Article delivery system

Abstract

The present application provides an article transportation system, which includes at least one storage and retrieval vehicle and at least one transport vehicle. A first drive assembly is provided on each storage and retrieval vehicle, and a second drive assembly is provided on each transport vehicle. The first drive assembly is used to drive the storage and retrieval vehicle to move on a preset plane and vertically, and the second drive assembly is used to drive the transport vehicle to move on the preset plane. A transfer assembly is provided on the storage and retrieval vehicle or the transport vehicle. The transfer assembly is used to transfer an article from one of the storage and retrieval vehicle and the transport vehicle to the other when they move to the same position. The storage and retrieval vehicle and the transport vehicle can complete the docking of the article, can quickly complete the transfer of the article, and can quickly pick or place the article again, which can reduce the time consumed for article picking and transportation and improve the transportation efficiency of the article. The docking positions are diverse, the efficiency of article transfer is high, and the efficiency of article transportation is high.

Description

Technical Field

[0001] This application relates to the field of logistics technologies, and particularly to an article transportation system. Background Art

[0002] With the rapid development of the logistics industry, the transportation and picking of goods and other articles are important processes in the logistics industry. Currently, an article transportation system is provided, which can achieve the transportation of articles. Specifically, articles are obtained through the article transportation system and then transported to a designated location, such as a place to be packed or a vehicle that needs to transport the articles.

[0003] In the prior art, in the field of warehousing, the article transportation system consists of a shelf, a horizontal straight shuttle car, a lift, and a conveyor line. Among them, the shelf includes multiple shelf unit layers, and each shelf unit layer is provided with a horizontal track. The horizontal straight shuttle car can travel on the horizontal track and is used to perform the incoming and outgoing operations of articles. Taking the outgoing operation as an example, when receiving an outgoing instruction, the horizontal straight shuttle car runs to the designated storage location, takes out the article using its own forklift, and then travels towards the position of the lift on this layer and requests scheduling services. The lift responds to this scheduling service request, moves vertically to this layer, and then completes the article handover with the horizontal straight shuttle car. Then, the lift transports the article to the conveyor line, and the conveyor line transports the article to an external picking table. In this article transportation system, the horizontal straight shuttle car generally can only run on one shelf unit layer. If it needs to change layers, it needs to rely on a lift to achieve the switching between different shelf unit layers.

[0004] For the article transportation system adopting the above technology, in the links where the horizontal straight shuttle car completes the article handover with the help of the lift and the horizontal straight shuttle car switches the shelf unit layer, it takes time and has poor flexibility. When the incoming and outgoing operations are frequent, it is easy to cause congestion. Coupled with the waiting time of service equipment, the operation time increases, which in turn affects the overall throughput of the warehousing system. On the other hand, this prior art requires the use of auxiliary equipment such as lifts and conveyor lines, and the cost of spending and maintenance is relatively high. Summary of the Invention

[0005] This application provides an article transportation system to solve the problems of long time consumption and low transportation efficiency in the process of completing article picking and transportation.

[0006] In a first aspect, this application provides an article transportation system, including:

[0007] At least one access vehicle and at least one transport vehicle;

[0008] A first driving component is arranged on each of the access vehicles, and a second driving component is arranged on each of the transport vehicles;

[0009] The first driving assembly is used to drive the access vehicle to move on a preset plane and vertically, and the second driving assembly is used to drive the transport vehicle to move on the preset plane;

[0010] A conveying assembly is provided on the access vehicle or the transport vehicle; the conveying assembly is used to transfer an item from one of the access vehicle and the transport vehicle to the other when the access vehicle and the transport vehicle move to the same position.

[0011] Further, the conveying assembly is located on the access vehicle;

[0012] The access vehicle includes a first vehicle body, and the first driving assembly is located on the first vehicle body; a first control assembly is further provided on the first vehicle body, and the first control assembly is connected to the conveying assembly;

[0013] The first control assembly is used to control the conveying assembly to transfer an item to the transport vehicle at the same position as the access vehicle, or obtain the item from the transport vehicle at the same position as the access vehicle.

[0014] Further, the conveying assembly is an extending member;

[0015] The first control assembly is specifically used to control the extension and / or retraction of the extending member.

[0016] Further, a horizontal slide rail is provided at the upper end of the first vehicle body, the lower surface of the extending member is slidably connected to the horizontal slide rail, and the upper surface of the extending member is flat.

[0017] Further, the conveying assembly is a clamping member;

[0018] The first control assembly is specifically used to control the clamping and / or loosening of the clamping member.

[0019] Further, a navigation assembly is further provided on the first vehicle body, and the navigation assembly and the first driving assembly are respectively connected to the first control assembly;

[0020] The first control assembly is used to obtain the navigation information detected by the navigation assembly and send a driving signal to the first driving assembly according to the navigation information.

[0021] Further, a bearing member is provided on the transport vehicle;

[0022] The bearing member is used to bear an item, or the bearing member is used to receive the item on the conveying assembly.

[0023] Further, the transport vehicle includes a second vehicle body, and the bearing member is located on the second vehicle body;

[0024] A lifting assembly and a second control assembly are further provided on the second vehicle body. The carrier is located at the top of the lifting assembly, and the second control assembly is connected to the lifting assembly;

[0025] The lifting assembly is used to rise and / or fall under the control of the second control assembly to drive the rise and / or fall of the carrier.

[0026] Further, the carrier includes a first recessed portion and a second recessed portion. A first boss is respectively provided on a pair of opposite edges of the first recessed portion, and a second boss is respectively provided on a pair of opposite edges of the second recessed portion. The central axis of the first boss is parallel to the central axis of the second boss.

[0027] Further, the same position is located in any area outside the aisle of the shelf.

[0028] Further, the system further includes: a shelf; each of the access vehicles is used to perform vertical walking on the shelf.

[0029] The article transportation system provided by the present application provides an article transportation system composed of at least one access vehicle and at least one transport vehicle. A first drive assembly is provided on each access vehicle, and a second drive assembly is provided on each transport vehicle; the first drive assembly is used to drive the access vehicle to walk on a preset plane and vertically, and the second drive assembly is used to drive the transport vehicle to walk on the preset plane; a transfer assembly is provided on the access vehicle or the transport vehicle; the transfer assembly is used to transfer an article from one of the access vehicle and the transport vehicle to the other when the access vehicle and the transport vehicle walk to the same position. Any access vehicle walks on a preset plane and vertically, and any transport vehicle walks on the preset plane. When the access vehicle and the transport vehicle walk to the same position, the transfer assembly on the access vehicle or the transport vehicle transfers the article. Through the above process, the docking of articles can be completed between the access vehicle and the transport vehicle, the transfer of articles can be completed relatively quickly, and then the access vehicle and the transport vehicle can pick up or place articles again relatively quickly, which can reduce the time consumed for article picking and transportation and improve the transportation efficiency of articles. Moreover, any access vehicle and any transport vehicle can be docked at any position on the preset plane to realize the transfer of articles; due to the diverse docking positions, the efficiency of article transfer is relatively high, and thus the efficiency of article transportation is relatively high; the docking and transportation methods are very flexible. Description of the Drawings

[0030] The drawings here are incorporated into the specification and constitute a part of this specification, showing the embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0031] Figure 1 Schematic structural diagram of an article transportation system provided by an embodiment of the present application;

[0032] Figure 2 Schematic structural diagram of a storage and retrieval vehicle in an article transportation system provided by an embodiment of the present application;

[0033] Figure 3 Schematic structural diagram of a transport vehicle in an article transportation system provided by an embodiment of the present application;

[0034] Figure 4 Schematic diagram of article transfer in an article transportation system provided by an embodiment of the present application;

[0035] Figure 5 Schematic structural diagram of another article transportation system provided by an embodiment of the present application;

[0036] Figure 6 Schematic diagram of the structure of a storage and retrieval vehicle in another article transportation system provided by an embodiment of the present application Figure 1 ;

[0037] Figure 7 Schematic diagram of the structure of a storage and retrieval vehicle in another article transportation system provided by an embodiment of the present application Figure 2 ;

[0038] Figure 8 Schematic diagram of the structure of a transport vehicle in another article transportation system provided by an embodiment of the present application Figure 1 ;

[0039] Figure 9 Schematic diagram of the structure of a transport vehicle in another article transportation system provided by an embodiment of the present application Figure 2 ;

[0040] Figure 10 Schematic diagram of the structure of a transport vehicle in another article transportation system provided by an embodiment of the present application Figure 3 ;

[0041] Figure 11 Schematic structural diagram of yet another article transportation system provided by an embodiment of the present application.

[0042] Through the above-mentioned drawings, specific embodiments of the present application have been shown, and more detailed descriptions will be provided later. These drawings and written descriptions are not intended to limit the scope of the concept of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments.

[0043] Reference numerals:

[0044] 1 - Storage and retrieval vehicle;

[0045] 2 - Transport vehicle;

[0046] 3 - Transfer component;

[0047] 4 - First wheel structure;

[0048] 5 - Second wheel structure;

[0049] 6 - Shelf;

[0050] 7 - First vehicle body;

[0051] 8 - First control component;

[0052] 9 - First speed - limiting component;

[0053] 10 - Navigation component;

[0054] 11 - First power - supply component;

[0055] 12 - Wheel assembly;

[0056] 13 - Climbing component;

[0057] 14 - Second vehicle body;

[0058] 15 - Lifting component;

[0059] 16 - Carrier;

[0060] 17 - First recess;

[0061] 18 - Second recess;

[0062] 19 - First boss;

[0063] 20 - Second boss;

[0064] 21 - Picking device;

[0065] 22 - Conveying device. Detailed implementation manners

[0066] Here, exemplary embodiments will be described in detail, and the examples are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present application. On the contrary, they are merely examples of systems and methods consistent with some aspects of the present application as detailed in the appended claims.

[0067] The specific application scenario of this application is as follows: With the rapid development of the logistics industry, the transportation and picking of goods and other items are important processes in the logistics industry. Now, an item transportation system is provided, which can realize the picking of items. Specifically, items are obtained through the item transportation system and then transported to a designated location, such as a place to be packed or onto a vehicle that needs to transport the items.

[0068] In the prior art, various item transportation systems are provided.

[0069] In the prior art, in the warehousing field, the item transportation system consists of a shelf, a horizontal straight shuttle vehicle, a lifter, and a conveyor line. Among them, the shelf includes multiple shelf unit layers, and each shelf unit layer is provided with a horizontal track. The horizontal straight shuttle vehicle can travel on the horizontal track and is used to perform the incoming and outgoing operations of items. Taking the outgoing operation as an example, when receiving an outgoing instruction, the horizontal straight shuttle vehicle runs to the designated storage location, takes out the item using its own forklift, and then travels towards the lifter position on this layer and requests scheduling services. The lifter responds to this scheduling service request, moves vertically to this layer, and then completes the item handover with the horizontal straight shuttle vehicle. Then, the lifter transports the item to the conveyor line, and the conveyor line transports the item to an external picking table. In this item transportation system, the horizontal straight shuttle vehicle generally can only run on one shelf unit layer. If it needs to change layers, it needs to rely on a lift to achieve the switching between different shelf unit layers.

[0070] However, in the above method, in the links where the horizontal straight shuttle vehicle completes the item handover with the help of the lifter and where the horizontal straight shuttle vehicle switches the shelf unit layer, both require time-consuming, and the driving trajectory is very rigid, resulting in poor flexibility. When the incoming and outgoing operations are frequent, it is easy to cause congestion. Coupled with the waiting time of the service equipment, the operation time increases, which in turn affects the overall throughput of the warehousing system. On the other hand, this prior art requires the use of auxiliary equipment such as lifters and conveyor lines, and the cost of spending and maintenance is relatively high.

[0071] The second item transportation system: It consists of at least one automated guided vehicle. Shelves can be arranged, and the height of the shelves is relatively low. For example, the height of the shelves is only 2.3 meters. Items are manually carried from the shelves and manually placed on the automated guided vehicle; then, the automated guided vehicle transports the items. Or, the automated guided vehicle transports the items to the location where the shelves are located, and then, the items on the automated guided vehicle are manually placed on the shelves.

[0072] However, in the above method, manual handling of items is required, which consumes a large amount of human resources and has a high cost; moreover, the method of manually handling items has low efficiency, resulting in low efficiency of item transportation.

[0073] The article delivery system provided by this application aims to solve the above technical problems in the prior art.

[0074] The following uses specific embodiments to elaborate in detail on the technical solution of this application and how the technical solution of this application solves the above technical problems. These several specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The following will describe the embodiments of this application in conjunction with the accompanying drawings.

[0075] Figure 1 It is a schematic structural diagram of an article delivery system provided by an embodiment of this application. Figure 2 It is a schematic structural diagram of a storage and retrieval vehicle in an article delivery system provided by an embodiment of this application. Figure 3 It is a schematic structural diagram of a transport vehicle in an article delivery system provided by an embodiment of this application. As Figures 1 - 3 shown, the article delivery system includes at least one storage and retrieval vehicle 1 and at least one transport vehicle 2.

[0076] A first drive assembly is provided on each storage and retrieval vehicle 1, and a second drive assembly is provided on each transport vehicle 2.

[0077] The first drive assembly is used to drive the storage and retrieval vehicle 1 to move on a preset plane and vertically, and the second drive assembly is used to drive the transport vehicle 2 to move on a preset plane.

[0078] A transfer assembly 3 is provided on the storage and retrieval vehicle 1 or the transport vehicle 2; the transfer assembly 3 is used to transfer an article from one of the storage and retrieval vehicle 1 and the transport vehicle 2 to the other when the storage and retrieval vehicle 1 and the transport vehicle 2 move to the same position.

[0079] Exemplarily, an article delivery system composed of at least one storage and retrieval vehicle 1 and at least one transport vehicle 2 is provided.

[0080] For each storage and retrieval vehicle 1, a first drive assembly and a first wheel structure 4 are provided on the storage and retrieval vehicle 1. Among them, the first drive assembly can select existing drive devices or drive assemblies, and the first wheel structure 4 can move on a preset plane and vertically; thus, the first drive assembly can drive the first wheel structure 4 to move, and then drive the storage and retrieval vehicle 1 to move on a preset plane or vertically. Optionally, the storage and retrieval vehicle 1 can adopt a climbable shelf robot; the climbable shelf robot can climb on the shelf, and then the climbable shelf robot can climb vertically; the climbable shelf robot can descend to the aisle of the shelf, and then, the climbable shelf robot docks with the transport vehicle 2 on the aisle to transfer articles.

[0081] For each transport vehicle 2, a second drive assembly and a second wheel structure 5 are provided on the transport vehicle 2. Among them, the second drive assembly can select existing drive devices or drive assemblies, and the second wheel structure 5 can move on a preset plane. Thus, the second drive assembly can drive the second wheel structure 5 to move, and further drive the transport vehicle 2 to move on the preset plane.

[0082] In this application, "vertical direction" refers to the vertical direction in physics, including but not limited to the vertical direction and the vertical direction with a certain inclination angle. The "preset plane" refers to a plane in physics, but the altitude of the preset plane in physics is not limited. And the preset plane can be a completely flat plane or a plane with certain concavities and convexities.

[0083] The storage and retrieval vehicle 1 and the transport vehicle 2 can realize the function of item transfer.

[0084] A transfer assembly 3 can be provided on the storage and retrieval vehicle 1. When a storage and retrieval vehicle 1 and a transport vehicle 2 move to the same position, the transfer assembly 3 on the storage and retrieval vehicle 1 can transfer the items on the storage and retrieval vehicle 1 to the transport vehicle 2; or, the transfer assembly 3 on the storage and retrieval vehicle 1 can pick up the items on the transport vehicle 2 and then place them on the current storage and retrieval vehicle 1.

[0085] Alternatively, a transfer assembly 3 can be provided on the transport vehicle 2. When a storage and retrieval vehicle 1 and a transport vehicle 2 move to the same position, the transfer assembly 3 on the transport vehicle 2 can transfer the items on the transport vehicle 2 to the storage and retrieval vehicle 1; or, the transfer assembly 3 on the transport vehicle 2 can pick up the items on the storage and retrieval vehicle 1 and then place them on the current transport vehicle 2.

[0086] In this application, the above item transfer process can be realized between any storage and retrieval vehicle 1 and any transport vehicle 2. And between any storage and retrieval vehicle 1 and any transport vehicle 2, the above item transfer process can be completed at any position on any preset plane. And any storage and retrieval vehicle 1 can move along a straight line or a curve on the preset plane, and any transport vehicle 2 can move along a straight line or a curve on the preset plane.

[0087] For example, Figure 4 is a schematic diagram of item transfer in an item transportation system provided by an embodiment of this application, as Figure 4 shown, and reference can be made to Figure 11As shown, since the first driving component can drive the storage and retrieval vehicle 1 to move vertically, a vertical track can be provided vertically on the shelf 6, so that the storage and retrieval vehicle 1 can move vertically on the vertical track of the shelf 6, that is, the storage and retrieval vehicle 1 can move up and down on the vertical track of the shelf 6; after the storage and retrieval vehicle 1 obtains an item from the shelf 6, the storage and retrieval vehicle 1 leaves the shelf 6, the storage and retrieval vehicle 1 moves on the ground, and then the storage and retrieval vehicle 1 moves to a certain position on the ground; at this time, the transport vehicle 2 moves on the ground to this position; then, the transfer component 3 can transfer the item from the storage and retrieval vehicle 1 to the transport vehicle 2.

[0088] For another example, the storage and retrieval vehicle 1 moves on the ground and then moves to a certain position on the ground; at this time, the transport vehicle 2 also moves to this position; then, the transfer component 3 can transfer the item from the transport vehicle 2 to the storage and retrieval vehicle 1; then, the storage and retrieval vehicle 1 can move vertically on the vertical track of the shelf 6, and then the storage and retrieval vehicle 1 places the item on the shelf 6.

[0089] For another example, the storage and retrieval vehicle 1 can move vertically on the track of the shelf 6; after the storage and retrieval vehicle 1 obtains an item from the shelf 6, since a top track is also provided at the top of the shelf 6, the storage and retrieval vehicle 1 can move on the top track. Then, the storage and retrieval vehicle 1 moves to a certain position on the top track. At this time, the transport vehicle 2 can also move on the top track to this position, and then the item transfer is completed; or, after the storage and retrieval vehicle 1 moves on the top track, the storage and retrieval vehicle 1 leaves the shelf 6, and the storage and retrieval vehicle 1 moves on a plane to a certain position. At this time, the transport vehicle 2 also moves to this position, and then the item transfer is completed.

[0090] For another example, the storage and retrieval vehicle 1 moves to a certain position on the top track. At this time, the transport vehicle 2 can also move on the top track to this position. Then, the transfer component 3 transfers the item from the transport vehicle 2 to the storage and retrieval vehicle 1; or, the storage and retrieval vehicle 1 moves on a plane to a certain position. At this time, the transport vehicle 2 also moves to this position. Then, the transfer component 3 transfers the item from the transport vehicle 2 to the storage and retrieval vehicle 1. Then, the storage and retrieval vehicle 1 moves on the top track. Then, the storage and retrieval vehicle 1 can move vertically on the track of the shelf 6; the storage and retrieval vehicle 1 places the item on the shelf 6.

[0091] In this embodiment, an article transportation system composed of at least one storage and retrieval vehicle 1 and at least one transport vehicle 2 is provided. A first drive assembly is provided on each storage and retrieval vehicle 1, and a second drive assembly is provided on each transport vehicle 2. The first drive assembly is used to drive the storage and retrieval vehicle 1 to move on a preset plane and vertically, and the second drive assembly is used to drive the transport vehicle 2 to move on the preset plane. A transfer assembly 3 is provided on the storage and retrieval vehicle 1 or the transport vehicle 2. The transfer assembly 3 is used to transfer an article from one of the storage and retrieval vehicle 1 and the transport vehicle 2 to the other when the storage and retrieval vehicle 1 and the transport vehicle 2 move to the same position. Any storage and retrieval vehicle 1 moves on a preset plane and vertically, and any transport vehicle 2 moves on the preset plane. When the storage and retrieval vehicle 1 and the transport vehicle 2 move to the same position, the transfer assembly 3 on the storage and retrieval vehicle 1 or the transport vehicle 2 transfers the article. Through the above process, the docking of articles between the storage and retrieval vehicle 1 and the transport vehicle 2 can be completed, and the transfer of articles can be completed relatively quickly. Furthermore, the storage and retrieval vehicle 1 and the transport vehicle 2 can pick up or place articles again relatively quickly, which can reduce the time consumed for article picking and transportation and improve the transportation efficiency of articles. Moreover, any storage and retrieval vehicle 1 and any transport vehicle 2 can be docked at any position on the preset plane to realize the transfer of articles. Since the docking positions are diverse, the efficiency of article transfer is relatively high, and thus the efficiency of article transportation is relatively high. The docking and transportation methods are very flexible.

[0092] Figure 5 It is a schematic structural diagram of another article transportation system provided by an embodiment of the present application. Figure 6 It is a schematic structural diagram of a storage and retrieval vehicle in another article transportation system provided by an embodiment of the present application. Figure 1 , Figure 7 It is a schematic structural diagram of a storage and retrieval vehicle in another article transportation system provided by an embodiment of the present application. Figure 2 , Figure 8 It is a schematic structural diagram of a transport vehicle in another article transportation system provided by an embodiment of the present application. Figure 1 , Figure 9 It is a schematic structural diagram of a transport vehicle in another article transportation system provided by an embodiment of the present application. Figure 2 ,

[0093] Figure 10 It is a schematic structural diagram of a transport vehicle in another article transportation system provided by an embodiment of the present application. Figure 3 , such as Figures 5 - 10 shown. On the basis of the embodiment shown in Figures 1 - 4 , in this article transportation system, the transfer assembly 3 is located on the storage and retrieval vehicle 1.

[0094] The storage and retrieval vehicle 1 includes a first vehicle body 7, and the first drive assembly is located on the first vehicle body 7. A first control assembly 8 is further provided on the first vehicle body 7, and the first control assembly 8 is connected to the transfer assembly 3.

[0095] The first control component 8 is used to control the transfer component 3 to transfer the article to the transport vehicle 2 located at the same position as the access vehicle 1, or to obtain the article from the transport vehicle 2 located at the same position as the access vehicle 1.

[0096] The transfer component 3 is a protruding member; the first control component 8 is specifically used to control the protrusion and / or retraction of the protruding member; a horizontal slide rail is provided at the upper end of the first vehicle body 7, the lower surface of the protruding member is slidably connected to the horizontal slide rail, and the upper surface of the protruding member is flat. Alternatively, the transfer component 3 is a clamping member; the first control component 8 is specifically used to control the clamping and / or loosening of the clamping member.

[0097] A navigation component 10 is further provided on the first vehicle body 7, and the navigation component 10 and the first drive component are respectively connected to the first control component 8.

[0098] The first control component 8 is used to obtain the navigation information detected by the navigation component 10 and send a drive signal to the first drive component according to the navigation information.

[0099] A bearing member 16 is provided on the transport vehicle 2; the bearing member 16 is used to bear the article, or the bearing member 16 is used to receive the article on the transfer component 3.

[0100] The transport vehicle 2 includes a second vehicle body 14, and the bearing member 16 is located on the second vehicle body 14.

[0101] A lifting component 15 and a second control component are further provided on the second vehicle body 14, the bearing member 16 is located at the top of the lifting component 15, and the second control component is connected to the lifting component 15.

[0102] The lifting component 15 is used to rise and / or fall under the control of the second control component to drive the bearing member 16 to rise and / or fall.

[0103] The bearing member 16 includes a first recess 17 and a second recess 18. First bosses 19 are respectively provided on a pair of opposite edges of the first recess 17, and second bosses 20 are respectively provided on a pair of opposite edges of the second recess 18. The central axis of the first boss 19 is parallel to the central axis of the second boss 20.

[0104] The same position is on any area outside the aisle of the shelf.

[0105] Exemplarily, when the vehicle access device 1 adopts a climbable shelf robot, the solution provided by the above embodiment can be implemented; however, due to the high cost of the climbable shelf robot, when the vehicle access device 1 adopts a climbable shelf robot, the cost of the article transportation system is relatively high; moreover, since the climbable shelf robot can only dock with the transport vehicle 2 on the aisle of the shelf, when docking, other transport vehicles 2 cannot travel in the aisle, which will cause congestion in the aisle and thus affect the transportation of articles. Therefore, for the vehicle access device 1, the structure provided by this embodiment can be adopted.

[0106] The structure of each vehicle access device 1 is introduced as follows. As Figures 6 - 7 shown, the vehicle access device 1 is composed of a first vehicle body 7, a first drive assembly, a first wheel structure 4, a first control assembly 8, a transfer assembly 3, a first speed limiting assembly 9, and a navigation assembly 10; that is, the transfer assembly 3 is located on the vehicle access device 1; the first drive assembly, the first wheel structure 4, the first control assembly 8, the transfer assembly 3, the first speed limiting assembly 9, and the navigation assembly 10 are all arranged on the first vehicle body 7; moreover, the first control assembly 8 is respectively connected to the first drive assembly, the transfer assembly 3, and the navigation assembly 10, and this connection includes electrical connection means and / or mechanical connection means, and the electrical connection means can be wired connection or wireless connection; the first drive assembly is connected to the first wheel structure 4.

[0107] Among them, a climbing assembly 13 and a wheel assembly 12 are arranged on the first wheel structure 4, and the climbing assembly 13 is used for vertical movement, and the wheel assembly 12 is used for movement on a preset plane.

[0108] A first motor is arranged on the wheel assembly 12, and among them, the first motor is connected to the first drive assembly; the first control assembly 8 can control the first motor through the first drive assembly, and further control the movement of the wheel assembly 12, so that the vehicle access device 1 can move on a preset plane; moreover, the first motor is connected to the first speed limiting assembly 9, and when the rotation speed of the first motor is too fast, the first speed limiting assembly 9 can limit the rotation speed of the first motor, and further reduce the traveling speed of the vehicle access device 1.

[0109] A second motor is arranged on the climbing assembly 13, and among them, the second motor is connected to the first drive assembly; the first control assembly 8 can control the second motor through the first drive assembly, and further control the movement of the climbing assembly 13, so that the vehicle access device 1 can move vertically, for example, climb or descend on the vertical track of the shelf 6; moreover, the second motor is connected to the first speed limiting assembly 9, and when the rotation speed of the second motor is too fast, the first speed limiting assembly 9 can limit the rotation speed of the second motor, and further reduce the climbing speed or descending speed of the vehicle access device 1.

[0110] Since a navigation component 10 can also be provided on the first vehicle body 7, and a plurality of two-dimensional codes are pasted on a preset plane, the two-dimensional codes are used to identify the current positions of the two-dimensional codes; the navigation component 10 can acquire the two-dimensional codes on the preset plane, and then the navigation component 10 can determine the position of the storage and retrieval vehicle 1 according to the two-dimensional codes, and then the navigation component 10 can generate navigation information, wherein the navigation component 10 can adopt a navigation device in the prior art; the navigation component 10 sends the navigation information to the first control component 8; thus, the first control component 8 can send a driving signal to the first driving component according to the navigation information, or the first control component 8 can send a driving signal to the first driving component according to the navigation information and a control instruction sent by a remote device; further, the first control component 8 drives the storage and retrieval vehicle 1 to move through the first driving component.

[0111] Moreover, when the storage and retrieval vehicle 1 and the transport vehicle 2 move to the same position, the first control component 8 controls the transfer component 3 to transfer the article to the transport vehicle 2 at the same position as the storage and retrieval vehicle 1; in addition, when the storage and retrieval vehicle 1 and the transport vehicle 2 move to the same position, the first control component 8 can also control the transfer component 3 to obtain the article from the transport vehicle 2 at the same position as the storage and retrieval vehicle 1 and place the article on the storage and retrieval vehicle 1.

[0112] The above-mentioned same position is on any area outside the aisle of the shelf 6. Since the shelf 6 is composed of a plurality of sub-shelves, aisles can be formed between the sub-shelves. When the storage and retrieval vehicle 1 leaves the shelf 6, the storage and retrieval vehicle 1 can move to any area outside the aisle, and then the storage and retrieval vehicle 1 arrives at a certain position. At this time, the transport vehicle 2 also moves to this position; then the storage and retrieval vehicle 1 and the transport vehicle 2 perform article transfer at this position. Since the article transfer between the storage and retrieval vehicle 1 and the transport vehicle 2 does not need to be carried out on the aisle of the shelf 6, the storage and retrieval vehicle 1 and the transport vehicle 2 can transfer articles at any position on the preset plane outside the aisle; thus, when the storage and retrieval vehicle 1 and the transport vehicle 2 transfer articles, it will not hinder the movement of other storage and retrieval vehicles 1 and other transport vehicles 2; other storage and retrieval vehicles 1 and other transport vehicles 2 do not need to wait for the completion of article transfer before moving; further, traffic congestion will not be caused, the movement efficiency of the storage and retrieval vehicle 1 and the transport vehicle 2 can be improved, and the article transfer efficiency can be improved. A first power supply component 11 can be provided on the first vehicle body 7, and the first power supply component 11 is respectively connected to the first control component 8 and the navigation component 10, and then the first power supply component 11 can supply power to the first control component 8 and the navigation component 10.

[0113] For the transfer component 3 of the storage and retrieval vehicle 1, the following several implementation manners are provided.

[0114] The first implementation of the transfer component 3. The transfer component 3 is a protruding member; a pair of parallel horizontal sliding rails can be provided at the upper end of the access vehicle 1, and the lower surface of the protruding member is slidably connected to the horizontal sliding rails, so that the protruding member can slide on the horizontal sliding rails; moreover, the upper surface of the protruding member is flat, so that items can be placed on the protruding member. Since the first control component 8 is connected to the protruding member, the first control component 8 can control the extension and / or retraction of the protruding member. Thus, the first control component 8 can control the protruding member to extend, then place the item on the protruding member onto the transport vehicle 2, and then, the first control component 8 can control the protruding member to retract. Or, the first control component 8 can control the protruding member to extend, then the first control component 8 can obtain the item on the transport vehicle 2, and then, the first control component 8 can control the protruding member to retract, thereby placing the item onto the access vehicle 1.

[0115] The second implementation of the transfer component 3. The transfer component 3 is a clamping member; since the first control component 8 is connected to the clamping member, the first control component 8 can control the clamping and / or loosening of the clamping member. Thus, the first control component 8 can control the clamping member to loosen, then place the item on the clamping member onto the transport vehicle 2, and then, the first control component 8 can control the clamping member to clamp. Or, the first control component 8 can control the clamping member to clamp, then the first control component 8 can obtain the item on the transport vehicle 2, and then, the first control component 8 can control the clamping member to loosen, thereby placing the item onto the access vehicle 1.

[0116] The structure of each transport vehicle 2 is introduced as follows. As Figures 8 - 10 shown, the transport vehicle 2 is composed of a second vehicle body 14, a second drive component, a second wheel structure 5, a second control component, a lifting component 15 and a bearing member 16; among them, the second drive component, the second wheel structure 5, the second control component, the lifting component 15 and the bearing member 16 are all arranged on the second vehicle body 14. The second control component is respectively connected to the second drive component and the lifting component 15, and this connection includes electrical connection methods and / or mechanical connection methods. The electrical connection method can be wired connection or wireless connection; the second drive component is connected to the second wheel structure 5.

[0117] Among them, a third motor is arranged on the second wheel structure 5, and among them, the third motor is connected to the second drive component; the second control component can control the third motor through the second drive component, thereby controlling the movement of the second wheel structure 5, so that the transport vehicle 2 can travel on a preset plane; moreover, the third motor is connected to the second speed limiting component. When the rotation speed of the third motor is too fast, the second speed limiting component can limit the rotation speed of the third motor, thereby reducing the traveling speed of the transport vehicle 2.

[0118] The lifting assembly 15 is located at the upper end of the second vehicle body 14, and the carrier 16 is arranged at the upper end of the lifting assembly 15; the carrier 16 is used to carry items, or the carrier 16 is used to receive items on the transfer assembly 3 of the storage and retrieval vehicle 1. Optionally, the carrier 16 is a tray. Specifically, as Figure 9 shown, the bottom of the carrier 16 is fixedly connected to the upper end of the lifting assembly 15. The carrier 16 includes a first recess 17 and a second recess 18. The first recess 17 has two pairs of opposite edges, and on one pair of the edges, first bosses 19 are respectively arranged. And the second recess 18 has two pairs of opposite edges, and on one pair of the edges, second bosses 20 are respectively arranged. And the central axis of the first boss 19 is parallel to the central axis of the second boss 20; thus, two items can be placed on the carrier 16 at the same time, that is, one item is placed on the first recess 17 and the other item is placed on the second recess 18. The second control assembly can control the lifting and / or lowering of the lifting assembly 15. Since the carrier 16 is located at the upper end of the lifting assembly 15, the lifting assembly 15 drives the carrier 16 to lift and / or lower; and then the carrier 16 is positionally docked with the transfer assembly 3.

[0119] A second power supply assembly can be arranged on the second vehicle body 14. The second power supply assembly is respectively connected to the second control assembly and the lifting assembly 15. Further, the second power supply assembly can supply power to the second control assembly and the lifting assembly 15.

[0120] Based on the above structure and connection relationship, when transporting items, it is divided into the following situations.

[0121] The first situation. The first control assembly 8 of the storage and retrieval vehicle 1 can control the second motor through the first drive assembly, and further control the movement of the climbing assembly 13, so that the storage and retrieval vehicle 1 can perform vertical walking on the shelf 6. At this time, the climbing assembly 13 is in line with the vertical track of the shelf 6. The storage and retrieval vehicle 1 can reach the position where the item is located.

[0122] Then, the first control assembly 8 of the storage and retrieval vehicle 1 can control the transfer assembly 3 to obtain the item on the shelf 6. For example, the transfer assembly 3 is an extending member, and the first controller controls the transfer assembly 3 to slide on the slide rail, so that the transfer assembly 3 can reach below the item, that is, the transfer assembly 3 is extended, as Figure 5 shown, and then the transfer assembly 3 supports the item; then, the first controller controls the transfer assembly 3 to slide on the slide rail again, so that the transfer assembly 3 slides above the storage and retrieval vehicle 1, that is, the transfer assembly 3 is retracted; thus, through the above process, the transfer assembly 3 lifts and supports the item. Among them, the transfer assembly 3 can obtain more than two items.

[0123] Then, the first control component 8 controls the second motor again through the first drive component, and further controls the movement of the climbing component 13, so that the storage and retrieval vehicle 1 can walk vertically on the shelf 6, and the storage and retrieval vehicle 1 leaves the shelf 6. For example, if the preset plane is the ground, the storage and retrieval vehicle 1 reaches the ground; or, if the preset plane is the top of the shelf 6, the storage and retrieval vehicle 1 reaches the top of the shelf 6; or, if the preset plane is a plane on the same plane as the top of the shelf 6, the storage and retrieval vehicle reaches this plane. Thus, after the storage and retrieval vehicle 1 obtains an item from the shelf 6, the storage and retrieval vehicle 1 leaves the shelf 6.

[0124] The navigation component 10 of the storage and retrieval vehicle 1 can navigate according to the two-dimensional code on the preset plane; further, the first control component 8 can control the first motor through the first drive component, and further control the movement of the wheel component 12, so that the storage and retrieval vehicle 1 can walk on the preset plane; then, the storage and retrieval vehicle 1 walks to a certain position on the preset plane.

[0125] At this time, the second control component of the transport vehicle 2 can also navigate the transport vehicle 2 through the two-dimensional code. During the navigation process, the second control component can control the third motor through the second drive component, and further control the movement of the second wheel structure 5, so that the transport vehicle 2 can walk on the preset plane. Then, the transport vehicle 2 and the storage and retrieval vehicle 1 arrive at the same position on the preset plane.

[0126] At this time, the second control component of the transport vehicle 2 controls the lifting component 15 to rise and / or fall, so that, as Figure 9 and Figure 10 shown, the carrier 16 on the lifting component 15 rises or falls, so that the upper surface of the carrier 16 is parallel to the upper surface of the conveying component 3 of the storage and retrieval vehicle 1; then, the first control component 8 of the storage and retrieval vehicle 1 controls the conveying component 3 to transfer the item to the transport vehicle 2. For example, the conveying component 3 is an extending member, and the first control component 8 of the storage and retrieval vehicle 1 controls the conveying component 3 to slide on the slide rail, and further the first control component 8 can control the conveying component 3 to extend, and the conveying component 3 drives the item to above the carrier 16; then, the first control component 8 of the storage and retrieval vehicle 1 controls the conveying component 3 to slide on the slide rail again, so that the conveying component 3 is retracted. At this time, the item on the conveying component 3 will fall onto the carrier 16. Thus, through the above process, the storage and retrieval vehicle 1 places the item on the conveying component 3 of the transport vehicle 2.

[0127] Then, the transport vehicle 2 can transport the item; the storage and retrieval vehicle 1 docked with the transport vehicle 2 can return to the shelf 6 again to perform item storage and placement.

[0128] Through the above process of the first case, the storage and retrieval vehicle 1 can place the item on the transport vehicle 2, and further, the item transfer and transportation between the storage and retrieval vehicle 1 and the transport vehicle 2 are completed.

[0129] The second case. The second control component of the transport vehicle 2 can also navigate the transport vehicle 2 through a two-dimensional code. During the navigation process, the second control component can drive the transport vehicle 2 to move on a preset plane through the second drive component. Then, the transport vehicle 2 moves to a certain position on the preset plane.

[0130] At this time, the navigation component 10 of the storage and retrieval vehicle 1 can navigate according to the two-dimensional code on the preset plane; furthermore, the first control component 8 can drive the storage and retrieval vehicle 1 to move on the preset plane through the first drive component; then, the storage and retrieval vehicle 1 and the storage and retrieval vehicle 1 arrive at the same position on the preset plane. For example, the preset plane is the ground, or the preset plane is the top of the shelf 6, and the preset plane is a plane that is in the same plane as the top of the shelf 6.

[0131] At this time, the second control component of the transport vehicle 2 controls the lifting component 15 to raise and / or lower the carrier 16, so that the upper surface of the carrier 16 is parallel to the upper surface of the transfer component 3 of the storage and retrieval vehicle 1. Then, the first control component 8 of the storage and retrieval vehicle 1 controls the transfer component 3 to obtain an item from the transport vehicle 2. For example, the transfer component 3 is an extension member, and the first control component 8 of the storage and retrieval vehicle 1 controls the transfer component 3 to slide on the slide rail, and then the first control component 8 can control the transfer component 3 to extend. The transfer component 3 extends below the item on the carrier 16, that is, the transfer component 3 is located between the item and the carrier 16; then, the first control component 8 of the storage and retrieval vehicle 1 controls the transfer component 3 to slide on the slide rail again, so that the transfer component 3 is retracted. At this time, the transfer component 3 lifts the item; then, the first control component 8 of the storage and retrieval vehicle 1 continues to control the transfer component 3 to be retracted, and the item will fall onto the storage and retrieval vehicle 1. Thus, through the above process, the storage and retrieval vehicle 1 picks up the item on the transport vehicle 2 onto the storage and retrieval vehicle 1.

[0132] Then, the transport vehicle 2 can continue to transport other items. And, the navigation component 10 of the storage and retrieval vehicle 1 can navigate again according to the two-dimensional code on the preset plane; the storage and retrieval vehicle 1 moves to the position where the shelf 6 is located.

[0133] Then, the first control component 8 of the storage and retrieval vehicle 1 controls the second motor through the first drive component, and then controls the movement of the climbing component 13, so that the storage and retrieval vehicle 1 can move vertically on the shelf 6.

[0134] The storage and retrieval vehicle 1 arrives at the position where the item needs to be placed. Then, the first control component 8 of the storage and retrieval vehicle 1 controls the transfer component 3 to place the item on the shelf 6. For example, the transfer component 3 is a protruding member, and the first control component 8 of the storage and retrieval vehicle 1 can control the transfer component 3 to protrude, so that the item is located above the storage board of the shelf 6. Then, the first control component 8 can control the transfer component 3 to retract, so that the item falls onto the storage board, and thus the item is placed on the storage shelf 6.

[0135] Then, the storage and retrieval vehicle 1 continues to perform operations such as storing and retrieving other items, placing them on the shelf 6, and placing them on other transport vehicles 2, etc.

[0136] Through the above process in the second case, the storage and retrieval vehicle 1 can obtain the item from the transport vehicle 2 and place the item on the shelf 6. Thus, the transfer and transportation of the item are completed between the storage and retrieval vehicle 1 and the transport vehicle 2.

[0137] In this embodiment, any storage and retrieval vehicle 1 travels on a preset plane and vertically, and any transport vehicle 2 travels on the preset plane. When the storage and retrieval vehicle 1 and the transport vehicle 2 travel to the same position, the transfer component 3 on the storage and retrieval vehicle 1 or the transport vehicle 2 transfers the item. Through the above process, the docking of the item can be completed between the storage and retrieval vehicle 1 and the transport vehicle 2, and the transfer of the item can be completed relatively quickly. Thus, the storage and retrieval vehicle 1 and the transport vehicle 2 can perform picking or placing items again relatively quickly, which can reduce the time consumed for item picking and transportation and improve the transportation efficiency of the item. Moreover, any storage and retrieval vehicle 1 and any transport vehicle 2 can dock at any position on the preset plane to achieve the transfer of the item; due to the diverse docking positions, it will not affect the travel of other storage and retrieval vehicles 1 and other transport vehicles 2 and will not cause traffic congestion on the road conditions. Therefore, the efficiency of item transfer is relatively high, and thus the efficiency of item transportation is relatively high; the docking and transportation methods are very flexible. In addition, the storage and retrieval vehicle 1 can place the item on the shelf 6 onto the transport vehicle 2 for transportation, and the storage and retrieval vehicle 1 can also obtain the item from the transport vehicle 2 and place the item on the shelf 6; multiple items can be carried simultaneously on the carrier 16 on each transport vehicle 2, so that each transport vehicle 2 can transport multiple items simultaneously, improving the picking and transportation efficiency of the item.

[0138] Figure 11 This is a schematic structural diagram of another item transportation system provided by the embodiment of the present application. As Figure 11 shown, on the basis of the above embodiment, the item transportation system provided in this embodiment further includes a shelf 6, and the storage and retrieval vehicle 1 is used to travel vertically on the shelf 6. Among them, the storage and retrieval vehicle 1 and the transport vehicle 2 can refer to the introduction of the item transportation system provided in the above embodiment, and their structures and principles are the same.

[0139] Exemplarily, the goods shelf 6 is composed of a plurality of sub - shelves, which are fixedly connected between adjacent sub - shelves, and there is a certain spatial distance between adjacent sub - shelves. Each sub - shelf includes four vertical brackets, and a plurality of grid units are arranged on each sub - shelf. The grid units of the same sub - shelf are vertically arranged on the sub - shelf; each grid unit is composed of a storage board, and the storage board is fixedly arranged on the four vertical brackets of the sub - shelf, that is, the four edges of the storage board are respectively and correspondingly connected to the four vertical brackets, and the storage board is used for placing items.

[0140] Moreover, vertical tracks are arranged on each sub - shelf, and the vertical tracks are used for the access vehicle 1 to climb. For example, the vertical tracks on each sub - shelf are laid on the vertical brackets, that is, the central axis of the vertical track is parallel to the central axis of the vertical bracket. Furthermore, the access vehicle 1 can walk vertically on each sub - shelf.

[0141] Optionally, horizontal tracks can also be arranged on the sub - shelf. The horizontal tracks are laid on the edge of the storage board, that is, the central axis of the horizontal track is parallel to the central axis of the edge of the storage board; and the horizontal tracks between adjacent sub - shelves can be connected. Furthermore, the access vehicle 1 can move horizontally between sub - shelves.

[0142] Optionally, a staircase can be arranged on the side of the goods shelf 6. The staircase is used for users to walk. Furthermore, users can enter the goods shelf 6 through the staircase.

[0143] The article transportation system provided in this embodiment further includes a control device; the control device can be connected to each access vehicle 1, and this connection can be a wired connection or a wireless connection, so that the control device sends control instructions to the access vehicle 1 to control the walking, positioning, etc. of the access vehicle 1; the control device can be connected to each transport vehicle 2, and this connection can be a wired connection or a wireless connection, so that the control device sends control instructions to the transport vehicle 2 to control the walking, positioning, etc. of the transport vehicle 2.

[0144] In the article transportation system provided in this embodiment, a conveying device 22 and at least one picking device 21 are further included.

[0145] The conveying device 22 is composed of a controller, a support structure and a conveyor belt; among them, the support structure can be set on a preset surface, and the support structure can be any structure that can support the conveyor belt; the conveyor belt is set on the support structure, and the conveyor belt can roll in a cycle on the support structure; and the controller is used to control the cyclic rolling of the conveyor belt.

[0146] Each picking device 21 is arranged on the side of the conveying device 22. For example, the picking device 21 can be an operating table, and after manually processing the items on the picking device 21, the processed items can be manually placed on the conveying device 22. For another example, the picking device 21 can be an automatic picking machine, which can realize the intelligent processing of items, and the picking machine places the processed items on the conveying device 22.

[0147] For example, the storage and retrieval vehicle 1 can obtain items from the shelf 6; then, the storage and retrieval vehicle 1 docks with the transport vehicle 2, and the storage and retrieval vehicle 1 places the items on the transport vehicle 2; the transport vehicle 2 then transports the items to the picking device 21; after the picking device 21 performs picking, the picking device 21 places the picked items on the conveying device 22; the conveying device 22 transports the items to a designated location or a designated device.

[0148] For another example, the picking device 21 can obtain items from the conveying device 22, and the picking device 21 performs picking on the items; the transport vehicle 2 obtains the items on the picking device 21; then, the storage and retrieval vehicle 1 docks with the transport vehicle 2, and the storage and retrieval vehicle 1 obtains the items from the transport vehicle 2; then, the storage and retrieval vehicle 1 places the items on the shelf 6 again.

[0149] In this embodiment, the storage and retrieval vehicle 1 and the transport vehicle 2 can complete the docking of items, and can complete the transfer of items relatively quickly. Furthermore, the storage and retrieval vehicle 1 and the transport vehicle 2 can perform picking or placing items again relatively quickly, which can reduce the time consumed for item picking and transportation, and improve the transportation efficiency of items. Moreover, any storage and retrieval vehicle 1 and any transport vehicle 2 can dock at any position on the preset plane to achieve the transfer of items; due to the diverse docking positions, the transfer efficiency of items is relatively high, and thus the transportation efficiency of items is relatively high; the docking and transportation methods are very flexible. Also, the storage and retrieval vehicle 1 can place the items on the shelf 6 onto the transport vehicle 2 for transportation, and the storage and retrieval vehicle 1 can also obtain items from the transport vehicle 2 and place the items on the shelf 6; multiple items can be carried on the carrier 16 on each transport vehicle 2 at the same time, so that each transport vehicle 2 can transport multiple items at the same time, improving the picking and transportation efficiency of items.

[0150] In the above embodiments, the process involving communication can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions according to the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, data processing device, or data center to another website, computer, data processing device, or data center by wire (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wirelessly (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a data processing device or data center that includes one or more available media integrated. The available medium can be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk (SSD)), etc.

[0151] Those skilled in the art should be able to realize that in one or more of the above examples, the functions involving communication described in the embodiments of the present application can be implemented by hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. The computer-readable medium includes computer storage media and communication media, where the communication media includes any medium that facilitates the transmission of a computer program from one place to another. The storage media can be any available medium that a general-purpose or special-purpose computer can access.

[0152] It should be understood that the present application is not limited to the exact structures that have been described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present application is only limited by the appended claims.

Claims

1. An article transportation system, characterized in that, it includes: at least one access vehicle and at least one transport vehicle; each of the access vehicles is provided with a first drive assembly, and each of the transport vehicles is provided with a second drive assembly; the first drive assembly is used to drive the access vehicle to move on a preset plane and vertically, and the second drive assembly is used to drive the transport vehicle to move on the preset plane; a transfer assembly is provided on the access vehicle or the transport vehicle; the transfer assembly is used to transfer an article from one of the access vehicle and the transport vehicle to the other when the access vehicle and the transport vehicle move to the same position; the same position is located on any area outside the aisle of the shelf; it further includes: a picking device, which is used to pick the articles.

2. The system according to claim 1, characterized in that, the transfer assembly is located on the access vehicle; the access vehicle includes a first vehicle body, and the first drive assembly is located on the first vehicle body; a first control assembly is further provided on the first vehicle body, and the first control assembly is connected to the transfer assembly; the first control assembly is used to control the transfer assembly to transfer an article to a transport vehicle at the same position as the access vehicle, or obtain the article from a transport vehicle at the same position as the access vehicle.

3. The system according to claim 2, characterized in that, the transfer assembly is an extending member; the first control assembly is specifically used to control the extension and / or retraction of the extending member.

4. The system according to claim 3, characterized in that, a horizontal slide rail is provided at the upper end of the first vehicle body, the lower surface of the extending member is slidably connected to the horizontal slide rail, and the upper surface of the extending member is flat.

5. The system according to claim 2, characterized in that, the transfer assembly is a clamping member; the first control assembly is specifically used to control the clamping and / or loosening of the clamping member.

6. The system according to claim 2, characterized in that, a navigation assembly is further provided on the first vehicle body, and the navigation assembly and the first drive assembly are respectively connected to the first control assembly; the first control assembly is used to obtain the navigation information detected by the navigation assembly and send a drive signal to the first drive assembly according to the navigation information.

7. The system according to claim 2, characterized in that, a carrier is provided on the transport vehicle; the carrier is used to carry articles, or the carrier is used to receive articles on the transfer assembly.

8. The system according to claim 7, characterized in that, the transport vehicle includes a second vehicle body, and the carrier is located on the second vehicle body; a lifting assembly and a second control assembly are further provided on the second vehicle body, the carrier is located at the top of the lifting assembly, and the second control assembly is connected to the lifting assembly; the lifting assembly is used to rise and / or fall under the control of the second control assembly to drive the carrier to rise and / or fall.

9. The system according to claim 7, characterized in that, The carrier includes a first recessed portion and a second recessed portion. First bosses are respectively provided on a pair of opposite edges of the first recessed portion, and second bosses are respectively provided on a pair of opposite edges of the second recessed portion. The central axes of the first bosses are parallel to the central axes of the second bosses.

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