Cargo transportation method, handling equipment and computer-readable storage medium

Abstract

This application provides a cargo transportation method, handling equipment, and a computer-readable storage medium. The method includes, upon receiving a transportation task, planning a target path for the handling equipment from a pickup location to the target location based on the target location of the transportation task and the movement mode of the handling equipment. The movement mode of the handling equipment includes forward, backward, and lateral movement, and the movement mode matches the path width of the target path. Based on the target path, the method controls the handling equipment to transport goods from the pickup location to the target location. This application plans the path according to the movement mode of the handling equipment, enabling the handling equipment to move in a movement mode that matches the path width. This facilitates the transportation of goods with minimal path width, allowing for smaller distances between shelves, thereby increasing the number of shelves in the warehouse and expanding the warehouse's storage capacity.

Description

Technical Field

[0001] This application relates to the field of intelligent warehouse technology, and in particular to a cargo transportation method, handling equipment, and computer-readable storage medium. Background Technology

[0002] In order to increase storage capacity, traditional warehouse racking typically requires the aisle width between racks to be as small as possible when storing materials. However, when storing extra-long materials, traditional handling equipment requires a larger path width to ensure smooth transportation. This results in a larger aisle width between racks, a smaller number of racks in the warehouse, and consequently, a lower storage capacity. Summary of the Invention

[0003] In view of this, the embodiments of this application provide a cargo transportation method, a handling device, and a computer-readable storage medium. Path planning is performed according to the movement mode of the handling device, so that the handling device can move in a movement mode that matches the path width. This is beneficial for transporting goods while occupying the minimum path width, and allows the distance between shelves to be set smaller, thereby increasing the number of shelves in the warehouse and expanding the warehouse capacity.

[0004] The cargo transportation method of this application includes, upon receiving a transportation task, planning a target path for the handling equipment from the pickup location to the target location based on the target location of the transportation task and the movement mode of the handling equipment, wherein the movement mode of the handling equipment includes forward, backward, and lateral movement, and the movement mode and the path width of the target path are matched; and controlling the handling equipment to transport the goods from the pickup location to the target location based on the target path.

[0005] The handling equipment of this application includes a processor and a cargo moving device. The processor is used to, upon receiving a transportation task, plan a target path for the cargo moving device from the pickup location to the target location based on the target location of the transportation task and the movement mode of the cargo moving device of the handling equipment. The movement mode of the cargo moving device includes forward, backward, and lateral movement. Based on the target path, the processor controls the cargo moving device to transport the cargo from the pickup location to the target location.

[0006] The computer-readable storage medium of this application includes a computer program that, when executed by one or more processors, causes the processors to perform the following cargo transportation method: upon receiving a transportation task, planning a target path for the transport equipment from the pickup location to the target location based on the target location of the transportation task and the movement mode of the transport equipment, wherein the movement mode of the transport equipment includes forward, backward, and lateral movement, and the movement mode and the path width of the target path are matched; and controlling the transport equipment to transport goods from the pickup location to the target location according to the target path.

[0007] The cargo transportation method, handling equipment, and computer-readable storage medium of this application perform path planning based on the movement mode of the handling equipment, enabling the handling equipment to move in a movement mode that matches the path width. This facilitates the transportation of goods while occupying the minimum path width, allowing the distance between shelves to be set smaller, thereby increasing the number of shelves in the warehouse and expanding the warehouse's storage capacity.

[0008] 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

[0009] 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:

[0010] Figure 1 This is a schematic flowchart of a cargo transportation method according to certain embodiments of this application;

[0011] Figure 2 This is a schematic diagram of the structure of a conveying device according to certain embodiments of this application;

[0012] Figure 3 This is a schematic diagram illustrating a usage scenario of a cargo transportation method according to certain embodiments of this application;

[0013] Figure 4 This is a schematic diagram illustrating a usage scenario of a cargo transportation method according to certain embodiments of this application;

[0014] Figure 5 This is a schematic flowchart of a cargo transportation method according to certain embodiments of this application;

[0015] Figure 6 This is a schematic flowchart of a cargo transportation method according to certain embodiments of this application;

[0016] Figure 7 This is a schematic flowchart of a cargo transportation method according to certain embodiments of this application;

[0017] Figure 8 This is a schematic flowchart of a cargo transportation method according to certain embodiments of this application;

[0018] Figure 9 This is a schematic flowchart of a cargo transportation method according to certain embodiments of this application;

[0019] Figure 10 This is a schematic flowchart of a cargo transportation method according to certain embodiments of this application;

[0020] Figure 11 This is a schematic diagram of the control device according to certain embodiments of this application; and

[0021] Figure 12 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

[0022] 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.

[0023] The following is a brief explanation of the terms used in this application:

[0024] 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.

[0025] Please see Figure 1 and Figure 2 The cargo transportation method of this application includes:

[0026] Step 011: Upon receiving a transportation task, based on the target location of the transportation task and the movement mode of the handling equipment 100, plan the target path of the handling equipment 100 from the picking location to the target location. The movement modes of the handling equipment 100 include forward, backward, and lateral movement, and the movement mode matches the path width of the target path.

[0027] Specifically, please combine Figure 3The first direction X1 is the extension direction of the forks 11 of the handling equipment 100, and the second direction X2 is perpendicular to the first direction X1. To ensure that the handling equipment 100 can smoothly complete its transportation tasks, the width of all paths within the warehouse must be at least greater than the smaller of the length in the first direction X1 and the length in the second direction X2 of the entire object consisting of the cargo moving device 10 of the handling equipment 100 and the goods loaded by the cargo moving device 10. The handling equipment 100 also includes a processor 20, which, during path planning, needs to plan the target path of the cargo moving device 10 and determine the target movement mode of the cargo moving device 10 on the target path. The movement modes of the cargo moving device 10 of the handling equipment 100 include forward, backward, and lateral movement, allowing the processor 20 to select the target movement mode of the cargo moving device 10 based on the smaller of the length in the first direction X1 and the length in the second direction X2 of the entire object consisting of the cargo moving device 10 and the goods loaded by the cargo moving device 10, so that the target movement mode of the cargo moving device 10 matches the path width of the target path.

[0028] Please combine Figure 4 The target movement mode of the cargo moving device 10 matches the path width of the target path. This can be understood as ensuring that when the cargo moving device 10 moves in a certain movement mode, the entire object consisting of the cargo moving device 10 and the goods it carries can be located within the target path. For example, an aisle D1 is formed between two adjacent shelves H1. The direction in which the shelves H1 extend is the length direction X3 of the aisle D1, and the direction perpendicular to the length direction X3 of the shelves H1 is the width direction X4 of the aisle D1. When the cargo moving device 10 moves between two adjacent shelves H1 in a certain target movement mode, the distance between the cargo moving device 10 and the goods it carries in the entire object in the width direction X4 of the aisle D1 is less than the spacing between the two adjacent shelves H1. This is to avoid the cargo moving device 10 colliding with the shelves H1 and causing damage to the goods because the width between the shelves H1 is less than the minimum width required for the safe movement of the cargo moving device 10. For example, if the length of the entire object consisting of the cargo moving device 10 and the cargo loaded by the cargo moving device 10 in the first direction X1 is 2.1m, and the length of the entire object consisting of the cargo moving device 10 and the cargo loaded by the cargo moving device 10 in the second direction X2 is 2.8m, then the target movement mode of the cargo moving device 10 is selected according to the length of the entire object consisting of the cargo moving device 10 and the cargo loaded by the cargo moving device 10 in the first direction X1, so as to ensure that the cargo moving device 10 can always stay within the path when transporting goods on the target path and will not collide with the shelf H1.

[0029] Furthermore, since many handling devices 100 are constantly moving in the warehouse, in order to avoid conflicts in the movement paths between the handling devices 100, after receiving the transportation task, the processor 20 calculates the optimal driving route of the handling device 100 based on the distance between the target location and the pickup location and the movement paths of other moving handling devices 100, and controls the cargo moving device 10 to move according to the optimal driving route, thereby improving the transportation efficiency of the handling device 100.

[0030] Step 012: According to the target path, control the handling equipment 100 to transport the goods from the pickup location to the target location.

[0031] Specifically, after the processor 20 plans the target path, it controls the cargo moving device 10 to transport the goods from the pickup location to the target location in the target movement mode, based on the target path and the target movement mode. For example, after the processor 20 determines that the target movement mode is lateral movement, it controls the cargo moving device 10 to travel on the target path in a lateral movement mode, so that the cargo moving device 10 transports the goods while occupying the minimum path width.

[0032] The cargo transportation method of this application plans the path according to the movement mode of the cargo moving device 10, so that the handling equipment 100 can move in a movement mode that matches the path width. This is beneficial to transporting goods while occupying the minimum path width, so that the distance between the shelves H1 can be set smaller, thereby increasing the number of shelves H1 in the warehouse and expanding the warehouse capacity.

[0033] Please see Figure 2 , Figure 4 and Figure 5 In some embodiments, the transportation task includes an inbound task, the picking location includes an inbound connection area S1, and the target location includes a first target storage location C11, where the first target storage location C11 is any storage location C1 on the shelf H1. Step 012: Controlling the handling equipment 100 to transport the goods from the picking location to the target location includes:

[0034] Step 0121: Control the handling equipment 100 to transport the goods from the warehouse connection area S1 to the first target storage location C11.

[0035] Specifically, the handling equipment 100 communicates with a system (such as a cloud server), which is used to issue transportation tasks and maintain inventory information of the shelf H1. The transportation task includes an inbound task, the picking location includes the inbound connection area S1, and the target location includes the first target storage location C11, which is any storage location C1 on the shelf H1.

[0036] When the system receives an inbound request, it obtains the working status of all handling equipment 100 in the warehouse, schedules idle handling equipment 100 to complete the inbound task, and issues the inbound task to the scheduled handling equipment 100. After receiving the inbound task, the processor 20 of the scheduled handling equipment 100 will also select the first target storage location C11 from the vacant storage location C1 according to the inventory information of the shelf H1, and control the goods moving device 10 to move to the inbound connection area S1 to load the goods, and then transport the loaded goods to the first target storage location C11.

[0037] Furthermore, please combine Figure 6 In some embodiments, after the cargo moving device 10 transports the loaded cargo to the first target storage location C11, the cargo transportation method of this application further includes:

[0038] Step 013: After the handling equipment 100 transports the goods from the pickup location to the target location, update the inventory information.

[0039] Specifically, after the goods are transported to the first target storage location C11, the processor 20 will upload the information of the goods and the information of the first target storage location C11 to the system to update the inventory information of the shelf H1 in real time. This avoids the situation where the handling equipment 100 finds that the first target storage location C11 has already been placed after transporting the goods to it, thereby improving the transportation efficiency of the handling equipment 100 and ensuring the orderly management of the shelf H1.

[0040] Please see Figure 2 , Figure 4 and Figure 7 In some embodiments, there are multiple shelves H1, each storing goods of the same specifications. Before planning the target path of the handling equipment 100 from the picking location to the target location based on the target location of the transportation task and the movement mode of the handling equipment 100, the goods transportation method of this application further includes:

[0041] Step 014: Scan the identification code of the goods in the inbound receiving area S1 to identify the specifications of the goods in the inbound receiving area S1;

[0042] Step 015: Based on the specifications of the goods in the receiving area S1, determine the target location of the target shelf H1 among multiple shelves H1.

[0043] Specifically, the handling equipment 100 also includes a detection device 30. The warehouse contains multiple shelves H1, each storing goods of the same specifications. When multiple specifications of goods are placed in the warehouse, the specifications of the goods stored on each shelf H1 need to be defined so that goods of the same specifications can be stored together on the same shelf H1 for easier warehouse management. Goods in the inbound connection area S1 are labeled with identification codes corresponding to their specifications, which contain the specification information of the goods in the inbound connection area S1. Therefore, when the processor 20 receives an inbound task and controls the goods moving device 10 to move to the inbound connection area S1, the processor 20 controls the detection device 30 to scan the identification codes of the goods in the inbound connection area S1, enabling the processor 20 to identify the specifications of the goods in the inbound connection area S1. After identifying the specifications of the goods in the receiving area S1, the processor 20 obtains the specification information of the goods stored on each shelf H1, and takes the shelf H1 with the same specifications of the goods stored as the target shelf H1 as the target shelf H1. It determines the target location of the target shelf H1 among multiple shelves H1. Then, according to the inventory information of the target shelf H1 displayed in the system, the processor 20 obtains the occupancy information of all storage positions C1 of the shelf H1, and then, according to the empty storage positions C1 in the target shelf H1, obtains the first target storage position C11 of the loaded goods in the shelf H1.

[0044] For example, if a warehouse needs to store goods of specification 1 (goods 1), specification 2 (goods 2), and specification 3 (goods 3), at least three shelves H1 will be selected to store the goods. Each shelf H1 will store only one specification of goods. For example, shelf H11 stores goods 1, shelf H12 stores goods 2, and shelf H13 stores goods 3. When goods 1 arrives at the receiving area S1, an identification code corresponding to specification 1 will be affixed to it. After receiving the receiving application for goods 1, the system will issue a receiving task to the idle handling equipment 100. The handling equipment 100 that receives the receiving task will move to the receiving area S1 to load the goods and scan the identification code of the loaded goods 1 to identify the specification of the loaded goods 1. Then, the processor 20 of the handling equipment 100 determines the shelf H11 as the target shelf H1 according to the specifications of the goods stored on each shelf H1, and obtains the target position of the shelf H11. Then, according to the inventory information of the shelf H11, it obtains the first target storage position C11 of the loaded goods 1, and controls the goods moving device 10 to transport the loaded goods 1 to the first target storage position C11.

[0045] Please see Figure 2 , Figure 4 and Figure 8In some embodiments, the transportation task includes an outbound task, the picking location includes a second target storage location C12, the target location includes an outbound connection area S2, and the second target storage location C12 is any storage location C1 on the shelf H1. Step 012: Controlling the handling equipment 100 to transport the goods from the picking location to the target location includes:

[0046] Step 0122: Control the handling equipment 100 to transport the goods from the second target storage location C12 to the outbound connection area S2.

[0047] Specifically, the transportation task includes an outbound task, the pickup location includes the second target storage location C12, the target location includes the outbound connection area S2, and the second target storage location C12 is any storage location C1 on the shelf H1. When the system receives an outbound request, it obtains the working status of all handling equipment 100 in the warehouse, schedules the idle handling equipment 100 to complete the outbound task, and issues an outbound task to the scheduled handling equipment 100. After receiving the outbound task, the processor 20 controls the goods moving device 10 to move to the second target storage location C12 to load the goods, and then transports the loaded goods to the outbound connection area S2.

[0048] Furthermore, after the handling equipment 100 transports the goods to the outbound connection area S2, it will also execute step 013, that is, after the handling equipment 100 transports the goods to the outbound connection area S2, it will upload the information of the goods and the information of the first target storage location C11 of the goods to the system, so as to change the inventory information of the first target storage location C11 of the goods that have been transported to the outbound connection area S2 to empty in a timely manner, thereby enabling real-time updates of inventory information and facilitating the orderly management of the shelf H1.

[0049] Please see Figure 2 and Figure 4 In some embodiments, the first direction X1 is the direction in which the forks 11 of the handling equipment 100 extend, the second direction X2 is perpendicular to the first direction X1, there are multiple shelves H1, the multiple shelves H1 are arranged at intervals, and the distance between two adjacent shelves H1 is greater than the smaller of the length in the first direction X1 and the length in the second direction X2 of the whole object consisting of the handling equipment 100 and the goods loaded by the handling equipment 100.

[0050] Specifically, since the movement modes of the handling equipment 100 include forward, backward, and lateral movement, during movement, the handling equipment 100 can select its target movement mode based on the smaller of the length in the first direction X1 and the length in the second direction X2 of the overall object consisting of the goods moving device 10 and the goods loaded by the goods moving device 10. This allows the goods moving device 10 to transport goods while occupying the minimum path width. Therefore, when setting up the shelves H1, the distance between two adjacent shelves H1 only needs to be greater than the smaller of the length in the first direction X1 and the length in the second direction X2 of the overall object consisting of the goods moving device 10 and the goods loaded by the goods moving device 10. This ensures that the goods moving device 10 can transport the loaded goods to the first target storage location C11 while allowing the distance between shelves H1 to be set smaller, thereby increasing the number of shelves H1 in the warehouse and expanding the warehouse capacity.

[0051] For example, the length of the entire object consisting of the cargo moving device 10 and the goods loaded by the cargo moving device 10 in the first direction X1 is 2.1m, and the length of the entire object consisting of the cargo moving device 10 and the goods loaded by the cargo moving device 10 in the second direction X2 is 2.8m. When setting the spacing between shelves H1, it is only necessary to ensure that the spacing between two adjacent shelves H1 is greater than the length of the entire object consisting of the cargo moving device 10 and the goods loaded by the cargo moving device 10 in the first direction X1 of 2.1m, such as a spacing of 2.5m between two adjacent shelves H1. However, in warehouses using handling equipment 100 whose movement mode does not include lateral movement, when setting the spacing between shelves H1, the spacing between two adjacent shelves H1 needs to be greater than 2.8m, such as 3m, to ensure that the handling equipment 100 can safely transport the goods to the first target storage location C11. It is understandable that, given the same warehouse area, compared to warehouses using handling equipment 100 with a movement mode that does not include lateral movement, warehouses using handling equipment 100 with a movement mode have smaller spacing between shelves H1, allowing the warehouse to accommodate more shelves H1, thereby increasing the warehouse's inventory capacity.

[0052] Please see Figure 2 , Figure 4 and Figure 9 In some embodiments, the target path includes a sub-path located between two adjacent shelves H1. The cargo transportation method of this application includes:

[0053] Step 016: Determine the target movement mode corresponding to the sub-path based on the smaller of the length in the first direction X1 and the length in the second direction X2 of the overall object consisting of the handling equipment 100 and the goods loaded by the handling equipment 100, so that the handling equipment 100 does not collide with the shelf H1 when moving in the sub-path in the target movement mode.

[0054] Specifically, the target path includes a sub-path located between two adjacent shelves H1. To increase warehouse capacity, when setting up shelves H1, the distance between two adjacent shelves H1 is greater than the smaller of the length in the first direction X1 and the length in the second direction X2 of the overall object consisting of the goods moving device 10 and the goods loaded by the goods moving device 10. This results in a smaller sub-path between two adjacent shelves H1. Therefore, when performing path planning, the processor 20 needs to determine the target movement mode corresponding to the sub-path between two adjacent shelves H1 based on the smaller of the length in the first direction X1 and the length in the second direction X2 of the overall object consisting of the goods moving device 10 and the goods loaded by the goods moving device 10. This ensures that when the goods moving device 10 moves in the target movement mode along the sub-path between two adjacent shelves H1, it can transport goods while occupying the minimum path width, thereby avoiding collisions with the shelves H1.

[0055] Please see Figure 2 and Figure 10 In some embodiments, step 016: determining the target movement pattern corresponding to the sub-path based on the smaller of the length in the first direction X1 and the length in the second direction X2 of the overall object consisting of the handling equipment 100 and the goods loaded by the handling equipment 100, including:

[0056] Step 0161: If the shorter of the length in the first direction X1 and the length in the second direction X2 of the overall object consisting of the handling equipment 100 and the goods loaded by the handling equipment 100 is the length in the first direction X1 of the overall object, the target movement mode is determined to be lateral movement.

[0057] Step 0162: If the smaller of the length in the first direction X1 and the length in the second direction X2 of the overall object consisting of the handling equipment 100 and the goods loaded by the handling equipment 100 is the length in the second direction X2 of the overall object, determine the target movement mode as forward or backward.

[0058] Specifically, after scanning the identification code of the goods and identifying the specifications of the goods, the processor 20 obtains the length of the goods in the first direction X1 and the length in the second direction X2, thereby obtaining the length of the entire object consisting of the goods moving device 10 and the goods loaded by the goods moving device 10 in the first direction X1 and the length in the second direction X2. When performing path planning, the processor 20 compares the length of the entire object consisting of the cargo moving device 10 and the cargo loaded by the cargo moving device 10 in the first direction X1 and the length in the second direction X2 to obtain the smaller of the lengths in the first direction X1 and the second direction X2 of the entire object consisting of the cargo moving device 10 and the cargo loaded by the cargo moving device 10. Based on the smaller of the lengths in the first direction X1 and the second direction X2 of the entire object consisting of the cargo moving device 10 and the cargo loaded by the cargo moving device 10, the target movement mode is determined as follows: if the smaller of the lengths in the first direction X1 and the second direction X2 of the entire object consisting of the cargo moving device 10 and the cargo loaded by the cargo moving device 10 is the length in the first direction X1 of the entire object, the target movement mode is determined to be lateral movement; if the smaller of the lengths in the first direction X1 and the second direction X2 of the entire object consisting of the cargo moving device 10 and the cargo loaded by the cargo moving device 10 is the length in the second direction X2 of the entire object, the target movement mode is determined to be forward or backward movement.

[0059] For example, when the length of the entire object consisting of the cargo moving device 10 and the goods loaded by the cargo moving device 10 in the first direction X1 is 2.1m, and the length of the entire object consisting of the cargo moving device 10 and the goods loaded by the cargo moving device 10 in the second direction X2 is 2.8m, in order to increase the number of warehouse shelves H1 and expand the warehouse capacity, the spacing between the shelves H1 is greater than the smaller of the length of the entire object consisting of the cargo moving device 10 and the goods loaded by the cargo moving device 10 in the first direction X1 and the length in the second direction X2, i.e., 2.1m, and less than the larger of the length of the entire object consisting of the cargo moving device 10 and the goods loaded by the cargo moving device 10 in the first direction X1 and the length in the second direction X2, i.e., 2.8m, for example, the spacing between the shelves H1 is 2.5m. If the cargo moving device 10 advances into the aisle D1, and the length of the entire object consisting of the cargo moving device 10 and the goods loaded by the cargo moving device 10 in the first direction X1 is greater than the distance between the shelves H1, then the cargo moving device 10 and the entire object consisting of the goods loaded by the cargo moving device 10 cannot enter the aisle D1. Therefore, when performing path planning, the processor 20 determines that the target movement mode of the cargo moving device 10 in the sub-path is lateral movement, so that the overall object consisting of the cargo moving device 10 and the cargo loaded by the cargo moving device 10 can move between lanes D1.

[0060] Alternatively, if the length of the entire object consisting of the cargo moving device 10 and the cargo loaded by the cargo moving device 10 in the first direction X1 is 2.8m, and the length of the entire object consisting of the cargo moving device 10 and the cargo loaded by the cargo moving device 10 in the second direction X2 is 2.5m, then the distance between the shelves H1 is greater than 2.5m and less than 2.8m, such as 2.6m. If the cargo moving device 10 moves laterally into the aisle D1, the length of the entire object consisting of the cargo moving device 10 and the cargo loaded by the cargo moving device 10 in the second direction X2 will be greater than the distance between the shelves H1. In this case, the cargo moving device 10 and the entire object consisting of the cargo moving device 10 will collide with the shelves H1. Therefore, when performing path planning, the processor 20 will determine whether the target movement mode of the cargo moving device 10 in the sub-path is forward or backward, thereby ensuring that the cargo moving device 10 will not collide with the shelves H1 when traveling between aisles D1.

[0061] To facilitate better implementation of the cargo transportation method according to the embodiments of this application, this application also provides a cargo transportation device 40. Please refer to... Figure 11 The cargo transport device 40 may include:

[0062] The planning module 41 is used to plan the target path of the handling equipment 100 from the picking position to the target position when a transportation task is received, based on the target position of the transportation task and the movement mode of the handling equipment 100. The movement mode of the handling equipment 100 includes forward, backward and lateral movement, and the movement mode and the path width of the target path are matched.

[0063] The transport module 42 is used to control the handling equipment 100 to transport goods from the pickup location to the target location according to the target path.

[0064] The transportation module 42 is specifically used to control the handling equipment 100 to transport goods from the warehouse connection area S1 to the first target storage location C11.

[0065] In some embodiments, the cargo transport device 40 of this application may further include:

[0066] The determination module 43 is used to scan the identification code of the goods in the inbound connection area S1 to identify the specifications of the goods in the inbound connection area S1; and to determine the target location of the target shelf H1 among multiple shelves H1 according to the specifications of the goods in the inbound connection area S1.

[0067] The transportation module 42 is specifically used to control the handling equipment 100 to transport the goods from the second target storage location C12 to the outbound connection area S2.

[0068] The planning module 41 is specifically used to determine the target movement mode corresponding to the sub-path based on the smaller of the length in the first direction X1 and the length in the second direction X2 of the overall object consisting of the handling equipment 100 and the goods loaded by the handling equipment 100, so that the handling equipment 100 does not collide with the shelf H1 when moving in the sub-path in the target movement mode.

[0069] The planning module 41 is specifically used to determine the target movement mode as lateral movement when the smaller of the length in the first direction X1 and the length in the second direction X2 of the overall object consisting of the handling equipment 100 and the goods loaded by the handling equipment 100 is the length in the first direction X1 of the overall object; and to determine the target movement mode as forward or backward when the smaller of the length in the first direction X1 and the length in the second direction X2 of the overall object consisting of the handling equipment 100 and the goods loaded by the handling equipment 100 is the length in the second direction X2 of the overall object.

[0070] In some embodiments, the cargo transport device 40 of this application may further include:

[0071] The update module 44 is used to update the inventory information after the handling equipment 100 transports the goods from the picking position to the target position.

[0072] Each module in the aforementioned cargo transport device 40 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.

[0073] Please see Figure 2 The handling equipment 100 of this application includes a processor 20 and a cargo moving device 10. The processor 20 is used to execute the cargo transportation method of any of the above embodiments, and for the sake of brevity, it will not be described in detail here.

[0074] Among them, the handling equipment 100 can be mobile equipment such as AGV, clamp truck, tractor, forklift, reach stacker, warehouse robot, etc.

[0075] Please see Figure 12 This application also provides a computer-readable storage medium 200 storing a computer program 210. When the computer program 210 is executed by the processor 20, it implements the steps of the cargo transportation method of any of the above embodiments. For the sake of brevity, these steps will not be repeated here.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] 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 method for transporting goods, characterized in that, include: Upon receiving a transportation task, a target path is planned for the transportation equipment from the picking location to the target location based on the target location of the transportation task and the movement mode of the transportation equipment. The movement mode of the transportation equipment includes forward, backward, and lateral movement. The movement mode and the path width of the target path are matched. The target path includes sub-paths located between two adjacent shelves. The target movement pattern corresponding to the sub-path is determined based on the smaller of the length in a first direction and the length in a second direction of the overall object consisting of the handling equipment and the goods loaded by the handling equipment, so that the handling equipment does not collide with the shelf when it moves in the sub-path in the target movement pattern, wherein the first direction is the direction in which the forks of the handling equipment extend, and the second direction is perpendicular to the first direction; Based on the target path and the target movement pattern, the handling equipment is controlled to transport the goods from the pickup location to the target location.

2. The cargo transportation method according to claim 1, characterized in that, The transportation task includes an inbound task, the pickup location includes an inbound connection area, and the target location includes a first target storage location, which is any storage location on the shelf. Controlling the handling equipment to transport goods from the pickup location to the target location includes: Control the handling equipment to transport the goods in the warehouse receiving area to the first target storage location.

3. The cargo transportation method according to claim 2, characterized in that, The shelves are multiple, and each shelf stores goods of the same specifications. Before planning the target path of the handling equipment from the picking location to the target location based on the target location of the transportation task and the movement mode of the handling equipment, the goods transportation method further includes: Scan the identification code of the goods in the receiving area to identify the specifications of the goods in the receiving area; Based on the specifications of the goods in the receiving area, the target location of the target shelf among the multiple shelves is determined.

4. The cargo transportation method according to claim 1, characterized in that, The transportation task includes an outbound task, the pickup location includes a second target storage location, the target location includes an outbound transfer area, the second target storage location is any storage location on the shelf, and controlling the handling equipment to transport goods from the pickup location to the target location includes: Control the handling equipment to transport the goods from the second target storage location to the outbound transfer area.

5. The method for transporting goods according to any one of claims 2-4, characterized in that, The shelves are multiple, and the multiple shelves are arranged at intervals. The distance between two adjacent shelves is greater than the smaller of the length in a first direction and the length in a second direction of the whole object consisting of the handling equipment and the goods loaded by the handling equipment.

6. The cargo transportation method according to claim 1, characterized in that, Determining the target movement pattern corresponding to the sub-path based on the smaller of the length in a first direction and the length in a second direction of the overall object consisting of the handling equipment and the goods loaded by the handling equipment includes: If the shorter of the length in the first direction and the shorter of the length in the second direction of the overall object consisting of the handling equipment and the goods loaded by the handling equipment is the length in the first direction of the overall object, the target movement mode is determined to be lateral movement. If the smaller of the length in the first direction and the length in the second direction of the overall object consisting of the handling equipment and the goods loaded by the handling equipment is the length in the second direction of the overall object, the target movement mode is determined to be forward or backward.

7. The cargo transportation method according to claim 1, characterized in that, Also includes: After the handling equipment transports the goods from the pickup location to the target location, the inventory information is updated.

8. A handling device, characterized in that, The system includes a processor and a cargo movement device. Upon receiving a transport task, the processor plans a target path for the cargo movement device from a pickup location to the target location, based on the target location of the transport task and the movement mode of the cargo movement device. The movement mode of the cargo movement device includes forward, backward, and lateral movement. The target path includes sub-paths located between two adjacent shelves. The processor determines a target movement mode corresponding to the sub-path based on the smaller of the length in a first direction and the length in a second direction of the overall object consisting of the transport device and the cargo loaded by the transport device, such that the transport device does not collide with the shelf when moving along the sub-path in the target movement mode. The first direction is the direction in which the forks of the transport device extend, and the second direction is perpendicular to the first direction. Based on the target path and the target movement mode, the processor controls the cargo movement device to transport the cargo from the pickup location to the target location.

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 transport method of any one of claims 1-7.

Images