Shelving system and method for storing and retrieving goods

Abstract

The present disclosure relates to a shelf system and a method for storing and retrieving goods thereof. The shelf system includes: a shelf including first and second support members both extending along a first direction, the first and second support members being spaced apart along a second direction, the tops of the first and second support members being configured to carry goods, the shelf being formed with at least one storage location along the first direction, the tops of the first and second support members corresponding to each storage location being configured as positions for storing goods, wherein the first direction is perpendicular to the second direction; and a shuttle configured to travel between the first and second support members and located below the tops of the first and second support members; the shuttle includes a load-carrying plate and a lifting mechanism, the lifting mechanism being drivingly connected to the load-carrying plate to raise the load-carrying plate to lift the goods or lower the load-carrying plate to place the goods on the tops of the first and second support members. A multi-depth high-bay warehouse layout is adopted, and the shuttle is used to complete the operations of storing and retrieving goods from the storage locations of multi-column deep shelves, thereby improving the operation efficiency.

Description

Technical Field

[0001] The present disclosure relates to the technical field of tobacco logistics equipment, and particularly to a shelf system and a method for storing and retrieving goods thereof. Background Art

[0002] In some related technologies, the feeding of cut tobacco in the cut tobacco workshop adopts the method of manually clamping and holding with a forklift, and there is a temporary storage area for cigarette packets on site for unloading and feeding the cigarette packets of the current production batch. This primitive operation method has low operation efficiency, limited site, and cannot store materials in multiple batches, and production is easily interfered by various external factors. Summary of the Invention

[0003] Some embodiments of the present disclosure provide a shelf system and a method for storing and retrieving goods thereof, which are used to alleviate the problem of low efficiency of storage and retrieval operations.

[0004] In one aspect of the present disclosure, a shelf system is provided, including:

[0005] A shelf, including a first support member and a second support member both extending along a first direction, the first support member and the second support member being spaced apart along a second direction, the tops of the first support member and the second support member being configured to carry goods, and at least one storage location being formed along the first direction on the shelf, the tops of the first support member and the second support member corresponding to each storage location being configured to be positions for storing the goods, wherein the first direction is perpendicular to the second direction; and

[0006] A shuttle car, configured to travel between the first support member and the second support member and be located below the tops of the first support member and the second support member; the shuttle car includes a load-carrying plate and a lifting mechanism, and the lifting mechanism is drivingly connected to the load-carrying plate to lift the load-carrying plate to lift the goods carried by the tops of the first support member and the second support member, or to lower the load-carrying plate to place the goods on the tops of the first support member and the second support member.

[0007] In some embodiments, the shelf system further includes a first photoelectric switch, the first photoelectric switch being disposed at an end of the shuttle car in the first direction, and an included angle greater than zero being formed between the extending direction of the light beam emitted by the first photoelectric switch and the second direction, the first photoelectric switch being configured to detect the shelf, and when the first photoelectric switch fails to detect the shelf, sending a signal indicating that the shuttle car has reached the end of the shelf in the first direction for controlling the shuttle car to stop running.

[0008] In some embodiments, the shelf system further includes a second optoelectronic switch, which is disposed at an end of the shuttle vehicle in the first direction. Both the second optoelectronic switch and the first optoelectronic switch are close to the first support member, and the second optoelectronic switch is closer to the first support member than the first optoelectronic switch. Both the second optoelectronic switch and the first optoelectronic switch emit light beams toward the first support member. The extending direction of the light beam emitted by the second optoelectronic switch is parallel to the second direction. The second optoelectronic switch is configured to detect the shelf, and when the second optoelectronic switch fails to detect the shelf, an alarm signal is emitted.

[0009] In some embodiments, the shelf system further includes a third optoelectronic switch, which is disposed at an end of the shuttle vehicle in the first direction. The first optoelectronic switch is close to the first support member, and the third optoelectronic switch is close to the second support member. The light beam emitted by the third optoelectronic switch is parallel to the light beam emitted by the first optoelectronic switch, and both the first optoelectronic switch and the third optoelectronic switch emit light beams toward the first support member. The third optoelectronic switch is configured to detect the shelf, and when the third optoelectronic switch fails to detect the shelf, a signal is emitted to control the shuttle vehicle to decelerate.

[0010] In some embodiments, the shelf system further includes a fourth optoelectronic switch, which is disposed at an end of the shuttle vehicle in the first direction. The fourth optoelectronic switch is configured to emit a light beam obliquely upward to detect whether there is a cargo in front of the shuttle vehicle.

[0011] In some embodiments, the shelf system further includes a fifth optoelectronic switch. The cargo board is provided with a through hole at an end in the first direction, and the fifth optoelectronic switch is disposed below the through hole. The fifth optoelectronic switch emits a light beam toward the through hole. When the light beam emitted by the fifth optoelectronic switch cannot pass through the through hole, a signal is emitted indicating that there is a cargo above the shuttle vehicle.

[0012] In some embodiments, the shelf system further includes a controller, which is electrically connected to the fourth optoelectronic switch and the fifth optoelectronic switch. The controller is configured to, when positioning the picking target position, receive the signal from the fourth optoelectronic switch indicating that there is a cargo in front of the shuttle vehicle, and first receive the signal that the light beam emitted by the fifth optoelectronic switch cannot pass through the through hole, and then receive the signal that the light beam emitted by the fifth optoelectronic switch passes through the through hole, and then determine that the shuttle vehicle has reached the picking target position to control the shuttle vehicle to stop running.

[0013] In some embodiments, the rack system further includes a controller, which is electrically connected to the fourth optoelectronic switch and the fifth optoelectronic switch. The controller is configured to, when positioning the inventory target position, after receiving the signal from the fourth optoelectronic switch indicating that there is goods in front of the shuttle vehicle and receiving the signal from the fifth optoelectronic switch indicating that the light beam cannot pass through the through hole, determine that the shuttle vehicle has reached the inventory target position, so as to control the shuttle vehicle to stop running.

[0014] In some embodiments, the rack system further includes a sixth optoelectronic switch and a seventh optoelectronic switch. The sixth optoelectronic switch and the seventh optoelectronic switch are arranged on both side parts of the shuttle vehicle in the second direction. The sixth optoelectronic switch is configured to emit a light beam to the first support member, and the seventh optoelectronic switch is configured to emit a light beam to the second support member, for controlling the distance between the shuttle vehicle and the first support member to be equal to the distance between the shuttle vehicle and the second support member.

[0015] In some embodiments, the rack system further includes a lifting device, which is arranged at the end of the rack in the first direction. The lifting device is configured to carry the shuttle vehicle to move up and down to reach the required height.

[0016] In some embodiments, the lifting device includes a carrying platform, which is configured to carry the shuttle vehicle to move up and down. The carrying platform includes a first plate, a second plate and a third plate. The first plate is horizontally arranged and is configured to carry the shuttle vehicle. The second plate and the third plate are vertically arranged on the first plate. The tops of the second plate and the third plate are configured to carry the goods. The lifting mechanism is configured to drive the goods-carrying plate to rise to lift the goods carried on the tops of the second plate and the third plate, or to lower to place the goods on the tops of the second plate and the third plate.

[0017] In some embodiments, the rack system further includes:

[0018] An inbound platform, which is arranged at the end of the rack and is configured to convey the goods to the carrying platform; and

[0019] An outbound platform, which is arranged at the end of the rack and is configured to receive the goods output by the carrying platform.

[0020] In one aspect of the present disclosure, there is provided a method for storing and retrieving goods of a rack system, including:

[0021] Inventory method: The lifting mechanism of the shuttle drives the cargo board to rise to lift the goods, and the shuttle carries the goods and travels between the first support member and the second support member of the shelf. After reaching the inventory target position, it stops running, and the lifting mechanism drives the cargo board to descend to place the goods on the tops of the first support member and the second support member;

[0022] Goods picking method: The shuttle travels between the first support member and the second support member of the shelf. After reaching the goods picking target position, it stops running. The lifting mechanism of the shuttle drives the cargo board to rise to lift the goods placed on the tops of the first support member and the second support member, and carries the goods out of the shelf.

[0023] In some embodiments, the inventory method further includes a positioning method for the inventory target position, which includes:

[0024] Positioning of the inventory target position at the end of the shelf: During the process of the shuttle carrying the goods and traveling between the first support member and the second support member, the shelf is detected by the first photoelectric switch provided on the shuttle. When the first photoelectric switch cannot detect the shelf, a signal is sent indicating that the shuttle has reached the end of the shelf, and the shuttle is controlled to stop walking. This position is the inventory target position at the end of the shelf;

[0025] Positioning of the inventory target position not at the end of the shelf: During the process of the shuttle carrying the goods and traveling between the first support member and the second support member, it is detected by the fourth photoelectric switch provided on the shuttle whether there are goods in front of the shuttle. When the fourth photoelectric switch detects that there are goods in front of the shuttle and the light beam emitted by the fifth photoelectric switch provided at the end of the shuttle cannot pass through the through hole on the cargo board, the shuttle is controlled to stop walking. This position is the inventory target position not at the end of the shelf.

[0026] In some embodiments, the inventory method further includes a positioning method for the goods picking target position, which includes:

[0027] Positioning of the goods picking target position at the end of the shelf: During the process of the shuttle traveling between the first support member and the second support member of the shelf, the shelf is detected by the first photoelectric switch provided on the shuttle. When the first photoelectric switch cannot detect the shelf, a signal is sent indicating that the shuttle has reached the end of the shelf, and the shuttle is controlled to stop walking. This position is the goods picking target position at the end of the shelf;

[0028] Positioning of picking target positions not at the end of the shelf: During the process of the shuttle running between the first support member and the second support member of the shelf, the fourth optoelectronic switch provided on the shuttle is used to detect whether there is a cargo in front of the shuttle. When the fourth optoelectronic switch detects that there is a cargo in front of the shuttle, and the light beam emitted first by the fifth optoelectronic switch provided at the end of the shuttle cannot pass through the through hole, and the light beam emitted later can pass through the through hole, the shuttle is controlled to stop running, and this position is the picking target position not at the end of the shelf.

[0029] Based on the above technical solutions, the present disclosure has at least the following beneficial effects:

[0030] In some embodiments, the shuttle is used to enter the shelf from both sides of the multi-depth shelf to perform the operations of picking up and placing goods, which solves the limitation of the insufficient existing site for the technological transformation of the cut tobacco warehouse and the problem of the large floor area of the stacker equipment. In addition, the conventional single-depth and double-depth stackers are cancelled, and a multi-depth high-bay warehouse layout is adopted. The shuttle is used to complete the operations of picking up and placing goods at the storage locations of the multi-column deep shelves, improving the operation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The drawings described herein are used to provide a further understanding of the present disclosure, and constitute a part of this application. The schematic embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation to the present disclosure. In the drawings:

[0032] Figure 1 FIG. is a schematic diagram of a shelf system according to some embodiments of the present disclosure;

[0033] Figure 2 FIG. is a schematic diagram of a shuttle according to some embodiments of the present disclosure;

[0034] Figure 3 FIG. is a schematic diagram of the split structure of a shuttle according to some embodiments of the present disclosure;

[0035] Figure 4 FIG. is a schematic diagram of a carrier according to some embodiments of the present disclosure;

[0036] Figure 5 FIG. is a front view schematic diagram of a partial structure of a shelf according to some embodiments of the present disclosure;

[0037] Figure 6 FIG. is a side view schematic diagram of a partial structure of a shelf according to some embodiments of the present disclosure;

[0038] Figure 7 FIG. is a schematic diagram of a shuttle transporting goods according to some embodiments of the present disclosure.

[0039] The reference numerals in the drawings are explained as follows:

[0040] 100 - Shelf; 101 - First support member; 102 - Second support member; 103 - End storage location; 104 - Non - end storage location; 105 - Track; 106 - Support portion; 107 - Column; 108 - Crossbeam;

[0041] 200 - Shuttle car; 201 - Loading plate; 202 - Lifting mechanism; 203 - Through - hole; 204 - Base; 205 - Travel control mechanism; 206 - Anti - collision block; 207 - Energy supply system; 208 - Upper - level communication system;

[0042] 300 - Lifting device; 301 - Carrying platform; 311 - First plate; 312 - Second plate; 313 - Third plate; 302 - Transport mechanism; 303 - Reflector; 304 - Eighth optoelectronic switch; 305 - Current - collecting brush; 306 - Limit block;

[0043] 400 - In - warehouse platform;

[0044] 500 - Out - warehouse platform;

[0045] 600 - Goods; 601 - Box; 602 - Pallet;

[0046] 701 - First optoelectronic switch; 702 - Second optoelectronic switch; 703 - Third optoelectronic switch; 704 - Fourth optoelectronic switch; 705 - Fifth optoelectronic switch; 706 - Sixth optoelectronic switch.

[0047] It should be understood that the dimensions of the various parts shown in the drawings are not drawn according to the actual proportional relationship. In addition, the same or similar reference numerals represent the same or similar components. Detailed implementation manners

[0048] Now, various exemplary embodiments of the present disclosure will be described in detail with reference to the drawings. The description of the exemplary embodiments is merely illustrative and in no way limits the present disclosure and its application or use. The present disclosure can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to make the present disclosure thorough and complete and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that: unless otherwise specifically stated, the relative arrangements of the components and steps, the components of the materials, the numerical expressions and the numerical values set forth in these embodiments should be construed as merely exemplary and not as limitations.

[0049] As used in this disclosure, the terms "first", "second" and similar terms do not denote any order, quantity or importance, but are merely used to distinguish different parts. Terms such as "comprising" or "including" mean that the elements before such term cover the elements listed after such term, and do not exclude the possibility of also covering other elements. Terms such as "upper", "lower", "left", "right" are only used to indicate relative positional relationships, and when the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0050] In this disclosure, when it is described that a specific device is located between a first device and a second device, there may or may not be an intermediate device between the specific device and the first device or the second device. When it is described that a specific device is connected to other devices, the specific device may be directly connected to the other devices without an intermediate device, or may not be directly connected to the other devices but have an intermediate device.

[0051] All terms used in this disclosure (including technical terms or scientific terms) have the same meaning as understood by those of ordinary skill in the art to which this disclosure pertains, unless otherwise specifically defined. It should also be understood that terms defined in a general dictionary, for example, should be interpreted as having a meaning consistent with their meaning in the context of the relevant art, and should not be interpreted in an idealized or overly formal sense, unless specifically defined as such here.

[0052] Techniques, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods and devices should be regarded as part of the specification.

[0053] Figure 1 is a schematic structural diagram of some embodiments of the shelf system according to this disclosure. Refer to Figure 1 , in some embodiments, the shelf system includes a shelf 100 and a shuttle vehicle 200.

[0054] The shelf 100 includes a first support member 101 and a second support member 102 that both extend along a first direction X (refer to Figure 5 and Figure 6 ). The first support member 101 and the second support member 102 are spaced apart along a second direction Y. The tops of the first support member 101 and the second support member 102 are configured to carry goods 600, and the shelf 100 is formed with at least one storage location along the first direction X. The tops of the first support member 101 and the second support member 102 corresponding to each storage location are configured to be positions for storing goods 600, where the first direction X is perpendicular to the second direction Y.

[0055] The shuttle vehicle 200 is configured to travel between the first support member 101 and the second support member 102 and is located below the tops of the first support member 101 and the second support member 102.

[0056] Reference Figure 3 Figure 3 , the shuttle car 200 includes a cargo board 201 and a lifting mechanism 202. The lifting mechanism 202 is drivingly connected to the cargo board 201 to lift the cargo board 201 to lift the goods 600 carried on the tops of the first support member 101 and the second support member 102, or lower the goods 600 to place the goods 600 on the tops of the first support member 101 and the second support member 102.

[0057] In some related technologies, the shelves for tobacco goods 600 adopt a single-deep and high-bay warehouse layout method, which requires multiple stacker cranes. However, a single stacker crane occupies a large area, and all the stacker cranes cannot be installed in the existing site. In order to improve the level of operation automation and operation efficiency, the shelves are arranged in a multi-deep way on the original site.

[0058] Based on this, the embodiment of the present disclosure uses the shuttle car 200 to enter the shelves from both sides of the multi-deep shelves to pick up and place goods, which solves the limitation of the insufficient existing site for the technical transformation of the cut tobacco warehouse and the problem of the large floor area of the stacker crane equipment. In addition, the conventional single-deep and double-deep stacker cranes are cancelled, and a multi-deep high-bay warehouse layout is adopted. The shuttle car 200 completes the operation of picking up and placing goods at the storage locations of the multi-column deep shelves, improving the operation efficiency.

[0059] The goods 600 include a pallet 602 and a box body 601. The pallet 602 is used to hold the box body 601, and items are accommodated in the box body 601. Optionally, the items include tobacco materials.

[0060] The first direction X is perpendicular to the second direction Y. The first direction X and the second direction Y are two directions on a plane. The third direction Z is perpendicular to the first direction X and the second direction Y, and the third direction Z is the up and down direction.

[0061] Reference Figure 2 Figure 2 , in some embodiments, the shelf system further includes a first photoelectric switch 701. The first photoelectric switch 701 is disposed at the end of the shuttle car 200 in the first direction X. There is an angle greater than zero between the extending direction of the light beam emitted by the first photoelectric switch 701 and the second direction Y. The first photoelectric switch 701 is configured to detect the shelf 100. When the first photoelectric switch 701 cannot detect the shelf 100, it emits a signal indicating that the shuttle car 200 has reached the end of the shelf 100 in the first direction X, so as to control the shuttle car 200 to stop running.

[0062] The first photoelectric switch 701 is an end shelf positioning element. Figure 2The dashed line shown in the figure is the direction of optoelectronic irradiation. There is an angle greater than zero between the extension direction of the light beam emitted by the first optoelectronic switch 701 and the second direction Y. The irradiation position of this light beam is slightly upstream of the end of the shuttle car 200 in the first direction X. When the light beam emitted by the first optoelectronic switch 701 leaves the shelf detection position, it indicates that the shuttle car 200 has basically reached the end position, and the controller is combined to control the shuttle car 200 to stop running.

[0063] In some embodiments, the shelf system further includes a second optoelectronic switch 702. The second optoelectronic switch 702 is provided at the end of the shuttle car 200 in the first direction X. Both the second optoelectronic switch 702 and the first optoelectronic switch 701 are close to the first support member 101, and the second optoelectronic switch 702 is closer to the first support member 101 than the first optoelectronic switch 701. Both the second optoelectronic switch 702 and the first optoelectronic switch 701 emit light beams towards the first support member 101. The extension direction of the light beam emitted by the second optoelectronic switch 702 is parallel to the second direction Y. The second optoelectronic switch 702 is configured to detect the shelf 100. When the second optoelectronic switch 702 fails to detect the shelf 100, an alarm signal is emitted and the operation of the shuttle car 200 is immediately stopped.

[0064] The second optoelectronic switch 702 is an end cargo position exceeding detection element. The second optoelectronic switch 702 is closer to the first support member 101 than the first optoelectronic switch 701. The extension direction of the light beam emitted by the second optoelectronic switch 702 is parallel to the second direction Y. The light beam emitted by the second optoelectronic switch 702 is as Figure 2 the dashed line shown in the figure, and the irradiation position is near the side guide wheel of the shuttle car 200. The second optoelectronic switch 702 emits a signal later than the first optoelectronic switch 701. When the light beam emitted by the second optoelectronic switch 702 leaves the shelf detection board, it indicates that the shuttle car 200 is about to exceed the shelf and must be immediately stopped. Therefore, the second optoelectronic switch 702 emits an alarm signal to control the shuttle car 200 to stop running immediately.

[0065] In some embodiments, the shelf system further includes a third optoelectronic switch 703. The third optoelectronic switch 703 is provided at the end of the shuttle car 200 in the first direction X. The first optoelectronic switch 701 is close to the first support member 101, and the third optoelectronic switch 703 is close to the second support member 102. The light beam emitted by the third optoelectronic switch 703 is parallel to the light beam emitted by the first optoelectronic switch 701, and both the first optoelectronic switch 701 and the third optoelectronic switch 703 emit light beams towards the first support member 101. The third optoelectronic switch 703 is configured to detect the shelf 100. When the third optoelectronic switch 703 fails to detect the shelf 100, a signal is emitted to control the shuttle car 200 to decelerate.

[0066] The third optoelectronic switch 703 is used to control the deceleration of the shuttle car 200. The light beam emitted by the third optoelectronic switch 703 is substantially parallel to the light beam emitted by the first optoelectronic switch 701. However, the third optoelectronic switch 703 is close to the second support 102. The light beam of the third optoelectronic switch 703 disengages from the shelf earlier when positioned at the end, sending a signal prior to the first optoelectronic switch 701, and is used to control the shuttle car 200 to decelerate in advance.

[0067] In some embodiments, the shelf system further includes a fourth optoelectronic switch 704. The fourth optoelectronic switch 704 is provided at the end of the shuttle car 200 in the first direction X. The fourth optoelectronic switch 704 is configured to emit a light beam obliquely upward to detect whether there is a cargo 600 in front of the shuttle car 200.

[0068] The fourth optoelectronic switch 704 is a cargo 600 detection element. The light beam emitted by the fourth optoelectronic switch 704 is as Figure 2 shown by the dotted line. It irradiates whether there is a cargo 600 in the upstream cargo space in the advancing direction of the shuttle car 200. Due to the relatively forward irradiation angle, it is possible to judge in advance whether there is an abnormality in the advancing direction.

[0069] In some embodiments, the shelf system further includes a fifth optoelectronic switch 705. The load plate 201 is provided with a through hole 203 at the end in the first direction X. The fifth optoelectronic switch 705 is provided below the through hole 203. The fifth optoelectronic switch 705 emits a light beam towards the through hole 203. When the light beam emitted by the fifth optoelectronic switch 705 cannot pass through the through hole 203, the fifth optoelectronic switch 705 sends a signal indicating that there is a cargo 600 above the shuttle car 200.

[0070] The fifth optoelectronic switch 705 is a cargo detection element. The optoelectronic light beam emitted by the fifth optoelectronic switch 705 irradiates upward through the through hole 203 of the load plate 201 and irradiates the pallet 602 in the shelf for positioning during positioning.

[0071] In some embodiments, the shelf system further includes a controller. The controller is electrically connected to the fourth optoelectronic switch 704 and the fifth optoelectronic switch 705. The controller is configured to, when positioning the picking target position, receive the signal from the fourth optoelectronic switch 704 that there is a cargo 600 in front of the shuttle car 200, and first receive that the light beam emitted by the fifth optoelectronic switch 705 cannot pass through the through hole 203, and then, after receiving the signal that the emitted light beam passes through the through hole 203, judge that the shuttle car 200 has reached the picking target position to control the shuttle car 200 to stop running.

[0072] In some embodiments, the shelf system further includes a controller, which is electrically connected to the fourth optoelectronic switch 704 and the fifth optoelectronic switch 705. The controller is configured to, when positioning the inventory target position, after receiving the signal from the fourth optoelectronic switch 704 that there is goods 600 in front of the shuttle car 200 and receiving the signal from the fifth optoelectronic switch 705 that the light beam cannot pass through the through hole 203, determine that the shuttle car 200 has reached the inventory target position, so as to control the shuttle car 200 to stop running.

[0073] In some embodiments, the shelf system further includes a sixth optoelectronic switch 706 and a seventh optoelectronic switch. The sixth optoelectronic switch 706 and the seventh optoelectronic switch are respectively arranged on both side parts of the shuttle car 200 in the second direction Y. The sixth optoelectronic switch 706 is configured to emit a light beam to the first support member 101, and the seventh optoelectronic switch is configured to emit a light beam to the second support member 102, for controlling the distance between the shuttle car 200 and the first support member 101 to be equal to the distance between the shuttle car 200 and the second support member 102.

[0074] In some embodiments, the sixth optoelectronic switch 706 and the seventh optoelectronic switch are arranged on both side parts of the shuttle car 200 in the second direction Y. The optoelectronic switches are reflective optoelectronics. When centered, the signal can be generated by shining on the reflector 303 pasted on the carrier table 301, so as to control the shuttle car 200 to be located in the middle of the carrier table 301.

[0075] In some embodiments, the shelf system further includes a lifting device 300, which is arranged at the end of the shelf 100 in the first direction X. The lifting device 300 is configured to carry the shuttle car 200 to move up and down to reach the required height. The moving direction of the shuttle car 200 up and down is parallel to the third direction Z.

[0076] One lifting device 300 is respectively arranged at both ends of the shelf 100 in the first direction X. The shuttle car 200 is arranged on the carrier table 301 of the lifting device 300. The lifting device 300 transports the shuttle car 200 to the target position. The shuttle car 200 enters the shelf from both sides to pick up and place goods, reducing the space occupied by the stacker in the site.

[0077] Reference Figure 4, in some embodiments, the lifting device 300 includes a carrier platform 301 configured to carry the shuttle vehicle 200 up and down. The carrier platform 301 includes a first plate 311, a second plate 312, and a third plate 313. The first plate 311 is horizontally arranged and configured to carry the shuttle vehicle 200. The second plate 312 and the third plate 313 are vertically arranged on the first plate 311. The tops of the second plate 312 and the third plate 313 are configured to carry the goods 600. The lifting mechanism 202 is configured to drive the loading plate 201 to rise to lift the goods 600 carried on the tops of the second plate 312 and the third plate 313, or to lower to place the goods 600 on the tops of the second plate 312 and the third plate 313.

[0078] Reference Figure 1 , in some embodiments, the rack system further includes a receiving platform 400 provided at an end of the rack 100. The receiving platform 400 is configured to convey the goods 600 to the carrier platform 301.

[0079] Reference Figure 1 , in some embodiments, the rack system further includes a shipping platform 500 provided at an end of the rack 100. The shipping platform 500 is configured to receive the goods 600 output from the carrier platform 301.

[0080] Some embodiments also provide a method for storing and retrieving goods of the rack system in the above embodiments.

[0081] In some embodiments, the method for storing and retrieving goods of the rack system includes a storing method: the lifting mechanism 202 of the shuttle vehicle 200 drives the loading plate 201 to rise to lift the goods 600, and the shuttle vehicle 200 carries the goods 600 and travels between the first support member 101 and the second support member 102 of the rack 100. After reaching the storing target position, it stops running, and the lifting mechanism 202 drives the loading plate 201 to lower to place the goods 600 on the tops of the first support member 101 and the second support member 102.

[0082] In some embodiments, the method for storing and retrieving goods of the rack system includes a retrieving method: the shuttle vehicle 200 travels between the first support member 101 and the second support member 102 of the rack 100. After reaching the retrieving target position, it stops running, and the lifting mechanism 202 of the shuttle vehicle 200 drives the loading plate 201 to rise to lift the goods 600 on the tops of the first support member 101 and the second support member 102, and carries the goods 600 out of the rack 100.

[0083] In some embodiments, the inventory method further includes a method for locating inventory target positions, which includes locating the inventory target positions at the end of the shelf 100: during the process of the shuttle vehicle 200 carrying the goods 600 walking between the first support member 101 and the second support member 102, the shelf 100 is detected by the first optoelectronic switch 701 provided on the shuttle vehicle 200. When the first optoelectronic switch 701 fails to detect the shelf 100, a signal is sent indicating that the shuttle vehicle 200 has reached the end of the shelf 100, and the shuttle vehicle 200 is controlled to stop walking. This position is the inventory target position at the end of the shelf 100.

[0084] In some embodiments, the inventory method further includes a method for locating inventory target positions, which includes locating the inventory target positions not at the end of the shelf 100: during the process of the shuttle vehicle 200 carrying the goods 600 walking between the first support member 101 and the second support member 102, the fourth optoelectronic switch 704 provided on the shuttle vehicle 200 is used to detect whether there is a goods 600 in front of the shuttle vehicle 200. When the fourth optoelectronic switch 704 detects that there is a goods 600 in front of the shuttle vehicle 200 and the light beam emitted by the fifth optoelectronic switch 705 provided at the end of the shuttle vehicle 200 cannot pass through the through hole 203 on the cargo board 201, the shuttle vehicle 200 is controlled to stop walking. This position is the inventory target position not at the end of the shelf 100.

[0085] In some embodiments, the inventory method further includes a method for locating picking target positions, which includes locating the picking target positions at the end of the shelf 100: during the process of the shuttle vehicle 200 walking between the first support member 101 and the second support member 102 of the shelf 100, the shelf 100 is detected by the first optoelectronic switch 701 provided on the shuttle vehicle 200. When the first optoelectronic switch 701 fails to detect the shelf 100, a signal is sent indicating that the shuttle vehicle 200 has reached the end of the shelf 100, and the shuttle vehicle 200 is controlled to stop walking. This position is the picking target position at the end of the shelf 100.

[0086] In some embodiments, the inventory method further includes a method for locating picking target positions, which includes locating the picking target positions not at the end of the shelf 100: during the process of the shuttle vehicle 200 walking between the first support member 101 and the second support member 102 of the shelf 100, the fourth optoelectronic switch 704 provided on the shuttle vehicle 200 is used to detect whether there is a goods 600 in front of the shuttle vehicle 200. When the fourth optoelectronic switch 704 detects that there is a goods 600 in front of the shuttle vehicle 200 and the light beam emitted by the fifth optoelectronic switch 705 provided at the end of the shuttle vehicle 200 cannot pass through the through hole 203 first and then can pass through the through hole 203, the shuttle vehicle 200 is controlled to stop walking. This position is the picking target position not at the end of the shelf 100.

[0087] Under normal circumstances, there is no goods 600 on the storage locations that the shuttle vehicle 200 passes by before reaching the picking target location. There is no goods 600 on the storage locations that the shuttle vehicle 200 passes by before reaching the storage target location.

[0088] The following combines the attached Figures 1 to 7 to describe some specific embodiments of the shelf system.

[0089] Refer to Figure 1 , the shelf system includes a multi-depth shelf 100, a lifting device 300, a shuttle vehicle 200, an inbound platform 400, and an outbound platform 500.

[0090] The multi-depth shelf 100 has multiple layers of storage shelves in the third direction Z, and each layer of storage shelf has more than two storage locations in the first direction X.

[0091] The shuttle vehicle 200 is used for storing and retrieving the goods 600 of the multi-depth shelf 100. The shuttle vehicle 200 and its carrying system (such as the lifting device 300, etc.) form a logistics unit. The shuttle vehicle 200 travels on the track of the shelf 100 to a specified depth position (storage location) to place the goods 600 or retrieve the goods 600, and then the carrying platform 301 of the lifting device 300 transports the shuttle vehicle 200 to the inbound platform 400 in the conveyor area to continue receiving the goods 600 on the inbound platform 400 or transports the shuttle vehicle 200 to the outbound platform 500 for sending away the goods 600 through the outbound platform 500.

[0092] Refer to Figure 3 , the shuttle vehicle 200 mainly includes a base 204, a loading board 201, a lifting mechanism 202, a traveling control mechanism 205, a collision prevention block 206, an energy supply system 207, and an upper communication system 208.

[0093] Base 204: It is a frame and is the main body of the shuttle vehicle 200. Internal control devices, etc. are installed inside the base 204, and the traveling drive chain and drive wheels are installed on both sides of the base 204.

[0094] Loading board 201: It is installed above the base 204, and anti-slip strips are pasted on both sides. When the shuttle vehicle 200 moves, the loading board 201 as the loading board for the goods 600 has an anti-slip effect. And the loading board 201 wraps the internal devices of the shuttle vehicle 200, which can effectively play a dust-proof effect.

[0095] Lifting mechanism 202: It is arranged between the base 204 and the cargo board 201. The lifting mechanism 202 includes a servo controller, a lifting motor, a detection element, etc. The walking and lifting controls share one servo controller, and two actions are respectively controlled through contactors. The lifting motor drives the cam mechanism to operate to realize the lifting action of the lifting mechanism 202, and the detection element detects the low and high positions of the lifting mechanism 202. When the shuttle car 200 runs to the target cargo position and completes positioning, the lifting mechanism 202 rises to complete the extraction of the goods 600 or the lifting unit descends to complete the operation of unloading the goods 600 to the shelf 100. When the shuttle car 200 returns to the center position of the carrier 301, the picking and placing actions of the goods 600 to the transportation mechanism 302 are also completed through the lifting mechanism 202.

[0096] Travel control mechanism 205: It includes a servo controller, a travel motor, a feedback encoder, a drive chain, a drive wheel, side guide wheels, etc. The travel control mechanism 205 is responsible for the travel control and position feedback of the shuttle car 200. The servo controller of the upper communication system 208 receives the encoder value of the operation target position, delimits the driving control acceleration and deceleration curve, calculates through the encoder feedback value, and calculates the actual position of the encoder in real time. It controls the shuttle car 200 to pick up and place the goods 600 at the specified position, and performs the centering positioning control of the shuttle car 200 returning to the carrier 301.

[0097] Energy supply system 207: It is arranged between the base 204 and the cargo board 201. Since the shuttle car 200 is disconnected from the collecting brush when entering the roadway for operation and cannot directly supply energy, energy storage is adopted. The energy supply system 207 stores energy and provides energy to the shuttle car 200 when the shuttle car 200 enters the roadway for operation and is disconnected from the collecting brush. The energy supply system 207 includes a sliding contact wire, a coupler, and a super capacitor. The coupler is directly connected to the super capacitor and the sliding contact wire, and serves as the brain of the energy supply system, responsible for capacitor power detection, charging control, and related fault feedback.

[0098] Upper communication system 208: It is arranged between the base 204 and the cargo board 201. Since the shuttle car 200 needs to leave the carrier 301 and enter the roadway, its communication with the upper computer cannot be directly realized through the network cable and can only be carried out in a wireless manner. The upper communication system 208 is connected through a Bluetooth Ethernet port adapter. The advantage of the Bluetooth communication method is that as long as it is within the communication distance range, it is not affected by other factors such as the communication path being blocked by the goods 600. Compared with the infrared communication method (which requires point-to-point without obstacles), the Bluetooth communication is more suitable for the characteristics of the non-fixed moving path of the shuttle car 200.

[0099] Collision prevention block 206: The shuttle car 200 is provided with collision prevention blocks 206 at both ends in the first direction X. However, the shuttle car 200 only runs from the lifting device 300 towards one end of the roadway. Therefore, only the collision prevention block 206 at one end of the shuttle car 200 needs to perform limit protection when the shuttle car 200 returns to the center position.

[0100] During the running process of the shuttle car 200, the sensor system is used to locate the shuttle car 200 in real time and detect the safety of its operating state.

[0101] Reference Figure 2 , the sensor system includes a first photoelectric switch 701, a second photoelectric switch 702, a third photoelectric switch 703, a fourth photoelectric switch 704, a fifth photoelectric switch 705, a sixth photoelectric switch 706 and a seventh photoelectric switch. Among them, the first photoelectric switch 701, the second photoelectric switch 702, the third photoelectric switch 703, the fourth photoelectric switch 704, and the fifth photoelectric switch 705 are provided at both ends of the shuttle car 200 in the first direction X. However, only when the shuttle car 200 runs to the shelf 100, the photoelectric switch at the upstream end plays an actual role. These photoelectric switches cooperate to complete the positioning of the shuttle car 200 at the end of the shelf, non-shelf end, center position of the carrier table 301, etc., and detect the sudden abnormal conditions during the running process of the shuttle car 200 in real time, ensuring the safe operation of the shuttle car 200 so that the shuttle car 200 does not occur dangerous accidents such as collisions and falls. During the running process of the shuttle car 200 in the shelf 100, the sensor system detects and locates the goods 600 in the shelf 100. Through running tracking, such a positioning method does not require additional layout of positioning auxiliary devices, and the positioning is stable, safe and reliable.

[0102] Reference Figure 4, the lifting device 300 includes a carrying platform 301 which is installed on the lifting platform of the lifting device 300, and the carrying platform 301 is used to place the shuttle car 200. When it is necessary to pick up goods from the shelf 100, the shuttle car 200 enters the aisle alone, while when the lifting device 300 picks up goods at the inbound and outbound platform, the shuttle car 200 is placed on the carrying platform 301. The carrying platform 301 serves as the carrier of the shuttle car 200 and is positioned through walking and lifting actions to carry the shuttle car 200 to the front side of the target shelf. The carrying platform 301 includes a first plate 311, a second plate 312 and a third plate 313. A transportation mechanism 302, a reflector 303, an eighth optoelectronic switch 304, a current collector brush 305 and a limit block 306 are provided on the carrying platform 301. The transportation mechanism 302 is arranged on the tops of the first plate 311 and the second plate 312. The transportation mechanism 302 is part of the handling handover of the shuttle car 200 at the inbound and outbound platform. Especially during the inbound operation, its positioning system relocates the goods 600 to the designated position on the loading plate 201 of the shuttle car 200 through the eighth optoelectronic switch 304, ensuring accurate positioning of the goods 600 on the loading plate 201 of the shuttle car 200 when it discharges goods. The accurate positioning of the goods 600 on the loading plate 201 is an essential part for the goods 600 to be placed at equal intervals during the inbound operation of the shuttle car 200. The current collector brush 305 on the carrying platform 301 supplies energy through the lifting action to the trolley wire on the shuttle car 200. When the shuttle car 200 is centered and positioned, it also needs to cooperate with the reflector 303 on the carrying platform 301, and the limit block 306 provides mechanical protection against overrun for the shuttle car 200. The shuttle car 200 is responsible for the conveying and handling operations in the depth direction of the shelf 100.

[0103] Reference Figure 5 , along the first direction X, there are non-terminal storage locations 104 and a terminal storage location 103, both the non-terminal storage location 104 and the terminal storage location 103 can place goods 600, and the distance between the goods 600 is L.

[0104] Reference Figure 6 , the goods 600 are placed on the top support portions 106 of the first support member 101 and the second support member 102. Tracks are provided at the bottoms of the first support member 101 and the second support member 102 for the shuttle car 200 to travel. The shelf 100 includes a frame body composed of columns 107 and crossbeams 108.

[0105] Reference Figure 7 , when discharging goods at the terminal storage location 103, the non-terminal storage location 104 is used as a positioning reference for the shuttle car 200, so the shuttle car 200 uses the edge of the shelf 100 for positioning. When discharging goods at the non-terminal storage location 104, the shuttle car 200 travels to the position of the non-terminal storage location 104, and the light beam emitted by the fifth optoelectronic switch 705 cannot pass through the through hole 203, indicating that the end of the shuttle car 200 has reached below the previous storage location (which can be the terminal storage location 103), then at this time the shuttle car 200 is at the non-terminal storage location 104.

[0106] The following will describe some specific embodiments of the method for storing and retrieving goods in the shelf system in conjunction with the attached Figures 1 to 7 drawings.

[0107] During the inbound process, the conveyor system transports the goods to the inbound platform 400. After the host of the lifting device 300 receives the task scheduling from the upper-level system, it drives the transport mechanism 302 of the carrier table 301 to the docking position with the inbound platform 400. The chain of the transport mechanism 302 starts to move to transport the goods 600 onto the carrier table 301 of the lifting device 300. The lifting device 300 starts to move to the target storage location. During the movement, the goods 600 are repositioned by the eighth optoelectronic switch 304 so that the goods 600 are at a fixed position on the load-carrying board 201 of the shuttle car 200.

[0108] Specific positioning method: If the eighth optoelectronic switch 304 has been blocked by the goods 600 during positioning, the transport mechanism 302 first runs forward to disengage the goods 600 from the eighth optoelectronic switch 304, and then runs backward and stops when the goods 600 re-block the eighth optoelectronic switch 304 to generate a rising edge signal. The edge of the goods 600 just stops on the eighth optoelectronic switch 304. If the eighth optoelectronic switch 304 is not blocked by the goods 600 during positioning, the transport mechanism 302 transports backward and stops when the eighth optoelectronic switch 304 generates a rising edge signal. The edge of the goods 600 just stops on the eighth optoelectronic switch 304.

[0109] When the lifting device 300 reaches the target position, the collecting brush 305 on the carrier table 301 descends, the lifting mechanism 202 of the shuttle car 200 operates to lift the goods 600 from the carrier table 301 to the load-carrying board 201. The traveling control mechanism 205 of the shuttle car 200 operates. At this time, the shuttle car 200 servo receives the target platform encoder position data sent by the host and starts to drive the shuttle car 200 to travel. During the traveling process, the fourth optoelectronic switch 704 continuously detects whether there are goods 600 in front of the running direction of the shuttle car 200, and the first optoelectronic switch 701 and the second optoelectronic switch 702 detect whether the shelf detection board is disengaged. Before reaching the target storage location, if the fourth optoelectronic switch 704 detects the goods 600, the shuttle car 200 returns to the carrier table 301, indicating that the positioning fails.

[0110] If the goods location for discharging is the end location, then end location positioning is performed. When the shuttle vehicle 200 approaches the end location, the fifth optoelectronic switch 705 disengages from the shelf 100 to generate a falling edge signal, and the shuttle vehicle 200 decelerates in advance and runs at a low speed to ensure that the shuttle vehicle 200 does not fall into the roadway. When the first optoelectronic switch 701 disengages from the shelf 100 to generate a falling edge signal and the encoder value is within the allowable deviation range, the positioning is completed. The lifting mechanism 202 lowers the goods carrier 201 to a low position, completing the discharging action of the goods 600 from the goods carrier 201 to the shelf 100, and the shuttle vehicle 200 returns to the carrier table 301. If the second optoelectronic switch 702 disengages from the shelf detection plate during the positioning process, the shuttle vehicle 200 stops running and returns to the center position, feeding back a positioning failure. If the shuttle vehicle 200 runs to the target location with the encoder value plus the positive deviation value and the first optoelectronic switch 701 has not yet disengaged from the shelf 100, or the shuttle vehicle 200 runs to the target location with the encoder value minus the negative deviation value and the first optoelectronic switch 701 has already disengaged from the shelf 100, the shuttle vehicle 200 returns to the center position of the carrier table 301 and feeds back a positioning failure.

[0111] If the goods location for discharging is a non - end location, then normal location positioning is performed. When the shuttle vehicle 200 approaches the target location, if it is detected that there is no goods 600 at the target location and there is goods 600 at the previous location of the target location, the shuttle vehicle 200 continues to run forward. When the fifth optoelectronic switch 705 enters the bottom of the previous goods 600 to generate a rising edge signal and the encoder value is within the allowable deviation range, the positioning is completed, and the lifting mechanism 202 drives the goods carrier 201 to descend to complete the discharging action of the goods 600 to the shelf 100. If the fifth optoelectronic switch 705 has already detected the goods 600 before the encoder value minus the deviation value, or the fifth optoelectronic switch 705 still has not detected the goods 600 after the encoder value plus the deviation value, the shuttle vehicle 200 returns to the center position of the carrier table 301 and feeds back a positioning failure.

[0112] During the outbound process, the lifting device 300 receives the target location for picking up goods, drives the shuttle vehicle 200 to run in front of the target shelf 100, the collecting brush 305 of the carrier table 301 descends, the shuttle vehicle 200 obtains the encoder value of the target location, and starts to leave the carrier table 301 and run towards the shelf 100. During the running process, the fourth optoelectronic switch 704 continuously detects whether there is goods 600 in front of the running direction of the shuttle vehicle 200, and the second optoelectronic switch 702 and the first optoelectronic switch 701 detect whether the shelf detection plate is disengaged. Before reaching the target location, if the fourth optoelectronic switch 704 detects the goods 600, the shuttle vehicle 200 returns to the carrier table 301 and feeds back a positioning failure. If the fourth optoelectronic switch 704 detects that there is no goods 600 at the target location, the shuttle vehicle 200 also returns to the carrier table 301 and feeds back a positioning failure.

[0113] After approaching the target storage location, the fourth photoelectric switch 704 needs to detect that there is a cargo 600 available at the target storage location. Then, the shuttle car 200 runs below the cargo 600, and the fifth photoelectric switch 705 is blocked to generate a rising edge signal. When the shuttle car 200 continues to run until the fifth photoelectric switch 705 disengages from the cargo 600 to generate a falling edge signal and the encoder value is within the allowable deviation range, the positioning is completed. The lifting mechanism raises the cargo board 201 to complete the picking of the cargo 600 from the shelf 100 to the shuttle car 200. Then, the shuttle car 200 returns to the carrier platform 301. After the shuttle car 200 runs below the target cargo 600, if the fifth photoelectric switch 705 disengages from the cargo 600 before adding the negative deviation value to the target encoder value or the fifth photoelectric switch 705 still does not disengage from the cargo 600 after adding the positive deviation value to the target encoder value, the shuttle car 200 will return to the carrier platform 301 to feedback the positioning failure.

[0114] After the shuttle car 200 finishes the task or runs abnormally, it will return to the central position of the carrier platform 301 for central position positioning. When the shuttle car 200 runs near the central position, the encoder value is close to 0. When the sixth photoelectric switch 706 and the seventh photoelectric switch simultaneously detect the rising edge signal generated by the reflector on the carrier platform 301, it represents that the central position positioning is successful, and the collecting carbon brush 305 can act to complete the charging action. If the positioning is abnormal and it continues to run away from the shelf 100 side, there will be a risk of falling. At this time, the anti-falling mechanical protection device takes effect, and the anti-collision block 206 of the shuttle car 200 will top against the limit block 306 of the carrier platform 301 to limit the continuous running of the shuttle car 200 and prevent it from falling.

[0115] In some embodiments, the technical solution adopted by the shelf system is as follows:

[0116] Two lifting devices 300 with shuttle cars 200 are arranged on both sides of the high-bay warehouse and can respectively perform the operations of picking and placing goods on the shelf 100 on one side of the roadway. The lifting platform of the lifting device 300 serves as the carrier platform 301 of the shuttle car 200 and is responsible for transporting the shuttle car 200 to the designated position of the shelf 100. There is a transportation mechanism 302 on the carrier platform 301 to pick up goods from the designated inbound platform 400 to the shuttle car 200. The cargo board 201 can transport the cargo 600 picked up by the shuttle car 200 to the outbound platform 500. There is a telescopic collecting carbon brush 305 at the bottom of the carrier platform 301. After the shuttle car 200 runs back to the center, the collecting carbon brush 305 extends to charge the shuttle car 200.

[0117] The following details several examples in the actual operation and positioning process of the shuttle car 200.

[0118] Pickup positioning: During the pickup process, there is no cargo 600 on the loading board 201 of the shuttle vehicle 200, and the lifting mechanism 202 is in the low position state. It will go to the target position to pick up the cargo. The fourth optoelectronic switch 704 needs to determine that there is no cargo 600 on the forward channel. After approaching the target cargo position, the fourth optoelectronic switch 704 needs to detect that there is cargo 600 available at the target cargo position. Then the shuttle vehicle 200 runs below the cargo 600, and the fifth optoelectronic switch 705 is blocked to generate a rising edge signal. When the shuttle vehicle 200 continues to run until the fifth optoelectronic switch 705 disengages from the cargo 600 to generate a falling edge signal, and the encoder value is within the allowable deviation range, the positioning is completed. The lifting mechanism 202 raises the loading board 201 to complete the pickup of the cargo 600 from the shelf 100 to the shuttle vehicle 200. Then the shuttle vehicle 200 returns to the loading platform 301.

[0119] Pickup positioning at the end cargo position: The fourth optoelectronic switch 704 detects in advance that there is cargo 600 at the end cargo position. When the light beam of the fifth optoelectronic switch 705 disengages from the shelf detection board to generate a falling edge, it means that the shuttle vehicle 200 has approached the end position and starts to decelerate forward in advance. When the first optoelectronic switch 701 disengages from the shelf detection board to generate a falling edge, it means that the shuttle vehicle 200 has completed the positioning. At this time, if the real-time position of the shuttle vehicle 200 is within the range of the target encoder plus the set allowable deviation, the positioning is successful, and the shuttle vehicle 200 is raised to perform the pickup action of the cargo 600.

[0120] Pickup positioning at non-end cargo positions: The shuttle vehicle 200 runs near the encoder value of the target position. The fourth optoelectronic switch 704 detects in advance that there is cargo 600 at this position. When the fifth optoelectronic switch 705 passes through the cargo 600 to generate a falling edge signal, it means that there is a gap between this cargo 600 and the previous cargo 600, and the cargo can be picked up. After the pickup positioning is completed, the shuttle vehicle 200 performs the lifting action to pick up the cargo 600.

[0121] Delivery positioning: When delivering the cargo, the positioning system needs to be completed with the help of the cargo 600 in the previous cargo position. However, in front of the end cargo position is the roadway, and there is no cargo 600 to assist in completing the positioning. Therefore, it is further divided into the positioning of the end cargo position. The specific positioning method is as follows:

[0122] Goods placement positioning at the end storage location. During the goods placement process, the lifting mechanism first performs a lifting action on the loading platform 301 to lift the goods 600 onto the loading board 201. The shuttle car 200 leaves the loading platform 301. The fourth optoelectronic switch 704 detects that there is no goods 600 on the forward channel. When the shuttle car 200 approaches the end storage location, the fifth optoelectronic switch 705 disengages from the shelf 100 to generate a falling edge signal, and the shuttle car 200 decelerates in advance and runs at a low speed to ensure that the shuttle car 200 does not fall into the roadway. When the first optoelectronic switch 701 disengages from the shelf 100 to generate a falling edge signal and the encoder value is within the allowable deviation range, the positioning is completed. The lifting mechanism lowers the loading board 201 to a low position to complete the goods placement action of the goods 600 from the loading board 201 to the shelf 100, and the shuttle car 200 returns to the loading platform 301.

[0123] Goods placement positioning at non - end storage locations. The shuttle car 200 leaves the loading platform 301. The fourth optoelectronic switch 704 detects that there is no goods 600 on the forward channel. When the shuttle car 200 approaches the target storage location and detects that there is no goods 600 at the target storage location and there is goods 600 at the upstream storage location of the target storage location, the shuttle car 200 continues to run forward. When the fifth optoelectronic switch 705 enters the bottom of the goods 600 at the upstream storage location to generate a rising edge signal and the encoder value is within the allowable deviation range, the positioning is completed, and the lifting mechanism drives the loading board 201 to descend to complete the goods placement action of the goods 600 to the shelf 100.

[0124] Center position positioning: Regardless of whether the shuttle car 200 performs the goods picking and placing operations, it needs to return to the center position of the loading platform 301, and the goods picking and placing positioning methods are the same. When the shuttle car 200 finishes the goods picking and placing task and returns to the loading platform 301 and runs near the center position, the encoder value is close to 0. When the sixth optoelectronic switch 706 and the seventh optoelectronic switch simultaneously detect a rising edge signal generated by the reflector on the loading platform 301, it represents that the center position positioning is successful, and the collector brush can act to complete the charging action.

[0125] Goods arrangement distance control: To facilitate the shuttle car 200 to pick and place goods, the goods 600 in the shelf 100 need to be arranged at equal intervals. Therefore, the total width of the shelf 100 is fixed, the number of goods 600 placed on the shelf 100 is fixed, and the width of the goods 600 is also fixed. So the goods arrangement distance during placement can also be controlled within a fixed range. The specific implementation method is as follows:

[0126] When storing, the loading platform 301 conveys the goods 600 onto the lifting device 300. The loading platform 301 relocates the goods 600 through the eighth photoelectric switch 304 and conveys the goods 600 above the fixed position of the loading board 201 of the shuttle car 200. The specific positioning method is as follows: If the eighth photoelectric switch 304 has been blocked by the goods 600 during positioning, the driving chain first runs forward to disengage the goods 600 from the eighth photoelectric switch 304, and then runs backward and stops when the goods 600 re-block the eighth photoelectric switch 304 to generate a rising edge signal. The edge of the goods 600 just stops on the eighth photoelectric switch 304. If the eighth photoelectric switch 304 is not blocked by the goods 600 during positioning, the driving chain conveys backward and stops when the eighth photoelectric switch 304 generates a rising edge signal. The edge of the goods 600 just stops on the eighth photoelectric switch 304. The beam of the fifth photoelectric switch 705 irradiates upward through the through hole 203 of the loading board 201. The distance between the beam of the fifth photoelectric switch 705 and the goods 600 at the positioning position on the loading board 201 is the goods arrangement distance. When storing, the shuttle car 200 stops running when the fifth photoelectric switch 705 irradiates the goods 600 in the upstream storage location, and the shuttle car 200 descends to place the goods 600 on the shelf 100. Each time the storage task is executed, it is positioned in this way, and the cigarette packs are arranged at equal distances within the shelf 100.

[0127] The following analyzes all situations of positioning anomalies:

[0128] 1. The forward running channel is occupied: During the process of the shuttle car 200 running to the target storage location, the fourth photoelectric switch 704 continuously detects whether there are goods 600 in front. If there are goods 600, there is a risk of collision if the shuttle car 200 continues to move forward. The shuttle car 200 stops moving forward, returns to the loading platform 301, and feedbacks positioning failure.

[0129] 2. There are no goods 600 at the target storage location when picking up goods: When the shuttle car 200 executes the picking up task and runs close to the target storage location, the fourth photoelectric switch 704 at the target storage location does not detect the goods 600, indicating that there are no goods 600 to pick up at the target position. The shuttle car 200 stops moving forward, returns to the loading platform 301, and feedbacks positioning failure.

[0130] 3. The positioning exceeds the end range of the shelf 100: When positioning at the end storage location, if the second photoelectric switch 702 disengages from the shelf 100 to generate a falling edge signal, it means that the shuttle car 200 is about to exceed the shelf 100 and there is a risk of falling. Immediately stop moving forward and return to the loading platform 301, and feedback positioning failure. [[ID= =14]]

[0131] 4. The target position is located outside the allowable deviation range: During actual operation, due to reasons such as the deviation of the photoelectric position, there may be a deviation between the position of the goods 600 and the actual encoder target value. The system sets a deviation value, and the shuttle car 200 locates within the positive and negative deviation ranges of the target position. When loading goods, if the fifth photoelectric switch 705 detects a rising edge before the target value plus the negative deviation, or the fifth photoelectric switch 705 has not detected a rising edge after the target value plus the positive deviation, it means that the positioning exceeds the allowable range, that is, the previous goods 600 stop too far forward or too far backward. When picking up goods, if the fifth photoelectric switch 705 detects a falling edge before the target position plus the negative deviation, or the fifth photoelectric switch 705 has not detected a falling edge after the target value plus the positive deviation, it means that the positioning exceeds the allowable range, that is, the target goods 600 are too far forward or too far backward.

[0132] 5. Mechanical protection beyond the center position of the loading platform 301 during centering: When returning to the center position of the loading platform 301, the encoder value is 0, and the sixth photoelectric switch 706 and the seventh photoelectric switch need to detect the reflector 303 on the loading platform 301 simultaneously. If the positioning is abnormal and continues to run away from the shelf 100, there will be a risk of falling. At this time, the anti-falling mechanical protection device takes effect, and the anti-collision block 206 of the shuttle car 200 will hit the limit block 306 of the loading platform 301 to limit the continuous operation of the shuttle car 200 and prevent it from falling.

[0133] Based on the above embodiments of the present disclosure, without explicit negation or conflict, the technical features of one embodiment can be beneficially combined with one or more other embodiments.

[0134] Although some specific embodiments of the present disclosure have been described in detail by way of examples, those skilled in the art should understand that the above examples are only for illustration purposes and not for limiting the scope of the present disclosure. Those skilled in the art should understand that the above embodiments can be modified or some technical features can be equivalently replaced without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A shelf system, characterized in that, Comprising: A shelf (100) including a first support member (101) and a second support member (102) both extending along a first direction (X), the first support member (101) and the second support member (102) being spaced apart along a second direction (Y), the tops of the first support member (101) and the second support member (102) being configured to carry goods (600), the shelf (100) having at least one storage location formed along the first direction (X), the tops of the first support member (101) and the second support member (102) corresponding to each storage location being configured as positions for storing the goods (600), wherein the first direction (X) is perpendicular to the second direction (Y); A shuttle car (200) configured to travel between the first support member (101) and the second support member (102) and located below the tops of the first support member (101) and the second support member (102); the shuttle car (200) includes a loading plate (201) and a lifting mechanism (202), the lifting mechanism (202) being drivingly connected to the loading plate (201) to raise the loading plate (201) to lift the goods (600) carried by the tops of the first support member (101) and the second support member (102), or to lower the goods (600) to place them on the tops of the first support member (101) and the second support member (102); And A first photoelectric switch (701), the first photoelectric switch (701) being provided at an end of the shuttle car (200) in the first direction (X), the extending direction of the light beam emitted by the first photoelectric switch (701) having an angle greater than zero with the second direction (Y), the first photoelectric switch (701) being configured to detect the shelf (100), and when the first photoelectric switch (701) fails to detect the shelf (100), sending a signal indicating that the shuttle car (200) has reached the end of the shelf (100) in the first direction (X) for controlling the shuttle car (200) to stop running; A second photoelectric switch (702), the second photoelectric switch (702) being provided at an end of the shuttle car (200) in the first direction (X), both the second photoelectric switch (702) and the first photoelectric switch (701) being close to the first support member (101), and the second photoelectric switch (702) being closer to the first support member (101) than the first photoelectric switch (701), both the second photoelectric switch (702) and the first photoelectric switch (701) emitting light beams towards the first support member (101), the extending direction of the light beam emitted by the second photoelectric switch (702) being parallel to the second direction (Y), the second photoelectric switch (702) being configured to detect the shelf (100), and when the second photoelectric switch (702) fails to detect the shelf (100), sending an alarm signal; A third optoelectronic switch (703), the third optoelectronic switch (703) is provided at an end of the shuttle car (200) in the first direction (X), the first optoelectronic switch (701) is close to the first support member (101), the third optoelectronic switch (703) is close to the second support member (102), the light beam emitted by the third optoelectronic switch (703) is parallel to the light beam emitted by the first optoelectronic switch (701), and both the first optoelectronic switch (701) and the third optoelectronic switch (703) emit light beams towards the first support member (101), the third optoelectronic switch (703) is configured to detect the goods shelf (100), and when the third optoelectronic switch (703) fails to detect the goods shelf (100), a signal is sent to control the shuttle car (200) to decelerate.

2. The shelf system according to claim 1, wherein, It further includes a fourth optoelectronic switch (704), the fourth optoelectronic switch (704) is provided at an end of the shuttle car (200) in the first direction (X), and the fourth optoelectronic switch (704) is configured to emit a light beam obliquely upward to detect whether there is a goods (600) in front of the shuttle car (200).

3. The shelf system according to claim 2, wherein It further includes a fifth optoelectronic switch (705), a through hole (203) is provided at an end of the load-carrying plate (201) in the first direction (X), the fifth optoelectronic switch (705) is provided below the through hole (203), the fifth optoelectronic switch (705) emits a light beam towards the through hole (203), and when the light beam emitted by the fifth optoelectronic switch (705) cannot pass through the through hole (203), a signal is sent indicating that there is a goods (600) above the shuttle car (200).

4. The shelf system according to claim 3, characterized in that It further includes a controller, the controller is electrically connected to the fourth optoelectronic switch (704) and the fifth optoelectronic switch (705), and the controller is configured to, when positioning the picking target position, receive the signal from the fourth optoelectronic switch (704) indicating that there is a goods (600) in front of the shuttle car (200), and first receive the signal that the light beam emitted by the fifth optoelectronic switch (705) cannot pass through the through hole (203), and then receive the signal that the light beam emitted by the fifth optoelectronic switch (705) passes through the through hole (203), and then determine that the shuttle car (200) has reached the picking target position to control the shuttle car (200) to stop running.

5. The shelf system according to claim 3, characterized in that, It further includes a controller, the controller is electrically connected to the fourth optoelectronic switch (704) and the fifth optoelectronic switch (705), and the controller is configured to, when positioning the inventory target position, receive the signal from the fourth optoelectronic switch (704) indicating that there is a goods (600) in front of the shuttle car (200), and after receiving the signal that the light beam emitted by the fifth optoelectronic switch (705) cannot pass through the through hole (203), determine that the shuttle car (200) has reached the inventory target position to control the shuttle car (200) to stop running.

6. The shelf system according to claim 1, wherein, It further includes a sixth optoelectronic switch (706) and a seventh optoelectronic switch. The sixth optoelectronic switch (706) and the seventh optoelectronic switch are arranged on both side parts of the shuttle car (200) in the second direction (Y). The sixth optoelectronic switch (706) is configured to emit a light beam to the first support member (101), and the seventh optoelectronic switch is configured to emit a light beam to the second support member (102), for controlling the distance between the shuttle car (200) and the first support member (101) to be equal to the distance between the shuttle car (200) and the second support member (102).

7. The shelf system according to claim 1, characterized in that, It further includes a lifting device (300). The lifting device (300) is arranged at the end of the shelf (100) in the first direction (X). The lifting device (300) is configured to carry the shuttle car (200) to move up and down to reach the required height.

8. The shelf system according to claim 7, wherein, The lifting device (300) includes a carrying platform (301). The carrying platform (301) is configured to carry the shuttle car (200) to move up and down. The carrying platform (301) includes a first plate (311), a second plate (312) and a third plate (313). The first plate (311) is horizontally arranged and configured to carry the shuttle car (200). The second plate (312) and the third plate (313) are vertically arranged on the first plate (311). The tops of the second plate (312) and the third plate (313) are configured to carry the goods (600). The lifting mechanism (202) is configured to drive the cargo board (201) to rise to lift the goods (600) carried on the tops of the second plate (312) and the third plate (313), or to lower to place the goods (600) on the tops of the second plate (312) and the third plate (313).

9. The shelf system according to claim 8, wherein It further includes: A warehousing platform (400), arranged at the end of the shelf (100). The warehousing platform (400) is configured to convey the goods (600) to the carrying platform (301); and A shipping platform (500), arranged at the end of the shelf (100). The shipping platform (500) is configured to receive the goods (600) output by the carrying platform (301).

10. A method for storing and retrieving goods of a shelf system according to any one of claims 1 to 9, which includes: A method for storing goods: The lifting mechanism (202) of the shuttle car (200) drives the cargo board (201) to rise to lift the goods (600), and the shuttle car (200) carries the goods (600) to travel between the first support member (101) and the second support member (102) of the shelf (100). After reaching the storage target position, it stops running, and the lifting mechanism (202) drives the cargo board (201) to lower to place the goods (600) on the tops of the first support member (101) and the second support member (102); Goods picking method: The shuttle car (200) travels between the first support member (101) and the second support member (102) of the shelf (100). After reaching the goods picking target position, it stops running. The lifting mechanism (202) of the shuttle car (200) drives the cargo board (201) to rise to lift the goods (600) placed on the tops of the first support member (101) and the second support member (102), and carries the goods (600) out of the shelf (100).

11. The goods access method of the shelf system according to claim 10, wherein the goods storing method further includes a positioning method for the goods storing target position, which includes: Positioning of the goods storing target position at the end of the shelf (100): During the process of the shuttle car (200) carrying the goods (600) and traveling between the first support member (101) and the second support member (102), the shelf (100) is detected by the first optoelectronic switch (701) provided on the shuttle car (200). When the first optoelectronic switch (701) cannot detect the shelf (100), a signal is sent indicating that the shuttle car (200) has reached the end of the shelf (100), and the shuttle car (200) is controlled to stop traveling. This position is the goods storing target position at the end of the shelf (100); Positioning of the goods storing target position not at the end of the shelf (100): During the process of the shuttle car (200) carrying the goods (600) and traveling between the first support member (101) and the second support member (102), it is detected by the fourth optoelectronic switch (704) provided on the shuttle car (200) whether there are goods (600) in front of the shuttle car (200). When the fourth optoelectronic switch (704) detects that there are goods (600) in front of the shuttle car (200) and the light beam emitted by the fifth optoelectronic switch (705) provided at the end of the shuttle car (200) cannot pass through the through hole (203) on the cargo board (201), the shuttle car (200) is controlled to stop traveling. This position is the goods storing target position not at the end of the shelf (100).

12. The goods access method of the shelf system according to claim 10, wherein the goods storing method further includes a positioning method for the goods picking target position, which includes: Positioning of the goods picking target position at the end of the shelf (100): During the process of the shuttle car (200) traveling between the first support member (101) and the second support member (102) of the shelf (100), the shelf (100) is detected by the first optoelectronic switch (701) provided on the shuttle car (200). When the first optoelectronic switch (701) cannot detect the shelf (100), a signal is sent indicating that the shuttle car (200) has reached the end of the shelf (100), and the shuttle car (200) is controlled to stop traveling. This position is the goods picking target position at the end of the shelf (100); Positioning of the picking target position not at the end of the shelf (100): During the process of the shuttle vehicle (200) traveling between the first support member (101) and the second support member (102) of the shelf (100), the fourth photoelectric switch (704) provided on the shuttle vehicle (200) is used to detect whether there is a cargo (600) in front of the shuttle vehicle (200). When the fourth photoelectric switch (704) detects that there is a cargo (600) in front of the shuttle vehicle (200), and the light beam first emitted by the fifth photoelectric switch (705) provided at the end of the shuttle vehicle (200) cannot pass through the through hole (203) on the cargo-carrying plate (201), and the light beam emitted later can pass through the through hole (203), the shuttle vehicle (200) is controlled to stop walking, and this position is the picking target position not at the end of the shelf (100).

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