、中心和系统”的中国专利申请中揭示了一种可移动的货架，其可在仓库内的不同区域移动，从而提高货物的配送效率。相对传统仓库而言，前述的智能仓库在货物移动的自动化、工作效率上有了很大的提高，然而，无论是传统仓库还是现代的智能仓库，都需要在仓库内预留出足够的空间才可以顺利完成货物的移动，用于存储货物的储物空间不到仓库整体空间的一半，仓库的空间利用率不高。
其次，物流系统货物的搬运，包括将货物在装、卸货台和仓库之间以及仓库内部的搬运，通常包括人工、半人工和全自动化设备几种方式。随着科技的发展，目前大部分的物流系统都采用半人工，即工作人员利用设备来搬运货物。如工作人员驾驶叉车、配合升降机取存货物。目前出现的智能仓库多采用AGV(Automated Guided Vehicle)小车来搬运货物。根据仓库的规模、货物的体积、尺寸，AGV小车有多种形态，例如授权公告号为CN203715182U、发明名称为“一种AGV小车”的专利中提供了一种具有升降架的AGV小车；公开号为CN104317289A、发明名称为“一种新型叉车型AGV小车”的专利申请提供了一种可原地打转，在转弯时减少转弯半径的叉车型AGV小车。另外，还有其他类型的AGV，如背负式AGV、牵引式AGV等。
前述的各种AGV的结构及作业方法均适应于当前物流模式，主要应用于各种大型仓库，在货架之间的通道运行，或在不同区域，如分拣区域和出库区之间搬运货物。
再次，在将货物从产地到消费地的移动过程中，货物在流通的各个环节中要经历各种搬运情景。为了避免在搬运过程中货物损坏，需要根据货物的性质采用 不同的包装手段包装货物。例如，对于一些普通小件货物，会采用纸板箱、塑料袋、胶带、热熔胶等包装，为了防止货物在纸板箱内的晃动，里面会填加填充物。对于一些易碎货物，如玻璃制品、陶瓷制品等还需要增加专用包装，如定制形状的泡沫箱等。因而，通常一件体积很小的货物，需要大量的包装材料才能够货物安全送达目的地。这种过度包装方式，不但占用了大量的存储、运输空间，也浪费了大量包装材料，大部分的包装材料，如塑料、泡沫都是不可回收再利用的材料，给环境带来了巨大的压力和危害。
再次，分拣是物流链中的另一个重要环节。为了提高运输、配送效率，物流系统通常会设置多级分拣中心。例如，在从用户处收集上来的一件货物会经过分拣中心分拣、运输、下一级分拣中心分拣、再运输……直至到达配送站，从配送站配送到目的地。分拣中心至少包括临时储存货物的仓库。仓库内由人工或设备对入库货物进行相应级别的分拣，然后收集、运送到指定区域存储，在运输车辆到达时装箱，从分拣中心运送到下一个分拣中心或配送站。
随着科技的发展，分拣技术也在逐步提高。由原始的人工分拣发展到使用各种自动化设备自动分拣。例如，在公开号为CN102218404B、名称为“基于射频、视频和红外识别跟踪的物流分拣系统和方法”中揭示了一种分拣设备，包括货物投放传送机、货物传送辊道、多个分拣口传送机及货物识别设备。货物投放传送机将货物投入到货物传送辊道，由货物识别设备识别后送入相应的分拣口传送机。又例如公开号为CN103949408B、名称为“高速货物分拣车及分拣系统”的专利申请提供的分拣方案是，在分拣中心的仓库设置流水线式分拣系统，在流水线式的输送通道中设置多个分拣口，采用分拣车装载待分拣货物。分拣车在输送通道移动过程中识别货物，将识别出的货物在经过对应分拣口时推入分拣口。另外还有各种其他类型的分拣设备或分拣机器人。
在前述的各种分拣技术中，需要在仓库中开辟足够大的区域来放置分拣设备或分拣机器人、待分拣货物和分拣完的货物，并且，在分拣完后，还需要足够 的区域供叉车等运输设备来收集分拣后的货物，然后通过运输通道运送到货物存储区域存储，等待出库运输，因而仓库需要为分拣、运输留有足够空间。另外，在分拣中心的仓库中，货物从入库到出库，需要在分拣中心停留一段时间用于分拣、等待出库，停留的时间根据仓库管理技术、分拣技术、出库运输频率等因素息息相关。
最后，对于物流末端的取货、送货，仍然需要人工完成，例如需要快递人员驾驶车辆到用户处取货或送货。虽然已出现一些快递机器人，但这些快递机器人需要与工作人员配合，由驿站工作人员放入和收取快递机器人的货物，本身不能独立完成货物的取放。
本发明(包括本专利申请已经相关的多个专利申请)提供了一种革命性的全新物流系统，针对物流链的各个环节都提出了多个不同于现有物流系统的突破性解决方案，能够减少货物停留时间，提高货物的运输效率，减少固定位置仓库的使用，增加仓库的空间利用率，保证货物的全程监管，以及降低过度包装带来的环境压力。
根据本发明的一个或多个实施例，本发明的物流系统包括：客服系统、多级中途传递式物流设备及多个物流控制模组，其中，为方便对系统整体的描述，在以下的说明中对各种物流设备进行相应的命名，以使本方案更容易理解。
图1是根据本发明的一个实施例的多级物流设备运输示意图。在本实施例中，末端物流设备包括快递机器人8、固定位置仓库(如快递柜10)、无人机M1(包括小型与大型无人机，图中所示为小型无人机)及微型货车9a等。点划线为末端物流链，用户与末端物流设备交互，使货物从用户处进入物流系统或从物流系统中出来回到用户处。细线为二级物流链，发生在末端物流设备之间，在小范围区域内进行货物传递。粗实线为三级物流链，在末端物流设备和较长运输距离的三级物流设备之间传递货物，用以将小范围内的货物由较长运输距离的三级物流设备进行长距离运输。粗点线为三组物流设备与城际物流设备之间传递货物的 四级物流链。在该级物流链中，由三级物流设备将货物传递到城际物流设备，由城际物流设备将货物从一个城市或一个国家运输到别一个城市或另一个国家。
在一些实施例中，物流设备包括如图中的微型货车9a和比较大型的市区循环货车9b等市级货运装置和国际、城际物流设备，根据距离的远近，可以包括货运飞机、城际铁路、长途与短途货车、海运货轮等。
在一些实施例中，以快递机器人作为末端物流链的实例进行描述。本领域技术人员应当理解，快递机器人的工作也可以由快递员来代替。在本文的以下描述中将不再赘述这一点。
在一些实施例中，物流设备包括固定位置仓库和可移动的货运装置，每个物流设备具有唯一的身份标识，可移动的货运装置具有对应的运输距离范围，根据运输距离范围的大小将整体货运装置分成多个级别，例如，在整体上分为国际、城际与市级三个级别。
其中，市级货运装置根据城市的大小，根据货运装置的运输距离又可以分为多个不同的级别。如图2所示，为一个市级多级货运装置运输距离的示意图。在本实施例中，物流末端的快递机器人8的运输距离S1最短，因而其数量最多，从整体上看，快递机器人8的运输范围可以覆盖市内所有的用户区。微型货车9a为二级货运装置，其运输距离S2大于快递机器人8的运输距离S1，市区循环货车为三级货运装置，其运输距离S3为市内运输距离最大。随着运输距离的增大，所需数量越少。当然，数量的多少还与货运量的多少相关。在物流量大的情况下，货运装置多，而货运装置越多，货物的流动也就越快。本发明的物流系统，在物流量越大时，优势越明显，效率反而越高。
在一些实施例中，各级货运装置的运输区域随着其移动而变化，因而在调度上更加灵活。在货物传递时，仅以物流方向、货运装置的分布及其运输方向来计算确定货运装置的对接地点和对接的货运装置，因而传递和对接货物更加灵活，快速，减少货物的停留时间，从而提高物流效率。
如本领域技术人员所理解的，各个级别的货运装置包括能够适应该级别运输的交通工具。然而，本发明并不限制于此。例如，通常作为二级物流链的货运装置大型货车也可以作为末端物流链设备直接从用户收取货物。再例如，通过作为末端物流链的微型货车也可以直接与通常作为三级物流链的货运装置的飞机直接传递货物，而无需经过其他级别的货运装置。
在一些实施例中，本发明的物流链中可以不包括固定位置的仓库。物理链的各级货运装置之间传递货物而无需将货物首先运到固定位置的仓库(或分拣中心)，然后在由另外的货运装置从固定位置的仓库取走货物。这样能够极大地减少货物停留时间，提高物流效率，降低物流成本。在一些实施例中，固定位置仓库(包括快递柜)可以作为辅助设施而加入到本发明的物流链中。例如，在收货和送货环节，如果用户与末端物流链的货运装置在时间上无法契合，会降低用户的体验。加入快递柜能够弥补二者时间上的不同，能够提高用户的满意度。在一些实施例中，固定位置仓库(包括市郊的大型仓库)可以作为物流链中的重要组成部分，成为物流链中的重要一环。这样的固定位置仓库能够作为大量货物进出城市的缓冲仓库，以方便货运装置的调度。在本发明的一些实施例中，在货运装置中的货物数量与固定位置仓库中货物数量之比为50％以上，80％以上，90％以上，95％以上，或者99％以上。
在一些实施例中，货运装置中包括立体仓库，既起到货物运输的作用，也能达到货物存储的目的。在一些实施例中，货运装置包括立体仓库、储物装置、移物装置、分拣装置和交通工具。立体仓库由交通工具承载。根据交通工具的类型及运载能力，立体仓库的规格不等。例如，当交通工具为小型车辆、飞机、船只时，承载较小规模的立体仓库；当交通工具为大型卡车、火车、货运飞机、海运货轮时，能够承载较大规模的立体仓库。在立体仓库内部的储物装置内置货物。在一些实施例中，储物装置包括子母周转箱。货物内置于子周转箱内，母周转箱容纳多个子周转箱。母周转箱容纳于立体仓库的库位单元中的储物空间中。在一 些实施例中，移物装置例如为小型、超薄的AGV，其位于库位单元的移物空间，用于搬运所述母周转箱。在一些实施例中，根据立体仓库的规模，数量不等的分拣装置分散在立体仓库中，与相邻库位单元相连接在一起，融合在库位单元中。
在一些实施例中，将货物放置在子周转箱内，并将子周转箱放置在母周转箱内，母周转箱存储在立体仓库中的库位单元。由此，货物不会积压、推积在一起。子周转箱有多种规格，可以适应于各种形状、尺寸的货物；对于一些易碎货物，子周转箱内设计有防撞件等结构，可以保护子周转箱内的货物，避免在运输、搬运过程碰撞或损坏。在一些实施例中，货物的搬运，如在立体仓库内以及立体仓库对接时，由本发明中提供的移物装置，如AGV，来搬运母周转箱，运行平稳，不再出现现有物流系统中的暴力搬运、暴力分拣。因而，本发明中的货物不再需要如现有物流系统中的各种包装胶带、包装箱、泡沫箱、填充物等，能够避免现有物流系统中过度包装的问题，更加环保。
在一些实施例中，各个货运装置中都是相同规格库位单元的立体仓库，存储子周转箱的母周转箱可通用在各个货物装置中。在货物交接时，由AGV将已分拣好的母周转箱从当前货运装置直接搬运到另一个货运装置即可。由于不再需要现有物流系统中卸货和装货等环节，从而能够节省货物装卸的时间。并且，各个对接环节无需人员的介入，不但效率高，也可以避免货物与人的接触。
在一些实施例中，在运输过程中，按照物流方向货物从一个货运装置转移到另一个货运装置。不同级别的货运装置形成了多个物流链级。货物从发出到抵达目的地，经过前述具有不同运输距离的多个货运装置的传递，经过或者不经过固定位置的仓库，最终送达至收货用户。
以下通过具体的实施例对本发明进行详细说明。
在一些实施例中，立体仓库具有高空间利用率。库内的大部分空间作为储物空间用于容纳储物装置。所述储物装置例如为储物箱或储物台。在一个实施例中，储物装置包括子、母周转箱，子周转箱为密闭装置，用于放置货物，子周转箱放 置在母周转箱内。在储物空间上方或者储物空间下方设置容纳移物装置的移物空间，所述移物装置例如为超薄的AGV小车。通过移物装置来移动储物空间的储物装置完成货物的进、出库、库内移动等操作。根据储物空间与移物空间的具体结构设计，可以使所述储物空间与所述移物空间的体积比大于或等于4:1，或者5:1，或者6:1，或者7:1，或者8:1，或者9:1，或者10:1。因而本发明提供的立体仓库对空间的利用远远超过现有技术中的任何一种传统仓库或现代智能仓库。
库位单元实施例一
在一个实施例中，本发明提供了一种标准化、模块化的库位单元，多个库位单元堆叠在一起可以形成一个高空间利用率的立体仓库。
图3为根据本发明一个实施例的标准化、模块化的库位单元的立体结构图。所述库位单元1至少包括一个立方框架，其包括四个立柱111、顶部的四个边框112和底板113。该立方框架的四个立柱111连接有支撑结构，通过该支撑结构来支撑储物装置。在本实施例中，所述支撑结构为支撑块，每个立柱上连接有两个朝向内部的支撑块12。在另一些实施例中，所述支撑结构也可以是连接在所述立柱上朝向所述储物空间的一个扇形结构，其中所述扇形结构的弧度小于或等于90度。
库位单元的立体框架底面为一整块底板113。在其他一些实施例中，根据需要也可将底板113设置成镂空或者编网等形式，从而节约成本。为了能够确定货物在立体空间的分布，每一个库位单元设有身份标签14。如图3所示，身份标签14可以为位于底板113适当位置的电子标签，其中记录有该库位单元的身份信息，如在库内的编号。
库位单元1立方框架内部的空间，从所述支撑块12到立方框架的顶部包括储物空间101，用于容纳储物装置，例如本实施例中的母周转箱2。参见图4，示出了母周转箱2放置在库位单元1中的状态示意图。设置母周转箱2的目的 是能够尽可能地利用库位单元的储物空间。由于存储的货物在规格、体积形状等存在各种可能，通过母周转箱2可以有序地集合不同规格、不同体积的货物。立方框架的四个支撑块12支撑着母周转箱2的底部，可以稳稳地将母周转箱2存放在储物空间101。
在一个实施例中，货物放置子周转箱内(图中未示出)。子周转箱放在母周转箱2中。在一些实施例中，母周转箱2包括第一本体20，其尺寸与本实施例中的库位单元1的储物空间101的规格相匹配。如图5A所示，母周转箱2的第一本体20的高度与储物空间101相匹配，第一本体20的顶部开放，用于从顶面取、放子周转箱。在其他一些实施例中，如图5B所示，母周转箱2第一本体20的高度低于储物空间101的高度。在其他一些实施例中，如图6A-6B所示，母周转箱2的第一本体20呈储物台状并包括边沿22a。第一本体20上有序设置的多种规格的定位槽23a，用于容纳不同规格、不同体积的货物。
在前述三个实施例中，母周转箱2的第一本体20的底部具有搬运结构。如图所示，搬运结构可以为与移物装置的顶起机构相配合的定位结构21，可使移物装置从母周转箱2的第一本体20的底部顶起母周转箱2。在一些实施例中，各个母周转箱2设有身份标签24，如图5C所示。在一个实施例中，身份标签为电子标签，其中记录有该母周转箱2的身份信息，如母周转箱2的编号。
在一些实施例中，从所述支撑块12到立方框架的底部为移物空间102。作为移物装置的行走空间。在一个实施例中，所述移物装置采用AGV3。AGV3在移物空间102内移动。库位单元1的底板113为AGV3的行驶面，在如图7A-7B所示，为AGV3停止在所述库位单元1中的状态示意图。在一些实施例中，结合图3，底板113上正交设置有导向槽1131。由于底板113为矩形，为了使AGV3可以无阻碍地在底板11a上移动，正交设置的导向槽1131分别与对应的底边平行。对应导向槽1131，在AGV3底部设有两个与其配合的导向轮31，如图7B所示，用于防止AGV3在行驶过程偏离行驶路线。在本实施例中，底板 113上设有一组正交关系的导向槽1131，也可以设置两组或三组，在AGV3底部的对应位置，也设置有对应的导向轮31。
导向槽与导向轮用于强制AGV在行驶过程中始终在该路线而不偏离。根据类似的思路，可在框架底面113上设置凸条，在AGV底面上设置相配合的凹槽，同样可以起到导向的作用。机械的方式成本低，稳定性高，控制系统也更容易实现。
除了这两种机械式结构外，也可以采用其他的结构来为AGV3导向，例如电磁式、激光式、红外式、超声波式、UWB式、或者光学式结构。本领域普通技术人员可以根据实际需要选用任何一种导向结构，在此则不再赘述。
在一些实施例中，为了移动母周转箱2，在AGV3的顶面设有顶起机构32，在没有移动货物时，所述顶起机构32收缩收纳在AGV3的顶面内。在需要移动货物时，顶起机构32从AGV3的顶面伸出，与母周转箱2底部的定位结构21配合，随着顶起机构32的升高，可以将母周转箱2从支撑块上顶起。
在一些实施例中，AGV3的底座下表面外部设有电子标签读写器(图中未示出)，用以读取库位单元1的身份标签；底座上表面外部设有电子标签读写器(图中未示出)，用以读取母周转箱2的身份标签。
图8A-图8B示出了一个库位单元1中装载有母周转箱2并停置一个AGV3的状态。为了移动母周转箱2，AGV3行驶到移动母周转箱2的下方停下，首先通过顶起机构32将所述母周转箱2顶起，使母周转箱2脱离支撑块12，而后AGV3带动母周转箱2移动。在库位单元1中为所述母周转箱2留有一个抬升空间103，可使AGV3从支撑块12顶起母周转箱2，从而脱离支撑块12，便于移动。所述抬升空间103的高度与AGV3的顶起机构抬升的距离相配合，在AGV3的顶起机构32将所述母周转箱2顶起后可以无阻碍地移动即可，因而，因而所述抬升空间103不需要太大，例如，抬升空间103的高度可以小于5cm，或者小于3cm，或者小于1cm。
在本实施例中，用于移动货物的AGV3的厚度决定了移物空间102的大小，而AGV3厚度仅占库位单元1高度的很小的一部分，因而，库位单元1中的大部分空间为储物空间。根据母周转箱2的大小及载重量和AGV3的内部元器件所占空间及其载重量，通过计算可得知，AGV的厚度与库位单元1高度的比可在1/8-1/4，也就是说，一个库位单元1的空间利用率可以达到75％-90％。当移物装置采用其他方式，如磁悬浮等方式时，空间利用率可以达到95％。
库位单元实施例二
如图9所示，为根据本发明另一个实施例的库位单元示意图。在本实施例中，库位单元1b至少包括一个立方框架11b，立方框架11b包括四个立柱111b、顶板112b和底板113b。其中，顶板112b上设有导轨1121b，移物装置为可伸缩的机械手3b，其通过悬挂机构31b连接在导轨1121b上，悬挂机构31b既可以360度旋转，转动机械手3b的方向，也可以上下伸缩，用以升降机械手3b。
对应所述库位单元1b，母周转箱2b与前述实施例不同的是，其搬运结构为设置在第一本体四个顶边上的提手21b，其身份标签可设置于第一本体的四个顶边中任何一个上，以便于其上方移物装置的读取。
母周转箱2b放置在底板113b上，悬挂机构31b带动机械手3b沿导轨1121b移动到母周转箱2b的上方，扩张所述机械手3b，使其与提手21b位置相对应，从而抓取母周转箱2b的提手21b，将母周转箱2b抓离底板113b，通过导轨沿x向或y向移动，从而实现水平交叉移动货物。在本实施例中，移物装置所在的移物空间102b在储物空间101b上方，通过设置移物装置的结构，如机械手3b，可以减少其所占的空间，因而，本实施例中的储物空间101b与移物空间102b的比例至少可大于2/1。
库位单元实施例三
如图10所示，为根据本发明另一个实施例的库位单元示意图。在本实施例中，库位单元1c至少包括一个立方框架，立方框架包括四个立柱111c、隔板112c 和底板113c。其中，隔板112c连接在立柱111c上半部，与立柱顶端所在的平面形成移物空间102c，隔板112c上设有导轨或导向槽，用于为移物装置3c在隔板112c上的运行导向。母周转箱2放置在底板113c上。母周转箱2与移物装置3c具有无接触的连接结构。例如，移物装置3c在需要移动母周转箱2时产生吸力，所述吸力可为抽取真空时产生的吸力，或者为电磁吸力。对应的，母周转箱2的第一本体上设置有吸附装置，可为与移物装置3c对应的真空吸附装置或电磁吸附装置，其受移物装置3c的吸引而离开底板113c，跟随移物装置3c移动，从而在水平方向完成交叉移动货物。在本实施例中，隔板112c和底板113c之间包括抬升空间103c和储物空间101c，隔板112c以上为移物空间102c。抬升空间103c的高度为母周转箱2被吸附时离开底板113c的高度，因而该空间的高度可以很小，如可以为厘米级或毫米级。而移物装置3c的体积不需要很大，所以移物空间102c的高度相对于储物空间101c的高度很小，因而库位单元1c内的空间绝大部分为储物空间101c，储物空间101c可达到整体空间的75％以上。
对应于实施例中的库位单元，母周转箱还可以如图11所示的结构，其第一本体20c的侧面设置可开关的侧门201c，其可从设置为两部分，在打开时，分别向顶部及底部滑开，用于从侧面取、放子周转箱。在本实施例中，所述侧门201c为卷帘门，也可以为其他柔性材料制成的可以滑动的门。在存储状态，侧门201c为关闭状态，在向其中放入或从中取出子周转箱时，侧门201c打开。例如在收货、送货及分拣时，侧门201c为打开状态。其中第一本体20c的顶面还设置有与移物装置的吸附结构配合的吸附装置21c。
本发明提供的库位单元为一个模块化、标准化的存储单元，当多个这样的单元堆叠连接在一起时可以得到一个立体仓库。在一些实施例中，相邻的库位单元可以共享立柱。也就是说，立体仓库的立柱可以为左右或者上下相邻的库位单元所共有。在制造立体仓库时，也是同时形成多个库位单位。
在其他一些实施例中，为了扩大立体仓库的灵活性，立体仓库中全部或部分 相邻的库位单元可以各自拥有自己的立柱。为了能将这些库位单元连接在一起，本发明提供的库位单元的立体框架在三个维度上分别设置有相应维度的连接结构，用于将不同的库位单元连接在一起。
库位单元连接结构实施例一
图12为一种库位单元连接示意图。在本实施例中，库位单元的立体框架上设有连接孔11a，当两个库位单元1连接在一起时，各自的连接孔11a相通，此时可以利用螺栓配合螺帽(图12中未示出)将两个库位单元1连接在一起。
库位单元连接结构实施例二
如图13所示，为另一种库位单元连接示意图。在本实施例中，在立体框架上的一个立柱或棱边上设置一个以上的凹槽，两个库位单元并列时，两个凹槽相对应，卡扣11b扣合所述在凹槽内，从而将两个库位单元连接在一起。通过在一个库位单元的x、y、z三向设置多个凹槽，可以在三个维度连接其他库位单元，根据需要可以连接任意多个库位单元。
库位单元连接结构实施例三
如图14A-14C所示，为又一种库位单元连接示意图。如图14A所示，在立体框架上的每个立柱或棱边上设置一个以上的凹槽11c，如图14B所示，另一个库位单元设有凸条或凸块11d，当两个相同规格的库位单元并列在一起时，一个库位单元凸条或凸块11d与另一个库位单元凹槽11c相配合插接在一起。另外，为了在插接后两个库位单元的连接更为牢固，如图14C所示，可以在凸块11d末端设置卡勾11e，对应的凹槽11c中设置相应的卡槽(图中未示出)，在凸块凸块11d插入凹槽11c中时，卡勾11e与卡槽相互咬合在一起，因而连接更为牢固。
在以上的库位单元连接结构中，所述连接结构分别设置在三个维度上，因而可以在水平的X两个方向、纵向Y两个方向及Z向两个方向连接其他任意个库位单元1，从而可以得到库位单元数量不同、体积不同的立体仓库。
立体仓库结构实施例一
参见图15，为根据本发明一个实施例的立体仓库示意图。在本实施例中，所述立体仓库包括多个水平连接在一起的库位单元。各个库位单元可在x方向和y方向前后延伸连接，从而根据实际需要，组成不同规格的立体仓库。当库位单元连接在一起时，其各自的移物空间相互连通，形成一个整体、大的移物空间。由于支撑储物装置的支撑结构伸出长度很小，不会阻碍AGV的移动。从而使AGV可在整体移物空间内在x向和y向自由交叉移动。例如，AGV在其中一个库位单元内，将其储物装置顶起，而后移动到另一个库位单元；在定位后，撤回顶起机构，将储物装置放置在新的库位单元的支撑结构上，从而完成储物装置的移动。
立体仓库结构实施例二
参见图16A，为根据本发明另一个实施例的立体仓库示意图。在本实施例中，多个库位单元相互堆叠连接形成一个两层的立体仓库。当然，根据实际需要，也可是三层或以上。为了实现移物装置和储物装置能在不同层之间移动，还包括升降系统4。升降系统4包括支撑立柱41和升降台42。升降台42与所述支撑立柱41配合，在驱动机构的驱动下上升或下降，可以与任一高度的库位单元相对接。其中，升降台42的台面与库位单元底板113的结构相同，当升降台42与库位单元1对接定位后，升降台42的台面组成为移物空间的一部分。
当AGV3需要换层时，升降台42移动到对应层，AGV3移动到升降台42的台面，升降台42再移动到目标层，与目标层的库位单元对接定位后停止，AGV3从升降台42的台面移动到所述目标层。当需要将下层的一个母周转箱2，或者从外部接收的一个母周转箱2送到上层的一个库位单元时。AGV3载着所述储物装置移到升降台42上，如图16B所示。升降台42在驱动机构的驱动下上升，当到达上层时，升降台42停止上升，并与上层的库位单元对接、定位。AGV3载着所述母周转箱2向目标库位单元移动。当到达目标库位单元停止，撤 回顶起机构，将母周转箱2放置在目标库位单元的支撑结构上。
立体仓库结构实施例三
参见图17A-17B，为根据本发明另一个实施例的立体仓库示意图。在本实施例中，所述立体仓库包括整体框架，整体框架由多个横梁111c和多个立柱112c交叉连接在一起，从而形成多个储物单元1。所述储物单元1在水平和垂直方向上形成单元阵列。如图17A所示，形成水平一层的立体仓库，如图17B所示，形成两层的立体仓库。储物单元1用以容纳储物装置(图中未示出)，如储物装置或者储物台。在每个立柱112c上设有支撑结构12，储物装置放置在支撑结构12上。如图中虚线所示，从支撑结构12到母周转箱2顶部之间的空间构成了储物空间101，从支撑结构12到底板113c之间的空间构成了移物空间102。在储物装置(图中未示出)顶部和横梁111c之间，或者说，在储物装置顶部货物和上层底板113c之间留有一定高度的距离，该空间为抬升空间(图中未示出)。移物装置为了在该移物空间102内带动储物装置一起移动，移物装置移动到储物装置下，利用顶起机构将所述储物装置顶起，而后在移物空间102无阻碍地水平移动。因而，所述抬升空间103的高度根据顶起机构将所述母周转箱2后能否无阻碍地移动为准。例如，该高度可以小于5cm，或者小于3cm，或者小于1cm。
为了实现移物装置在垂直方向的储物单元之间移动，还可以包括升降系统，如图16A中所示的升降系统，具体可参见图16A-16B对应的说明，在此不再赘述。
立体仓库结构实施例四
参见图18，图18为根据本发明又一个实施例的立体仓库示意图。在本实施例中，所述立体仓库包括多个储物层和多个移物层(本实施例中示出了两层储物层和两层移物层)，所述储物层和移物层的结构关系可如实施例一至三中的任何一个。与实施例一至三不同的是，本实施例中的移物层的高度、移物层的高度不 是全部相同，其中，上层库位单元1a1的高度小于下层库位单元1a2的高度，从而可以使用不同规格的储物装置，从而增加了可以存储货物的规格。在本实施例中，所述立体仓库采用的整体框架，也可以由多个单独的库位单元组合连接成成。
子周转箱实施例
图19A-19B是根据本发明一个实施例的子周转箱结构示意图。在本实施例中，子周转箱7包括：第二本体70、抓扣71及身份标签72。其中，所述第二本体70包括箱盖701，在本实施例中，抓扣71设置在箱盖701中间位置，为了不影响子周转箱重叠在一起后的摆放稳定性，在箱盖701顶面还设有其它凸起部702，其高度与抓扣71相同，因而可以维持子周转箱顶面的平稳性。抓扣71用于在分拣过程中与分拣机器人的抓手配合。身份标签72可以为RFID电子标签或二维码标签，用于至少记录其与母周转箱的身份绑定关系信息及流通过程中的物流信息。
第二本体70用于放置货物，为了保证货物的安全性，所述箱盖701通过一个或多个锁与第二本体70锁定闭合。如图中所示，在箱盖701的两侧各设置一个电子锁703，当然，本实施例中使用的锁可以为任何形式的锁，例如也可以为机械锁，还可以是密码锁、指纹锁等等。
在本实施例中，箱盖701与所述第二本体20通过连接件704活动连接在一起。为了控制箱盖701在打开时的速度和状态，在所述连接件上设有阻尼器。箱盖701与所述第二本体20也可以分立设置，在所述箱盖和所述第二本体分别设置有固定结构，例如卡扣结构、插接结构或吸附结构等，可使箱盖和所述第二本体在闭合时连接在一起。在另一个实施例中，所述第二本体内还可以设置各种结构的缓冲件，以与内置货物相适应。
AGV实施例
图20A-20D为本发明一个实施例提供的AGV整体示意图。在本实施例中， 所述AGV包括底座30、其壳体内部依序放置驱动总成33、转向总成34、顶升总成35、电气元件箱36及电池箱37。在底座30下设置有导引机构，在本实施例中为导向轮31，且有两组，每组两个，用于导引AGV在互相垂直的两个方向行走。包括顶杆32及其他结构的顶升机构与底座30内部的所述顶升总成35配合，可以从所述底座30上表面伸出或收回。底座30下还设置有行走机构，在本实施例中为分置于四角的四个滚轮总成38，其与底座30内部的所述驱动总成33和转向总成34相配合。
图21A-21B为驱动总成33的整体示意图，其中图21B为将底座壳体去掉的示意图，同时参考图20D。驱动总成33包括驱动电机330，用以输出行走驱动力。为了将动力传递到四个行走机构，还包括多级传动机构。在本实施例中采用同步带传动机构，一级传动机构包括主动轮332和与四个驱动同步带轮334，通过同步带333将驱动电机330的动力传递到驱动同步带轮334。其中驱动同步带轮334与行走机构相对应。在本实施例中，由于驱动电机330的输出轴的轴线平行底面，动力传递方向与垂直底面，而四个驱动同步带轮334的轴线垂直底面，动力传递方向为平行底面。因而为了改变输出动力的传递方向，本发明在驱动电机330输出轴末端和驱动主动轮332轮轴之间所述还包括换向机构，如图22所示，其为去掉了主动轮332支架331之后的示意图。在本实施例中，主动轮轮轴3321的末端连接一伞形齿轮3351，在驱动电机330输出轴末端连接相互配合的伞形齿轮3352，通过两个相互配合的伞形齿轮，将驱动电机330输出轴的垂直方向的动力转为水平方向的动力。其中在主动轮332的两侧各设有一惰轮，用于保证主动轮332和同步带有足够的接触面积传递动力。
如图23-24所示，由于本实施例中的行走机构包括滚轮总成38，其包括滚轮本体381，二者的中心通过滚轮轮轴382固定。通过驱动滚轮轮轴382转动，可以带动滚轮本体381沿轴的径向转动。因而驱动滚轮轮轴382的动力为垂直方向，而驱动同步带轮334传递过来的动力是水平方向，因而，还包括二级换向 机构。在本实施例中，在驱动同步带轮334的末端连接伞形齿轮3361，通过与其配合的另一个伞形齿轮3362，可以将驱动同步带轮334传递的水平方向的动力转变为垂直方向的动力。滚轮同步轮337与伞形齿轮3362同轴连接(图中未示出此轴)，通过同步带连接滚轮同步轮337和滚轮轮轴382，可带动滚轮轮轴382转动，从而带动滚轮本体381滚动。
本实施例中有四个滚轮总成，并采用一个驱动电机，本领域的普通技术人员应知，可以根据AGV底座的大小设置适量的滚轮总成数量及驱动电机数量。在驱动电机为多个时，需要控制驱动电机的同步工作。
如图25所示，为根据本发明一个实施例的转向总成总体结构示意图。同时参考图20D，在本实施例中，转向总成34包括转向电机340和转向机构。其中，转向机构与行走机构固定在一起，为了将转向动力传递给转向机构，还包括传动机构。在本实施例中，传动机构包括转向主动轮342和位于转向机构中的转向同步轮344。在本实施例中，转向主动轮342采用同步带343带动转向同步轮344转动。由于转向电机340的输出动力的方向为径向，即垂直底面，而转向机构需要水平的动力，因而，在转向电机340的输出轴和转向主动轮342之间还包括换向机构，如图26所示，转向主动轮342的轮轴末端连接有伞形齿轮3451，在转向电机340的输出轴末端连接有与之配合的伞形齿轮3452，将转向电机340的输出轴传递的轴向动力转变化径向动力，即将动力的传递方向从垂直转换为水平。
图27是根据本发明一个实施例的转向机构结构示意图。转向同步轮344连接有转向架，转向架主要包括转向架3461和轮架3462。轮架3462的两个侧耳与滚轮轮轴382固定，轮架3462的顶部为固定面，顶部设有连接孔，如螺孔，周边设有凸台。转向同步轮344固定在轮架3462的固定面的凸台上。转向架3461的底部与轮架3462的顶部配合，并设有连接孔，与轮架3462固定面的连接孔对应，用以通过连接件将转向架3461和轮架3462固定在一起。转向架3461 的顶部与驱动同步轮334的轮轴固定。
当转向电机340转动，其输出轴经配置输出轴向动力。经过伞形齿轮，将轴向动力转变为径向动力，与伞形齿轮同轴的转向主动轮轮轴带动转向主动轮342转动，转向主动轮342通过同步带带动转向同步轮344转动，转向同步轮344带动与其固定的转向架转动，转向架346带动滚轮轮轴及与其连接的滚轮同步机构、换向机构及驱动同步轮334一起转动，从而改变了滚轮本体381的滚动方向，配合对驱动机构的控制，可以做到原地转动，转弯半径为0。如图28所示，相对于图25，为转动了90度之后的示意图。
在本发明中，驱动机构的驱动同步轮与转向机构的转向同步轮同轴固定，且通过转向架与行走机构中的滚轮总成集成在一起，从而可以保证AGV的小型化、减小其厚度，减少在搬运时对空间的占用。
图29是根据本发明一个实施例的顶升总成结构示意图。所述顶升总成35包括顶升电机350，用以输出顶升动力。为了将动力传递到顶升机构，还包括传动机构。在本实施例中，共有4个顶杆32及其配套结构，作为AGV搬运货物时的搬运机构，并均匀分置在底座30的四角。为了将顶升电机350的动力同步传递给这个4个顶杆32及其配套结构，本发明除了包括顶升主动轮352和位于4个顶升机构的4个顶升同步轮354外，在四个顶杆32上设置导向轮321。顶升主动轮352和顶升同步轮354在的两侧分别设有惰轮用以调整同步带353方向。
图30是根据本发明一个实施例的顶升总成局部示意图。在本实施例中，在顶升电机350的输出轴末端和顶升主动轮352的轮轴的末端设置有换向机构，如一对配合的伞轮，用于改变顶升动力的传递方向。
图31-33为根据本发明一个实施例的顶升机构的结构示意图。在本实施例中，包括顶杆32在内的配套顶升机构还包括齿轮321、传动齿条322、齿条侧面的横杆323和锁止电磁阀324。为了将从顶升主动轮352传递来的动力传递到齿 轮321上，还包括换向机构。如图中的一对伞形齿轮3541和伞形齿轮3542。齿轮321与伞形齿轮3542同轴(图中未示出所述的轴)。
当顶升电机350转动时，经过换机机构的方向转换，顶升电机350带动顶升主动轮352转动，顶升主动轮352带动顶升同步轮354转动，经过换向机构，顶升同步轮354带动齿轮321转动，与所述齿轮321相啮合的传动齿条322随着齿轮321的转动方向而上升或下降。如图31所示，为顶杆32缩回状态。当传动齿条322上升到一定高度，齿条侧面的横杆323顶住顶杆32的底端，随着传动齿条322继续上升，横杆323推动顶杆32上升，顶杆32伸出底座上表面，至到顶杆32上升到预置高度时，顶升电机350停止转动，传动齿条322停止上升。锁止电磁阀324工作，锁住顶杆32，使其不再下降，如图33所示。
虽然在本实施例中设置了4个顶升机构，但本领域普通技术人员应知的是，顶升机构的数量不只是4个，也可以例如是多个，如8个。或者通过调整顶升机构，如根据受力计算，加粗顶杆，或改进顶杆顶部的结构，使其面积加大，设计出受力合适的锁止机构，也可以减少为3个、2个，或1个。
为了能使AGV在搬运环境不稳定状态下可以精确地停在预定位置，本发明还包括定位机构。参考图33，在本实施例中定位机构为定位杆39，驱动其上升与下降的机构采用驱动顶杆32的结构，不但可以实现对定位杆39上升与下降的控制，也减少了对空间的占用。在本实施例中，定位杆39顶端与所述横杆323相对，在横杆323随着传动齿条322向下移动时，将定位杆39从底座下表面压出。在本实施例中，可以将定位杆39与横杆323一体设计，也就是定位杆39的运动随着横杆323一起运动，在顶升电机350控制横杆323上升时，定位杆39同步上升，缩回底座。在另一个实施例中，可为定位杆39设计复位结构，如复位弹簧。在横杆323压迫定位杆39下降的同时压缩复位弹簧。当横杆323上升，复位弹簧带动定位杆39复位。
在本实施例中，驱动电机330、转向电机340和顶升电机350均可以为步进 电机或伺服电机，从而可以精确地控制运行距离。由于顶升电机350的控制升降的距离较小、力矩大，为了达到控制精度，可以为其配置行星减速机。
另外，根据电机的安装方向可以确定是否使用换向机构。在本实施例中，各种电机的输出轴平行于底面，因而需要换向机构。在将电机转动90度，使其输出轴垂直于底面时，则不需要换向机构。另外，本实施例中采用伞形齿轮换向，也可以采用其它结构，如涡轮蜗杆结构，视底座内部空间等情况而定。
图34A-34B是导向机构中一个导向轮总成的结构示意图。参考图20B和图21A，底座30的壳体底部设有内嵌的导槽301，其内置有导向轮总成。导向轮总成包括轮架310、导向轮31、控制杆312和位置传感器(图中未示出)。其中，轮架310的一端通过轴3100固定在导槽301的一端，轮架310的另一端固定导向轮31，中间位置通过轴3120与控制杆312的末端连接，控制杆312的首端固定在导槽301内，位置传感器设置在导槽301内，通过调整，使其在导向轮31放下进入行驶面的导向槽中后触发而发出定位信号。在一个实施例中，作为导向轮控制器，根据电磁锁的原理，控制杆312设置为电磁锁，图34A所示状态为在控制杆312未通电时的状态，此时，控制杆312没有产生吸力，导向轮31处于放下状态，更好地，控制杆312内部或在轮架上还可设置如弹簧等结构，压着轮架310，防止导向轮31向上跳动。图34B为所示状态为在控制杆312通电时的状态，此时的控制杆312产生吸力，吸引轮架310抬起导向轮31。参考图20B，在本实施例，共有两组导向轮总成，每一组有两个，两组垂直设置。当AGV在一个方向移动时，该方向的两个导向轮31下降与导向槽配合，如图34A所示的状态，此时定位传感器触发，发出信号；另外两个导向轮则上升收起，如图34B所示的状态，其对应的定位传感器停止产生信号，从而可以确定导向轮与导向槽配合完好，保证AGV的正常行驶。当AGV需要转向90度时，首先将原方向的两个导向轮上升收起，通过定位信号确定当前导向轮都已收起，则转向90度。转向后，另外两个导向轮下降与导向槽配合，通过定位传感器信号确定导向轮与 导向槽配合好后，开始运行。
图35是根据本发明一个实施例的AGV单机控制装置，其设置在底座30内部，包括：任务管理模块305、移动控制模块302和搬运控制模块303。其中，所述任务管理模块305通过通讯模块304与上位机通讯，用以接收搬运任务，并向上位机发送任务完成过程中的相关信息。其中，所述搬运任务至少包括目标货物的身份标识及目标位置，在本实施例中，目标位置为具体的库位单元。在一个实施例中，还可以从上位机接收规划好的行走路线，即从当前位置到搬运目标位置，再到目的地目标位置的行走路线。任务管理模块305将目标位置或者规划好的行走路线发送给所述移动控制模块302。
当只有目标位置时，所述移动控制模块302根据当前自身位置，内部存储的位置关系数据计算行走路线，如果接收到了行走路线，则根据行走路线控制驱动电机、转向电机按照规划好的线路行走和/或转向。其中，所述的行走路线由若干段直线段组成。当本发明所述的AGV应用于立体仓库中时，相邻两个直线段呈90度，即AGV在垂直和水平两个方向行走。在直线段中，移动控制模块302根据该段直线段的距离、驱动电机330每转一圈滚轮总成38行走的距离确定驱动电机330应转的总圈数，根据总圈数确定所需要的驱动脉冲数量，从而可以精确地控制AGV的行走距离。当该段直线段已走完，需要转向90度时，移动控制模块根据转向同步轮344的半径确定转动90度所需要脉冲数，控制转向电机340转动90度，与此同时，左右导向轮放下后前后导向轮升起。由于在转向时驱动同步轮334同步转动，而驱动同步轮334的同步转动会带动滚轮总成行走，因而，在向控制转向电机340发送完脉冲的同时向驱动电机330发送相应的脉冲数，以抵消驱动同步轮334转动90度时对应的差距。因而，本实施例中的AGV滚轮可以原地转动90度，保证在转向后，底座30底部的导向轮31仍能与底部的导向槽配合。
在AGV移动到目标位置时，如搬运目标位置或目的地目标位置时，所述移 动控制模块302向搬运控制模块303发送相应的通知。
搬运控制模块303接收任务管理模块305发送来的搬运目标货物的身份标识和目标位置，在接收到移动控制模块302发送的通知时，根据通知内容确定当前位置是搬运目标位置还是目的地目标位置。并通过底座30下表面外部的电子标签读写器3052读取当前位置的身份标识，以确定是否与搬运任务中的目标位置相符，如果不相符，发送相应的消息给任务管理模块305，任务管理模块305与上位机通信，以确定问题。如果相符，则由设置在所述底座30上表面外部的电子标签读写器3051读取货物(如母周转箱2)的电子标签，在确定与搬运任务中的目标货物(如目标母周转箱)相符时，控制顶升电机350工作，顶出顶杆32以顶起货物。在顶杆32上升到预定位置时，将货物顶离原来放置位置。在AGV到达目的地目标位置时，经过同样的识别、确认后，控制顶升电机工作，下降顶杆32以将货物释放到目标位置。
在一个实施例中，AGV上还设置重量传感器(图中未示出)，当顶杆32顶起货物时，可由重量传感器感测货物的重量，任务管理模块305记录所述货物的重量，将上传给上位机。
在一个实施例中，AGV单机控制装置还包括定位模块，当搬运环境不稳定时，为了停上目标位置时能够精确地定位，定位模块先控制顶升电机350控制定位杆39从底座30下伸出，在精确定位后，再控制顶升电机350控制顶杆32上升以搬运货物。
在一个实施例中，AGV还设有感测距离、位置的各种传感器，如设置在激光传感器、视觉传感器、红外传感器等。
在一个实施例中，AGV还可以包括激光SLAM(Simultaneous localization and mapping，同步定位与建图)或视觉VSLAM系统，用于辅助AGV在搬运货物时的路径规划、自主探索、导航等任务。
AGV的作业时，首先确定行走路线，所述行走路线包括一个以上的直线段， 相邻两个直线段相互垂直；然后AGV按照行走路线，行走在库位单元的移物空间中，到达搬运目标位置后，伸出顶升机构以顶起目标货物；再按照行走路线，顶着所述目标货物到达目的地目标位置后收回顶升机构以释放目标货物。其中，所述目标货物位于库位单元的储物空间的母周转箱，所述母周转箱底部设置有电子身份标签；库位单元移物空间的底板上设置有电子身份标签。AGV按照行走路线到达搬运目标位置及目的地目标位置后，通过读取库位单元移物空间的底板上的电子身份标签进行识别当前位置是否为搬运目标位置，目的地目标位置，在确定了搬运目标位置后，通过读取所述母周转箱底部的电子身份标签识别搬运目标位置上的货物是否为目标货物。在搬运环境不稳定时，所述AGV到达目标位置时，在精确定位后采用定位杆强制定位。
本发明提供的AGV各种结构紧凑，例如，将转向总成的部分结构与驱动总成的部分结构和滚轮集成在一起，并共用顶杆与定位杆的升降结构，从而极大地减少了本发明的AGV厚度，减小对立体空间的占用。AGV的厚度小，占用空间小，运行精准，可以很好地适用新型的立体仓库。在晃动颠簸的货车、飞机、轮船中也能正常作业、可在同规格的各种流动仓库和固定位置仓库中联动协同作业。
分拣装置实施例
本发明立体仓库中的每一个母周转箱2中包括多个子周转箱7，这些子周转箱7中的货物的目的地可能相同，可能不相同。本发明为了提高运输效率，在物流过程中会设置多次货物交接过程，从而将一件货物从发货地送达到目的地。因而，在货物流通过程中，需要为每一次交接分拣出需要交接的目标货物。为此，本发明提供了一种分拣机器人及分拣装置，用于对立体仓库内的货物进行分拣，根据下一次出库时的货物流向，立体仓库内的AGV配合分拣机器人分拣出下一次出库的货物。
本领域技术人员应当理解，本文中虽然以子周转箱作为实施例，但是，子周 转箱也可以被现有的快递包裹所代替。换言之，母周转箱中也可以容纳现有的快递包裹。相应地，分拣装置的分拣机器人也可以被分拣现有快递包裹的机械手所替代。
分拣装置实施例一
图36A-36B是根据本发明一个实施例的应用于立体仓库中的分拣装置示意图。在本实施例中，所述分拣装置6包括支撑部61、移动部62和分拣机器人5。
图36C-40C示出了本发明一个实施例提供的一种分拣机器人。本发明提供的分拣机器人5包括平衡臂50、抓手模块51和运动驱动部52，其中，平衡臂50用以保持移动过程的平稳。抓手模块51连接在所述平衡臂50末端，用于抓取货物。运动驱动部52与所述平衡臂50连接，用于驱动平衡臂50的伸缩与移动。
参见图37A，平衡臂50包括两个以上第一关节500连接的支臂501。所述一个支臂501至少包括由第二关节502连接在一起的上臂503与下臂504。为了方便说明，将上臂503和下臂504的通过第二关节502连接的那一端称为连接端，将另一端称为自由端，因而每个支臂各有两个自由端，第一支臂的第二自由端通过第一关节500与第二支臂的第一自由端连接。
以上臂503为例，其包括四个两两平行并列的连杆5031，在自由端有一连接块5032，其上设有两个轴5033，每个轴的两端各连接一个连杆5031。为了在收缩时减少平行并列的两个连杆之间的距离从而减少平衡臂所占用的空间，平行并列的两个连杆的一端设计为弧形，两个连杆的弧形端分别位于自由端和连接端，从而在收缩平衡臂50时可以使两个连杆5031并列在一起，从而使上臂503与下臂504在收缩状态时互嵌在一起，达到减少平衡臂占用空间的目的。如图37B所示，由第一关节500连接的两个支臂501并列相邻，在收缩状态时，第二关节502活动连接在一起的上臂503与下臂504在收缩状态时互嵌在一起。
如图37C所示，第二关节502包括两个连接板5021和一组拉杆5022。上 臂构成上平面的两个连杆通过连接板相连接，在连接板上设有轴座5023。同理，下臂也具有相同的轴座。在连接板5021上设有滑轨5024。拉杆5022的一端固定在轴座5023上，另一端与滑轨5024配合。当下臂504在运动控制部的控制下向下张开时，上臂503和下臂504带动拉杆5022在滑轨5024内的移动，可以收缩或伸张上臂503和下臂504。
如图38A-38C，运动驱动部52包括驱动箱520，其内部设置有用于控制支臂的驱动电机和钢丝卷绕机构。在本实施例中，共有两个支臂，因而有两套电机及其钢丝卷绕机构，即分别通过钢丝绳521、522控制两个支臂。其中，参考图38A、38B，从驱动箱520引出的钢丝绳521、522通过导向轮安装在第一支臂的第一自由端连接块5032a，钢丝绳521的末端连接到第一支臂第二自由端的连接块5032b上。为了将钢丝绳522引到第二支臂，从驱动箱520引出的钢丝绳522通过固定在第一支臂第二自由端的连接块5032b上导向轮、第二支臂第一自由端的连接块5032c连接到第二支臂第二自由端的连接块5032d上。
参考图37B、38C和38A，在平衡臂50如图37B所示的收缩状态时，驱动箱520的内部电机驱动第二支臂的钢丝卷绕机构释放钢丝绳，得到如图38C所示的状态；在此时停止第二支臂的钢丝卷绕机构对钢丝绳的释放，驱动第一支臂的钢丝卷绕机构释放钢丝绳，得到如图38A所示的状态。由于本实施例中的平衡臂50可单独控制单个支臂动作，因而在伸长和收缩时运行平稳。通过单臂上臂与下臂的设计，可使自身高度和垂直行程比达到了1:7以上。
参见图39A-39C，是根据本发明一个实施例的分拣机器人抓手模块示意图。在本实施例中，抓手模块51包括抓手本体510、抓手和识别部512。其中，所述抓手本体510固定在平衡臂下臂自由端连接块5032上。抓手本体510上设有导轨，抓手具有多个抓取部511，如图中所示，共有两个抓取部511，抓取部511的固定端通过滑块设置在导轨上。通过调整滑块在导轨内的位置，可以调整抓取部511的开合尺寸。另外，每个抓取部511的滑动可以单独控制，用以适应不同 货物抓取部位的形状、大小或位置。其中，抓取部511可以采用吸附模式和/或机械模式来抓取货物。在机械模式来抓取货物时，抓取部511的末端结构与货物的提手结构相对接应。例如，在本实施例中，抓取部511的末端设置成内凹结构。子周转箱7上的提手为外沿突出、中间内凹的结构，在此处称之为抓扣71，当抓手进入到子周转箱7的抓取部位的凹陷处，抓取部511末端与抓扣71对准后，控制抓取部511在导轨上相对向内移动，从而与抓扣71扣合在一起，在平衡臂50收缩时，将子周转箱7抓起。
另外，抓取部也可以采用吸附模式，例如采用真空吸附式或电磁吸附式等。关于吸附式抓取部的具体结构，本领域普通技术人员可参考相关技术文献获得。
识别部512设置在抓手本体510上，用以识别分拣货物。根据识别原理，及子周转箱7的身份标签类型，识别部512可以采用射频识别、图像识别、二维码识别等技术。例中，在本实施例中，识别部512为RFID读写器，其与子周转箱7的RFID身份标签相对应。如果子周转箱7的身份标签为二维码或条形码时，识别部512对应为二维码/条形码读写器。另外，所述识别部512也可以为图像识别单元，包括摄像头和图像识别子单元，摄像头采集货物或货物身份标签图像，所述图像识别子单元根据采集的图像识别货物，或者判断当前位置距离货物的距离。
如图40A-40C所示，是根据本发明另一个实施例的分拣机器人抓手模块示意图。在本实施例中，所述抓手模块51还包括减震压板513，通过轴活动连接在所述抓手本体510上，用以在抓手抓取分拣货物时，契合在抓手与分拣货物之间的空间防止货物晃动。为了能够很好地契合在抓手与分拣货物之间的空间，在本实施例中包括有多个，如4个，震压板513，其一端与抓手本体510轴连接，可以绕轴转动，从而可以展开或收起所述减震压板513，以适应不同规格、不同尺寸大小的子周转箱7。如图40A所示，在收减震压板513全部收起时，完全收缩在抓手本体510下部。或者如图40C所示，展开减震压板513，以适应较 大面积的子周转箱7。为了能够达到足够的刚性和带阻尼弹性，减震压板513包上下两层，上层为刚性板，下层为带阻尼弹性板，从而兼顾到刚性和带阻尼弹性减震的要求。
另外，所述分拣机器人还包括控制单元，分别与运动驱动部和抓手模块信号连接，根据接收到的分拣任务协同抓手模块和所述运动驱动部完成目标子周转箱的分拣。例如，控制驱动箱520的内部电机的运行，通过钢丝绳的收放控制平衡臂的伸缩。又例如，控制抓取部511的驱动器，如电机或钢丝绳的收放，控制抓取部511在导轨上的滑动，从而可以改变抓取部511的开合尺寸。又例如，对减震压板的控制等等。
所述的分拣机器人还包括各种传感器(图中未示出)，如一个或多个定位传感器、防撞传感器、激光SLAM(Simultaneous localization and mapping，同步定位与建图)系统或视觉VSLAM系统，用于辅助分拣机器人在分拣货物时的行程规划、自主探索、导航等任务。
参见图36A-36B，所述支撑部61至少与一个分拣单元60相连接，所述分拣单元60相当于一个库位单元，其底面设有供移物装置如AGV移动的导向槽631，立柱上设有支撑块612，用于放置待分拣的储物装置，如母周转箱2。
移动部62包括滑轨621及其驱动器622和横梁623及其驱动器624。其中，在支撑部61的顶端左右两侧各固定一个滑轨621，在本实施例中，滑轨621为一个嵌套式的多级滑轨，每一级滑轨设有一个驱动器622，可以驱动滑轨向前延伸以扩大分拣机器人5的移动范围。横梁623的两端分别固定在滑轨621上，在横梁623上设有滑轨及其驱动器624。分拣机器人5固定在滑轨上，驱动器624驱动滑轨移动，可带动分拣机器人5在x向的两个方向移动。驱动器622带动横梁623在y向的两个方向移动，从而使分拣机器人5沿y向的两个方向移动。在分拣机器人5的顶部设置有连接旋转机构，如图36C-36D，包括转轴632及驱动电机633，转轴632通过支架与横梁623连接，驱动电机633通过同步带 与转轴632连接，可以带动整个分拣机器人5旋转。
在本实施例中，滑轨621的轨道面朝向侧面，左右两个滑轨621的轨道面相向而设。然而，本领域的普通技术人员可知，两个滑轨621的轨道面也可以同时朝上。同时，本实施例中横梁623的滑轨的轨道面朝下，当然也可以立起朝向侧面。
另外，本实施例中的移动部62设置在支撑部61的顶部，支撑部61固定在一个分拣单元60(相当于一个库位单元)的顶部。支撑部61加上移动部62滑轨621的总高度应小于或等于一个库位单元。分拣机器人5将货物，如子周转箱7，从一个分拣单元内的母周转箱2中抓取出来，滑轨621随着所述移动部62的移动，将其放入另一个分拣单元60的母周转箱2中。
如图41A-41H所示，是根据本发明一个实施例的分拣机器人抓取货物示意图。分拣机器人5的分拣操作流程如图42A-42B所示。分拣机器人5在待机状态时，其处于第一分拣单元60上方，其中，第一分拣单元60中放置有母周转箱2，母周转箱2中放置子周转箱7(图41A-41C中未示出，参见图41E)。如图41A所示，分拣机器人5处于收缩、待机状态。
分拣装置6对货物的一次分拣过程如图42A-42B所示，包括以下步骤：
步骤S6101，展开平衡臂，下降抓手模块51并监测下降高度。运动驱动部52内部的电机驱动钢丝卷绕机构释放第二支臂的钢丝绳，从而使第二支臂的下臂向下伸出，分拣机器人5的状态如图41B(图中未示出钢丝绳，可参见图38C或36C)所示。运动驱动部52内部的电机驱动钢丝卷绕机构释放第一支臂的钢丝绳，从而使第一支臂的下臂向下伸出，分拣机器人5的状态如图41C(图中未示出钢丝绳，可参见图38A)所示。在展开平衡臂的过程中，还可以通过旋转分拣机器人5以调整与子周转箱7的对应关系，如图41D所示。
在平衡臂50下降过程中，由分拣机器人5内置的识别单元，如摄像头，激光SLAM系统或视觉VSLAM系统监测距离子周转箱7的距离。
步骤S6102，确认抓手模块51是否已到达适当高度，例如大约距离子周转箱7顶部20～50mm。如果达到，则执行步骤S6103，如果没有，则返回步骤S6101。
步骤S6103，分拣机器人5内置RFID读写器读取目标子周转箱7的RFID信息。
步骤S6104，判断该目标子周转箱7是否是指定目标，如果是，则在步骤S6105，将子周转箱的身份信息上传给物流控制模组系统，而后执行步骤S6107。如果不是，则执行步骤S6106。
步骤S6106，调整分拣机器人5的高度及位置，将另一个子周转箱作为目标，返回步骤S6103。
步骤S6107，根据目标子周转箱7的尺寸，打开减震压板513到适当角度，通常不超过子周转箱的尺寸。
步骤S6108，平衡臂继续下降并微调水平坐标，直到传感器感应到抓取部511和目标子周转箱7的爪扣71同心、并且到达抓取高度。
步骤S6109，抓取部511抓紧抓扣71。其中，在抓取部511和目标子周转箱7的爪扣71同心、并且到达抓取高度时，收缩抓取部511从而抓紧抓扣71。如图41E所示。
步骤S6110，分拣机器人5内置RFID读写器更新母周转箱2的RFID信息，即解除目标子周转箱7与母周转箱2的身份绑定关系，并上传给云端系统的物流控制模组。
步骤S6111，分拣机器人5的平衡臂提升目标子周转箱7到适当高度，如高出母周转箱2顶部2-5cm。如图41F所示状态。
步骤S6112，分拣机器人5水平移动到第二分拣单元。其中，第二分拣单元在y向与当前第一分拣单元相邻。驱动器622同步驱动支撑部上两侧滑轨621向前伸出，与滑轨固定的横梁623带动分拣机器人5向前伸出，如图41G的状 态，直到水平移动到第二分拣单元，如图41H的状态。
步骤S6113，分拣机器人5通过传感器确认当前位置为第二母周转箱的上方。
步骤S6114，分拣机器人5的平衡臂51下降进入第二母周转箱，并微调水平坐标，同时监测目标子周转箱7的在当前的位置。在一个实施例中，所述分拣机器人5可在其分拣区域建立3D坐标系，通过监测目标子周转箱7的3D坐标来确定目标子周转箱7是达到其应放入的指定位置。
步骤S6115，判断目标子周转箱7是否达到了指定位置，如果已经到达了指定位置，则在步骤S6116，抓取部511松开抓扣，将目标子周转箱7放置到第二母周转箱中的指定位置，并绑定目标子周转箱7与第二母周转箱的身份关系，上传给物流控制模组。如果目标子周转箱7还没有达到指定位置，则返回步骤S6114。
步骤S6117，平衡臂收回，回到待机状态。
分拣装置实施例二
在本实施例中，当移物装置，如AGV，在储物装置的上方时，即库位单元如实施例二或三中的结构时，分拣装置的支撑部可设置在分拣单元的侧面。移动部带动分拣机器人从分拣单元的侧面抓取子周转箱。如图43所示，分拣单元60a的下方为储物空间，用于放置储物装置，如母周转箱。隔板63a作为移物空间的移物装置的行驶面，其上设有导向槽631a，以供AGV在上面自由行驶。支撑部61a从侧面连接到分拣单元60a的储物空间中，两个滑轨621a分别设置在侧面的上、下两边，分拣机器人(图中未示出)通过横梁623a连接到滑轨621a。分拣机器人的结构如分拣装置实施例一中的结构，其平衡臂可在x向伸长，伸入到分拣单元60a中，并可以沿滑轨621a在y向滑动，移到第二分拣单元(图中未示出)的侧方。第二分拣单元与分拣单元60a在y向相邻。
分拣单元60a和第二分拣单元中的母周转箱2c可在侧向开放。如图11所 示，母周转箱2c侧面为一个可以向上、下两个方向滑动的门201c，其侧面可以为整块板，或者是如图5A中所示为栅格状。当图11中的母周转箱2c位于图43中的分拣单元60a中时，在分拣开始时，门201c向上、下两个方面打开，从而可以使分拣机器人的平衡臂进入母周转箱2c，抓手模块51的抓手本体510旋转到与子周转箱7的顶部平行，使抓手与子周转箱7中的抓扣平行，从而抓住抓扣。平衡臂收缩，带动子周转箱7移出母周转箱2c。驱动滑轨621a向y向伸出，带动分拣机器人移向第二分拣单元。分拣过程与实施例一相同，在此不再赘述。
图44是根据本发明一个实施例的分拣装置控制系统原理框图。在本实施例中，分拣装置6还可以包括分拣子系统66，用于执行分拣任务。其中，所述分拣子系统66包括通信模块661、识别模块662和信息修改模块663和运动控制模块664。其中，所述通信模块661用于接收分拣任务，所述分拣任务至少包括目标子周转箱清单，所述目标子周转箱清单至少包括目标子周转箱身份信息、原绑定的第一目标母周转箱身份信息及用于放置目标子周转箱的第二目标母周转箱身份信息；识别模块662与母周转箱、子周转箱的身份标签相对应，当身份标签为RFID标签时，识别模块为RFID读写器。其可以与分拣机器人5的识别部为同一部件，用以识别分拣单元中的母周转箱及其中的子周转箱是否为第一目标母周转箱和目标子周转箱；在将目标子周转箱抓离第一目标母周转箱时，所述信息修改模块663解除目标子周转箱与第一目标母周转箱的身份绑定关系；在将目标子周转箱放置到第二目标母周转箱时，建立目标子周转箱与第二目标母周转箱的身份绑定关系。运动控制模块664用以控制分拣机器人5及移动部62完成一次分拣任务所需的动作流程。其中一个分拣过程如图41A-41H所示。在此不再赘述。
本发明提供的分拣机器人适应用于立体仓库，占用仓库空间小，货物的分拣不限时间、地点。分拣机器人的平行臂结构在抓取、搬运时可保持子周转箱姿势稳定，通过进一步设置的与各种型号尺寸的子周转箱相对应的可变形的弹性减 震压板，可以有效有抑制子周转箱搬运时的晃动。分拣机器人的抓手模块可设计成吸附式或机械式，配合智能识别部，如摄像头，RFID和二维码读卡器及其他各类传感器，能够准确地识别、抓取子周转箱。分拣机器人中的运动驱动部可以快速、平稳地控制机器人的伸长、收缩及移动的运动，控制时采用的同步齿带能够实现传动装置低扭矩、小型化和精确定位的功能。
如图45所示，为内置有储物装置、移物装置和分拣装置的立体仓库结构示意图。其中，立体仓库的结构如前述立体仓库结构实施例所示，在此不再重复说明。仓库内的货物内置于子周转箱7内，母周转箱2内置有多个子周转箱7。母周转箱2放置在立体仓库的库位单元中的储物空间。库位单元具有唯一的身份信息，例如以编号作为身份信息，代表了其在立体仓库中的位置，例如编号C0F11001，代表一层第一列的第一个库位，C0F22001代表二层第二列的第一个库位，C0F34002代表第三层第四列的第二个库位等，其中的前三个字符代表该物流仓库的身份标识。为了便于获取库位单元的身份信息，采用电子标签RFID或二维码作为库位单元的身份标签，其中记录每个库位单元的编号信息。在以下的说明中，以RFID为例进行说明。同理，母周转箱2和子周转箱7分别具有唯一的身份标识，例如，以字母、数字等进行编号。例如子周转箱7的身份标识为A300x180x180，母周转箱2的身份标识为M500B700C100。因而，通过绑定子周转箱、母周转箱、所在立体仓库的具体一个库位单元的身份关系，可以确定一件货物在整个物流系统中具有唯一的位置信息。并且，当上述任何一个环节发生变化时，如母周转箱变更、库位单元变更、立体仓库变更等，在发生变更时，实时更改身份的绑定关系，从而可以保证准确的货物的实时位置信息。立体仓库中的小型、超薄的AGV 3位于库位单元1的移物空间，用于搬运所述母周转箱2。根据立体仓库的规模大小，数量不等的分拣装置6分散在立体仓库中，与相邻库位单元相连接在一起，融合在库位单元中。分拣装置6包括两个分拣单元60，其与立体仓库中的其他库位单元1连接在一起。通过控制通过仓库内的移 物装置，如AGV3搬运母周转箱2，配合分拣装置6完成分拣。
如本领域技术人员所理解的，当包括了子周转箱、AGV及分拣装置的立体仓库与其他部件、结构相连接时，可以组成用于物流末端的快递柜及其它固定位置仓库。
物流末端的快递柜
图46A-46B是根据本发明一个实施例的快递柜结构示意图。在本实施例中，快递柜10包括柜体110，在柜体110上至少设有一个柜门111，如图中的折叠门，也可以是由支撑杆打开的门或者是卷帘门。柜体110内部为由多个库位单元构成的具有多个储物层的立体仓库，储物层的层数与每层的库位单元数量根据具体需要而定。立体仓库的库位单元配置有子、母周转箱。立体仓库内部根据规模放置一个或多个AGV3，用于搬运母周转箱。由升降系统完成货物在不同储物层之间搬运货物。在本实施例中，升降系统安装在柜门111处。其中，升降台42沿着支撑立柱可上下移动，从而带动其上的AGV3到达不同的储物层。内部还设置有分拣装置6。
为了实现与外部的对接，例如，与用户、快递机器人、各种货运装置等的对接，所述快递柜还包括升降对接架，包括轨道120，安装在柜门111处，其上设有滑轨121，滑轨121带动对接板122。对接板122作为AGV3的行驶面，其上设有供其行驶的行驶面，及与导向轮31配合的导向槽。如图所示，对接板122左右两侧为行驶轮的行驶面，中间的为导向槽。
在本实施例中，升降对接架与立体仓库内的升降系统4位置相对，对接板122可与升降台42对接。为了使二者能够准确对接，方便AGV行驶，在对接板122或升降台42的合适位置设置有定位传感器，如位置开关、光电接近器等，在二者准确对接时，触发定位传感器发出信号，根据所述信号可以确定对接板122与升降台42对接完成。
除了侧面的柜门111，在一个实施例中，在快递柜10另一侧面还包括与用 户交互的柜门112。如图47A-47B所示，在柜体110的另一个侧面，如与柜门111相反的另一个面，对应每一个库位单元设置一个柜门112，通过电子锁锁定所述柜门112，并通过门驱动机构可自动控制柜门112的打开与关闭。如图47B所示，为柜门112打开时的示意图。其对应一个库位单元，内置母周转箱2，母周转箱2内置子周转箱7。所述子周转箱7可以是为发货用户提供的子周转箱，也可以是将有收货用户应收的货物的子周转箱。
在一些实施例中，在快递柜10顶部还设有无人机接口及盖板112。用于接收无人机发送来的子周转箱或为无人机提供子周转箱。
如本领域技术人员所理解的，当包括了子母周转箱、AGV及分拣装置的立体仓库与交通工具相结合时，可以构成本发明货物运输时的各种货运装置。
货运装置之一：微型货车
图48A-48B是根据本发明一个实施例的微型货车结构示意图。在本实施例中，所述微型货车9a包括立体仓库实施例二中的立体仓库91，还包括作为储物装置的母周转箱2和子周转箱7，还包括作为移物装置的AGV3、分拣装置6及交通工具90。交通工具90为一小型货运装置，从而形成了一个微型货车。
交通工具90包括货箱支架93及围护结构92，围护结构92与货箱支架93相连接构成具有内部空间的货箱本体，所述立体仓库91设置在所述货箱本体的内部空间中。
所述围护结构92包括一个或一个以上的箱门94，所述箱门的面积为立体仓库中库位单元的整数倍。在本实施例中，将货箱的整个后部围护结构作为箱门94，为了在箱门条开时，能够使箱门处于打开状态，还包括一个以上的支撑杆95，例如为电动油压式支撑杆。支撑杆95的两端分别连接在所述箱门94和所述货箱支架93上，在所述箱门94打开时，可以支撑固定所述箱门94。
在本实施例中，还包括升降对接装置，其包括升降轨道961、升降支架962和对接板963。升降轨道961固定在箱门94内的货箱支架93上。升降支架962 配合设置在所述升降轨道961中，可沿所述轨道961上升或下降。对接板963的一端活动连接在所述升降支架962末端，上表面为移物装置的行驶面。所述对接板963能够在箱门94打开时向箱体空间外打开，如图48A所示，也可以收起，以便关闭箱门94，如图48B所示。
在本实施例中，对接板963的长度与一个库位单元的宽度相适应，当然，也可以箱门94的宽度相适应，以便可以加大对接时的货物交换量。
参见图48A，本实施例中的货运装置的货箱支架93与交通工具90的车体之间还包括有减震气囊97，用于减少行驶过程中及对接过程中的震动。
货运装置之二：市区循环货车
图49A-49B是根据本发明一个实施例的市区循环货车结构示意图。在本实施例中，所述市区循环货车9b中的交通工具90为一中型或大型货运装置。其中，货箱的整个后部围护结构作为箱门941，围护结构的侧面及部分顶部作为翼门942可以向上打开，如图49B所示。本实施例中包括X-Y驱动平台98，其设置在货箱支架93的底部，包括X向轨道981和Y向轨道982。X-Y驱动平台98受驱动装置的驱动，可以在X向和Y向滑动。
立体仓库91固定在X-Y驱动平台98上，可随X-Y驱动平台98的移动而移动。如图50A-50B所示，是所述货运装置9b中立体仓库91随X-Y驱动平台98滑出的示意图。
本发明中的货运装置还包括控制系统，根据与云端系统的对接、分布情况，货运装置的控制系统可以有不同的形式，及连接结构。
货运装置控制系统实施例一
如图51所示，为根据本发明一个实施例的货运装置控制系统原理框图。在本实施例中，所述控制系统99中对车辆进行控制的功能模块位于货运装置本地，其包括通信模块990、导航模块991和对接控制模块992。用于对仓库内货物的货物管理、分拣、搬运等的控制由立体仓库管理系统完成，其由本地模块或/和 云端物流控制模组组成。
通信模块990与云端系统进行信息的交互，在本地与云端之间传递数据、信息。导航模块991根据规划好的路线确定交通工具的行驶路线；其中，货运装置的行驶路线可由云端系统规划、计算后发送给货运装置，也可以由货运装置中的定位装置993根据货运装置从云端得到的对接地点计算得到。所述定位装置993还获取货运装置的实时地理位置，并将实时地理位置发送到云端。
对接控制模块992根据与其对接的其他货运装置确定对接模式，根据确定的对接模式控制相应部件的动作。如图52A所示，是根据本发明一个实施例的对接控制模块的原理框图，在本实施例中，对接控制模块992包括箱门控制单元9920和升降对接装置控制单元9921。在一个实施例中，箱门设置电子锁950及支撑杆驱动装置951，例如，电动油压支撑杆的驱动电机及其油压系统。箱门控制单元9920可控制箱门电子锁950及支撑杆驱动装置951，从而控制箱门的打开与关闭。升降对接装置控制单元9921用以控制对接板的升降、打开与收起。在一个实施例中，升降支架设有驱动器9620，如步进电机或伺服电机，用以控制升降支架在升降轨道上的上升及下降。对接板设有对应的驱动器9630，通过对接板驱动器9630控制对接板963与升降支架962末端的连接，例如，通过电机控制该连接处的连接轴的转动，可以使对接板963收起，与升降支架962平行并列，或者放下对接板963，使对接板963与升降支架962呈垂直状态。
为了确保货运装置与其他货运装置能够对接准确，本实施例还包括各种定位传感器，例如，在对接板上设置对接板定位传感器9631，采用对接板963与对接货运装置的库位单元对接时，当二者准确对接后触发所述对接板定位传感器9631发出信号，根据是否收到该信号可以确定是否完成对接，及对接是否准确。
在对接板963的预置位置还设有抬升定位传感器8000，与其对接的快递机器人8的底部到达预置位置时，触发所述抬升定位传感器8000发出信号，从而 可以确定快递机器人与对接板963对接完成，此时可以安全地起动升降支架962向上抬升快递机器人8，以使快递机器人8的货箱移物空间的行驶面与立体仓库内的库位单元对接。此时相当于两个库位单元对接，为了确定两个库位单元是否准确对接，在一个实施例中，在货运装置9的用于对接的库位单元上设置定位传感器1130，在其他货运装置的库位单元与立体仓库内的库位单元在准确对接后触发库位单元定位传感器1130发出信号。例如，当快递机器人抬升到一定的位置，其货箱移物空间的行驶面与货运装置9的库位单元对接后，可以触发库位单元定位传感器1130发出信号，根据所述信号可知对接准确，且完成对接。
当货运装置设有X-Y向驱动平台时，对接控制模块992还包括X-Y向驱动平台控制单元9922，为了使X-Y向驱动平台可以沿箱体支架93上的X向轨道981或Y向轨道982移动，所述X-Y向驱动平台设有X向驱动器9810和Y向驱动器9820，如电机、油压驱动器等，根据具体的驱动器类型，所述X-Y向驱动平台控制单元9922输出相应的驱动信号从而控制X-Y向驱动平台沿X向轨道981或Y向轨道982移动，并且移动量可控。
所述控制系统的本地模块还进一步包括减震气囊控制模块994，用以在与其他货运装置或货运装置对接时，调整每个减震气囊的气压，从而可以调整立体仓库的水平度，使两个货运装置的立体仓库可以准确对接。
在本实施例中，立体仓库的管理系统包括运动控制系统162、货物管理系统161和分拣系统64，主要用于控制AGV的行驶和分拣装置6，完成货物的出库、入库、交换等等。在一个实施例中，其中，运动控制系统162位于本地，包括用于控制AGV的行走控制模块1621和控制升降系统的升降控制模块1622，其中，行走控制模块1621为AGV3的上位控制模块，主要用于对仓库内的多台AGV的任务管理、车辆驱动、路线规划管理、交通管理、通讯管理等功能单元。
其中，所述任务管理功能单元提供AGV单机的执行环境。根据任务优先级和启动时间调度多台AGV的运行；提供对AGV单机的各种操作如启动、停止、 取消等。车辆驱动功能单元负责AGV状态的采集，并向交通管理功能单元发出行走段的允许请求，同时把确认段下发给AGV。路线规划功能单元根据货物搬运任务的需求，分配调度AGV执行任务，根据AGV行走时间最短原则，计算AGV的最短行走路径，并控制指挥AGV的行走过程。交通管理功能单元根据AGV运行状态和库内AGV行走路径状况，提供AGV互相自动避让的措施。
行走控制模块1621与AGV单机系统之间采用无线通信方式，行走控制模块1621采用轮询方式和多台AGV单机系统通信；行走控制模块1621与其他上位机，如云端相关物流控制模组可采用TCP/IP方式通信。AGV上设有单机控制装置，收到来自上位系统行走控制模块1621的搬运任务及其指令后，负责AGV单机的导航、导引、路径选择、车辆驱动、转向，装卸操作等功能从而完成搬运任务。其包括任务管理模块305、移动控制模块302和搬运控制模块303。具体请参见前述AGV实施例，在此不再赘述。
升降控制模块1622用于控制升降系统的升降台驱动机构163。其中，升降台驱动机构163采用伺服系统，升降控制模块1622根据升降行程发送驱动信息给所述伺服系统，由其带动升降台到达预置位置。其中，在正常状态下，伺服系统可以准确停止在预定位置，然而，由于立体仓库在移动时的不稳定状态导致升降台到达的位置偏离原预定位置。如果升降台偏离了原预定位置，会导致升降台与库位单元的对接状态不好，导致AGV行走困难，甚至损坏AGV。因而，在一个实施例中，在支撑立柱上、每一层与库位单元对接的位置设置一个以上的位置传感器，从而可以使升降台准确停止在预定位置。另外，升降台内置有重量称量分析系统，根据升降台上装载的货物重量决定了实现每次升降行程设定的速度、加速度所需要的输出电压电流的大小。
货物管理系统161和分拣系统64可位于云端，例如，分拣系统64为云端的分拣控制模块，货物管理系统161为云端的货物监管模块。其中，货物管理系统161用于维护立体仓库91内的货物信息与设备信息，例如当前仓库内的货物 订单信息、物流信息、货物与子周转箱、母周转箱的绑定关系、母周转箱与库位单元的绑定关系；还包括当前库内的AGV数量及身份信息、分拣装置的身份信息及位置分布信息等等。
分拣系统64通过通信模块990与分拣装置6和AGV 3通信，分派分拣任务和搬运任务。运动控制系统162中的运动控制模块1621作为库内多台AGV3的上位控制模块，根据分拣系统64发送的AGV搬运任务，对多台AGV3进行任务管理、车辆驱动、路线规划管理、交通管理、通讯管理等，使各个AGV3完成相应的搬运任务。分拣装置6接收分拣任务完成对指定目标子周转箱的分拣。
在一个实施例中，如图52B所示，所述分拣模块64包括货物统计模块642和任务规划模块643，所述货物统计模块642根据分拣地址分析每一个货运装置内每一个母周转箱及其内部子周转箱的地址信息，以确定目标母周转箱及目标子周转箱。任务规划模块643至少根据库内目标储物装置分布信息、分拣装置分布信息和移物装置数量及位置信息，为每一个分拣装置和每一个移物装置确定对应的任务。在一实施例中，所述任务规划模块643包括分拣任务单元6431和搬运任务单元6432。
所述分拣任务单元6431根据所述货物统计模块642确定的目标子周转箱，根据货物信息得到目标子周转箱的规格信息，并确定用于放置分拣后目标子周转箱的配对目标母周转箱，从而得到目标子周转箱清单。所述目标子周转箱清单至少包括目标子周转箱身份信息、原绑定的目标母周转箱身份信息及分拣后应放置目标子周转箱的配对目标母周转箱身份信息及对应的库位单元身份信息。如下表所示：
表1
目标子周转箱 第一目标母周转箱 第一库位单元 第二目标母周转箱 第二库位单元
A300x180x180 M500B700C100 A-100-201-3001 N385B769F269 A-100-202-4002
…… …… …… …… ……
为了方便描述，在此将目标子周转箱所在的目标母周转箱称为第一目标母周转箱，将与目标子周转箱规格相应，可以放置分拣后的目标子周转箱的目标母周转箱称为第二目标母周转箱。
所述分拣任务单元6431根据第一目标母周转箱、第二目标母周转箱及分拣装置在立体仓库内的分布情况，以就近原则为每一个分拣装置分配数量均等的分拣任务。或者根据搬运过程所需时间最少原则确定分拣任务。其中，分拣一个目标子周转箱称为一个分拣任务。
所述搬运任务单元6432用以根据移物装置、分拣装置及目标母周转箱的分布情况实时为每一个移物装置分派搬运任务。所述搬运任务是指搬运一个目标母周转箱到分拣装置的分拣单元，或者将分拣单元中已分拣完成的第一目标母周转箱搬运到其库位单元，或者将分拣完的第二目标母周转箱搬运到出库区的空闲库位单元。因而发送给移物装置的搬运任务包括母周转箱身份信息、母周转箱所在的库位单元身份信息及放置母周转箱的库位单元身份信息，其中，放置母周转箱的库位单元可以是分拣单元，也可以是普通库位单元，还可以是出库区的库位单元。
分拣时所需的第一目标母周转箱和第二目标母周转箱，可以由一个移物装置搬运，也可以由两个不同的移物装置搬运。移物装置搬运完，可以停下等待分拣完后再搬运，也可以搬运完再执行其他的搬运作务。
货物管理系统161维护库内子周转箱、母周转箱的绑定关系及母周转箱与库位单元的绑定关系。例如，当第一目标母周转箱被搬离第一库位单元时，解除第一目标母周转箱与第一库位单元的绑定关系。当第一目标母周转箱被放置到分拣单元时，建立第一目标母周转箱与分拣单元的绑定关系。当第一目标母周转箱已被分拣完，被搬离分拣单元时，解除所述第一目标母周转箱与分拣单元的绑定关系。同理，对第二目标母周转箱做同样的身份绑定关系的建立与解除。
货运装置控制系统实施例二
在本实施例中，如图53所示，所述货运装置控制系统包括车辆控制模块和立体仓库管理系统，车辆控制模块包前述实施例的导航模块991和对接控制模块992、定位装置993和减震气囊控制模块994。立体仓库管理系统与云端控制模组通信，接收交换任务，所述交换任务例如包括对接地点、对接时交换的货物等。车辆控制模块与立体仓库管理系统相连接，根据交换任务中的对接地点，在按照规划好的路线向对接地点移动，在对接地点控制车辆中的箱门、升降支架、对接板、X-Y向驱动平台或减震气囊等与其他货运装置对接。本实施例中的立体仓库管理系统位于货运装置本地，主要控制AGV3在分拣、货物出库、货物入库时搬运货物，在搬运过程中，配合立体仓库中的升降系统4，使每一个AGV3以最优路径行驶。立体仓库管理系统中的分拣系统64作为分拣装置的分拣子系统上位机，确定分拣任务及分拣时的AGV的搬运任务。使分拣装置6在对接前完成交换货物的分拣。
物流末端快递机器人
图54是根据本发明一个实施例的快递机器人整体结构图。本实施例的快递机器人8包括：底座80、货箱81、行走机构和交互机构83。其中，参见图55、图56，所述底座80包括底壳800，内置有各种元件、设备，如行走机构对应的驱动总成84和转向总成85、控制货箱81的顶罩811和前罩812(参见图59A-59D)打开和关闭的电机86以及集成了电气元件、电源等设备在电气盒87，这些元件、设备罩在元件罩801内，与电机86的输出轴连接的同步带861从两侧伸出。
参见图57-58，在底壳800上面安装货箱底板810，底板810设有纵向的导向槽8100，用于为进入货箱81的移物装置，如AGV，的行驶导向。在底板810上，设置两个纵向的侧架811，每个侧架立柱上设有朝向内部的支撑块8110，四个立柱上的支撑块8110用于支撑母周转箱，因而，支撑块8110上方构成了储物层，支撑块8110下方与底板810之间构成了移物层，为AGV的行驶提供空间。 在侧架811的两端设置两个侧耳8111，用于提供同步带轮及其轮轴的安装位置。在货箱底板810后侧设有立柱812，用于将底部的各类通信线缆连接到顶部的交互机构83。
图59A-59D是根据本发明一个实施例的货箱罩组成示意图。本实施例中的货箱包括活动的顶罩813和前罩814，后罩815固定。在侧架811的两端设置两个侧耳8111处固定安装同步带轮816及其轮轴。同步带轮816通过同步带816与底座内的电机连接。两侧的同步带轮816各自对应一个电机，分别用于控制顶罩813和前罩814的开、关。
在本实施例中，行走机构为设置在底座80四角的滚轮总成82，每一个滚轮总成82独立对应一个驱动总成和转向总成，从而可以单独控制每一个滚轮总成82的行走与转向，因而使所述的快递机器人可以实现全轮独立驱动(AWD)、并有多种不同的行走模式，以适应各种环境下的行走路面。
图60所示是驱动总成在底座内的示意图。图61是一个滚轮总成与一个驱动总成的连接示意图。在本实施例中，驱动总成84包括驱动电机840和多级传动机构。其中，多级传动机构中的一级传动机构包括驱动主动轮842和一级同步轮844，二者通过同步带传动。驱动电机840和驱动主动轮842之间连接的一级换向机构，如图62所示，图62为图61中A处去掉支座的换向机构放大图。驱动电机840输出轴末端连接伞形齿轮8401，驱动主动轮842的轮轴8421末端连接伞形齿轮8402，两个伞形齿轮相互配合，将驱动电机840输出的径向动力转变为轴向动力，即沿水平方向传动的动力。其中，驱动电机840及驱动主动轮842、一级换向机构通过支座841固定在底座800内部。
图63-64为驱动总成中去掉支架等的传动机构示意图。如图63所示，其中，一级传动机构中的一级同步轮844连接有二级换向机构845，如图中圆圈部分所示，其结构与图62相似，采用一对相互配合的伞形齿轮将轴向动力改为径向动力，即使水平方向传递的动力转换为垂直方向。二级换向机构845之后依次连 接有传动机构846、847、848。
滚轮总成82包括两个同轴连接的滚轮本体821，在滚轮轮轴8210上连接有滚轮同步轮8211，滚轮同步轮8211为传动机构848的末端。
驱动电机840输出的动力经过一级换向机构后，带动驱动主动轮842，主动轮842通过同步带843带动一级同步轮844。再由二级换向机构对一级同步带844传递过来的动力换向后，将一级传动机构传递的水平方向动力转换为垂直方向的动力，并依次由传动机构846、847、848将动力传递到滚轮同步轮8211，由滚轮同步轮8211带动同轴的滚轮本体821转动，进而实现驱动滚轮本体821行走的功能。
参考图64-66，二级换向机构845及传动机构846内置在支架845中。传动机构846、847、848及滚轮同步轮8211内置在轮架822内。轮架822首端与支架845末端固定，轮架822末端通过轴承与滚轮轮轴8210固定在一起。滚轮本体821分置在滚轮轮轴8210的两端。
图67是根据本发明一个实施例的转向总成位于底座内的整体示意图。图68是一个滚轮总成连接一个转向总成85的示意图。参考图63-66，所述转向总成85包括转向电机850和转向机构。其中，转向机构与行走机构固定在一起，为了将转向电机850的转向动力传递给转向机构，还包括传动机构。在本实施例中，传动机构包括转向主动轮851和位于转向机构中的转向同步轮852。在本实施例中，转向主动轮851采用同步带853带动转向同步轮852转动。由于转向电机850的输出动力的方向为径向，即垂直底面，而转向机构需要水平的动力，因而，在转向电机850的输出轴和转向主动轮851之间还包括换向机构，其结构如图62所示，采用一对相互配合的伞形齿轮将转向电机850的输出轴传递的轴向动力转变化径向动力，即将动力的传递方向从垂直转换为水平。
转向同步轮852连接有转向架，参见图65，转向架主要包括转向架8531和轮架8532。轮架8532与驱动总成的二级换向机构外的支架8451配合固定在一 起。或者将轮架8532和支架8451作为一个零件。轮架8532的顶部为固定面，顶部设有连接孔，如螺孔，周边设有凸台，转向同步轮852固定在轮架8532的固定面的凸台上。参见图64。转向架8531的底部与轮架8532的顶部配合，并设有连接孔，与轮架8532固定面的连接孔对应，用以通过连接件将转向架8531和轮架8532固定在一起。转向架8531的顶部与驱动总成的一级同步轮844的轮轴固定。
当转向电机850转动时，其输出轴经配置输出轴向动力。经过伞形齿轮，将轴向动力转变为径向动力，与伞形齿轮同轴的转向主动轮轮轴带动转向主动轮851转动，主动轮851通过同步带带动转向同步轮852转动，转向同步轮852带动与其固定的转向架8531，转向架8531带动轮架8532，轮架8532带动支架8451，支架8451带动滚轮轮架822，进而带动整个滚轮本体821一起转动，从而改变了滚轮本体381的滚动方向。如图69所示，为从图68转动一个角度后的示意图。
由于每一个滚轮总成配合一套驱动总成和一套转向总成，因而通过各个滚轮总成的独立控制及配合，可以实现各种行走模式。例如，当四个滚轮总成的滚轮本体同时向前或向后转动时，可使快递机器人朝向行走方向前进，或向后退。通过控制滚轮总成的不同转动方向，可以使快递机器人的机身不动，如仍然朝向原来的行走方向，但底座下的滚轮本体可在原地旋转。通过控制滚轮总成的同时转动45度，可以使快递机器人的机身平移，仍然朝向原来的行走方向，但是滚轮总成的方向与原行走方向呈一定夹角(如45度)的方向斜行。再例如通过控制滚轮总成的同时转动90度,可以使快递机器人的机身不动，仍然朝向原来的行走方向，但是滚轮总成的方向与原行走方向呈90度夹角的方向移动，即此时快递机器人横向移动。
前述不同的行走模式用以适应行走路线中的各种情况。例如，当原行走方向有障碍时，快递机器人可以将向前的直行改变为向左或右的横向移动，在绕过障 碍物时再回到原来路线行驶。在前述的整个行走过程中，不需要转动机身，因而减少了转动机身带来的晃动，保证了快递机器人行走过程中的平稳。
所述交互机构83位于货箱81上方，其信号线、电源线等通过货箱底板810后侧设有立柱812内的走线通道与底座的电气盒相连接。交互机构83包括摄像头831、显示屏832及集成在显示屏832上的语音设备，如扬声器和麦克风(图中未示出)。通过交互机构83，可以与用户交互，并在与用户交互过程监视货箱内部的货物取放情况。
在本实施例中，快递机器人的货箱内部的支架可以放置一个母周转箱2，当然，也可以加大货箱81，在其内部设置两个位置，用以放置两个母周转箱2，从而可以加大取货量、送货量，并且可以取货与送货同时进行。例如，对应于货箱内部的一个母周转箱，设置单独控制的顶罩，分别对应取货母周转箱和送货母周转箱。在取货时，仅打开对应取货母周转箱的顶罩；在送货时，仅打开对应送货母周转箱的顶罩，从而可以保证货物安全。
图70是根据本发明一个实施例的快递机器人的控制装置的原理框图。所述控制装置88包括通信模块880、任务管理模块881、行走控制模块882和交互控制模块883。其中，所述通信模块880经配置用于与云端管理系统通信，相互传递信息、数据等。所述任务管理模块881经配置通过所述通信模块880接收取货/送货任务及对接信息，并向云端管理系统发送对应的取货/送货任务信息。云端管理系统维护货物的物流信息，所述物流信息包括物流过程中装载货物的子周转箱身份信息，装载子周转箱的母周转箱身份信息及其变更发生时间、运输所述货物的快递机器人或货运装置身份信息及其变更时间等等。
其中，任务管理模块881接收的取货任务包括订单中的部分信息，例如：发货用户信息，包括姓名、电话、发货地址等，还包括货物信息，如货物名称、大小，应使用的子周转箱等。云端管理系统在发送取货任务时，还确定当前快递机器人中是否有合适的、符合规格的子周转箱。如果没有，还将获取子周转箱的位 置，如周围驿站、快递柜内部的立体仓库，或附近路过的货运装置，并将该取箱位置连同取货任务一同发送给快递机器人。任务管理模块881还收集取货过程中的信息，并发送给云端管理系统。例如货物与子周转箱、子周转箱与母周转箱、母周转箱与快递机器人的身份绑定与解除的关系等的信息。任务管理模块881接收的送货任务包括该货物的订单信息，如收件人信息，如收件地址，收件人身份信息等。
所述行走控制模块882经配置以按照行走路线输控制驱动电机、转向电机按照规划好的线路行走和/或转向。其中，可以从云端管理系统接收行走路线，或者根据目标位置和激光导航SLAM或视觉导航VSLAM系统监测的路况信息自动计算行走路线。因而，在一个实施例中，所述控制系统还包括地理位置模块884，从而当前所在的地理位置，并获得目标位置之间的地理信息，为计算行走路线提供地理位置信息。同时，通过通信模块880将实时地理位置和路况信息上报给云端管理系统。
所述的行走路线包括城市道路、桥梁等可供行人通过的人行道。为了在行走过程中感知周围事物，如行人、车辆、十字路口的交通灯等，控制装置还包括各种传感器，例如各种视觉传感器、声音传感器、距离传感器等及其各自对应的处理单元。所述行走控制模块882内置有行走规则及对应的控制模式，通过在行走过程中传感器采集到的信息采取相应的控制模式。例如停止、减速、避让、加速、增加动力、改变路线等。其中，交互机构中的摄像头及其图像处理单元也可以作为一种视频传感器，或者是另外单独的由图形传感器及光投射器等组成的视觉传感器。视觉传感器可以获取行进前方及周围的整体图像信息，对图像信息处理后可以确定前方是否有障碍物，是否有交通灯等等。声音传感器可以分辨出异常声音，配合视觉传感器可以判断出异常情况。距离传感器例如为激光测距传感器、光电传感器、红外传感器等，可以测定与目标事物或障碍物的距离。例如，在行进道路中，通过视觉传感器可以判断出前方道路为上坡，此时需要调整各个 滚轮总成，使快递机器人能够安全走过该坡道。如果通过视觉传感器，判断前方有障碍物时，可以判断出障碍物的大小，并确定避让措施。例如，如果障碍物仅是行人，则提前让出可供行人通过的距离。在行人通过后，再回到原来路线。如果前方障碍物占据了整个道路，则提前一个街区改变路线。
声音传感器可以采集周围的声音，并判断出是否需要作出回应。例如，当采集到尖利的地面摩擦声时，根据声音的音调、大小、远近及方向可以判断出可能出现了交通事故，再配置视觉传感器采集到的图像，可以确定当前出现的事故。再通过距离传感器，如激光测距仪可以确定出事故发生地与自己的距离，判断是否需要避让等等。距离传感器如激光测距传感器、光电测距传感器等，既可以检测到前方远距离的事物，也可以检测到近距离的事物。
针对不同的路面情况，行走控制模块882控制驱动电机或转向电机的输出动力以适应不同路面的摩擦阻力。例如，在未除雪的雪地、地面凹凸不平的石子路等摩擦阻力大的路面上行走时，加大电机的输出动力，在平滑地面，如瓷砖、冰面等路面上行走时，减小电机的输出动力，并通过滚轮的方向，减小失去重心的滑行的可能性。
交互控制模块883与所述行走控制模块882、任务管理模块881及通信模块880连接，从任务管理模块881获取取货/送货任务信息及对接货物任务信息，根据取货/送货任务对接货物任务及对应的交互场景完成将取货或送货及货物的对接。
具体地，如图71所示，是根据本发明一个实施例的交互控制模块的原理框图。交互控制模块883包括操作单元8831，用以根据指示打开货箱，例如，在取货/送货场景，在开始时打开顶罩813，在结束时关闭顶罩813，并锁好顶罩813以保证货物安全。在货物对接场景，在开始时打开前罩814，在结束时关闭前罩814以保证货物安全。还包括操作指示器，例如根据用户指示操作激光提示器以提示母周转箱中的目标子周转箱，或者激活子周转箱的指示器，用以发出光或声 音以提示用户其为目标子周转箱。
交互控制模块883还包括语音单元8832，包括语音模块、扬声器和麦克风，用于与发货用户或收货用户对话，引导发货用户进行发货流程，引导收货用户进行收货流程。例如，核对发货用户或收货用户的身份、核对货物、提示发货用户或收货用户观看演示视频、在发货用户或收货用户操作有误时给予提醒等等。
交互控制模块883还包括视频单元8833，包括图像采集装置(如摄像头831)和视频输出装置(如显示屏832)。摄像头831在发货和收货时全程采集视频图像，并将其通过能信模块880发送到云端管理系统。另外，通过摄像头831可以采集母周转箱内的情况，以监控发货用户或收货用户操作。视频输出装置播放相关视频，例如与发货用户或收货用户交互的问候视频、操作演示视频、物流过程演示视频等等。通过语音、视频的方式与用户交互，可以形象地向用户输出必要的信息并回答用户的问题。
物流控制系统的实施例
本发明中的物流控制系统包括：客服系统与物流控制模组。如图72所示，为物流控制系统的原理框图。本实施例中的物流控制系统包括中一个或多个客服系统、多个相同功能或不多同功能的物流控制模组。
其中，如图73所示，所述客服系统包括客服服务端和客服客户端。客户端提供了用户界面，用户可以通过客户端输入要寄出的货物相关信息，输入的方式可以是文字、图片、语音或视频等。例如，以文字方式输入收件人及其地址、发件人及及地址、货物种类或名称以及特殊事项，如注明易碎、紧急、普通、特快等信息，还可以上传货物照片、视频以方便对尺寸、重量等的判别，并注明发货方式，如上门取货、用户自助发货等。用户在输入完信息后确认发送。客户端生成用户物流订单，并发送到服务端，服务端从中解析出物流控制系统需要的信息，例如收件人地址、货物的易碎特性、物流级别，并将上述订单信息发送给物流控制模组。由物流控制模组根据订单进行相应的取货、运输、派件等控制操作。服 务端还从相关物流控制模组接收货物流通信息，例如，预定的运输路径和各个物流链对应的货运装置，当前所处物流链及对应的货运装置及所在区域、各级货运装置的重量传感器在途中的记录、有无碰撞等信息，以供用户了解其发送货物的流通进展。客户端还可以提供相关物流信息，例如费用查询、物流订单、货物状态实时查询等。
服务端将用户物流订单信息发布给一个以上的物流控制模组，由其中的一个物流控制模组来处理所述订单，如收发货、运输对接等。当用户选择上门取货时，可以由快递机器人或无人机取货，当用户选择自助发货时，可向用户推荐可用的快递柜，并按与用户的距离、移动时间等对向用户推荐的多个快递柜排序。
本实施例中一个物流控制模组可以包括多个不同功能的模块，如图74所示，在一个实例施例中包括地理信息模块和线路规划模块。
其中，地理信息模块用以获取并维护货运装置的实时地理位置。地理信息模块包括地理信息系统，或者通过专用接口与现有的地理信息系统相连接，从而获取地理位置信息。对应的，本发明中的各种货运装置具有定位装置，如GPS等定位系统，用以确定其实时地理位置，并将实时地理位置发送到地理信息模块中，从而可以得到各个货运装置的实时地理位置。
线路规划模块根据货运装置的实时地理位置及行驶能力、地理交通信息和运送货物的物流信息确定交接货物的货运装置、交接地点及对应的物流信息。在一个实施例中，在确定出上述信息后，还为要交接的货运装置计算其到交接地点的行驶路线。或者在另一个实施例中，由货运装置中的定位装置参照实时交通信息自行计算从当前位置到交接地点行驶路线。在另一个实施例中，在确定对接地点及对接货运装置时，参照货物的物流级别，优先以物流级别高的货物的物流信息确定对接地点及货运装置；当对接时的货物数量超过了对接货运装置的能力时，优先交换物流级别高的货物，从而保证了物流级别高的货物能够被快速、及时地送达。
所述物流控制模组中还包括货物监管模块，用于从客服系统获取并维护运送货物的物流信息，所述物流信息包括货物订单信息，如收货人及地址、发货人及地址、联系方式、物流级别，如特快、普通等等。所述物流信息还包括货物与货运装置、库位单元、母周转箱、子周转箱之间的身份绑定信息及变更信息。通过这些绑定关系信息，可以确定货运装置的当前运载能力，如每个货运装置中库位单元数量及其在立体仓库中的分布。通过母周转箱与子周转箱之间的身份绑定信息以及母周转箱与库位单元之间的身份绑定信息可以确定运输所述货物的货运装置及其在立体仓库中的位置。这些信息随着货物运输过程而在不断变化，每个子周转箱的物流信息中详细记录着这些变化的信息，从而可用来追踪一件货物的全部物流过程，并在货物的运输途中离开了物流系统时报警，并根据货物与库位单元的关联关系定位到货物离开时的物流设备。
本发明中的物流控制模组还包括分拣控制模块，根据交接货物的货运装置、快递柜及其他可能的固定位置仓库及交接地点确定对应的分拣货物清单，并为货运装置内置立体仓库中的分拣装置分配分拣任务，为移物装置分配搬运任务，使二者配合以在对接前完成货物的分拣。上述的分拣控制模组可位于货运装置等具有立体仓库的物流设备中，也可以位于云端。
在一些实施例中，本发明采用了去中心化控制模式。当货物进入物流链时，发送货物信息给各个模组。一个或多个模组对一个区域的货运装置进行控制，以完成货物的接收、运输、对接交接、分拣、派送等操作。当其中一个功能模组出现故障，可由其他相同功能模块接替故障功能模组实现对应的控制功能。当一个货运装置出现故障后，控制模组经过合理规划、计算，由其他货运装置替换故障货运装置。
在一些实施例中，本发明提供的中途传递式物流方法，主要包括下面几个方面：货物的收发、货物的运输、货物运输过程中的货物传递及分拣。
在一些实施例中，物流系统中设置可搬运的子母周转箱。在收取货物时，将 货物存储在子周转箱中。货物在进入物流系统后，子周转箱存储在母周转箱中，一个母周转箱内置有一个或多个子周转箱。货运装置作为流动仓库，其内置有立体仓库，包括一个或多个库位单元。在货物运输过程中，母周转箱存储在库位单元内。每一个货运装置、每个货运装置中的库位单元、子周转箱、母周转箱设有唯一的身份标识，并在物流过程中，根据运输过程中的分拣、交换等情况建立或解除他们之间的绑定关系，从而可以得到准确的货物流通信息。
在一些实施例中，在货物的运输过程中，采用多级货运装置在其各自对应的运输距离范围内运输货物，按照货运装置的分布位置及物流方向，将货物从一个货运装置转移到另一个货运装置，不断反复这个转移过程直到到达物流目的地。由于货物需要在不同的货运装置之间转移，因而在转移之前需要将货物从原货运装置中分拣出来。本发明的分拣发生在货物运输途中的货运装置中。
按照货物的流动方向，货物从发货用户处发出进入物流系统，按照末端物流设备的接收、中途不同货运装置的传递、末端物流设备派送，直到收货用户接收而结束该货物的流动。
以下从物流系统末端开始说明本发明的物流方法。
在物流末端，根据末端物流设备的不同有多种发货、收货方式，如由快递机器人上门与发货用户交互完成发货、派送；发货用户利用快递柜、无人机自助完成发货、收货；以及快递人员驾驶微型货车与发货用户交互完成发货、派送。以下对不同的场景逐一说明：
场景一：快递机器人到发货用户处取货
图75是根据本发明一个实施例的快递机器人取货时的作业方法流程图。本发明提供的快递机器人取货作业方法包括以下步骤：
步骤S81a，向货箱内的储物层装入内置规定子周转箱的母周转箱。当快递机器人接收到取货任务时还包括所取货物所需的子周转箱的规格信息。其中，可由云端确定快递机器人当前是否已有所需规格的子周转箱，如果没有，则向其发 送获取子周转箱的地址，例如附近固定位置仓库、快递柜，或者经过该区域的其他货运装置。如果快递机器人当前已有所需规格的子周转箱，则执行步骤S82a。如果快递机器人当中的母周转箱内没有符合规格的子周转箱，则需要到指定地址获取子周转箱。在获取子周转箱时，快递机器人将其货箱内的母周转箱和其内部的子周转箱与换取地点的母周转箱和对应的符合规格的子周转箱对换。进一步地，快递机器人可以一次到多个取货地点取多个货物，因而，在出发时，其货箱内放置了对应多个货物的子周转箱。
步骤S82a，快递机器人按照规划好的路线到达取货地点。在从出发地点到取货地点的过程中，按照规划好的路线行走，并且可随着行走路面的况状调整行走模式。在行走过程中，监测周围以防发生碰撞，及时避开障碍物。在一个实施例中，为了提高效率，快递机器人在到达前10分钟和到达后通过电话/短信通知发货用户。
步骤S83a，引导发货用户完成发货流程。当与发货用户对接后，包括以下流程，如图76所示：
步骤S831a，快递机器人核对用户身份和货物。根据取货任务信息核对接人及货物是否与取货任务中的信息相符。例如，发货用户姓名、电话，货物名称、特点等。
步骤S832a，在核对完信息之后，快递机器人打开货箱顶罩，提示用户找到并打开子周转箱。同时在显示屏上播放子周转箱开箱、放入货物的操作演示视频。如果母周转箱中有多个子周转箱时，快递机器人可以通过不同方式来提示用户打开对应的子周转箱。例如，在子周转箱上设置有发光指示器，快递机器人激活对应子周转箱的发光指示器，使其发光闪烁，或者通过语音告之收货用户子周转箱外壳上的编号；或者是通过光标指示器，向对应的子周转箱发出光斑。
步骤S833a，在用户正确地将货物放置到子周转箱并关闭、称重、收费并确认发货后，快递机器人锁好所述子周转箱，并建立货物与所述子周转箱的身份绑 定关系，将所述绑定关系及子周转箱密码写入到子周转箱的电子标签中。并将子周转箱电子标签信息及确认发货信息上传到云端。云端的货物监管模块将该信息记录入该货物的物流信息中。
步骤S84a，快递机器人按照规划好的路线到达对接地点，将货物传递到下一级物流链。快递机器人上传完用户确定发货的信息后，由云端计算以得到交付信息，包括对接地点、与其对接的货运装置身份信息及规划好的路线，并将交付信息发送给快递机器人。快递机器人按照规划好的路线到达对接地点。当货运装置到达时，快递机器人打开货箱前罩，货运装置中的AGV进入到快递机器人货箱中，顶起母周转箱，将其运回货运装置。在母周转箱被搬运走后，快递机器人解除快递机器人与母周转箱的身份绑定关系，并上传给云端，从而完成取货任务，并对接交付完成。云端将所述身份绑定信息的变更信息记录入所述货物的物流信息中。
所述货运装置接收到所述母周转箱后，建立起所述货运装置与母周转箱的身份绑定关系。
场景二：快递机器人将货物派送到收货用户
图79是根据本发明一个实施例的快递机器人送货作业流程图。送货作业流程包括以下步骤：
步骤S80c，接收需要派送的货物。所述快递机器人接收到送货任务后，在对接时，在将其母周转箱交付给对接货运装置后，接收需要派送的货物，该货物在其子周转箱内，随母周转箱一起，由货运装置中的AGV搬运至快递机器人的货箱内。
步骤S81c，快递机器人按照云端规划或自已计算的行走路线行走到送货地点。在一个实施例中，为了提高效率，快递机器人在到达前10分钟和到达后通过电话/短信通知收货用户。
步骤S82c，并在到达送货地点后，与收货用户交互完成送货任务。其中， 快递机器人与收货用户的对接可能存在时间差，如果快递机器人到达时而收货用户没有到达，快递机器人等待一个预置时间段，在该预时时间段内收货用户到达时，与其对接完成货物交付流程。如果在该预时时间段内收货用户仍然没有到达，则发送信息给云端客服系统，在云端客服系统的要求下继续等待一段时间，或者将货物存放到附近的快递柜，即对接场景一。在与收货用户交付货物过程中，快递机器人语音提示收货用户找到并打开子周转箱、取出货物，在收货用户确认收货后，盖好子周转箱并点击显示屏的确认键，送货完成。快递机器人在与收货用户互动过程中，采集互动过程的视频，并及时帮助收货用户正确操作，最后将采集的视频上传到云端管理系统。
场景三：快递机器人同时取、送货
快递机器人在取货过程中还可以同时送货。在一个较好实施例中，快递机器人的货箱中包括两个母周转箱，一个为送货母周转箱，一个为取货周转箱，并且，每一个母周转箱可以包括一个以上的子周转箱箱。每一个子周转箱对应一个任务。当快递机器人执行多个任务时，按照任务中的目的地址、交付时的对接地址和快递机器人当前地址设计其行走路线，该行走路线可以由云端管理系统规划，也可以由快递机器人自行规划。
图80是根据本发明一个实施例的快递机器人执行多个任务时的流程图。所述执过程包括以下步骤：
步骤S80d，按照规划好的路线向第一个执行地点移动。所述执行地点为取货地点或送货地点。
步骤S81d，判断在当前执行地点执行的是的取货还是送货，如果在当前执行地点取货，则从图76中的步骤S831a执行与发货用户交互的取货流程，完成取货任务。在取货流程中，打开的是货箱中对应取货母周转箱的顶罩，其内部放置对应所取货物规格的子周转箱。如果在当前执行地点送货，则执行图79中的步骤S82c，完成送货任务。在送货流程中，打开的是货箱中对应送货母周转箱 的顶罩，其内部放置了装有货物的子周转箱。
在完成取货流程和送货流程后，执行步骤S82d，判断是否还有未执行地点，如果有，则在步骤S83d，向新的执行地点移动，而后执行步骤S81d。如果已没有未执行地点，即完成了所有的取货、送货任务，则在步骤S84d，快递机器人按照规划路线向对接地点移动，在步骤S85d，快递机器人在对接地点与下一物流链的货运装置对接后，将取货母周转箱和送货周转箱(此时内部的子周转箱为空箱)交付给货运装置。货运装置将需要派送的货物子周转箱集中到一个母周转箱中，并将快递机器人取货需要的子周转箱集中到另一个母周转箱中，一同交付给快递机器人。至此，快递机器人完成上一次多任务的执行，并开始下一次取、送货任务的执行。
在本实施例中，快递机器人在一次行走过程中，既可以取货也可以送货，在保证取送货效率的前提下，减少了快递机器人空箱移动的无用功，因而快递机器人的工作效率更高。
采用快递柜发、取货实施例
场景四：用户采用快递柜自助发货
在发货用户需要发货时，如果选择了从快递柜发货，则发货用户可将货物存入快递柜来完成自助发货。具体包括图81所示的以下步骤：
步骤S1000，发货用户通过客服客户端，如手机支持的APP或小程序，生成物流订单，包括收货人姓名、地址及联系方式；发货人姓名、地址及联系方式；物流级别(航空特快)；尺寸；保价及发货所选的快递柜等信息。
步骤S1001，云端系统接收到用户订单后，向对应的快递柜发送发货信息。包括订单的详细信息及所需要的子周转箱身份标识。
步骤S1002，快递柜10根据需要的子周转箱身份标识分拣出对应的子周转箱到一个母周转箱中，并由AGV3送到一个与用户交互的库位单元，该库位单元对应柜门112，参见图47B。
步骤S1003，在发货用户到达快递柜后，可通过其手机客户端与快递柜交互，确认双方身份信息。
步骤S1004，在身份信息确认无误后，快递柜10打开用户交互柜门112。发货用户在客户端的提示下打开子周转箱，将货物放入子周转箱，并放回快递柜。在确定发货完成后，快递柜10关闭柜门112。
步骤S1005，快递柜10内部的AGV读取子周转箱7的身份标签，建立货物与子周转箱7的身份绑定关系，子周转箱7与当前母周转箱的身份绑定关系，并上传到云端，等待对取货。
在一个更好的实施例中，用于接收发货用户货物的母周转箱(以下简称柜用母周转箱)的高度较小，如图47B中所示，方便用户拿取子周转箱，如果与其他运输时使用母周转箱(以下简称运输母周转箱)的高度不同，可将该高度较小的母周转箱留在快递柜10内，专用于与用户的交互。因而，在发货用户发完货后，需要将装有货物的子周转箱转移到运输母周转箱内。具体可由AGV将柜用母周转箱搬运到分拣装置的分拣单元，由分拣装置转移到运输母周转箱内。
场景五：用户采用快递柜自助收货
当发给收货人的货物由于种种原因暂存到快递柜10时，收货用户可到快递柜10自助完成收货。收货用户可通过客户端与快递柜10交互，在相互确认身份后，快递柜10内的分拣装置将装有该用户货物的子周转箱7分拣到柜用母周转箱2内，由AGV3搬运到用户交互的库位单元1，并打开对应的柜门112。用户根据手机客户端接收到的信息可得知开启子周转箱7的密码，并在手机客户端的提示，如视频演示等，打开子周转箱7取走货物。在用户将子周转箱放回柜用母周转箱、完成取货后，关闭柜门112。
在前述用户自助收货、发货时，快递柜打开的是专用柜门112，当然也可以采用与快递机器人8或其他货运装置对接时的柜门111，通过升降对接板122将母周转箱2送出柜体，如果用户取货，则送出对应装有货物的子周转箱7，如果 用户发货，送出对应所需的子周转箱7。
场景六：用户与无人机交互，取、送货
用户在下订单时可以选择由无人机取货或收货。在取货时，无人机携带对应规格的子周转箱到达用户处，用户根据指示，如无人机中的语音设备或客服客户端的演示视频、文字解释等将货物放到子子周转箱中。无人机设置有重量传感器，在用户装完箱后，称重收费，在用户付费后，取货流程结束，该货物进入物流系统。无人机派货时，与用户的交互过程相似，在此不再重复。
场景七：用户与微型货车交互
在本实施例，用户还可以与由快递员驾驶或无人驾驶的微型货车交互，以发货或收取货物。当微型货车为无人驾驶时，其安装有交互设备，具体可参考快递机器人的交互设备，过程与快递机器人的交互过程相似，在此不再重复。
在货物通过末端物流设备，如快递机器人、无人机、快递柜或微型货车，进入物流系统，货物将在不同的货运装置中传递。根据传递时两个货运装置的类型，包括以下对接场景：
对接场景一：快递机器人与快递柜对接
快递机器人与快递柜对接的目的可以获取空箱，或者将未能派送到收货用户处的货物暂存于快递柜，或者是从快递柜取出需要派送的货物。以下以取空箱为例，对快递机器人与快递柜的对接过程说明如下：
其中在快递机器人8当前没有合适的子周转箱时，其可以到附近的快递柜中获取，具体包括图77所示的以下步骤：
步骤S80b，云端系统查询与快递机器人8行驶范围内的快递柜及正在行驶的货运装置，按照获取时间最短原则确定所述快递机器人8可获取到所需子周转箱的位置，在本实施例中，例如为快递柜10。
步骤S81b，云端系统向快递机器人8及确定的快递柜10发送获取子、母周转箱的消息，其中，快递机器人8接到的信息包括快递柜10的位置，还可以包 括已经规划好的行驶路线。快递柜10接收到的信息包括子周转箱身份标识及快递机器人的身份标识，其中，根据取货需要，所需的子周转箱可以为一个或多个。
步骤S82b，快递机器人8按照规划好的路线向快递柜10所在的位置移动，同时，快递柜10按照接收到消息，其内部的分拣装置在AGV3的配合下，将所需要的子周转箱分拣到一个母周转箱中，并建立母周转箱与子周转箱的身份绑定关系。
步骤S83b，快递机器人8到达快递柜10的位置后，与所述快递柜10相互确认身份。如图78A所示。
步骤S84b，在双方确定身份后，快递柜10打开柜门，放下对接板122，驱动滑轨121带着对接板122下降，同时，快递机器人8打开其货箱的前罩，二者准备对接。如图78B所示。
步骤S85b，快递机器人8向前移动，使对接板122进入到其底座下，当触发抬升传感器时，说明快递机器人8与对接板122对接准确，则驱动滑轨121，带着快递机器人8一起上升，直到接收到定位传感器发送的信号，说明快递机器人8货箱内移动空间的行驶面与升降台42上的行驶面准确对接。如图78C所示。其中，抬升传感器可设置在快递机器人8底座下的适当位置，也可以设置在对接板122的适当位置。定位传感器可设置在对接板122或升降台42的适当位置。
步骤S86b，快递柜10内部的AGV3将已经放有子周转箱的母周转箱搬运到快递机器人8的货箱内，然后退回到快递柜10内。如果快递机器人8内部有母周转箱，则快递柜10内部的AGV3先将快递机器人8内部的母周转箱搬运到快递柜10内，再将快递机器人8需要的子周转箱连同一个母周转箱搬运到快递机器人8的货箱内。
步骤S87b，快递柜10驱动滑轨121，带着快递机器人8一起下降。
步骤S88b，快递柜10与快递机器人8分离。快递机器人8着地后，向后 退，离开对接板122，然而关闭前罩，同时，快递柜10收回对接板122，并上升到一定高度，关闭柜门111。
此时，快递机器人8成功地从快递柜10获取到其所需要子周转箱。
在快递机器人送货而无法将货物送达收货用户时，或将货物存放到快递柜中。当快递机器人将需要派送的货物连同母周转箱存储到快递柜中时，将母周转箱的绑定变动信息发送到云端管理系统，送货任务完成。由云端管理系统电话、短信或邮件等方式通知收货物人取货。过程与取空箱的过程类似，在此不再赘述。同理，快递机器人也可以根据云端的指示，到快递柜取需要派送的货物，具体与与取空箱的过程类似，在此不再赘述。
对接场景二：快递机器人与微型货车对接
快递机器人可以将从用户收取的货物传递给微型货车，也可以从微型货车接收需要派送的货物。
如图82A-82C所示，为本实施例的微型货车与快递机器人的对接示意图。当微型货车9a与快递机器人8对接时，箱门94打开，升降对接装置的升降支架962沿升降轨道961下降到预置位置时，打开对接板963。如图82A所示。快递机器人8向前移动，使对接板963伸到快递机器人8货箱底座的底部，与货箱底座位置确定后，控制升降支架962沿升降轨道961上升到预置位置，使快递机器人8货箱的对接板963移物空间的行驶面与立体仓库内的库位单元底部的行驶面对接后停止上升。此时，微型货车9a内部的AGV3进入快递机器人8货箱中将其内部的母周转箱搬运到微型货车9a中，或者根据需要将微型货车9a中对应母周转箱搬运至快递机器人8货箱中。
对接场景三：快递机器人与市区循环货车对接
在合适的地点及时间条件等条件允许时，也可以由快递机器人将用户取收取的货物传递给市区循环货车，并从市区循环货车接收需要派送的货物。此过程与微型货车的对接类似，在此不再重复说明。
类似地，在合适的地点及时间条件等条件允许时，快递机器人也可以与城际货运装置对接，例如在中途休息的长途或短途货车、火车、海运轮船等。
作为末端物流设备，无人机可分为大型无人机和小型无人机，小型无人机每次只运送一个子周转箱，即一件货物。而大型无人机内部具有多个库位单元，可以存放多个子周转箱。
对接场景四：小型无人机与快递柜对接
无人机可以将从用户处收取的货物存入快递柜，或从快递柜获取需要派送的货物。
无人机在从用户处收取货物后，根据云端计算，可将货物转交给其他物流设备，如快递柜、微型货车、市区循环货车等。在本实施例中，无人机将要发出的货物存放到快递柜10中，或者将要取出的货物从快递柜取走。当无人机到达快递柜10上空时，与快递柜10通信，相互确认身份后，快递柜10打开顶部无人机接口处的盖板113。如果用户存入货物，则柜内升降系统的升降台带着母周转箱2向上移动，到达无人机接口。无人机放下装有货物的子周转箱7到母周转箱2中。在无人机取货时，升降台带着内置子周转箱7的母周转箱2向上移动，到达无人机接口。无人机从母周转箱2抓取子周转箱7。在与无人机交互完成后，关闭盖板113，升降台带着母周转箱2下降。或者，在云端计算到由无人机可将快递柜中的物定货物送到收货用户处，无人机与快递柜的交互过程与上述过程相类似，在此不再重复说明。
对接场景五：小型无人机与固定位置仓库的对接
图86是根据本发明一个实施例的小型无人机与固定位置仓库对接示意图。在本实施例中，固定位置仓库(或称为第一立体仓库)100除了仓门105外，在其顶部还设有无人机接口106，该接口对应一个或多个库位单元。小型无人机要将子周转箱7放入到第一立体仓库100中时，第一立体仓库100打开接口处的盖板，露出其下对应的库位单元。小型无人机可以悬停在该接口上方，或者是通 过支架支在接口周边定位槽107从而停在接口上方。定好位置好，小型无人机通过机械手爪等将子周转箱放入接口处的库位单元，同时解除子周转箱与无人机的身份绑定关系。如果是要将第一立体仓库100中的货物转给小型无人机，则将需要小型无人机运载的子周转箱放置在所述接口处的库位单元，由小型无人机通过RFID读写器等识别出所述子周转箱，通过机械手爪等将其抓起拿走，同时解除子周转箱与库位单元的身份绑定关系，并建立其与无人机的身份绑定关系。
对接场景六：大型无人机与固定位置仓库的对接
大型无人机中具有与立体仓库相类似的储物空间，其包括升降机。与地面、或其他立体仓库的对接包括两种方式。
其一，通过图86中的无人机接口106进行对接。例如，大型无人机悬停在该接口上方，或者是通过支架支在接口周边定位槽107从而停在接口上方。定好位置后，大型无人机放下升降机与接口对接，从而完成货物的出、入库及交换。
其二，大型无人机悬停或落在立体仓库侧面的地面上，通过对接板或对接管道与立体仓库对接，从而完成货物的出、入库及交换。
对接场景七：无人机与货运装置交互
无人机也可以与微型货车、市区循环货车等货运装置交互，将货物存入或取出。微型货车、市区循环货车可设置无人机接口，例如快递柜或固定位置仓库中的无人机接口。与快递柜、固定位置仓库的交互不同的是，无人机在与微型货车、市区循环货车等可移动的物流设备交互时，可移动的货运装置不需要停止，在二者保持相同速度时，可将无人机携带的子周转箱从货运装置的无人机接口存入到货运装置内，或者从货运装置内提取出货物。
对接场景八：微型货车与固定位置仓库对接
图83是根据本发明一个实施例的微型货车与固定位置仓库对接示意图。当微型货车9a与固定位置仓库(如快递柜)对接时，微型货车9a移动到合适位 置，使二者的门相对，箱门94和柜门111打开。固定位置仓库仓门105打开，微型货车9a的升降对接装置的升降支架962带着对接板963沿升降轨道961上升到预置位置，打开对接板963。微型货车9a调整位置、减震气囊，使对接板963与固定位置仓库的升降平台42或库位单元准确对接。此时，微型货车9a内部的AGV3进入固定位置仓库中将其内部的装有要发送货物子周转箱的母周转箱搬运到微型货车9a中，或者根据需要将微型货车9a中需要用户自助收货的子周转箱及母周转箱搬运至固定位置仓库货箱中。
对接场景九：微型货车与市区循环货车对接
图84是根据本发明一个实施例的微型货车与市区循环货车对接示意图。由于微型货车9a为小型货运装置，其高度小于市区循环货车9b，因而其内部的立体仓库不能与市区循环货车9b中立体仓库直接对接。在两者的箱门打开后，微型货车9a中的对接装置中的升降支架上升，放下对接板，使对接板与市区循环货车9b内部的库位单元底面的行驶面完全对接。
对接场景十：微型货车与微型货车对接
由于微型货车的运输距离较短，在货物传递时，在不能及时将货物传递给市区循环货车时，还可以将货物传递给其他的微型货车。
对接场景十一：市区循环货车与市区循环货车对接
图85是两个市区循环货车9b对接的示意图。在本实施例中，当两个市区循环货车9b的交通工具调整车身停好后，按先后顺序打开相对的翼门942，然后调整水平、对齐高度。在实施例中，市区循环货车9b的箱体车架与车体之间设有减震气囊，通过调整每个气囊的气压大小，可以方便、快捷地调节水平。然而启动X-Y驱动平台，带动整体的立体仓库91向侧面滑出，当两个立体仓库对接、定位后停止滑动，对接好的形成了一个统一的立体仓库。
对接场景十二：市区循环货车与固定位置仓库
如同微型货车与固定位置仓库对接，在此不再重复说明。
对接场景十三：市区循环货车与其他货运装置对接
其他货运装置，如货运火车、货运飞机、海运货轮，其上安装有立体仓库，市区循环货车与其对接时根据场地情况，可以采用场景十一中两个市区循环货车对接的方式，市区循环货车驱动其X-Y驱动平台，将其立体仓库移出，直接与其他货运装置中的立体仓库对接。或者，这些货运装置打开其对接板300，利用升降机构使其上升或下降到适当位置与市区循环货车准确对接。在本实施例中，当然也可以采用底面为对接板的管道对接两个立体仓库，从而可以在货物进出库时不受天气、气候影响。
在前述的各种物流仓库或对接板上设有定位传感器，根据定位传感器确定是否准确对接。
当两个物流设备对接时，包括货物出库、入库及交换。以图87所示的仓库结构为例，说明货物出库、入库及交换过程。
货物入库流程实施例一
图87是根据本发明一个实施例的立体仓库与货运装置对接示意图。以图87为例，对货物入库流程进行说明，在图87中，第一立体仓库100为一固定位置仓库，第二立体仓库200为一个货运装置中的立体仓库，在图87中没有示出交通工具。如图88所示，货物入库流程包括以下步骤：
步骤S9101，货运装置行驶到第一立体仓库100旁边，双方打开仓门。其中，第一立体仓库100可以为一个固定的物流仓库。
步骤S9102，将货运装置与第一立体仓库100对接起来。如图87所示，货运装置中的小型第二立体仓库200内部的库位单元20与第一立体仓库100中的库位单元规格相同。当二者的仓门105、205打开时，在条件允许时，可以将货运装置中的第二立体仓库200与固定第一立体仓库100实现门对门直接对接。例如，通过调整货运装置的角度，使其与固定第一立体仓库100平行相邻，再调整货运装置中第二立体仓库200的高度和水平，在一个实施例中，通过调整安 装在交通工具上的减震气囊，如调整每个气囊的气压大小，可以方便、快捷地调节水平，使第二立体仓库200的仓门205与固定第一立体仓库100中的仓门105完全对接在一起。另外，如果固定第一立体仓库100中的仓门105较大，第二立体仓库200的仓门205较小，第一立体仓库100的仓门105较大，其在打开时，可以展露多列、多层的库位单元。在与货运装置中的小型第二立体仓库200对接时，可以在任意列、任意层对接。
两个立体仓库对接完成时触发定位传感器，立体仓库内的本地模块接收到定位传感器信号后，说明已经对接完成，通过通信模块将立体仓库对接完成信息发送给云端物流控制模组。云端物流控制模组向AGV发送运输指令搬运货物。根据货运装置中第二立体仓库200的入库储物装置数量、对接面的库位单元数量及当前可用AGV的数量确定搬运用的AGV数量。在本实施例中，假设货运装置中只有一个母周转箱要存入第一立体仓库100中，因而只需要一个AGV即可。在确定AGV时，首先选择空闲的AGV，在没有空闲的AGV时再中断正在工作的AGV的任务，使其来搬运入库储物装置。
步骤S9103，判断两个仓库中是否有可用的AGV，如果有，例如，第二立体仓库200内有可用的AGV230，或者，第一立体仓库100内有可用的AGV130，则在步骤S9104中，云端物流控制模组向可用的AGV23或AGV130发送搬运指令。而后执行步骤S9108。
如果两个仓库中都没有可用的AGV，则在步骤S9105确定是否有备用AGV，例如在第一立体仓库100的内部或者是货运装置中配备的备用AGV。
如果有备用AGV，则在步骤S9106向备用AGV发送搬运指令，而后执行步骤S9018。如果也没有备用AGV，则在步骤S9107，中断第一立体仓库100中的一个AGV的任务，向其发送搬运指令。
步骤S9108，搬运AGV进入到待搬运母周转箱220的库位单元20。如果搬运AGV为第一立体仓库100内的AGV130，由于两个仓库门对门的对接后，两 个仓库的库位单元的底板相互对接、相通，因而，AGV130可以行驶到第二立体仓库200内的库位单元20中。
步骤S9109，搬运AGV顶起所述母周转箱220，并读取母周转箱220的RFID信息，将其中的绑定的库位单元编号修改为运输状态，并将母周转箱220的RFID信息发送到云端物流控制模组。
步骤S9110，搬运AGV顶着母周转箱220进入到第一立体仓库100中的一个库位单元。由于本次仅有一个母周转箱入库，因而将其运入第一立体仓库100中的任意一个空闲库位单元即可。如果有多个母周转箱入库，需要根据母周转箱数量，确定母周转箱的放置位置和顺序，例如，需要先搬运的母周转箱放入远离仓门105的库位单元，将靠近仓门105的库位单元留给后续入库的母周转箱。如果有多个搬运AGV，多个入库的母周转箱，云端还会计算AGV搬运时的行走路线、相互配合方式，得到搬运耗时最短的搬运方案，按照所述方案支配多个AGV完成多个母周转箱的入库任务。
步骤S9111，搬运AGV读取所述库位单元的RFID信息，获取编号。
步骤S9112，搬运AGV将母周转箱220释放到所述库位单元时，并将所述库位单元的编号写入到母周转箱220的RFID信息中，完成母周转箱220与所述库位单元的绑定，并将改写后的母周转箱220的RFID信息发送到云端物流控制模组。
步骤S9113，判断所述搬运AGV是否是第一立体仓库100库内的AGV，如果是，则在步骤S9114，等待接受新的任务。如果不是，则在步骤S9115，判断所述搬运AGV是否是备用AGV，如果是，则在步骤S9116，返回原位置。如果不是，说明该搬运AGV是货运装置内的AGV，则在步骤S9117返回货运装置。
步骤S9118，关闭双方仓门，完成货物入库。如果有对接板，则先收回对接板，再关闭仓门。
从上述流程可见，入库时的搬运AGV可以根据当前状况灵活选择，最终的 目的是能够尽快完成货物入库，在实现这一目的时尽量不干扰当前其他任务的进行。
货物入库流程实施例二
当有多个母周转箱需要入库时，还包括确定可以用来搬运的搬运AGV数量的步骤。即云端物流控制模组根据两个立体仓库当前的任务量，确定可以用来搬运的搬运AGV数量。其中，立体仓库内的AGV在没有货物出入库的时候，其任务为配合分拣装置6对库内的货物进行相应级别的分拣。具体地，云端物流控制模组根据下一次出库时的货物流向，控制立体仓库内的AGV和分拣机装置6分拣出下一次出库的货物。AGV将目标母周转箱搬运到分拣机器人处，由分拣机器人分拣。在分拣完成后，AGV将分拣好下一次出库的母周转箱搬运到仓门附近区域或指定区域。对于货运装置而言，当货运装置在与第一立体仓库100对接传递完货物后，需要到下一个地点传递货物，其内部的AGV和分拣机器人需要分拣好下一次需要卸的货物。
云端物流控制模组根据第一立体仓库100下一次传递货物所需的时间(如出库时间)、为该次货物出库所需要的分拣时间，确定本次搬运可用的AGV数据。同理，云端物流控制模组根据货运装置到下一个对接地点传递货物时的路上运输时间、分分拣要传递的货物的分拣时间，确定本次搬运可用的AGV数量。
另外，通常在固定立体仓库还储备有备用AGV，以防由于各个立体仓库的任务量过多，而无法完成快速传递货物。因而，在统计可用AGV时也可包括所述备用AGV，从而得到总的可用AGV数量。
在确定了可用AGV数量后，云端物流控制模组根据当前入库量、仓门开放后对接面对应的库位单元数量，可用的搬运AGV数量以确定单次最大搬运量，以便可以以最大效率完成货物入库。如图87所示，当第一立体仓库100与第二立体仓库200采用门对门对接时，对接面有上下两层、左右两列的库位单元，因而，根据对接面的库位单元数量，单次可以搬运4个入库母周转箱。再结合本次 的总入库量和可用AGV数量，例如当前总入库量为10个，第一立体仓库100有4个AGV、货运装置的第二立体仓库200中有2个AGV，因而总共有6个可用AGV，因而，单次最大搬运量可以为4个入库母周转箱。
在搬运开始之前，云端物流控制模组将第二立体仓库200中需要搬运进第一立体仓库100中的入库母周转箱清单发送给每一个可用AGV。入库母周转箱清单中记录有每一个入库母周转箱的身份信息及其状态。如下表2所示：
表2：入库母周转箱清单
身份标记 状态 货物的合计重量
A-100-201-300001 N(未搬运) xxxg
A-100-201-300002 Moving(移动中) xxxxg
A-100-201-300003 Y(已搬运) xxxg
…… …… ……
每个搬运AGV内部存储有入库母周转箱清单。AGV进入储物空间时，根据所述入库母周转箱清单识别要搬出的入库母周转箱，并在搬运完一个入库母周转箱时，发送消息给云端物流控制模组，云端物流控制模组更新每一个可用AGV中的入库母周转箱清单。
如图89所示，为根据本发明一个实施例一个搬运AGV搬运入库母周转箱时的流程示意图；
步骤S9210，云端物流控制模组向搬运AGV发送入库母周转箱清单。
步骤S9200，所述搬运AGV收到所述入库母周转箱清单存储在本地，并根据云端物流控制模组发送来的更新消息更新、维护所述入库母周转箱清单。
步骤S9201，所述搬运AGV进入立体仓库。所述搬运AGV是进入第一立体仓库100中的AGV130，也可以是第二立体仓库200中的AGV230，或备用AGV。
步骤S9202，所述搬运AGV读取其遇到的一个母周转箱220的身份标签，从中得到母周转箱220的身份信息。
步骤S9203，判断母周转箱220是否在入库母周转箱清单中及其状态是否为未搬运，如果在，且是未搬运，则执行步骤S9204。如果不在，则返回步骤S9202读取另一个母周转箱的身份标签。
在步骤S9204顶起母周转箱220，并改写母周转箱220标签信息中的库位单元的信息为移动状态，即解除母周转箱220与其当前所述的第二库位单元的绑定关系。
步骤S9205，搬运AGV将修改后的母周转箱220身份标签信息发送回云端物流控制模组，即将解绑消息发送给云端物流控制模组。
步骤S9211，云端物流控制模组记录该入库母周转箱的当前状态，并更新入库母周转箱清单。
步骤S9212，云端物流控制模组将更新后的入库母周转箱清单发送给所有可用的AGV。
步骤S9206，所述搬运AGV顶着所述母周转箱220返回第一立体仓库100，将其放置在一个第一库位单元。
步骤S9207，所述搬运AGV将所述第一库位单元的身份信息写入所述母周转箱220的身份标签信息中，绑定所述母周转箱220和所述第一库位单元的身份信息。
步骤S9208，所述搬运AGV将绑定后的所述母周转箱220的身份信息发送给云端物流控制模组。
步骤S9213，云端物流控制模组记录所述母周转箱220的新的绑定关系，并更新入库母周转箱清单。
步骤S9214，云端物流控制模组将更新后的入库母周转箱清单发送给所有可用的AGV。
从上述过程可见，在入库过程中，所有搬运AGV中时刻维护一个不断变化、记录入库母周转箱状态的入库母周转箱清单，从而可以保证每一个搬运AGV能够找到正确的入库母周转箱。
关于存放入库母周转箱的第二库位单元在第一立体仓库100中的位置，通常，在云端物流控制模组的控制下，第一立体仓库100靠近仓门，用来接收货物的区域保持空闲状态，以便能够快速地接收入库母周转箱。在一个实施例中，搬运AGV随机将入库母周转箱放置在空闲区域的最里端，以空出外端的区域给后入库的母周转箱。例如，当一个搬运AGV进入第一立体仓库100后，查询其当前位置的四周是否有空闲库位单元，当前方库位单元已有母周转箱时，向左或向右移动，将入库母周转箱放置到当前方向的尽头。然后再返回货运装置的第二立体仓库200搬运下一个入库母周转箱。每一个搬运AGV可以都按照同一个放置原则放置入库母周转箱。
在另一个实施例中，云端物流控制模组可根据本次入库母周转箱的数量、第一立体仓库100中空闲库位单元的位置和数量划分出一个入库区域给本次入库操作。搬运AGV将入库母周转箱顺次放置在入库区域的库位单元即可。
货物出库流程实施例
本发明还提供了有货物要出库时的流程。如图90所示。
步骤S9300，当货运装置到达时，货运装置行驶到第一立体仓库100旁边，双方打开仓门。
步骤S9301，货运装置与第一立体仓库100对接起来。与入库时的对接相同，可以采用门对门对接，也可以采用一块或多块对接板、对接管道对接。
步骤S9302，确定可用的AGV。
步骤S9303，搬运AGV搬运出库母周转箱120，并解除出库母周转箱与当前第一库位单元10的绑定关系。将解除绑定消息发送给云端物流控制模组。
步骤S9304，搬运AGV将出库母周转箱搬运到货运装置中的第二立体仓库 200中的一个第二库位单元20。
步骤S9305，建立出库母周转箱与第二库位单元20的绑定关系，并发送给云端的物流控制模组。
出库流程及相关细节与入库流程相似，在此不再重复说明。
当两个立体仓库之间需要交换货物时，例如，需要将第一立体仓库中的一部分货物搬运到第二立体仓库中，同时需要将第二立体仓库中的一部分货物搬运到第一立体仓库中，包括了前述入库和出库流程，并且入库和出库流程在同时进行。在本实施例中，云端物流控制模组维护两张表：入库清单和出库清单。通过计算确定出可用的AGV后，将所述两张表发送给可用AGV。驱动两个库中的可用AGV，将本库的出库母周转箱搬运到对方，再从对方搬运回入库母周转箱，在搬运过程中云端物流控制模组实时维护两张表。
为了提高货物交换效率，可对货物在库中的位置、交换过程中AGV的搬运路线进行规划。
立体仓库之间货物搬运流程实施例一
图91是根据本发明另一个实施例将一个母周转箱搬运到指定库位单元的流程。在本实施例中，云端物流控制模组根据当前第一、二母周转箱和第一、二库位单元的位置，为每一个可用AGV实时确定其取的母周转箱和要放置的库位单元。因而，在本实施例中，云端物流控制模组实时维护第一、二库母周转箱清单和出、入库位清单，并根据当前两个库的出、入库情况，首先向每一个AGV发送要搬运的母周转箱身份信息，在AGV从第一立体仓库搬运着该母周转箱到达第二立体仓库库时，云端物流控制模组根据当前第一立体仓库的库位单元及搬运繁忙情况，确定其要放置的库位单元，并将该库位单元身份信息发送给AGV，AGV按照指定的库位单元身份信息，将该母周转箱放到指定库位单元。为了避免过多重复说明，在以下说明中省略了母周转箱与库位单元的身份关系的解绑与绑定，以及对清单的更新步骤。本实施例中将一个母周转箱搬运到指定库位单 元的流程包括以下步骤：
步骤9401，云端物流控制模组向第一立体仓库中的一个第一AGV发送要搬运的第一母周转箱身份信息。其中，所述第一母周转箱应是与第一AGV距离最近的一个母周转箱。
步骤9402，第一AGV根据收到的消息，搬运第一母周转箱到第二立体仓库。
步骤9403，云端物流控制模组根据当前第二库位单元的状态及搬运状况，确定可放置的第二库位单元，并将该第二库位单元信息发送给的所述第一AGV。
步骤9404，所述第一AGV按照接收到的第二库位单元信息，将第一母周转箱放置到指定第二库位单元。
重复上述步骤直至搬运完所有的母周转箱。
立体仓库之间货物交换流程实施例二
图92是根据本发明一个实施例的立体仓库之间货物交换流程图。在本实施例中，两个立体仓库将各自仓门附近区域分为出库区和入库区，云端物流控制模组保存并维护对应的出库位清单和入库位清单。在本实施例中，第一立体仓库100和第二立体仓库中的AGV的搬运过程相同，在此以一个第一立体仓库100中的一个第一AGV为例进行说明，其中，将第一立体仓库100中的出库母周转箱称为第一母周转箱，将第二立体仓库200中的出库母周转箱称为第二母周转箱。
步骤S9500，云端物流控制模组将第一、二库母周转箱清单和出、入库位清单发送给所有的可用AGV。
步骤S9501，每个可用AGV存储并维护上述多个清单。
步骤S9502，第一AGV将第一立体仓库100中的一个第一母周转箱搬运至第二立体仓库。还包括解绑第一母周转箱与原第一库位单元的绑定关系，并将其发送至云端物流控制模组，云端物流控制模组更改该第一母周转箱在第一母周 转箱清单中的状态为移动状态。并采用该更新信息更新所有AGV中的第一母周转箱清单。
步骤S9503，第一AGV识别第二立体仓库的第二入库区，例如，读取库内空闲库位单元的身份标签，对比本地保存的第二立体仓库的第二入库库位清单，从而找到第二入库区。
步骤S9504，将第一母周转箱放置入第二入库区中的一个第二库位单元，同时绑定第一母周转箱和所述第二库位单元的身份关系，并发送给云端物流控制模组。云端物流控制模组根据该信息更新第一母周转箱清单、第二入库库位清单，并采用更新后的消息更新所有AGV本地的清单。
步骤S9505，第一AGV判断是否还有第二母周转箱没有搬运，如果有，则执行步骤S9507，如果第二母周转箱已经搬运完，则在步骤S9506返回第一立体仓库。
步骤S9507，识别出第二出库区。
步骤S9508，第一AGV从第二出库区搬运第二母周转箱至第一立体仓库的第一入库区。在将第二母周转箱搬离第二库位单元时，解绑第二母周转箱与第二库位单元的绑定关系，在将第二母周转箱放置到第一入库区的第一库位单元时，绑定第二母周转箱和第一库位单元的身份关系。云端物流控制模组更新这些解绑与绑定关系带来的变化信息，并更新所有AGV中的多个清单。
步骤S9509，第一AGV判断是否还有第一母周转箱没有搬运完，如果有，则返回步骤S9502，如果第一母周转箱已经搬运完，则结束货物交换流程。
在本实施例中，通过划分出入库区和出库区，可以使AGV在搬运、放置母周转箱时目标清晰。
在以上的各个实施例中，采用的是云端物流控制模组，但本领域的普通技术人员应知，也可以位于本地的管理系统，即每一个立体仓库中都可以包括一个本地管理系统，其可以通过通信模块相互交换数据、消息等，同样可以完成上述各 个实施例中的流程。
货物运输过程的分拣
本发明提供的物流系统不需要固定场所的分拣中心，不需要将货物从运输途中卸到分拣中心进行分拣后再继续运输，而是将分拣装置安放到货运装置的立体仓库中，在货物运输过程中分拣。其中，一个实施例中的立体仓库货物分拣方法，如图93A-93D所示，包括：
步骤S620，根据物流运输信息确定当前分拣地址信息。例如，根据立体仓库的当前位置、与立体仓库对接的货运装置的物流方向确定下次对接时需要分拣出去货物的物流地，所述物流地可以是地理位置信息，也可以是根据地理位置信息确定的行政区。
步骤S621，根据分拣地址信息分析立体仓库内每一个子周转箱的地址信息及其所在的母周转箱，以确定目标母周转箱及目标子周转箱。在本步骤中，通过分析子周转箱的地址信息，并与前述确定的分拣地址对比，可以确定需要分拣的目标子周转箱，根据子周转箱与母周转箱的绑定关系，可以确定出目标子周转箱所在的目标母周转箱(以下称为第一目标母周转箱)，及其所在的第一库位单元，从而确定了第一目标母周转箱的在仓库中的分布情况。根据子周转箱的规格信息，通过查询母周转箱内置子周转箱的情况，确定用于存放分拣后的目标子周转箱的第二目标母周转箱。在一个实施例中，仓库中也可以放置一些空的母周转箱用于在分拣时作为第二目标母周转箱，从而可以提升分拣效率。根据母周转箱与库位单元的绑定关系，在确定了第二目标母周转箱之后可以得知第二库位单元的位置，从而确定了第二目标母周转箱的在仓库中的分布情况。为了监管分拣过程，将上述信息形成一个目标子周转箱，用于记录与其相关的信息，如表1所示。
步骤S622，根据库内目标母周转箱分布信息、分拣装置分布信息和移物装置数量及位置信息，为每一个分拣装置确定对应的分拣任务，为每一个移物装置 确定对应的搬运任务。为了提高分拣效率，通常采用就近原则，即以分拣装置为中心，将其附近的目标母周转箱分配给分拣装置。或者，考虑到对应一个目标子周转箱的分拣需要搬运两个目标母周转箱，根据两个目标母周转箱的位置及分拣装置的位置，计算搬运两个目标母周转箱到每一个分拣装置所需时间，所分拣所述目标子周转箱的任务分配给所需时间最少的分拣装置。根据上述方法，为每一个分拣装置分配了相应的分拣任务。在一个实施例中，每一个分拣装置生成一个分拣清单，其中包括了目标子周转箱，对应的第一目标母周转箱和第二目标母周转箱。
当确定了第一目标母周转箱、第二目标母周转箱和对应的分拣装置后，根据移物装置的分布情况，为移物装置分配对应的搬运任务。在移物装置数量较少时，可以由一个移物装置分两次搬运第一、第二目标母周转箱。在移物装置数量较多时，也可以由两个移物装置分别搬运第一、第二目标母周转箱。将第一、第二目标母周转箱搬运至分拣装置的分拣单元后，AGV可以停留下，等待分拣完成后，将第一、第二目标母周转箱搬离分拣单元，也可以搬运至分拣装置的分拣单元后，接受新的搬运任务。移物装置在搬运第一、二目标母周转箱时，还执行母周转箱与库位单元之间身份绑定关系的建立与解除。
步骤S623，AGV将第一、二目标母周转箱搬运到分拣装置的第一、二分拣单元。
步骤S624，分拣装置将目标子周转箱从第一目标母周转箱分拣到第二目标母周转箱。
在分拣完一次之后，根据第一目标母周转箱和第二目标母周转箱的情况做相应的处理，例如，在第一目标母周转箱仍有目标子周转箱，同时第二目标母周转箱有对应位置，则继续分拣。具体如图93B所示。
步骤S625，判断第一目标母周转箱中是否还有未分拣完的新目标子周转箱，如果有，则执行步骤S6251，如果没有，则在图93C中执行步骤S626。
在步骤S6251，判断第二目标母周转箱中是否有对应新目标子周转箱的位置，如果有，则返回步骤S624，继续在原来的两个原第一、二目标母周转箱中进行分拣。如果没有，执行步骤S6252。
在步骤S6252，判断原第二目标母周转箱是否已经都是目标子周转箱，如果都是，则在步骤S6253，将原第二目标母周转箱搬运至出库区，再执行步骤S6254。如果原第二目标母周转箱没有都是目标子周转箱，即还有其他的非目标子周转箱，则在步骤S6254更新第二目标母周转箱，即将原第二目标母周转箱搬走，搬运新的其中有新目标子周转箱位置的母周转箱作为第二目标母周转箱，然后执行步骤S624。在原第一目标母周转箱和新第二目标母周转箱之间进行分拣。
如果第一目标母周转箱中是没有未分拣完的新目标子周转箱，即已分拣完第一目标母周转箱，为了减少搬运次数，提高分拣效率，还包括图93C所示的流程。
步骤S626，判断原第一目标母周转箱中是否有新目标子周转箱的位置，如果没有，则在图93D中执行步骤S627，如果有，则执行步骤S6261。
步骤S6261，判断原第二目标母周转箱中是否有对应的新目标子周转箱，如果有，则执行步骤S6265，如果没有，则执行步骤S6262。
步骤S6262，判断原第二目标母周转箱中是否都是目标子周转箱，如果都是，则在步骤S6263，将原第二目标母周转箱搬运至出库区，再执行步骤S6264，如果原第二目标母周转箱中还有非目标子周转箱，执行步骤S6264。
步骤S6264，更新第二目标母周转箱，即将原第二目标母周转箱搬走，搬运新的其中有新目标子周转箱的母周转箱，然后执行步骤S6265。
步骤S6265，更换当前第一目标母周转箱和新第二目标母周转箱的身份，即原来的向外分拣的第一目标母周转箱转换成接收目标子周转箱的第二目标母周转箱，当前的具有目标子周转箱的母周转箱作为外向分拣目标子周转箱的第一目标母周转箱，然后执行步骤S624，进行分拣。
在图93D中，此时的原第一目标母周转箱即没有目标子周转箱，也没有放置目标子周转箱的位置，因而，在步骤S627，判断是否还有目标子周转箱要分拣，如果，没有，则本次分拣完成，结束分拣流程。如果还有，则需要查看当前原第二目标母周转箱的情况，即执行步骤S628。
步骤S628，判断原第二目标母周转箱中是否有新目标子周转箱的位置，如果有，则在步骤S6281，更新第一目标母周转箱，即，将原分拣完的第一目标母周转箱搬走，再搬运来与当前第二目标母周转箱中新目标子周转箱的位置相匹配的母周转箱，然后执行步骤S624，进行分拣。如果原第二目标母周转箱中没有新目标子周转箱的位置，则执行步骤S629。
步骤S629判断原第二目标母周转箱中是否有新目标子周转箱，如果没有，则在步骤S6291，更新当前两个第一、二目标母周转箱，然后执行步骤S624，进行分拣。如果原第二目标母周转箱中有新目标子周转箱，则执行步骤S630。
步骤S630，更换原第二目标母周转箱的身份为第一目标母周转箱。
步骤S631，搬运走原第一目标母周转箱，并搬运新的母周转箱作为第二目标母周转箱，然后执行步骤S624，进行分拣。
分拣装置在分拣过程中要识别当前第一分拣单元的母周转箱是否是要分拣的第一目标母周转箱，在将目标子周转箱放入当前第二分拣单元的母周转箱中时，要识别并判断是否是指定的第二目标母周转箱，从而可以防止分拣错误。
分拣装置在分拣过程中还要修改子周转箱与母周转箱绑定关系，例如，当将目标子周转箱从第一目标母周转箱取出时，解除目标子周转箱与第一目标母周转箱的身份绑定关系，在将目标子周转箱放入第二目标母周转箱中时，建立目标子周转箱与第二目标母周转箱的身份绑定关系。
其中，在将已装满目标子周转箱的第二目标母周转箱搬运至出库区之前，根据库内空闲库位单元的分布，确定出用于存储完成分拣的第二目标母周转箱的存储库位单元清单。并优先将出库区域的空闲库位单元确定用于存储完成分拣 的第二目标母周转箱的存储库位单元。AGV在搬运已装满目标子周转箱的第二目标母周转箱的搬运任务时，将第二目标母周转箱搬运到指定的存储库位单元。由于优先将其放置在出库区，在与其他立体仓库、运货装置对接时，可以快速完成货物出库。
以下通过具体实施例对本发明所述的中途传递式物流方法进行详细说明。
场景：北京A女士向深圳A先生快递一盒瓷器，选择了航空特快物流级别。参见图94，所述物流流程包括以下步骤：
步骤S1，生成物流订单。包括图95所示的步骤：
步骤S11，A女士通过客服客户端，如手机支持的APP或小程序，生成物流订单，包括收货人姓名、地址及联系方式；发货人姓名、地址及联系方式；物流级别(航空特快)；尺寸；保价及预约发货方式及时间等信息，客服客户端根据这些信息生成二维码，发送给服务端。该过程用时大约2分钟。
步骤S12，服务端接收到二维码后，解析二维码得到订单信息，将所述订单信息存入数据库，并通知云端的各个物流控制模组。
步骤S13，根据取货地点，确定相关的物流控制模组。
步骤S14，物流控制模组根据取货地点、预约取货时间、当前交通情况及该区域的快递机器人的分布、工作量等情况确定一个取货的快递机器人，如编号为R005569，并根据订单中的货物信息，确定子周转箱，即确定了子周转箱的身份标识，如A300x180x180，并将取货地点、时间、发货人信息、货物信息等生成取货任务分配给确定的快递机器人R005569。
步骤S2，取货。包括图96所示的步骤：
步骤S21，快递机器人R005569按照接收到的取货任务中的信息，携带指定的子周转箱，按照指定的路线，或者是通过自身的地理信息系统计算到的路线到达取货地点L1。其中，更好地，快递机器人R005569在到达前10分钟和到达后电话/短信通知A女士。
步骤S22，验证发货人身份并装货。验证A女士手机和身份后，打开货箱顶罩，语音或视频引导A女士打开指定子周转箱A300x180x180，放入简单包裹的瓷器，并封盖、设置开箱密码。
步骤S23，称重收费。快递机器人R005569根据称重信息计算费用并语音和显示屏告知，A女士同意后，通过语音确认，或点击显示屏确认键，取货完成。快递机器人R005569将与A女士交互取货的过程全程录像上传至云端，存储到数据库中以供在出现问题时调取查看。快递机器人R005569与用户交互取货全程用时大约3分钟。在取货完成后，所述货物即进入物流系统，货物运送开始，此时为上午10：00。
此时，装有A女士货物的子周转箱位于快递机器人R005569货箱内的母周转箱M500B700C100中，快递机器人R005569建立女士的货物与子周转箱A300x180x180的身份绑定关系，并建立子周转箱A300x180x180与母周转箱M500B700C100的身份绑定关系，同时关联快递机器人R005569的身份标识。
在以下的货物交换过程中，当子周转箱A300x180x180与母周转箱M500B700C100分离后，解除二者的身份绑定关系，并建立子周转箱A300x180x180与新母周转箱的身份绑定关系。当货运装置发生了变化，也需要重新绑定母周转箱与货运装置的身份关系，所有这些变更消息都记录在子周转箱的身份标签中，并同时上传给云端货物监管模块。为了简化描述，在以下过程中不再描述该关系的变更。
步骤S3，货物运输。具体包括图97A-97B所示的步骤：
步骤S31，在货物完成取货后，云端的物流控制模组根据快递机器人R005569当前的位置L1(此时为货物发出点的位置，即与A女士相约取货的地点)、该货物的物流方向、该区域其他货运装置的分布情况及运输方向确定第一次对接货物的地点L2及货运装置。例如，确定微型货车A0101与快递机器人R005569对接。由于用户选择了航空快递，因而物流控制模组查询机场最新去往 目的地的货运航班，确定到达机场货物登机的合理时间。在以后的货运装置的确定，均以所述机场方向及登机时间为确定信息。
步骤S32，快递机器人R005569按照指定路线或自行计算的路线到达对接指定地点L2与微型货车A0101汇合。例如距离为0.5km，用时10分钟。
步骤S33，微型货车A0101中立体仓库的移物装置，如AGV，将快递机器人R005569货箱中的母周转箱搬运到微型货车A0101立体仓库。如果微型货车A0101中有派送的货物，则将需要派送的母周转箱搬运到快递机器人R005569的货箱中。此过程用时大约5分钟。此时，快递机器人R005569的取货任务完成，并开始新的派件任务。此时，按照物流方向，快递机器人R005569为上级物流链，微型货车A0101为下级物流链。
步骤S34，云端的物流控制模组根据微型货车A0101当前的位置L2，货物机场的物流方向、登机时间，及该区域内其他货运装置，如其他微型货车、市区循环货车等的分布情况及其当前运输方向，确定与微型货车A0101对接的下级物流链的货运装置(如市区循环货车B011)、对接地点L3(及行驶路线)，并将该信息发送给微型货车A0101和市区循环货车B011。
步骤S35，云端的分拣控制模块根据微型货车A0101和市区循环货车B011内部立体仓库的货物信息、分拣地址确定两个车辆分拣货物清单，分别发送给微型货车A0101中的立体仓库和市区循环货车B011中的立体仓库。
步骤S36，微型货车A0101和市区循环货车B011分别按照指定或自行计算的行驶路线向对接地点L3行驶。在行驶过程中，微型货车A0101和市区循环货车B011内置立体仓库中分拣装置按照接收到的分拣货物清单对子周转箱进行分拣，以便于在汇合前分拣出需要交换的货物。对于刚刚接收到A女士货物来看，此次分拣为初级分拣。由于微型货车A0101上原来还有其他的货物，根据其物流方向，也有可能需要在对接地点L3转移到市区循环货车B011，对于这些货物，有可能是初次(如从其他快递机器人转移来的货物)，也有可能是二次 或三次分拣，如从其他微型货车或更市区循环货车中转移来的货物。对于微型货车A0101来说，按照云端规划路径移动到汇合地点的距离为2km、用时大约10分钟。
步骤S37，微型货车A0101与市区循环货车B011在对接地点L3对接后，二者交换货物。用时大约5分钟。
步骤S38，云端的物流控制模组根据市区循环货车B011当前位置L3及机场位置，确定市区循环货车B011的行驶路线及需要在机场登机的货物。其中，参照货物登机时间，可以确定在从位置L3到机场的中间路程是否可以与其他货运装置交换货物。
步骤S39，市区循环货车B011按照规划好的路线向机场行驶，在行驶过程中分拣出需要登机的子周转箱，可以称为区级分拣。如果时间来得及，在路上还可以接收其他货运装置的货物，如去往机场的由微型货车或快递机器人运输的货物。从位置L3及机场距离为40km、用时大约60分钟。
步骤S310，市区循环货车B011与货运飞机对接后，由立体仓库内的移物装置，如AGV，搬运母周转箱到货运飞机的立体仓库，用时大约30分钟。
步骤S311，货运飞机从北京起飞，在飞行过程中由分拣机器人对子周转箱进行市级分拣，即分拣出去往不同城市的货物，称为市级分拣。
步骤S312，云端的物流控制模组根据飞机降落时间、飞机下次起飞的目的地、和飞机中运送的货物去向确定需要对接的多个市区循环货车，其中包括了A女士所发货物要去的城市的市区循环货车B708，并为多个市区循环货车规划好路线，发送给对应的市区循环货车。
步骤S313，货运飞机降落深圳机场，用时大约220分钟(12：00起飞→15:40降落)，并与多个市区循环货车，包括市区循环货车B708对接，交换母周转箱。用时约30分钟。
步骤S314，云端客服系统通过电话或短信通知深圳A先生大约的收件时间， 同时，云端的线路规划模块规划派件路径。如根据货物的目的地及当前市区内货运装置的分布及其货物流向，确定与市区循环货车B708确定对接的货运装置及地点L4，如微型货车A5603。
步骤S315，市区循环货车B708在移动过程中由对子周转箱进行区级分拣。同时，微型货车A5603在移动过程中由对子周转箱进行区级分拣。假设地点L4与机场的距离为40km，市区循环货车B708到达对接地点L4的用时为60分钟。
步骤S316，市区循环货车B708与微型货车A5603对接后，进行货物交换。用时约5分钟。
步骤S317，云端的线路规划模块根据货物目的地、及该区域的快递机器人分布及运行情况，确定与微型货车A5603对接的快递机器人R110020及对接地点L5。
步骤S318，微型货车A5603向对接地点L5移动，在移动过程中进行终极分拣，即分拣出A女士发的货物。微型货车A5603到达对接地点L5时行驶2km，用时10分钟。
步骤S319，微型货车A5603与快递机器人R110020汇合，将放置有A女士货物的母周转箱传递给快递机器人R110020。用时约5分钟。如果快递机器人R110020也有货物要转移给微型货车A5603，则先将快递机器人R110020的货物搬运到微型货车A5603，再将放置有A女士货物的母周转箱传递给快递机器人。
步骤S4，派件。云端客服系统根据与A先生的沟通确定货物交付地点，或者云端客服系统按照订单地址，或订单地址地区的货物储存柜确定为派件地点L6。在本实施例以A先生指定地点为例。具体包括图98所示的步骤：
步骤S41，快递机器人R110020按照云端规划或自已计算的路径向派件地点L6移动。例如距离为1km，用时30分钟。
步骤S42，快递机器人R110020在到达前10分钟和到达后电话/短信通知A 先生。并在到达地点L6时，等待预置时间，如果超过预置时间，请示云端客服系统后，延长等待时间或放置到附近快递柜(有相同规格的小型立体库)并上传变动信息给客服系统。由客服系统电话、短信或邮件等方式通知A先生取货。
步骤S43，A先生在等待的最长时间内到达，快递机器人R110020验证A先生手机和身份后、自动打开货箱盖。
步骤S44，快递机器人R110020语音引导A先生打开子周转箱、取出瓷器、确认完好无损后盖好子周转箱并点击显示屏确认键，派件完成。快递机器人R110020在与A先生的互动过程全程录像上传云端，此过程用时约3分钟。
按照在本实施例的方式测算，这次物流运输横跨大半个中国，全程约2000多公里，仅用时480分钟(8小时、不计派件等待时间)左右。如果上午10点发货，下午18点即可送达。相比于现有的物流系统，运输效果提升了数倍。
在本实施例中，目标货物需在两个城市间移动，在本实施例中选择的是货运飞机，当然也可以选择铁路运输或长途货车运输。由于不同货运装置的用时不同、费用也不同，因而本系统根据货运装置及用时、费用确定不同的物流级别以供用户选择。例如，货运飞机用时最短、但费用也最高，可以满足对用时要求高、但不限费用的用户，而对于大部分用户，货运的用时并不重要，因而其可先以选择普通级别，对应物流系统中采用的货运装置则可能为铁路运输或长途货车运输。因而本发明可以满足各种用户需求。
另外，在上述实施例中，在步骤S3的运输过程中，在运输开始时计算需要对接的各个物流链级的货运装置及对接地点，然后再实时运输过程中不断修正，以应对突发事件引起的变动。例如，在快递机器人取完货物时，云端的路线规划模块根据目标货物当前确定对接点—机场及所确定的时间，计算从快递机器人所在地点L1到机场沿途的各种货运装置及其运输方向、当前交通情况，从而确定从快递机器人所在地点L1到机场所需的多个对接地点及对接货运装置。当在一个对接地点实现对接后，再次计算从当前地点到机场所需的多个对接地点及 对接货运装置，如果二者不一致，则以最近一次计算的结果为准，即本次计算修正了初始的路线方案。
本实施例中的物流链简述如下：
客户→快递机器人→微型货车→市区循环货车→货运飞机→市区循环货车→微型货车→快递机器人→客户。
在上述的物流链中，市内的多级货运装置的对接情况是：一级货运装置快递机器人对接二级货运装置微型货车，二级货运装置微型货车对接三级市区循环货车。然而，该过程仅是示例，对接过程中也可以是一级货运装置快递机器人对接三级市区循环货车，如果城际间采用火车、汽车等需要中间停靠的城际货运装置，只要二者的物流方向一致、时间、地点匹配，市内的各种货运装置也可以直接与城际货运装置对接。因而本发明的物流系统在货物运输方面更加灵活，效率也更高。
分布式物流系统
如上述的各个实施例所说明的，本发明提出了一种分布式物流系统，包括多个货运装置以及一个或多个固定位置仓库；其中，进入物流系统中的多个货物分布在多个货运装置和多个固定位置仓库中的一者或多者中；其中，在多个货运装置中的货物数量与固定位置仓库中货物数量之比为50％以上，80％以上，90％以上，95％以上，或者99％以上。在本实施例中，货运装置既作为交通工具进行货物运输，也作为一种货物存放装置，并且，在物流系统中，存放在货运装置中、处于运输状态的货物数量大于存放在固定位置仓库中的货物数量，也就是说，物流系统中的大部分货物都处于运输状态，因而物流效率高，减少了货物滞留时间。
其中，在系统中的多个货运装置中，至少部分货运装置经配置以与固定位置仓库之间对接并传递货物，从而使固定位置仓库内的货物也进入运输状态，或者根据需要，将正在运输的货物暂存于固定位置仓库内。如前述实施例中图87所示的货运装置与固定位置仓库的对接过程，或图83所示的微型货车与快递柜对 接。在无法将货物直接送达收货用户时，货运装置可将其货物暂存于固定位置仓库，既不影响货运装置的运输效率，也提高了货物处理的灵活性。或者通过固定位置仓库(如末端的快递柜)为用户提供自助式发货，增加发货的方式及灵活性。或者在特殊区域设置固定位置仓库，为货运装置在运输过程中可能出现的意外提供货物存放位置。
在多个货运装置中，至少部分货运装置之间能够在固定位置仓库之外的位置对接并传递货物。例如前述实施例中的各种对接场景，不同类型的货运装置可以在任何合适的场地对接，进行货物的传递。货运装置之间在对接和传递货物时，依靠自身装置的结构完成对接，无需对接地点提供设备。如前述实例中微型货车与市区循环货车的对接、快递机器人与微型货车的对接等。
货运装置之间对接时，可使货运装置上的立体仓库直接对接形成统一的立体仓库，如图85所示的两个市区循环货车的对接时，通过驱动各自的X-Y向驱动平台，可将各自的立体仓库滑出箱体而对接形成统一的立体仓库。
在另一个实施例中，各个货运装置在对接时，各个货运装置中的立体仓库的移物支撑结构直接或间接对接，从而能够传递货物。如前文描述中，快递机器人8货箱中的AGV行驶面与微型货车9a中升降台的AGV行驶面准确对接。此时AGV可以从微型货车9a中升降台中直接进入到快递机器人8的货箱中。又例如，微型货车9a与市区循环货车9b对接时，需要微型货车9a的对接板连接在微型货车9a库位单元的AGV行驶面和市区循环货车9b的库位单元的AGV行驶面之间，从而连接微型货车9a库位单元和市区循环货车9b的库位单元，使AGV可以来往于微型货车9a和市区循环货车9b之间。
在一些实施例中，为了能够引导移物装置按正确的路线行驶，货运装置对接时，使两个立体仓库的移物空间的移物引导装置直接对接。例如当移物引导装置采用机械结构，如前述实施例图1中的导向槽1131，图9中的导轨1121b。在对接时，通过在适当位置设备的定位传感器，可以在两个立体仓库的库位单元直接 对接时，使其移物空间设置的移物引导装置也对接在一起，例如两个立体仓库直接对接的库位单元的导向槽1131准确对接在一起。同理，如果移物引导装置为电磁式、激光式、红外式、超声波式、UWB式、或者光学式结构时，两个立体仓库直接对接的库位单元的移物引导装置也必须相互通信和完成导航范围的扩展或对接。这样，在对应的移动装置在移物支撑结构上移动时，可以按照正确的路线行驶，避免出现走偏、碰撞等意外事故。同理，在两个立体仓库间接对接时，如微型货车9a的对接板来对接时，在对接板上设置有相同的移物引导装置，以便在两个货运装置通过对接板对接时，移动装置可以正确通过对接板在两个立体仓库之间传递货物而不会走偏、碰撞。
从上述的实施例中可以得知，货运装置之间的货物传递利用货运装置中立体仓库的部分或全部的移物装置进行货物传送，如一个或多个AGV，不需要对接地点提供移物装置，因而，本发明提供的货运装置对汇合点没有设备要求，云端在确定对接地点时，只需要考虑场地是否合适。例如，在快递机器人与微型货车9a对接时，只需较小的场地，而两个市区循环货车9b在对接时，需要较大的场地，通常可以将公用停车场等作为对接地点。
为了满足对接时货运装置之间或货运装置与固定位置仓库之间的货物传递的需要，在立体仓库中设置有分拣系统。由分拣系统对要对接时传递的货物进行分拣、归类。在一个实施例中，分拣系统在分拣货物时，按照云端的配置改变待传递货物的位置，将其搬运到对接时靠近货运装置的区域。例如，设置出库区、入库区。以方便对接时方便移物装置找到要传递的货物及要放置的位置，从而进一步提高对接时货物的传递效率。
另外，现有技术中的分拣中心或仓库中设置有单独的货物分拣区域，将货物运至分拣区域分拣，再运至不同的区域存放。本发明为了满足分拣的需要，在部分固定位置仓库中的立体仓库设置有分拣系统，然而，本发明中的固定位置仓库不包括现有技术的分拣区。
本发明中的货运装置和固定位置仓库的立体仓库如前述实施例中的立体仓库，如图16A所示，包括多个堆叠的库位单元。分拣系统仅占据其中的二个或四个库位单元，如图41A-41D所示的分拣装置。包括了分拣装置的立体仓库如图45所示。通过分拣系统，可以在对接前分拣好待传递的货物。在传递货物时按照货物的出库、入库或相互交换的需要，可采用上述实施例所示流程，在此不再赘述。
本发明物流系统中的货物主要分布在货运装置中处于运输状态，本发明中的固定位置仓库仅作为一种补充物流设备，例如，物流末端的快递柜，可以货运装置无法将货物送到收货用户时临时存放货物。或者在偏远山区设置的快递柜，用于解决由于物流量小、货运装置少而可能出现的无法与货运装置及时对接的问题。本发明中绝大多数货物在物流系统中的绝大多数时间处于运输状态，因而相比于现有物流系统，本发明提供的物流系统货物滞留时间少、效率高。
减少货物停留时间的物流系统和方法
如上述的各个实施例所说明的，本发明提供了一种减少货物停留时间的物流系统，包括：第一货运装置和第二货运装置，其中，所述第一货运装置和第二货运装置例如为图1中的市级货运装置，如市区循环货车9b、微型货车9a、快递机器人8及无人机M1，还可以包括城际\国际货运装置，如货运飞机、海运轮船或各种长、短途货车。
根据调度安排，第一货运装置从第一地点向第二地点移动，第二货运装置从第三地点向第四地点移动。其中，第一地点、第二地点、第三地点和第四地点中任意二者可以相同或者不同。第一货运装置和第二货运装置在第一汇合点对接并传递一个或多个货物(即，一个或多个第一货物)。例如，在货物的流通过程中，微型货车9a将发到其他城市或其他区域的货物传递给市区循环货车9b，也可以从市区循环货车9b接收从其他城市或其他区域发到本区域的货物。或者由市区循环货车9b将货物传递给飞往其他城市的货运飞机，并接收该货运飞机从 向他城市运过来的本市货物。第一货运装置和第二货运装置的数量可根据需要设置。
在一些实施例中，物流系统还包括第三货运装置，其可以直接从用户或者与用户直接接触的收货员或者快递柜接收货物。例如前述实施例中的无人机M1、快递机器人8、或微型货车9a等。第三货运装置在第二汇合点与第一货运装置对接并传递一个或多个货物(即，一个或多个第二货物)。第三货运装置与第一货运装置之间传递的货物与第一货运装置与第二货运装置之间传递的货物可以并不相同。或者，第三货运装置并不是直接与第一货运装置对接，而是经过多个地点(即多个第二汇合点)和其他货运装置对接并传递货物后，即经过物流链的多个环节后，与第一货运装置之间传递一个或多个第二货物。
例如，当第三货运装置为无人机M1时，在一个第二汇合点与前述的第一货运装置对接。当第三货运装置为快递机器人8或微型货车9a时，当其在从用户处取货时，在其一次取货路线过程中可以取多个货物，在第二汇合点将不同的货物传递给不同的货运装置，包括第一货运装置。另外，在第三货运装置和所述第一货运装置之间，还可以经过一个以上的其他货运装置的对接和货物传递。例如快递机器人8要将其收取的货物发送给作为第一货运装置的市区循环货车9b时，中间可能还要经过一个或多个微型货车9a或其他市区循环货车9b的对接和传递。
在一些实施例中，物流系统还包括第四货运装置，经配置可以直接向用户或者与用户直接接触的送货员或快递柜派送货物。同第三货运装置一样，其可以为前述实施例中的末端物流设备，如无人机M1、快递机器人8或微型货车9a等。第四货运装置在第三汇合点，与第二货运装置对接并传递一个或多个货物(即，一个或多个第三货物)。
例如，作为第四货运装置微型货车9a可以放置多个货物，因而，其可以在多个不同的第三汇合点，与不同的第二货运装置对接以接收送往不同目的地的 货物。在一些实施例中，作为第四货运装置的微型货车9a既可以在派送货物的路上在不同或相同的第三汇合点接收来自于第二货运装置的货物，也可以作为第三货运装置从用户处收取货物。当然，第四货运装置和第二货运装置之间还可以经过多个货运装置的货物传递过程。例如，第四货运装置为微型货车9a、第二货运装置为市区循环货车9b时，需要传递给微型货车9a的货物可能经过其他的市区循环货车9b、其他的微型货车9a之后才会传递到作为第四货运装置的微型货车9a。
在一个实施例中，前述各个货运装置在汇合点对接时，可以由自身完成对接发，即不需要汇合点提供设备来帮助对接和传递货物，而是通过自身的装置、结构完成对接与货物传递。这样，在规划汇合点的时候就会非常灵活，能够极大地提高物流效率。例如，只要是空间足够大的停车场，各个货运装置就可以完成对接和货物传递。
在一个实施例中，各个货运装置在对接时，各个货运装置中的立体仓库可以直接对接而形成一个统一的立体仓库。例如，前文所描述的两个市区循环货车9b的对接。由于二者的立体仓库合而为一，因而货物的传递与货物在一个立体仓库中的位置移动基本相同。
在另一个实施例中，各个货运装置在对接时，各个货运装置中的立体仓库的移物支撑结构直接或间接对接，从而能够传递货物。如前文描述中，快递机器人8货箱中的AGV行驶面与微型货车9a中升降台的AGV行驶面准确对接。此时AGV可以从微型货车9a中升降台中直接进入到快递机器人8的货箱中。又例如，微型货车9a与市区循环货车9b对接时，需要微型货车9a的对接板连接在微型货车9a库位单元的AGV行驶面和市区循环货车9b的库位单元的AGV行驶面之间，从而连接微型货车9a库位单元和市区循环货车9b的库位单元，使AGV可以来往于微型货车9a和市区循环货车9b之间。
在一些实施例中，为了能够引导移物装置按正确的路线行驶，货运装置对接 时，使两个立体仓库的移物空间的移物引导装置直接对接。例如当移物引导装置采用机械结构，如前述实施例图1中的导向槽1131，图9中的导轨1121b。在对接时，通过在适当位置设备的定位传感器，可以在两个立体仓库的库位单元直接对接时，使其移物空间设置的移物引导装置也对接在一起，例如两个立体仓库直接对接的库位单元的导向槽1131准确对接在一起。同理，如果移物引导装置为电磁式、激光式、红外式、超声波式、UWB式、或者光学式结构时，两个立体仓库直接对接的库位单元的移物引导装置也必须相互通信和完成导航范围的扩展或对接。这样，在对应的移动装置在移物支撑结构上移动时，可以按照正确的路线行驶，避免出现走偏、碰撞等意外事故。同理，在两个立体仓库间接对接时，如微型货车9a的对接板来对接时，在对接板上设置有相同的移物引导装置，以便在两个货运装置通过对接板对接时，移动装置可以正确通过对接板在两个立体仓库之间传递货物而不会走偏、碰撞。
从上述的实施例中可以得知，货运装置之间的货物传递利用货运装置中立体仓库的移物装置进行货物传送，如一个或多个AGV，不需要汇合点提供移物装置，因而，本发明提供的物流系统对汇合点没有设备要求，云端在确定汇合点时，只需要考虑场地是否合适。例如，在快递机器人与微型货车9a对接时，只需较小的场地，而两个市区循环货车9b在对接时，需要较大的场地。通常可以将公用停车场等作为汇合点。
在一些实施例中，在货物运输过程中，在从与发货用户直接或间接接收货物的第三货运装置到将货物直接或间接送到收货用户处的第四货运装置之间的物流过程中，货物始终处于货运装置之中。如前述图94-图98中所实施例，货物经过快递机器8进入物流系统后，在不同货运装置中传递时，其始终处于不同货运装置的立体仓库中，因而极大地提高了物流效率。
在一些实施例中，货物在从第三货运装置到第四货运装置之间的运输过程中，货物可以暂存于固定位置仓库中，如前述的在快递机器人或快递人员无法将 货物送达到收货用户时，可将货物暂存于快递柜10中。或者一些其他用途的固定位置仓库，如在货运装置数量不足时，可设置一些固定位置仓库作为缓冲库。在一些实施例中，存储于固定位置的固定位置仓库的货物数量与处于货运装置中的货物数量之比小于50％，小于30％，小于20％，或者小于10％，或者小于5％，或者小于1％。
不同的货运装置均可与固定位置仓库对接以传递货物，如前述实施例中的快递机器人与快递柜的对接，无人机与快递柜的对接，微型货车与快递柜或其他固定位置仓库的对接。由于固定位置仓库中的立体仓库结构与货运装置中立体仓库的结构相同，因而二者可以直接对接或利用对接板等结构间接对接，并根据需要，由二者中的移物装置实现货物传递。
为了满足对接时货运装置之间或货运装置与固定位置仓库之间的货物传递的需要，在立体仓库中设置有分拣系统。由分拣系统对要对接时传递的货物进行分拣、归类。在一个实施例中，分拣系统在分拣货物时，按照云端的配置改变待要被传递货物的位置，将其搬运到对接时靠近货运装置的区域。例如，设置出库区、入库区。以方便对接时方便移物装置找到要传递的货物及要放置的位置，从而进一步提高对接时货物的传递效率。
基于前述的实施例，本发明还提供了一种减少货物停留时间的物流方法，如图99包括以下步骤：
步骤S1a，第三货运装置900从用户处直接或间接接收货物。例如，第三货运装置900可以为无人机。无人机可以与用户直接交互接收货物，也可以从微型货车接收货物，其中，微型货车由快递员驾驶，以从用户处接收货物。又例如，第三货运装置900可以为快递机器人，可以与用户直接交互接收货物，也可以从由快递员驾驶的微型货车接收货物。
步骤S2a，第三货运装置900向第二汇合点移动，同时在移动过程中进行分拣，以分拣出需要传递的货物，在一个较好的实施例中，在分拣时将分拣出来的 被传递货物放置到靠近货运装置对接的区域，例如设置出的出库区。
步骤S3a，第三货运装置900在第二汇合点与第一货运装置901对接并传递一个或多个第二货物。所述第二货物为从用户处接收的货物。如果第三货运装置900有多个物流方向不同的第二货物，则在多个第二汇合点与多个不同的第一货运装置对接并传递第二货物。
步骤S4a，第一货运装置901在从第一地点运行到第二地点的过程中，与从第三地点运行到第四地点的第二货运装置902在第一汇合点对接并传递一个或多个第一货物。同理，在第一汇合点对接之前，第一货运装置901在运行过程中，对需要传递的货物进行分拣。
步骤S5a，第二货运装置902与第一货运装置901对接完后继续运行。
步骤S6a，第二货运装置902与第四货运装置903在第三汇合点对接并传递一个或多个第三货物，所述第三货物为需要第四货运装置903派送的货物。同理，第二货运装置在到达第三汇合点之前进行分拣，以分拣出需要第四货运装置903派送的货物。
步骤S7a，第四货运装置903接收到货物后继续运行。
步骤S8a，第四货运装置903与用户交互，完成货物派送。
前述的第三、四货运装置作为末端物流设备，可以与用户直接交互，也可以由快递员与用户交互，完成货物的收取与派送。并且，第一货运装置与第二货运装置之间，第三货运装置与第一货运装置之间，以及第二货运装置与第四货运装置之间，可以直接对接传递货物，也可以经过多次与其他货运装置的对接与传递。
在本发明中，货物在运输途中经过多次货运装置的传递送达到用户手中，其中不再需要送到不同的分拣中心分拣，省略了在分拣中心分拣的停顿时间，从而减少了货物在运输途中的停留时间，因而提高了物流效率。
减少分拣时间的物流系统和方法
如上述各个实施例所说明的，本发明提供了一种减少分拣时间的物流系统， 所述物流系统包括多个第一货运装置、多个第二货运装置，当然也可以包括或不包括一个或多个固定位置仓库；第一货运装置经配置以与第二货运装置和/或固定位置仓库传递货物；其中，第一货运装置包括货物分拣系统，其经配置以在第一货运装置的运行过程中针对第一货运装置中的货物进行分拣。参照前述各个实施例，所述第一货运装置可以包括前述实施例中的各种货运装置，如微型货车、市区循环货车等。由于其立体仓库中具有货物分拣系统，因而在其与第二货运装置或固定位置仓库对接前能够分拣出需要传递的货物。本发明的货物在运输途中分拣，而不是如现有技术，需要在固定的仓库、分拣中心的固定区域完成分拣，然后再进入运输状态，省略了货物在现有物流系统的分拣中心的停留时间。并且，本发明在货物分拣时，只需要分拣出对接时需要传递的货物，不需要如现有技术一样进行大规模的分拣，因而分拣所需时间短、针对性强。
本发明中的货物分拣系统经配置将待要向第二货运装置和/或固定位置仓库传递的货物归集。即改变需要传递的货物位置，使其靠近与第二货运装置和/或固定位置仓库对接时的区域。例如在仓门附近区域设置出库区、入库区，并配置移物装置的移动轨迹控制，从而提高对接时货物的传递效率。
现有技术中的分拣中心或仓库中会设置单独的货物分拣区域，将货物运至分拣区域分拣，再运至不同的区域存放。然而本发明的第一货运装置不需要这样的分拣区域。如图45所示，第一货运装置包括立体仓库，其包括多个堆叠的库位单元，货物分拣系统占据其中部分库位单元，例如占据二个或四个堆叠的库位单元。立体仓库的库位单元可容纳第一周转箱，如前述实施例的母周转箱2，通过立体仓库的移物装置可以改变第一周转箱占据的库位单元。第一周转箱经配置可以容纳多个第二周转箱，如前述实施例中的子周转箱7，第二周转箱经配置以容纳货物，也可以直接容纳货物，货物的包装与现有技术中的包装相同，在包装上设置标识。本发明中的货物分拣系统将第二周转箱或货物分配至不同的第一周转箱中。
在一个实施例中，系统中的第二货运装置也可以例如为微型货车或市区循环货车，前述的固定位置仓库可以为如图46A-46B所示的快递柜10或如图83、86中所示的固定物流仓库，其中也包括货物分拣系统。与第一货运装置相同，所述第二货运装置和固定位置的仓库不包括单独的货物分拣区域。第二货运装置和固定位置的仓库包括立体仓库，其包括多个堆叠的库位单元，货物分拣系统占据其中部分库位单元。
第一货运装置和第二货运装置在运输过程中，根据配置，可以相互之间或与固定位置仓库之间对接并传递货物。如图83所示，为货运装置与固定位置仓库之间对接传递货物；如图84所示，为两种不同类型的货运装置之间对接传递货物；如85所示，为两种相同类型的货运装置之间对接传递货物。其中，货运装置之间或货运装置与固定位置仓库之间对接时，在一种对接方式上，其各自的立体仓库直接对接形成统一的立体仓库，如图85所示的两个市区循环货车9b的对接时，通过驱动各自的X-Y向驱动平台，可将各自的立体仓库滑出箱体而对接形成统一的立体仓库，也可以利用各自的对接板连接两个立体仓库，例如图84所示的情况。
在另一个实施例中，货运装置在对接时，或者货运装置在与固定位置仓库对接时，二者的立体仓库的移物支撑结构直接或间接对接，从而能够传递货物。如前述实施例中，两个市区循环货车9b的对接时，两个仓库直接对接时，立体仓库的移物支撑结构，如AGV行驶面直接对接在一起。又例如，微型货车9a与市区循环货车9b对接时，需要微型货车9a的对接板连接在微型货车9a库位单元的AGV行驶面和市区循环货车9b的库位单元的AGV行驶面之间，从而连接微型货车9a库位单元和市区循环货车9b的库位单元，使AGV可以来往于微型货车9a和市区循环货车9b之间。
为了在对接时引导移物装置按正确的路线行驶，对接时使两个立体仓库的移物空间的移物引导装置直接对接，例如当移物引导装置采用机械结构，如前述 实施例图1中的导向槽1131、图9中的导轨1121b。在对接时，通过在适当位置设备的定位传感器，可以在两个立体仓库的库位单元直接对接时，使其移物空间设置的移物引导装置也对接在一起，例如两个立体仓库直接对接的库位单元的导向槽1131准确对接在一起。同理，如果移物引导装置为电磁式、激光式、红外式、超声波式、UWB式、或者光学式结构时，两个立体仓库直接对接的库位单元的移物引导装置也必须要准确对接在一起，这样，在移动装置在移物支撑结构上移动时，可以按照正确的路线行驶，避免出现走偏、碰撞等意外事故。同理，在两个立体仓库间接对接时，如微型货车9a的对接板来对接时，在对接板上设置有相同的移物引导装置，以便在两个货运装置通过对接板对接时，移动装置可以正确通过对接板在两个立体仓库之间传递货物而不会走偏、碰撞。
对接后进行货物传递时，根据两个立体仓库内的实际情况利用各自全部或部分移物装置实现货物传递，传递方法如前述实施例中的对接时的货物入库、出库及交换时的各种流程。从上述对接的实施例及说明中可见，货运装置之间或货运装置与固定位置仓库之间可由自身完成对接，不需要对接点提供设备帮助对接和货物传递。
本发明还提供了一种减少分拣时间的物流方法，如图100所示，为根据本发明一个实施例的减少分拣时间的物流方法，其包括以下步骤：
步骤S1b，第一货运装置按照规划运输货物。如前所述实施例中的微型货车9a和市区循环货车9b在其各自的运输距离范围内按照云端规划的路线运输货物。
步骤S2b，判断是否需要对接传递货物。例如，云端物流控制模组根据货物的物流方向、货运装置的分布及当前的运输方向确定哪些货运装置对接，或哪些货运装置与哪些固定位置仓库对接，并确定对接地点。第一货运装置根据云端发送的信息确定是否需要对接。如果需要对接，执行步骤S3b，如果不需要对接，继续执行步骤S1b。
步骤S3b，所述第一货运装置按照云端的对接信息确定需要分拣的货物，并在行驶途中分拣出对接时需要传递的货物。例如，首先识别出这些货物，然后将这些货物搬运到对接时与对接物流设备靠近的区域。在一个实施例中，货运装置中包括立体仓库，其由多个堆叠的库位单元构成，货物位于第二(子)周转箱内，第二周转箱位于第一(母)周转箱内，分拣时，根据需要将一个第一周转箱中的第二周转箱分拣至另一个第一周转箱中，并由移物装置，如AGV，搬运至仓门附近的出库区。在另一个实施例中，货物的包装采要当前传统包装，第一周转箱中容纳有多个货物，在分拣时，将货物分拣至不同的第一周转箱中。
步骤S4b，所述第一货运装置在对接地点与第二货运装置或固定位置仓库对接。根据二者的结构，二者的立体仓库直接对接成一个统一的立体仓库，或者由对接板等装置连接两个立体仓库而间接对接。具体请参见前述的各种对接实施例。
步骤S5b，将所述第一货运装置中的需要传递的货物搬运至与其对接的第二货运装置或固定位置仓库，也可以根据需要，将第二货运装置中的货物货物搬运至第一货运装置中。具体可参见前述的出库、入库方法流程的说明。
步骤S6b，判断是否搬运完要传递的所有货物，如果已经搬运完，则在步骤S7b，所述第一货运装置继续其运输过程，并在步骤S2b判断是否要进行下一次对接。如果还没有搬运完，则返回步骤S5b。
第一货运装置在货运运输的过程中，根据云端的控制与规划，不断地与第二货运装置或固定位置仓库进行对接、传递货物。其在对接时，既可以将其中的货物传递出去，也可以接收从第二货运装置或固定位置仓库传递进来的货物，因而货物在进入物流系统后，没有特殊原因，货物始终在各个货运装置中流转、传递。货运装置利用运输时间完成分拣，因而本发明提供的物流系统和方法在分拣时不占用物流时间，省略了现有物流模式中在多个、多级固定分拣中心的分拣时间，因而本发明提供的物流系统可以有效地提高物流效率。
物流线路规划方法
如上述的各个实施例所说明的，本发明提供了一种物流线路规划方法，图101是根据本发明一个实施例的物流线路规划方法流程图，所述方法包括以下步骤：
步骤S1c，确定第一货运装置，其经配置以接收货物。其中，根据货物的发出地址，从该地址所在区域的货运装置中确定一个第一货运装置。其中，货物的发出地址可以是用户处，可以是收货物的快递员，也可以是用户自助发货时使用的快递柜。所述第一货运装置可以是快递机器人8、无人机M1或微型货车9a，即本发明前述各个实施例中的末端可移动物流设备。
步骤S2c，所述第一货运装置接收货物。例如，作为第一货运装置的快递机器人或无人机直接从用户处接收货物；或者作为第一货运装置的微型货车从快递员处接收货物；或者作为第一货运装置的微型货车或快递机器人或无人机到收货柜(如前述实施例的快递柜10)接收货物。
步骤S3c，基于该货物的发送地和目的地，确定接收所述货物的物流设备及货物接收地点。根据在本步骤中，可以通过多种因素确定接收所述货物的物流设备及地点。例如当前第一货运装置的位置及运行方向、所述货物在第一货运装置占据的库位单元和空余的库位单元、货物的目的地、其他货运装置的位置及运行方向、其他固定位置仓库的位置。其中，当第一货运装置处于运行过程中时，例如从地点A到地点B的过程收取了一件货物，在确定将该货物传递出去时接收该货物物流设备时，首先考虑货运装置，以第一货运装置的运行方向及货运装置的位置分布确定可能的第二货运装置，即应在从地点A到地点B这一运行过程中确定第二货运装置。另外，还需要考虑货物的运输时效等级。所述的时效等级相当于前述实施例的物流等级，如加急、特急1级，特急2级、普通等等，根据时效等级选择货运装置。在确定第一汇合地点时，还需要同时考虑第一货运装置和第二货运装置的运行方向，例如，根据二者的运行方向，将二者运行时交汇的 地点确定为第一汇合点。从而可以在互不干扰对方运行的前提下进行对接、货物传递。在确定物流设备及货物接收地点时，可按照所需时间最短原则。例如，根据计算，可以确定出多个符合条件的货运装置及可能的多个固定位置仓库，此时，以每个确定出来的物流设备作为货物接收物流设备，计算从第一货运装置出发到完成货物传递所需的时间，取用时最少的物流设备作为接收所述货物的物流设备。如果确定的物流设备为一个货运装置，则所述货运装置为第二货运装置，接收货物的地点为第一货运装置和第二货运装置对接的第一汇合点。此时执行步骤S4c。如果确定的物流设备为一个固定位置仓库，则在步骤S31c。
步骤S4c，第一货运装置运行到第一汇合点，将该货物从第一货运装置传递到第二货运装置，然后执行步骤S5c。
步骤S31c，第一货运装置运行到固定位置仓库，将所述货物暂存到固定位置仓库。
步骤S32c，确定到所述固定位置仓库接收所述货物的第四货运装置。其中，将用于运输所述货物的除第一、二及末端的第三货运装置的其他货运装置称为第四货运装置。在货物的运输过程中可能会需要多个第四货运装置。
步骤S33c，第四货运装置在所述固定位置仓库处将货物搬运到其内部的立体仓库中，然后按照规划的路线与确定其他第四货运装置进行货物的传递，直到步骤S6c，确定与其对接的货运装置为第三货运装置。
步骤S5c，第二货运装置运输所述货物。
步骤S6c，确定第三货运装置及第二汇合点，用以从第二货运装置接收该货物或者经过一个或多个第四货运装置的货物传递接收该货物。其中，所述第三货运装置经配置以直接向用户或者与用户直接接触的送货员或收货柜派送该货物。即所述第三货运装置为前述实施例中的末端移动物流设备，如无人机、快递机器人和微型货车9a。通过这些末端的移动物流设备向收货用户派送货物。其中，第三货运装置及第二汇合点的确定方法与确定第二货运装置及第一汇合点的方 法类似，如基于货物的目的地、第二和第三货运装置的物流方向、时效等级等确定第三运装置及第二汇合点。
步骤S7c，第二货运装置或第四货运装置在第二汇合点将该货物传递给所述第三货运装置。
步骤S8c，第三货运装置按照货物的目的地将货物派送到收货用户处。
前述的第一货运装置、第二货运装置和第三货运装置在向其对应的汇合点运行的途中，如果收到改变该货物目的地的指示时，基于新的目的地重新确定新的货运装置及其汇合点，或确定一个或多个固定位置仓库。
例如，当第一货运装置向第一汇合点的运行过程中收到了改变该货物目的地的指示时，基于新的目的地重新确定新的第二货运装置及其汇合点，在此称为第三汇合点；在第三汇合点与新的第二货运装置对接并将该货物传递给新的第二货运装置。或者基于新的目的地确定一个新的固定位置仓库，将货物暂存到固定位置仓库。
当第二货运装置在向第二汇合点的运行过程中收到了改变该货物目的地的指示时，基于新的目的地重新确定新的第三货运装置及其汇合点，在新汇合点与新的第三货运装置对接并将该货物传递给新的第三货运装置。或者基于新的目的地确定一个固定位置仓库，将货物暂存到固定位置仓库。
当第三货运装置在向货物目的地运行过程中收到了改变该货物目的地的指示时，将货物送到新的目的地，或者确定一个固定位置仓库，将货物派送到所述固定位置仓库。
前述的第一货运装置、第二货运装置和第三货运装置在向其对应的汇合点运行的途中，也可能会收到货物运输时效的变化指示。例如，由原来的普通变更为加急，此时，基于新的运输时效重新确定新的货运装置及其汇合点，或者重新确定一个或多个固定位置仓库，过程与收到目的地变更指示时的过程类似，在此不再重复说明。
在本发明中，货运装置在传递货物，无论是两个货运装置之间，还是货运装置与固定位置仓库之间，在传递货物时，不需要汇合点提供设备以帮助完成货物传递，仅由货运装置本身结构完成对接及货物的传递。如前述各个实施例中的各种货运装置的对接，或者是两个货运装置内部的立体仓库直接对接，或者是由自身所带的对接板、升降对接装置完成对接，并提供移物支撑结构，使仓库内的移物装置搬运货物。
本发明提供的物流系统不需要固定位置的分拣中心，在对货物运输时的线路规划时仅确定需要接收货物的货运装置及其汇合点或接收货物的固定位置仓库，确定的汇合点位置灵活、合理、多样，保证了货物能在最短时间内运输最大的距离，因而有效地提高了物流效率。
物流系统及货物监管方法
如上述的各个实施例所说明的，本发明提供了一种物流系统，如图102所示，为所述系统的原理框图，所述物流系统包括多个物流设备(如多个流动仓库Q1和多个固定位置仓库Q4)、识别系统Q2及数据库Q3，其中，至少部分物流设备包括多个库位单元，其中，所述的库位单元与其所在的物流设备相关联。如前述实施例中立体仓库的库位单元编号C0F11001，前三个字符代表该立体仓库的身份标识，在本实施例中，可以是流动仓库，也可以是固定位置仓库，编号中后五位数字代表库位单元的在立体仓库内的位置编号，通过为库位单元设置编号，使库位单元与物流设备相关联，通过库位单元的编号可以定位于其所在的物流设备。
其中，所述的流动仓库Q1包括立体仓库和交通工具，在一个实施例中，所述流动仓库Q1包括前述各个实施例中具有立体仓库的货运装置，如微型货车9a、市区循环货车9b、具有立体仓库的货运飞机、海运轮船、货运火车及各种长途、短途货车等等。固定位置仓库Q4作为一种补充物流设备，例如前述的物流末端的快递柜10，其内部的立体仓库同样包括多个库位单元，每一个库位单 元具有唯一的编号，既代表了库位单元本身也代表了其所在的快递柜。
库位单元容纳第一周转箱，如前述实施例中的母周转箱2，第一周转箱容纳多个第二周转箱，如前述的子周转箱7，第二周转箱经配置以容纳货物。具体结构参考前述实施例，在此不再重复说明。第一周转箱和第二周转箱具有相应的身份标识。当货物进入物流系统时，其位于第二周转箱内，此时建立货物与第二周转箱的关联关系，而第二周转箱放置在第一周转箱，则建立第二周转箱与第一周转箱的关联关系，无论是在流动仓库中，还是在固定位置仓库中，由库位单元容纳第一周转箱，因而可建立起库位单元与第一周转箱的关联关系，从而可以得到货物与库位单元的关联关系。
然而需要说明的是，前述采用第二周转箱的方案只是一个实施例，当也可以不采用第二周转箱，而是如现有的包装，在其包装上标记货物的身份标识，从而只需建立货物与第一周转箱的关联关系和第一周转箱与其所在的库位单元的关联关系，同样可以得到货物与库位单元的关联关系。
本发明中的货物在一个物流设备中移动或不同的物流设备之间中传递时，前述的关联关系随之变更。在一个具体实施例中，由导至货物位置发生变化的设备修改关联关系，并发送给数据库Q3保存。例如，在前述实施例中，立体仓库中AGV在搬运母周转箱时，会变更母周转箱与库位单元的身份绑定关系。分拣装置在分拣子周转箱时会变更子周转箱与母周转箱的身份绑定关系，AGV在每一次搬运货物时和分拣装置在每一次分拣货物时，会实时修改关联关系并将变更消息发送到数据库Q3中存储。因而数据库Q3中记录的货物与库位单元的关联关系在整个物流过程中将不断变更，直到该货物被派送到收货用户处，结束物流流程。
识别系统Q2通过货物与库位单元的关联关系可以识别出进入流动仓库Q1或固定位置仓库Q4的货物及该货物的变动，或货物在不同流动仓库Q1之间、流动仓库Q1与固定位置仓库Q4之间的变动。
在另一个实施例中，所述的物流系统还包括货物监管系统Q5，其经配置以响应于货物的位置不在调度的库位单元时发出警报。货物监管系统Q5监视系统内每一个货物的货物与库位单元的关联关系的变化情况，当一个货物的货物与库位单元的关联关系在预定时间内停止了变动，则可以确定货物的位置已不在调度的库位单元内，即货物离开了本物流系统，原因可能是货物丢失、违规操作、意外事故等，此时将发出警报。在一个实施例中，在发出警报的同时，根据所述货物与库位单元的最新关联关系定位到发生货物离开本物流系统现象的物流设备，如某个流动仓库或某个固定位置仓库，从而可以及时、有针对性的处理。
在另一个实施例中，所述的物流系统还包括位置系统Q6，其经配置以确定物流设备的位置，例如为地理信息位置系统，可以实时确定物流系统内每一个流动仓库、每一个固定位置仓库的位置。在此基础上，所述物流系统还进一步包括调度系统Q7，用以调度货物在不同物流设备之间的传递。相对于物流设备来说，货物的调度包括接收货物与向外传递货物。在一个实施例中，调度系统Q7基于物流设备中货物占据的库位单元和空余的库位单元确定是否需要调度货物。例如，当一个流动仓库或固定位置仓库中的库位单元已经有很大部分被货物占据，如果再没有向外传递则可能影响正常的货物接收。因而需要根据已占用的库位单元与空闲库位单元的数量确定需要向外调度货物。
调度系统Q7在不同物流设备之间调度货物时，可基于流动仓库的运行方向和货物的物流方向调度货物。例如，调度一个流动仓库的货物时，调度系统Q7基于流动仓库的运行方向和货物的物流方向确定流动仓库之间传递货物的对接位置和传递的货物。流动仓库在对接位置传递货物时，不需要对接位置提供设备，只需要流动仓库根据自身结构完成对接即可，例如前述的微型货车与市区循环货车的对接，或两个市区循环货车的对接等等。由于对接时不需要依赖于外界的帮助，因而可以灵活地选择对接位置。
调度一个流动仓库的货物时，调度系统Q7基于流动仓库的运行方向和货物 的物流方向及固定位置仓库的位置确定与固定位置仓库之间传递的货物。如前述实施例中快递柜与微型货车之间传递货物，或者快递机器人/无人机与快递柜之间传递货物。在货物运输途中，当货物目的地发生了变更或者时效等级改变时，调度系统Q7需要重新调度货物，例如重新确定对接的物流设备和对接位置等。
在本实施例中，所述的调整系统Q7、位置系统Q6、货物监管系统Q5和数据库Q3可以是图72中的物流控制模组中的任何一个或多个或其中的任何一个或多个模块。
本发明还提供了一种物流系统货物监管方法，如图103所示，是根据本发明一个实施例的货物监管方法流程图，所述方法包括：
步骤S1d，识别进入物流设备的货物。例如根据货物与库位单元的关联关系可以确定进入一个物流设备的货物。AGV在搬运货物入库时，修改母周转箱的RFID信息，将其中的绑定的库位单元编号修改为运输状态，根据与该库位单元绑定的母周转箱与子周转箱的身份绑定信息及子周转箱与货物的绑定信息可以识别出当前正在入库的货物，具体可参见前述货物入库的方法流程。
步骤S2d，记录物流设备中的货物与其所在库位单元的关联关系。当货物进入物流设备后，搬运AGV将母周转箱释放到库位单元时，将所述库位单元的编号写入到母周转箱的RFID信息中，完成母周转箱与所述库位单元的绑定。从而确定货物了货物与其所在库位单元的关联关系，具体可参见前述的入库流程、交换流程。
步骤S3d，确定物流设备中货物所在库位单元的变化。由于物流设备在运输途中需要分拣货物，或者需要与其他物流设备对接以接收或向外传货物，因而需要经常变动货物在物流设备中的位置。所述位置的变动包括变更货物所在母周转箱占据的库位单元，变更货物所在子周转箱所在的母周转箱等。在每次货物位置发生变化时，使其位置发生变化的装置，如AGV或分拣装置，变更对应的绑定关系，并在数据库中记录所述变更的关联关系，通过货物与母周转箱、库位单 元等的关联关系的变更可以确定货物的位置变化。
步骤S4d，根据货物与库位单元的关联关系，以识别该货物在流动仓库之间和/或流动仓库与固定位置仓库之间的变动。
如果与货物关联的库位单元的编号发生了变化，通过库位单元的编号可以确定当前的变动是否发生在不同物流设备之间，以及该货物哪从个物流设备传递到了哪个物流设备。例如，与所述货物相关联的库位单元从C0F11001变为了M3H34002，由于前三位代表物流设备的代号发生了变化，说明货物从代号为C0F的物流设备传递到了代号为M3H物流设备中，并存放在物流设备M3H的第三层第四列的第二个库位单元中。通过查询物流设备与代号的对应关系，可以确定具体的物流设备。例如，代号为C0F的物流设备为运行在xx省xx市的微型货车，代号为M3H物流设备为xx省xx市的市区循环货车。
步骤S5d，监视货物与库位单元的关联关系在预定时间段内是否变化。例如，根据调度系统对该货物的调度信息可以得知该货物在当前物流设备中传递到下一个物流设备的最长时间段，可将所述时间段作为预定时间段。如果货物与库位单元的关联关系在预定时间段内没有发生变化，则在步骤S6d发出警报。并根据最新关联关系中的库位单元定位到具体的物流设备。报警信息中可包括货物信息及其物流信息及最后所在的物流设备。
通过上述监管方法，可以及时发现由于货物丢失、违规操作、意外事故等原因而造成的货物离开本物流系统的现象，并能够立即确定发生该现象的具体物流设备，从而可以及时提供解决方案。
图104是根据本发明一个实施例的货物调度方法流程图。
步骤S1e，获取一个目标物流设备的空余库位单元率。
步骤S2e，判断目标物流设备的空余库位单元率是否小于预定值。如果小于预定值，则在步骤S3e，减少所述目标物流设备接收的货物。如果空余库位单元率大于预定值，则在步骤S4e，增加所述目标物流设备接收的货物。其中，在所 述目标物流设备应接收的货物和从所述目标物流设备向外传递货物时，需要确定与其对接的物流设备。在一个实施例中，通过流动仓库的运行方向和货物的物流方向来确定货物传递时的对接物流设备，或者确定流动仓库与固定位置仓库之间传递的货物。例如，以前述目标物流设备为例，当目标物流设备为流动仓库时，根据该目标流动仓库及其他流动仓库的运行方向和货物的物流方向，确定一个与货物的物流方向相同的流动仓库作为对接流动仓库，并根据二者的运行路线确定二者的对接位置。如果没有与目标流动仓库对接的合适流动仓库，或者所需时间过长，通过计算可以确定一个固定位置仓库与所述目标流动仓库对接，目标流动仓库将货物传递给固定位置仓库，再从固定位置仓库传递给其他流动仓库。
在另一个实施例中，还根据时效等级调度货物。所述时效等级为物流级别，如特快、普通等。在调度货物时优先调度物流级别高的货物，从而保证了物流级别高的货物能够被快速、及时地送达。
当货物的时效等级或目的地等发生变化时，重新调度货物，即重新确定运输货物的物流设备及物流设备之间的对接。
通过本发明对进行物流系统的货物的全程监管，能够实时获知货物所在物流系统中的位置，可以第一时间发现货物离开系统，从而可以使意外事件得到及时解决。本发明根据对货物的全程监管信息，能够准确而及时地为货物的调度提供合理、合适的物流设备，从而提高了货物的物流效率。
上述实施例仅供说明本发明之用，而并非是对本发明的限制，有关技术领域的普通技术人员，在不脱离本发明范围的情况下，还可以做出各种变化和变型，因此，所有等同的技术方案也应属于本发明公开的范畴。

Claims (30)

  1. 一种立体仓库的库位单元，包括：
    储物空间，其经配置以容纳储物装置；以及
    移物空间，其经配置以容纳用于移动所述储物装置的移物装置，所述移物空间在所述储物空间的上方或者下方；
    其中，所述储物空间与所述移物空间的体积比为大于或等于4:1，或者5:1，或者6:1，或者7:1，或者8:1，或者9:1，或者10:1。
  2. 根据权利要求1所述的库位单元，其中所述储物空间包括支撑结构，其用于支撑所述储物装置。
  3. 根据权利要求2所述的库位单元，其中进一步包括抬升空间，其位于所述储物空间的上方，其中所述移物装置经配置能够抬升所述储物装置。
  4. 根据权利要求3所述的库位单元，其中所述抬升空间小于10cm，或者小于5cm，或者小于3cm，或者小于1cm。
  5. 根据权利要求3所述的库位单元，其中包括框架，所述框架的不同高度范围分别定义所述储物空间、所述移物空间和所述抬升空间。
  6. 根据权利要求1所述的库位单元，其中所述移物空间包括移物支撑结构，所述移物装置经配置以运行在所述移物支撑结构上。
  7. 根据权利要求6所述的库位单元，其中所述移物支撑结构包括移物引导装置。
  8. 根据权利要求6所述的库位单元，其中所述移物支撑结构为磁悬浮装置；所述储物装置包括永磁体。
  9. 根据权利要求5所述的库位单元，其中所述支撑结构包括连接在所述框架上朝向所述储物空间的多个支撑块；或者包括连接在所述框架上朝向所述储物空间的一个或多个扇形结构，其中所述扇形结构的弧度小于或等于90度。
  10. 根据权利要求1所述的库位单元，其中所述储物空间经配置以容纳储物装置，所述储物装置为母周转箱或储物台；所述母周转箱为开放结构；其中， 多个货物有序放置在母周转箱内或储物台上。
  11. 根据权利要求10所述的库位单元，其中所述储物装置还包括封闭结构的子周转箱，所述货物放置在子周转箱内，多个子周转箱有序放置在母周转箱内或储物台上。
  12. 根据权利要求10或11所述的库位单元，其中所述母周转箱的高度与储物空间的高度大致相同。
  13. 根据权利要求7所述的库位单元，其中所述移物支撑结构为移物空间的底板，所述移物引导装置为AGV引导装置，其经配置以引导作为移物装置的AGV。
  14. 根据权利要求13所述的库位单元，其中AGV引导装置为机械式、电磁式、激光式、红外式、超声波式、UWB式或者光学式引导装置。
  15. 根据权利要求13所述的库位单元，其中所述AGV引导装置为一组或多组正交设置在所述底板上的凹槽或凸条。
  16. 一种立体仓库，包括：
    两个以上水平连接和/或堆叠的如权利要求1-15任一所述的库位单元；其中，所述库位单元经配置以容纳储物装置；
    移物装置，经配置以在所述库位单元之间移动所述储物装置；以及
    控制系统，经配置以控制所述移物装置在所述库位单元之间的移动。
  17. 根据权利要求16所述的立体仓库，其中所述移物装置经配置以抬升或者降低所述储物装置。
  18. 根据权利要求16所述的立体仓库，其中所述库位单元之间通过框架、库位单元自身的连接结构或外加连接件连接在一起。
  19. 根据权利要求16所述的立体仓库，其中所述移物装置为AGV。
  20. 根据权利要求16所述的立体仓库，其中包括升降系统，其经配置以在垂直方向移动所述储物装置和/或所述移物装置。
  21. 根据权利要求20所述的立体仓库，其中所述升降系统包括：
    支撑立柱；以及
    升降台，其与所述支撑立柱配合，在驱动机构的驱动下上升或下降，以与任一高度的库位单元相对接。
  22. 根据权利要求21所述的立体仓库，其中所述控制系统包括升降控制模块，其经配置用以向升降系统发送升降指令，使升降系统垂直运行到指定高度。
  23. 根据权利要求16所述的立体仓库，其中所述控制系统包括行走控制模块，其经配置用以向所述移物装置发送移动指令，使所述移物装置将所述储物装置移动到目标库位单元。
  24. 根据权利要求21所述的立体仓库，其中所述控制系统还包括定位模块，经配置以在立体仓库处于不稳定的移动状态时对所述移物装置和/或升降系统精确定位。
  25. 一种立体仓库，包括：
    框架，其经配置以定义多个库位单元，所述库位单元经配置在水平和垂直方向排列形成阵列，其中，所述库位单元经配置以容纳储物装置；
    多个支撑结构，其设置在所述框架上，经配置以在各个库位单元中支撑所述储物装置；以及
    底板，其设置在所述多个支撑结构下方，其中，所述支撑结构与所述底板之间定义为移物空间，其经配置以容纳移物装置，所述移物装置经配置以在不同的库位单位之间移动所述储物装置。
  26. 一种立体仓库，包括：
    多个不同高度的储物层，其包括多个储物空间，所述储物空间经配置以容纳储物装置；
    多个不同高度的移物层，其设置在所述储物层的上方或者下方，经配置以提供用于移物装置的移动空间；以及
    升降系统，其经配置以在不同移物层之间移动所述储物装置和/或所述移物装置；
    其中，所述储物层与所述移物层的高度比为大于或等于4:1，或者5:1，或者6:1，或者7:1，或者8:1，或者9:1，或者10:1。
  27. 一种立体仓库货物存储方法，其中所述立体仓库包括多个水平连接和/或堆叠的库位单元，所述方法包括：
    将货物放置在储物装置内，所述储物装置位于第一库位单元中；
    利用移动装置使得所述储物装置脱离所述第一库位单元的支撑结构；
    利用所述移物装置带动所述储物装置移动到第二库位单元；以及
    利用所述移物装置将所述储物装置释放到所述第二库位单元的支撑结构。
  28. 根据权利要求27所述的方法，其中所述储物装置包括母周转箱或储物台和子周转箱；其中，所述货物放置在子周转箱内，多个子周转箱有序放置在母周转箱内或储物台上；其中，所述母周转箱为开放结构；所述子周转箱为封闭结构。
  29. 根据权利要求27所述的方法，其中当第二库位单元的库层不同于移物装置当前所在的库层时，进一步包括：
    驱动所述移物装置移动到升降系统；以及
    利用升降系统到达第二库位单元所在的库层。
  30. 根据权利要求27所述的方法，其中还包括：在所述储物装置离开第一库位单元时，解除所述储物装置与所述第一库位单元的身份绑定关系；以及，在所述储物装置释放到所述第二库位单元后，建立所述储物装置与所述第二库位单元的身份绑定关系。
PCT/CN2021/111968 2020-08-12 2021-08-11 一种库位单元、立体仓库及其货物存储方法 Ceased WO2022033499A1 (zh)

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