Cargo storage and retrieval method, system and electronic equipment

Abstract

The present invention discloses a cargo access method, system, and electronic device. The cargo access method includes: controlling a handling device to move to the docking side of an automated cantilever rack; wherein the handling device has a loading platform for supporting a carrier, the carrier being used to load long strips of material; the automated cantilever rack has multiple layers of cargo units for supporting the carriers; and controlling the handling device to dock with the automated cantilever rack to transfer the carrier between the handling device and the cargo units in the automated cantilever rack. This improves the automation level of the cargo handling process.

Description

Technical Field

[0001] The present application relates to the field of logistics application technology, and in particular to a cargo storage and retrieval method, system, and electronic equipment. Background Art

[0002] With rapid economic development, warehousing technology has been applied to various industries, including finished product warehousing and raw material warehousing in the manufacturing industry, as well as centralized turnover warehousing in the express delivery and logistics industries. However, in related technologies, long materials such as pipes, lumber, and metal profiles in the manufacturing industry are typically transported using manually pushed carts, resulting in a low level of automation. Summary of the Invention

[0003] In order to solve the above technical problems or at least partially solve the above technical problems, embodiments of the present invention provide a cargo storage and retrieval method, system, and electronic device.

[0004] In a first aspect, an embodiment of the present invention provides a cargo storage and retrieval method, comprising:

[0005] Controlling the transport equipment to move to the docking side of the automatic circulation cantilever rack; wherein the transport equipment has a loading platform for supporting a carrier, and the carrier is used to load long strips of materials; the automatic circulation cantilever rack has multiple layers of inventory units for supporting the carriers;

[0006] The transporting device is controlled to dock with the automatic circulation cantilever rack to transfer the carrier between the transporting device and the cargo unit in the automatic circulation cantilever.

[0007] In some embodiments, a first safety grating is provided on the docking side of the automatic circulation cantilever rack, and the first safety grating is spaced apart from the automatic circulation cantilever rack;

[0008] The controlling the transport device to move to the docking side of the automatic circulation cantilever rack includes:

[0009] receiving a first passing request sent by the transport device; the first passing request is generated when the transport device approaches a detection area of ​​the first safety light grid;

[0010] controlling the first safety light barrier to switch to a closed state according to the first passing request;

[0011] The transport device is controlled to pass through the detection area of ​​the first safety light grid.

[0012] In some embodiments, a second safety grating is further provided on the docking side of the automatic circulation cantilever rack, the second safety grating is located between the first safety grating and the automatic circulation cantilever rack, the second safety grating and the automatic circulation cantilever rack are spaced apart, and the spacing between the first safety grating and the second safety grating is greater than the dimension of the handling equipment supporting the carrier along the first direction; the first direction is the direction from the first safety grating to the second safety grating;

[0013] After controlling the transport device to pass through the detection area of ​​the first safety light grid, the method further includes:

[0014] receiving a second passing request sent by the transport device; the second passing request is generated when the transport device approaches a detection area of ​​a second safety light barrier;

[0015] controlling the first safety light barrier to be switched to an open state and controlling the second safety light barrier to be switched to a closed state according to the second passing request;

[0016] Controlling the handling equipment to pass through the detection area of ​​the second safety light grid;

[0017] receiving confirmation information sent by the transport device, where the confirmation information is generated when the transport device leaves the detection area of ​​the second safety light grid;

[0018] Control the second safety grating to switch to an open state according to the confirmation information

[0019] In some embodiments, the cargo access method further includes:

[0020] receiving a first prompt message sent by the first safety grating; the first prompt message is generated when the first safety grating is in an open state and the transport device enters a detection area of ​​the first safety grating;

[0021] Or, receiving a second prompt message sent by the second safety grating; the second prompt message is generated when the second safety grating is in an open state and the handling equipment enters a detection area of ​​the second safety grating.

[0022] In some embodiments, at least some of the multiple layers of cargo units are spaced apart in the vertical direction;

[0023] The transferring of the carrier between the handling equipment and the cargo unit of the automatic flow cantilever includes:

[0024] The carrier is transferred between the handling equipment and the cargo unit located at the bottom layer of the automatic circulation cantilever rack.

[0025] The cargo unit includes two cantilever beams arranged opposite to each other, each cantilever beam having a free end, and the side of the automatic circulation cantilever rack facing the free end is a docking side;

[0026] The controlling the transport equipment to dock with the automatic circulation cantilever rack includes:

[0027] The carrying platform of the transporting equipment is controlled to be parallel to the cargo unit located at the bottom layer in the automatic circulation cantilever rack, and the transporting equipment is controlled to enter between the two cantilever beams located at the bottom layer.

[0028] In some embodiments, during the inventory process, after the carrier is transferred between the handling device and the automatic flow cantilever, the method further includes:

[0029] The automatic circulation cantilever rack is controlled to transfer the carriers in the cargo unit located at the bottom layer to the cargo unit located at the upper layer and in an idle state.

[0030] In some embodiments, during the picking process, after the carrier is transferred between the handling equipment and the automatic flow cantilever, the method further includes:

[0031] The automatic circulation cantilever rack is controlled to transfer the carriers in the cargo unit located on the upper layer to the cargo unit located on the bottom layer.

[0032] In a second aspect, an embodiment of the present invention provides an electronic device, comprising: a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any of the aforementioned methods when executing the computer program.

[0033] In a third aspect, an embodiment of the present invention provides a cargo storage and retrieval system, comprising: an automatic circulation cantilever rack, a handling device, and an electronic device as described in any one of the foregoing items; wherein the automatic circulation cantilever rack has a multi-layer cargo unit, and the cargo unit is used to support a carrier loaded with long strips of materials; the handling device has a cargo platform for carrying the carrier, and the handling device also has a lifting mechanism, and the lifting mechanism is used to drive the cargo platform to rise or fall so that the cargo platform can dock with the cargo unit in the automatic circulation cantilever rack.

[0034] In some embodiments, the cargo storage and retrieval system further includes: a first safety grating and a second safety grating, the second safety grating is located between the first safety grating and the automatic circulation cantilever rack, the second safety grating and the automatic circulation cantilever rack are spaced apart, and the distance between the first safety grating and the second safety grating is greater than the size of the handling equipment and the long strip material along the corresponding direction; the first safety grating and the second safety grating are respectively communicated with the electronic device.

[0035] In some embodiments, at least some of the multiple layers of cargo units are spaced apart in the vertical direction.

[0036] The cargo storage and retrieval method, system, and electronic device provided by the embodiments of the present invention control the movement of a handling device to the docking side of an automated cantilever rack, wherein the automated cantilever rack has multi-layer cargo units. The handling device is controlled to dock with the automated cantilever rack to place a carrier loaded with the elongated material onto the rack or remove the carrier loaded with the elongated material from the rack. This improves the level of automation in the cargo handling process and reduces the difficulty and workload of on-site personnel.

[0037] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1a This is a schematic diagram of a scenario provided by an embodiment;

[0039] Figure 1b This is a schematic diagram of device connections in a scenario provided by an embodiment;

[0040] Figure 2 This is a flow chart of a cargo storage and retrieval method provided by an embodiment;

[0041] Figure 3 is a flow chart of a cargo access method provided by another embodiment;

[0042] Figure 4a This is a schematic diagram of an inventory scenario provided by an embodiment;

[0043] Figure 4b This is an example of an inventory scenario provided by an embodiment. Figure 2 ;

[0044] Figure 4c This is an example of an inventory scenario provided by an embodiment. Figure 3 ;

[0045] Figure 5 It is a structural diagram of a device provided by an exemplary embodiment. DETAILED DESCRIPTION

[0046] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0047] The present embodiment provides a cargo access method, system and electronic equipment, which adopts a handling device with a mobile function and an automatic circulation cantilever rack with a cargo circulation function, and connects the handling device with the corresponding cargo loading unit of the automatic circulation cantilever rack. It is possible to place a carrier loaded with long strips of materials into the corresponding cargo loading unit of the automatic circulation cantilever rack, or take a carrier loaded with long strips of materials out of the corresponding cargo loading unit of the automatic circulation cantilever rack, thereby improving the level of automation in the cargo handling process and reducing the difficulty and intensity of work for on-site staff.

[0048] For ease of description, the cargo access method according to an embodiment of the present invention is described below with reference to the accompanying drawings for illustration.

[0049] like Figure 1a and Figure 1b As shown in the figure, in the storage and retrieval scenario, it includes: automatic circulation cantilever racks, handling equipment and electronic equipment. The automatic circulation cantilever racks and handling equipment are respectively connected to the electronic equipment for data transmission.

[0050] Automated circulation cantilever racks are installed in a storage area within a warehouse. One or more automated circulation cantilever racks may be included. When multiple automated circulation cantilever racks are included, they may be arranged according to a predetermined pattern, for example, arranged in parallel. Furthermore, each of the automated circulation cantilever racks is communicatively connected to an electronic device.

[0051] The automated circulation cantilever racking system comprises multiple layers of cargo units. Each of the multiple layers of cargo units is used to support carriers loaded with elongated materials. The automated circulation cantilever racking system also comprises a robotic arm that grips the carriers and moves them between the cargo units. The robotic arm can be mounted on the columns of the automated circulation cantilever racking system or on other components. At least some of the multiple layers of cargo units can be spaced apart vertically.

[0052] In addition, a safety fence may be provided at the edge of the storage area to prevent entry of personnel. Exemplarily, the safety fence may include a plurality of protective columns, which are extended in the up-down direction. The plurality of protective columns may be spaced apart along the periphery of the storage area. The tops of every two adjacent protective columns may be connected to a protective beam to prevent entry of personnel. Alternatively, a protective net may be connected between every two adjacent protective columns to prevent entry of personnel. In addition, in order to facilitate the transport of equipment in and out of the storage area, the safety fence may be provided with an opening area for the transport equipment to enter and exit.

[0053] The transporting devices may include multiple transporting devices, each of which is in communication with the electronic device, and the electronic device is used to dispatch the multiple transporting devices. The transporting devices may be autonomous mobile robots (AMRs) with autonomous movement and obstacle avoidance functions.

[0054] Among them, the handling equipment has a cargo platform for carrying the carrier, and the handling equipment also has a jacking mechanism, which is used to drive the cargo platform up or down to dock with the cargo unit in the automatic circulation cantilever rack, thereby realizing the picking and placing of goods.

[0055] There can be one or more electronic devices. If there are multiple electronic devices, some of them can be used to control the automated cantilever rack, while others can be used to control the handling equipment. Furthermore, the storage and retrieval scenario also includes a human-computer interaction terminal, which is communicatively connected to the electronic devices.

[0056] Figure 2 This is a flow chart of a cargo access method provided by an embodiment. Please refer to Figure 2 The cargo access method provided in this embodiment includes:

[0057] S201. Control the transport equipment to move to the docking side of the automatic circulation cantilever rack; wherein the transport equipment has a load-bearing platform for supporting a carrier, and the carrier is used to load long strips of materials; the automatic circulation cantilever rack has multiple layers of cargo units for supporting the carrier.

[0058] The execution subject of this embodiment may be an electronic device, or may be other controllers or processors with information processing capabilities. For ease of description, this embodiment will be described using the execution subject being an electronic device as an example.

[0059] After receiving the order, the electronic device dispatches a handling device to perform the order. For example, the electronic device assigns a handling device to perform the order based on the order, generates a dispatch instruction, and sends it to the assigned handling device. The dispatch instruction may include the location information of the automatic cantilever rack corresponding to the order.

[0060] If it is an inventory task, the dispatch instruction may also include pickup location information. The handling equipment will then arrive at the pickup location and load the goods according to the pickup location information in the dispatch instruction. Then, the goods will be transported to the docking side of the automatic circulation cantilever rack according to the location information of the automatic circulation cantilever rack in the dispatch instruction. If it is a pickup task, the handling equipment will move to the docking side of the automatic circulation cantilever rack according to the location information of the automatic circulation cantilever rack in the dispatch instruction.

[0061] Among them, the docking side of the automatic circulation cantilever rack can be set towards the opening area of ​​the safety fence to facilitate the docking of the automatic circulation cantilever rack with the handling equipment.

[0062] Among them, the automatic circulation cantilever rack has multiple layers of cargo units for storing long strips of materials. Electronic equipment can control the automatic circulation cantilever rack to transfer carriers loaded with long strips of materials between multiple cargo units.

[0063] In some examples, multiple cargo units can be spaced apart horizontally, wherein carriers can be stacked within the cargo units, utilizing the height space of the automated cantilever rack, allowing the automated cantilever rack to store more long strips of material.

[0064] In other examples, at least a portion of the multi-layer cargo units are spaced apart in the vertical direction, so that the space in the height direction of the automatic circulation cantilever rack can be utilized, so that the automatic circulation cantilever rack can store more long strips of materials. For ease of description, this embodiment will be explained using this as an example. Exemplarily, the automatic circulation cantilever rack has two oppositely arranged columns, one side of the column is connected to a plurality of cantilever beams spaced apart in the vertical direction, and the cantilever beams connected to the two columns are correspondingly arranged. In other examples, the opposite sides of the column are respectively connected to a plurality of cantilever beams spaced apart in the vertical direction, and the cantilever beams connected to the two sides of the two columns are respectively correspondingly arranged. The two corresponding cantilever beams connected by the two columns form a cargo unit, and the cargo unit is used to support a carrier loaded with long strips of materials.

[0065] The end of the cantilever beam facing away from the column is the free end. In some examples, to improve the convenience of transportation and even docking of the automatic circulation cantilever rack, the side of the automatic circulation cantilever rack where the free end of the cantilever beam is located can be the docking side. For example, when cantilever beams are connected to opposite sides of the column, the corresponding two sides of the automatic circulation cantilever rack are the docking sides. For another example, when the cantilever beam is connected to one side of the column, the side where the free end of the cantilever beam is located can be the docking side. Of course, in other examples, the side of the automatic circulation cantilever rack facing away from the free end of the cantilever beam can also be the docking side.

[0066] S202: Control the transport equipment to dock with the automatic circulation cantilever rack to transfer the carrier between the transport equipment and the cargo unit in the automatic circulation cantilever.

[0067] After the handling equipment moves to the docking side of the automatic circulation cantilever rack, by controlling the load platform of the handling equipment to rise or fall, the carrier loaded with long strips of materials can be transferred between the load platform and the loading unit in the automatic circulation cantilever rack, thereby placing the carrier loaded with long strips of materials on the automatic circulation cantilever rack for releasing the goods, or taking the carrier loaded with long strips of materials out of the automatic circulation cantilever rack for picking up the goods.

[0068] In some examples, the loading and unloading of goods can be automatically performed by the handling equipment or the automatic flow cantilever rack to improve the degree of automation. In other examples, after the handling equipment moves to the docking side of the automatic flow cantilever rack, the on-site staff can remove the carrier from the carrying platform of the handling equipment and place it on the cargo unit of the automatic flow cantilever rack; or, the on-site staff can remove the carrier from the cargo unit of the automatic flow cantilever rack and place it on the loading platform of the handling equipment.

[0069] In this example, when at least some of the multiple layers of cargo units in the automated cantilever rack are spaced apart in the vertical direction, the handling equipment can dock with the cargo units on the bottom layer of the automated cantilever rack. This allows the handling equipment's loading platform to transfer cargo between the cargo units on the bottom layer of the automated cantilever rack without having to rise too high, thereby reducing the lifting travel requirements of the handling equipment during docking. The automated cantilever rack can transfer cargo from a cargo unit on the bottom layer to a cargo unit on the upper layer, or vice versa.

[0070] The cargo access method provided in this embodiment controls the transport equipment to move to the docking side of the automatic circulation cantilever rack; wherein the automatic circulation cantilever rack has a multi-layer cargo unit; controls the transport equipment to dock with the automatic circulation cantilever rack to place a carrier loaded with long strips of materials on the automatic circulation cantilever rack, or to take a carrier loaded with long strips of materials out of the automatic circulation cantilever rack. In this way, by adopting a transport equipment with a self-moving function and an automatic circulation cantilever rack with a cargo circulation function, and the transport equipment and the automatic circulation cantilever rack can automatically dock to realize the transfer of cargo such as long strips of materials, the automation level in the cargo handling process is improved, and the difficulty and intensity of the work of on-site staff are reduced. Moreover, since it can automatically transport and transfer, the participation of on-site staff is reduced, and the damage of long strips of materials during the handling process can be reduced or even avoided.

[0071] In some embodiments, safety gratings are installed on the docking sides of automated cantilever racks to enhance safety. These gratings can be installed near the openings of the safety fence. For example, they can be mounted on guard posts near the openings. If there are multiple openings, each of these can be equipped with a safety grating. Alternatively, safety gratings can be installed in only some of the openings.

[0072] Electronic devices can control the safety grating to switch between open and closed states according to the position of the handling equipment, ensuring that only the handling equipment assigned to perform storage and retrieval tasks can enter, thereby improving safety.

[0073] The electronic device is capable of receiving a prompt message from a safety light barrier. This prompt message is generated when the safety light barrier is in the open state and a transport device enters the detection area of ​​the safety light barrier. The safety light barrier comprises a light emitter and a receiver. The light curtain formed by the light emitted by the light emitter to the receiver is located in the detection area of ​​the safety light barrier. Specifically, when the safety light barrier is in the open state and a transport device enters the detection area of ​​the safety light barrier, the safety light barrier can generate a prompt message. The electronic device can trigger a corresponding prompt or control the transport device to stop operating based on the prompt message.

[0074] In some examples, the safety grating may include two. For ease of description, the two safety gratings are referred to as the first safety grating and the second safety grating. The second safety grating is located between the first safety grating and the automatic circulation cantilever rack. The second safety grating and the automatic circulation cantilever rack are spaced apart. The spacing between the first safety grating and the second safety grating is greater than the width of the handling equipment supporting the carrier along the first direction. The first direction is the direction from the first safety grating to the second safety grating, such as Figures 4a to 4b Arrow X in the figure. Because the distance between the first and second safety light barriers is greater than the width of the transport device supporting the carrier, the distance between the first and second safety light barriers can accommodate the transport device carrying the carrier. In this way, after the transport device passes through the detection area of ​​the first safety light barrier, the transport device can stop between the first and second safety light barriers.

[0075] The first and second safety light barriers are each connected to an electronic device. When the electronic device dispatches a handling device to store or retrieve cargo, the electronic device can control the switching states of the first and second safety light barriers based on the location of the handling device, ensuring that only the handling device assigned to perform the storage or retrieval task can enter, thereby improving safety.

[0076] In other examples, there may be one or more safety light barriers, and the implementation process is similar to that of this embodiment.

[0077] Figure 3This is a flow chart of a cargo access method provided by another embodiment. Please refer to Figure 3 The cargo access method provided in this embodiment may include:

[0078] S301, receiving a first passing request sent by a transport device; the first passing request is generated when the transport device approaches a detection area of ​​a first safety light barrier;

[0079] S302, controlling the first safety grating to switch to a closed state according to the first passing request;

[0080] S303: Control the transport equipment to pass through the detection area of ​​the first safety light grid.

[0081] In steps S301 to S303, in some examples, such as Figure 4a As shown, when the transport device determines that it is near the detection area of ​​the first safety light barrier by using a downward-looking camera to identify ground beacons, a first passage request is sent to the electronic device requesting the device to pass through the detection area of ​​the first safety light barrier. The transport device can be determined to be near the detection area of ​​the first safety light barrier when the distance between the transport device and the detection area of ​​the first safety light barrier is less than or equal to a preset value.

[0082] After receiving the first passage request, the electronic device controls the first safety light barrier to switch from an open state to a closed state, and returns a first feedback message to the transport device indicating that the first safety light barrier has been closed. After receiving the first feedback message, the transport device continues to move to pass through the detection area of ​​the first safety light barrier.

[0083] In some examples, when a transport device enters its detection zone while the first safety light barrier is open, the first safety light barrier generates a first prompt message and sends it to the electronic device. Based on the first prompt message, the electronic device issues an audible or visual prompt, or controls other devices based on the first prompt message to issue audible or visual prompts, thereby promptly alerting on-site personnel. Optionally, the electronic device can also control the transport device that enters the detection zone of the first safety light barrier to stop moving based on the first prompt message.

[0084] Of course, when the first safety grating is in the open state, if an on-site staff or other equipment mistakenly enters the detection area of ​​the first safety grating, the first safety grating will also generate a first prompt message and send it to the electronic device.

[0085] In this embodiment, by providing a first safety light barrier and controlling the opening or closing of the first safety light barrier according to the position of the handling equipment, it is ensured that the first safety light barrier is in the closed state only when the handling equipment performing the storage and retrieval task passes through, thereby improving safety.

[0086] In other embodiments, the electronic device may also obtain the position information of the transport device in real time, and control the first safety grating to switch to the closed state when the transport device is close to the detection area of ​​the first safety grating based on the position information of the transport device.

[0087] In other embodiments, when only the first safety light barrier is provided in a storage and retrieval scenario, after the transport device leaves the detection area of ​​the first safety light barrier, the transport device transmits information indicating that it has left the detection area of ​​the first safety light barrier to the electronic device, which then controls the opening of the first safety light barrier. The transport device continues to move until it docks with the automated cantilever rack, and then executes step S309.

[0088] S304, receiving a second passing request sent by the transport device; the second passing request is generated when the transport device approaches the detection area of ​​the second safety light barrier;

[0089] S305: Control the first safety light barrier to be switched to an open state and control the second safety light barrier to be switched to a closed state according to the second passing request;

[0090] S306: Control the transport equipment to pass through the detection area of ​​the second safety light grid.

[0091] In steps S304 to S306, in some examples, as Figure 4b As shown, when the transport device determines that it is near the detection area of ​​the second safety light barrier by using the downward-looking camera to identify the ground beacon, a second passage request is sent to the electronic device requesting that the device pass through the detection area of ​​the second safety light barrier. The transport device is determined to be near the detection area of ​​the second safety light barrier when the distance between the transport device and the detection area of ​​the second safety light barrier is less than or equal to a preset value.

[0092] After receiving the second passage request, the electronic device controls the second safety light barrier to switch from an open state to a closed state. The electronic device returns a second feedback message to the transport device indicating that the second safety light barrier has been closed. After receiving the second feedback message, the transport device can continue to move to pass through the detection area of ​​the second safety light barrier.

[0093] In addition, after receiving the second passing request, the electronic device can also control the first safety light barrier to switch from a closed state to an open state; in other examples, the first safety light barrier can also be controlled to switch from a closed state to an open state after the transport equipment leaves the detection area of ​​the first safety light barrier.

[0094] In some examples, when the second safety light barrier is open, if a transport device enters its detection area, the second safety light barrier generates a second prompt message and sends it to the electronic device. Based on the second prompt message, the electronic device issues an audible or visual prompt, or, based on the second prompt message, the electronic device controls other devices to issue audible or visual prompts, promptly alerting on-site personnel. Optionally, the electronic device can also control the transport device that enters the detection area of ​​the second safety light barrier to stop moving based on the second prompt message. Of course, if an on-site worker or other device mistakenly enters the detection area of ​​the second safety light barrier while the second safety light barrier is open, the second safety light barrier will also generate a second prompt message and send it to the electronic device.

[0095] In some examples, before the transport device passes through the detection area of ​​the first safety light barrier and does not pass through the detection area of ​​the second safety light barrier, Figure 4b As shown, the handling equipment can also stop between the first safety light barrier and the second light barrier, and the on-site staff will place the long strips of material coming off the production line onto the carrier. The on-site staff will enter the material information of the long strips of material through the human-computer interaction terminal and confirm that the loading is completed. The on-site staff can use the human-computer interaction terminal to trigger the electronic device to control the handling equipment to continue running toward the automatic flow cantilever rack.

[0096] In this embodiment, by setting a second safety grating and controlling the opening or closing of the second safety grating according to the position of the handling equipment, it is ensured that the second safety grating is in the closed state only when the handling equipment performing the storage and retrieval task passes through, thereby helping to improve safety.

[0097] In other embodiments, the electronic device may also obtain the position information of the transport device in real time, and control the second safety grating to switch to the closed state when the transport device is close to the detection area of ​​the second safety grating based on the position information of the transport device.

[0098] S307, receiving confirmation information sent by the transport device, where the confirmation information is generated when the transport device leaves the detection area of ​​the second safety light barrier;

[0099] S308: Control the second safety light barrier to switch to an open state according to the confirmation information.

[0100] In steps S307 and S308, when the transport device leaves the detection area of ​​the second safety light barrier, a confirmation message is sent to the electronic device indicating that the transport device has left the detection area of ​​the second safety light barrier. The electronic device controls the second safety light barrier to switch from the closed state to the open state based on the confirmation message, and the second safety light barrier continues to perform detection.

[0101] S309. Control the carrying platform of the transporting equipment to be parallel to the cargo unit located at the bottom layer of the automatic circulation cantilever rack, and control the transporting equipment to enter between the two cantilever beams corresponding to the cargo unit located at the bottom layer, so as to place the carrier in the cargo unit located at the bottom layer of the automatic circulation cantilever rack, or take the carrier out of the cargo unit located at the bottom layer of the automatic circulation cantilever rack.

[0102] In some examples, after receiving the confirmation information, the electronic device also controls the load platform of the transport equipment to be parallel to the cargo unit located at the bottom layer of the automatic circulation cantilever rack, so as to ensure the stability of the long strip materials when the transport equipment stores and retrieves goods. For example, the automatic robot can adjust the load platform through its lifting mechanism until it is parallel to the cargo unit located at the bottom layer of the automatic circulation cantilever rack. After determining that the load platform is parallel to the cargo unit located at the bottom layer, the transport equipment can enter between the two cantilever beams corresponding to the cargo unit located at the bottom layer, such as Figure 4c As shown, a carrier loaded with long strips of material is placed on the automatic circulation cantilever shelf, or a carrier loaded with long strips of material is taken out from the automatic circulation cantilever shelf.

[0103] Among them, during the inventory process, when the handling equipment enters between the two cantilever beams corresponding to the cargo unit located at the bottom layer, the upper surface of the carrying platform of the handling equipment can be slightly higher than the upper surface of the two cantilever beams, so as to avoid interference between the carrier and the cantilever beams during the process of the handling equipment entering between the two cantilever beams; when the handling equipment exits between the two cantilever beams, the upper surface of the carrying platform of the handling equipment can be slightly lower than the upper surface of the two cantilever beams, so as to avoid interference between the handling equipment and the carrier.

[0104] During the picking process, when the transport equipment enters between the two cantilever beams corresponding to the cargo unit located on the bottom layer, the upper surface of the carrying platform of the transport equipment can be slightly lower than the upper surface of the two cantilever beams to avoid interference between the carrier and the transport equipment during the process of the transport equipment entering between the two cantilever beams; when the transport equipment exits between the two cantilever beams with the cargo on its back, the upper surface of the carrying platform of the transport equipment can be slightly higher than the upper surface of the two cantilever beams to avoid interference between the carrier and the cantilever beams.

[0105] In other examples, after receiving the confirmation information, the electronic device further controls the transport device to enter between the two cantilever beams corresponding to the cargo unit located on the bottom layer, and then controls the transport device to adjust the load platform to be parallel to the cargo unit located on the bottom layer of the automatic circulation cantilever rack. Of course, controlling the transport device to enter between the two cantilever beams corresponding to the cargo unit located on the bottom layer and controlling the transport device to adjust the load platform to be parallel to the cargo unit located on the bottom layer of the automatic circulation cantilever rack can also be performed simultaneously.

[0106] In some examples, during the inventory process, handling equipment can enter between the two cantilever beams on the bottom layer from the docking side where the free end of the cantilever beam on the automatic circulation cantilever rack is located, so as to avoid interference with the columns of the automatic circulation cantilever rack, so that the carrier carrying long strips of material can be smoothly and steadily transferred to the cargo unit composed of the cantilever beams.

[0107] During the picking process, the handling equipment can enter under the cargo unit on the bottom floor from any direction. After transferring the carrier carrying the long materials to the loading platform of the handling equipment, the handling equipment moves along the docking side of the free end of the cantilever beam on the automatic circulation cantilever rack to avoid interference with the columns of the automatic circulation cantilever rack.

[0108] After picking up or putting away the goods, the handling equipment leaves the storage area where the automatic circulation cantilever rack is located. The handling equipment can leave from the same opening area or from another opening area. The implementation process when the handling equipment leaves is similar to the implementation process when entering. When the handling equipment approaches the detection area of ​​the second safety grating, it sends a third passing request to the electronic device to apply for passing through the detection area of ​​the second safety grating. The electronic device controls the second safety grating to switch to a closed state according to the third passing request. After the handling equipment passes through the detection area of ​​the second safety grating, when the handling equipment approaches the detection area of ​​the first safety grating, the electronic device controls the first safety grating to switch to a closed state and controls the second safety grating to switch to an open state according to the fourth passing request. After the handling equipment leaves the detection area of ​​the first safety grating, it sends a confirmation message to the electronic device confirming that it has left the first safety grating, and the electronic device controls the first safety grating to switch to an open state.

[0109] In some embodiments, during the inventory process, after placing the carrier loaded with the long strip material on the automatic circulation cantilever rack, the process further includes:

[0110] The automatic circulation cantilever rack is controlled to transfer the carriers in the cargo unit located at the bottom layer to the cargo unit located at the upper layer and in an idle state.

[0111] After the handling equipment places the carrier on the bottom cargo unit of the automatic circulation cantilever rack, the robotic arm of the automatic circulation cantilever rack transfers the carrier in the bottom cargo unit to the upper cargo unit, freeing up the bottom cargo unit for use in the next inventory task.

[0112] In some embodiments, during the picking process, after the carrier loaded with the long strip material is taken out from the automatic flow cantilever rack, the process further includes:

[0113] The automatic circulation cantilever rack is controlled to transfer the carriers in the cargo unit located on the upper layer to the cargo unit located on the bottom layer.

[0114] After the handling equipment places the carrier on the cargo unit on the bottom layer of the automatic circulation cantilever rack, the robotic arm transfers the carrier from the upper cargo unit to the bottom cargo unit for use in the next picking task.

[0115] The following is an example to illustrate the implementation process of the cargo storage and retrieval method of this embodiment.

[0116] The process of taking inventory is described in this embodiment. The process of picking up goods is similar to the process of taking inventory, so it will not be described in detail in this embodiment.

[0117] Step 1: Under the guidance of electronic equipment, the handling equipment carries the carrier loaded with long strips of materials and autonomously navigates to the docking surface of the automatic circulation cantilever rack in the storage area. The handling equipment uses the downward-looking camera to identify the ground beacon. When it approaches the detection area of ​​the first safety grating, Figure 4a As shown, a first passing request is sent to the electronic device, which controls the first safety grating to close. The electronic device then sends a first feedback message to the transport device, and the transport device passes through the detection area of ​​the first safety grating. After passing through the detection area of ​​the first safety grating, the transport device can continue to move forward; or it can stop precisely between the first and second safety gratings to load materials. Specifically, the long strips of material coming off the production line are hung on the trolley's hanging rod or other carrier by on-site staff. The on-site staff enters the material information of the long strips of material through the human-computer interaction terminal and confirms that the loading is complete.

[0118] Step 2: The transport equipment continues to run. It uses the downward-looking camera to identify the ground beacon. When it approaches the detection area of ​​the second safety light barrier, it stops accurately between the first and second light barriers. Figure 4b As shown, a second passing request is sent to the electronic device, the electronic device controls the first safety grating to open and controls the second safety grating to close, the electronic device sends second feedback information to the transport device, the transport device passes through the detection area of ​​the second safety grating, and after the transport device passes through, a confirmation message confirming the passage is sent to the electronic device, and the electronic device controls the second safety grating to open.

[0119] Step 3: The handling equipment uses the ground beacon recognition to make the load platform parallel to the cargo unit at the bottom of the automatic circulation cantilever rack, and then starts docking. After the handling equipment enters the rack, Figure 4c As shown, the carrier is placed on the cargo unit at the bottom of the automatic circulation cantilever rack. The docking accuracy between the handling equipment and the cargo unit at the bottom of the automatic circulation cantilever rack is ±15mm or ±10mm, which can be set according to actual needs.

[0120] Step 4: The robotic arm of the automatic cantilever rack transfers the carriers in the bottom loading unit to the upper loading unit, freeing up the bottom loading unit for the next inventory task.

[0121] Step 5: After the handling equipment places the carrier on the bottom cargo unit of the automatic circulation cantilever rack, it leaves the storage area where the automatic circulation cantilever rack is located. The handling equipment can leave along the path to the storage area, or leave along other paths. When the handling equipment leaves, it passes through the second safety grating and the first safety grating in sequence. Specifically, the handling equipment uses a downward-looking camera to identify the ground beacon. When it approaches the detection area of ​​the second safety grating, it sends a third passing request to the electronic device. The electronic device controls the second safety grating to close. The electronic device sends a third feedback message to the handling equipment, and the handling equipment passes through the detection area of ​​the second safety grating; the handling equipment uses a downward-looking camera to identify the ground beacon. When it approaches the detection area of ​​the first safety grating, it sends a fourth passing request to the electronic device. The electronic device controls the second safety grating to open and controls the first safety grating to close. The electronic device sends a third feedback message to the handling equipment. The handling equipment passes through the detection area of ​​the first safety grating. After passing, the handling equipment sends a confirmation message to the electronic device confirming the passage, and the electronic device controls the first safety grating to open.

[0122] Figure 5 This is a schematic diagram of the structure of the device provided by an exemplary embodiment, please refer to Figure 5 This embodiment further provides an electronic device, which may include: a processor 501, a memory 502, an input device 503, and an output device 504. The device may include one or more processors 501. In some embodiments, the processor 501, the memory 502, the input device 503, and the output device 504 may be connected via a bus or other means.

[0123] The memory 502 can be used to store software programs and modules. The processor 501 executes various functional applications and data processing of the device by running the software programs and modules stored in the memory 502. The memory 502 may mainly include a program storage area and a data storage area. The program storage area may store an operating system, at least one application required for a function, etc. In addition, the memory 502 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. The input device 503 can be used to receive input digital or character information.

[0124] Specifically, in this embodiment, the processor 501 will load the executable files corresponding to the processes of one or more applications into the memory 502 according to the following instructions, and the processor 501 will run the applications stored in the memory 902, thereby realizing the various functions of the above-mentioned cargo access method.

[0125] This embodiment also provides a cargo storage and retrieval system, including: an automatic circulation cantilever rack, a handling device and the electronic equipment in the aforementioned embodiment; wherein, the automatic circulation cantilever rack has a multi-layer cargo unit, and the cargo unit is used to support a carrier loaded with long strips of materials; the handling device has a cargo platform for carrying the carrier, and the handling device also has a lifting mechanism, and the lifting mechanism is used to drive the cargo platform to rise or fall so that the cargo platform can dock with the cargo unit in the automatic circulation cantilever rack.

[0126] In some embodiments, the cargo storage and retrieval system further includes: a first safety light grating and a second safety light grating, the second safety light grating is located between the first safety light grating and the automatic circulation cantilever rack, the second safety light grating and the automatic circulation cantilever rack are spaced apart, and the distance between the first safety light grating and the second safety light grating is greater than the size of the handling equipment and the long strip material along the corresponding direction; the first safety light grating and the second safety light grating are respectively connected to the electronic device for communication.

[0127] In some embodiments, at least some of the multi-layer cargo units are spaced apart in the vertical direction.

[0128] In this embodiment, the implementation process of the functions of each device in the cargo storage and retrieval system may be the same as or similar to the above-mentioned embodiment, and will not be repeated here.

[0129] This embodiment further provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on a terminal device, the terminal device implements the method for transporting the trolley in any of the aforementioned embodiments.

[0130] It should be noted that the logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device), or in conjunction with such instruction execution system, apparatus, or device. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transmit a program for use by an instruction execution system, apparatus, or device, or in conjunction with such instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection portion having one or more wires (electronic device), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and portable compact disc read-only memory (CDROM). Furthermore, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or otherwise processing it in a suitable manner if necessary, and then storing it in a computer memory.

[0131] It should be understood that various parts of the present invention can be implemented using hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0132] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations 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 any one or more embodiments or examples.

[0133] In addition, the terms "first" and "second" used in the embodiments of the present invention are only used for descriptive purposes and should not be understood as indicating or implying relative importance, or implicitly indicating the number of technical features indicated in this embodiment. Therefore, the features defined by the terms "first" and "second" in the embodiments of the present invention can explicitly or implicitly indicate that the embodiment includes at least one of such features. In the description of the present invention, the word "plurality" means at least two or two or more, such as two, three, four, etc., unless otherwise clearly and specifically defined in the embodiments.

[0134] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A cargo storage and retrieval method, characterized in that: include: Controlling the transport equipment to move to the docking side of the automatic circulation cantilever rack; wherein the transport equipment has a loading platform for supporting a carrier, and the carrier is used to load long strips of materials; the automatic circulation cantilever rack has multiple layers of cargo units for supporting the carrier; Controlling the transport device to dock with the automatic circulation cantilever rack to transfer the carrier between the transport device and the cargo unit in the automatic circulation cantilever rack; A first safety grating is provided on the docking side of the automatic circulation cantilever rack, and the first safety grating is spaced apart from the automatic circulation cantilever rack; The controlling the transport device to move to the docking side of the automatic circulation cantilever rack includes: receiving a first passing request sent by the transport device; the first passing request is generated when the transport device approaches a detection area of ​​the first safety light grid; controlling the first safety light barrier to switch to a closed state according to the first passing request; Controlling the transport equipment to pass through the detection area of ​​the first safety light grid; A second safety grating is further provided on the docking side of the automatic circulation cantilever rack, and the second safety grating is located between the first safety grating and the automatic circulation cantilever rack. After controlling the handling equipment to pass through the detection area of ​​the first safety grating, the method further includes: receiving a second passing request sent by the transport device; the second passing request is generated when the transport device approaches a detection area of ​​a second safety light barrier; controlling the first safety light barrier to be switched to an open state and controlling the second safety light barrier to be switched to a closed state according to the second passing request; Controlling the handling equipment to pass through the detection area of ​​the second safety light grid; receiving confirmation information sent by the transport device, where the confirmation information is generated when the transport device leaves the detection area of ​​the second safety light grid; The second safety light barrier is controlled to switch to an open state according to the confirmation information.

2. The cargo access method according to claim 1, characterized in that: Also includes: receiving a first prompt message sent by the first safety grating; The first prompt information is generated when the first safety grating is in an open state and the transport equipment enters the detection area of ​​the first safety grating; Or, receiving a second prompt message sent by the second safety grating; the second prompt message is generated when the second safety grating is in an open state and the handling equipment enters a detection area of ​​the second safety grating.

3. The cargo access method according to claim 1, characterized in that: At least some of the multiple layers of cargo units are spaced apart in the vertical direction; The transferring of the carrier between the handling equipment and the cargo unit of the automatic circulation cantilever rack includes: The carrier is transferred between the handling equipment and the cargo unit located at the bottom layer of the automatic circulation cantilever rack.

4. The cargo access method according to claim 3, characterized in that: The cargo unit includes two cantilever beams arranged opposite to each other, each cantilever beam having a free end, and the side of the automatic circulation cantilever rack facing the free end is a docking side; The controlling the transport equipment to dock with the automatic circulation cantilever rack includes: The carrying platform of the transporting equipment is controlled to be parallel to the cargo unit located at the bottom layer of the automatic circulation cantilever rack, and the transporting equipment is controlled to enter between the two cantilever beams located at the bottom layer.

5. The cargo access method according to claim 3, characterized in that: During the inventory process, after the carrier is transferred between the handling equipment and the cargo unit of the automatic circulation cantilever rack, the method further includes: Control the automatic circulation cantilever rack to transfer the carriers in the cargo unit located at the bottom layer to the cargo unit located at the upper layer and in an idle state; or, During the picking process, after the carrier is transferred between the handling equipment and the cargo unit of the automatic circulation cantilever rack, the method further includes: The automatic circulation cantilever rack is controlled to transfer the carriers in the cargo unit located on the upper layer to the cargo unit located on the bottom layer.

6. The cargo access method according to claim 1, characterized in that: The second safety grating is spaced apart from the automatic circulation cantilever rack, and the distance between the first safety grating and the second safety grating is greater than the size of the handling equipment supporting the carrier along the first direction; the first direction is the direction of the first safety grating toward the second safety grating.

7. An electronic device, characterized in that: include: A memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

8. A cargo storage and retrieval system, characterized in that: include: Automatic circulation cantilever rack, handling equipment and electronic equipment as claimed in claim 7; The automatic circulation cantilever rack has a multi-layer cargo unit, and the cargo unit is used to support a carrier loaded with long strip materials; The transporting equipment has a cargo platform for carrying the carrier, and the transporting equipment also has a lifting mechanism, which is used to drive the cargo platform to rise or fall so that the cargo platform can dock with the cargo unit in the automatic circulation cantilever rack.

9. The cargo storage and retrieval system according to claim 8, characterized in that: Also includes: A first safety grating and a second safety grating, wherein the second safety grating is located between the first safety grating and the automatic circulation cantilever rack, the second safety grating and the automatic circulation cantilever rack are spaced apart, and the distance between the first safety grating and the second safety grating is greater than the size of the handling equipment and the long strip material along the corresponding direction; the first safety grating and the second safety grating are respectively connected to the electronic device for communication.

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