Intelligent warehousing method for modern medicine logistics center

Abstract

The application discloses a modern medicine logistics center intelligent warehousing method, which is based on a warehouse management system (WMS) and an automatic guided vehicle (AGV) to complete an acceptance process, and a scheduling system (RCS) of the AGV is connected with the WMS system through an API interface; the WMS system comprises an acceptance unit, a receiving unit, a pallet management unit, a moving unit and a warehousing unit; the receiving unit receives medicines to corresponding receiving ports for use in subsequent processes; the acceptance unit is used for accepting the medicines and is arranged on a layer of the logistics center; the pallet management unit is used for arranging and storing pallets required by the AGV in the running process; the moving unit is used for moving the AGV; and the warehousing unit is a storage place for warehousing operation of the accepted qualified medicines; the acceptance process is that the AGV takes the medicines of the receiving unit to the acceptance unit, and after acceptance, the medicines are stored in different areas, and the medicines are reasonably planned, so that the complicated medicine warehousing problem is solved.

Description

Technical Field

[0001] This application relates to an intelligent warehousing method for modern pharmaceutical logistics centers, and belongs to the field of intelligent warehousing. Background Technology

[0002] In current pharmaceutical logistics centers, compared to the application of modern logistics technologies in storage, delivery, and outbound processes, the receiving and warehousing process is entirely manual (using manual labor or electric forklifts), making it the most backward link in pharmaceutical logistics centers.

[0003] Some pharmaceutical distribution companies have tried to improve this process by using conveyor lines, palletizing robot systems, and automated guided forklifts. However, these attempts failed due to a series of factors, including the large number of product specifications, batch numbers, and packaging box sizes in the pharmaceutical distribution process, as well as the low efficiency of equipment positioning.

[0004] Currently, the receiving and warehousing process suffers from problems such as chaotic operations, frequent errors, low efficiency, and poor customer experience due to factors such as relatively concentrated personnel, untimely communication, and human error. Therefore, developing a new intelligent warehousing method for modern pharmaceutical logistics centers has become a pressing issue for those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to overcome the deficiencies in the prior art and provide an intelligent warehousing method for modern pharmaceutical logistics centers.

[0006] This invention provides an intelligent warehousing method for modern pharmaceutical logistics centers. The logistics center completes the acceptance process based on a WMS system and AGV carts, wherein:

[0007] The AGV scheduling system RCS is connected to the WMS system via an API interface;

[0008] The WMS includes an acceptance unit, a receiving unit, a pallet management unit, a movement unit, and an inbound unit;

[0009] The receiving unit is divided into an automated receiving area and a manual receiving area. According to the demand, the medicines are received into the corresponding receiving slots for use in subsequent processes.

[0010] The acceptance unit inspects the medicines. If the medicines pass the inspection, they are placed in the qualified area; if they fail the inspection, they are placed in the unqualified area. The acceptance unit is located on the first floor of the logistics center.

[0011] The pallet management unit is used to organize and store the pallets required by the AGV during operation.

[0012] The mobile unit plans the movement path of the AGV, and the mobile unit is also used to control the lifting and lowering of the AGV;

[0013] The warehousing unit is the storage location for accepting and storing qualified medicines. The warehousing unit includes a three-dimensional warehouse, a high-bay warehouse, and a ground storage warehouse. The three-dimensional warehouse and the high-bay warehouse are located on the first floor of the logistics center, and the ground storage warehouse is located on the upper floor of the logistics center. Qualified medicines are transported to the corresponding storage area by AGV carts.

[0014] The warehousing method of the warehousing unit is as follows: for medicines with a single arrival quantity of more than 50 pieces, an instruction is issued to store them in the automated warehouse; for medicines with a single arrival quantity of 20-50 pieces and a high frequency of receipt and delivery, an instruction is issued to store them in the high-bay warehouse; and for medicines with a single arrival quantity of less than 20 pieces, an instruction is issued to store them in the ground storage warehouse.

[0015] The acceptance process involves using AGV carts to retrieve medicines from the receiving unit to the acceptance unit. After acceptance, qualified and unqualified medicines are stored in separate areas. Qualified medicines are put into storage and managed, while unqualified medicines are collected for centralized management or returned.

[0016] A further embodiment is that the acceptance unit also includes an inspection area, which is used to store medicines awaiting acceptance.

[0017] The acceptance process for medicines entering the logistics center is as follows:

[0018] Step 1: The medicines are transported from the receiving unit to the inspection area via the AGV (Automated Guided Vehicle) for acceptance.

[0019] Step 2: Select a storage area based on whether the medicine is qualified;

[0020] If the medicines are qualified, they will be allowed to enter the qualified area;

[0021] If the medicine is substandard, it will be placed in the substandard area;

[0022] Step 3: The mobile unit issues an inbound instruction to the AGV trolley, so that the qualified medicines are transported to the automated warehouse, high-bay warehouse or ground warehouse.

[0023] Furthermore, medicines received in the automated receiving area are transported to the inspection area by AGV carts. If the medicines require manual handling, they are received in the manual receiving area and then manually transported to the manual inspection area for acceptance.

[0024] Furthermore, the pallet management unit is equipped with a pallet buffer area and a pallet destabilizing machine. The pallet buffer area is used to store empty pallets, and the pallet destabilizing machine is used for AGV vehicles to pick up and return pallets. Each floor with an inbound unit is equipped with a set of the pallet buffer area and the pallet destabilizing machine.

[0025] Furthermore, the mobile unit includes an AGV channel, a conveyor line, and an AGV freight elevator, wherein the AGV channel is located on the floor of the logistics center with an inbound unit;

[0026] The front end of the conveyor line has a forklift, which is used to transport the pallet of the AGV to the conveyor line for subsequent transportation. The driver for the conveyor line and the forklift is a WCS system.

[0027] The AGV channel has several lines arranged side by side and in an interlaced manner, and the AGV freight elevator is a dedicated channel for the AGV vehicles to operate up and down the logistics center.

[0028] The drive system RCS of the AGV is connected to the drive system WCS of the forklift, and the AGV and the forklift receive the instruction to enter the automated warehouse with the pallet.

[0029] Furthermore, the drive system RCS of the AGV trolley is connected to the elevator control system of the AGV freight elevator, enabling the AGV trolley and the AGV freight elevator to directly communicate with each other and receive movement commands.

[0030] When the WMS system issues a movement command, the AGV trolley moves along a planned and orderly route through the AGV channel, the AGV freight elevator, and the forklift.

[0031] The mobile unit also includes a manual forklift for manual transport.

[0032] Furthermore, the process for accepting qualified medicines to enter the automated warehouse is as follows: medicines that have passed inspection in the waiting area are directly fed back to the WMS system. The WMS system issues an entry instruction into the automated warehouse. The AGV (Automated Guided Vehicle) uses a forklift to transport the pallet to the conveyor line, which then transports the pallet to the docking point of the stacker crane. The stacker crane then transports the pallet to the corresponding area of ​​the medicine.

[0033] Furthermore, the process for accepting qualified medicines to enter the high-bay warehouse is as follows: medicines that have passed inspection in the waiting area are instructed by the WMS system to be stored in the high-bay warehouse. The AGV trolley transports the fully loaded pallets to the docking point of the high-bay warehouse. At the same time, the WMS system issues an instruction to the manual forklift, which then goes to the docking point of the high-bay warehouse to transport the fully loaded pallets.

[0034] Furthermore, the process for accepting qualified medicines to be stored in the underground warehouse is as follows: medicines that have passed inspection in the waiting area are instructed by the WMS system to be stored in the underground warehouse. After receiving the instruction, the AGV trolley transports the fully loaded pallet to the AGV freight elevator and then transports it to the underground warehouse for storage.

[0035] Furthermore, the pallet destacking machine and the AGV's drive system RCS interact using a Modbus TCP scheme. The pallet destacking machine feeds back status information to the AGV's drive system RCS, including whether the pallet is empty, full, and the current number of pallets. After receiving the status information, the AGV's drive system RCS generates task instructions based on the equipment status, enabling the AGV to retrieve and replenish pallets from the pallet destacking machine.

[0036] The beneficial effects of this application are: This invention fully considers various common application scenarios and equipment of pharmaceutical logistics centers at the present stage. The logistics center is a building warehouse + automated warehouse structure. The building warehouse is divided into high-rise warehouse and ground storage warehouse. Medicines are moved upstairs and into the warehouse by freight elevators or pallet lifts.

[0037] Furthermore, this invention mainly includes the process of receiving medicines and then placing them in the acceptance area and warehouse after acceptance. Through equipment such as AGV carts, forklifts, and pallet stacking machines, as well as information communication and automatic control technologies, automatic transfer and docking across floors and warehouse areas are achieved.

[0038] This invention utilizes AGVs (Automated Guided Vehicles) under the coordinated control of a WMS (Warehouse Management System) to automatically allocate, identify, locate, and transport medicines at each stage of receiving, inspecting, and storing them in the warehouse. This achieves management goals such as reducing costs, increasing efficiency, enhancing corporate image, and reducing the labor intensity of personnel. Attached Figure Description

[0039] Figure 1 A schematic diagram of the management process of a warehouse management system (WMS);

[0040] Figure 2 This is a schematic diagram of the layout of the first floor of the logistics center;

[0041] Figure 3 A schematic diagram of the high-rise layout of the logistics center;

[0042] List of components and reference numerals:

[0043] 1-AGV trolley, 2-WMS system, 3-Acceptance unit, 31-Qualified area, 32-Unqualified area, 35-Pending inspection area, 4-Receiving unit, 41-Automatic receiving area, 42-Manual receiving area, 43-Manual pending inspection area, 5-Conveyor line, 6-Pallet management unit, 61-Pallet buffer area, 62-Pallet stacking and unstacking machine, 63-Pallet, 7-Mobile unit, 71-AGV channel, 72-Forklift lift, 73-AGV freight elevator, 74-Manual forklift, 8-Warehouse unit, 81-Automatic warehouse, 82-High-bay warehouse, 83-Ground storage warehouse, 9-Charging pile. Detailed Implementation

[0044] The present application is described in detail below with reference to the embodiments, but the present application is not limited to these embodiments.

[0045] This invention provides an intelligent warehousing method for modern pharmaceutical logistics centers, such as... Figure 1 , Figure 2 and Figure 3 As shown, the logistics center completes the acceptance process based on WMS system 2 and AGV cart 1, where:

[0046] The scheduling system RCS of the AGV 1 is connected to the WMS system 2 through an API interface;

[0047] The AGV trolley 1 is equipped with a charging pile 9 in the logistics center. The number of charging piles 9 depends on the number of AGV trolleys 1. In this embodiment, two charging piles 9 are respectively set on the first and third floors of the logistics center.

[0048] The WMS includes an acceptance unit 3, a receiving unit 4, a pallet management unit 6, a movement unit 7, and an inbound unit 8;

[0049] It should be noted that when receiving medicines in receiving unit 4, the staff will move the medicines onto the pallet 63 of the AGV trolley 1. Each pallet 63 is equipped with a pallet rack, which is used to allow the AGV trolley 1 to lift the pallet 63. Each pallet rack has a corresponding barcode. The staff will scan the barcodes on the pallet rack and the pallet 63 to bind the receiving document. The staff will also scan the receiving location barcode to send feedback information to the WMS system 2. The WMS system 2 will then issue subsequent instructions to carry out the acceptance process.

[0050] The receiving unit 4 is divided into an automatic receiving area 41 and a manual receiving area 42. According to the needs, the medicines are received into the corresponding receiving ports for use in subsequent processes.

[0051] When receiving medicines, medicines that are received into the automatic receiving area 41 are transported to the inspection area 35 by AGV cart 1. If medicines need to be handled manually, they are received into the manual receiving area 42 and then handled manually to the manual inspection area 43 for acceptance.

[0052] It should be noted that the automated receiving area 41 receives large quantities of whole cases of medicines, facilitating subsequent intelligent handling; while the manual receiving area 42 receives specially managed medicines (e.g., narcotic drugs and psychotropic drugs), medicines with specific management requirements (e.g., anabolic steroids and peptide hormones), traditional Chinese medicine decoction pieces, medical devices, and loose medicines. Automated and manual receiving are performed according to the different attributes of the medicines.

[0053] The acceptance process involves using an AGV cart 1 to retrieve medicines from receiving unit 4 to acceptance unit 3. After acceptance, qualified and unqualified medicines are stored in separate areas. Qualified medicines are put into storage and managed, while unqualified medicines are collected for centralized management or returned.

[0054] The acceptance unit 3 inspects the medicines. If the medicines pass the inspection, they are placed in the qualified area 31; if they fail the inspection, they are placed in the unqualified area 32. The acceptance unit 3 is located on the first floor of the logistics center.

[0055] The acceptance unit 3 also includes an inspection area 35, which is used to store medicines awaiting acceptance.

[0056] The acceptance process for medicines entering the logistics center is as follows:

[0057] Step 1: The medicines are transported from the receiving unit 4 to the inspection area 35 via the AGV trolley 1 for acceptance.

[0058] Step 2: Select a storage area based on whether the medicine is qualified;

[0059] If the medicine is qualified, it will enter qualified area 31;

[0060] If the medicine is substandard, it will be placed in substandard area 32.

[0061] Step 3: The mobile unit 7 issues an inbound instruction to the AGV trolley 1, so that the medicines in the qualified area 31 are transported to the automated warehouse 81, the high-bay warehouse 82, or the ground warehouse 83.

[0062] It should be noted that the medicines moved into the non-compliant area 32 were handled by staff for unified return and exchange.

[0063] Please refer to Figure 2 and Figure 3 As shown, the pallet management unit 6 is used to organize and store the pallets required by the AGV trolley 1 during operation;

[0064] The pallet management unit 6 is equipped with a pallet buffer area 61 and a pallet destacking and stacking machine 62. The pallet buffer area 61 is used to store empty pallets 63, and the pallet destacking and stacking machine 62 is used for AGV trolley 1 to pick up and return pallets 63. Each floor with an inbound unit 8 is equipped with a set of the pallet buffer area 61 and the pallet destacking and stacking machine 62.

[0065] The pallet destacking machine 62 and the drive system RCS of the AGV trolley 1 communicate using a Modbus TCP scheme. The pallet destacking machine 62 feeds back status information to the drive system RCS of the AGV trolley 1. The status information includes whether the pallet is empty, full, and the current number of pallets. After receiving the status information, the drive system RCS of the AGV trolley 1 generates task instructions based on the equipment status, so that the AGV trolley 1 can pick up and replenish the pallets 63 on the pallet destacking machine 62.

[0066] In one embodiment of the present invention, when there are empty spaces in the pallet buffer area 61 on the first floor of the logistics center and stacked pallets 63 in the pallet buffer area 61 on the third floor, the drive system RCS of the AGV trolley 1 issues a replenishment command to the AGV trolley 1. After receiving the command, the AGV trolley 1 goes to the pallet buffer area 61 of the third-floor storage warehouse 83 to retrieve a stack of empty pallets 63, and then travels to the pallet buffer area 61 on the first floor of the logistics center via the moving unit 7 to fill the empty spaces, so that the pallet buffer area 61 on the first floor always has a sufficient number of empty pallets 63 for receiving and transporting goods.

[0067] The moving unit 7 plans the moving path of the AGV trolley 1, and the moving unit 7 is also used to control the lifting and lowering of the AGV trolley 1;

[0068] The mobile unit 7 includes an AGV channel 71, a conveyor line 5, and an AGV freight elevator 73. The AGV channel 71 is located on the floor of the logistics center with the inbound unit 8.

[0069] The front end of the conveyor line 5 has a forklift 72, which is used to transport the pallet of the AGV trolley 1 to the conveyor line 5 for subsequent transportation. The driver programs for the conveyor line 5 and the forklift 72 are WCS systems.

[0070] The AGV channel 71 has several lines arranged side by side and in an interlaced manner. The forklift 72 is used to lift the fully loaded pallet 63 to the automated warehouse 81 for storage operations. The AGV elevator 73 is the dedicated channel for the AGV trolley 1 to operate up and down the logistics center.

[0071] The drive system RCS of the AGV trolley 1 is connected to the drive system WCS of the forklift 72, and the AGV trolley 1 and the forklift 72 are connected to the instruction of the pallet 63 to enter the automated warehouse (81).

[0072] Furthermore, the drive system RCS of the AGV trolley 1 is connected to the elevator control system signal of the AGV freight elevator 73, enabling the AGV trolley 1 and the AGV freight elevator 73 to directly communicate with each other and receive movement commands.

[0073] When the WMS system 2 issues a movement command, the AGV trolley 1 moves along a planned and orderly route through the AGV channel 71, the AGV freight elevator 73 and the forklift 72.

[0074] It should be noted that the drive system RCS of the AGV trolley 1 and the drive system WCS of the forklift 72 can also be connected to the WMS system 2 for signal connection. Under the unified scheduling of the WMS system 2, the instruction is issued for the AGV trolley 1 and the forklift 72 to dock the pallet 63 into the automated warehouse 81.

[0075] The mobile unit 7 also includes a manual forklift 74 for manual transport.

[0076] The warehousing unit 8 is the storage location for the warehousing operation of the accepted medicines. The warehousing unit 8 includes a three-dimensional warehouse 81, a high-bay warehouse 82 and a ground warehouse 83. The three-dimensional warehouse 81 and the high-bay warehouse 82 are located on the first floor of the logistics center, and the ground warehouse 83 is located on the upper floor of the logistics center. The accepted medicines are transported to the corresponding storage area by AGV carts 1.

[0077] In this embodiment, the first floor of the logistics center is an elevated warehouse 82, the third floor is a ground storage warehouse 83, and the automated warehouse 81 is a large space area with the first to third floors of the logistics center.

[0078] Furthermore, the automated warehouse 81 uses a stacker crane for fully automated retrieval, and the medicines entering the warehouse are medicines with a large single delivery volume, generally more than 50 pieces, and medicines that need to be stored for a long time.

[0079] It should be noted that the stacker crane's drive system is a WCS, which is signal-connected to the WMS system 2. After the WMS system 2 issues an inbound command, it connects to the stacker crane's drive system WCS, so that the medicines are placed on the corresponding area specified by the WMS system 2.

[0080] The high-bay warehouse 82 can be accessed by manual forklifts 74. The inventory of medicines entering the high-bay warehouse 82 is in the range of 20-50 pieces, and the medicines are frequently received and shipped.

[0081] The underground storage warehouse 83 is for medicines with small inventory and small single delivery quantities, generally less than 20 pieces, which can be stored in the underground storage warehouse 83.

[0082] The process for accepting qualified medicines into the automated warehouse 81 is as follows: medicines that have passed inspection in the waiting area 32 are directly fed back to the WMS system 2. The WMS system 2 issues an entry instruction into the automated warehouse. The AGV trolley 1 transports the pallet 63 to the conveyor line 5 using the forklift 72. The conveyor line 5 then transports the pallet 63 to the docking point of the stacker crane. The stacker crane then transports the pallet 63 to the corresponding area of ​​the medicines.

[0083] The process for accepting qualified medicines to enter the high-bay warehouse 82 is as follows: After accepting qualified medicines in the waiting area 35, the WMS system 2 issues an instruction to store them in the high-bay warehouse 82. The AGV trolley 1 transports the fully loaded pallet 63 to the docking point of the high-bay warehouse 82. At the same time, the WMS system 2 issues an instruction to the manual forklift 74. The staff of the manual forklift 74 go to the docking point of the high-bay warehouse 82 to transport the pallet 63 to the high-bay warehouse 82 for storage operation.

[0084] The process for accepting qualified medicines to enter the underground storage warehouse 83 is as follows: medicines that have passed inspection in the waiting area 35 are instructed by the WMS system 2 to be stored in the underground storage warehouse 83. After receiving the instruction, the AGV trolley 1 transports the fully loaded pallet 63 to the AGV freight elevator 73 and then transports it to the corresponding area of ​​the underground storage warehouse 83 for storage.

[0085] The above description is merely one embodiment of this application and is not intended to limit this application in any way. Although this application discloses a preferred embodiment as described above, it is not intended to limit this application. Any changes or modifications made by those skilled in the art without departing from the scope of the technical solution of this application using the disclosed technical content are equivalent to equivalent implementation cases and fall within the scope of the technical solution.

Claims

1. An intelligent warehousing method for modern pharmaceutical logistics centers, characterized in that: The logistics center completes the acceptance process based on the WMS system (2) and AGV carts (1), wherein: The drive system RCS of the AGV (1) is connected to the WMS system (2) through an API interface; The WMS system (2) includes an acceptance unit (3), a receiving unit (4), a pallet management unit (6), a movement unit (7), and an inbound unit (8); The receiving unit (4) is divided into an automatic receiving area (41) and a manual receiving area (42). The medicines are received into the corresponding receiving ports according to the needs and supplied to the subsequent processes. The acceptance unit (3) inspects the medicines. If the medicines pass the inspection, they are placed in the qualified area (31). If the medicines fail the inspection, they are placed in the unqualified area (32). The acceptance unit (3) is located on the first floor of the logistics center. The pallet management unit (6) is used to organize and store the pallets required by the AGV (1) during operation; The moving unit (7) plans the moving path of the AGV (1), and the moving unit (7) is also used to control the lifting and lowering of the AGV (1); The warehousing unit (8) is the storage location for the warehousing operation of the accepted medicines. The warehousing unit (8) includes a three-dimensional warehouse (81), a high-bay warehouse (82) and a ground warehouse (83). The three-dimensional warehouse (81) and the high-bay warehouse (82) are located on the first floor of the logistics center, and the ground warehouse (83) is located on the upper floor of the logistics center. The accepted medicines are transported to the corresponding storage area by AGV carts (1). The storage method of the storage unit (8) is as follows: for medicines with a single delivery quantity of more than 50 pieces, an instruction is given to store them in the automated warehouse (81); for medicines with a single delivery quantity of 20-50 pieces and a high frequency of receiving and sending, an instruction is given to store them in the high-bay warehouse (82); for medicines with a single delivery quantity of less than 20 pieces, an instruction is given to store them in the ground warehouse (83). The acceptance process involves using an AGV (1) to take the medicines from the receiving unit (4) to the acceptance unit (3). After acceptance, qualified and unqualified medicines are stored in separate areas. Qualified medicines are put into storage and managed, while unqualified medicines are collected and managed centrally or returned.

2. The intelligent warehousing method for modern pharmaceutical logistics centers according to claim 1, characterized in that, The acceptance unit (3) also includes an inspection area (35), which is used to store medicines awaiting acceptance; The acceptance process for medicines entering the logistics center is as follows: Step 1: The medicines are transported from the receiving unit (4) to the inspection area (35) via the AGV cart (1) for acceptance. Step 2: Select a storage area based on whether the medicine is qualified; If the medicine is qualified, it will enter the qualified area (31); If the medicine is substandard, it will be placed in the substandard area (32); Step 3: The mobile unit (7) issues an inbound instruction to the AGV (1) so that the medicines in the qualified area (31) are transported to the automated warehouse (81), the high-bay warehouse (82), or the ground warehouse (83).

3. The intelligent warehousing method for modern pharmaceutical logistics centers according to claim 2, characterized in that, When receiving goods, medicines that are received in the automatic receiving area (41) are transported to the inspection area (35) by AGV carts. If the medicines need to be handled manually, they are received in the manual receiving area (42) and then handled manually to the manual inspection area (43) for acceptance.

4. The intelligent warehousing method for modern pharmaceutical logistics centers according to claim 3, characterized in that, The pallet management unit (6) is equipped with a pallet buffer area (61) and a pallet destacking machine (62). The pallet buffer area (61) is used to store empty pallets (63), and the pallet destacking machine (62) is used for AGV vehicles to pick up and return pallets (63). Each floor with an inbound unit (8) is equipped with a set of the pallet buffer area (61) and the pallet destacking machine (62).

5. The intelligent warehousing method for modern pharmaceutical logistics centers according to claim 4, characterized in that, The mobile unit (7) includes an AGV channel (71), a conveyor line (5) and an AGV freight elevator (73). The AGV channel (71) is located on the floor of the logistics center with an inbound unit (8). The front end of the conveyor line (5) has a forklift (72), which is used to transport the pallet of the AGV trolley (1) to the conveyor line (5) for subsequent transportation. The drive system of the conveyor line (5) and the forklift (72) is WCS system. The AGV channel (71) has several lines arranged side by side and in an alternating pattern. The AGV freight elevator (73) is the exclusive channel for the AGV vehicle (1) to operate up and down the logistics center. The drive system RCS of the AGV (1) is connected to the WCS system of the forklift (72) and the AGV (1) and the forklift (72) receive the instruction to dock the pallet (63) into the automated warehouse (81). Furthermore, the drive system RCS of the AGV trolley (1) is connected to the elevator control system signal of the AGV freight elevator (73), enabling the AGV trolley (1) and the AGV freight elevator (73) to directly communicate with each other and receive movement commands. When the WMS system (2) issues a movement command, the AGV trolley (1) moves along an orderly route planned by the AGV channel (71), the AGV freight elevator (73) and the forklift (72); The mobile unit (7) also includes a manual forklift (74) for manual transport.

6. The intelligent warehousing method for modern pharmaceutical logistics centers according to claim 5, characterized in that, The process for accepting qualified medicines to enter the automated warehouse (81) is as follows: medicines that have passed the acceptance test in the waiting area (35) are directly fed back to the WMS system (2). The WMS system (2) issues an entry instruction into the automated warehouse. The AGV (1) transports the pallet (63) to the conveyor line (5) using the forklift (72). The conveyor line (5) then transports the pallet (63) to the docking point of the stacker crane. The stacker crane then transports the pallet (63) to the corresponding area of ​​the medicine.

7. The intelligent warehousing method for modern pharmaceutical logistics centers according to claim 5, characterized in that, The process for accepting qualified medicines to enter the high-bay warehouse (82) is as follows: medicines that have passed inspection in the waiting area (35) are instructed by the WMS system (2) to be stored in the high-bay warehouse (82). The AGV trolley (1) transports the fully loaded pallet (63) to the docking point of the high-bay warehouse (82). At the same time, the WMS system (2) issues an instruction to the manual forklift (74). The manual forklift (74) goes to the docking point of the high-bay warehouse (82) to transport the fully loaded pallet (63).

8. The intelligent warehousing method for modern pharmaceutical logistics centers according to claim 5, characterized in that, The process for accepting qualified medicines to enter the underground storage warehouse (83) is as follows: medicines that have passed the inspection in the waiting area (35) are instructed by the WMS system (2) to be stored in the underground storage warehouse (83). After receiving the instruction, the AGV trolley (1) transports the fully loaded pallet (63) to the AGV freight elevator (73) and then transports it to the underground storage warehouse (83) for storage.

9. The intelligent warehousing method for modern pharmaceutical logistics centers according to claim 4, characterized in that, The pallet destacking machine (62) and the drive system RCS of the AGV (1) interact using a Modbus TCP scheme. The pallet destacking machine (62) feeds back status information to the drive system RCS of the AGV (1). The status information includes whether the pallet is empty, full, and the current number of pallets. After receiving the status information, the drive system RCS of the AGV (1) generates a task instruction based on the equipment status, so that the AGV (1) can pick up and replenish the pallets (63) on the pallet destacking machine (62).

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