Stereo warehouse system and racking system therefor

Abstract

The application discloses a kind of stereoscopic warehousing systems and the shelf system for it.The stereoscopic warehousing system includes: first automated handling equipment;Ground ground work area;And upper layer work area in upper layer, upper layer work area includes at least one layer arranged along the height direction, each layer is provided with multiple storage sites and the road system for the first automated handling equipment travels to multiple storage sites, first automated handling equipment is configured to be able to travel on ground, also can travel on track, and road system includes the platform constituting arterial road and the track communicated with arterial road.According to the application, the stereoscopic warehousing system uses automated handling equipment that can travel on ground and platform and track, which enables scheduling and using automated handling equipment between ground work area and upper layer work area, on the one hand, provides great flexibility, on the other hand, is conducive to reducing the construction and operation cost of stereoscopic warehousing system.

Description

Technical Field

[0001] This invention relates to the field of intelligent warehousing technology, and more specifically, to an automated storage and retrieval system and a racking system that can be used in the automated storage and retrieval system. Background Technology

[0002] With the rapid development of the logistics industry and the continuous increase in human resource costs, many companies are adopting automated storage and retrieval systems (AS / RS) to solve warehousing problems in order to improve warehouse utilization efficiency and reduce costs. AS / RS systems typically use Automated Guided Vehicles (AGVs) or Autonomous Mobile Robots (AMRs) to automate the transportation of goods. In addition, four-way shuttles have been designed to achieve storage, retrieval, and transportation in high-density storage environments.

[0003] Existing automated storage and retrieval systems (AS / RS) have shortcomings. AGVs, AMRs, and four-way shuttles are all high-cost material handling equipment. Moreover, existing AGVs and AMRs are limited to ground-based operations, while existing four-way shuttles can only run on tracks and require integration with dedicated automated racking systems. These factors contribute to the high construction and operation costs of AS / RS systems and a lack of scheduling flexibility. Summary of the Invention

[0004] The purpose of this invention is to provide a novel automated storage and retrieval system and a racking system that can be used in the automated storage and retrieval system, which can at least partially solve the problems in the prior art.

[0005] According to one aspect of the present invention, a three-dimensional storage system is provided, comprising: a first automated handling equipment; a ground work area located on the ground; and an upper work area located on an upper level, the upper work area comprising at least one layer arranged along a height direction, each layer having a plurality of storage positions and a road system for the first automated handling equipment to travel to the plurality of storage positions; wherein the road system comprises a platform constituting a main road and a track communicating with the main road;

[0006] The first automated transport device is configured to travel on the ground and also on the road system.

[0007] Advantageously, at least a portion of the track is arranged perpendicular to the platform, and the first automated transport device is configured to change direction by rotation on the platform to switch between traveling on the platform and traveling on the track.

[0008] Advantageously, the wheelset used by the first automated transport device when traveling on the platform and the ground is the same wheelset used when traveling on the track.

[0009] Advantageously, a guide protrusion is formed on the track surface, and an annular recess extending circumferentially is formed on the wheel surface of the wheels in the same wheel set for engaging with the guide protrusion; or, a recess is formed on the track surface, and the wheels in the same wheel set are used to engage with the recess.

[0010] Advantageously, the same wheel set includes four steering wheels, each capable of changing its direction of travel by rotating about a longitudinal axis perpendicular to the platform or ground.

[0011] Advantageously, in the road system on the same level as the upper working area, the height of the platform is the same as the height of the track.

[0012] Advantageously, the first automated transport device has a first set of wheels for traveling on the platform and the ground, and a second set of wheels for traveling on the track.

[0013] Advantageously, the first wheel set includes a differential wheel that can be driven differentially and a driven wheel adapted to the differential wheel.

[0014] Advantageously, the landing point of the first wheelset is lower than that of the second wheelset.

[0015] Advantageously, in the road system on the same level as the upper working area, the height of the platform is lower than the height of the track.

[0016] Advantageously, the first automated transport device travels on the platform and the ground in a first operating mode and on the track in a second operating mode, the first operating mode including a first maximum travel speed and / or a first maximum acceleration, and the second operating mode including a second maximum travel speed and / or a second maximum acceleration.

[0017] Advantageously, the automated storage and retrieval system may further include a server and at least one lifting device having a transport platform configured to rise and fall between at least one level of the ground work area and the upper work area, or the transport platform configured to rise and fall between different levels of the upper work area; the server is communicatively connected to the first automated handling equipment and the lifting device, and generates and issues instructions to schedule the first automated handling equipment and the lifting device.

[0018] Advantageously, at least one of the lifting devices has a flat bearing surface on its transport platform, allowing the first automated transport device to drive directly in or out.

[0019] Advantageously, the first automated transport device moves from the ground work area to the upper work area or from the upper work area to the ground work area via the lifting device according to a first operating command issued by the server; or, the first automated transport device moves from one floor of the upper work area to another floor via the lifting device according to a first operating command issued by the server. Advantageously, the ground work area is provided with at least one of a storage area, a picking workstation, and a production process connection point, and the first automated transport device moves from the storage area, the picking workstation, or the connection point of the ground work area to the storage location of the upper work area, or from the storage location of the upper work area to the storage area, the picking workstation, or the production process connection point of the ground work area, according to the first operating command.

[0020] Advantageously, at least one layer of the ground work area and the upper work area is provided with a lifting area, and the server, in response to a received order, generates multiple instructions for completing the order, the multiple instructions including a first transport instruction, a second transport instruction, and a third transport instruction, wherein the first transport instruction instructs to transport the vehicle corresponding to the order between a designated storage location in the upper work area and the lifting area of ​​the layer where the designated storage location is located; the second transport instruction instructs to transport the vehicle between a designated location in the ground work area and the lifting area of ​​the ground work area; the first transport instruction and the second transport instruction are sent to the same first automated transport device, and the third transport instruction instructs the lifting device to transport the same first automated transport device between the lifting area of ​​the layer where the designated storage location is located and the lifting area of ​​the ground work area.

[0021] Advantageously, the ground working area includes a track storage area and / or a non-track storage area; wherein the track storage area includes multiple storage bits;

[0022] The first automated handling device is used to move from the lifting area of ​​the ground work area to the track storage area according to the second handling command, and place the carried vehicle in the corresponding storage position; or,

[0023] The first automated handling device is used to retrieve a carrier from the corresponding storage location in the track storage area according to the second handling instruction, and carry the carrier to the lifting area in the ground work area; or,

[0024] The first automated handling device is used to move from the lifting area of ​​the ground work area to the non-track storage area according to the second handling instruction, and place the vehicle it carries; or,

[0025] The first automated handling equipment is used to retrieve the corresponding vehicle from the off-track storage area according to the second handling instruction, and carry the vehicle to the lifting area of ​​the ground work area.

[0026] Advantageously, at least one layer of the ground work area and the upper work area is provided with a lifting area, and the automated storage and retrieval system further includes a second automated handling device;

[0027] In response to a received order, the server generates multiple instructions to complete the order, including a first handling instruction, a second handling instruction, and a third handling instruction. Specifically, the first automated handling device moves a vehicle corresponding to a designated storage location of the order to a lifting area on the same floor as the designated storage location, according to the first handling instruction. The lifting device retrieves the vehicle from the lifting area on the same floor as the designated storage location according to the third handling instruction and moves the vehicle to a lifting area in the ground work area. The second automated handling device retrieves the vehicle from the lifting area in the ground work area according to the second handling instruction and moves the vehicle to a non-track storage area or a designated operation area in the ground work area. Alternatively...

[0028] The server, in response to a storage instruction, generates multiple instructions to complete the storage task. These multiple instructions include a first transport instruction, a second transport instruction, and a third transport instruction. Specifically, the second automated transport device retrieves a vehicle from a non-track storage area or a designated operating point in the ground work area according to the second transport instruction and transports it to a lifting area in the ground work area. The lifting device retrieves the vehicle from the lifting area in the ground work area according to the third transport instruction and transports it to a lifting area on the floor where the designated storage location is located. The first automated transport device retrieves the vehicle from the lifting area on the floor where the designated storage location is located according to the first transport instruction and transports it to the designated storage location. Advantageously, after the lifting device reaches the floor where the first automated transport device is located, the first automated transport device performs a first arrival handshake with the lifting device before entering the lifting device and a stop handshake with the lifting device after entering and stopping. Furthermore, after the lifting device carries the first automated transport device to the target floor, the first automated transport device performs a second arrival handshake with the lifting device and a departure handshake with the lifting device after leaving the lifting device.

[0029] Advantageously, in response to a received order, the server generates a transport task to move a vehicle located on a first floor to a target location on a second floor, the first floor being one of a multi-layered structure consisting of at least one of the ground and upper work areas, and the second floor being the other of the multi-layered structure; and the server is configured to perform at least one of the following processes: (1) searching for an available first automated transport device located on the first floor, i.e., a first available transport device, and if the first available automated transport device is found, assigning the transport task to the first available automated transport device; if the first available automated transport device is not found, waiting for or generating a task to schedule the first automated transport device to the first floor; (2) searching for available... The first automated handling device, i.e., the first available automated handling device, and the search for available first automated handling devices located in the second layer, i.e., the second available automated handling device, and if the first available automated handling device and the second available automated handling device are found, then at least a first sub-task completed by the first available automated handling device in the first layer and a second sub-task completed by the second available automated handling device in the second layer are separated from the handling task; if the first available automated handling device is found but the second available automated handling device is not found, then the handling task is assigned to the first available automated handling device; if the first available automated handling device is not found, then a task to be scheduled to the first automated handling device in the first layer is waited for or generated.

[0030] Advantageously, the first available automated handling equipment and the second available automated handling equipment are both first automated handling equipment that is available and in a standby state during a predetermined period from the present to the future.

[0031] Advantageously, the automated storage and retrieval system may further include a server, wherein the first automated handling device receives task address information from the server; the first automated handling device acquires current location information; the first automated handling device calculates navigation route information based on the current location information and the task address information; or, the server calculates navigation route information based on the current location information acquired by the first automated handling device and the task address information, and sends the navigation route information to the first automated handling device; the first automated handling device moves to the position corresponding to the task address information according to the navigation route information; wherein, when the current location information and the task address information are located on the same layer in a multi-layer structure consisting of at least one layer of the ground and the upper working area, the navigation route information is located on the same layer; and when the current location information and the task address information are located on different layers in the multi-layer structure, the navigation route information includes a first navigation route from the current location information to the position information of the lifting device in the first layer where the current location information is located, a second navigation route from the lifting device in the first layer to the second layer where the task address information is located, and a third navigation route from the position information of the lifting device in the second layer to the task address information.

[0032] Advantageously, the automated storage and retrieval system may further include a server, wherein the first automated handling device acquires current environmental information using lidar, a vision sensor, an ultrasonic sensor, or a depth sensor; the first automated handling device integrates the environmental information with map information to obtain updated map information; and the first automated handling device sends the updated map information to the server.

[0033] Advantageously, the first automated handling equipment includes a first navigation identification component for detecting and identifying a first navigation marker set on the platform or ground downwards.

[0034] Advantageously, the first automated transport device further includes a second navigation identification component disposed on the side of the first automated transport device, the second navigation identification component being used to detect a second navigation mark disposed on the track downwards or laterally.

[0035] Advantageously, the automated storage and retrieval system may further include a carrier with a positioning mark on its bottom. The first automated handling device is further provided with a positioning recognition component for detecting and recognizing the positioning mark on the bottom of the carrier from above. The first automated handling device is configured to perform at least one of the following operations based on the recognition result: determining whether the carrier is the corresponding carrier and obtaining a determination result; when the determination result indicates yes, calibrating the relative position and / or angle between the first automated handling device and the carrier to a specified relative position and / or angle.

[0036] Advantageously, the first navigation identification component includes an RFID reader and / or a camera device; and / or the positioning identification component includes an RFID reader and / or a camera device.

[0037] Advantageously, the first automated handling equipment is equipped with a pose detection device, which includes an encoder and a gyroscope for detecting the pose and motion information of the first automated handling equipment, and the first automated handling equipment navigates at least in part based on the pose and motion information detected by the encoder and the gyroscope.

[0038] Advantageously, the first automated transport device further includes guide wheels, which are at least located on both sides of the end of the track that the first automated transport device first enters when it moves from the platform onto the track.

[0039] Advantageously, the first automated handling equipment has a front end and a back end, and the automated storage and retrieval system further includes a server configured to perform at least one of the following processes:

[0040] Confirm that guide wheels are provided on both sides of the front end of the first automatic transport device, and instruct the first automatic transport device to enter the track in a forward manner; and confirm that guide wheels are provided on both sides of the rear end of the first automatic transport device, and instruct the first automatic transport device to enter the track in a reverse manner.

[0041] Advantageously, the entrance of the track where it docks with the platform is provided with a guide structure, the opening of which is larger than the opening of the track.

[0042] Advantageously, the first automated transport device is equipped with an obstacle avoidance sensor, and when the first automated transport device travels on the platform, it makes a first obstacle avoidance judgment based on obstacle information of a first obstacle avoidance area collected by the obstacle avoidance sensor, and when the first automated transport device travels on the track, it makes a second obstacle avoidance judgment based on obstacle information of a second obstacle avoidance area collected by the obstacle avoidance sensor.

[0043] Advantageously, the first obstacle avoidance area includes a front area and a side area; the second obstacle avoidance area includes a front area.

[0044] Advantageously, if the first obstacle avoidance judgment indicates that obstacle avoidance is required, the first automated transport device adopts a first obstacle avoidance strategy; if the second obstacle avoidance judgment indicates that obstacle avoidance is required, the first automated transport device adopts a second obstacle avoidance strategy; wherein the first obstacle avoidance strategy is different from the second obstacle avoidance strategy.

[0045] Advantageously, the first obstacle avoidance strategy includes a first maximum acceleration that is allowed to be used, and the second obstacle avoidance strategy includes a second maximum acceleration that is allowed to be used, wherein the first maximum acceleration is greater than the second maximum acceleration.

[0046] According to another aspect of the invention, a racking system for an automated storage and retrieval system is provided, comprising at least one layer arranged along a height direction, each layer having storage positions and including a platform forming an aisle and a track communicating with the platform, the platform and the track being configured to lead to the storage positions.

[0047] Advantageously, the storage location is positioned above the track.

[0048] Advantageously, the height of the platform on the same level is lower than the height of the track.

[0049] The automated storage and retrieval system according to embodiments of the present invention employs automated handling equipment capable of operating both on the ground and platforms as well as on tracks. This enables the scheduling and use of automated handling equipment between ground-level and upper-level work areas. This provides significant flexibility and helps reduce the construction and operating costs of the automated storage and retrieval system. Attached Figure Description

[0050] Other features, objects, and advantages of the invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0051] Figure 1 This is a schematic diagram of an example of an automated storage and retrieval system according to an embodiment of the present invention;

[0052] Figure 2 A schematic perspective view of an example of a layer of the upper working area of ​​an automated storage and retrieval system according to an embodiment of the present invention;

[0053] Figure 3 An example of an automated handling device according to a first embodiment of the present invention handling goods is illustrated schematically;

[0054] Figure 4 , Figure 5 and Figure 6They are shown respectively Figure 3 The front view, side view, and bottom view of the automated handling equipment shown;

[0055] Figure 7 This is a magnified view showing... Figure 3 The diagram illustrates the relationship between the wheelset, platform, and track of the automated handling equipment.

[0056] Figure 8 This is a magnified view showing an example of the guide structure at the track entrance;

[0057] Figure 9 This is a schematic perspective view of an automated handling device according to a first embodiment of the present invention;

[0058] Figure 10 , Figure 11 , Figure 12 , Figure 13 They are respectively Figure 9 Top view, bottom view, exploded perspective view, and front view of the automated handling equipment shown;

[0059] Figure 14 A schematic structural diagram of an example of a lifting mechanism that can be used in an automated handling device according to an embodiment of the present invention;

[0060] Figure 15 An exploded perspective view of an example of a rotary holding mechanism that can be used in an automated handling device according to an embodiment of the present invention;

[0061] Figure 16 This is a schematic perspective view of an automated handling device according to a second embodiment of the first embodiment of the present invention;

[0062] Figure 17 for Figure 16 A schematic diagram of the second wheel assembly and its drive mechanism of the automated handling equipment shown.

[0063] Figure 18 for Figure 16 An exploded 3D view of the automated handling equipment shown.

[0064] Figure 19 A schematic perspective view of an automated handling device according to a third embodiment of the first embodiment of the present invention;

[0065] Figure 20 for Figure 19 A schematic diagram of the second wheel assembly and its drive mechanism of the automated handling equipment shown.

[0066] Figure 21 for Figure 19 An exploded 3D view of the automated handling equipment shown.

[0067] Figure 22This is a control method that can be used in an automated handling device according to the first embodiment of the present invention;

[0068] Figure 23 A schematic perspective view of an example of an automated handling device according to a second embodiment of the present invention;

[0069] Figure 24 for Figure 23 An exploded 3D view of the automated handling equipment shown.

[0070] Figure 25 for Figure 23 Another schematic perspective view of the automated handling equipment shows the state of the automated handling equipment after the wheel set has rotated and reversed direction;

[0071] Figure 26 A flowchart illustrating an example of a control method for an automated storage system that can be used in accordance with embodiments of the present invention;

[0072] Figure 27 A flowchart illustrating another example of a control method for an automated storage system that can be used in accordance with embodiments of the present invention; and

[0073] Figure 28 A schematic plan view of an example of a layer of the upper working area of ​​an automated storage and retrieval system according to an embodiment of the present invention;

[0074] Figure 29 This is a schematic diagram of another example of an automated storage and retrieval system according to an embodiment of the present invention;

[0075] Figure 30 This is a schematic diagram of another example of an automated storage and retrieval system according to an embodiment of the present invention;

[0076] Figure 31 This is a schematic diagram of another example of an automated storage and retrieval system according to an embodiment of the present invention. Detailed Implementation

[0077] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0078] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0079] First, refer to Figure 1 and Figure 2 An example of an automated storage and retrieval system according to an embodiment of the present invention is presented. Figure 1 A schematic perspective view of the automated storage and retrieval system 1 is shown. (For example...) Figure 1 As shown, the automated storage and retrieval system 1 according to an embodiment of the present invention includes a first automated handling device 10, a ground work area 20 located on the ground, and an upper work area 30 located on an upper level. The upper work area 30 includes multiple layers 30a, 30b, and 30c arranged along the height direction, each layer having multiple storage positions S for storing goods 2. The ground can include the ground floor or the floor of an upper floor in the automated storage and retrieval system.

[0080] Figure 2 An example of a single layer of the upper work area in an automated storage and retrieval system is shown. Figure 2 As shown more clearly in the diagram, the upper working area 30 has a road system TS for the first automated transport equipment 10 to travel on. This road system TS includes platforms 31 and tracks 32, where platforms 31 form the main road, and tracks 32 connect to the main road formed by platforms 31. Here, "platform" refers to a structure on which the first automated transport equipment can travel and has a substantially continuous and flat supporting surface. (Refer to reference...) Figure 1 and Figure 2 The storage position S is preferably located on the track 32. The first automated handling equipment 10 can reach the storage position S via the platform 31 and the track 32 to perform storage and retrieval operations on the goods 2.

[0081] According to an embodiment of the present invention, the first automated handling device 10 is configured to travel both on the ground and on a platform, as well as on a track. This will be described in more detail below with reference to specific embodiments of the first automated handling device 10.

[0082] Advantageously, the automated storage and retrieval system 1 can be configured such that at least part of the track 32 is perpendicular to the platform 31, and the first automated handling equipment 10 is configured to change direction by rotation on the platform 31 to switch between traveling on the platform 31 and traveling on the track 32.

[0083] Further details regarding the automated storage and retrieval system according to embodiments of the present invention will be presented in the following description of the different parts of the automated storage and retrieval system or its operation methods.

[0084] The following will refer to Figures 3 to 8 This paper briefly introduces an automated handling device according to a first embodiment of the present invention.

[0085] Figure 3 An example of a first automated handling device according to a first embodiment of the present invention handling goods is illustrated schematically. Figure 3In the example shown, goods 2 are placed on a pallet-shaped carrier C, and the first automated handling device 10' according to the first embodiment of the present invention moves goods 2 by lifting the carrier C.

[0086] However, the forms of the goods 2 and the carrier C shown in the figure are merely illustrative and not restrictive. Specifically, the carrier C can have other structures or forms. For example, in some cases, the carrier C can be a storage container; in others, the carrier C can be a shelf capable of receiving storage containers. Furthermore, the goods 2 can have different forms, such as having a regular shape that can be stacked together; or being scattered, small items that cannot be stacked, etc., which will not be elaborated further here. Moreover, it should be understood that the first automated handling equipment 10' is not limited to transporting the goods 2 via the carrier C; in some cases, the first automated handling equipment 10' can also directly lift and transport the goods 2.

[0087] Figure 4 , Figure 5 and Figure 6 They are shown respectively Figure 3 The figures show a front view, a side view, and a bottom view of the first automated transport device 10'. As shown, the first automated transport device 10' includes a chassis 10a and a first wheel set 11 and a second wheel set 12 mounted on the chassis 10a. According to this embodiment, the first wheel set 11 is used for travel on the ground and platforms, and the second wheel set 12 is used for travel on tracks. Although... Figures 3 to 6 Not shown, but it should be understood that the first automated handling device 10' also includes a drive mechanism for driving the first wheel set 11 and the second wheel set 12 (the drive mechanism will be described in detail below in conjunction with different embodiments).

[0088] like Figure 4 As shown, the landing point of the first wheel group 11 of the first automatic conveying device 10' is lower than the landing point of the second wheel group 12. Figure 4 The landing heights of the first wheel group 11 and the second wheel group 12 are indicated by the reference numerals "h1" and "h2" respectively.

[0089] like Figures 4 to 6 As shown, the first wheel set 11 includes a differential wheel 11a that can be differentially driven to achieve rotational reversal. Preferably, the first wheel set 11 includes a pair of differential wheels consisting of two first drive wheels 11a, and the embodiments described below will be based on this example. However, it should be understood that the invention is not limited in this respect, and the first wheel set 11 may include a greater number of differential wheels, such as two pairs of differential wheels, as long as it enables travel on the ground and platforms.

[0090] In the illustrated example, the first wheel set 11 also includes four first driven wheels 11b adapted to the differential wheel 11a. The first driven wheels 11b are, for example, omnidirectional wheels capable of changing direction as driven by the differential wheel 11a. Furthermore, in other examples, the first wheel set 11 may include more or fewer first driven wheels 11b depending on the support requirements. For example, if the first wheel set 11 includes more than one pair of differential wheels, the first wheel set 11 may not include the first driven wheels 11b.

[0091] like Figure 6 As shown more clearly below, the second wheel set 12 may include a plurality of wheels mounted on opposite first sides L1 and second sides L2 of the first automated conveying device 10'. As will be described in detail below with reference to embodiments, the second wheel set 12 includes at least one second drive wheel 12a (see [reference]) mounted on the first side L1 and the second side L2 respectively. Figure 9 , Figure 16 , Figure 19 This allows for smooth travel along the track.

[0092] like Figure 6 As shown, the differential wheel 11a of the first wheel assembly 11 includes a first drive wheel 11a respectively mounted on a first side L1 and a second side L2 of the first automated handling device 10'. Preferably, as shown... Figure 6 As shown, the differential wheel 11a and the first driven wheel 11b of the first wheel set 11 are mounted on the inner side relative to the second wheel set 12 in a direction perpendicular to the first side L1 and the second side L2 of the automatic first conveying device 10'. This facilitates the cooperation between the second wheel set 12 and the track, and avoids the first wheel set 11 interfering with the travel on the track.

[0093] Furthermore, the first automated handling device 10' may also include at least one guide wheel 13 respectively mounted on the first side L1 and the second side L2, and the rotation axis of the guide wheel 13 is perpendicular to the chassis 10a, for cooperating with a track to guide the first automated handling device 10' to travel on the track. Figure 6 As shown, preferably, the automated handling equipment 10' has four guide wheels 13 mounted at the four corners of the chassis 10a.

[0094] The above combination Figures 3 to 6 The wheel assembly of the first automated handling device 10' is described below. (Refer to...) Figure 7 The enlarged view shown illustrates the relationship between the wheel assembly, platform, and track of the first automated handling device 10'.

[0095] like Figure 7As shown, in the automated storage and retrieval system using the first automated handling equipment 10' according to the first embodiment of the present invention, in the road system on the same level of the upper working area, the height of the platform 31 is lower than the height of the track 32. Here, the height of the track 32 refers to the height of the track surface 32a of the track 32. The height difference between the landing points of the first wheel set 11 and the second wheel set 12 is preferably equal to the height difference between the platform 31 and the track 32. In this way, when the first wheel set 11 (differential wheel 11a and first driven wheel 11b) of the first automated handling equipment 10' with a lower landing point lands on the platform 31, the second wheel set 12 with a higher landing point can land on the track surface 32a of the track 32, thereby achieving a smooth transition when the first automated handling equipment 10' moves from the platform 31 to the track 32 or from the track 32 to the platform. Furthermore, as Figure 7 As shown, the track 32 also includes a guide wall 32b vertically arranged along the outer side of the track surface 32a. The guide wheel 13 is configured to engage with the guide wall 32b perpendicular to the travel direction of the first automatic transport device 10', so as to guide the first automatic transport device 10' to travel on the track.

[0096] Figure 8 Another enlarged view shows a guide structure 32c at the entrance of track 32 where it docks with platform 31. In the illustrated example, guide structure 32c includes guide plates formed at the ends of guide walls 32b on the left and right sides of track 32, respectively. The guide plates on the left and right sides form an opening larger than track 32, which gradually narrows towards track 32 for engagement with, for example, guide wheels 13 of a first automated transport device 10', thereby guiding the first automated transport device 10' into track 32 in the correct orientation and position.

[0097] In the above control method, controlling the drive mechanism to drive the first wheel set 11 to travel and rotate on the ground working area 20 or platform 31 includes: controlling the travel speed / acceleration on the ground or platform to not exceed a first maximum speed / first maximum acceleration; and controlling the drive mechanism to drive the second wheel set to travel on the track includes: controlling the travel speed / acceleration on the track to not exceed a second maximum speed / second maximum acceleration. According to an embodiment of the present invention, the first maximum travel speed is different from the second maximum travel speed, and / or the first maximum acceleration is different from the second maximum acceleration.

[0098] Accordingly, the first automated transport equipment 10' travels on the platform 31 and the ground work area 20 in a first operating mode, and on the track 32 in a second operating mode. The first operating mode includes a first maximum travel speed and / or a first maximum acceleration, and the second operating mode includes a second maximum travel speed and / or a second maximum acceleration.

[0099] Considering that the ground and platform provide more stable support for the first automated transport device 10', the track has a more complex surrounding environment due to the storage positions S, and the first automated transport device 10' typically travels much longer on the ground and platform than on the track, in one optional embodiment, the first maximum travel speed is higher than the second maximum travel speed. When the first automated transport device 10' runs on the track, the friction between it and the track is greater due to the larger number of wheels in the second wheel set, resulting in a larger acceleration. When the first automated transport device 10' runs on the platform, the friction between it and the track is smaller due to the smaller number of wheels in the first wheel set, resulting in a smaller acceleration. Therefore, in another optional embodiment, the second maximum acceleration is higher than the first maximum acceleration.

[0100] The automated handling equipment according to different embodiments of the first embodiment of the present invention will now be described with reference to the accompanying drawings.

[0101] First, refer to Figures 9 to 15 An automated handling device according to a first embodiment of the present invention is described. According to this embodiment, the drive mechanism of the first automated handling device 10' employs a single motor to drive at least one of the differential wheels and at least one of the second drive wheels.

[0102] Figure 9 A first automated handling device 10A according to Embodiment 1 is shown schematically in a perspective view, wherein the side shell structure of the first automated handling device 10A is removed in order to show the internal structure. Figure 10 , Figure 11 , Figure 12 , Figure 13 The top view, bottom view, exploded perspective view, and front view of the first automated handling equipment 10A are shown respectively.

[0103] like Figures 9 to 13 As shown, especially as Figure 12 As shown more clearly in the exploded perspective view, the first automated handling device 10A includes a chassis 10a and wheel sets (first wheel set 11 and second wheel set 12) mounted on the chassis 10a, as well as its drive mechanism (motor 14 and transmission mechanism 16); optionally, the first automated handling device 10A may also include: guide wheels 13, a sensing system (first navigation recognition component 17a-1, positioning recognition component 17a-2, second navigation recognition component 17b, obstacle avoidance sensor 17c, posture detection device 17d), a lifting mechanism 18, a rotation holding mechanism 19, and a bracket 10b.

[0104] exist Figures 9 to 13In the example shown, the first wheel set 11 includes a pair of first drive wheels (differential wheels) 11a and four first driven wheels 11b. The pair of first drive wheels 11a are respectively disposed on a first side L1 and a second side L2 opposite to each other on the first automatic handling device 10A. The second wheel set 12 includes eight second drive wheels 12a symmetrically disposed on the first side L1 and the second side L2. The second wheel set 12 is disposed outside the first wheel set 11.

[0105] like Figure 11 and Figure 12 As shown, the drive mechanism of the first automatic handling device 10A includes a first motor 14a and a second motor 14b. The first motor 14a is used to drive a first drive wheel 11a and four second drive wheels 12a located on the first side L1, and the second motor 14b is used to drive a first drive wheel 11a and four second drive wheels 12a located on the second side L2.

[0106] Preferably, the first motor 14a and the second motor 14b drive the corresponding differential wheel and the corresponding second drive wheel to rotate at the same wheel surface linear velocity. Here, "wheel surface linear velocity" refers to the linear velocity of the wheel surface (wheel rolling surface) of the differential wheel and the second drive wheel.

[0107] In the illustrated example, the drive mechanism of the first automated handling device 10A includes a first drive shaft 11z directly connected to the first drive wheel 11a, a second drive shaft 12z directly connected to the second drive wheel 12a, and a chain drive structure or belt drive structure 16 connecting the first drive shaft 11z and the second drive shaft 12z. Thus, the power output from the first motor 14a and the second motor 14b to the two first drive wheels 11a is respectively output to the second drive wheel 12a via the first drive shaft 11z on the first side L1 and the second side L2, the chain / belt drive structure 6, and the second drive shaft 12z. Here, it should be understood that the chain / belt drive structure 6 may include a structure connecting one second drive shaft 12z to another second drive shaft 12z, such as... Figure 12 As shown, chain drive and belt drive structures can better adapt to larger transmission distances, and compared to gear drives, they are more conducive to reducing the weight of the transmission mechanism, thereby reducing the weight of the automated handling equipment.

[0108] Preferably, the first motor 14a and the second motor 14b are direct drive motors, which directly drive the two first drive wheels 11a respectively.

[0109] Furthermore, preferably, the first motor 14a and the second motor 14b can be geared motors with integrated reducers.

[0110] It should be understood that Figures 9 to 13The drive mechanism shown is merely exemplary and not limiting. According to this embodiment, other structures can also be used to drive at least one of the differential wheels and at least one of the second drive wheels using the same motor. For example, the drive mechanism may include a first transmission mechanism and a second transmission mechanism. The first transmission mechanism connects a motor and the corresponding differential wheel, and the second transmission mechanism connects the same motor and the corresponding second drive wheel. The motor synchronously outputs power to both the first and second transmission mechanisms. In this case, the first and second transmission mechanisms may share a common transmission structure. The motor can be connected to the second drive wheel via at least one of a chain, belt, or gear.

[0111] Continue to refer to Figure 12 The first automated handling equipment 10A may include a first navigation identification component 17a-1, used to detect and identify first navigation markers (e.g., on the platform or ground) set downwards. Figure 2 The navigation marker 31a shown is laid on platform 31. The first automated transport device 10A can determine and adjust its travel direction based on the navigation recognition result. The first navigation recognition component 17a-1 can be an RFID reader, in which case the first navigation marker can be an RFID signal. Alternatively or as a supplement, the first navigation recognition component 17a-1 can be a camera device, in which case the first navigation marker can be a QR code, barcode, or other designated shape identifier.

[0112] like Figure 11 and Figure 12 As shown, the chassis 10a can form a first central through hole c1 corresponding to the first navigation identification component 17a-1. The first navigation identification component 17a-1 is configured to probe and identify the first navigation mark downward through the first central through hole c1.

[0113] The first automated handling equipment 10A may further include a positioning identification component 17a-2 for upward detection and identification of a positioning mark. The positioning mark (not shown) primarily refers to a mark located on the bottom of the carrier C, which can be used to determine whether the carrier C and the first automated handling equipment 10A are vertically aligned. For example, when the first automated handling equipment 10A moves under the carrier C, the positioning identification component can detect and identify the positioning mark on the bottom of the carrier C, and the first automated handling equipment 10A may be configured to perform at least one of the following operations based on the positioning identification result:

[0114] (1) Determine whether the vehicle is the corresponding vehicle and obtain the determination result;

[0115] (2) When the judgment result indicates "yes", calibrate the relative position and / or angle between the automated handling equipment and the carrier to the specified relative position and / or angle.

[0116] exist Figure 12 In the example shown, the first navigation recognition component 17a-1 and the positioning recognition component 17a-2 are integrated on the upper and lower sides of the same substrate to form an integrated recognition component 17a.

[0117] like Figure 10 and Figure 12 As shown, the first automated handling device 10A may further include a bracket 10b located at the top, which is formed as a tray and has a second central through hole c2 through which the positioning identification component 17a-2 passes to detect upwards.

[0118] Return to reference Figure 9 The first automated transport device 10A may further include a second navigation identification component 17b disposed on the side of the automated transport device, for detecting a second navigation marker (not shown) disposed on the track 32 downwards or laterally. The first automated transport device 10A can determine and adjust its travel direction based on the identification result of the second navigation identification component 17b. The second navigation identification component 17b may be an RFID reader, in which case the second navigation marker may be an RFID signal. Alternatively or supplementarily, the second navigation identification component 17b may be a camera device, in which case the second navigation marker may be a QR code, barcode, or other designated shape identification code.

[0119] Combined with reference Figure 9 and Figure 11 The second navigation identification component 17b can be installed on the upper side of the chassis 10a. The chassis 10a can have a detection through hole c3 corresponding to the second navigation identification component 17b, through which the second navigation identification component 17b passes for detection.

[0120] Continue to refer to Figure 12 The first automated handling device 10A may be equipped with an obstacle avoidance sensor 17c. The obstacle avoidance sensor 17c may be one or more of, for example, a lidar, a vision sensor, an ultrasonic sensor, or a depth sensor. The first automated handling device 10A has a first end and a second end opposite to each other in a direction parallel to the first side L1 and the second side L2, and the obstacle avoidance sensor 17c may be disposed on at least one of the first end and the second end. Furthermore, although the obstacle avoidance sensor 17c is shown as a single sensor component in the figure, it may also include multiple sensor components separately disposed at different locations to achieve, for example, detection of different areas.

[0121] When the first automated transport device 10A travels on platform 31, it makes a first obstacle avoidance judgment based on obstacle information of a first obstacle avoidance area collected by obstacle avoidance sensor 17c; when traveling on track 32, it makes a second obstacle avoidance judgment based on obstacle information of a second obstacle avoidance area collected by obstacle avoidance sensor 17c. Preferably, the first obstacle avoidance area includes a front area and a side area; the second obstacle avoidance area includes the front area. Here, "front" and "side" are relative to the current travel direction.

[0122] Furthermore, if the first obstacle avoidance judgment indicates that obstacle avoidance is required, the first automated handling equipment 10A adopts a first obstacle avoidance strategy; if the second obstacle avoidance judgment indicates that obstacle avoidance is required, the first automated handling equipment 10A adopts a second obstacle avoidance strategy. Preferably, the first obstacle avoidance strategy and the second obstacle avoidance strategy are different. For example, the first obstacle avoidance strategy includes a first maximum allowable acceleration, and the second obstacle avoidance strategy includes a second maximum allowable acceleration; preferably, the first maximum acceleration is greater than the second maximum acceleration.

[0123] Continue to refer to Figure 12 The first automated transport device 10A may also be equipped with a pose detection device 17d for detecting the pose and motion information of the automated transport device 10A. The first automated transport device 10A can navigate at least in part based on the detected pose and motion information. The pose detection device 17d shown in the figure is only illustrative; as needed, the pose detection device 17d may include, for example, multiple sensors separately disposed at different locations. Advantageously, the pose detection device 17d may include an encoder and a gyroscope, the encoder may be mounted on, for example, the wheels of the first wheel set and / or the second wheel set, and the gyroscope may be mounted on, for example, the chassis 10a.

[0124] Although not shown in the figure, it should be understood that the first automated handling equipment 10A may include a controller, which is preferably configured to control the movement of the first automated handling equipment 10A based at least in part on the pose and motion information detected by the pose detection device 17d.

[0125] The above describes some of the sensors that can be integrated into the first automated handling equipment 10A. In addition to the sensors mentioned above, the first automated handling equipment 10A can further integrate other sensors.

[0126] As previously described, the first automated handling equipment 10A may further include a lifting mechanism 18. The lifting mechanism 18 may be mounted on the chassis 10a and may include at least one of a cam mechanism, a linkage mechanism, a lead screw mechanism, and a hydraulic mechanism for raising or lowering the bracket 10b relative to the chassis 10a.

[0127] Figure 12 , Figure 13 and Figure 14An example of a lifting mechanism, namely lifting mechanism 18, that can be used in a first automated handling device according to an embodiment of the present invention is shown. Figure 14 As shown more clearly in the diagram, the lifting mechanism 18 includes a compound linkage mechanism comprising a first link 18-1 and a second link 18-2 arranged in parallel, and a third link 18-3 and a fourth link 18-4 arranged in parallel. The lower ends of the first link 18-1 and the second link 18-2 are pivotally connected to the chassis 10a, and the upper ends are pivotally connected to both ends of the fifth link 18-5, forming a first four-bar linkage with a parallelogram structure. The lower ends of the third link 18-3 and the fourth link 18-4 are pivotally connected to both ends of the fifth link 18-5, and the upper ends are pivotally connected to the sixth link 18-6. One end of the sixth link 18-6 is pivotally connected to a bracket 18d fixed relative to the chassis 10a (see diagram). Figure 12 This forms a second four-bar linkage with a parallelogram structure. The lifting mechanism 18 also includes a lifting drive motor 18a and a rotating mechanism 18b driven by the motor 18a. The rotating mechanism 18b is pivotally connected to the compound linkage mechanism via a drive rod 18c to control the horizontal position of the fifth link 18-5. When the rotating mechanism 18b rotates under the drive of the motor 18a, the drive rod 18c changes the horizontal position of the fifth link 18-5, thereby raising or lowering the position of the top of the compound linkage mechanism, such as the sixth link 18-6, in the height direction under the action of the first and second four-bar linkages.

[0128] It should be understood that the above references Figure 14 The lifting mechanism 18 described is merely exemplary, and the automated handling equipment according to embodiments of the present invention is not limited to lifting mechanisms with a specific structure.

[0129] The lifting mechanism 18 is used to raise or lower components mounted thereon, such as the bracket 10b. When the first automated handling equipment 10A performs handling operations, it first moves to, for example, the bottom of the carrier C and aligns it with it, and then raises the bracket 10b by the lifting mechanism 18, so that the bracket 10b lifts the carrier C, thereby allowing the first automated handling equipment 10A to "lift" the carrier C and transport it to other locations.

[0130] like Figure 12 As shown, the first automatic handling equipment 10A may also be provided with a rotary holding mechanism 19. Figure 15This is an exploded perspective view of an example of a rotary holding mechanism that can be used in an automated handling device according to an embodiment of the present invention. As shown, the rotary holding mechanism 19 includes a first gear 19a rotatably mounted relative to a chassis 10a, a second gear 19b meshing with the first gear 19a, and a rotary holding drive motor 19c that drives the second gear 19b to rotate. The first gear 19a can be rotatably mounted on a mounting base 19d, which is fixed to the chassis 10a. The second gear 19b and the drive motor 19c can also be fixed to the mounting base 19d.

[0131] The bracket 10b can be directly or indirectly mounted on the first gear 19a of the rotating retaining mechanism 19. According to an embodiment of the invention, the rotating retaining mechanism 19 is used to rotate the bracket 10b relative to the chassis 10a. When the automated transport equipment rotates due to differential rotation, for example, by the differential wheel, the rotating retaining mechanism 19 can be controlled to rotate in the opposite direction by the controller (not shown) of the automated transport equipment. This reverse rotation cancels out the rotation of the vehicle body, allowing the bracket 10b to remain stationary. This is highly advantageous for maintaining the stability of the vehicle C and / or cargo 2 mounted on the bracket 10b.

[0132] Considering that the corners of the first automated handling equipment 10A may interfere with the surrounding environment when the vehicle body rotates, according to an embodiment of the present invention, the corners of the first automated handling equipment 10A preferably have an arc shape.

[0133] Next, refer to Figures 16 to 18 A first automated handling device 10B according to Embodiment 2 of the first embodiment of the present invention is introduced. According to Embodiment 2, the drive mechanism includes a first drive mechanism for driving a differential wheel 11a and a second drive mechanism for driving a second drive wheel 12a, and the first drive mechanism and the second drive mechanism are arranged independently of each other.

[0134] Figure 16 The first automated handling device 10B is shown schematically in a perspective view, wherein the side shell structure of the first automated handling device 10B is removed in order to show the internal structure. Figure 17 With Figure 16 The second wheel assembly 12 and its drive mechanism of the first automated handling device 10B are shown from different perspectives. Figure 18 This is an exploded perspective view of the first automated handling equipment 10B.

[0135] like Figures 16 to 18 As shown, especially as Figure 18As shown more clearly in the exploded perspective view, the first automated handling device 10B includes a chassis 10a and wheel sets (first wheel set 11 and second wheel set 12) mounted on the chassis 10a, as well as its drive mechanism (motors 14, 15 and transmission mechanism 16); optionally, the first automated handling device 10B may also include: guide wheels 13, a sensing system (first navigation recognition component 17a-1, positioning recognition component 17a-2, second navigation recognition component 17b, obstacle avoidance sensor 17c, posture detection device 17d), a lifting mechanism 18, a rotation holding mechanism 19, and a bracket 10b.

[0136] The guide wheel 13, sensing system (first navigation recognition component 17a-1, positioning recognition component 17a-2, second navigation recognition component 17b, obstacle avoidance sensor 17c, posture detection device 17d), lifting mechanism 18, rotation holding mechanism 19 and bracket 10b in the first automatic handling equipment 10B can be the same as or similar to those in the first automatic handling equipment 10A according to Embodiment 1, and will not be described in detail here.

[0137] exist Figures 16 to 18 In the example shown, the first wheel set 11 includes a pair of first drive wheels (differential wheels) 11a and four first driven wheels 11b. The pair of first drive wheels 11a are respectively disposed on a first side L1 and a second side L2 opposite to each other on the automatic handling device 10A. The second wheel set 12 includes eight second drive wheels 12a symmetrically disposed on the first side L1 and the second side L2. Preferably, the second wheel set 12 is disposed outside the first wheel set 11.

[0138] like Figure 18 As shown, the first drive mechanism for driving the differential wheel 11a of the first automatic handling equipment 10B includes a first drive motor 14, and the second drive mechanism for driving the second drive wheel 12a includes a second drive motor 15.

[0139] exist Figures 16 to 18 In the example shown, the first drive motor 14 includes a first motor 14a and a second motor 14b. The first motor 14a drives a first drive wheel 11a located on the first side L1, and the second motor 14b drives another first drive wheel 11a located on the second side L2. Preferably, the first motor 14a and the second motor 14b are direct drive motors, which directly drive the two first drive wheels 11a respectively.

[0140] exist Figures 16 to 18In the example shown, the second drive wheels 12a of the second wheel set 12, located on the first side L1 and the second side L2 of the first automated handling device 10B, form four wheelsets. Each wheelset includes two second drive wheels 12a located on both sides and an axle 12z' connecting the two second drive wheels 12a. As shown, preferably, the second drive motor 15 outputs power to the four wheelsets of the second drive wheels 12a via a chain drive mechanism or a belt drive mechanism 6. Here, it should be understood that the chain / belt drive structure 6 may include a transmission structure that connects one wheelset to another wheelset via one wheelset.

[0141] Preferably, the output shaft of the first drive motor 14 is arranged parallel to the output shaft of the second drive motor 15.

[0142] Preferably, at least one of the first drive motor 14 and the second drive motor 15 is a geared motor with an integrated reducer.

[0143] According to this embodiment, the first wheel set 11 and the second wheel set 12 of the first automated handling device 10B are driven by a first drive mechanism and a second drive mechanism, respectively. In this case, preferably, the first automated handling device 10B also includes a controller (not shown), which is configured to determine whether the first automated handling device 10B is in a switching process between a state of traveling on a platform and a state of traveling on a track, and when it is determined that it is in a switching process, control the first drive mechanism and the second drive mechanism to drive the differential wheel 11a and the second drive wheel 12a to rotate at the same wheel surface linear velocity.

[0144] Next, refer to Figures 19 to 21 A first automated handling device 10C according to Embodiment 3 of the present invention is introduced. According to Embodiment 3, the first automated handling device 10C has a first end and a second end that are opposite to each other in a direction parallel to the first side L1 and the second side L2, and the second drive wheel 12a is provided only at a position close to the first end.

[0145] Figure 19 The first automated handling device 10C is shown schematically in a perspective view, wherein the side shell structure of the first automated handling device 10C has been removed in order to show the internal structure. Figure 20 With Figure 19 The second wheel assembly 12 and its drive mechanism of the first automated handling device 10C are shown from different perspectives. Figure 21 This is an exploded perspective view of the first automated handling equipment 10C.

[0146] like Figures 19 to 21 As shown, especially as Figure 21As shown more clearly in the exploded perspective view, the first automated handling device 10C includes a chassis 10a and wheel sets (first wheel set 11 and second wheel set 12) mounted on the chassis 10a, as well as its drive mechanism (motors 14, 15 and transmission mechanism 16); optionally, the first automated handling device 10C may also include: guide wheels 13, a sensing system (first navigation identification component 17a-1, positioning identification component 17a-2, second navigation identification component 17b, obstacle avoidance sensor 17c, posture detection device 17d), a lifting mechanism 18, a rotation holding mechanism 19, and a bracket 10b.

[0147] As can be seen, the first automatic transport device 10C according to Embodiment 3 has a structure that is substantially the same as that of the first automatic transport device 10B according to Embodiment 2, the only difference being that: the second drive motor 15 for driving the second drive wheel 12a is connected only to the first end of the automatic transport device 10C via the transmission mechanism 6. Figure 21 The wheelset in the second wheel set 12 (shown at the left end) are connected, so that the second wheel set 12 includes a second drive wheel 12a only provided at the first end, and also includes a second driven wheel 12b provided at the second end. When the second drive wheel 12a provided at only one end is sufficient to drive the automated handling equipment, this drive design for the second wheel set according to Embodiment 3 simplifies the transmission mechanism, facilitates the layout of the vehicle's internal space, reduces weight, and lowers costs.

[0148] It should be understood that the first automated handling device 10C according to Embodiment 3 is not limited to the case where the first drive motor 14 and the second drive motor 15 drive the first wheel set 11 and the second wheel set 12 respectively. For example, in the first automated handling device 10A according to Embodiment 1, if the transmission mechanism is configured to transmit power from the first drive motor 14 (first motor 14a and second motor 14b) only to the wheels of the second wheel set 12 located at one of the first and second ends, the design of the second drive wheel 12a being located only near the first end is also achieved.

[0149] With the second drive wheel 12a located only at the first end of the first automated transport device 10C, the first automated transport device 10C can employ an adaptive control method. Advantageously, the controller (not shown) of the first automated transport device 10C is configured to perform the following control method:

[0150] (1) When the first automated transport device 10C moves from the platform 31 onto the track 32, the first automated transport device 10C is controlled to enter the track 32 with its first end entering first; and...

[0151] (2) When the first automatic transport device 10C enters the platform 31 from the track 32, the first automatic transport device 10C is controlled to leave the track 32 in such a way that the first end leaves the track 32 last.

[0152] As discussed above in conjunction with the first automated handling device 10A according to Embodiment 1, although the obstacle avoidance sensor 17c is shown as a single sensor component in the figure, it may also include multiple sensor components separately disposed at different locations to achieve, for example, detection of different areas. In the first automated handling device 10C, preferably, a first obstacle avoidance sensor for detecting obstacles in the forward area is provided at the first end (the end where the second drive wheel 12a is located), and a second obstacle avoidance sensor for detecting obstacles in both the forward and lateral areas is provided at the second end.

[0153] Although the accompanying drawings show that the first automated handling device 10C includes four guide wheels disposed at the four corners, the first automated handling device 10C may include more or fewer guide wheels, as long as at least one guide wheel is disposed on each side (i.e., the first side L1 and the second side L2) of the first end of the first automated handling device 10C where the second drive wheel 12a is disposed.

[0154] For the first automated handling device 10' described above according to the first embodiment of the present invention, a control method can be adopted, wherein the first automated handling device 10' is controlled to run on the ground, platform, or track based on navigation information. This control method includes:

[0155] (1) When the first automated conveying device is located on the ground or platform, the control drive mechanism drives the first wheel set to travel and rotate on the ground or platform; and

[0156] (2) When the first automatic transport device is on the track, the control drive mechanism drives the second wheel set to travel on the track.

[0157] When the first automated transport device 10' is already in a switching area, the above control method may further include the following additional processing: determining whether the first automated transport device has entered the switching area specified in the navigation information from the platform; and if the first automated transport device has entered the specified switching area from the platform, controlling the drive mechanism to drive the first wheel set towards the entrance of the track, and then switching to driving the second wheel set to travel on the track. Here, the "switching area" is the area on the platform 31 directly opposite the entrance of the track 32 (see...). Figure 28 (Switching area SA in the middle).

[0158] As an example, Figure 22A flowchart is shown of a control method M10 for a first automated handling device 10' according to a first embodiment of the present invention, wherein the control method M10 includes a specific implementation of the above-described additional processing. It should be understood that... Figure 22 Only a portion of the processing in control method M10 is shown. Control method M10 can be further combined with various control operations / processes of the first automatic handling device 10' described in this application.

[0159] like Figure 22 As shown, control method M10 includes:

[0160] S11: Determine whether the first automated transport device has moved from the platform into the designated switching area;

[0161] S12: When the result of the S11 judgment is "yes", control the drive mechanism to drive the differential wheel of the first wheel set to rotate at a differential speed so that the travel direction of the first wheel set is towards the entrance of the track;

[0162] S13: Drive the first wheel set toward the entrance of the track;

[0163] S14: Drive the first and second wheel sets to rotate at the same wheel surface linear velocity;

[0164] S15: Stop driving the first wheel set.

[0165] The above processes S12 and S13 are used to achieve "controlling the drive mechanism to drive the first wheel set to travel toward the entrance of the track"; processes S14 and S15 are used to achieve "switching to drive the second wheel set to travel on the track".

[0166] like Figure 22 As shown, the control method M10 may further include:

[0167] S16: If the result of S11 is "No", further determine whether the first automatic transport device has moved from the track into the switching area specified in the navigation information;

[0168] S17: If the result of the S16 judgment is "yes", stop driving the second wheel group.

[0169] The above-described processes S14, S15, and S17 are particularly suitable for a first automatic transport device 10' where the first wheel group and the second wheel group are driven independently, such as the first automatic transport device 10B according to the above-described embodiment 2 of the present invention.

[0170] It should be understood that, although not shown, if the judgment result of processing S16 is "yes", the control method M10 may also include: controlling the drive mechanism to drive the differential wheel of the first wheel set to rotate differentially, and then driving the first wheel set to travel on the platform.

[0171] In addition, although not shown in the figure, the control method M10 may also include: determining whether the first automatic transport device is about to enter the switching area specified in the navigation information from the track; and if the determination result is "yes", then controlling the drive mechanism to drive the first wheel group and the second wheel group to rotate at the same wheel surface linear velocity.

[0172] The following will refer to Figures 23 to 25 The first automated transport device 10 according to the second embodiment of the present invention is described. The wheel set used by the first automated transport device 10 when traveling on the platform 31 and the ground work area 20 is the same wheel set used when traveling on the track 32.

[0173] Figure 23 The first automated handling device 10” is shown schematically in a perspective view, wherein the side shell structure of the first automated handling device 10” is removed in order to show the internal structure. Figure 24 An exploded perspective view of the first automated handling equipment 10. Figure 25 Another schematic perspective view of the first automatic handling device 10” shows the state of the first automatic handling device 10” after the wheel set has been rotated and reversed.

[0174] like Figures 23 to 25 As shown, especially as Figure 24 As shown more clearly in the exploded perspective view, the first automated handling device 10” includes a chassis 10a and a wheel assembly (four steering wheels 11') mounted on the chassis 10a. The steering wheels 11' are each capable of moving around a longitudinal axis aa perpendicular to the platform or the ground (see...). Figure 24 The direction of travel is changed by the rotation of the vehicle. Figure 23 and Figure 25 The state of the steering wheel 11' facing different directions of travel is shown.

[0175] Optionally, the first automated handling device 10” may further include: guide wheels 13, a sensing system (first navigation identification component 17a-1, positioning identification component 17a-2, second navigation identification component 17b, obstacle avoidance sensor 17c, posture detection device 17d), lifting mechanism 18, and bracket 10b, and these components may adopt the same or similar structure and arrangement as those in the first automated handling device 10' according to the first embodiment of the present invention, which will not be described in detail here.

[0176] To better adapt to travel on the track, preferably, a guide protrusion (not shown) is formed on the track surface, and an annular recess (not shown) extending circumferentially is formed on the wheel surface of the first automatic handling device 10” according to the second embodiment of the present invention (e.g., the steering wheel in the illustrated example) for engaging with the guide protrusion on the track; in another alternative embodiment, a recess is formed on the track surface, and the wheels in the same wheel set engage with the recess.

[0177] In a three-dimensional storage system employing the first automated handling equipment 10” according to the second embodiment of the present invention, preferably, the height of the platform 31 in the road system TS on the same level of the upper working area 30 is the same as the height of the track 32.

[0178] The above combination Figures 3 to 26 Automated material handling equipment according to different embodiments of the present invention has been introduced. Further features and solutions of an automated storage and retrieval system 1 according to an embodiment of the present invention, employing the automated material handling equipment described above, will be described below.

[0179] Return to reference Figure 1 In addition to the automated storage and retrieval system 1 described above, which includes a first automated handling equipment 10, a ground-level work area 20, and an upper-level work area 30, the automated storage and retrieval system 1 may also include a server 40 and at least one lifting device 50. For example... Figure 1 As shown, the lifting device 50 has a transport platform 50a, which is configured to rise and fall to transport goods between different levels (e.g., levels 30a, 30b, 30c) of the ground work area 20 and the upper work area 30, or the transport platform is configured to rise and fall to transport goods between different levels of the upper work area. A server 40 is communicatively connected to the first automated handling device 10 and the lifting device 50, and generates and issues instructions to schedule the first automated handling device 10 and the lifting device 50.

[0180] Preferably, such as Figure 1 As shown, the transport platform 50a of the lifting equipment 50 has a planar bearing surface, allowing the automated transport equipment 10 to drive directly in or out. Advantageously, when the transport platform 50a of the lifting equipment 50 reaches a designated floor in the ground or upper working area, the bearing surface of the transport platform 50a is substantially flush with the ground working area 20 or the platform 31 of the designated floor.

[0181] Continue to refer to Figure 1In the automated storage and retrieval system 1, the first automated handling equipment 10 can move from the ground work area 20 to the upper work area 30 or from the upper work area 30 to the ground work area 20 by means of the lifting equipment 50, according to the operation command issued by the server 40; or, the first automated handling equipment 10 can move from one floor of the upper work area to another floor by means of the lifting equipment 50, according to the first operation command issued by the server 40.

[0182] Figure 29 This is a schematic diagram of another example of an automated storage and retrieval system according to an embodiment of the present invention, such as... Figure 29 As shown, the automated handling equipment operating in the upper work area 30 and the automated handling equipment operating in the ground work area 20 are both the first automated handling equipment 10.

[0183] In an advantageous implementation, the ground work area 20 of the automated storage and retrieval system 1 may be provided with at least one of the following: a charging station (for charging automated handling equipment), a storage area, a picking station, and a production process connection point (not shown). The first automated handling equipment 10 moves from the charging station, storage area, picking station, or connection point of the ground work area 20 to the upper work area 30 (e.g., storage station S) or from the upper work area 30 (e.g., storage station S) to the charging station, storage area, picking station, or production process connection point of the ground work area 20 according to the operation instructions of the server 40.

[0184] Because it employs a first automated handling device 10 capable of operating both on the ground and on platforms as well as on tracks, the automated storage and retrieval system 1 according to embodiments of the present invention can schedule and utilize the first automated handling device 10 between the ground work area 20 and the upper work area 30. On the one hand, this obviously provides great flexibility for the scheduling of the first automated handling device 10 and the work allocation of the storage system 1. On the other hand, the automated storage and retrieval system 1 according to embodiments of the present invention does not require configuring one type of handling robot (e.g., AGV) for the ground work area and another type of handling robot (e.g., four-way shuttle) for the upper work area, and ensures that the number of both types of robots can meet the peak workload of the corresponding work area (which is precisely the case in existing automated storage and retrieval systems). Therefore, the construction and operation costs of the automated storage and retrieval system 1 are expected to be significantly reduced compared to existing automated storage and retrieval systems.

[0185] Figure 26 and Figure 27 Two examples of control methods that can be used in the automated storage system 1 are shown, including scheduling a first automated handling device 10 between different levels (including the ground).

[0186] Figure 26 A control method M100 that can be used in the automated storage system 1 is shown. For example... Figure 27As shown, the control method M100 includes:

[0187] S110: Order received;

[0188] S120: Based on the order, generate a transport task to move the vehicle located on the first floor to the target location on the second floor;

[0189] S130: Search for available automated handling equipment located on the first floor, i.e., the first available handling equipment;

[0190] S140: Determine whether a first available automated guided vehicle (AGV) has been found; and

[0191] S150: If the judgment result in S140 is "yes", then the handling task is assigned to the first available automated handling device found.

[0192] The above processing can be performed by, for example, server 40.

[0193] In process S120, the first layer is one of the layers in a multi-layered system consisting of the ground work area and the upper work area, and the second layer is another layer in the multi-layered system.

[0194] In control method M100, the task of moving a vehicle located on the first floor to a target location on the second floor is assigned to a first available automated handling equipment. This means that the first available automated handling equipment completes the entire transport operation from the first floor to the second floor without needing to connect with other automated handling equipment or other devices. This effectively simplifies task allocation in the warehousing system and improves transport efficiency.

[0195] Continue to refer to Figure 26 If the judgment result in process S140 is "no", that is, no first available automated handling equipment located on the first layer is found, then control method M100 can switch to process S145, in which system 1 or server 40 enters a waiting state or generates a task to schedule automated handling equipment to the first layer. Since the automated storage and retrieval system 1 according to the embodiment of the present invention uses a first automated handling equipment 10 that can operate on the ground, on a platform, and on a track, the scheduling in process S145 (especially the scheduling between the ground work area and the upper work area) can be realized, thereby improving the efficiency of the storage system.

[0196] Similarly, Figure 27 Another control method M200 that can be used in the automated storage system 1 is shown.

[0197] Control method M200 includes processes S210, S220, S230, S240, and S245. Figure 26The processing steps S110, S120, S130, S140 and S145 of the control method M100 shown are the same, and will not be described again here.

[0198] like Figure 27 As shown, the control method M200 also includes:

[0199] S250: When the judgment result in S240 is "yes", search for available automated handling equipment located on the second layer, i.e., the second available automated handling equipment;

[0200] S260: Determine whether a second available automated handling device has been found;

[0201] S270: When the judgment result in S260 is "yes", at least the first sub-task completed by the first available automated transport device on the first layer and the second sub-task completed by the second available automated transport device on the second layer are separated from the transport task; and

[0202] S280: Assign the first subtask and the second subtask to the first available automated handling equipment and the second available automated handling equipment, respectively.

[0203] The above processing can be performed by, for example, server 40.

[0204] Continue to refer to Figure 26 If the judgment result in process S260 is "no", that is, no second available automated handling device is found in the second layer, then control method M200 can switch to process S265, in which the entire handling task generated in process S220 is assigned to the first available automated handling device.

[0205] As Figure 26 As an alternative or supplement to the control method M100, control method M200 further determines the task allocation method based on the availability of automated handling equipment on the second level. This provides greater flexibility, which is advantageous in some cases. For example, in an automated storage and retrieval system 1 equipped with multiple lifting devices, where only some of the lifting devices' platforms can support direct entry and exit of automated handling equipment, splitting some handling tasks into tasks to be performed separately by automated handling equipment on different levels allows for more efficient utilization of all lifting devices, thereby improving system operating efficiency.

[0206] Regarding the above reference Figure 26 and Figure 27 The control method described herein preferably includes a first available automated handling device and a second available automated handling device that are automated handling devices that are available and in a standby state during a predetermined time period from the present to the future.

[0207] Figure 28This is a schematic plan view of an example of a layer in the upper working area 30 of the automated storage and retrieval system 1, showing the switching area SA mentioned above, and also showing the lifting area WA set in the layers of the upper working area 30 (e.g., layers 30a, 30b, 30c). The lifting area WA is adjacent to the lifting device 50 and is usually set on the platform 31. Although not shown in the figure, the ground working area 20 of the automated storage and retrieval system 1 may also have a lifting area.

[0208] The server 40 of the automated storage and retrieval system 1 can respond to received orders by generating multiple instructions for moving the vehicle corresponding to the order. These multiple instructions may include a first moving instruction, a second moving instruction, and a third moving instruction. The first moving instruction instructs the moving of the vehicle C corresponding to the order between a designated storage location S in the upper work area 30 and a lifting area WA on the same floor as the designated storage location S. The second moving instruction instructs the moving of the vehicle C between a designated location in the ground work area 20 (e.g., a storage area, picking station, or production process connection point in the ground work area 20) and the lifting area WA in the ground work area 20. In an advantageous implementation, the first and second moving instructions are sent to the same automated transport device 10, and the third moving instruction instructs the lifting device 50 to transport the same automated transport device 10 between the lifting area WA on the floor where the designated storage location S is located and the lifting area WA in the ground work area 20.

[0209] In the embodiment where the first and second transport instructions are executed by the same automated transport device 10, the ground work area 20 may include a track storage area or a non-track storage area. The track storage area may include multiple storage positions. When the first automated transport device 10 performs a transport task in the ground work area 20, the first automated transport device 10 moves from the lifting area of ​​the ground work area 20 to the track storage area according to the second transport instruction and places the carried vehicle in the corresponding storage position; or, the first automated transport device 10 takes out the vehicle from the corresponding storage position in the track storage area according to the second transport instruction and carries the vehicle to the lifting area of ​​the ground work area 20, thereby completing the vehicle transport between the track storage area and the lifting area of ​​the ground work area 20 by the first automated transport device 10. The first automated handling device 10 moves from the lifting area of ​​the ground work area 20 to the non-track storage area according to the second handling instruction, and places the vehicle it carries; or, the first automated handling device 10 takes out the corresponding vehicle from the non-track storage area according to the second handling instruction, and carries the vehicle to the lifting area of ​​the ground work area 20, so that the first automated handling device 10 completes the vehicle handling between the non-track storage area and the lifting area of ​​the ground work area 20.

[0210] Figure 30This is a schematic diagram of another example of an automated storage and retrieval system according to an embodiment of the present invention, such as... Figure 30 As shown, the automated guided vehicles (AGVs) operating in the upper work area 30 and the AGVs operating in the lower work area 20 are different AGVs. The AGV 10 operates in the upper work area 30, and the AGV 100 operates in the lower work area 20. At least one level of the lower work area 20 and the upper work area 30 is provided with a lifting area. The automated storage and retrieval system also includes the AGV 100. The lower work area 20 includes a non-track storage area. In response to the received order, server 40 generates multiple instructions for completing the order, including a first handling instruction, a second handling instruction, and a third handling instruction. The first automated handling device 10 is used to move the carrier corresponding to the designated storage location of the order to the lifting area of ​​the floor where the designated storage location is located according to the first handling instruction. The lifting device 50 is used to remove the carrier from the lifting area of ​​the floor where the designated storage location is located according to the third handling instruction and move the carrier to the lifting area of ​​the ground work area 20. The second automated handling device 100 is used to remove the carrier from the lifting area of ​​the ground work area 20 according to the second handling instruction and move the carrier to the non-track storage area or designated operation point of the ground work area to complete the unloading and handling of the goods. Alternatively, in response to a storage instruction, server 40 generates multiple instructions to complete the storage task. These multiple instructions include a first handling instruction, a second handling instruction, and a third handling instruction. The second automated handling device 100 is used to retrieve the vehicle from the off-track storage area or a designated operating point according to the second handling instruction and transport it to the lifting area of ​​the ground work area 20. The lifting device 50 is used to retrieve the vehicle from the lifting area of ​​the ground work area 20 according to the third handling instruction and transport it to the lifting area of ​​the floor where the designated storage location is located. The first automated handling device 10 is used to retrieve the vehicle from the lifting area of ​​the floor where the designated storage location is located according to the first handling instruction and transport it to the designated storage location, thus completing the shelving and storage of the goods.

[0211] like Figure 30 As shown, the first automatic handling device 10 and the second automatic handling device 100 handle the same carrier, but the embodiments of the present invention are not limited to this. The carriers handled by the two devices can also be different carriers, as long as they can jointly realize the handling of the corresponding material box in an order.

[0212] Regarding the setup of ground work area 20, as follows: Figure 31As shown, the system may include a track-mounted storage area 60 and a non-track-mounted storage area 70. In the track-mounted storage area 60, the first automated handling equipment 10 stores vehicles by placing them in storage locations thereon, or retrieves vehicles from storage locations thereon for transport. In the non-track-mounted storage area 70, vehicles are arranged in rows and columns. When the vehicles are shelves, either dense or non-dense storage can be achieved. In dense storage, the number of rows and columns of the shelves is greater than or equal to 3, including obstructed shelves not adjacent to any aisles. In non-dense storage, at least one of the number of rows and columns of the shelves is 2, and each shelf is adjacent to an aisle. The non-track-mounted storage area 70 may have mobile vehicles placed directly on the ground, or a fixed support 701 with a certain supporting function set on the ground, allowing the unloaded automated handling equipment to pass under the fixed support, or a pallet support 702 may be used.

[0213] In the above implementation, advantageously, the automated storage system 1 can be configured to operate in the following manner:

[0214] After the lifting equipment 50 reaches the floor where the first automated transport equipment 10 is located, the first automated transport equipment 10 performs an initial arrival handshake with the lifting equipment 50 before entering the lifting equipment 50, and performs a stop handshake with the lifting equipment 50 after entering the lifting equipment 50 and stopping; and...

[0215] After the lifting equipment 50 carries the first automated transport equipment 10 to the target floor, the first automated transport equipment 10 and the lifting equipment 50 perform a second arrival information handshake, and after leaving the lifting equipment 50, they perform a departure information handshake.

[0216] Since the automated storage and retrieval system 1 according to the present invention is constructed such that the first automated handling equipment 10 can directly enter and exit the lifting equipment 50 without interacting with other equipment in the system (e.g., equipment located in or near the lifting area for transporting goods between the automated handling equipment and the lifting equipment or for buffering goods), the aforementioned information handshake is performed directly between the first automated handling equipment 10 and the lifting equipment 50. This simplifies control, reduces the occupancy of the server 40, reduces system control "congestion," and helps improve efficiency.

[0217] In terms of navigation, the automated storage system 1 according to an embodiment of the present invention can be configured to operate in the following manner:

[0218] The first automated handling device receives the task address information from the server;

[0219] The first automated handling equipment acquires its current location information;

[0220] The first automated handling device calculates navigation route information based on its current location information and task address information; or the server calculates navigation route information based on the current location information and task address information obtained by the first automated handling device, and sends the navigation route information to the first automated handling device; and

[0221] The first automated handling equipment moves to the location corresponding to the task address information according to the navigation route information.

[0222] In the above operating mode, preferably, when the current location information and the task address information are on the same layer, the navigation route information is on the same layer; and when the current location information and the task address information are on different layers, the navigation route information includes first navigation route information from the current location information to the location information of the lifting device in the first layer where the current location information is located, second navigation route information from the lifting device in the first layer to the second layer where the task address information is located, and third navigation route information from the location information of the lifting device in the second layer to the task address information.

[0223] In a favorable implementation, in the automated storage and retrieval system 1, the first automated handling device 10 can acquire current environmental information using sensing devices such as lidar, vision sensors, ultrasonic sensors, or depth sensors, and this current environmental information is integrated with existing map information to obtain updated map information. The first automated handling device 10 can then send the updated map information to the server 40.

[0224] Furthermore, the automated storage and retrieval system 1 according to an embodiment of the present invention may employ a first automated transport device 10 in which guide wheels are provided only at one end of the vehicle body. Specifically, the guide wheels are provided on both sides of the end of the first automated transport device 10 that first enters the track when it moves from the platform onto the track. In the case where the first automated transport device 10 has a front end and a rear end, the guide wheels may, for example, be provided only on both sides of the front or rear end. Alternatively or supplementarily, the first automated transport device 10 in the automated storage and retrieval system 1 may also have guide wheels at both ends.

[0225] Accordingly, the server 40 of the automated storage and retrieval system 1 can be configured to perform at least one of the following processes:

[0226] Confirm that guide wheels are provided on both sides of the front end of the first automatic conveying device 10, and instruct the first automatic conveying device 10 to enter the track in a forward-moving manner; and

[0227] It is confirmed that guide wheels are provided on both sides of the rear end of the first automatic transport device 10, and the first automatic transport device 10 is instructed to enter the track in a reverse manner.

[0228] Here, "forward" means that the front end of the first automatic transport device 10 enters the track first, and "backward" means that the rear end of the first automatic transport device 10 enters the track first.

[0229] It should be understood that the control methods, operating modes, etc., described in the introduction of the automated handling equipment according to different embodiments of the present invention are naturally part of the automated storage and retrieval system 1 according to the embodiments of the present invention, and will not be repeated here.

[0230] Furthermore, it should be understood that the control methods, operating modes, etc. of the first automated handling equipment 10 (including automated handling equipment 10', 10") or the automated storage and retrieval system 1 shown in the accompanying drawings and described in detail above are merely exemplary. The automated storage and retrieval system 1 according to the embodiments of the present invention is not limited to performing the specific methods described above or operating in accordance with the methods described above, but may employ other different control methods as alternatives or supplements.

[0231] Return to reference Figure 1 According to other embodiments of the present invention, a racking system for an automated storage system 1 (corresponding to the upper working area 30) is also provided. The racking system includes at least one layer arranged along the height direction (corresponding to multiple layers of the upper working area 30, such as layers 30a, 30b, 30c), each layer being provided with a storage position S and including a platform 31 forming a main aisle and a track 32 communicating with the platform 31, wherein the platform 31 and the track 32 are configured to lead to the storage position S.

[0232] Preferably, in the above-described shelving system, the storage position S is located above the track 32.

[0233] Preferably, in the same layer of the above-mentioned shelving system, the height of the platform 31 is lower than the height of the track 32.

[0234] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. An automated storage and retrieval system, comprising: First automated handling equipment; Ground-level work area located on the ground; and The upper working area is located on the upper level. The upper working area includes at least one layer arranged along the height direction. Each layer is provided with multiple storage positions and a road system for the first automated transport equipment to travel to the multiple storage positions. The road system includes a platform forming a main road and a track communicating with the main road. The first automated transport device is configured to travel on both the ground and the road system, and is further configured to switch between traveling on the platform and traveling on the track by rotating on the platform; and At least a portion of the track is arranged perpendicular to the platform.

2. The automated storage and retrieval system as described in claim 1, wherein, The first automated transport device uses the same set of wheels when traveling on the platform and the ground as it does when traveling on the track.

3. The automated storage and retrieval system as described in claim 2, wherein, The track surface has guide protrusions, and the wheels in the same wheel set have circumferentially extending annular recesses on their surfaces for engaging with the guide protrusions. or, The track surface has recesses, and the wheels in the same wheel set engage with the recesses.

4. The automated storage and retrieval system as described in claim 2 or 3, wherein, The same wheel set includes four steering wheels, each of which can change its direction of travel by rotating about a longitudinal axis perpendicular to the platform or the ground.

5. The automated storage and retrieval system as described in claim 1 or 2, wherein, In the road system on the same level of the upper working area, the height of the platform is the same as the height of the track.

6. The automated storage and retrieval system as described in claim 1, wherein, The first automated transport device has a first set of wheels for traveling on a platform and the ground, and a second set of wheels for traveling on a track.

7. The automated storage and retrieval system as described in claim 6, wherein, The first wheel set includes a differential wheel that can be driven differentially and a driven wheel adapted to the differential wheel.

8. The automated storage and retrieval system as described in claim 7, wherein, The landing point of the first wheel set is lower than the landing point of the second wheel set.

9. The automated storage and retrieval system as described in claim 1 or 6, wherein, In the road system on the same level as the upper working area, the height of the platform is lower than the height of the track.

10. The automated storage and retrieval system as described in claim 1, wherein, The first automated transport device travels on the platform and the ground in a first operating mode and on the track in a second operating mode. The first operating mode includes a first maximum travel speed and / or a first maximum acceleration, and the second operating mode includes a second maximum travel speed and / or a second maximum acceleration.

11. The automated storage and retrieval system of claim 1, further comprising a server and at least one lifting device having a transport platform configured to rise and fall to transport goods between at least one layer of the ground work area and the upper work area, or the transport platform configured to rise and fall to transport goods between different layers of the upper work area. The server is communicatively connected to the first automated handling device and the lifting device, and generates and issues instructions to schedule the first automated handling device and the lifting device.

12. The automated storage and retrieval system as described in claim 11, wherein, At least one of the lifting devices has a flat bearing surface on its transport platform, allowing the first automated transport device to drive directly in or out.

13. The automated storage and retrieval system as described in claim 11 or 12, wherein, The first automated handling equipment, according to a first operating command issued by the server, moves from the ground work area to the upper work area or from the upper work area to the ground work area via the lifting equipment; or... The first automated handling equipment moves from one floor to another in the upper work area via the lifting equipment, according to the first operating command issued by the server.

14. The automated storage and retrieval system as described in claim 13, wherein, The ground work area is provided with at least one of a storage area, a picking workstation, and a production process connection point. The first automated handling equipment moves from the storage area, the picking workstation, or the connection point of the ground work area to the storage position of the upper work area, or from the storage position of the upper work area to the storage area, the picking workstation, or the production process connection point of the ground work area, according to the first operating instruction.

15. The automated storage and retrieval system as described in claim 12, wherein, At least one layer of the ground work area and the upper work area is provided with a lifting area. In response to a received order, the server generates multiple instructions to complete the order. These instructions include a first transport instruction, a second transport instruction, and a third transport instruction. The first transport instruction instructs the transport of the vehicle corresponding to the order between a designated storage location in the upper work area and a lifting area on the same floor. The second transport instruction instructs the transport of the vehicle between a designated location in the ground work area and a lifting area on the same floor. The first and second transport instructions are sent to the same first automated transport device, and the third transport instruction instructs the lifting device to transport the same first automated transport device between the lifting area on the floor containing the designated storage location and the lifting area on the same floor.

16. The automated storage and retrieval system as described in claim 15, wherein, The ground work area includes a track storage area and / or a non-track storage area; wherein the track storage area includes multiple storage bits; The first automated handling device is used to move from the lifting area of ​​the ground work area to the track storage area according to the second handling command, and place the carried vehicle in the corresponding storage position; or, The first automated handling device is used to retrieve a carrier from the corresponding storage location in the track storage area according to the second handling instruction, and carry the carrier to the lifting area in the ground work area; or, The first automated handling device is used to move from the lifting area of ​​the ground work area to the non-track storage area according to the second handling instruction, and place the vehicle it carries; or, The first automated handling equipment is used to retrieve the corresponding vehicle from the off-track storage area according to the second handling instruction, and carry the vehicle to the lifting area of ​​the ground work area.

17. The automated storage and retrieval system as described in claim 12, wherein, At least one layer of the ground work area and the upper work area is provided with a lifting area, and the automated storage system also includes a second automated handling device. In response to a received order, the server generates multiple instructions to complete the order, including a first handling instruction, a second handling instruction, and a third handling instruction. Specifically, the first automated handling device moves a vehicle corresponding to a designated storage location of the order to a lifting area on the same floor as the designated storage location, according to the first handling instruction. The lifting device retrieves the vehicle from the lifting area on the same floor as the designated storage location according to the third handling instruction and moves the vehicle to a lifting area in the ground work area. The second automated handling device retrieves the vehicle from the lifting area in the ground work area according to the second handling instruction and moves the vehicle to a non-track storage area or a designated operation area in the ground work area. Alternatively... The server, in response to a storage instruction, generates multiple instructions to complete the storage task. These multiple instructions include a first transport instruction, a second transport instruction, and a third transport instruction. Specifically, the second automated transport device retrieves a vehicle from the non-track storage area or designated operating area of ​​the ground work area according to the second transport instruction and transports it to the lifting area of ​​the ground work area. The lifting device retrieves the vehicle from the lifting area of ​​the ground work area according to the third transport instruction and transports it to the lifting area of ​​the floor where the designated storage location is located. The first automated transport device retrieves the vehicle from the lifting area of ​​the floor where the designated storage location is located according to the first transport instruction and transports it to the designated storage location.

18. The automated storage and retrieval system as described in claim 15, wherein, After the lifting equipment reaches the floor where the first automated transport equipment is located, the first automated transport equipment performs an arrival information handshake with the lifting equipment before entering the lifting equipment, and performs a stop information handshake with the lifting equipment after entering the lifting equipment and stopping. After the lifting equipment carries the first automated transport equipment to the target floor, the first automated transport equipment performs a second arrival information handshake with the lifting equipment, and performs a departure information handshake with the lifting equipment after leaving the lifting equipment.

19. The automated storage and retrieval system as described in claim 12, wherein, In response to a received order, the server generates a transport task to move a vehicle located on the first floor to a target location on the second floor. The first floor is one of a multi-layered structure consisting of at least one layer of the ground and the upper work area, and the second floor is the other of the multi-layered structure. The server is configured to perform at least one of the following processes: (1) Search for available first automated handling equipment located in the first layer, i.e., first available handling equipment, and if the first available automated handling equipment is found, assign the handling task to the first available automated handling equipment; if the first available automated handling equipment is not found, wait for or generate a task to schedule the first automated handling equipment to the first layer. (2) Search for available first automated handling equipment located in the first layer, i.e., first available automated handling equipment, and search for available first automated handling equipment located in the second layer, i.e. second available automated handling equipment. If the first available automated handling equipment and the second available automated handling equipment are found, then at least a first sub-task completed by the first available automated handling equipment in the first layer and a second sub-task completed by the second available automated handling equipment in the second layer are separated from the handling task. If the first available automated handling equipment is found but the second available automated handling equipment is not found, then the handling task is assigned to the first available automated handling equipment. If the first available automated handling equipment is not found, then wait for or generate a task to schedule the first automated handling equipment to the first layer.

20. The automated storage and retrieval system as described in claim 19, wherein, The first available automated handling equipment and the second available automated handling equipment are the first automated handling equipment that is available and in a standby state during a predetermined period from the present to the future.

21. The automated storage and retrieval system as described in claim 1, further comprising a server, wherein... The first automated handling device receives task address information from the server; The first automated handling device acquires its current location information; The first automated handling device calculates navigation route information based on the current location information and the task address information; Alternatively, the server calculates navigation route information based on the current location information obtained by the first automated handling device and the task address information, and sends the navigation route information to the first automated handling device; The first automated handling device moves to the location corresponding to the task address information according to the navigation route information; Wherein, when the current location information and the task address information are located on the same layer in a multi-layer structure consisting of at least one layer of the ground and the upper working area, the navigation route information is located on the same layer; When the current location information and the task address information are located on different layers in the multi-layer, the navigation route information includes a first navigation route from the current location information to the location information of the lifting device in the first layer where the current location information is located, a second navigation route from the lifting device in the first layer to the second layer where the task address information is located, and a third navigation route from the location information of the lifting device in the second layer to the task address information.

22. The automated storage and retrieval system as described in claim 1 further includes a server, wherein, The first automated handling equipment uses lidar, vision sensors, ultrasonic sensors, or depth sensors to acquire current environmental information; The first automated handling device integrates the environmental information with the map information to obtain updated map information; and The first automated handling device sends the updated map information to the server.

23. The automated storage and retrieval system as described in claim 1, wherein, The first automated handling equipment includes a first navigation identification component, which is used to detect and identify a first navigation mark set on the platform or ground.

24. The automated storage and retrieval system as described in claim 23, wherein, The first automated transport device further includes a second navigation identification component disposed on the side of the first automated transport device, the second navigation identification component being used to detect a second navigation mark disposed on the track downwards or to the side.

25. The automated storage and retrieval system as described in claim 23 or 24 further includes a carrier, wherein a positioning marker is provided on the bottom of the carrier, wherein... The first automated handling device is further provided with a positioning and identification component for detecting and identifying the positioning mark on the bottom of the vehicle from above, and the first automated handling device is configured to perform at least one of the following operations based on the identification result: Determine whether the vehicle is the corresponding vehicle, and obtain the determination result; When the judgment result indicates yes, the relative position and / or angle between the first automated handling device and the carrier is calibrated to the specified relative position and / or angle.

26. The automated storage and retrieval system as described in claim 25, wherein, The first navigation identification component includes an RFID reader and / or a camera device; and / or the positioning identification component includes an RFID reader and / or a camera device.

27. The automated storage and retrieval system as described in claim 1, wherein, The first automated handling equipment is equipped with a pose detection device, which includes an encoder and a gyroscope for detecting the pose and motion information of the first automated handling equipment. The first automated handling equipment navigates at least in part based on the pose and motion information detected by the encoder and the gyroscope.

28. The automated storage and retrieval system as described in claim 1, wherein, The first automated handling device further includes guide wheels, which are at least located on both sides of the end of the track that the first automated handling device first enters when it moves from the platform onto the track.

29. The automated storage and retrieval system as described in claim 1, wherein, The first automated handling equipment has a front end and a back end, and the automated storage and retrieval system further includes a server configured to perform at least one of the following processes: Confirm that guide wheels are provided on both sides of the front end of the first automated conveying device, and instruct the first automated conveying device to enter the track in a forward-moving manner; and Confirm that guide wheels are provided on both sides of the rear end of the first automatic transport device, and instruct the first automatic transport device to enter the track in a reverse manner.

30. The automated storage and retrieval system as described in claim 1, 3, 28, or 29, wherein, The track has a guide structure at its entrance where it connects with the platform, and the opening of the guide structure is larger than the opening of the track.

31. The automated storage and retrieval system as described in claim 1, wherein, The first automated transport device is equipped with an obstacle avoidance sensor. When the first automated transport device travels on the platform, it makes a first obstacle avoidance judgment based on the obstacle information of the first obstacle avoidance area collected by the obstacle avoidance sensor. When the first automated transport device travels on the track, it makes a second obstacle avoidance judgment based on the obstacle information of the second obstacle avoidance area collected by the obstacle avoidance sensor.

32. The automated storage and retrieval system as described in claim 31, wherein, The first obstacle avoidance zone includes a frontal area and a lateral area; the second obstacle avoidance zone includes a frontal area.

33. The automated storage and retrieval system as described in claim 32, wherein, If the first obstacle avoidance judgment indicates that obstacle avoidance is required, the first automated transport device adopts a first obstacle avoidance strategy; if the second obstacle avoidance judgment indicates that obstacle avoidance is required, the first automated transport device adopts a second obstacle avoidance strategy; wherein the first obstacle avoidance strategy is different from the second obstacle avoidance strategy.

34. The automated storage and retrieval system as described in claim 33, wherein, The first obstacle avoidance strategy includes a first maximum acceleration that can be used, and the second obstacle avoidance strategy includes a second maximum acceleration that can be used, wherein the first maximum acceleration is greater than the second maximum acceleration.

35. A racking system for use in an automated storage and retrieval system as claimed in claim 1, comprising at least one layer arranged along a height direction, each layer having storage positions and including a platform forming an aisle and a track communicating with the platform, the platform and the track being configured to lead to the storage positions. in, The storage location is positioned above the track; At least a portion of the track is arranged perpendicular to the platform; and The track has a guide structure at its entrance where it connects with the platform, and the opening of the guide structure is larger than the opening of the track.

36. The shelving system of claim 35, wherein, The height of the platform on the same level is lower than the height of the track.

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