Intelligent storage device and system for heavy objects

Abstract

The invention discloses an intelligent storage device and system for heavy goods, and the device comprises a sinking gridding groove type warehouse structure which is internally divided into different storage areas according to goods types, and is used for constructing a vertically and horizontally through moving channel for hoisting equipment, carrying tools and transport vehicles; photovoltaic power generation equipment and energy storage equipment are deployed and installed on a ceiling of the sinking gridding groove type storage plant, and non-gantry heavy-load object conveying channels are arranged in the transverse direction and the longitudinal direction of the sinking gridding groove type storage plant structure; the lattice groove transverse carrying and communicating structure is matched with the sinking gridding groove type warehouse structure, and article carrying and communicating of all lattice grooves in the warehouse in the transverse direction are achieved. The belt-shaped axis carrying and communicating structure is matched with the sinking gridding groove type warehouse structure, and goods carrying and communicating of the warehouse in the belt-shaped axis direction are achieved. And more heavy objects can be stored in a limited plant space, so that the utilization efficiency of land resources is greatly improved, and the problem of shortage of industrial land is effectively relieved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of intelligent equipment management and control, and relates to a heavy-load article intelligent storage device and system. BACKGROUND

[0002] In industrial development, heavy industry occupies a pivotal position, and land resources are the cornerstone elements supporting the development of heavy industry. With the continuous expansion of industrial scale and the sustained growth of land demand, the finiteness of land resources has gradually become a key bottleneck restricting the further development of industry. Under this background, through digital technology, land resources can be accurately planned, intelligently allocated and efficiently utilized to maximize the value of land resources. Among the many links of industrial production, the article storage link often occupies a large area and has great potential for improvement, so it has become a key breakthrough for using digital technology to optimize the use of land resources.

[0003] Heavy-load articles in industrial production include various materials and products, among which large pipes and strip-shaped articles are particularly typical. From the beginning of production and processing, heavy-load articles go through the sales process and are inseparable from key operation links such as lifting, storage, loading and unloading. Due to their significant characteristics of heavy weight, long or large size, in actual storage management, they are usually naturally stacked on reinforced ground according to type. Although this can meet the basic operational needs of lifting and hoisting to some extent, it has many drawbacks. On the one hand, natural stacking of heavy-load articles requires a wide space, resulting in a large amount of land resources being occupied, which undoubtedly increases the operating costs of enterprises and limits the further development and expansion of enterprises in the face of the increasing scarcity of land resources. On the other hand, the storage and retrieval of articles under the traditional storage method lack scientific planning and management, making the lifting, loading and unloading operation process complicated and time-consuming, consuming a large amount of time and manpower, and the overall work efficiency is extremely low, which is difficult to meet the urgent needs of modern industrial efficient production. At the same time, the entire storage management process is highly dependent on manual operation, from article classification and stacking, lifting and scheduling to loading and unloading, which requires a large amount of manpower, increasing the labor costs of enterprises, and the accuracy and stability of manual operation are difficult to guarantee, which is prone to errors and mistakes. In addition, due to the heavy weight and large size of heavy-load articles, lifting and loading operations themselves are inherently dangerous, and the lack of effective safety management and monitoring measures in the article stacking environment poses many safety hazards such as article collapse and collision, seriously threatening the safety of workers and the safety of enterprise property.

[0004] In view of the various problems existing in the traditional heavy-load article storage method, the construction of an intelligent warehouse with the help of digital technology has become an inevitable trend in industrial development. For heavy-load articles, large pipes and strip-shaped articles, the construction of an intelligent warehouse can realize integrated management from the production workshop to the storage site (warehouse), organically integrating management, storage, lifting, handling and other links. SUMMARY

[0005] The present application aims to solve the problems of large occupation of land, low efficiency of carrying and large dependence on manual labor in the prior art when storing heavy load articles, and provides an intelligent heavy load article storage device and system.

[0006] To achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0007] An intelligent heavy load article storage device comprises:

[0008] The sunken grid slot type warehouse structure is designed in a deep diving or semi-submersible manner according to the characteristics of the stored articles, different storage areas are divided in the interior according to the article categories, and longitudinal and transverse mobile channels are constructed for hoisting equipment, transport tools and transport vehicles; wherein the transport vehicles cover three types of transport tools, i.e. wheel type, belt type and track type;

[0009] The sunken grid slot type warehouse building is provided with photovoltaic power generation equipment and energy storage equipment on the roof, and a non-gantry heavy load article conveying channel is arranged in the transverse and longitudinal directions of the sunken grid slot type warehouse structure, which can be arbitrarily combined by the three types of channels, i.e. wheel type, belt type and track type, to adapt to the three types of transport tools, i.e. wheel type, belt type and track type;

[0010] The grid slot transverse transport communication structure is adapted to the sunken grid slot type warehouse structure, and is used to realize the article transport and communication of each grid slot in the transverse direction in the warehouse;

[0011] The belt-shaped axis transport communication structure cooperates with the sunken grid slot type warehouse structure, and is used to realize the article transport and communication of the warehouse along the belt-shaped axis direction.

[0012] The sunken grid slot type warehouse structure comprises a sunken rectangular grid slot type warehouse structure and a sunken belt-shaped grid slot type warehouse structure;

[0013] The sunken rectangular grid slot type warehouse structure is a rectangular structure, and is defined with two groups of direction routes: a rectangular grid slot outward transportation longitudinal route, which corresponds to the advancing direction of the portal along the track and is in a straight line shape; and a rectangular grid slot transfer transverse route, which corresponds to the direction perpendicular to the advancing direction of the portal along the track and is in a straight line shape. The sunken rectangular grid slot type warehouse structure forms a plurality of groups of layout grid slot longitudinal portal operation belts along the rectangular grid slot transfer transverse route according to the width of the portal used. Along the rectangular grid slot outward transportation longitudinal route, the grid slot longitudinal portal operation belt is divided into one group or a plurality of groups of grid slot longitudinal portal operation standard zones. When the grid slot longitudinal portal operation belt is one group, it is also regarded as one group of grid slot longitudinal portal operation standard zones. The grid slot longitudinal portal operation standard zones are subdivided to form distributed independent grid slot longitudinal portal operation storage units. In the grid slot longitudinal portal operation standard zones, the grid slot longitudinal portal operation standard zones are subdivided along the rectangular grid slot outward transportation longitudinal route, and the two modes are alternately subdivided.

[0014] The sunken belt-shaped grid slot type warehouse structure is a belt-shaped structure, and is defined with two groups of routes: a belt-shaped grid slot outward transportation longitudinal route, which corresponds to the advancing direction of the portal along the track and is in a straight line or smooth curve shape. When it is a curve, the belt-shaped grid slot outward transportation longitudinal route curve needs to meet the technical index requirement of the track axis curve of the portal translation track. The belt-shaped grid slot transfer transverse route corresponds to the direction perpendicular to the advancing direction of the portal along the track and is in a straight line or smooth curve shape.

[0015] The sunken grid slot type warehouse structure forms a plurality of groups of layout grid slot longitudinal portal operation belts along the belt-shaped grid slot outward transportation longitudinal route according to the width of the portal used. In each group of grid slot longitudinal portal operation belts, a group of belt-shaped axis carrying communication structures serving as transportation channels is arranged along the belt-shaped grid slot outward transportation longitudinal route. Along the belt-shaped grid slot outward transportation longitudinal route, the grid slot longitudinal portal operation belt is divided into one group or a plurality of groups of grid slot longitudinal portal operation standard zones. When the grid slot longitudinal portal operation belt is one group, it is also regarded as one group of grid slot longitudinal portal operation standard zones. The belt-shaped axis carrying communication structure is cut into two grid slot longitudinal portal operation standard sub-zones along the belt-shaped grid slot outward transportation longitudinal route when passing through the middle of each group of grid slot longitudinal portal operation standard zones. When the belt-shaped axis carrying communication structure does not pass through the middle of each group of grid slot longitudinal portal operation standard zones, the remaining area is cut into one grid slot longitudinal portal operation standard sub-zone.

[0016] The grid slot longitudinal portal operation standard sub-zone is subdivided to form grid slot longitudinal portal operation storage units in the following manner: the grid slot longitudinal portal operation standard sub-zone is subdivided along the belt-shaped grid slot outward transportation longitudinal route, or the grid slot longitudinal portal operation standard sub-zone is subdivided along the belt-shaped grid slot outward transportation longitudinal route. The two modes are alternately subdivided to finally form grid slot longitudinal portal operation storage units.

[0017] The storage unit partition bearing wall at the edge position of the longitudinal route of the rectangular grid slot of the sinking rectangular grid slot warehouse structure or the storage unit partition bearing wall at the edge position of the longitudinal route of the strip grid slot of the sinking strip grid slot warehouse structure is defined as a storage unit partition bearing outer longitudinal wall, and all the storage unit partition bearing walls along the longitudinal route of the rectangular grid slot and the longitudinal route of the strip grid slot are defined as a storage unit partition bearing inner longitudinal wall except the storage unit partition bearing outer longitudinal wall; the top surface center line of the storage unit partition bearing outer longitudinal wall overlaps the center line of the gantry slide rail; the top surface of the storage unit partition bearing inner longitudinal wall is provided with a corbel, and two groups of gantry slide rails are arranged at the center lines of the two sides of the corbel; all the storage unit partition bearing walls along the transverse route of the rectangular grid slot and the transverse route of the strip grid slot are defined as storage unit partition bearing transverse walls.

[0018] The sinking grid slot warehouse structure is a grid slot type distribution storage structure sunk into the ground and constitutes independent grid slot longitudinal gantry operation storage units; the storage unit partition bearing walls are arranged between different grid slot longitudinal gantry operation storage units, and the storage unit partition bearing walls adopt the forms of gravity walls and pile beam structures, the bottom of the storage unit partition bearing walls is 2-4 meters away from the ground surface, and the top of the storage unit partition bearing walls is 2-3 meters away from the ground surface.

[0019] The sinking grid slot warehouse structure is provided with a unified sinking grid slot warehouse bottom plate structure, and the sinking grid slot warehouse bottom plate structure meets the requirements of anti-floating of underground water; when the sinking rectangular grid slot warehouse structure is located at the end face of the longitudinal route of the rectangular grid slot or the sinking strip grid slot warehouse structure is located at the two end faces of the longitudinal route of the strip grid slot, the following two groups of structures are formed:

[0020] The end gantry hoisting structure is formed by integrally extending the storage unit partition bearing outer longitudinal wall and the storage unit partition bearing inner longitudinal wall outward to form a gantry lifting device space, and the gantry lifting device space is supported to form the end gantry hoisting structure;

[0021] The end head gantry operation structure is arranged outwardly from the storage unit partition pressure bearing outer longitudinal wall and the storage unit partition pressure bearing inner longitudinal wall to a group of adjacent and disconnected storage unit partition pressure bearing end longitudinal walls, the bottom of the storage unit partition pressure bearing end longitudinal wall is not flush with the storage unit partition pressure bearing outer longitudinal wall and the storage unit partition pressure bearing inner longitudinal wall, and the end head gantry operation base is arranged at the bottom of the storage unit partition pressure bearing end longitudinal wall, and the storage unit partition pressure bearing end longitudinal wall and the end head gantry operation base constitute a main part; the end head gantry operation base of the storage unit partition pressure bearing end longitudinal wall can move along a rectangular grid groove transfer horizontal route or a belt-shaped grid groove transfer horizontal route on the end face of the sunken grid groove type warehouse structure, so that the gantry can switch along a rectangular grid groove transfer longitudinal route or a belt-shaped grid groove transfer longitudinal route on different groups of groove longitudinal gantry operation standard belts.

[0022] The groove horizontal carrying communication structure is a horizontal conveying channel distributed between the groove longitudinal gantry operation standard belts, which is used for realizing heavy load conveying between the sunken grid groove type warehouse structure and the outside and horizontal conveying inside the sunken grid groove type warehouse structure; the groove horizontal carrying communication structure is divided into the following three conveying structures:

[0023] The groove horizontal wheel type carrying communication structure is a structure system supporting a wheel type carrying tool and conveying heavy loads according to a rectangular grid groove transfer horizontal route or a belt-shaped grid groove transfer horizontal route;

[0024] The groove horizontal belt type carrying communication structure is a structure system supporting a belt type carrying tool and conveying heavy loads according to a rectangular grid groove transfer horizontal route or a belt-shaped grid groove transfer horizontal route;

[0025] The groove horizontal rail type carrying communication structure is a structure system supporting a rail carrying tool and conveying heavy loads according to a rectangular grid groove transfer horizontal route or a belt-shaped grid groove transfer horizontal route.

[0026] The belt-shaped axis carrying communication structure is a longitudinal conveying channel distributed in the groove longitudinal gantry operation belt, which is used for realizing longitudinal conveying of heavy loads; the belt-shaped axis carrying communication structure is specifically divided into the following three conveying structures:

[0027] The belt-shaped axis wheel type carrying communication structure is a structure system supporting a wheel type carrying tool and conveying heavy loads according to a rectangular grid groove outward conveying longitudinal route or a belt-shaped grid groove outward conveying longitudinal route;

[0028] The belt-shaped axis belt type carrying communication structure is a structure system supporting a belt type carrying tool and conveying heavy loads according to a rectangular grid groove outward conveying longitudinal route or a belt-shaped grid groove outward conveying longitudinal route;

[0029] The belt-shaped axis rail type carrying connection structure is a structure system for supporting a rail carrying tool to carry heavy loads according to a rectangular grid slot outward transportation longitudinal route or a belt-shaped grid slot outward transportation longitudinal route.

[0030] The heavy load article intelligent storage system is a digital warehouse system integrating management, storage, hoisting and carrying for heavy load articles based on a three-dimensional model of a working scene, and is composed of the following parts:

[0031] Hardware facilities: sunken grid slot type warehouse plant, intelligent hoisting and transportation equipment, warehouse plant and related working environment site;

[0032] Model system: a three-dimensional digital twin model of a physical object of a stored article, including a basic model and an evolution model; the basic model adopts three-dimensional modeling technology to holographically map and three-dimensionally abstractly express a real scene; the evolution model establishes a professional working model around a demand based on the basic model;

[0033] Dispatching model: a dispatching model generated based on a warehouse operation process;

[0034] Management control part: an intelligent management control part of a whole process of management, storage, hoisting and carrying established based on the dispatching model;

[0035] Management operation: intelligent dispatching management and control operation of heavy load articles from warehousing to delivery by means of three-dimensional space intelligent management technology and tools, covering space hoisting, classification dynamic optimization intelligent storage and intelligent loading; the heavy load articles include articles of irregular shape, block shape, pier shape, column shape, sheet shape, strip shape and pipeline type;

[0036] The digital warehouse intelligent management dispatching control system mainly has two working modes: a gantry, a drone, an unmanned vehicle and an operating machine unmanned gantry hoisting and conveying system for hoisting, unloading, carrying and positioning of heavy load articles in the warehouse; and a wheel type, belt type and rail type carrying tool mode for in-warehouse carrying and in-out warehouse transportation.

[0037] The unmanned gantry hoisting and conveying system as main equipment of the digital warehouse includes a gantry responsible for hoisting, a drone responsible for inspection, assisting in installation of a hoist and carrying of small articles, and an unmanned vehicle and an operating machine; in the process of hoisting, unloading and conveying of heavy load articles, the intelligent management dispatching control system cooperatively completes intelligent operation of hoisting, unloading and carrying and positioning by selecting and matching the gantry, the drone, the unmanned vehicle and the operating machine according to a task and under support of a three-dimensional basic model and a working scene.

[0038] The three types of carriers, wheel type, belt type and track type, are represented as carrying and transporting respectively in two categories of in-field and off-field; among them, the carrying category refers to the carrying of goods between factory area and warehouse and in the warehouse, adopts unmanned intelligent transportation equipment, and is responsible for scheduling control by a digital warehouse intelligent management and scheduling control system; the transporting category refers to various off-field transportation vehicles.

[0039] Compared with the prior art, the present application has the following beneficial effects:

[0040] The heavy-load goods intelligent storage device in the present application can store more heavy-load goods in limited factory space, greatly improves the utilization efficiency of land resources, and effectively alleviates the problem of tight industrial land. For enterprises, under the condition of meeting the same storage demand, the construction area of the factory building can be reduced, thereby reducing the industrial land tax index and saving a large amount of land purchase and use cost. The traditional natural conical stacking lacks scientific planning and effective support, and heavy-load goods are prone to collapse, rolling and other safety accidents due to factors such as unstable center of gravity and external force, which not only causes damage to goods, but also may endanger the safety of workers. The present application provides a stable and reliable storage environment for heavy-load goods through standard slot management and other means, greatly reduces the probability of safety accidents, and ensures the safe operation of warehouse operations.

[0041] The warehouse system in the present application realizes omnidirectional digital management. In terms of warehouse management and lifting, by establishing a digital identification system for the state of heavy-load goods stored in the standard slot, the storage state of the goods can be mastered in real time and accurately, and the position of the heavy-load goods managed by the standard slot can be dynamically optimized and adjusted. Combined with the precise management of the form and position of the gantry, unmanned vehicle and track transportation equipment system, the automation and intelligentization of warehouse operation are realized. The operator can remotely monitor and control the equipment operation through the system, automatically plan the optimal lifting and carrying path according to the storage state of the goods and the operation demand, improve the efficiency and accuracy of the warehouse operation, and reduce the error and labor intensity of manual operation. BRIEF DESCRIPTION OF DRAWINGS

[0042] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0043] Figure 1 The main principle and implementation process schematic diagram of the heavy-load goods intelligent storage system of the present application;

[0044] Figure 2The figure is a schematic view of the sunken rectangular grid slot type warehouse structure of the present application.

[0045] Figure 3 The figure is a schematic view of the sunken belt-shaped grid slot type warehouse structure of the present application.

[0046] Figure 4 The figure is a schematic view of the end gantry operation structure of the present application.

[0047] Figure 5 The figure is a schematic view of the sunken rectangular grid slot type warehouse structure of the present application. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings can be arranged and designed in various different configurations.

[0049] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative labor are within the scope of protection of the present application.

[0050] It should be noted that: similar reference numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0051] The present application will be described in further detail below with reference to the drawings:

[0052] The heavy load article intelligent storage device in the present application, that is, the intelligent pipe hoisting system architecture, includes three sub-structures: ① sunken grid slot type warehouse structure; ② grid slot transverse transportation communication structure; and ③ belt-shaped axis transportation communication structure.

[0053] The sunken grid slot type warehouse structure includes two basic structures: sunken rectangular grid slot type warehouse structure and sunken belt-shaped grid slot type warehouse structure. Among them:

[0054] The sunken rectangular grid slot type warehouse structure is a rectangular structure, defining two groups of directional routes.

[0055] ① Rectangular grid slot external transportation longitudinal route: corresponding to the forward direction of the gantry along the track, it is a straight line, see Figure 1 The 4→5 node direction.

[0056] ②Rectangular grid slot transfer transverse route: corresponding to the direction perpendicular to the gantry track forward direction, it is a straight line, see Figure 2 Middle 9→6 node direction.

[0057] The sunken rectangular grid slot warehouse structure is along the rectangular grid slot transfer transverse route, and forms multiple groups of layout grid slot longitudinal gantry operation belts according to the used gantry width.

[0058] Along the rectangular grid slot outward longitudinal route, the grid slot longitudinal gantry operation belt is divided into one group or multiple groups of "grid slot longitudinal gantry operation standard zone belts"; when the grid slot longitudinal gantry operation belt is one group, it is also regarded as one group of grid slot longitudinal gantry operation standard zone belts.

[0059] The grid slot longitudinal gantry operation standard zone belts are further subdivided in the following manner to form distributed independent grid slot longitudinal gantry operation storage units, see the attached Figure 2 Sunken rectangular grid slot warehouse structure schematic diagram:

[0060] ①In the grid slot longitudinal gantry operation standard zone belt, the rectangular grid slot outward longitudinal route is subdivided.

[0061] ②In the grid slot longitudinal gantry operation standard zone belt, the rectangular grid slot outward longitudinal route is subdivided.

[0062] ③Combined with the above two modes, the grid slot longitudinal gantry operation storage unit is finally formed by alternating subdivision.

[0063] Figure 2 Middle note-0: 0-1-2-3 is the overall rectangular area of the sunken rectangular grid slot warehouse structure.

[0064] Figure 2 Middle note-1: 0-1-5-4 and 4-5-2-3 are two groups of grid slot longitudinal gantry operation belt rectangular areas.

[0065] Figure 2 Middle note-2: 6-7-8-9 is two groups of grid slot transverse carrying communication structure rectangular areas.

[0066] Figure 2 Middle: 11-12-13-10 and 14-15-16-17 are two groups of grid slot longitudinal gantry operation storage unit rectangular areas.

[0067] Sunken belt-shaped grid slot warehouse structure, see Figure 3 It is a belt-shaped structure, and defines two groups of routes:

[0068] ① Belt-shaped grid slot outward transportation longitudinal route: corresponding to the portal moving direction along the track, it is a straight line or a smooth curve. When it is a curve, the belt-shaped grid slot outward transportation longitudinal route curve needs to meet the requirements of the portal translation track axis conforming to the relevant curve technical indicators of the rail axis, see Figure 2 The node direction in the middle 0→6→7→11→12→1.

[0069] ② Belt-shaped grid slot transfer horizontal route: corresponding to the direction perpendicular to the portal track moving direction, it is a straight line or a smooth curve, see Figure 2 The node direction in the middle 9→6.

[0070] The sunken grid slot warehouse structure is arranged along the belt-shaped grid slot outward transportation longitudinal route and forms multiple groups of grid slot longitudinal portal operation belts according to the portal width used.

[0071] In each group of grid slot longitudinal portal operation belts, a belt-shaped axis carrying communication structure is arranged along the belt-shaped grid slot outward transportation longitudinal route, which is a long-distance transportation channel for large belt-shaped warehouses.

[0072] Along the belt-shaped grid slot outward transportation longitudinal route, the grid slot longitudinal portal operation belt is divided into one group or multiple groups of grid slot longitudinal portal operation standard zones. When the grid slot longitudinal portal operation belt is one group, it is also regarded as one group of grid slot longitudinal portal operation standard zones.

[0073] When the belt-shaped axis carrying communication structure passes through the middle of each group of grid slot longitudinal portal operation standard zones, it is cut into two grid slot longitudinal portal operation standard sub-zones along the belt-shaped grid slot outward transportation longitudinal route. When the belt-shaped axis carrying communication structure does not pass through the middle of each group of grid slot longitudinal portal operation standard zones, the remaining area is cut into one grid slot longitudinal portal operation standard sub-zone.

[0074] The grid slot longitudinal portal operation standard sub-zone is further subdivided in the following manner to form a grid slot longitudinal portal operation storage unit:

[0075] ① The grid slot longitudinal portal operation standard sub-zone is subdivided along the belt-shaped grid slot outward transportation longitudinal route.

[0076] ② The grid slot longitudinal portal operation standard sub-zone is subdivided along the belt-shaped grid slot outward transportation longitudinal route.

[0077] ③ The grid slot longitudinal portal operation standard sub-zone is alternately subdivided in combination with the above two modes to finally form a grid slot longitudinal portal operation storage unit.

[0078] Figure 3 Note-0: 0-1-2-3 is the overall belt-shaped area of the sunken belt-shaped grid slot warehouse structure.

[0079] Figure 3Middle note-1: 0-6-7-11-12-1-5-4 and 4-5-2-13-14-8-9-3 are two groups of grid slot longitudinal gantry operation belt-shaped area.

[0080] Figure 3 Middle note-2: 6-7-8-9 is two groups of grid slot transverse transport communication structure rectangular area.

[0081] The sunken grid slot warehouse structure is a grid slot opening slot distribution storage structure sunk into the ground, which is an independent storage structure, a grid slot longitudinal gantry operation storage unit, and a storage unit separation bearing wall between different grid slot longitudinal gantry operation storage units. The storage unit separation bearing wall can adopt a gravity wall structure, a pile beam structure, etc. The bottom of the storage unit separation bearing wall is generally 2-4 meters away from the ground surface, and the top of the storage unit separation bearing wall is generally 2-3 meters away from the ground surface.

[0082] The grid slot longitudinal gantry operation belt is located at the storage unit separation bearing wall at the edge line position of the rectangular grid slot longitudinal transportation route of the sunken rectangular grid slot warehouse structure, or the storage unit separation bearing wall at the edge line position of the longitudinal transportation route of the sunken belt-shaped grid slot warehouse structure, which is called a storage unit separation bearing outer longitudinal wall.

[0083] All storage unit separation bearing walls along the direction of the rectangular grid slot longitudinal transportation route, the belt-shaped grid slot longitudinal transportation route, except the storage unit separation bearing outer longitudinal wall, are called storage unit separation bearing inner longitudinal walls. The top surface center line of the storage unit separation bearing outer longitudinal wall overlaps the center line of the gantry slide rail; the top surface of the storage unit separation bearing inner longitudinal wall is provided with a corbel, and two sets of gantry slide rails are placed on the two sides of the center line of the corbel.

[0084] All storage unit separation bearing walls along the direction of the rectangular grid slot transverse transportation route, the belt-shaped grid slot transverse transportation route, are called storage unit separation bearing transverse walls.

[0085] The sunken grid slot warehouse structure is arranged with a unified sunken grid slot warehouse floor structure, which meets the requirements of the underground water anti-floating effect of the site.

[0086] The sunken rectangular grid slot warehouse structure is located at the end face of the rectangular grid slot longitudinal transportation route, or the two end faces of the belt-shaped grid slot longitudinal transportation route of the sunken belt-shaped grid slot warehouse structure form two groups of structures:

[0087] ① End gantry hoisting structure: the storage unit separation bearing outer longitudinal wall and the storage unit separation bearing inner longitudinal wall are integrally extended outward to form a gantry lifting device space; the end gantry hoisting structure is formed by supporting the operation of the gantry lifting device space.

[0088] ② End gantry operation structure:

[0089] 1) The storage unit partition pressure bearing outer longitudinal wall and the storage unit partition pressure bearing inner longitudinal wall, and a set of adjacent storage unit partition pressure bearing end longitudinal walls and storage unit partition pressure bearing end longitudinal walls are arranged outwardly; the storage unit partition pressure bearing end longitudinal walls and the storage unit partition pressure bearing end longitudinal walls are disconnected from the storage unit partition pressure bearing outer longitudinal wall and the storage unit partition pressure bearing inner longitudinal wall.

[0090] 2) The bottom of the storage unit partition pressure bearing end longitudinal wall and the storage unit partition pressure bearing end longitudinal wall is not flush with the storage unit partition pressure bearing outer longitudinal wall and the storage unit partition pressure bearing inner longitudinal wall; an end gantry operation base is arranged at the bottom of the storage unit partition pressure bearing end longitudinal wall and the storage unit partition pressure bearing end longitudinal wall.

[0091] 3) The storage unit partition pressure bearing end longitudinal wall, the storage unit partition pressure bearing end longitudinal wall and the end gantry operation base constitute the main part of the end gantry operation structure.

[0092] 4) The end gantry operation base of the storage unit partition pressure bearing end longitudinal wall and the storage unit partition pressure bearing end longitudinal wall can move along the rectangular grid groove transfer horizontal route or the strip-shaped grid groove transfer horizontal route on the end face of the sunken grid groove warehouse structure, so that the gantry can switch along the rectangular grid groove transfer longitudinal route or the strip-shaped grid groove transfer longitudinal route on the different group groove longitudinal gantry operation standard belt.

[0093] The grid groove horizontal carrying communication structure in the application is a horizontal conveying channel distributed between the grid groove longitudinal gantry operation standard belt, mainly for conveying between the sunken grid groove warehouse structure and the outside, and horizontally conveying inside the sunken grid groove warehouse structure, and is divided into three types of conveying structures: grid groove horizontal wheel type carrying communication structure, grid groove horizontal belt type carrying communication structure and grid groove horizontal rail type carrying communication structure, which correspond to three types of carrying tool modes of wheel type + belt type + rail type respectively.

[0094] The grid groove horizontal wheel type carrying communication structure supports wheel type carrying tools (including forklifts and board cars), and is a structure system for conveying heavy loads according to the rectangular grid groove transfer horizontal route or the strip-shaped grid groove transfer horizontal route.

[0095] The grid groove horizontal belt type carrying communication structure supports belt type carrying tools (including roll belts and crawler belts), and is a structure system for conveying heavy loads according to the rectangular grid groove transfer horizontal route or the strip-shaped grid groove transfer horizontal route.

[0096] The grid groove horizontal rail type carrying communication structure supports rail type carrying tools, and is a structure system for conveying heavy loads according to the rectangular grid groove transfer horizontal route or the strip-shaped grid groove transfer horizontal route.

[0097] The belt-shaped axis carrying communication structure in the application is a longitudinal conveying channel distributed in the longitudinal gantry operation belt of the grid slot, which is divided into three types of conveying structures: a belt-shaped axis wheel type carrying communication structure, a belt-shaped axis belt type carrying communication structure and a belt-shaped axis rail type carrying communication structure, which correspond to wheel type + belt type + rail three types of carrying tool modes respectively.

[0098] The belt-shaped axis wheel type carrying communication structure supports wheel type carrying tools (including forklifts, carts and the like), and is a structural system for conveying heavy loads according to a rectangular grid slot outward longitudinal route or a belt-shaped grid slot outward longitudinal route.

[0099] The belt-shaped axis belt type carrying communication structure supports belt type carrying tools (including belt, track and the like), and is a structural system for conveying heavy loads according to a rectangular grid slot outward longitudinal route or a belt-shaped grid slot outward longitudinal route.

[0100] The belt-shaped axis rail type carrying communication structure supports rail carrying tools, and is a structural system for conveying heavy loads according to a rectangular grid slot outward longitudinal route or a belt-shaped grid slot outward longitudinal route.

[0101] The warehouse pipe hoisting and loading system intelligent base model in the application includes four intelligent base model constructions:

[0102] The warehouse pipe hoisting and loading system intelligent base model includes five intelligent base model constructions:

[0103] ① The sunken grid slot type warehouse structure intelligent base model.

[0104] ② The warehouse pipe hoisting and loading structure intelligent base model.

[0105] ③ The heavy load article intelligent base model.

[0106] ④ The warehouse building system intelligent base model based on the sunken grid slot type warehouse building system, and the geological, ground surface, surrounding buildings, infrastructure and the like system.

[0107] ⑤ The warehouse supporting photovoltaic installation intelligent base model.

[0108] Based on the warehouse pipe hoisting and loading system intelligent base model, combined with the warehouse pipe hoisting and loading system intelligent dynamic model, the warehouse pipe hoisting and loading system intelligent twin model is dynamically generated.

[0109] The sunken grid slot type warehouse structure intelligent base model in the application covers the following contents:

[0110] ① Three types of storage unit separation bearing wall structures: storage unit separation bearing outer longitudinal wall, storage unit separation bearing inner longitudinal wall and storage unit separation bearing transverse wall, each corresponding to the high-precision parameters of the structure size, material, detailed structure bracket, connection, cross-section structure and the like of the three-dimensional model.

[0111] ②The sinking grid slot warehouse floor structure contains high-precision parameters of the structure size, material, connection, arrangement, cross-sectional structure, and detailed structure of the three-dimensional model.

[0112] ③The end gantry hoisting structure contains high-precision parameters of the structure size, material, connection, arrangement, cross-sectional structure, and detailed structure of the three-dimensional model.

[0113] ④The end gantry operation structure contains high-precision parameters of the structure size, material, connection, arrangement, cross-sectional structure, and detailed structure of the three-dimensional model.

[0114] ⑤The sinking grid slot warehouse floor structure avoids water pressure damage to the floor under low load, and related structure size, material, connection, arrangement, cross-sectional structure, and detailed structure of the three-dimensional model are associated with water injection between distributed grid slots and longitudinal gantry operation storage units to achieve water pressure loading.

[0115] ⑥The load parameter model associated with the storage of different heavy loads in the grid slot longitudinal gantry operation storage unit, the stress deformation damage model of the floor, and the low-load or empty-load anti-floating damage model.

[0116] The warehouse pipe hoisting and transporting structure intelligent base model in the present application includes the following contents:

[0117] ①The grid slot transverse carrying communication structure contains high-precision parameters of the structure size, material, connection, arrangement, cross-sectional structure, and detailed structure of the three-dimensional model.

[0118] ②The belt axis carrying communication structure contains high-precision parameters of the structure size, material, connection, arrangement, cross-sectional structure, and detailed structure of the three-dimensional model.

[0119] ③The grid slot transverse carrying communication structure and the belt axis carrying communication structure use three types of typical carrying tools, including wheeled carrying tools (including manned or unmanned forklifts, carts, etc.), belt carrying tools (including belt and track), and track carrying tools, which contain high-precision parameters of the structure size, material, connection, arrangement, cross-sectional structure, and detailed structure of the three-dimensional model.

[0120] ④During the gantry hoisting and unloading operation, relevant equipment such as gantry, unmanned aerial vehicle, unmanned vehicle, and operating machine is used, which contains high-precision parameters of the structure size, material, connection, arrangement, cross-sectional structure, and detailed structure of the three-dimensional model.

[0121] The heavy object intelligent base model in the application comprises:

[0122] The high-precision parameters of the structure size, material, connection, layout, cross-sectional structure, and detailed structure of the three-dimensional model corresponding to each type of object stored in the grid longitudinal gantry operation storage unit.

[0123] The warehouse building system intelligent base model in the application comprises:

[0124] ① The three-dimensional topological consistent vector model of the factory site covering engineering geology, hydrogeology, site surface, and factory waterlogging, and related three-dimensional attribute distribution model of the subsurface grid slot type warehouse structure.

[0125] ② The high-precision parameters of the structure size, material, connection, layout, cross-sectional structure, and detailed structure of the three-dimensional model of the related building structure and building system of the supporting building system of the subsurface grid slot type warehouse structure.

[0126] ③ The high-precision parameters of the structure size, material, connection, layout, cross-sectional structure, and detailed structure of the three-dimensional model of the foundation pit excavation, support, and storage unit partition bearing wall pile foundation of the subsurface grid slot type warehouse structure.

[0127] The warehouse supporting photovoltaic installation intelligent base model in the application comprises:

[0128] ① The supporting roof photovoltaic support column arranged on the storage unit partition bearing wall of the subsurface grid slot type warehouse structure, which contains high-precision parameters of the structure size, material, connection, arrangement, cross-sectional structure, and detailed structure of the three-dimensional model.

[0129] ② The supporting roof photovoltaic panel arranged on the storage unit partition bearing wall of the subsurface grid slot type warehouse structure, which contains high-precision parameters of the structure size, material, connection, arrangement, cross-sectional structure, and detailed structure of the three-dimensional model.

[0130] ③ The supporting roof photovoltaic panel power generation line device, which contains high-precision parameters of the structure size, material, connection, arrangement, cross-sectional structure, and detailed structure of the three-dimensional model.

[0131] The warehouse pipe hoisting transportation system intelligent dynamic model in the application comprises:

[0132] The grid slot storage unit object scene dynamic model and the grid slot storage unit water storage scene dynamic model, wherein,

[0133] When heavy cargo is stored in each grid longitudinal gantry operation storage unit, each heavy object is based on the three-dimensional model in the heavy object intelligent base model and the three-dimensional scene model of the storage space to form a dynamic model of the grid storage unit object scene.

[0134] When no heavy cargo is stored in each grid longitudinal gantry operation storage unit, water injection and drainage are carried out therein to form a water storage scene dynamic model of the grid storage unit based on the three-dimensional scene model of the storage space.

[0135] The sinking grid slot gantry hoisting and scheduling model in the application is based on a warehouse pipe hoisting and loading system intelligent twin model, which is dynamically deduced and generated, and includes seven scheduling model contents:

[0136] ① Grid longitudinal gantry operation belt-in storage unit optimization scheduling model;

[0137] ② Grid longitudinal gantry operation belt-in axis carrying optimization scheduling model;

[0138] ③ End gantry operation optimization scheduling model

[0139] ④ Grid longitudinal gantry operation belt transverse transfer optimization scheduling model;

[0140] ⑤ Grid transverse carrying optimization scheduling model;

[0141] ⑥ End gantry hoisting optimization scheduling model;

[0142] ⑦ Sinking grid slot warehouse structure anti-floating scheduling model.

[0143] The grid longitudinal gantry operation belt-in storage unit optimization scheduling model in the application includes a grid longitudinal gantry operation belt-in storage unit optimization scheduling basic model and a grid longitudinal gantry operation belt-in storage unit optimization scheduling dynamic model:

[0144] ① Based on the warehouse pipe hoisting and loading system intelligent twin model, for the transfer path of products between any two grid longitudinal gantry operation storage units in the grid longitudinal gantry operation belt, a belt-in storage unit gantry + unmanned aerial vehicle + unmanned vehicle + operation machine optimization scheduling basic model is formed.

[0145] ② Based on the warehouse pipe hoisting and loading system intelligent twin model, based on the product storage space form, product type, product quantity, product hot and sluggish sales situation, and product long-term storage situation of the inventory in the grid longitudinal gantry operation storage unit in the grid longitudinal gantry operation belt, based on the grid longitudinal gantry operation belt-in storage unit optimization scheduling basic model, for the transfer path of products between any two grid longitudinal gantry operation storage units, a belt-in storage unit gantry + unmanned aerial vehicle + unmanned vehicle + operation machine optimization scheduling dynamic model is dynamically formed.

[0146] The function of the grid slot longitudinal gantry operation belt axis carrying optimization scheduling model in the application includes:

[0147] ① Based on the warehouse pipe hoisting and loading system intelligent twin model, for any group of grid slot longitudinal gantry operation belt and any grid slot longitudinal gantry operation storage unit product, through the gantry + unmanned aerial vehicle + unmanned vehicle + operating machine mode, hoist to the corresponding transfer transition position of the optimization scheduling model of the belt axis carrying communication structure.

[0148] ② Based on the warehouse pipe hoisting and loading system intelligent twin model, the transfer transition position based on operation in ①, through the wheel + belt + track three types of carrying tool mode, realize the optimization scheduling model of the belt axis carrying communication structure based on the gantry + unmanned aerial vehicle + unmanned vehicle + operating machine mode.

[0149] The above optimization scheduling model includes two types:

[0150] (1) Basic optimization scheduling model based on preset classification standard;

[0151] (2) Evolutionary optimization scheduling model after dynamic change of related parameters in operation and maintenance.

[0152] The content proposed by the application is:

[0153] The end head gantry operation optimization scheduling model in the application is an optimization scheduling model formed by comprehensive scheduling of the gantry in the end head gantry operation structure, including:

[0154] ① Based on the warehouse pipe hoisting and loading system intelligent twin model, the optimization scheduling model of the gantry in the end head gantry operation structure.

[0155] ② Based on the warehouse pipe hoisting and loading system intelligent twin model, the optimization scheduling model of the end head gantry operation base realizing translation.

[0156] The above optimization scheduling model includes two types:

[0157] (1) Basic optimization scheduling model based on preset classification standard,

[0158] (2) Evolutionary optimization scheduling model after dynamic change of related parameters in operation and maintenance.

[0159] The grid slot longitudinal gantry operation belt transverse transfer optimization scheduling model in the application is based on the warehouse pipe hoisting and loading system intelligent twin model, and the grid slot longitudinal gantry operation belt transverse transfer optimization scheduling model between the two groups of grid slot longitudinal gantry operation belts on both sides of the same grid slot transverse carrying communication structure is a basic model for optimizing transfer scheduling of heavy loads through the grid slot transverse carrying communication structure, including:

[0160] ① From the first longitudinal slot gate operation belt any slot gate longitudinal gate operation storage unit product, through the portal + unmanned aerial vehicle + unmanned vehicle + operating machine mode, hoisting to the corresponding first transfer transition position of the optimization scheduling model of the slot horizontal carrying communication structure.

[0161] ② In the slot horizontal carrying communication structure, from the first transfer transition position, through the wheel + belt + track three types of carrying tool mode, the transfer product is transferred to the second transfer transition position of the optimization scheduling model.

[0162] ③ From the corresponding first transfer transition position of the slot horizontal carrying communication structure, through the portal + unmanned aerial vehicle + operating machine, the transfer product is transferred to the dynamically matched slot longitudinal portal operation storage unit in the second slot longitudinal portal operation belt of the optimization scheduling model.

[0163] The above optimization scheduling model includes two types:

[0164] (1) Basic optimization scheduling model based on preset classification criteria;

[0165] (2) Evolutionary optimization scheduling model after the dynamic change of related parameters in operation and maintenance.

[0166] The slot horizontal carrying optimization scheduling model in the application is based on the warehouse pipe hoisting system intelligent twin model, and realizes the optimization scheduling model of two-way transportation between the sunken grid slot warehouse structure and the outside through the slot horizontal carrying communication structure.

[0167] The slot horizontal carrying optimization scheduling model is a slot horizontal storage carrying optimization scheduling model for product storage, which includes:

[0168] ① The external transfer product is transferred to the storage transfer transition position of the optimization scheduling model through the wheel + belt + track three types of carrying tool mode in the slot horizontal carrying communication structure.

[0169] ② The external transfer product is transferred to the dynamically matched slot longitudinal portal operation storage unit in the slot longitudinal portal operation sub-belt through the portal + unmanned aerial vehicle + unmanned vehicle + operating machine mode in the slot horizontal carrying communication structure at the storage transfer transition position.

[0170] The slot horizontal carrying optimization scheduling model is a slot horizontal carrying optimization scheduling model for product transportation, which includes the following contents:

[0171] The first optimization scheduling model is that the products in the grid slot longitudinal gantry operation sub-belt are transported out of the grid slot longitudinal gantry operation storage unit on the end head gantry through the mode of gantry + unmanned aerial vehicle + unmanned vehicle + operating machine, and are hoisted to the optimized scheduling model of the out-transport transition position of the grid slot transverse carrying communication structure.

[0172] The second optimization scheduling model is that the out-transport products are transported out of the sunken grid slot warehouse structure through the mode of wheel + belt + track three types of carrying tools.

[0173] The above optimization scheduling models include two types: (1) a basic optimization scheduling model based on a preset classification standard, and (2) an evolved optimization scheduling model after the dynamic change of related parameters in operation and maintenance.

[0174] The end head gantry lifting optimization scheduling model in the application is based on a warehouse pipe lifting system intelligent twin model, and the optimized scheduling model between the external carrying tools on the end head gantry operation structure and the grid slot longitudinal gantry operation storage unit in the grid slot longitudinal gantry operation sub-belt is realized through the mode of gantry + unmanned aerial vehicle + unmanned vehicle + operating machine.

[0175] The end head gantry lifting optimization scheduling model for product storage includes the following contents:

[0176] The first optimization scheduling model is that the products in the grid slot longitudinal gantry operation sub-belt are transported out of the grid slot longitudinal gantry operation storage unit on the end head gantry through the mode of gantry + unmanned aerial vehicle + unmanned vehicle + operating machine, and are hoisted to the optimized scheduling model of the out-transport transition position of the grid slot transverse carrying communication structure.

[0177] The second optimization scheduling model is that the out-transport products are transported out of the sunken grid slot warehouse structure through the mode of wheel + belt + track three types of carrying tools.

[0178] 1) The optimization scheduling model that the end head gantry is transported to the matching grid slot longitudinal gantry operation storage unit through the grid slot longitudinal gantry operation belt.

[0179] 2) The optimization scheduling model that the products on the end head gantry are transported to the matching grid slot longitudinal gantry operation storage unit through the mode of wheel + belt + track three types of carrying tools on the belt-shaped axis carrying communication structure and the mode of gantry + unmanned aerial vehicle + unmanned vehicle + operating machine.

[0180] The end head gantry lifting optimization scheduling model for product storage includes the following contents:

[0181] The first optimization scheduling model is that the products in the grid slot longitudinal gantry operation sub-belt are transported out of the grid slot longitudinal gantry operation storage unit on the end head gantry through the mode of gantry + unmanned aerial vehicle + unmanned vehicle + operating machine, and are hoisted to the optimized scheduling model of the out-transport transition position of the grid slot transverse carrying communication structure.

[0182] 1) The grid slot longitudinal gantry operation belt grid slot longitudinal gantry operation storage unit of the outbound product is directly transported to the optimized scheduling model near the end gantry operation structure position by the gantry + unmanned aerial vehicle + unmanned vehicle + operating machine mode.

[0183] 2) The grid slot longitudinal gantry operation belt grid slot longitudinal gantry operation storage unit of the outbound product is transferred to the optimized scheduling model near the end gantry operation structure position by the gantry + unmanned aerial vehicle + unmanned vehicle + operating machine mode through the wheel + belt + track three types of transport tools mode on the belt axis transport communication structure.

[0184] ②The outbound product is hoisted and installed in the optimized scheduling model of the external transport tool on the end gantry operation structure by the gantry + unmanned aerial vehicle + unmanned vehicle + operating machine mode.

[0185] The above optimized scheduling model includes two types: (1) a basic optimized scheduling model based on a preset classification standard, and (2) an evolved optimized scheduling model after dynamic changes of related parameters in operation and maintenance.

[0186] The anti-floating scheduling model of the sunken grid slot warehouse structure in the application is an optimized scheduling model of the corresponding bottom plate based on the numerical intelligence base model of the sunken grid slot warehouse structure, which includes:

[0187] ①For storing heavy loads in the grid slot longitudinal gantry operation storage unit, the optimized scheduling model for transferring stored heavy loads between specific grid slot longitudinal gantry operation storage units is used to avoid uneven load on the bottom plate and avoid local low load or empty load to form anti-floating damage to the bottom plate.

[0188] ②For low load or empty load in the grid slot longitudinal gantry operation storage unit, the optimized scheduling model for how to avoid anti-floating damage to the bottom plate by water injection loading.

[0189] The above optimized scheduling model includes two types:

[0190] (1) a basic optimized scheduling model based on a preset classification standard;

[0191] (2) an evolved optimized scheduling model after dynamic changes of related parameters in operation and maintenance.

[0192] The application proposes two comprehensive systems: a sunken grid slot warehouse plant comprehensive management and control system and a sunken grid slot gantry crane operation and installation comprehensive scheduling system.

[0193] The sunken grid slot warehouse plant comprehensive management and control system includes the following basic functions:

[0194] ① The comprehensive statistics, diagnosis and optimization function of storing products in the storage unit of the longitudinal grid slot gantry running belt;

[0195] ② The sensing, positioning, receiving and transmission functions of Beidou, 5G, Internet of Things, etc. in the sunken grid slot warehouse;

[0196] ③ The positioning and spatial relationship calculation and analysis functions of all objects including the most basic structural unit and the most basic product unit in the sunken grid slot warehouse.

[0197] The sunken grid slot gantry crane operation and comprehensive scheduling system is based on the warehouse pipe crane operation system intelligent twin model + sunken grid slot gantry crane operation scheduling model + sunken grid slot gantry crane operation scheduling model to form seven scheduling functions:

[0198] The storage unit optimization scheduling function in the longitudinal grid slot gantry running belt is based on the storage unit optimization scheduling model in the longitudinal grid slot gantry running belt. The optimization scheduling function of heavy goods transfer between two longitudinal grid slot gantry storage units is realized by using the mode of gantry + unmanned aerial vehicle + unmanned vehicle + operating machine.

[0199] The axis carrying optimization scheduling function in the longitudinal grid slot gantry running belt is based on the axis carrying optimization scheduling model in the longitudinal grid slot gantry running belt. The scheduling functions include:

[0200] ① For the products in any one longitudinal grid slot gantry storage unit in any group of longitudinal grid slot gantry running belts or longitudinal grid slot gantry sub-belts, the scheduling function of lifting and transferring to the corresponding transfer transition position on the belt-shaped axis carrying communication structure is realized by using the mode of gantry + unmanned aerial vehicle + unmanned vehicle + operating machine.

[0201] ② Based on the transfer transition position, the scheduling function of conveying is realized by using the mode of wheel + belt + track in the belt-shaped axis carrying communication structure based on the mode of gantry + unmanned aerial vehicle + unmanned vehicle + operating machine.

[0202] The end gantry operation optimization scheduling function is based on the end gantry operation optimization scheduling model, and the scheduling function of transferring the gantry on different longitudinal grid slot gantry running belts is realized.

[0203] The longitudinal grid slot gantry running belt transverse transfer optimization scheduling function is based on the longitudinal grid slot gantry running belt transverse transfer optimization scheduling model, and the scheduling functions include:

[0204] ① The scheduling function of lifting and transferring the products in any one longitudinal grid slot gantry storage unit in the first longitudinal grid slot gantry running belt to the corresponding first transfer transition position on the grid transverse carrying communication structure is realized by using the mode of gantry + unmanned aerial vehicle + unmanned vehicle + operating machine.

[0205] ②In the grid transverse carrying communication structure, from the first transfer transition position, through the wheel + belt + track three types of carrying tool mode, the transfer product is transferred to the scheduling function of the second transfer transition position.

[0206] ③From the corresponding first transfer transition position on the grid transverse carrying communication structure, through the gantry + unmanned aerial vehicle + operating machine, the transfer product is transferred to the scheduling function of the second grid longitudinal gantry operation storage unit dynamically matched in the grid longitudinal gantry operation sub-belt.

[0207] The grid transverse carrying optimization scheduling function is based on the grid transverse carrying optimization scheduling model, and the following two types of comprehensive scheduling functions are formed:

[0208] ①The scheduling function of the grid transverse storage carrying optimization scheduling model for product storage:

[0209] 1) External transfer product, in the grid transverse carrying communication structure, through the wheel + belt + track three types of carrying tool mode, the transfer product is transferred to the storage transfer transition position.

[0210] 2) External transfer product, in the grid transverse carrying communication structure of the storage transfer transition position, through the gantry + unmanned aerial vehicle + unmanned vehicle + operating machine mode, hoisting to the grid longitudinal gantry operation storage unit dynamically matched in the grid longitudinal gantry operation sub-belt.

[0211] ②The grid transverse carrying optimization scheduling model for product export includes the following contents:

[0212] 1) Internal export product, from the grid longitudinal gantry operation storage unit in the grid longitudinal gantry operation sub-belt, through the gantry + unmanned aerial vehicle + unmanned vehicle + operating machine mode, hoisting to the export transfer transition position of the grid transverse carrying communication structure.

[0213] 2) Internal export product, from the export transfer transition position of the grid transverse carrying communication structure, through the wheel + belt + track three types of carrying tool mode, the export product is transferred out of the sinking grid slot warehouse structure.

[0214] The end gantry lifting optimization scheduling function is based on the end gantry lifting optimization scheduling model and is divided into two types of scheduling functions:

[0215] The scheduling function of the end gantry lifting storage optimization scheduling model for product storage:

[0216] ①The storage product in the external carrying tool located on the end gantry operation structure is unloaded and hung to the gantry through the gantry + unmanned aerial vehicle + unmanned vehicle + operating machine mode.

[0217] ② Hang to the storage products of the portal, through two modes, transfer to the scheduling function of the grid slot longitudinal portal operation storage unit in the grid slot longitudinal portal operation belt, including the following sub-functions:

[0218] 1) Through the portal on the grid slot longitudinal portal operation belt, the optimal scheduling function of the matching grid slot longitudinal portal operation storage unit.

[0219] 2) The storage products on the portal are transferred to the wheel + belt + track three types of transport tools mode on the belt axis transport communication structure, and are transferred to the belt axis transport communication structure storage location; and then through the portal + unmanned aerial vehicle + unmanned vehicle + operating machine mode, the scheduling function of the matching grid slot longitudinal portal operation storage unit is operated.

[0220] The scheduling function of the end portal hoisting and shipping optimization scheduling model for product shipping:

[0221] ① The shipping products in the grid slot longitudinal portal operation storage unit are transferred to the vicinity of the end portal operation structure location by two modes:

[0222] 1) The shipping products in the grid slot longitudinal portal operation storage unit of the grid slot longitudinal portal operation belt are directly transported to the vicinity of the end portal operation structure location by the portal + unmanned aerial vehicle + unmanned vehicle + operating machine mode.

[0223] 2) The shipping products in the grid slot longitudinal portal operation storage unit of the grid slot longitudinal portal operation belt are transferred to the belt axis transport communication structure shipping location by the portal + unmanned aerial vehicle + unmanned vehicle + operating machine mode; and then the scheduling function of the wheel + belt + track three types of transport tools mode on the belt axis transport communication structure is transferred to the vicinity of the end portal operation structure location.

[0224] ② The scheduling function of hoisting and installing the shipping products to the external transport tools on the end portal operation structure by the portal + unmanned aerial vehicle + unmanned vehicle + operating machine mode.

[0225] The anti-floating scheduling function of the sinking grid slot warehouse structure is based on the sinking grid slot warehouse structure anti-floating scheduling model to form the following basic scheduling functions:

[0226] ① For the storage of heavy loads in the grid slot longitudinal portal operation storage unit, to avoid uneven load on the bottom plate, to avoid local low load or empty load to form anti-floating damage to the bottom plate, the scheduling function of transferring the heavy load articles between the specific grid slot longitudinal portal operation storage units is performed.

[0227] ②For the low load or no load generated in the longitudinal slot longitudinal gantry operation storage unit, how to avoid the scheduling function of anti-floating damage to the bottom plate through water injection loading. The above is only the preferred embodiment of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various changes and variations. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A heavy-duty intelligent storage device for items, characterized in that, include: The sunken grid-type warehouse structure adopts a deep-submersible or semi-submersible design based on the characteristics of the stored items. The interior is divided into different storage areas according to the category of items, while creating a crisscrossing mobile channel for hoisting equipment, transport vehicles, and transport vehicles. Among them, the transport vehicles include three types of transport vehicles: wheeled, belt-driven, and rail-mounted. A sunken grid-type trough warehouse is equipped with photovoltaic power generation and energy storage equipment on its roof. In the horizontal and vertical directions of the sunken grid-type trough warehouse structure, non-gantry transport channels for heavy-duty goods are arranged in an integrated manner. These channels can be arbitrarily combined with wheeled, belt, and rail channels to adapt to wheeled, belt, and rail transport vehicles. The transverse transport and connection structure of the grid is compatible with the sunken grid-type warehouse structure, and is used to realize the transport and connection of items in the transverse direction of each grid in the warehouse. The ribbon-shaped axis transport and connection structure works in conjunction with the sunken grid-type warehouse structure to realize the transport and connection of goods along the ribbon-shaped axis of the warehouse.

2. The intelligent storage device for heavy-duty items as described in claim 1, characterized in that, The sunken grid-type trough warehouse structure includes two basic structures: a sunken rectangular grid-type trough warehouse structure and a sunken strip-shaped grid-type trough warehouse structure. The sunken rectangular grid-type warehouse structure is a rectangular structure with two sets of directional routes: a longitudinal route for transporting goods out of the rectangular grid trough, corresponding to the direction of the gantry's movement along the track, and in a straight line; and a transverse route for transporting goods through the rectangular grid trough, corresponding to the direction perpendicular to the direction of the gantry's movement along the track, and in a straight line. Along the transverse route of the rectangular grid trough transport, the sunken rectangular grid-type warehouse structure forms multiple sets of grid longitudinal gantry operation zones according to the width of the gantry used. Along the longitudinal route for transporting goods out of the rectangular grid trough, the grid longitudinal gantry operation zone is divided into one or more standard grid longitudinal gantry operation zones. When the grid longitudinal gantry operation zone is in one group (i.e., not grouped), it is also considered as one standard grid longitudinal gantry operation zone. The standard grid longitudinal gantry operation zone is further subdivided to form distributed, independent grid longitudinal gantry operation storage units: within the standard grid longitudinal gantry operation zone, further subdivision is carried out along the longitudinal route for transporting goods out of the rectangular grid trough, and this subdivision is repeated alternately. The sunken strip-shaped grid trough warehouse structure is a strip structure with two sets of routes: a longitudinal route for transporting goods out of the strip-shaped grid trough, corresponding to the direction of the gantry along the track, which is a straight line or a smooth curve. When it is a curve, the curve of the longitudinal route for transporting goods out of the strip-shaped grid trough must meet the technical requirements of the axis of the gantry translation track conforming to the curve of the railway track axis; and a transverse route for transporting goods through the strip-shaped grid trough, corresponding to the direction of the gantry track perpendicular to the direction of the track, which is a straight line or a smooth curve.

3. The intelligent storage device for heavy-duty items as described in claim 1, characterized in that, The sunken grid-type warehouse structure forms multiple sets of grid longitudinal gantry operation belts along the longitudinal route of the strip-shaped grid trough, according to the width of the gantry used. Within each set of grid longitudinal gantry operation belts, a set of strip-shaped axis transport connection structures serving as transport channels is arranged along the longitudinal route of the strip-shaped grid trough. Along the longitudinal route of the strip-shaped grid trough, the grid longitudinal gantry operation belt is divided into one or more sets of grid longitudinal gantry operation standard zones. When the grid longitudinal gantry operation belt is a set, it is considered as a set of grid longitudinal gantry operation standard zones even without grouping. When the strip-shaped axis transport connection structure passes through the middle of each set of grid longitudinal gantry operation standard zones, it is cut into two grid longitudinal gantry operation standard sub-zones along the longitudinal route of the strip-shaped grid trough. When the strip-shaped axis transport connection structure does not pass through the middle of each set of grid longitudinal gantry operation standard zones, the remaining area is cut into one grid longitudinal gantry operation standard sub-zone. The standard sub-strip for longitudinal gantry operation of the grid groove is subdivided into storage units for longitudinal gantry operation in the following manner: the sub-strip is further subdivided along the longitudinal route of the strip-shaped grid groove, or the sub-strip is further subdivided along the longitudinal route of the strip-shaped grid groove within the standard sub-strip for longitudinal gantry operation of the grid groove; the two modes are subdivided alternately to finally form the storage unit for longitudinal gantry operation of the grid groove.

4. The intelligent storage device for heavy-duty items as described in claim 3, characterized in that, The storage unit partition pressure-bearing walls located at the edge of the longitudinal transport route of the rectangular grid trough in the sunken rectangular grid trough warehouse structure, or at the edge of the longitudinal transport route of the strip grid trough in the sunken strip grid trough warehouse structure, are defined as the outer longitudinal wall of the storage unit partition pressure-bearing wall. All storage unit partition pressure-bearing walls along the longitudinal transport route of the rectangular grid trough or the longitudinal transport route of the strip grid trough, except for the outer longitudinal wall, are defined as the inner longitudinal wall of the storage unit partition pressure-bearing wall. The center line of the top surface of the outer longitudinal wall of the storage unit partition pressure-bearing wall overlaps with the center line of the gantry rail. The top surface of the inner longitudinal wall of the storage unit partition pressure-bearing wall is provided with brackets, and two sets of gantry rails are placed on both sides of the center line of the brackets. All storage unit partition pressure-bearing walls along the transverse transport route of the rectangular grid trough or the transverse transport route of the strip grid trough are defined as the transverse wall of the storage unit partition pressure-bearing wall.

5. The intelligent storage device for heavy-duty items as described in claim 1, characterized in that, The sunken grid-type trough warehouse structure is a grid-type open trough-shaped storage structure that is sunken underground, and it forms an independent grid-type longitudinal gantry-operated storage unit. Different grid-type longitudinal gantry-operated storage units are separated by storage unit partition pressure walls. The storage unit partition pressure walls adopt the form of gravity wall structure and pile beam structure, with the bottom of the wall 2 to 4 meters below the ground surface and the top of the wall 2 to 3 meters above the ground surface.

6. The intelligent storage device for heavy-duty items as described in claim 1, characterized in that, The sunken grid-type trough warehouse structure is equipped with a uniform sunken grid-type trough warehouse floor structure, which meets the site's groundwater anti-buoyancy requirements. Specifically, when the sunken rectangular grid-type trough warehouse structure is located at the end face of the longitudinal route of the rectangular grid trough, or when the sunken strip-shaped grid-type trough warehouse structure is located at one of the two end faces of the longitudinal route of the strip-shaped grid trough, the following two sets of structures are formed: The end gantry hoisting structure is formed by the storage unit separating the pressure-bearing outer longitudinal wall and the storage unit separating the pressure-bearing inner longitudinal wall extending outward to form the gantry hoisting device space, and is constituted by supporting the operation of the gantry hoisting device space; The end gantry operation structure consists of a set of adjacent but disconnected end longitudinal walls for separating storage units, arranged outwards from the outer and inner longitudinal walls for separating storage units. The bottom of the end longitudinal walls for separating storage units is not flush with the outer and inner longitudinal walls for separating storage units. An end gantry operation base is installed at the bottom of the end longitudinal walls for separating storage units. The main body is composed of the end longitudinal walls for separating storage units and the end gantry operation base. The end gantry operation base of the end longitudinal walls for separating storage units can move along the transverse route of the rectangular grid trough or the transverse route of the strip grid trough on the end face of the sunken grid-type warehouse structure, so that the gantry can switch along the longitudinal route of the rectangular grid trough or the longitudinal route of the strip grid trough on different sets of longitudinal gantry operation standard belts.

7. The intelligent storage device for heavy-duty items as described in claim 1, characterized in that, The transverse transport connection structure of the grid is a transverse transport channel distributed between the standard zones of the longitudinal gantry operation of the grid, used to realize the transport of heavy loads between the sunken grid-type warehouse structure and the outside, as well as between the interior of the sunken grid-type warehouse structure; the "transverse transport connection structure of the grid" is divided into the following three types of transport structures: Grid transverse wheeled transport connection structure: a structural system that supports wheeled transport vehicles and transports heavy loads according to the transverse transport routes of rectangular grid grooves or strip grid grooves; Grid transverse belt transport connection structure: A structural system that supports belt transport vehicles and transports heavy loads according to the transverse transport route of rectangular grid grooves or the transverse transport route of strip grid grooves; Grid transverse rail transport connection structure: A structural system that supports rail transport vehicles and transports heavy loads by transverse routes of rectangular grid grooves or strip grid grooves.

8. The intelligent storage device for heavy-duty items as described in claim 1, characterized in that, The strip-shaped axis transport connection structure is a longitudinal transport channel distributed within the longitudinal gantry conveyor belt of the grid, used to realize the longitudinal transport of heavy loads; the strip-shaped axis transport connection structure is specifically divided into the following three types of transport structures: Strip-shaped axle wheeled transport connection structure: a structural system that supports wheeled transport vehicles and transports heavy loads according to the longitudinal route of rectangular grid grooves or strip-shaped grid grooves. Belt-type axis transport connection structure: A structural system that supports belt-type transport vehicles and transports heavy loads according to the longitudinal route of rectangular grid channels or the longitudinal route of belt-type grid channels; Strip-shaped axis rail-type transport connection structure: a structural system that supports rail transport vehicles and transports heavy loads according to the longitudinal route of rectangular grid groove or strip-shaped grid groove.

9. A heavy-duty intelligent storage system for goods, characterized in that, The system is a digital and intelligent warehousing system built on a 3D model of the work scenario, integrating management, storage, hoisting, and handling of heavy-duty items. It consists of the following parts: Hardware facilities: sunken grid-type trough-type storage plant, intelligent hoisting and transportation equipment, storage plant and related work environment sites; Model System: The physical object of the stored item is a 3D digital twin model, including a basic model and an evolution model; the basic model uses 3D modeling technology to holographically map and abstractly represent the real scene; the evolution model builds a professional working model based on the basic model and the specific requirements. Scheduling model: A scheduling model generated based on warehouse operation processes; Management and control section: An intelligent management and control section that integrates the entire process of management, storage, hoisting, and handling, based on a scheduling model; Management and Operation: Utilizing 3D spatial intelligent management technology and tools, intelligent scheduling, management, and control operations are performed on heavy-duty items from warehousing to warehousing, covering spatial hoisting, intelligent storage with dynamic optimization of classification, and intelligent loading; heavy-duty items include irregularly shaped, block-shaped, block-shaped, column-shaped, sheet-shaped, strip-shaped, and pipe-shaped items; The intelligent management and scheduling control system for digital warehousing mainly has two working modes: the hoisting, loading, unloading, and placement of heavy-duty items in the warehouse adopts an unmanned gantry crane system using gantry cranes, drones, unmanned vehicles, and operating machines; the handling and inbound / outbound transportation within the warehouse adopts a matching three types of transport vehicles: wheeled, belt, and rail.

10. The intelligent storage system for heavy-duty items as described in claim 9, characterized in that, The unmanned gantry crane system, as the main equipment for intelligent warehousing, includes a gantry crane responsible for hoisting, drones responsible for inspection, assisting in the installation of lifting equipment and handling small items, as well as unmanned vehicles and operating machines. During the hoisting, unloading, and transportation of heavy-duty items, the intelligent management and scheduling control system, based on the task settings and supported by a three-dimensional basic model and working scenario, selects and matches gantry cranes, drones, unmanned vehicles, and operating machines as needed to collaboratively complete the intelligent operation of hoisting, loading and unloading, and handling into position. Wheeled, belt, and rail transport vehicles are categorized into two main types: on-site and off-site, and are referred to as transport and transportation respectively. The transport category refers to the transport of goods between the factory area and warehouses, as well as within warehouses, using unmanned intelligent transport equipment and being dispatched and controlled by a digital intelligent warehousing management and dispatch control system. The transportation category refers to various off-site transport vehicles.

Images