Cargo handling method and system, device, storage medium

Abstract

The application discloses a kind of cargo handling method and system, equipment, storage medium;The method comprises: in response to the cargo transmission instruction received, control conveyor to transmit target cargo to the export place;Send cargo delivery signal, cargo delivery signal indicates that target cargo has been transmitted to the export place;In response to cargo delivery signal, send first cargo handling instruction to unmanned forklift, first cargo handling instruction is used to indicate unmanned forklift to transport target cargo from the export place to target work station;Unmanned forklift responds to first cargo handling instruction, by the forklift accessory installed in unmanned forklift, target cargo is transported from the export place to target work station.It can improve the handling efficiency and handling safety of cargo.

Description

Technical Field

[0001] This application relates to logistics application technology, including but not limited to a cargo handling method and system, equipment, and storage medium. Background Technology

[0002] In traditional electrical machinery and equipment manufacturing workshops, the handling of wire coils and their docking with automated equipment are typically accomplished manually using forklifts.

[0003] However, traditional manual forklifts require a wide transport aisle and suffer from low safety, efficiency, and information technology levels. Furthermore, manual forklifts cannot handle multiple tasks simultaneously, maintain close coordination with production line schedules, or accurately exchange information with warehouse systems. Therefore, improving the efficiency and safety of goods handling is a pressing issue that needs to be addressed. Summary of the Invention

[0004] In view of this, the cargo handling method, system, equipment, and storage medium provided in the embodiments of this application can improve the handling efficiency and safety of wire coils. The cargo handling method, system, equipment, and storage medium provided in the embodiments of this application are implemented as follows:

[0005] The cargo handling method provided in this application includes:

[0006] In response to the received cargo transfer instruction, the control conveyor moves the target cargo to the exit.

[0007] Send a cargo shipment signal, which indicates that the target cargo has been transferred to the export point;

[0008] In response to the cargo shipment signal, a first cargo handling instruction is sent to the unmanned forklift. The first cargo handling instruction is used to instruct the unmanned forklift to transport the target cargo from the exit to the target workstation.

[0009] The unmanned forklift responds to the first cargo handling instruction and uses its forklift attachments to transport the target cargo from the exit to the target workstation.

[0010] In some embodiments, prior to responding to a received cargo transfer instruction, the method further includes: an unmanned forklift responding to a received raw material loading instruction to move cargo raw materials from a raw material unloading point to a raw material processing point; and an unmanned forklift responding to a received cargo storage instruction to move target cargo from the raw material processing point to a storage area for storage using forklift attachments, wherein the target cargo is obtained by processing cargo raw materials at the raw material processing point.

[0011] In some embodiments, the forklift attachment is a rod attachment, the raw material is thread, the target material is a coil of thread, and the coil of thread is made by winding the thread at the raw material processing point. The rod attachment can be inserted into the hollow cavity of the coil of thread to achieve the forklifting of the coil of thread.

[0012] In some embodiments, there are multiple raw material processing points. In response to a received raw material loading command, an unmanned forklift moves the raw materials from the raw material unloading point to the raw material processing point, including:

[0013] The system acquires the current working status and location information of each raw material processing point; based on the current working status and location information of each raw material processing point, it determines the raw material processing point that is closest to the unmanned forklift and is in an idle working state as the target raw material processing point; it sends a raw material loading command to the unmanned forklift, which instructs the unmanned forklift to move the raw materials from the raw material unloading point to the target raw material processing point; the unmanned forklift responds to the raw material loading command and moves the raw materials from the raw material unloading point to the target raw material processing point.

[0014] In some embodiments, the method further includes:

[0015] In response to the received second cargo handling instruction, the unmanned forklift uses its forklift attachments to transport target cargo, the quantity of which is less than the first threshold, from the exit to the cargo buffer area. The distance between the cargo buffer area and the target workstation is less than the distance between the exit and the target workstation.

[0016] In some embodiments, the method further includes:

[0017] The unmanned forklift responds to the received third cargo handling instruction and uses its forklift attachments to transport the target cargo from the cargo buffer area to the target workstation.

[0018] In some embodiments, the method further includes:

[0019] In response to the received cargo placement instruction, the unmanned forklift transports the unused target cargo from the target workstation to the raw material processing point, so that the unused target cargo can be reprocessed into raw materials.

[0020] In some embodiments, the method further includes:

[0021] Receive instructions from the unmanned forklift and complete feedback; respond to the instruction completion feedback and update the inventory status of the goods handling system.

[0022] The cargo handling system provided in this application includes an unmanned forklift, a storage area, and control equipment. The unmanned forklift includes forklift attachments, and the storage area includes a conveying device and a warehouse management system. The system includes:

[0023] The warehouse management system in the storage area responds to the received cargo transfer instructions by controlling the conveyor to transport the packing coils to the exit.

[0024] The warehouse management system sends a goods shipment signal to the control equipment, which indicates that the packing coil has been transmitted to the exit.

[0025] In response to the cargo dispatch signal, the control equipment sends a first cargo handling instruction to the unmanned forklift, which instructs the unmanned forklift to transport the target cargo from the exit to the target workstation.

[0026] The unmanned forklift responds to the first cargo handling instruction and uses its forklift attachments to transport the target cargo from the exit to the target workstation.

[0027] The computer device provided in this application includes a memory and a processor. The memory stores a computer program that can run on the processor. When the processor executes the program, it implements the method described in this application.

[0028] The computer-readable storage medium provided in this application embodiment stores a computer program thereon, which, when executed by a processor, implements the method described in this application embodiment.

[0029] The cargo handling method, system, computer equipment, and computer-readable storage medium provided in this application, in response to a received cargo transfer instruction, control a conveying device to transfer target cargo to an exit; send a cargo dispatch signal indicating that the target cargo has been transferred to the exit; and, in response to the cargo dispatch signal, send a first cargo handling instruction to an unmanned forklift, instructing the unmanned forklift to transport the target cargo from the exit to a target workstation; the unmanned forklift, in response to the first cargo handling instruction, transports the target cargo from the exit to the target workstation using forklift attachments. This improves cargo handling efficiency and safety, thereby solving the technical problems mentioned in the background art. Attached Figure Description

[0030] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with this application and, together with the specification, serve to explain the technical solutions of this application.

[0031] Figure 1A A schematic diagram of the site layout for cargo handling provided in an embodiment of this application;

[0032] Figure 1B This is a schematic diagram illustrating an application scenario of a cargo handling method provided in an embodiment of this application;

[0033] Figure 2A schematic diagram illustrating the implementation process of the cargo handling method provided in this application embodiment;

[0034] Figure 3 A schematic diagram illustrating the implementation process of the cargo handling method provided in this application embodiment;

[0035] Figure 4 A schematic diagram illustrating the implementation flow of the raw material processing point selection method provided in the embodiments of this application;

[0036] Figure 5 A schematic diagram illustrating the implementation process of the cargo handling method provided in this application embodiment;

[0037] Figure 6 This is a schematic diagram of the structure of the cargo handling system provided in the embodiments of this application;

[0038] Figure 7 A schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the specific technical solutions of this application will be further described in detail below with reference to the accompanying drawings of the embodiments of this application. The following embodiments are used to illustrate this application, but are not intended to limit the scope of this application.

[0040] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0041] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is 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.

[0042] It should be noted that the terms "first, second, third" used in the embodiments of this application are used to distinguish similar or different objects and do not represent a specific order of objects. It can be understood that "first, second, third" can be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0043] In traditional electrical machinery and equipment manufacturing workshops, the handling of wire coils and their docking with automated equipment are typically accomplished manually using forklifts.

[0044] However, traditional manual forklifts require a wide transport aisle and suffer from low safety, efficiency, and information technology levels. Furthermore, manual forklifts cannot handle multiple tasks simultaneously, maintain close coordination with production line schedules, or accurately exchange information with warehouse systems. Therefore, improving the efficiency and safety of goods handling is a pressing issue that needs to be addressed.

[0045] In view of this, embodiments of this application provide a cargo handling method, system, device, and storage medium that can improve the handling efficiency and safety of wire coils.

[0046] The following will be described in detail with reference to the accompanying drawings.

[0047] like Figure 1A As shown, Figure 1A This is a schematic diagram of the site layout used in the implementation of the cargo handling method provided in this application embodiment. The cargo handling site includes a line-side workstation area, an automated warehouse storage area, a cargo buffer area, a raw material unloading point, and a raw material processing point. The raw material unloading point is the location where the raw materials are unloaded. The raw material processing point is the area where the raw materials are processed to obtain packaged coils. That is, when the wire (raw materials) is transported to the raw material processing point, the wire can be wound to process it into coils. Preferably, a protective film can be used to wrap the coils to prevent them from unraveling, thus obtaining packaged coils. The line-side workstation area consists of multiple workstation areas where workers use the packaged coils. The automated warehouse storage area is used to store a large number of packaged coils, and the cargo buffer area is used to buffer a small number of packaged coils.

[0048] like Figure 1B As shown, Figure 1B This is a schematic diagram of an application scenario for a cargo handling method provided in this application embodiment. In this application scenario, the cargo handling system includes an unmanned forklift 10, an automated storage and retrieval system 11, and a control device 12. The unmanned forklift 10 includes forklift attachments 101, and the automated storage and retrieval system 11 includes a conveying device 111 and a warehouse management system 112.

[0049] The control device 12 can be a separate device from the unmanned forklift 10, such as a mobile phone, tablet computer, wearable device, laptop computer, or personal computer (PC) used by the manager; of course, the control device 12 can also be integrated into the unmanned forklift 10, but this application embodiment does not limit this.

[0050] Furthermore, the operating system of the aforementioned control device 12 may include, but is not limited to, Android, iOS, Symbian, BlackBerry, and Windows Phone 8 operating systems, and this application embodiment does not limit this.

[0051] In some embodiments, the control device 12 can be a Robot Control System (RCS), also known as a central control and scheduling system, which is a visualized intelligent scheduling system. Designed for large-scale industrial vehicle scheduling scenarios, it can realize functions such as multi-vehicle scheduling, path planning, collision avoidance, task management, and data analysis. It can achieve multi-model, cross-scenario scheduling, providing enterprises with a fast and comprehensive industrial vehicle collaborative solution.

[0052] The unmanned forklift, also known as a forklift-type AGV (Automated Guided Vehicle) or driverless forklift, is an intelligent industrial vehicle robot that integrates forklift and AGV technologies. Compared to ordinary AGVs, it can not only perform point-to-point material handling but also realize logistics transportation connecting multiple production stages. It excels in three major scenarios: high-bay warehouses, off-site receiving areas, and production line transfers. Furthermore, it plays an irreplaceable role in heavy-duty and special handling scenarios. The application of unmanned forklifts can solve problems such as large material flow and high labor intensity of manual handling in industrial production and warehousing logistics operations.

[0053] The unmanned forklift 10 provided in this application embodiment can be a hidden AGV, a counterbalance AGV, etc., and is not limited thereto.

[0054] In some embodiments, the unmanned forklift 10 may include a control screen, a housing, a charging port, an active steering wheel, a lifting mechanism, a forward movement mechanism, front outriggers, a correction navigation laser, an auxiliary steering wheel, a fork tooth front guard, and a curved nylon single fork, etc.

[0055] like Figure 1B As shown, the unmanned forklift 10 is equipped with a forklift attachment 101. Depending on the type of goods, this forklift attachment can be of various types. For example, if the goods are of a regular shape (such as a rectangle), the forklift attachment can be a fork; if the goods are coils, the forklift attachment can be designed accordingly, such as... Figure 1B The rod attachment shown features a curved nylon anti-slip design and a front guard at the fork tip, which effectively prevents the spool from falling off during handling.

[0056] The main body of the automated storage and retrieval system 11 includes at least shelves, conveying devices 111, and a warehouse management system 112. The shelves are used to store goods and can be beam shelves, cantilever shelves, flow shelves, etc. The conveying devices 111 are used to transport goods stored in the shelves to the exit of the automated storage and retrieval system, or to transport goods from the exit of the automated storage and retrieval system to the shelves for storage. In this embodiment, the specific type of conveying device 111 is not limited; the conveying device 111 can be any type such as a chain conveyor, lifting platform, distribution vehicle, hoist, belt conveyor, etc.

[0057] In this embodiment of the application, the specific type of warehouse management system 112 is not limited. For example, warehouse management system 112 can be a WMS (Warehouse Management System).

[0058] In some embodiments, the automated storage and retrieval system 11 may also include a handling device for moving goods from one place to another, such as moving goods from a shelf to a conveyor 111.

[0059] In some embodiments, the cargo handling system may further include a detection device that can be installed on the unmanned forklift 10 to detect the position of the cargo when the unmanned forklift 10 performs cargo handling work, thereby achieving high-precision cargo gripping.

[0060] In this embodiment, the type of detection device is not limited. For example, the detection device can be any device with positioning and detection functions, such as a depth camera or LiDAR. Specifically, when the detection device is LiDAR, point cloud data of the area where the goods are located can be acquired, and the specific location information of the goods can be obtained by mapping the point cloud data to the coordinate system corresponding to the detection device. When the detection device is a depth camera, depth information and a two-dimensional image of the area where the goods are located can be acquired, and the specific location information of the goods can be obtained by establishing a coordinate system by combining the depth information and the two-dimensional image.

[0061] by Figure 1B For example, the warehouse management system 112 can send various control commands to the automated storage and retrieval system 11, and the control device 12 can also send various control commands to the unmanned forklift 10 to control one or more unmanned forklifts 10 to work.

[0062] Figure 2 This is a schematic diagram illustrating the implementation process of the cargo handling method provided in the embodiments of this application. Figure 2 As shown, the method may include the following steps 201 to 204:

[0063] Step 201: In response to the received cargo transfer instruction, control the conveying device to transfer the target cargo to the exit.

[0064] Here, the warehouse management system of the automated storage and retrieval system responds to the received cargo transfer instructions and controls the conveyor to transport the packing coils to the exit.

[0065] In this embodiment of the application, the method of sending the goods transfer instruction is not limited. For example, the goods transfer instruction can be sent by an electronic device that establishes communication with the warehouse management system. Further, the goods transfer instruction can be sent by the staff at the target workstation based on the electronic device; or, the goods transfer instruction can also be automatically sent to the warehouse management system that has established a communication connection with the detection device at the target workstation after detecting that the target goods have been used up. Of course, the detection device is a device that has both detection and control functions.

[0066] Once the warehouse management system of the automated storage and retrieval system receives a cargo transfer instruction, it can respond to the instruction by transferring the target cargo from the automated storage and retrieval system to the exit of the transfer device via a conveyor.

[0067] Furthermore, in some embodiments, upon receiving a goods transfer instruction, the warehouse management system can respond by controlling the handling device to move the target goods from the corresponding shelf to the conveyor device, which then transfers the target goods to the exit. The conveyor device and the handling device operate at different locations when handling the target goods. For example, if the handling device is an aisle-type transfer vehicle, it can move the target goods within the aisle to the aisle entrance, and then the conveyor device (such as a conveyor belt) transfers the target goods from the aisle entrance to the warehouse exit.

[0068] Here, there is no limitation on the type of conveying device; the conveying device can be any type such as chain conveyor, lifting platform, distribution vehicle, hoist, belt conveyor, etc.

[0069] Step 202: Send a cargo shipment signal, which indicates that the target cargo has been transferred to the exit.

[0070] Here, the warehouse management system sends a goods dispatch signal to the control equipment.

[0071] In this embodiment, the timing of the warehouse management system sending the goods dispatch signal to the control device is not limited. For example, the warehouse management system can send the goods dispatch signal to the control device after the target goods have been transported to the exit by the conveyor device, indicating that the target goods have been transported to the exit, thus avoiding the unmanned forklift waiting at the exit and wasting time; or, the warehouse management system can send the goods dispatch signal to the control device as soon as the target goods are placed on the conveyor device, so that the transport of the target goods and the movement of the unmanned forklift to the exit are executed synchronously, thereby saving time.

[0072] Step 203: In response to the cargo shipment signal, a first cargo handling instruction is sent to the unmanned forklift. The first cargo handling instruction is used to instruct the unmanned forklift to transport the target cargo from the exit to the target workstation.

[0073] Once the control equipment receives the cargo dispatch signal, it can send the first cargo handling instruction to the unmanned forklift to move the unmanned forklift to the exit and move the target cargo to the target workstation.

[0074] In some embodiments, the control device may send the first cargo handling instruction to the unmanned forklift in the following manner: each unmanned forklift shall report its current location information and working status to the control device in real time; the control device shall determine, based on the current location information and working status of at least one unmanned forklift, to send the first cargo handling instruction to the unmanned forklift that is in an idle state and is closest to the exit.

[0075] like Figure 1A As shown, the target workstation can be one or more of the multiple workstations in the line-side workstation area. When the control equipment learns that target goods (i.e. target workstations) are needed at certain workstations in the line-side workstation area, it can send a first goods handling instruction to the unmanned forklift and carry the location information of the one or more target workstations in the first goods handling instruction.

[0076] Step 204: In response to the first cargo handling instruction, the unmanned forklift transports the target cargo from the exit to the target workstation using the forklift attachments installed in the unmanned forklift.

[0077] In this embodiment of the application, the forklift attachment on the unmanned forklift can be a rod attachment, which facilitates the transportation of goods such as wire coils. The rod attachment can adopt an arc-shaped nylon anti-slip design and a front guard design at the end of the fork tip, which can effectively prevent the goods from falling off during the handling process.

[0078] Once the unmanned forklift receives the first cargo handling instruction, it can respond by moving to the exit, using forklift attachments to place the target cargo on the attachments, and then moving to one or more target workstations. When there are multiple target workstations, the first handling instruction also includes the location information of each target workstation and the required quantity of packing coils for that target workstation.

[0079] In this embodiment, the warehouse management system of the automated storage and retrieval system responds to a received goods transfer instruction by controlling a conveying device to transfer the target goods to the exit. The warehouse management system sends a goods dispatch signal to the control device, indicating that the target goods have been transferred to the exit. In response to the goods dispatch signal, the control device sends a first goods handling instruction to the unmanned forklift, instructing the unmanned forklift to transport the target goods from the exit to the target workstation. The unmanned forklift, in response to the first goods handling instruction, uses its forklift attachments to transport the target goods from the exit to the target workstation. This improves both the efficiency and safety of goods handling.

[0080] This application provides another method for handling goods. Figure 3 This is a schematic diagram illustrating the implementation process of the cargo handling method provided in the embodiments of this application, such as... Figure 3 As shown, the method may include the following steps 301 to 306:

[0081] Step 301: In response to the received raw material loading instruction, the unmanned forklift moves the raw materials from the raw material unloading point to the raw material processing point, and processes the raw materials at the raw material processing point to obtain the target goods.

[0082] Understandably, a complete industrial production line generally follows a process from raw materials to raw material processing to finished products and then to their use. Therefore, before obtaining the target product, the raw materials need to be processed to obtain the target product.

[0083] like Figure 1A As shown, once the raw materials are manufactured at the raw material unloading point, the control equipment sends a raw material loading command to the unmanned forklift, causing the forklift to move to the raw material unloading point and transport the raw materials to the raw material processing point. At the processing point, the raw materials are processed to obtain the target goods. For example, if the raw material is thread, it is transported to the processing point for packaging to obtain packaged thread rolls.

[0084] To improve processing efficiency, multiple raw material unloading points can be set, such as two. When calling an unmanned forklift after the raw material manufacturing is complete at the unmanned forklift unloading point, the unmanned forklift calling method in step 203 above can be referenced, i.e., sending a raw material loading command to the unmanned forklift that is idle and closest to the raw material unloading point.

[0085] In some embodiments, there are multiple raw material processing points. Therefore, when transporting raw materials from the raw material unloading point to the raw material processing point, determining which of the multiple raw material processing points to transport them to can be achieved by performing the following steps 401 to 404:

[0086] Step 401: Obtain the current working status and location information of each raw material processing point.

[0087] Understandably, given that the quantity of raw materials delivered to each raw material processing point may differ, and the start time for processing the raw materials at each raw material processing point may also differ, the completion time for processing the raw materials at multiple raw material processing points may also differ, that is, the idle time at each raw material processing point may also differ.

[0088] Therefore, before the control equipment sends the raw material loading instruction to the unmanned forklift, it can first obtain the current working status of each raw material processing point and the location information of each raw material processing point.

[0089] Here, each raw material processing point is equipped with an intelligent sensing system, which can provide real-time feedback on its current working status to the control equipment for monitoring and adjustment. The location information of the raw material processing points can be pre-stored and retrieved by the control equipment, or it can be fed back to the control equipment by the raw material processing points through their intelligent sensing systems; this embodiment does not limit this approach.

[0090] Step 402: Based on the current working status and location information of each raw material processing point, determine the raw material processing point that is closest to the unmanned forklift and is in an idle working state as the target raw material processing point.

[0091] Once the control equipment acquires the current operating status and location information of each raw material processing point, it can compare the distance between each raw material processing point and the automated forklift, thereby determining the raw material processing point that is closest to the automated forklift and is in an idle operating state as the target raw material processing point. Of course, there can be one or more target raw material processing points.

[0092] Step 403: Send a raw material loading instruction to the unmanned forklift. The raw material loading instruction is used to instruct the unmanned forklift to move the raw materials from the raw material unloading point to the target raw material processing point.

[0093] Step 404: The unmanned forklift responds to the raw material loading command and moves the raw materials from the raw material unloading point to the target raw material processing point.

[0094] Once the target raw material processing point is determined, the unmanned forklift can transport the raw materials from the raw material unloading point to the target raw material processing point for processing.

[0095] Step 302: In response to the received cargo storage instruction, the unmanned forklift uses its forklift attachments to move the target cargo from the raw material processing point to the storage area for storage.

[0096] Once the raw materials are processed at the raw material processing point and the target goods are obtained, unmanned forklifts can be used to move the target goods from the raw material processing point to the storage area for storage, which is the automated storage and retrieval system (AS / RS) for later use.

[0097] In some embodiments, the forklift attachment is a rod attachment, the raw material is thread, the target material is a coil of thread, and the coil of thread is made by winding the thread at the raw material processing point. The rod attachment can be inserted into the hollow cavity of the coil of thread to achieve the forklifting of the coil of thread.

[0098] Step 303: In response to the received cargo transfer instruction, control the conveying device to transfer the target cargo to the exit.

[0099] Step 304: Send a cargo shipment signal, which indicates that the target cargo has been transferred to the exit.

[0100] Step 305: In response to the cargo shipment signal, a first cargo handling instruction is sent to the unmanned forklift. The first cargo handling instruction is used to instruct the unmanned forklift to transport the packaged wire coil from the exit to the target workstation.

[0101] Step 306: The unmanned forklift responds to the first cargo handling instruction and uses its forklift attachments to transport the target cargo from the exit to the target workstation.

[0102] In some embodiments, if the demand for the target goods at the workstations in the line-side workstation area is small, in order to facilitate quick retrieval of the target goods and improve production efficiency, the following steps 501 to 502 can be performed:

[0103] Step 501: In response to the received second cargo handling instruction, the unmanned forklift transports the target cargo, which is less than the first threshold quantity, from the exit to the cargo buffer area using forklift attachments. The distance between the cargo buffer area and the target workstation is less than the distance between the exit and the target workstation.

[0104] like Figure 1AAs shown, the cargo buffer area can be set up next to the workstation area. This way, after receiving a second cargo handling instruction, the unmanned forklift can use its attachments to transport a small quantity of target cargo to the cargo buffer area for temporary storage. Thus, when the target workstation requires a small quantity of target cargo, the unmanned forklift can be called upon to directly retrieve the target cargo from the cargo storage area, thereby reducing the forklift's transport distance, saving transport time, and improving production efficiency.

[0105] Step 502: In response to the received third cargo handling instruction, the unmanned forklift transports the target cargo from the cargo buffer area to the target workstation using forklift attachments.

[0106] In some embodiments, if the workers at the target workstation have not finished using the target goods, and the target goods are packaged wire spools, it is difficult to assess the remaining quantity and specifications of a packaged wire spool since it is made of wound wire strands. Therefore, the control equipment can send a goods placement instruction to the unmanned forklift, so that the unmanned forklift responds to the goods placement instruction sent by the control equipment and transports the unused packaged wire spools from the target workstation to the raw material processing point, so that the unused packaged wire spools can be disassembled back into raw materials (i.e., disassembled back into wire strands) for subsequent reuse. This effectively avoids the waste of wire strands.

[0107] In some embodiments, the control device can also receive instructions from the unmanned forklift to complete feedback; in response to the instructions to complete feedback, the control device updates the inventory status of the goods handling system.

[0108] In this embodiment, the unmanned forklift, in response to a received raw material loading instruction, transports the raw materials from the raw material unloading point to the raw material processing point, where they are packaged to obtain the target goods. Subsequently, in response to a received goods storage instruction, the unmanned forklift uses its attachments to transport the target goods from the raw material processing point to an automated warehouse for storage. The warehouse management system of the automated warehouse, in response to a received goods transfer instruction, controls a conveyor to transport the packaging coils to the exit. The warehouse management system sends a goods dispatch signal to the control equipment, indicating that the target goods have been transported to the exit. In response to the goods dispatch signal, the control equipment sends a first goods handling instruction to the unmanned forklift, instructing it to transport the target goods from the exit to the target workstation. In response to the first goods handling instruction, the unmanned forklift uses its attachments to transport the packaging coils from the exit to the target workstation. This improves both the efficiency and safety of goods handling.

[0109] It should be understood that although the steps in the above flowcharts are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the above flowcharts may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0110] Based on the foregoing embodiments, this application provides a cargo handling system, which includes various modules and units included in each module, and can be implemented by a processor; of course, it can also be implemented by specific logic circuits; in the implementation process, the processor can be a central processing unit (CPU), microprocessor (MPU), digital signal processor (DSP) or field programmable gate array (FPGA), etc.

[0111] Figure 6 This is a schematic diagram of the structure of the cargo handling system provided in the embodiments of this application, such as... Figure 6 As shown, the system 600 includes an unmanned forklift 601, a storage area 602, and a control device 603, wherein:

[0112] The warehouse management system of storage area 602 responds to the received cargo transfer instruction and controls the conveying device to transfer the target cargo to the exit.

[0113] The warehouse management system sends a goods dispatch signal to the control device 603. The goods dispatch signal indicates that the target goods have been transferred to the exit.

[0114] In response to the cargo dispatch signal, the control device 603 sends a first cargo handling instruction to the unmanned forklift 601. The first cargo handling instruction is used to instruct the unmanned forklift to transport the target cargo from the exit to the target workstation.

[0115] In response to the first cargo handling instruction, the unmanned forklift 601 transports the target cargo from the exit to the target workstation using the forklift attachments installed in the unmanned forklift.

[0116] In some embodiments, the unmanned forklift 601, in response to a received raw material loading instruction, moves the raw materials from the raw material unloading point to the raw material processing point; the unmanned forklift 601, in response to a received goods storage instruction, moves the packing coil from the raw material processing point to the storage area for storage using forklift attachments, and the target goods are obtained by processing the raw materials at the raw material processing point.

[0117] In some embodiments, the forklift attachment is a rod attachment, the raw material is thread, the target material is a coil of thread, and the coil of thread is made by winding the thread at the raw material processing point. The rod attachment can be inserted into the hollow cavity of the coil of thread to achieve the forklifting of the coil of thread.

[0118] In some embodiments, there are multiple raw material processing points. The control device 603 acquires the current working status and location information of each raw material processing point. Based on the current working status and location information of each raw material processing point, the control device 603 determines the raw material processing point that is closest to the unmanned forklift and is in an idle working state as the target raw material processing point. The control device 603 sends a raw material loading instruction to the unmanned forklift 601, which instructs the unmanned forklift to move the raw materials from the raw material unloading point to the target raw material processing point. In response to the raw material loading instruction, the unmanned forklift 601 moves the raw materials from the raw material unloading point to the target raw material processing point.

[0119] In some embodiments, in response to a received second cargo handling instruction, the unmanned forklift 601 transports a target cargo quantity less than a first threshold from the exit to a cargo buffer area via forklift attachments, wherein the distance between the cargo buffer area and the target workstation is less than the distance between the exit and the target workstation.

[0120] In some embodiments, the unmanned forklift 601, in response to a received third cargo handling instruction, transports the target cargo from the cargo buffer area to the target workstation via forklift attachments.

[0121] In some embodiments, the unmanned forklift 601 responds to a cargo placement instruction sent by the control device to transport unused target cargo from the target workstation to the raw material processing point, so as to reprocess the unused target cargo into raw materials.

[0122] In some embodiments, the control device 603 receives the instruction completed by the unmanned forklift 601; in response to the instruction completed, the control device 603 updates the inventory status of the goods handling system.

[0123] The description of the system embodiments above is similar to that of the method embodiments above, and has similar beneficial effects. For technical details not disclosed in the system embodiments of this application, please refer to the description of the method embodiments of this application for understanding.

[0124] It should be noted that, in the embodiments of this application... Figure 6The module division of the cargo handling system shown is illustrative and represents only one logical functional division; in actual implementation, other division methods may be used. Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, exist as separate physical units, or be integrated into one unit with two or more units. The integrated units can be implemented in hardware, as software functional units, or a combination of both.

[0125] It should be noted that, in the embodiments of this application, if the above-described methods are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, or the parts that contribute to related technologies, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause an electronic device to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), magnetic disks, or optical disks. Thus, the embodiments of this application are not limited to any specific hardware and software combination.

[0126] This application provides a computer device, which may be a server, and its internal structure diagram may be as follows: Figure 7 As shown, the computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores data. The network interface communicates with external terminals via a network connection. When executed by the processor, the computer program implements a cargo handling method.

[0127] This application provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the method provided in the above embodiments.

[0128] This application provides a computer program product containing instructions that, when run on a computer, cause the computer to perform the steps in the method provided in the above-described method embodiments.

[0129] Those skilled in the art will understand that Figure 7The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0130] In one embodiment, the cargo handling system provided in this application can be implemented as a computer program, and the computer program can be implemented as follows: Figure 7 The sampling system runs on the computer device shown. The computer device's memory can store the various program modules that make up the sampling system. The computer program, composed of the various program modules, causes the processor to execute the steps of the cargo handling methods of the various embodiments of this application described in this specification.

[0131] It should be noted that the descriptions of the storage medium and device embodiments above are similar to the descriptions of the method embodiments above, and have similar beneficial effects. For technical details not disclosed in the storage medium, storage medium, and device embodiments of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0132] It should be understood that the phrases "one embodiment," "an embodiment," or "some embodiments" mentioned throughout the specification mean that a specific feature, structure, or characteristic related to an embodiment is included in at least one embodiment of this application. Therefore, "in one embodiment," "in one embodiment," or "in some embodiments" appearing throughout the specification do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that in the various embodiments of this application, the sequence numbers of the above-described processes do not imply a sequential 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 this application. The sequence numbers of the above-described embodiments are merely for descriptive purposes and do not represent the superiority or inferiority of the embodiments. The descriptions of the various embodiments above tend to emphasize the differences between the various embodiments; their similarities or commonalities can be referred to mutually, and for the sake of brevity, they will not be repeated here.

[0133] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that there can be three kinds of relationships. For example, object A and / or object B can represent three situations: object A exists alone, object A and object B exist simultaneously, and object B exists alone.

[0134] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0135] 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 modules is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple modules or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or modules can be electrical, mechanical, or other forms.

[0136] The modules described above as separate components may or may not be physically separate. The components shown 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 to achieve the purpose of this embodiment according to actual needs.

[0137] In addition, each functional module in the various embodiments of this 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 integrated modules can be implemented in hardware or in the form of hardware plus software functional units.

[0138] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as mobile storage devices, read-only memory (ROM), magnetic disks, or optical disks.

[0139] Alternatively, if the integrated units described above are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, or the parts that contribute to related technologies, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause an electronic device to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0140] The methods disclosed in the several method embodiments provided in this application can be arbitrarily combined without conflict to obtain new method embodiments.

[0141] The features disclosed in the several product embodiments provided in this application can be arbitrarily combined without conflict to obtain new product embodiments.

[0142] The features disclosed in the several method or device embodiments provided in this application can be arbitrarily combined without conflict to obtain new method or device embodiments.

[0143] The above description is merely an embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for handling goods, characterized in that, The method includes: In response to the received cargo transfer instruction, the control conveyor moves the target cargo to the exit. Send a cargo shipment signal, the cargo shipment signal indicating that the target cargo has been transferred to the outlet; In response to the cargo shipment signal, a first cargo handling instruction is sent to the unmanned forklift, which instructs the unmanned forklift to transport the target cargo from the exit to the target workstation. In response to the first cargo handling instruction, the unmanned forklift transports the target cargo from the exit to the target workstation using the forklift attachments installed in the unmanned forklift. The method further includes, prior to responding to a received cargo transfer instruction: The unmanned forklift responds to the received raw material loading command and moves the raw materials from the raw material unloading point to the raw material processing point; In response to a received cargo storage instruction, the unmanned forklift uses its attachments to move the target cargo from the raw material processing point to the storage area for storage. The target cargo is obtained by processing the raw materials at the raw material processing point.

2. The method according to claim 1, characterized in that, The forklift attachment is a rod attachment, the raw material is thread, the target product is a spool, and the spool is made by winding the thread at the raw material processing point. The rod attachment can be inserted into the hollow cavity of the spool to achieve forklifting of the spool.

3. The method according to claim 1, characterized in that, There are multiple raw material processing points. The unmanned forklift, in response to a received raw material loading command, moves the raw materials from the raw material unloading point to the raw material processing point, including: Obtain the current working status and location information of each raw material processing point; Based on the current working status and location information of each raw material processing point, the raw material processing point that is closest to the unmanned forklift and is in an idle working state is determined as the target raw material processing point. Send the raw material loading instruction to the unmanned forklift, the raw material loading instruction being used to instruct the unmanned forklift to move the raw material from the raw material unloading point to the target raw material processing point; The unmanned forklift responds to the raw material loading command and moves the raw materials from the raw material unloading point to the target raw material processing point.

4. The method according to claim 1, characterized in that, The method further includes: In response to the received second cargo handling instruction, the unmanned forklift uses its attachments to transport the target cargo, in quantities less than a first threshold, from the exit to the cargo buffer area. The distance between the cargo buffer area and the target workstation is less than the distance between the exit and the target workstation.

5. The method according to claim 4, characterized in that, The method further includes: In response to a received third cargo handling instruction, the unmanned forklift uses its attachments to transport the target cargo from the cargo buffer area to the target workstation.

6. The method according to claim 1, characterized in that, The method further includes: In response to the received cargo placement instruction, the unmanned forklift transports the unused target cargo from the target workstation to the raw material processing point, so as to reprocess the unused target cargo into raw materials.

7. The method according to claim 1, characterized in that, The method further includes: Receive instructions sent by the unmanned forklift and complete feedback; Upon receiving the instruction, the inventory status of the cargo handling system is updated.

8. A cargo handling system, characterized in that, The system includes unmanned forklifts, a storage area, and control equipment. The unmanned forklifts include forklift attachments, and the storage area includes a conveying device and a warehouse management system. The system includes: The unmanned forklift responds to the received raw material loading command and moves the raw materials from the raw material unloading point to the raw material processing point; In response to a received cargo storage instruction, the unmanned forklift uses its attachments to move the target cargo from the raw material processing point to the storage area for storage. The target cargo is obtained by processing the raw materials at the raw material processing point. The warehouse management system of the storage area responds to the received cargo transfer instruction and controls the conveying device to transfer the target cargo to the exit. The warehouse management system sends a goods dispatch signal to the control device, the goods dispatch signal indicating that the target goods have been transferred to the exit; In response to the cargo shipment signal, the control device sends a first cargo handling instruction to the unmanned forklift, which instructs the unmanned forklift to transport the target cargo from the exit to the target workstation. In response to the first cargo handling instruction, the unmanned forklift transports the target cargo from the exit to the target workstation using forklift attachments installed in the unmanned forklift.

9. A computer device comprising a memory and a processor, the memory storing a computer program executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the method according to any one of claims 1 to 7.

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