Cargo management method, carrying apparatus, and computer-readable storage medium

Abstract

The application provides a kind of cargo management method, handling equipment and computer readable storage medium.The method comprises loading cargo when receiving warehouse-in task, and the cargo moving device comprises a fork assembly, the fork assembly comprises a translation member and a fork arranged on the translation member, the translation member can move translationally, and the fork can rotate along the horizontal direction around the translation member;According to the first target storage position of the warehouse-in task, the first rotation angle of the fork and the first movement position of the translation member are determined;According to the first rotation angle, the fork is rotated, and after adjusting the position of the translation member according to the first movement position, it moves along the moving channel to the first target storage position;When moving to the position of the first target storage position, the translation member moves towards the first target storage position, so that the cargo loaded by the fork is stored to the first target storage position.It is beneficial to reduce the width of the moving channel, so that the shelves can be arranged more densely to improve the capacity of the warehouse.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent warehouse, in particular to a goods management method, a carrying device and a computer readable storage medium. BACKGROUND

[0002] When the traditional warehouse shelves store materials, in order to improve the storage capacity, the width of the channel between the shelves is generally required to be as small as possible. However, when the forklift stores goods, the direction of the forklift needs to be adjusted so that the forklift faces the shelf, and then moves towards the shelf to put the goods on the shelf. This makes the width of the channel between the adjacent shelves generally large, resulting in a small number of shelves that can be placed in the warehouse, and thus a low storage capacity of the warehouse. SUMMARY

[0003] In view of this, the present application provides a goods management method, a carrying device and a computer readable storage medium. The width of the moving channel only needs to be greater than the width of the goods moving device, which is beneficial to reduce the width of the moving channel, so that the shelves can be arranged more densely to improve the storage capacity of the warehouse.

[0004] The goods management method of the present application comprises: in the case of receiving a storage task, controlling a goods moving device of a carrying device to move to a preset picking area to load goods, the goods moving device comprising a fork assembly, the fork assembly comprising a translation member and a fork provided on the translation member, the translation member being capable of translational motion, and the fork being capable of rotating around the translation member in the horizontal direction; determining a first rotation angle of the fork and a first movement position of the translation member according to a first target storage position of the storage task; controlling the goods moving device to transport the loaded goods to a target storage shelf at the first target storage position, and before entering the moving channel between adjacent shelves, rotating the fork according to the first rotation angle and adjusting the position of the translation member according to the first movement position, so that in the case of advancing or retreating of the goods moving device in the moving channel, the fork faces one side of the first target storage position and the translation member is located at an endpoint of a preset movement stroke away from the first target storage position, the target storage shelf being any one of the plurality of shelves, and the first target storage position being any storage position of the target storage shelf; and in the case of advancing or retreating of the goods moving device to the position of the first target storage position, controlling the translation member to move towards the first target storage position, so that the goods loaded by the fork are stored in the first target storage position.

[0005] The handling device of the embodiment of the application comprises a processor and a goods moving device, the processor is configured to control the goods moving device of the handling device to move to the preset goods taking area to load goods when receiving a warehousing task, the goods moving device comprises a fork assembly, the fork assembly comprises a translation member and forks arranged on the translation member, the translation member is capable of translational motion, and the forks are capable of rotating around the translation member in the horizontal direction; a first rotation angle of the forks and a first movement position of the translation member are determined according to a first target storage position of the warehousing task; the loaded goods are transported to a target warehousing rack where the first target storage position is located by controlling the goods moving device, and before entering a moving channel between adjacent racks, the forks are rotated according to the first rotation angle, and the position of the translation member is adjusted according to the first movement position, so that when the goods moving device advances or retreats in the moving channel, the forks are directed to a side where the first target storage position is located, and the translation member is located at an end point of a preset movement stroke away from the first target storage position, the target warehousing rack is any one of a plurality of racks, and the first target storage position is any storage position of the target warehousing rack; and when the goods moving device advances or retreats to a position where the first target storage position is located, the translation member is controlled to move towards the first target storage position, so that the goods loaded by the forks are stored in the first target storage position.

[0006] The computer readable storage medium of the embodiments of the present application comprises a computer program which, when executed by one or more processors, causes the processors to perform the following goods management method: in the case of receiving a storage task, controlling a goods moving device of a carrying device to move to a preset picking area to load goods, the goods moving device comprising a fork assembly, the fork assembly comprising a translation member and forks arranged on the translation member, the translation member being capable of translational motion, and the forks being capable of rotating around the translation member in the horizontal direction; determining a first rotation angle of the forks and a first movement position of the translation member according to a first target storage location of the storage task; controlling the goods moving device to transport the loaded goods to a target storage rack at the first target storage location, and before entering a moving channel between adjacent racks, rotating the forks according to the first rotation angle and adjusting the position of the translation member according to the first movement position, so that in the case of advancing or retreating of the goods moving device in the moving channel, the forks are directed to the side of the first target storage location and the translation member is located at the end point of the preset movement stroke away from the first target storage location, and the target storage rack is any one of the plurality of racks, and the first target storage location is any storage location of the target storage rack; and in the case of advancing or retreating of the goods moving device to the position of the first target storage location, controlling the translation member to move towards the first target storage location, so that the forks loaded with goods are stored in the first target storage location.

[0007] The goods management method, carrying device and computer readable storage medium of the present application enable the forks to be directed to any one of the racks on the two sides of the moving channel through the translation member capable of moving in the width direction of the moving channel and the forks capable of rotating in the horizontal direction around the translation member, and the width of the goods moving device is basically unchanged through the movement of the translation member, so that the width of the goods moving device is not too large. When storing goods, the goods moving device only needs to advance or retreat in the moving channel, so that the forks are directed to the side of the first target storage location, so that when the translation member moves from the end point of the preset movement stroke away from the first target storage location to the end point of the preset movement stroke close to the first target storage location, the forks can directly extend into the first target storage location, thereby achieving the storage of the goods of the racks on the two sides of the moving channel.

[0008] Since the moving device does not need to adjust its direction within the aisle between adjacent shelves, the width of the aisle only needs to be greater than the width of the moving device. Compared to when the forks are facing the front of the moving device, requiring adjustment of the direction in the aisle so that the forks face the shelf, the width of the aisle needs to be greater than the length of the moving device. A larger aisle width is beneficial for reducing the width of the aisle, allowing for a more dense arrangement of shelves and increasing warehouse capacity.

[0009] Furthermore, since the forks of this application can store goods on the shelves on both sides of the moving aisle when the goods moving device moves forward or backward, each pair of adjacent shelves can be arranged opposite each other, so that the storage positions of the two adjacent shelves are opposite each other. Only the moving aisle needs to be set between the two adjacent shelves with opposite storage positions, while there is no gap between the two adjacent shelves but whose storage positions are not opposite each other. The number of moving aisles is also reduced, thereby further increasing the number of shelves that can be arranged in the warehouse and further increasing the warehouse capacity.

[0010] Additional aspects and advantages of the embodiments of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0011] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, wherein:

[0012] Figure 1 This is a flowchart illustrating a cargo management method according to certain embodiments of this application;

[0013] Figure 2 This is a plan view of a conveying device according to certain embodiments of this application;

[0014] Figure 3 This is a plan view of the forks of a handling device according to certain embodiments of this application in one state;

[0015] Figure 4 This is a plan view of another state of the forks of the handling equipment according to certain embodiments of this application;

[0016] Figure 5 This is a floor plan of a warehouse according to some embodiments of this application;

[0017] Figure 6 This is a plan view of a shelf according to some embodiments of this application;

[0018] Figure 7 This is a flowchart illustrating a cargo management method according to certain embodiments of this application;

[0019] Figure 8 This is a flowchart illustrating a cargo management method according to certain embodiments of this application;

[0020] Figure 9 This is a flowchart illustrating a cargo management method according to certain embodiments of this application;

[0021] Figure 10 This is a schematic diagram of the tray structure according to some embodiments of this application;

[0022] Figure 11 This is a flowchart illustrating a cargo management method according to certain embodiments of this application;

[0023] Figure 12 This is a flowchart illustrating a cargo management method according to certain embodiments of this application;

[0024] Figure 13 This is a schematic diagram of the modules of a cargo management device according to certain embodiments of this application; and

[0025] Figure 14 This is a schematic diagram illustrating the interaction between a computer-readable storage medium and a processor according to certain embodiments of this application. Detailed Implementation

[0026] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of this application, and should not be construed as limiting the embodiments of this application.

[0027] Please see Figures 1 to 5 The cargo management method of this application includes:

[0028] Step 011: Upon receiving an inbound task, the cargo moving device 20 of the handling equipment 100 is moved to the preset picking area A1 to load the cargo. The cargo moving device 20 includes a fork assembly 22, which includes a translation member 221 and forks 222 disposed on the translation member 221. The translation member 221 is capable of translational movement, and the forks 222 are capable of rotating around the translation member 221 in the horizontal direction.

[0029] Specifically, after receiving an inbound task, the handling equipment 100 controls the goods moving device 20 to move to the preset picking area A1 to load the goods. The preset picking area A1 can be the area of ​​production line A2 used for palletizing; the preset picking area A1 can also be a temporary storage area for goods to be stored in the warehouse. For example, the handling equipment 100 that received the inbound task can transport the goods palletized on production line A2 to the temporary storage area, and then the handling equipment 100 that received the inbound task can load the goods in the temporary storage area for warehousing. Thus, by the division of labor and cooperation of different handling equipment 100, the transportation efficiency can be improved.

[0030] To achieve the goal of storing loaded goods within the shelves 200 on both sides of the movement aisle 201 without adjusting the direction of the goods moving device 20, the goods moving device 20 of this application is equipped with a fork assembly 22 on its body 21. Please refer to... Figure 5 When the goods moving device 20 moves forward or backward along the length direction L of the moving channel 201, the translator 221 of the fork assembly 22 can translate along the width direction W of the moving channel 201, where the length direction L and the width direction W of the moving channel 201 are perpendicular to each other. The fork 222 can rotate horizontally around the translator 221, so that the fork 222 can rotate parallel to the width direction W of the moving channel 201, and the orientation of the fork 222 can be towards either side of the shelf 200 on either side of the moving channel 201; or the fork 222 can rotate horizontally around the translator 221, so that the fork 222 can rotate parallel to the length direction L of the moving channel 201.

[0031] Please see Figure 3 and Figure 4 For example, when the fork 222 rotates at 0 degrees, the fork 222 moves parallel to the width direction W of the moving channel 201 and faces one side of the moving channel 201; when the fork 222 rotates at 180 degrees, the fork 222 moves parallel to the width direction W of the moving channel 201 and faces the other side of the moving channel 201; when the fork 222 rotates at 90 degrees, the fork 222 moves parallel to the length direction W of the moving channel 201.

[0032] In this application, when the goods moving device 20 moves within the moving channel 201 to store goods, the forks 222 are generally kept at 0 degrees or 180 degrees, so that the goods moving device 20 only needs to move forward or backward within the moving channel 201 to reach the location of the goods. Since the forks 222 can face the shelf 200 on either side of the moving channel 201, without adjusting the orientation of the goods moving device 20, the forks 222 can move towards the shelf 200 to store the goods by simply controlling the translation component 221 to translate. At this time, the width of the moving channel 201 only needs to be greater than the width of the goods moving device 20. Compared with the goods moving device 20 adjusting its own orientation within the moving channel 201, which requires the width of the moving channel 201 to be greater than the length of the goods moving device 20, the width of the moving channel 201 can be reduced.

[0033] The translation component 221 can move along the width direction W of the moving channel 201 for a preset travel distance S (e.g., ...). Figure 3 For the movement from S1 to S2, please refer to [link / reference]. Figure 3 ,by Figure 3 Taking the case where the fork 222 is at a rotation angle of 0 degrees as an example, the translation component 221 needs to move to the end point S2 of the preset travel stroke S to ensure that the overall width of the cargo moving device 20 remains unchanged. If the translation component 221 moves to the end point S1 of the preset travel stroke S, the overall width of the cargo moving device 20 will increase. Figure 4 Taking the case where the fork 222 is rotated at an angle of 180 degrees as an example, the translation component 221 needs to move to the end point S1 of the preset travel stroke S in order to ensure that the overall width of the cargo moving device 20 remains unchanged. If the translation component 221 moves to the end point S2 of the preset travel stroke S, the overall width of the cargo moving device 20 will increase.

[0034] Furthermore, by moving the translation member 221 in the width direction W of the moving channel 201, when the forks 222 are facing the shelf 200, the forks 222 can move toward the shelf 200 to extend into the storage position of the shelf 200, thereby allowing the loaded goods to be stored on the shelf 200.

[0035] Step 012: Determine the first rotation angle of the fork 222 and the first moving position of the translation component 221 according to the first target storage location of the warehousing task.

[0036] After receiving an inbound task, the handling equipment 100 can determine the specific location where the currently loaded goods need to be stored, such as the first target storage position of the target inbound rack 200 among multiple racks 200. After determining the first target storage position, the first rotation angle of the forks 222 and the first moving position of the translator 221 can be determined based on the first target storage position. If the moving channel 201 corresponding to the target inbound rack 200 includes a first end 202 and a second end 203, the goods moving device 20 generally moves in a fixed direction (such as from the first end 202 to the second end 203) within the moving channel 201 corresponding to the target inbound rack 200. At this time, the relative position of the target inbound rack 200 to the goods moving device 20 can be determined, thereby controlling the forks 222 to rotate by the first rotation angle so that the forks 222 move parallel to the width direction W of the moving channel 201 and face the target inbound rack 20.

[0037] Please combine Figure 4 and Figure 5 Taking the goods moving device 20 moving forward in the moving channel 201 and moving from the first end 202 to the second end 203 of the moving channel 201 as an example, the target storage shelf is the first column of shelf H1. At this time, the first rotation angle of the fork 222 is determined to be 180 degrees, and the first moving position of the translation component 221 facing the shelf H1 is the endpoint S1 of the preset moving stroke S.

[0038] Step 013: Control the cargo moving device 20 to transport the loaded cargo to the target storage rack H1 where the first target storage location is located, and before entering the moving channel 201 between adjacent racks 200, rotate the forks 222 according to the first rotation angle, and adjust the position of the translation component 221 according to the first moving position, so that when the cargo moving device 20 moves forward or backward in the moving channel 201, the forks 222 face the side where the first target storage location is located and the translation component 221 is located at the end point away from the first target storage location in the preset moving stroke S. The target storage rack H1 is any one of the multiple racks 200, and the first target storage location is any storage location of the target storage rack H1.

[0039] Specifically, after determining the first rotation angle and the first moving position, the cargo moving device 20 can be controlled to first transport the loaded cargo to the location of the target storage rack H1. Before entering the moving channel 201 between adjacent racks 200 (specifically the moving channel 201 corresponding to the target storage rack H1), the forks 222 are rotated according to the first rotation angle, and the position of the translation component 221 is adjusted according to the first moving position, so that when the cargo moving device 20 moves forward or backward in the moving channel 201, the forks 222 face the side where the first target storage position is located (i.e., the side where the target storage rack H1 is located), and the translation component 221 is located at the end point away from the first target storage position in the preset moving stroke S. In this way, not only can the goods moving device 20 store goods on the shelves 200 on both sides of the moving channel 201 when moving forward and backward, but the width of the goods moving device 20 in the width direction W of the moving channel 201 (i.e., the direction perpendicular to the forward direction of the goods moving device 20) remains basically unchanged when the goods moving device 201 moves, ensuring that the width of the goods moving device 20 is not too large when moving, which helps to reduce the width of the moving channel 201.

[0040] Step 014: When the cargo moving device 20 moves forward or backward to the position of the first target storage location, control the translation component 221 to move toward the first target storage location so that the cargo loaded by the forks 222 is stored in the first target storage location.

[0041] Specifically, please combine Figure 6 The goods moving device 20 can move forward or backward within the moving channel 201. When the goods moving device 20 moves forward or backward within the moving channel 201 corresponding to the target storage shelf H1 to the location of the first target storage position C2, the goods can be stored. By controlling the translation component 221 to move towards the first target storage position C2, the forks 222 are driven to extend into the first target storage position C2, thereby storing the goods loaded by the forks 222 into the first target storage position C2, completing the storage of the goods loaded by the forks 222.

[0042] Thus, the forks 222 can store goods on the shelves 200 on both sides of the movement aisle 201 when the goods moving device 20 moves forward or backward. Therefore, every two adjacent shelves 200 can be arranged opposite each other, so that the storage positions C1 of the two adjacent shelves 200 are opposite each other. It is only necessary to set up the movement aisle 201 between two adjacent shelves 200 with opposite storage positions C1 (e.g., Figure 5The shelf numbers in the warehouse 900 increase sequentially from left to right. A moving aisle 201 is set between the first shelf 200 and the second shelf 200, the third shelf 200 and the fourth shelf 200, and the fifth shelf 200 and the sixth shelf 200. However, there is no gap between two adjacent shelves 200 that are not opposite each other in storage position C1 (e.g., the gap between the second shelf 200 and the third shelf 200 is 0, and the gap between the fourth shelf 200 and the fifth shelf 200 is 0). The number of moving aisles 201 is also reduced, thereby further increasing the number of shelves 200 that can be arranged in the warehouse 900 and further increasing the storage capacity of the warehouse 900.

[0043] The cargo management method of this application utilizes a translation member 221 capable of moving along the width direction W of the movement channel 201 and a fork 222 capable of rotating horizontally around the translation member 221. This allows the fork 222 to face either side of the shelf 200 on either side of the movement channel 201. Furthermore, the movement of the translation member 221 ensures that the width of the cargo moving device 20 remains essentially constant, preventing it from becoming excessively wide. When storing goods, the cargo moving device 20 only needs to move forward or backward within the movement channel 201 to allow the fork 222 to face the side where the first target storage position C2 is located. Thus, when the translation member 221 moves from the endpoint of the preset movement stroke S away from the first target storage position C2 to the endpoint of the preset movement stroke S closer to the first target storage position C2, the fork 222 can directly extend into the first target storage position C2, thereby achieving the storage of goods on the shelves 200 on both sides of the movement channel 201.

[0044] Since the goods moving device 20 does not need to adjust its direction within the moving aisle 201 between adjacent shelves 200, the width of the moving aisle 201 only needs to be greater than the width of the goods moving device 20. Compared to when the forks 222 face the front of the goods moving device 20, requiring adjustment of the direction in the moving aisle 201 so that the forks 222 face the shelf 200, the width of the moving aisle 201 needs to be greater than the length of the goods moving device 20. The larger width of the moving aisle 201 is beneficial to reduce the width of the moving aisle 201, allowing the shelves 200 to be arranged more densely, thereby increasing the storage capacity of the warehouse 900.

[0045] Furthermore, since the forks 222 of this application can store goods on the shelves 200 on both sides of the moving aisle 201 when the goods moving device 20 moves forward or backward, each pair of adjacent shelves 200 can be arranged opposite each other, so that the storage positions C1 of the two adjacent shelves 200 are opposite each other. It is only necessary to set up the moving aisle 201 between the two adjacent shelves 200 with opposite storage positions C1, while there is no gap between the two adjacent shelves 200 with opposite storage positions C1. The number of moving aisles 201 is also reduced, thereby further increasing the number of shelves 200 that can be arranged in the warehouse 900 and further increasing the storage capacity of the warehouse 900.

[0046] Please combine Figure 2 and Figure 5 Optionally, the shelf 200 or the moving channel 201 is also provided with a charging track 204 arranged along the extension direction of the moving channel 201. The cargo moving device 20 also includes a charging interface 30. When the cargo moving device 20 moves within the moving channel 201, the charging interface 30 is electrically connected to the charging track 204 to charge the cargo moving device 20.

[0047] Specifically, to ensure that the cargo moving device 20 always has sufficient power and thus avoids affecting work efficiency due to charging, this application also provides a charging track 204 extending along the extension direction of the moving channel 201 in the shelf 200 or the moving channel 201. The cargo moving device 20 is then provided with a charging interface 30 (such as a metal connecting wire capable of electrical connection). The charging interface 30 can extend into the charging track 204 and be electrically connected to the charging track 204. When the cargo moving device 20 moves within the moving channel 201, the charging interface 30 can always be in contact with the charging track 204 to maintain electrical connection. The cargo moving device 20 is charged through the charging track 204, so that the cargo moving device 20 always has a high power when transporting goods, reducing the time that the cargo moving device 20 takes to move to the charging station for charging, thereby improving transportation efficiency.

[0048] Please see Figures 2 to 7 Optionally, the cargo management method also includes:

[0049] Step 015: Upon receiving an outbound task, determine the second rotation angle of the forks 222 and the second moving position of the translation component 221 based on the second target storage location C3 of the outbound task.

[0050] Step 016: Control the cargo moving device 20 to transport the loaded cargo to the target outbound shelf H2 where the second target storage position C3 is located, and before entering the moving channel 201, rotate the fork 222 according to the second rotation angle, and adjust the position of the translation component 221 according to the second moving position, so that when the cargo moving device 20 moves forward or backward in the moving channel 201, the fork 222 faces the side where the second target storage position C3 is located and the translation component 221 is located at the end point away from the second target storage position C3 in the preset moving stroke S. The target outbound shelf H2 is any one of the multiple shelves 200, and the second target storage position C3 is any storage position C1 of the target outbound shelf H2.

[0051] Step 017: When the cargo moving device 20 moves forward or backward to the position of the second target storage position C3, control the translation component 221 to move toward the second target storage position C3 so that the forks 222 load the cargo of the second target storage position C3.

[0052] Specifically, after the handling equipment 100 receives the outbound task, it can determine the specific location of the goods to be outbound in the outbound task, namely the second target storage position C3. Then, in order to realize the outbound, it is necessary to first determine the second rotation angle and the second movement position based on the second target storage position C3. Similar to determining the first rotation angle and the first movement position based on the first target storage position, it can first determine whether the second target storage position C3 is located to the left or right of the goods moving device 20 when it moves within the movement channel 201 corresponding to the target outbound shelf H2 where the second target storage position C3 is located, thereby determining the second rotation angle and the second movement position.

[0053] After determining the second rotation angle and the second moving position, the goods moving device 20 can be controlled to first move to the position of the target outbound shelf H2. Before entering the moving channel 201 corresponding to the target outbound shelf H2, the forks 222 are rotated according to the second rotation angle, and the position of the translation component 221 is adjusted according to the second moving position. This ensures that when the goods moving device 20 moves forward or backward in the moving channel 201, the forks 222 face the side where the second target storage position C3 is located (i.e., the side where the target outbound shelf H2 is located), and the translation component 221 is located at the end point away from the second target storage position C3 in the preset moving stroke S. In this way, not only can the goods moving device 20 store goods on the shelves 200 on both sides of the moving channel 201 when moving forward and backward, but the width of the goods moving device 20 in the width direction W remains basically unchanged when moving in the moving channel 201, ensuring that the width of the goods moving device 20 during movement is not too large, thereby helping to reduce the width of the moving channel 201.

[0054] Finally, by controlling the translation component 221 to move towards the second target storage location C3, the forks 222 extend into the second target storage location C3, thereby loading the goods in the second target storage location C3. After the goods in the second target storage location C3 are loaded by the goods moving device 20, the goods in the second target storage location C3 can be transported to the preset outbound area to realize the outbound of the goods.

[0055] Please combine Figure 2 and Figure 5 Optionally, there are multiple shelves 200, which are spaced apart. Each shelf 200 includes a front 205 and a back 206. The front 205 has multiple openings 207, which are connected to the storage positions C1 of the shelf 200. A moving channel 201 is formed between two adjacent shelves 200 that are opposite each other on the front 205. The width of the moving channel 201 is greater than or equal to the width of the goods moving device 20 in the width direction W in the vertical forward direction. The distance between two adjacent shelves 200 that are opposite each other on the back 206 is 0.

[0056] Specifically, the forks 222 can store goods through the openings 207 of the racks 200 into the storage positions C1 of the racks 200 on both sides of the moving aisle 201 when the goods moving device 20 moves forward or backward. Therefore, the front faces 205 of each two adjacent racks 200 can be arranged opposite each other, so that the storage positions C1 of the two adjacent racks 200 are opposite each other. It is only necessary to set up the moving aisle 201 between two adjacent racks 200 with their front faces 205 facing each other. However, there is no gap between two adjacent racks 200 with their back faces 206 facing each other. The number of moving aisles 201 is also reduced, thereby further increasing the number of racks 200 that can be arranged in the warehouse 900 and further increasing the storage capacity of the warehouse 900.

[0057] For example, please see Figure 5 , Figure 5The shelves 200 are numbered sequentially from left to right. The front 205 of the first shelf 200 faces the front 205 of the second shelf 200, the front 205 of the third shelf 200 faces the front 205 of the fourth shelf 200, and the front 205 of the fifth shelf 200 faces the front 205 of the sixth shelf 200. Therefore, a moving aisle 201 is provided between the first shelf 200 and the second shelf 200, the third shelf 200 and the fourth shelf 200, and the fifth shelf 200 and the sixth shelf 200. Meanwhile, the back 206 of the second shelf 200 faces the back 206 of the third shelf 200, and the back 206 of the fourth shelf 200 faces the back 206 of the fifth shelf 200. Since 06 is directly opposite, no moving aisle 201 is needed between the second and third shelves 200, and the spacing can be set to 0. Similarly, no moving aisle is needed between the fourth and fifth shelves 200, and the spacing can also be set to 0. Compared to setting moving aisles 201 between any two shelves 200, and having the front 205 and back 206 of two adjacent shelves 200 facing each other, the number of moving aisles 201 is equal to the number of shelves 200. This ensures that goods can be stored in any shelf 200 while minimizing the number of moving aisles 201 (which is much smaller than the number of shelves 200) and the spacing between shelves 200. This further increases the number of shelves 200 that can be arranged in the warehouse 900, and further increases the storage capacity of the warehouse 900.

[0058] Please see Figure 6 and Figure 8 Optionally, the first moving position includes a first translational position and a first translational height. The multiple storage positions C1 of the target storage rack H1 are arranged in a matrix. Step 012: Based on the first target storage position C2 of the storage task, determine the first rotation angle of the forks 222 and the first moving position of the translation component 221, including:

[0059] Step 0121: Based on the position of the target storage rack H1 relative to the moving channel 201 corresponding to the target storage rack H1, and the moving direction of the goods moving device 20 in the moving channel 201 corresponding to the target storage rack H1, determine the first rotation angle and the first translation position.

[0060] Step 0122: Determine the first translation height based on the target row of the matrix where the first target storage bit C2 is located.

[0061] Specifically, please refer to Figure 3The translation component 221 can not only move along the width direction W of the moving channel 201, but also move along the height direction perpendicular to the ground. That is, the translation component 221 can adjust its own height, thereby adjusting the height of the forks 222.

[0062] During the warehousing process, the rotation angle of the forks 222 can be adjusted so that the forks 222 face the side where the first target storage location C2 is located. Specifically, the position of the target warehousing rack H1 in the corresponding moving channel 201 and the moving direction of the goods moving device 20 in the corresponding moving channel 201 can be used to determine whether the target warehousing rack H1 is located to the left or right of the goods moving device 20. Thus, the first rotation angle and the first translation position can be determined based on the direction of the target warehousing rack H1 relative to the goods moving device 20.

[0063] Of course, during the warehousing process, it is necessary not only for the forks 222 to face the side where the first target storage position C2 is located, but also for the goods loaded by the forks 222 to be directly opposite the first target storage position C2. Therefore, when determining the first moving position, it is necessary not only to determine the first translation position (i.e., the position located in the preset moving stroke S) but also to determine the first translation height. The multiple storage positions C1 in the rack 200 are generally arranged in a matrix. Therefore, the height of the first target storage position C2 can be determined according to the target row of the first target storage position C2 in the matrix of the target warehousing rack H1. In order to make the goods loaded by the forks 222 directly opposite the first target storage position C2, the first translation height can be determined according to the height of the first target storage position C2. In addition, in order to ensure that the goods loaded by the forks 222 are aligned with the first target storage position C2, the position of the body 21 of the goods moving device 20 needs to be adjusted. For example, the horizontal position of the first target storage position C2 can be determined according to the target column in the matrix of the target storage rack H1. At this time, the body 21 of the goods moving device 20 can be controlled to move to the horizontal position of the first target storage position C2, so that the goods loaded by the forks 222 are aligned with the first target storage position C2, which is conducive to achieving accurate storage of goods.

[0064] Please see Figure 2 , Figure 5 , Figure 9 and Figure 10 Optionally, the goods in the preset pickup area A1 are carried on a pallet 300. The pallet 300 has positioning holes 301, and the positioning holes 301 and the forks 222 are set one-to-one. The preset pickup area A1 is equipped with a rotating device 400. The goods management method also includes:

[0065] Step 018: When the cargo moving device 20 moves to the preset picking area A1, control the rotating device 400 and the fork 222 to rotate by the first preset angle and the second preset angle respectively, so that the fork 222 is inserted into the corresponding positioning hole 301 to load the cargo in the preset picking area A1.

[0066] Specifically, after the goods are produced and stacked on production line A2, the goods are generally carried on pallets 300. Pallets 300 are provided with positioning holes 301 that cooperate with forks 222. Since the stacking direction is generally set with the forks 222 facing the front of the goods moving device 20, while the forks 222 of this application are generally facing the left or right side of the goods moving device 20, in order to facilitate the goods moving device 20 of this application to accurately load the goods, it is necessary to adjust the direction of the pallet 300 by using the rotating device 400 set in the preset picking area A1, or by rotating the forks 222 to adapt to the direction of the pallet 300, so that the forks 222 can be inserted into the corresponding positioning holes 301 to load the goods in the preset picking area A1.

[0067] For example, the rotating device 400 can directly rotate the pallet 300 by 90 degrees (i.e., the first preset angle is 90 degrees), and the forks 222 do not need to rotate (i.e., the second preset angle is 0 degrees) to accurately insert into the corresponding positioning hole 301 of the pallet 300 to load the goods in the preset picking area A1. Alternatively, the forks 222 can be directly rotated by 90 degrees (i.e., the second preset angle is 90 degrees), with the forks 222 facing the front of the goods moving device 20, and the rotating device 400 does not need to rotate (i.e., the first preset angle is 0 degrees) to allow the forks 222 to accurately insert into the corresponding positioning hole 301 of the pallet 300 to load the goods in the preset picking area A1.

[0068] Please see Figure 2 , Figure 5 and Figure 11 Optionally, each shelf 200 stores goods of the same specifications, and the goods management method also includes:

[0069] Step 019: Scan the identification code of the goods in the preset pickup area A1 to identify the specifications of the goods in the preset pickup area A1;

[0070] Step 020: Based on the specifications of the goods in the preset picking area A1, determine the target receiving shelf H1 among multiple shelves 200.

[0071] Specifically, the handling equipment 100 also includes a detection device 40. The warehouse 900 contains multiple shelves 200, each storing goods of the same specifications. When multiple specifications of goods are placed in the warehouse 900, the specifications of the goods stored on each shelf 200 need to be defined so that goods of the same specifications can be stored together on the same shelf 200, thus facilitating warehouse 900 management. Goods in the preset picking area A1 are labeled with an identification code corresponding to their specifications, which contains the specification information of the goods in the preset picking area A1. Therefore, after receiving an inbound task, the handling equipment 100 can control the goods moving device 20 to move to the preset picking area A1 and control the detection device 40 to scan the identification codes of the goods in the preset picking area A1, thereby identifying the specifications of the goods in the preset picking area A1. After identifying the specifications of the goods in the preset picking area A1, the specification information of the goods stored on each shelf 200 is obtained, and the shelf 200 with specifications matching the specifications of the loaded goods is designated as the target inbound shelf H1. Furthermore, the handling equipment 100 obtains the occupancy information of all storage positions C1 of the target storage rack H1 based on the inventory information of the target storage rack H1, thereby determining the unoccupied storage position C1 as the first target storage position C2.

[0072] Please see Figure 5 , Figure 6 and Figure 12 Optionally, the cargo management method also includes:

[0073] Step 021: After the goods moving device 20 completes the warehousing task, update the inventory information of the target warehousing shelf H1; and

[0074] Step 022: After the goods moving device 20 completes the outbound task, update the inventory information of the target outbound shelf H2.

[0075] Specifically, to manage warehouse 900, the inventory information of the corresponding shelf 200 needs to be updated in real time after each inbound or outbound task. After the goods moving device 20 completes the inbound task, i.e., after storing the loaded goods in the first target storage location C2, the inventory information of the target inbound shelf H1 is updated; after the goods moving device 20 completes the outbound task, i.e., after transporting the goods from the second target storage location C3 to the preset outbound area, the inventory information of the target outbound shelf H2 is updated. When updating the inventory information, the quantity of goods of corresponding specifications can be updated according to the specifications and quantity of the transported goods.

[0076] To facilitate better implementation of the cargo management method according to the embodiments of this application, this application also provides a cargo management device 10. Please refer to... Figure 13The cargo management device 10 may include:

[0077] The first control module 11 is used to control the cargo moving device 20 of the handling equipment 100 to move to the preset picking area A1 to load cargo when a warehousing task is received. The cargo moving device 20 includes a fork assembly 22, which includes a translation member 221 and a fork 222 disposed on the translation member 221. The translation member 221 is capable of translational movement, and the fork 222 is capable of rotating around the translation member 221 in the horizontal direction.

[0078] The first determining module 12 is used to determine the first rotation angle of the fork 222 and the first moving position of the translation component 221 according to the first target storage location C2 of the warehousing task.

[0079] The second control module 13 is used to control the cargo moving device 20 to transport the loaded cargo to the target storage rack H1 where the first target storage position C2 is located. Before entering the moving channel 201 between adjacent racks 200, the forks 222 are rotated according to the first rotation angle, and the position of the translation component 221 is adjusted according to the first moving position, so that when the cargo moving device 20 moves forward or backward in the moving channel 201, the forks 222 face the side where the first target storage position C2 is located, and the translation component 221 is located at the end point away from the first target storage position C2 in the preset moving stroke S. The target storage rack H1 is any one of the multiple racks 200, and the first target storage position C2 is any storage position C1 of the target storage rack H1.

[0080] The third control module 14 is used to control the translation component 221 to move toward the first target storage position C2 when the cargo moving device 20 moves forward or backward to the position where the first target storage position C2 is located, so that the cargo loaded by the forks 222 is stored in the first target storage position C2.

[0081] The second determining module 15 is used to determine the second rotation angle of the fork 222 and the second moving position of the translation component 221 according to the second target storage position C3 of the outbound task when the outbound task is received.

[0082] The fourth control module 16 is used to control the cargo moving device 20 to transport the loaded cargo to the target outbound shelf H2 where the second target storage position C3 is located. Before entering the moving channel 201, the forks 222 are rotated according to the second rotation angle, and the position of the translation component 221 is adjusted according to the second moving position, so that when the cargo moving device 20 moves forward or backward in the moving channel 201, the forks 222 face the side where the second target storage position C3 is located. The target outbound shelf H2 is any one of the multiple shelves 200, and the second target storage position C3 is any storage position C1 of the target outbound shelf H2.

[0083] The fifth control module 17 is used to control the translation component 221 to move toward the second target storage position C3 when the cargo moving device 20 moves forward or backward to the position where the second target storage position C3 is located, so that the forks 222 load the cargo in the second target storage position C3.

[0084] The first determining module 12 is specifically used to determine the first rotation angle and the first translation position based on the position of the target storage shelf H1 relative to the corresponding moving channel 201 of the target storage shelf H1 and the moving direction of the goods moving device 20 in the corresponding moving channel 201 of the target storage shelf H1; and to determine the first translation height based on the target row of the matrix where the first target storage position C2 is located.

[0085] Cargo management device 10 also includes:

[0086] The sixth control module 18 is used to control the rotating device 400 and the fork 222 to rotate by a first preset angle and a second preset angle respectively when the goods moving device 20 moves to the preset picking area A1, so that the fork 222 is inserted into the corresponding positioning hole 301 to load the goods in the preset picking area A1.

[0087] The scanning module 19 is used to scan the identification code of the goods in the preset pickup area A1 to identify the specifications of the goods in the preset pickup area A1.

[0088] The third determining module 20 is used to determine the target receiving shelf H1 among multiple shelves 200 according to the specifications of the goods in the preset picking area A1.

[0089] The update module 21 is used to update the inventory information of the target inbound shelf H1 after the goods moving device 20 completes the inbound task; and to update the inventory information of the target outbound shelf H2 after the goods moving device 20 completes the outbound task.

[0090] Each module in the aforementioned cargo management device 10 can be implemented entirely or partially through software, hardware, or a combination thereof. Each module can be embedded in or independent of the processor 20 in the computer device in hardware form, or stored in the memory of the computer device in software form, so that the processor 20 can call and execute the operations corresponding to each module.

[0091] Please refer to it again. Figures 2 to 4 The handling equipment 100 of this application includes a processor 50 and a cargo moving device 20. The processor 50 is used to execute the cargo management method of any of the above embodiments, which will not be described in detail here for the sake of brevity.

[0092] Among them, the handling equipment 100 can be a mobile device such as an Automated Guided Vehicle (AGV), a clamping vehicle, a tractor, a forklift, a reach stacker, or a warehouse robot.

[0093] Automated Guided Vehicles (AGVs): These are transport vehicles equipped with electromagnetic or optical automatic navigation devices, capable of traveling along a predetermined navigation path, and possessing safety protection and various transfer functions. In industrial applications, these driverless transport vehicles are powered by rechargeable batteries. Their movement and behavior are typically controlled by a computer, or their path is established using electromagnetic tracks attached to the floor. The AGV moves and operates based on the signals transmitted through these tracks.

[0094] Please see Figure 14 This application also provides a computer-readable storage medium 800 storing a computer program 810. When the computer program 810 is executed by the processor 50, it implements the steps of the cargo management method of any of the above embodiments. For the sake of brevity, these steps will not be repeated here.

[0095] It is understood that a computer program 210 includes computer program code. Computer program code can be in the form of source code, object code, executable files, or some intermediate form. Computer-readable storage media can be non-volatile computer-readable storage media such as any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), and software distribution media, etc.

[0096] In the description of this specification, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with the described embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0097] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0098] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A cargo management method, characterized in that, include: Upon receiving an inbound task, the cargo moving device of the handling equipment is controlled to move to the preset picking area to load the cargo. The cargo moving device includes a fork assembly, which includes a translation component and forks disposed on the translation component. The translation component is capable of translational movement, and the forks are capable of rotating around the translation component in the horizontal direction. Based on the first target storage location of the warehousing task, determine the first rotation angle of the forks and the first moving position of the translation component; The cargo moving device is controlled to transport the loaded cargo to the target storage rack where the first target storage location is located. Before entering the moving channel between adjacent racks, the forks are rotated according to the first rotation angle, and the position of the translation component is adjusted according to the first moving position, so that when the cargo moving device moves forward or backward in the moving channel, the forks face the side where the first target storage location is located and the translation component is located at the end point away from the first target storage location in the preset moving stroke. The target storage rack is any one of the multiple racks, and the first target storage location is any storage location of the target storage rack. and When the cargo moving device moves forward or backward to the position of the first target storage location, the translation component is controlled to move toward the first target storage location so that the cargo loaded by the forks is stored in the first target storage location; The goods in the preset pickup area are carried on a pallet, the pallet has positioning holes, and the positioning holes are correspondingly set with the forks. The preset pickup area is equipped with a rotating device, and the goods in the preset pickup area are located on the rotating device. The goods management method further includes: When the cargo moving device moves to the preset picking area, the rotating device and the fork are controlled to rotate by a first preset angle and a second preset angle respectively, so that the fork is inserted into the corresponding positioning hole to load the cargo in the preset picking area.

2. The cargo management method according to claim 1, characterized in that, The shelf or the moving aisle is also provided with a charging track arranged along the extension direction of the moving aisle. The cargo moving device also includes a charging interface. When the cargo moving device moves within the moving aisle, the charging interface is electrically connected to the charging track to charge the cargo moving device.

3. The cargo management method according to claim 1, characterized in that, Also includes: Upon receiving an outbound task, the second rotation angle of the forks and the second moving position of the translation component are determined based on the second target storage location of the outbound task. The cargo moving device is controlled to transport the loaded cargo to the target outbound shelf where the second target storage location is located. Before entering the moving channel, the forks are rotated according to the second rotation angle, and the position of the translation component is adjusted according to the second moving position, so that when the cargo moving device moves forward or backward in the moving channel, the forks face the side where the second target storage location is located and the translation component is located at the end point away from the second target storage location in the preset moving stroke. The target outbound shelf is any one of the multiple shelves, and the second target storage location is any storage location of the target outbound shelf. When the cargo moving device moves forward or backward to the location of the second target storage position, the translation member is controlled to move toward the second target storage position so that the forks are loaded with cargo from the second target storage position.

4. The cargo management method according to claim 3, characterized in that, Multiple shelves are spaced apart. Each shelf has a front and a back facing away from each other. The front has multiple openings that communicate with the storage positions of the shelf. A moving channel is formed between two adjacent shelves facing each other. The width of the moving channel is greater than or equal to the width of the goods moving device in the vertical direction of travel. The distance between two adjacent shelves facing each other is 0.

5. The cargo management method according to claim 1, characterized in that, The first moving position includes a first translational position and a first translational height. The multiple storage positions of the target storage rack are arranged in a matrix. Determining the first rotation angle of the forks and the first moving position of the translation component based on the first target storage position of the storage task includes: Based on the position of the target storage rack relative to the corresponding moving channel, and the direction of movement of the goods moving device in the corresponding moving channel, the first rotation angle and the first translation position are determined. The first translation height is determined based on the first target storage location in the target row of the matrix.

6. The cargo management method according to claim 1, characterized in that, Each of the aforementioned shelves stores goods of the same specifications, and the goods management method further includes: Scan the identification code of the goods in the preset pickup area to identify the specifications of the goods in the preset pickup area; Based on the specifications of the goods in the preset pickup area, the target receiving shelf among the multiple shelves is determined.

7. The cargo management method according to claim 4, characterized in that, Also includes: After the goods moving device completes the warehousing task, the inventory information of the target warehousing shelf is updated; and After the goods moving device completes the outbound task, the inventory information of the target outbound shelf is updated.

8. A handling device, characterized in that, The system includes a processor and a goods moving device. Upon receiving an inbound task, the processor controls the goods moving device of the handling equipment to move to a preset picking area to load goods. The goods moving device includes a fork assembly, which includes a translating member and forks mounted on the translating member. The translating member is capable of translational movement, and the forks are capable of horizontal rotation around the translating member. The system determines a first rotation angle of the forks and a first moving position of the translating member based on a first target storage location of the inbound task. It controls the goods moving device to transport the loaded goods to the target inbound rack where the first target storage location is located, and before entering the movement aisle between adjacent racks, it determines the first rotation angle of the forks and the first moving position of the translating member based on the first rotation angle. The forks are rotated at an angle, and the position of the translation component is adjusted according to the first moving position, so that when the cargo moving device moves forward or backward in the moving channel, the forks face the side where the first target storage position is located and the translation component is located at the end point away from the first target storage position in the preset moving stroke. The target storage rack is any one of the multiple racks, and the first target storage position is any storage position of the target storage rack. When the cargo moving device moves forward or backward to the position where the first target storage position is located, the translation component is controlled to move towards the first target storage position so that the cargo loaded by the forks is stored in the first target storage position. The goods in the preset pickup area are carried on a pallet, and the pallet has positioning holes. The positioning holes and the forks are set one-to-one. The preset pickup area is equipped with a rotating device, and the goods in the preset pickup area are located on the rotating device. The processor is also used to control the rotating device and the forks to rotate by a first preset angle and a second preset angle respectively when the goods moving device moves to the preset pickup area, so that the forks are inserted into the corresponding positioning holes to load the goods in the preset pickup area.

9. A computer-readable storage medium, characterized in that, It includes a computer program that, when executed by one or more processors, implements the cargo management method of any one of claims 1-7.

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