Cargo access method, system, equipment, and storage medium based on drive-in rack

Abstract

The present invention discloses a cargo access method and system, device, and storage medium based on a drive-in rack. The method is applied to an unmanned forklift, wherein the unmanned forklift includes a detection device and the drive-in rack includes guide rails. The method comprises: obtaining a cargo access instruction, which is used to instruct the unmanned forklift to retrieve cargo from or deposit cargo into a target drive-in rack; responding to the cargo access instruction, moving to the target drive-in rack; determining the position of the guide rail of the target drive-in rack using the detection device; adjusting the unmanned forklift to a target position based on the current position of the unmanned forklift and the position of the guide rail of the target drive-in rack, maintaining the target position, driving into the target drive-in rack, and retrieving cargo from or depositing cargo into the target drive-in rack. The method can achieve precise positioning for cargo transportation, thereby improving cargo access efficiency and warehouse storage capacity.

Description

Technical Field

[0001] The embodiments of the present application relate to logistics application technology, and are related to but not limited to a cargo storage and retrieval method and system, equipment, and storage medium based on drive-in shelves. Background Art

[0002] Traditional shelves have low storage density and low space utilization. Compared with ordinary shelves, drive-in shelves have a very significant improvement in the utilization of warehouse storage space. The saved aisle space can be used to build more shelves for storing products.

[0003] Drive-in racks typically require an unmanned forklift. As a loading and unloading machine that combines horizontal transport and vertical lifting, an unmanned forklift does not require a driver and offers advantages such as high efficiency and flexibility. It is typically used for loading and unloading, stacking, and short-distance transport of palletized cargo. When an unmanned forklift is used with a drive-in rack for cargo placement and retrieval, precise entry into the rack is crucial for rapid access. Summary of the Invention

[0004] In view of this, the embodiments of the present application provide a method and system, device, and storage medium for storing and retrieving goods based on drive-in racks, which can achieve precise positioning for cargo transportation, thereby improving cargo storage and retrieval efficiency and increasing warehouse capacity. The methods and system, device, and storage medium for storing and retrieving goods based on drive-in racks provided in the embodiments of the present application are implemented as follows:

[0005] The cargo access method based on a drive-in rack provided in an embodiment of the present application is applied to an unmanned forklift, wherein the unmanned forklift includes a detection device, and the drive-in rack includes a guide rail. The method includes:

[0006] Obtaining cargo access instructions, which are used to instruct the unmanned forklift to retrieve cargo from or deposit cargo into a target drive-in rack;

[0007] In response to a goods access instruction, the device moves to a target drive-in rack;

[0008] Determine the position of the guide rail of the target drive-in rack by a detection device;

[0009] According to the current position of the unmanned forklift and the position of the guide rail of the target drive-in rack, the unmanned forklift is adjusted to the target posture and maintains the target posture, drives into the target drive-in rack, and obtains goods from the target drive-in rack or deposits goods into the target drive-in rack.

[0010] In some embodiments, the drive-in rack further includes a column, and the position between the column and the guide rail satisfies a preset position relationship. Determining the position of the guide rail of the target drive-in rack by a detection device includes:

[0011] Obtaining the relative position of the uprights of the target drive-in rack through a detection device;

[0012] The position of the guide rail of the target drive-in rack is determined through the relative position and the preset position relationship.

[0013] In some embodiments, the cargo access instruction includes a cargo deposit instruction, which is used to instruct the unmanned forklift to deposit cargo at a target drive-in rack. In response to the cargo access instruction, the unmanned forklift moves to the target drive-in rack, including:

[0014] In response to the goods deposit instruction, move to the incoming storage area; obtain the goods from the incoming storage area; after obtaining the goods, move from the incoming storage area to the target drive-in rack.

[0015] In some embodiments, based on the current position of the unmanned forklift and the position of the guide rail of the target drive-in rack, the unmanned forklift is adjusted to a target position, maintained in the target position, driven into the target drive-in rack, and goods are deposited on the target drive-in rack, including:

[0016] Adjusting the unmanned forklift to a first target posture for driving into the target drive-in rack in a first direction according to the current position of the unmanned forklift and the position of the guide rail of the target drive-in rack;

[0017] Maintain the first target position and drive into the target drive-in rack; store the goods in the target drive-in rack.

[0018] In some embodiments, the unmanned forklift includes a telescopic arm that moves in a vertical direction. The target drive-in rack includes multiple layers, each layer is used to store multiple columns of goods. The cargo deposit instruction includes a target layer and a target column corresponding to the goods. Depositing the goods on the target drive-in rack includes:

[0019] Move along the first direction to a position corresponding to the target column;

[0020] Control the telescopic arm to move in the vertical direction and extend to the position corresponding to the target layer;

[0021] Place the goods on the target layer and in the corresponding position of the target column of the target drive-in rack.

[0022] In some embodiments, the cargo access instruction includes a cargo retrieval instruction, which is used to instruct the unmanned forklift to retrieve cargo from a target drive-in rack. Based on the current position of the unmanned forklift and the position of the guide rail of the target drive-in rack, the unmanned forklift is adjusted to a target posture, maintained in the target posture, and driven into the target drive-in rack to retrieve cargo from the target drive-in rack, including:

[0023] Adjusting the unmanned forklift to a second target position for driving into the target drive-in rack in a second direction according to the current position of the unmanned forklift and the position of the guide rail of the target drive-in rack, where the second direction is opposite to the first direction;

[0024] Maintain the second target posture and drive into the target drive-in rack; obtain the goods from the target drive-in rack.

[0025] In some embodiments, the unmanned forklift includes a telescopic arm that moves in a vertical direction. The target drive-in rack includes multiple layers, each layer is used to store multiple columns of goods. The cargo deposit instruction includes a target layer and a target column corresponding to the goods. Depositing the goods on the target drive-in rack includes:

[0026] Move along the second direction to a position corresponding to the target column;

[0027] Control the telescopic arm to move in the vertical direction and extend to the position corresponding to the target layer;

[0028] Get the goods from the target layer and target column of the target drive-in rack, and move them to the outbound storage area after getting the goods.

[0029] The cargo storage and retrieval system based on a drive-in rack provided in an embodiment of the present application is characterized in that the system includes a control device, an unmanned forklift, and a drive-in rack, the unmanned forklift includes a detection device, and the drive-in rack includes a guide rail. The system includes:

[0030] The unmanned forklift obtains a cargo access instruction, which is used to instruct the unmanned forklift to obtain cargo from a target drive-in rack or to deposit cargo to a target drive-in rack;

[0031] The unmanned forklift responds to the cargo access instruction and moves to the target drive-in rack;

[0032] The unmanned forklift determines the position of the guide rail of the target drive-in rack through the detection device;

[0033] The control device adjusts the unmanned forklift to a target position according to the current position of the unmanned forklift and the position of the guide rail of the target drive-in rack, maintains the target position, drives into the target drive-in rack, and obtains goods from the target drive-in rack or deposits goods into the target drive-in rack.

[0034] In some embodiments, the drive-in rack further includes a column, and the position between the column and the guide rail satisfies a preset position relationship. The system further includes:

[0035] The unmanned forklift obtains the relative position of the column of the target drive-in rack through the detection device;

[0036] The control device determines the position of the guide rail of the target drive-in rack through the relative position and the preset position relationship.

[0037] In some embodiments, the system further comprises:

[0038] The unmanned forklift responds to the cargo deposit instruction and moves to the incoming storage area; obtains the cargo from the incoming storage area; and after obtaining the cargo, moves from the incoming storage area to the target drive-in rack.

[0039] In some embodiments, the system further comprises:

[0040] The control device adjusts the unmanned forklift to a first target posture for driving into the target drive-in rack in a first direction according to the current position of the unmanned forklift and the position of the guide rail of the target drive-in rack;

[0041] The unmanned forklift maintains the first target position and drives into the target drive-in rack; and stores the goods in the target drive-in rack.

[0042] In some embodiments, the unmanned forklift includes a telescopic arm that moves in a vertical direction, the target drive-in rack includes multiple layers, each layer is used to store multiple columns of goods, and the system further includes:

[0043] The unmanned forklift moves along the first direction to the position corresponding to the target column;

[0044] The unmanned forklift controls the telescopic arm to move vertically and extend to the position corresponding to the target floor;

[0045] The unmanned forklift places the goods on the target layer and corresponding position of the target column of the target drive-in rack.

[0046] In some embodiments, the system further comprises:

[0047] The control device adjusts the unmanned forklift to a second target posture for driving into the target drive-in rack in a second direction according to the current position of the unmanned forklift and the position of the guide rail of the target drive-in rack, where the second direction is opposite to the first direction;

[0048] The unmanned forklift maintains the second target posture and drives into the target drive-in rack; and obtains the goods from the target drive-in rack.

[0049] In some embodiments, the unmanned forklift includes a telescopic arm that moves in a vertical direction, the target drive-in rack includes multiple layers, each layer is used to store multiple columns of goods, and the system further includes:

[0050] The unmanned forklift moves along the second direction to the position corresponding to the target column;

[0051] The unmanned forklift controls the telescopic arm to move vertically and extend to the position corresponding to the target floor;

[0052] The unmanned forklift obtains the goods from the target layer and the corresponding position of the target column of the target drive-in rack, and after obtaining the goods, moves them to the outbound storage area.

[0053] The computer device provided in an embodiment of the present application includes a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the program, the method described in the embodiment of the present application is implemented.

[0054] The computer-readable storage medium provided in the embodiment of the present application stores a computer program thereon, and when the computer program is executed by a processor, the method provided in the embodiment of the present application is implemented.

[0055] The embodiments of the present application provide a method, system, device, and computer-readable storage medium for accessing goods based on a drive-in rack. An unmanned forklift receives a cargo access instruction that instructs it to retrieve goods from or deposit goods into a target drive-in rack, and in response to the cargo access instruction, moves to the target drive-in rack. A detection device determines the position of the guide rails of the target drive-in rack. Based on its current position and the position of the guide rails of the target drive-in rack, the unmanned forklift adjusts the unmanned forklift to a target position, maintains the target position, drives into the target drive-in rack, retrieves goods from the target drive-in rack, or deposits goods into the target drive-in rack. In the embodiments of the present application, the unmanned forklift accurately detects the entry position of the drive-in rack and can be used in conjunction with the drive-in rack to transport and store goods into the drive-in rack. This allows the drive-in rack to increase warehouse inventory, while also improving cargo access efficiency by transporting goods through the unmanned forklift, thereby resolving the technical problems raised in the background art. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The drawings herein are incorporated into and constitute a part of the specification. These drawings illustrate embodiments consistent with the present application and, together with the specification, are used to illustrate the technical solutions of the present application.

[0057] Figure 1 A schematic diagram of an application scenario of a method for storing and retrieving goods based on a drive-in rack provided in an embodiment of the present application;

[0058] Figure 2 A schematic diagram of the implementation flow of a method for storing and retrieving goods based on a drive-in rack provided in an embodiment of the present application;

[0059] Figure 3 A schematic flow chart of another method for storing and retrieving goods based on a drive-in rack provided in an embodiment of the present application;

[0060] Figure 4 A schematic diagram of the effect of a single drive-in rack provided in an embodiment of the present application;

[0061] Figure 5 A schematic diagram of the implementation flow of a method for storing goods on a target drive-in rack by an unmanned forklift provided in an embodiment of the present application;

[0062] Figure 6 A schematic flow chart of another method for storing and retrieving goods based on a drive-in rack provided in an embodiment of the present application;

[0063] Figure 7 A schematic diagram of the implementation flow of a method for an unmanned forklift to retrieve goods from a target drive-in rack provided in an embodiment of the present application;

[0064] Figure 8 A schematic diagram of the structure of a cargo storage and retrieval system based on a drive-in rack provided in an embodiment of the present application;

[0065] Figure 9 A schematic diagram of the structure of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0066] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the specific technical solutions of the present application will be further described in detail below in conjunction with the drawings in the embodiments of the present application. The following embodiments are used to illustrate the present application but are not intended to limit the scope of the present application.

[0067] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing the embodiments of this application only and are not intended to limit this application.

[0068] In the following description, reference is made to “some embodiments”, which describes a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0069] It should be pointed out that the terms "first\second\third" involved in the embodiments of the present application are used to distinguish similar or different objects, and do not represent a specific ordering of the objects. It can be understood that "first\second\third" can be interchanged with a specific order or sequence where permitted, so that the embodiments of the present application described here can be implemented in an order other than that illustrated or described here.

[0070] Before further describing the embodiments of the present application in detail, the nouns and terms involved in the embodiments of the present application are explained. The nouns and terms involved in the embodiments of the present application are subject to the following interpretations.

[0071] The embodiments of the present application disclose a cargo access method and system, equipment, and storage medium based on drive-in shelves, which can achieve precise positioning for cargo transportation, thereby improving cargo access efficiency and warehouse capacity.

[0072] The following is a detailed description with reference to the accompanying drawings.

[0073] like Figure 1 As shown, Figure 1 This is a schematic diagram of an application scenario of a cargo storage and retrieval method based on a drive-in rack disclosed in an embodiment of the present application. In this application scenario, the cargo storage and retrieval system includes a control device 10, an unmanned forklift 11, a detection device 12 in the unmanned forklift 11, a drive-in rack 13 and a guide rail 14 in the drive-in rack.

[0074] Among them, the control device 10 can be used as a separate device different from the unmanned forklift 11, such as a mobile phone, tablet computer, wearable device, laptop computer, personal computer (PC) and other devices used by management personnel; it can also be integrated into the unmanned forklift 11, which is not limited in the embodiments of the present application.

[0075] In addition, the operating system of the above-mentioned control device 10 may include but is not limited to Android operating system, IOS operating system, Symbian operating system, BlackBerry operating system, Windows Phone 8 operating system, etc., and the embodiments of the present application are not limited to this.

[0076] Unmanned forklifts 11, also known as forklift-type AGVs (Automated Guided Vehicles) or driverless forklifts, are intelligent industrial vehicle robots that combine forklift and AGV technologies. Compared to conventional AGVs, they not only handle point-to-point material handling but also enable logistics transportation that connects multiple production processes. They excel in high-bay warehouses, off-site receiving areas, and production line transfers, and are also irreplaceable in heavy-load and specialized handling scenarios. The application of unmanned forklifts can address the challenges of high-volume logistics and the labor-intensive nature of manual handling in industrial production and warehousing logistics operations.

[0077] Based on their product characteristics, unmanned forklifts are currently widely used in high-bay warehouses, off-site receiving areas, and production line transfers. In particular, in the diverse material handling operations of manufacturing companies, unmanned forklifts can perform a variety of functions based on the diverse needs of warehouse entry, outbound delivery, production lines, and storage.

[0078] In an embodiment of the present application, a detection device 12 is installed on the unmanned forklift 11. The detection device 12 can be any device with positioning and detection functions, such as a depth camera, a laser radar, etc. When the detection device 12 is a laser radar, the point cloud data of the environment in which the drive-in shelf is located can be collected, and the specific position information of the drive-in shelf can be obtained by mapping the point cloud data to the coordinate system corresponding to the unmanned forklift; when the detection device 12 is a depth camera, the depth information and two-dimensional image of the environment in which the drive-in shelf is located can be collected, and the specific position information of the drive-in shelf can be obtained after establishing a coordinate system by combining the depth information and the two-dimensional image.

[0079] Drive-in racking, also known as drive-through racking, corridor racking, or direct-entry racking, refers to the storage of pallets from the inside out, one by one, with forklifts using the same aisle to access and store the same pallet. Compared to ordinary racking, drive-in racking significantly improves warehouse storage space utilization. The reduced aisle space can be used to build more racks for storing goods.

[0080] The goods may be plates, industrial parts, electronic accessories or medicines, clothing accessories, food, books, etc., which are not limited in this embodiment of the present application.

[0081] by Figure 1 For example, the control device 10 can send various control instructions to the unmanned forklift 11 to control the one or more unmanned forklifts 11 to work, so that through the mutual cooperation between the unmanned forklift 11 and the drive-in shelf 13, precise positioning can be achieved for cargo transportation, thereby improving cargo storage and retrieval efficiency and warehouse capacity.

[0082] Figure 2 The present invention provides a flowchart of a method for accessing goods based on a drive-in rack. The method is applied to an unmanned forklift, the unmanned forklift includes a detection device, and the drive-in rack includes a guide rail. Figure 2 As shown, the method may include the following steps 201 to 204:

[0083] Step 201: Obtain a cargo access instruction, which is used to instruct an unmanned forklift to obtain cargo from a target drive-in rack or to deposit cargo into a target drive-in rack.

[0084] In the embodiment of the present application, there is no limitation on the method for obtaining the cargo access instruction. For example, the cargo access instruction can be sent by an electronic device that establishes a communication connection with the control device. Furthermore, the cargo access instruction can be sent manually based on the electronic device.

[0085] Among them, the control device can be a device different from the unmanned forklift. When the control device obtains the cargo storage instruction, it can forward the cargo storage instruction to the unmanned forklift to prompt the unmanned forklift to obtain the cargo from the target drive-in shelf or store the cargo on the target drive-in shelf; of course, the control device can also be a device integrated on the unmanned forklift. When the control device receives the cargo storage and retrieval instruction, it can directly control the unmanned forklift to obtain the cargo from the target drive-in shelf or store the cargo on the target drive-in shelf based on the cargo storage and retrieval instruction.

[0086] Step 202: In response to a cargo access instruction, move to a target drive-in rack.

[0087] Optionally, the target drive-in rack may be any one or more drive-in racks. After the target drive-in rack is determined, the unmanned forklift may first move to the entrance of the target drive-in rack.

[0088] Step 203: Determine the position of the guide rail of the target drive-in rack by using a detection device.

[0089] Alternatively, as Figure 1 As shown, when the unmanned forklift 11 moves to the entrance of the target drive-in rack, the specific position of the guide rails 14 on both sides of the target drive-in rack 13 can be detected by the detection device 12 installed thereon. The detection device 12 can be any device with positioning and detection functions, such as a depth camera and a lidar. When the detection device 12 is a lidar, the specific position of the guide rails on both sides of the drive-in rack can be obtained by collecting point cloud data of the environment in which the drive-in rack is located and mapping the point cloud data into the coordinate system corresponding to the unmanned forklift. When the detection device 12 is a depth camera, the specific position of the guide rails on both sides of the drive-in rack can be obtained by collecting depth information and a two-dimensional image of the environment in which the drive-in rack is located and establishing a coordinate system based on the depth information and the two-dimensional image.

[0090] Here, there are guide rails on both the left and right sides of the target drive-in rack. Therefore, by implementing this embodiment, when an unmanned forklift travels in the drive-in rack, it can travel along the guide rails in an orderly, fast and smooth manner, thereby achieving rapid access to goods.

[0091] Step 204 , based on the current position of the unmanned forklift and the position of the guide rail of the target drive-in rack, adjust the unmanned forklift to a target position, maintain the target position, drive into the target drive-in rack, and obtain goods from the target drive-in rack or deposit goods into the target drive-in rack.

[0092] It should be noted that the unmanned forklift is equipped with an intelligent sensing system that can provide real-time feedback of its current position to the control device for monitoring and deployment. Optionally, the unmanned forklift can also automatically memorize its origin position and automatically return to its origin position after completing the current task. Alternatively, the unmanned forklift can also drive to the next position after completing the current task based on the deployment instructions received.

[0093] Optionally, after obtaining the current position of the unmanned forklift and the position of the guide rail of the target drive-in rack, the control device can send an adjustment instruction to the unmanned forklift, so that the unmanned forklift can be adjusted to the target position where it can travel along the guide rail and drive into the target drive-in rack, and obtain goods from the target drive-in rack or store goods in the target drive-in rack.

[0094] In the cargo access method based on the drive-in rack provided in the embodiment of the present application, the unmanned forklift obtains a cargo access instruction for instructing it to obtain cargo from the target drive-in rack or to deposit cargo to the target drive-in rack, and moves to the target drive-in rack in response to the cargo access instruction; then the position of the guide rail of the target drive-in rack is determined by the detection device; the unmanned forklift adjusts the unmanned forklift to the target position according to its current position and the position of the guide rail of the target drive-in rack, maintains the target position, drives into the target drive-in rack, obtains cargo from the target drive-in rack or deposits cargo to the target drive-in rack. Based on this, the unmanned forklift can cooperate with the drive-in rack by accurately detecting the driving-in position of the drive-in rack, thereby storing the cargo in the drive-in rack. In this way, on the one hand, the drive-in rack can be used to increase the storage capacity of the warehouse; on the other hand, the unmanned forklift can be used to transport cargo to improve the efficiency of cargo access.

[0095] like Figure 3 As shown, Figure 3 This is a flowchart of another method for accessing goods based on a drive-in rack when the goods access instruction is a goods deposit instruction disclosed in an embodiment of the present application. The method may include the following steps 301 to 309:

[0096] In step 301, the unmanned forklift obtains a cargo deposit instruction, which is used to instruct the unmanned forklift to deposit cargo into a target drive-in rack.

[0097] In step 302, the unmanned forklift moves to the warehouse storage area in response to the cargo deposit instruction.

[0098] Step 303: The unmanned forklift retrieves the goods from the incoming storage area.

[0099] Step 304: After acquiring the goods, the unmanned forklift moves from the incoming storage area to the target drive-in rack.

[0100] In an embodiment of the present application, when the cargo access instruction received by the unmanned forklift is a cargo deposit instruction, the unmanned forklift can first move to the incoming storage area to obtain the required cargo based on the cargo deposit instruction, and then carry the cargo from the incoming storage area to the entrance of the target drive-in shelf, thereby driving into the target position of the target drive-in shelf to deposit the cargo.

[0101] Optionally, the cargo may be one cargo or multiple cargoes, and the target drive-in rack may be one or multiple drive-in racks, which is not limited in the embodiment of the present application.

[0102] In step 305 , the unmanned forklift obtains the relative position of the pillar of the target drive-in rack through the detection device.

[0103] like Figure 4 As shown, a schematic diagram of the effect of a single drive-in shelf is given. Figure 4 As can be seen, the drive-in rack also includes two side columns. Generally speaking, the distance between the two side columns of the drive-in rack is constant, which is related to the specific installation method and model of the drive-in rack.

[0104] Optionally, when the unmanned forklift reaches the entrance of the target drive-in rack, the detection device may detect the two side columns of the drive-in rack to obtain the relative position between the two side columns of the drive-in rack. Alternatively, when the unmanned forklift reaches the entrance of the target drive-in rack, the detection device installed on it may only detect the position of one of the two side columns of the target drive-in rack, and then determine the position of the other side column based on the pre-stored distance between the two side columns.

[0105] In step 306 , the detection device of the unmanned forklift determines the position of the guide rail of the target drive-in rack based on the relative position and the preset positional relationship between the upright column and the guide rail of the target drive-in rack.

[0106] It is understood that the positional relationship between the target drive-in rack's uprights and the guide rails on the same side as the uprights is constant and depends on the specific installation method and model of the drive-in rack. Therefore, once the specific installation method and model of the drive-in rack are determined, the preset positional relationship between the target drive-in rack's uprights and guide rails can be obtained.

[0107] In this way, after obtaining the relative position of the columns of the target drive-in rack, the positions of the guide rails on both sides of the target drive-in rack can be determined based on the relative position and the preset positional relationship between the columns and the guide rails of the target drive-in rack. It should be noted that the device for determining the position of the guide rails of the target drive-in rack can be a detection device of an unmanned forklift that performs this function independently, or the detection device can send the detected position information to a control device, which then calculates the position information. This embodiment of the present application is not limited to this.

[0108] In some embodiments, after determining the position of the guide rail of the target drive-in rack, the detection device may send the position of the guide rail of the target drive-in rack to the control device.

[0109] In step 307 , the control device adjusts the unmanned forklift to a first target posture for driving into the target drive-in rack in a first direction according to the current position of the unmanned forklift and the position of the guide rail of the target drive-in rack.

[0110] It is understandable that when the unmanned forklift moves to the entrance of the target drive-in rack, it is not strictly aligned with the position of the guide rails on both sides of the target drive-in rack. Therefore, when the unmanned forklift moves to the entrance of the target drive-in rack, it can obtain the position of the guide rails through the detection device, and then based on its own current position, jointly determine how to move to align with the guide rails and drive into the target drive-in rack, that is, jointly determine the first direction of travel and the first target posture of the unmanned forklift.

[0111] Step 308: The unmanned forklift maintains the first target posture and drives into the target drive-in rack.

[0112] Here, the unmanned forklift is controlled to maintain the first target posture and drive into the target drive-in rack in order to ensure that the unmanned forklift avoids colliding with the columns and shelves on both sides of the target drive-in rack during transportation in the target drive-in rack, thereby ensuring the stability and safety of the cargo storage.

[0113] Step 309: The unmanned forklift deposits the goods on the target drive-in rack.

[0114] In some embodiments, the unmanned forklift includes a telescopic arm that moves in a vertical direction. The target drive-in rack includes multiple layers, each layer is used to store multiple columns of goods, and the cargo storage instruction also includes the target layer and target column corresponding to the goods. Based on this, the unmanned forklift can deposit the goods on the target drive-in rack by executing the following steps 501 to 503:

[0115] Step 501: The unmanned forklift moves along a first direction to a position corresponding to a target column.

[0116] In step 502, the unmanned forklift controls the telescopic arm to move in the vertical direction and extend to a position corresponding to the target floor.

[0117] It should be noted that the unmanned forklift controls the telescopic arm to move in the vertical direction, which means that the unmanned forklift controls the telescopic arm to move in the vertical direction of the shelf (i.e., the direction of the column), and the first direction and the vertical direction are perpendicular to each other. Figure 1 As shown, the first direction is the direction indicated by the arrow.

[0118] In step 503, the unmanned forklift places the goods on the target layer and the position corresponding to the target column of the target drive-in rack.

[0119] Since the target drive-in rack includes multiple layers and multiple columns of goods are stored in each layer, when the control device sends a cargo storage instruction to the unmanned forklift, it will specifically indicate the target column and target layer to be stored.

[0120] From the analysis of steps 308 to 309 above, it can be seen that in order for the unmanned forklift to travel in the target drive-in rack and avoid hitting the two side columns of the target drive-in rack, the unmanned forklift needs to first move along the first direction to the position corresponding to the target column, and then further control the telescopic arm to move in the vertical direction to lift the goods to the target layer for storage.

[0121] In an embodiment of the present application, a method for depositing goods based on a drive-in rack is provided. An unmanned forklift receives a cargo deposit instruction, i.e., responds to the cargo deposit instruction and moves to a storage area to pick up the goods and then moves back to a target drive-in rack with the goods. At the target drive-in rack, the unmanned forklift first obtains the relative position of the target drive-in rack's columns through a detection device, and then determines the position of the target drive-in rack's guide rails based on the relative position and a preset positional relationship satisfied between the target drive-in rack's columns and guide rails. Thus, the unmanned forklift can determine a first target position for entering the target drive-in rack based on its own current position and the guide rail position, and then drive into the target drive-in rack along a first direction in the first target position to deposit the goods. In this way, on the one hand, the detection device can accurately determine the driving position when entering the rack, avoiding collision with the two side columns of the drive-in rack and causing cargo loss. On the other hand, the use of the unmanned forklift in conjunction with the drive-in rack can also improve cargo storage efficiency and increase warehouse storage capacity.

[0122] like Figure 6 As shown, Figure 6 This is a flow chart of another method for accessing goods based on a drive-in rack when the goods access instruction is a goods take-out instruction disclosed in an embodiment of the present application. The method may include the following steps 601 to 607:

[0123] In step 601, the unmanned forklift obtains a cargo retrieval instruction, where the cargo retrieval instruction is used to instruct the unmanned forklift to retrieve cargo from a target drive-in rack.

[0124] In step 602 , the unmanned forklift moves to the target drive-in rack in response to the cargo removal instruction.

[0125] In an embodiment of the present application, when the unmanned forklift receives a cargo access instruction that is a cargo retrieval instruction, the unmanned forklift can directly move to the target drive-in rack based on the cargo retrieval instruction to retrieve the cargo. Alternatively, the unmanned forklift can first move to the entrance of the target drive-in rack based on the cargo retrieval instruction, and then drive into the target drive-in rack to retrieve the cargo based on the detection results of the detection device.

[0126] Optionally, the cargo may be one cargo or multiple cargoes, and the target drive-in rack may be one or multiple drive-in racks, which is not limited in the embodiment of the present application.

[0127] In step 603, the unmanned forklift obtains the relative position of the pillar of the target drive-in rack through the detection device.

[0128] Here, the method used by the unmanned forklift to obtain the relative position of the column of the target drive-in rack through the detection device is the same as the method used in the above step 305, and will not be repeated here.

[0129] In step 604 , the detection device of the unmanned forklift determines the position of the guide rail of the target drive-in rack based on the relative position and the preset positional relationship between the upright column and the guide rail of the target drive-in rack.

[0130] Here, the method in which the unmanned forklift determines the position of the target drive-in guide rail through the detection device is the same as the method adopted in the above step 306, and will not be repeated here.

[0131] In some embodiments, after determining the position of the guide rail of the target drive-in rack, the detection device may send the position of the guide rail of the target drive-in rack to the control device.

[0132] In step 605 , the control device adjusts the unmanned forklift to a second target posture for driving into the target drive-in rack in a second direction according to the current position of the unmanned forklift and the position of the guide rail of the target drive-in rack, where the second direction is opposite to the first direction.

[0133] Understandably, when unmanned forklifts deposit goods into drive-in racks, they typically deposit goods from farthest to closest. That is, they typically drive into the rack to deposit goods, then gradually move to the edge of the rack to deposit goods. However, when unmanned forklifts in related technologies remove goods, they first pick up goods from the edge of the rack for easier access, then move to the inside of the rack to retrieve goods. This fails to adhere to the first-in-first-out (FIFO) principle and can easily cause goods to become unusable when handling large quantities of goods.

[0134] In view of this, in an embodiment of the present application, when using an unmanned forklift to pick up goods, the unmanned forklift is controlled to drive into the target drive-in shelf in a second direction that is different from the first direction when storing the goods, thereby realizing the first-in-first-out rule of picking and placing goods, and improving the efficiency of goods management.

[0135] Step 606: The unmanned forklift maintains the second target posture and drives into the target drive-in rack.

[0136] Here, the unmanned forklift is controlled to maintain the second target posture and drive into the target drive-in rack in order to ensure that the unmanned forklift avoids colliding with the two side columns and racks of the target drive-in rack during transportation in the target drive-in rack, thereby ensuring the stability and safety of the cargo storage.

[0137] In step 607, the unmanned forklift obtains the goods from the target drive-in rack and moves the goods to the outbound storage area.

[0138] In some embodiments, the unmanned forklift includes a telescopic arm that moves in a vertical direction. The target drive-in rack includes multiple layers, each layer storing multiple columns of goods. The cargo retrieval instruction also includes the target layer and target column corresponding to the goods. Based on this, the unmanned forklift can retrieve the goods from the target drive-in rack by executing the following steps 701 to 703:

[0139] Step 701: The unmanned forklift moves along the second direction to a position corresponding to the target column.

[0140] In step 702, the unmanned forklift controls the telescopic arm to move in the vertical direction and extend to a position corresponding to the target floor.

[0141] In step 703, the unmanned forklift obtains the goods from the target layer and the position corresponding to the target column of the target drive-in rack, and after obtaining the goods, moves them to the outbound storage area.

[0142] Since the target drive-in rack includes multiple layers and multiple columns of goods are stored in each layer, when the control device sends a goods removal instruction to the unmanned forklift, it will specifically indicate the target column and target layer where the goods to be removed are located.

[0143] In an embodiment of the present application, in order to enable the unmanned forklift to travel in the target drive-in rack and avoid colliding with the two side columns of the target drive-in rack, the unmanned forklift can be controlled to first move along the second direction to the position corresponding to the target column, and then the telescopic arm can be further controlled to move in the vertical direction of the position of the target column to lift the goods to the position of the target layer to pick up the goods.

[0144] It should be noted that the unmanned forklift used to store and retrieve goods can be the same unmanned forklift or different unmanned forklifts; the goods for outbound and inbound can be the same goods or different goods, and the embodiments of the present application do not limit this.

[0145] In an embodiment of the present application, a method for depositing goods based on a drive-in shelf is provided, wherein an unmanned forklift obtains a cargo retrieval instruction and moves to a target drive-in shelf in response to the cargo retrieval instruction; at the target drive-in shelf, the unmanned forklift first obtains the relative position of the columns of the target drive-in shelf through a detection device, and then determines the position of the guide rails of the target drive-in shelf based on the relative position and the preset position relationship satisfied between the columns and guide rails of the target drive-in shelf, thereby being able to determine a second target position for driving into the target drive-in shelf based on its own current position and the position of the guide rails, and then drive into the target drive-in shelf along a second direction in the second target position to deposit goods. In this way, on the one hand, the driving position when driving into the shelf can be accurately determined by the detection device, avoiding collision with the columns on both sides of the drive-in shelf and causing cargo loss; on the other hand, the use of the unmanned forklift in conjunction with the drive-in shelf can also improve cargo retrieval efficiency and increase the storage capacity of the warehouse.

[0146] It should be understood that, although the steps in the above-mentioned flowcharts are shown in sequence according to the instructions of the arrows, these steps are not necessarily performed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be performed in other orders. Moreover, at least a portion of the steps in the above-mentioned flowcharts may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and the execution order of these sub-steps or stages is not necessarily to be performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0147] Based on the foregoing embodiments, an embodiment of the present application provides a cargo storage and retrieval system based on a drive-in shelf, which includes the modules included and the units included in each module, and can be implemented by a processor; of course, it can also be implemented by a specific logic circuit; in the implementation process, the processor can be a central processing unit (CPU), a microprocessor (MPU), a digital signal processor (DSP) or a field programmable gate array (FPGA), etc.

[0148] Figure 8 A structural diagram of a cargo storage and retrieval system based on a drive-in shelf provided in an embodiment of the present application is shown in FIG. Figure 8As shown, the device 800 includes a control device 801, an unmanned forklift 802 and a drive-in rack 803. The unmanned forklift 802 includes a detection device, and the drive-in rack 803 includes a guide rail, wherein:

[0149] The unmanned forklift 802 obtains a cargo access instruction, which is used to instruct the unmanned forklift 802 to obtain cargo from the target drive-in rack 803 or to deposit cargo into the target drive-in rack 803;

[0150] The unmanned forklift 802 responds to the cargo access instruction and moves to the target drive-in rack 803;

[0151] The unmanned forklift 802 determines the position of the guide rail of the target drive-in rack 803 through the detection device;

[0152] The control device 801 adjusts the unmanned forklift 802 to a target position according to the current position of the unmanned forklift 802 and the position of the guide rail of the target drive-in rack 803, maintains the target position, drives into the target drive-in rack 803, and obtains goods from the target drive-in rack 803 or stores goods in the target drive-in rack 803.

[0153] In some embodiments, the drive-in rack 803 further includes a column, and the position between the column and the guide rail satisfies a preset position relationship. The system further includes:

[0154] The unmanned forklift 802 obtains the relative position of the column of the target drive-in rack 803 through the detection device;

[0155] The control device 801 determines the position of the guide rail of the target drive-in rack 803 through the relative position and the preset position relationship.

[0156] In some embodiments, the system further comprises:

[0157] The unmanned forklift 802 responds to the goods deposit instruction, moves to the incoming storage area, obtains the goods from the incoming storage area, and after obtaining the goods, moves from the incoming storage area to the target drive-in rack.

[0158] In some embodiments, the system further comprises:

[0159] The control device 801 adjusts the unmanned forklift 802 to a first target posture for driving into the target drive-in rack 803 in a first direction according to the current position of the unmanned forklift 802 and the position of the guide rail of the target drive-in rack 803;

[0160] The unmanned forklift 802 maintains the first target posture and drives into the target drive-in rack 803 ; and stores the goods in the target drive-in rack 803 .

[0161] In some embodiments, the unmanned forklift 802 includes a telescopic arm that moves in a vertical direction. The target drive-in rack 803 includes multiple layers, each layer is used to store multiple rows of goods. The system further includes:

[0162] The unmanned forklift 802 moves along the first direction to the position corresponding to the target column;

[0163] The unmanned forklift 802 controls the telescopic arm to move in the vertical direction and extend to a position corresponding to the target layer;

[0164] The unmanned forklift 802 places the goods on the target layer and the position corresponding to the target column of the target drive-in rack 803.

[0165] In some embodiments, the system further comprises:

[0166] The control device 801 adjusts the unmanned forklift 802 to a second target posture for driving into the target drive-in rack 803 in a second direction based on the current position of the unmanned forklift 802 and the position of the guide rail of the target drive-in rack 803, where the second direction is opposite to the first direction.

[0167] The unmanned forklift 802 maintains the second target posture and drives into the target drive-in rack 803 ; and obtains the goods from the target drive-in rack 803 .

[0168] In some embodiments, the unmanned forklift 802 includes a telescopic arm that moves in a vertical direction. The target drive-in rack includes multiple layers, each layer is used to store multiple rows of goods. The system further includes:

[0169] The unmanned forklift 802 moves along the second direction to a position corresponding to the target column;

[0170] The unmanned forklift 802 controls the telescopic arm to move in the vertical direction and extend to a position corresponding to the target layer;

[0171] The unmanned forklift 802 obtains the goods from the target layer and the position corresponding to the target column of the target drive-in rack 803, and after obtaining the goods, moves them to the outbound storage area.

[0172] The description of the above device embodiment is similar to the description of the above method embodiment and has similar beneficial effects as the method embodiment. For technical details not disclosed in the device embodiment of this application, please refer to the description of the method embodiment of this application for understanding.

[0173] It should be noted that in the embodiments of this application Figure 8The module division of the drive-in rack-based cargo storage and retrieval system shown is schematic and represents only one logical functional division; actual implementation may employ alternative divisions. Furthermore, the functional units in the various embodiments of this application may be integrated into a single processing unit, exist as separate physical units, or be integrated into a single unit. These integrated units may be implemented as hardware or software functional units. Alternatively, a combination of software and hardware may be employed.

[0174] It should be noted that, in the embodiment of the present application, if the above method is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling an electronic device to execute all or part of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a U disk, a mobile hard disk, a read-only memory (ROM), a magnetic disk or an optical disk. In this way, the embodiment of the present application is not limited to any specific combination of hardware and software.

[0175] The embodiment of the present application provides a computer device, which may be a server, and its internal structure diagram may be as follows: Figure 9 As shown. The computer device includes a processor, a memory, and a network interface connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The database of the computer device is used to store data. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a method for accessing goods based on a drive-in rack is implemented.

[0176] An embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the method provided in the above embodiment are implemented.

[0177] An embodiment of the present application provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute the steps of the method provided in the above method embodiment.

[0178] Those skilled in the art will understand that Figure 9The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0179] In one embodiment, the cargo access system based on the drive-in rack provided by the present application can be implemented in the form of a computer program. The computer program can be used in Figure 9 The computer device is shown. The computer device's memory may store the various program modules that comprise the sampling device. The computer program comprised of the various program modules causes the processor to execute the steps of the drive-in rack-based cargo access method described in this specification according to various embodiments of the present application.

[0180] It should be noted that the description of the above storage medium and device embodiments is similar to the description of the above method embodiments and has similar beneficial effects as the method embodiments. For technical details not disclosed in the storage medium, storage medium, and device embodiments of this application, please refer to the description of the method embodiments of this application for understanding.

[0181] It should be understood that "one embodiment" or "an embodiment" or "some embodiments" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" or "in some embodiments" appearing throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. The above-mentioned serial numbers of the embodiments of the present application are for description only and do not represent the advantages and disadvantages of the embodiments. The above description of the various embodiments tends to emphasize the differences between the various embodiments. The same or similar aspects can be referenced to each other. For the sake of brevity, they will not be repeated here.

[0182] The term "and / or" in this article is only a description of the association relationship between associated objects, indicating that there can be three relationships. For example, object A and / or object B can mean: object A exists alone, object A and object B exist at the same time, and object B exists alone.

[0183] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0184] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The embodiments described above are merely illustrative. For example, the division of the modules is merely a logical function division. In actual implementation, there may be other division methods, such as: multiple modules or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or modules can be electrical, mechanical or other forms.

[0185] The modules described above as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules; they may be located in one place or distributed across multiple network units; some or all of the modules may be selected according to actual needs to achieve the purpose of this embodiment.

[0186] In addition, all functional modules in the embodiments of the present application can be integrated into one processing unit, or each module can be a separate unit, or two or more modules can be integrated into one unit; the above-mentioned integrated modules can be implemented in the form of hardware or in the form of hardware plus software functional units.

[0187] Those skilled in the art will understand that all or part of the steps of implementing the above-mentioned method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above-mentioned method embodiment; and the aforementioned storage medium includes: mobile storage devices, read-only memories (ROM), magnetic disks or optical disks, and other media that can store program codes.

[0188] Alternatively, if the above-mentioned integrated unit of the present application is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application, or the part that contributes to the relevant technology, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling an electronic device to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROMs, magnetic disks or optical disks.

[0189] The methods disclosed in the several method embodiments provided in this application can be arbitrarily combined without conflict to obtain new method embodiments.

[0190] The features disclosed in the several product embodiments provided in this application can be arbitrarily combined without conflict to obtain new product embodiments.

[0191] The features disclosed in the several method or device embodiments provided in this application can be arbitrarily combined without conflict to obtain new method embodiments or device embodiments.

[0192] The above is merely an embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A method for storing and retrieving goods based on a drive-in rack, characterized in that: Applied to an unmanned forklift, the unmanned forklift includes a detection device, and the drive-in rack includes a guide rail. The method includes: Obtaining a cargo access instruction, wherein the cargo access instruction is used to instruct the unmanned forklift to obtain cargo from a target drive-in rack or to deposit cargo into the target drive-in rack; In response to the cargo access instruction, move to the target drive-in rack; Determining the position of the guide rail of the target drive-in rack by the detection device; According to the current position of the unmanned forklift and the position of the guide rail of the target drive-in rack, the unmanned forklift is adjusted to a target posture, and the target posture is maintained, and the unmanned forklift drives into the target drive-in rack to obtain goods from the target drive-in rack or to deposit goods into the target drive-in rack; The drive-in rack further includes a column, and the position between the column and the guide rail satisfies a preset position relationship. The determining the position of the guide rail of the target drive-in rack by the detection device includes: Obtaining the relative position of the uprights of the target drive-in rack by the detection device; The position of the guide rail of the target drive-in rack is determined by the relative position and the preset position relationship.

2. The method according to claim 1, characterized in that The cargo access instruction includes a cargo deposit instruction, wherein the cargo deposit instruction is used to instruct the unmanned forklift to deposit cargo on the target drive-in rack. The step of moving to the target drive-in rack in response to the cargo access instruction includes: In response to the goods deposit instruction, moving to the incoming storage area; Retrieving goods from the incoming storage area; After obtaining the goods, they are moved from the incoming storage area to the target drive-in rack.

3. The method according to claim 1, characterized in that The step of adjusting the unmanned forklift to a target position according to the current position of the unmanned forklift and the position of the guide rail of the target drive-in rack, maintaining the target position, driving into the target drive-in rack, and depositing goods on the target drive-in rack includes: Adjusting the unmanned forklift to a first target posture for driving into the target drive-in rack in a first direction according to the current position of the unmanned forklift and the position of the guide rail of the target drive-in rack; Maintaining the first target posture and driving into the target drive-in rack; The goods are stored in the target drive-in rack.

4. The method according to claim 3, characterized in that The unmanned forklift includes a telescopic arm that moves in a vertical direction. The target drive-in rack includes multiple layers, each layer is used to store multiple columns of goods. The goods access instruction includes a goods deposit instruction, and the goods deposit instruction includes a target layer and a target column corresponding to the goods. Depositing goods on the target drive-in rack includes: Move along the first direction to a position corresponding to the target column; Controlling the telescopic arm to move in the vertical direction and to extend and retract to a position corresponding to the target layer; The goods are placed at positions corresponding to the target layer and the target column of the target drive-in rack.

5. The method according to claim 1, wherein The cargo access instruction includes a cargo retrieval instruction, which is used to instruct the unmanned forklift to retrieve cargo from a target drive-in rack. The unmanned forklift is adjusted to a target position based on the current position of the unmanned forklift and the position of the guide rail of the target drive-in rack, and the unmanned forklift is driven into the target drive-in rack to retrieve cargo from the target drive-in rack, including: adjusting the unmanned forklift to a second target posture for driving into the target drive-in rack in a second direction based on the current position of the unmanned forklift and the position of the guide rail of the target drive-in rack, wherein the second direction is opposite to the first direction, and the first direction is the direction in which the unmanned forklift drives into the target drive-in rack to store goods; Maintaining the second target posture and driving into the target drive-in rack; Retrieve goods from the target drive-in rack.

6. The method according to claim 5, characterized in that The unmanned forklift includes a telescopic arm that moves in a vertical direction. The target drive-in rack includes multiple layers, each layer is used to store multiple columns of goods. The cargo removal instruction includes a target layer and a target column corresponding to the goods. The storing of goods on the target drive-in rack includes: Move along the second direction to a position corresponding to the target column; Controlling the telescopic arm to move in the vertical direction and to extend and retract to a position corresponding to the target layer; The goods are obtained from the target layer and the position corresponding to the target column of the target drive-in rack, and after the goods are obtained, they are moved to a delivery storage area.

7. A cargo storage and retrieval system based on a drive-in rack, characterized in that: The system includes a control device, an unmanned forklift and a drive-in rack, the unmanned forklift includes a detection device, the drive-in rack includes a guide rail, and the system includes: The unmanned forklift obtains a cargo access instruction, where the cargo access instruction is used to instruct the unmanned forklift to obtain cargo from a target drive-in rack or to deposit cargo into the target drive-in rack; The unmanned forklift moves to the target drive-in rack in response to the cargo access instruction; The unmanned forklift determines the position of the guide rail of the target drive-in rack through the detection device; The control device adjusts the unmanned forklift to a target position according to the current position of the unmanned forklift and the position of the guide rail of the target drive-in rack, maintains the target position, drives into the target drive-in rack, and obtains goods from the target drive-in rack or deposits goods into the target drive-in rack; The drive-in rack further comprises a column, and the position between the column and the guide rail satisfies a preset position relationship. The system further comprises: The unmanned forklift obtains the relative position of the column of the target drive-in rack through a detection device; The control device determines the position of the guide rail of the target drive-in rack through the relative position and the preset position relationship.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, characterized in that: When the processor executes the program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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