A method, device, and control system for outbound control based on a multi-level shuttle car.

Abstract

This application provides a method, apparatus, and control system for outbound control based on a multi-level shuttle. The method includes: acquiring information on items that need to be outbound within a future time period in an automated warehouse; controlling a shuttle to transport at least a portion of the target items to a preset outbound temporary storage area, located on the outbound level and adjacent to the outbound conveyor line, based on the item information; and when an outbound instruction is received for a first target item among the target items, controlling the shuttle to transport the first target item to the outbound conveyor line according to the outbound instruction, with at least a portion of the first target item stored in the outbound temporary storage area. This application, by transporting at least a portion of the target items to the outbound temporary storage area near the outbound conveyor line before they are outbound, and by releasing at least a portion of the first target item stored in the temporary storage area when it is being outbound, effectively reduces the transport distance of the shuttle during outbound operations, thereby improving outbound efficiency.

Description

Technical Field

[0001] This application relates to the field of warehouse management technology, and in particular to an outbound control method, device and control system based on a multi-level shuttle. Background Technology

[0002] Four-way shuttle technology is a highly automated logistics device that can move along both the x and y axes of a rack, enabling it to travel in four directions without turning. Although its application history is relatively short, it has already attracted widespread attention in the industry and is considered an important component of future intelligent logistics systems. However, in existing automated warehouses, the four-way shuttle only reaches the designated storage location and moves the goods to the connection point with the elevator on that floor after the operator issues an outbound instruction using the Warehouse Management System (WMS), triggering sensors to call the elevator to move the goods out of the warehouse. This means that when the outbound volume is large, the four-way shuttle cannot meet the efficiency requirements for outbound operations. Summary of the Invention

[0003] The technical objective of this application is to provide a method, device, and control system for outbound control based on a multi-level shuttle car, in order to solve the problem that the current outbound control method in automated warehouses has low outbound efficiency and cannot meet the outbound efficiency requirements when the outbound volume is large.

[0004] To address the aforementioned technical problems, embodiments of this application provide an outbound control method based on a multi-level shuttle car, comprising:

[0005] Obtain information on items that need to be shipped out of the warehouse within a future time period;

[0006] Based on the item information, the shuttle is controlled to transport at least a portion of the target items to a preset outbound temporary storage area. The target items correspond to the item information, and the outbound temporary storage area is located on the outbound floor and is adjacent to the outbound conveyor line.

[0007] When an outbound instruction is received regarding the first target item among the target items, the shuttle is controlled to transport the first target item to the outbound conveyor line according to the outbound instruction, and at least a portion of the first target item is stored in the outbound temporary storage area.

[0008] Specifically, in the method described above, when the first target item is partially stored in the outbound temporary storage area, controlling the shuttle to transport the first target item to the outbound conveyor line according to the outbound instruction includes at least one of the following:

[0009] Control at least one first shuttle car on the outbound level to transport the first target item from the outbound temporary storage area to the outbound conveyor line;

[0010] Control at least one of the first shuttle cars to transport the first target item from the normal storage area of ​​the outbound level to the outbound conveyor line;

[0011] At least one second shuttle car in the control target layer transports the first target item from the target layer to the corresponding elevator connection point. The elevator connection point is connected to the outbound connection point on the outbound conveyor line via an elevator. The target layer is the cargo layer in the warehouse other than the outbound layer that stores the first target item.

[0012] Preferably, in the method described above, controlling at least one second shuttle car on the target layer to transport the corresponding hoist connection point from the target layer includes:

[0013] Obtain the first predicted time node information for transporting the first target item from the outbound layer to the outbound conveyor line;

[0014] Based on the first predicted time node information, determine the idle time period that the second shuttle can use to transport the first target item;

[0015] According to the idle time period, at least one second shuttle car is controlled to transport the first target item to the elevator connection point, wherein the time node when the second shuttle car arrives at the elevator connection point is within the idle time period.

[0016] Furthermore, in the method described above, the step of controlling at least one second shuttle to transport the first target item to the elevator connection point according to the idle time period further includes:

[0017] Real-time acquisition of the second predicted time node when the second shuttle car of each target layer arrives at the corresponding elevator connection point;

[0018] Based on the order of the second predicted time nodes, the hoist is controlled to reach the corresponding target layer in advance.

[0019] Specifically, the method described above further includes:

[0020] When there are at least two shuttle cars located on the same floor used for transporting the first target item, the at least two shuttle cars are controlled to transport the first target item according to the horizontal distance from each first target item to the outbound conveyor line.

[0021] Preferably, the method described above further includes:

[0022] During the movement of the shuttle, distance data detected by the laser rangefinder on the shuttle is obtained. The distance data is obtained by the laser rangefinder measuring the distance to a preset reference point in the vertical warehouse. The reference point is set at both ends of the shuttle track on each floor.

[0023] Based on the distance data, determine the absolute position of the shuttle vehicle;

[0024] The shuttle corrects its position information based on the absolute position.

[0025] Preferably, the method described above further includes:

[0026] Obtain the weight information of the target item or the first target item;

[0027] Based on the weight information and the preset correspondence between weight, vehicle speed, and braking distance, the target vehicle speed and target braking distance of the shuttle are determined.

[0028] The shuttle is controlled based on the target vehicle speed and the target braking distance.

[0029] Specifically, the method described above further includes:

[0030] Obtain the battery temperature of the shuttle vehicle;

[0031] When the battery temperature reaches a first preset temperature threshold, the target output power of the shuttle is determined according to the preset correspondence between temperature and output power.

[0032] Control the output power of the shuttle to be less than or equal to the target output power;

[0033] When the battery temperature drops below the first preset temperature threshold, the shuttle is controlled to restore its previous output power.

[0034] Furthermore, the method described above also includes:

[0035] When the battery temperature reaches the second preset temperature threshold, an over-temperature alarm is triggered, and the shuttle is controlled to enter a safe and isolated charging point.

[0036] Specifically, the method described above, before controlling the shuttle to enter the safe and isolated charging point while the shuttle is transporting the target item or the first target item, further includes:

[0037] Based on the available cargo space information near the shuttle, the shuttle is controlled to place the target item or the first target item on a shuttle track near an available cargo space or the safe isolation charging point.

[0038] Another embodiment of this application provides an outbound control device based on a multi-level shuttle car, comprising:

[0039] The first processing module is used to obtain information on items that need to be shipped out of the warehouse within a future time period.

[0040] The second processing module is used to control the shuttle car to transport at least a portion of the target items to a preset outbound temporary storage area based on the item information. The target items correspond to the item information, and the outbound temporary storage area is located on the outbound layer and is adjacent to the outbound conveyor line.

[0041] The third processing module is used to control the shuttle to transport the first target item to the outbound conveyor line according to the outbound instruction when it receives an outbound instruction for the first target item among the target items, wherein at least a portion of the first target item is stored in the outbound temporary storage area.

[0042] Another embodiment of this application provides a control system including a processor, a memory, and a computer program stored in the memory and executable on the processor. When executed by the processor, the computer program implements the steps of the outbound control method based on a multi-level shuttle as described above.

[0043] Another embodiment of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the outbound control method based on a multi-level shuttle as described above.

[0044] Compared with the prior art, the outbound control method, device and control system based on a multi-level shuttle provided in this application has at least the following beneficial effects:

[0045] This application utilizes the interaction between the shuttle's control system and the item demand system to transport at least a portion of the target items to the outbound temporary storage area near the outbound conveyor line on the outbound level before the target items that need to be outbound are released. When the first target item is released, at least a portion of the first target item stored in the outbound temporary storage area is released, which can effectively reduce the transport distance of the shuttle during the outbound process, thereby improving outbound efficiency. Attached Figure Description

[0046] Figure 1 This is one of the flowcharts illustrating the outbound control method based on a multi-level shuttle car according to this application;

[0047] Figure 2 This is the second flowchart illustrating the outbound control method based on multi-level shuttle cars in this application;

[0048] Figure 3 This is the third flowchart illustrating the outbound control method based on multi-level shuttle cars in this application;

[0049] Figure 4 This is the fourth flowchart illustrating the outbound control method based on multi-level shuttle cars in this application;

[0050] Figure 5 This is the fifth flowchart illustrating the outbound control method based on multi-level shuttle cars in this application;

[0051] Figure 6 This is the sixth flowchart illustrating the outbound control method based on multi-level shuttle cars in this application;

[0052] Figure 7 This is a schematic diagram of the outbound control device based on a multi-level shuttle car according to this application. Detailed Implementation

[0053] To make the technical problems, technical solutions, and advantages of this application clearer, a detailed description will be provided below in conjunction with the accompanying drawings and specific embodiments. In the following description, specific details such as particular configurations and components are provided merely to aid in a comprehensive understanding of the embodiments of this application. Therefore, those skilled in the art should understand that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this application. Furthermore, for clarity and brevity, descriptions of known functions and structures have been omitted.

[0054] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of this application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0055] In the various embodiments of this application, it should be understood that the sequence number of each process described below does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0056] It should be understood that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0057] In the embodiments provided in this application, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined based on A. However, it should also be understood that determining B based on A does not mean determining B solely based on A; B can also be determined based on A and / or other information.

[0058] It should be noted that, for the convenience of those skilled in the art, the shuttle described below in this application is an example of a four-way shuttle.

[0059] See Figure 1 One embodiment of this application provides an outbound control method based on a multi-level shuttle car, comprising:

[0060] Step S101: Obtain information on items that need to be shipped out of warehouse 1 within a future time period;

[0061] Step S102: Based on the item information, control the shuttle to transport at least a portion of the target items to a preset outbound temporary storage area. The target items correspond to the item information. The outbound temporary storage area is located on the outbound floor and is adjacent to the outbound conveyor line.

[0062] Step S103: When an outbound instruction is received for the first target item among the target items, the shuttle is controlled to transport the first target item to the outbound conveyor line according to the outbound instruction, and at least a portion of the first target item is stored in the outbound temporary storage area.

[0063] The outbound control method based on a multi-level shuttle provided in this embodiment is applied to the shuttle's control system. The shuttle's control system connects to a material demand system, such as a Manufacturing Execution System (MES), which needs to retrieve items from the automated warehouse. This allows the shuttle's control system to obtain information on items that need to be outbound from the automated warehouse within a future period. For example, when the material demand system is an MES, the material demand information can be the material information required for recent production in the production workshop. The material information can specifically include the type of item, quantity, and estimated outbound time, and can be sorted according to the estimated outbound time.

[0064] After obtaining the item information, the shuttle can be controlled to accurately acquire the target item corresponding to the item information and transport at least a portion of the target item to the outbound temporary storage area adjacent to the outbound conveyor line on the outbound level. Since the space within the outbound temporary storage area is limited, if the number of target items corresponding to the item information is greater than the number of empty spaces in the outbound temporary storage area, the shuttle can be controlled to transport only a portion of the target items to the outbound temporary storage area; if the number of target items corresponding to the item information is less than or equal to the number of empty spaces in the outbound temporary storage area, the shuttle can be controlled to transport all target items to the outbound temporary storage area.

[0065] When the warehouse management system receives an outbound instruction for the first target item among the target items, the shuttle can be controlled to transport the first target item to the outbound conveyor line according to the outbound instruction. At least part of the first target item is stored in the outbound temporary storage area, which can reduce the transportation distance when the shuttle transports the first target item, thereby improving the outbound efficiency.

[0066] In summary, this application, through the interaction between the shuttle's control system and the item demand system, transports at least a portion of the target items to the outbound temporary storage area near the outbound conveyor line on the outbound level before the target items that need to be outbound are released. When the first target item is released, at least a portion of the first target item stored in the outbound temporary storage area is released. This can effectively reduce the transport distance of the shuttle during the outbound process, thereby improving outbound efficiency.

[0067] It should be noted that the scope of target items in this application is broader than the scope of the first target item. For ease of understanding, in one example, the target items in the item information may include items corresponding to two expected outbound times (batch), denoted as the first target item and the second target item, respectively. The first target item is outbound before the second target item. Therefore, when the target items are transported to the outbound temporary storage area, the first target item is transported to the outbound temporary storage area first. If the quantity of the first target item is less than or equal to the number of empty spaces in the outbound temporary storage area, the outbound temporary storage area will store the second target item after storing the first target item. If the quantity of the first target item is greater than the number of empty spaces in the outbound temporary storage area, the outbound temporary storage area can only store a portion of the first target item, and the remaining first target items are still stored in their original locations.

[0068] It should also be noted that when target items for the same outbound time (batch) are stored on the outbound layer and at least one cargo layer, the target items on the outbound layer are first transported to the outbound temporary storage area. If the target items on the outbound layer are stored in the outbound temporary storage area, and there is still space in the outbound temporary storage area, then target items from other cargo layers are transported to the outbound temporary storage area. Furthermore, following the above steps, the target items for the next outbound time (batch) are transported to the outbound temporary storage area.

[0069] It should also be noted that the shuttle's control system can determine the location information (including but not limited to storage location information) of the corresponding items in the item information by interacting with the warehouse management system.

[0070] Specifically, in the method described above, when the first target item is partially stored in the outbound temporary storage area, controlling the shuttle to transport the first target item to the outbound conveyor line according to the outbound instruction includes at least one of the following:

[0071] Control at least one first shuttle car on the outbound level to transport the first target item from the outbound temporary storage area to the outbound conveyor line;

[0072] Control at least one of the first shuttle cars to transport the first target item from the normal storage area of ​​the outbound level to the outbound conveyor line;

[0073] At least one second shuttle car in the control target layer transports the first target item from the target layer to the corresponding elevator connection point. The elevator connection point is connected to the outbound connection point on the outbound conveyor line via an elevator. The target layer is the cargo layer in the warehouse other than the outbound layer that stores the first target item.

[0074] As can be seen from the above, the relationship between the quantity of the first target item and the number of empty spaces in the outbound temporary storage area will affect the position of the first target item. Therefore, in this embodiment, the outbound of the first target item in different positions is illustrated. For the first item stored in the outbound temporary storage area, at least one first shuttle car on the outbound layer can be directly controlled to transport the first target item from the outbound temporary storage area to the outbound conveyor line.

[0075] For the first target item stored in the normal storage area of ​​the outbound layer, excluding the outbound temporary storage area, control at least one first shuttle car in the outbound layer to transport the first target item from the normal storage area to the outbound conveyor line;

[0076] For a first target item stored in a cargo layer other than the outbound layer, control at least one second shuttle car in the corresponding target layer to transport the first target item from the target layer to the corresponding elevator connection point. The elevator connection point is connected to the outbound connection point on the outbound conveyor line through an elevator, so that the item located at the elevator connection point can be transported by elevator to the outbound connection point on the outbound conveyor line, and then outbound through the outbound conveyor line.

[0077] It should be noted that since the automated warehouse also has an inbound conveyor line, when outbound and inbound operations are not simultaneous, outbound can be directly processed using elevators, the inbound conveyor line, the inbound connection points on the inbound conveyor line, and the corresponding elevator connection points. Alternatively, elevators, the inbound conveyor line, the inbound connection points on the inbound conveyor line, and the corresponding elevator connection points can be used to transport the first target item from other cargo layers to the outbound layer, and then the first shuttle car on the outbound layer transports it to the outbound conveyor line for outbound processing. This further improves outbound efficiency.

[0078] See Figure 2 Preferably, in the method described above, controlling at least one second shuttle car on the target layer to transport the first target item from the target layer to the corresponding elevator connection point includes:

[0079] Step S201: Obtain the first predicted time node information for transporting the first target item from the outbound layer to the outbound conveyor line;

[0080] Step S202: Based on the first predicted time node information, determine the idle time period available for the second shuttle to transport the first target item;

[0081] Step S203: Based on the idle time period, control at least one of the second shuttle cars to transport the first target item to the elevator connection point, wherein the time node when the second shuttle car arrives at the elevator connection point is within the idle time period.

[0082] This embodiment illustrates the steps of transporting the first target item from the target layer to the outbound connection point on the outbound conveyor line. Firstly, the time required to transport the first target item from the outbound layer to the outbound conveyor line is predicted to obtain first predicted time node information. This first time node information may include the time nodes when at least some of the first target items located on the outbound layer (including those located in the outbound buffer area) arrive at the outbound conveyor line. Further, based on this first time node information, the idle time period of the outbound conveyor line can be determined (e.g., the time period during which the first target item located on the outbound layer is not transported, specifically the time period between any two time nodes). Therefore, the second shuttle can be controlled to transport the first target item in the corresponding target layer according to this idle time period, ensuring that the arrival time of the first target item in the target layer at the elevator connection point falls within this idle time period. Preferably, since the elevator also requires a certain amount of time to travel from the target layer to the outbound layer, the idle time period can be corrected based on the time from each target layer to the outbound layer when determining this idle time period.

[0083] See Figure 3 Furthermore, in the method described above, the step of controlling at least one second shuttle to transport the first target item to the elevator connection point according to the idle time period further includes:

[0084] Step S301: In real time, obtain the second predicted time node when the second shuttle car of each target layer arrives at the corresponding hoist connection point;

[0085] Step S302: Based on the order of the second predicted time nodes, control the hoist to reach the corresponding target layer in advance.

[0086] In this embodiment, when controlling the second shuttle to transport the first target item to the elevator connection point in the target layer, the system obtains the second predicted time node for the arrival of the second shuttle in each target layer to the corresponding elevator connection point based on information interaction with the Warehouse Control System (WCS). Based on the order of the second predicted time nodes, the system controls the elevator to arrive at the corresponding target layer in advance. By controlling the elevator in advance, when a second shuttle arrives at the corresponding elevator connection point, the elevator can arrive quickly, or even on time or ahead of schedule, thereby reducing the waiting time for the shuttle and pallet and improving outbound efficiency.

[0087] Specifically, the method described above further includes:

[0088] When there are at least two shuttle cars located on the same floor used for transporting the first target item, the at least two shuttle cars are controlled to transport the first target item according to the horizontal distance from each first target item to the outbound conveyor line.

[0089] In this embodiment, when there are at least two shuttles on the same floor used for transporting the first target item, to avoid the probability of the shuttles meeting at the corresponding positions on the outbound conveyor line, at least two shuttles are controlled according to the horizontal distance of each first target item on the same floor to the outbound conveyor line. For example, when two shuttles are needed, the transport tasks of the first target item with the largest horizontal distance and the target item with the smallest horizontal distance are sequentially sent to the two shuttles.

[0090] See Figure 4 Preferably, the method described above further includes:

[0091] Step S401: During the movement of the shuttle, distance data detected by the laser rangefinder on the shuttle is obtained. The distance data is obtained by the laser rangefinder measuring the distance to a preset reference point in the vertical warehouse. The reference point is set at both ends of the shuttle track on each floor.

[0092] Step S402: Determine the absolute position of the shuttle vehicle based on the distance data;

[0093] Step S403: The shuttle car corrects its position information based on the absolute position.

[0094] In this embodiment, during the movement of the shuttle, distance data detected by the laser rangefinder installed on the shuttle is also acquired. Based on this distance data, the absolute position of the shuttle on the current layer can be accurately determined, and the position information of the shuttle can be corrected based on the absolute position, thereby ensuring the accuracy of the control of the shuttle and further ensuring or even improving the outbound efficiency.

[0095] It should be noted that reference points are set at both ends of each shuttle track in the automated warehouse. The distance data can be obtained by measuring the distance from the shuttle to the reference point corresponding to its respective shuttle track using a laser rangefinder. The shuttle track includes a main track set along a first direction and sub-tracks set perpendicular to the first direction.

[0096] See Figure 5 Preferably, the method described above further includes:

[0097] Step S501: Obtain the weight information of the target item or the first target item;

[0098] Step S502: Determine the target speed and target braking distance of the shuttle vehicle based on the weight information and the preset correspondence between weight, vehicle speed and braking distance.

[0099] Step S503: Control the shuttle car according to the target vehicle speed and the target braking distance.

[0100] In this embodiment, when the shuttle is carrying items, it obtains the weight information of the items upon entry into the warehouse through information interaction with the WMS. Based on this weight information and the preset correspondence between weight, speed, and braking distance, the target speed (less than or equal to the maximum speed under safe driving conditions) that the shuttle can achieve when carrying the items, as well as the corresponding target braking distance, can be determined. The operation of the shuttle can be controlled according to the target speed and target braking distance. This avoids excessive brake wear due to large inertia when the items are heavy and the shuttle speed is high, and also avoids wasting time readingjusting when the shuttle brake position deviates. In addition, when the items carried by the shuttle are light or there are no items, the maximum speed can be appropriately increased and the maximum braking distance can be reduced to increase the speed of the shuttle while ensuring safe transportation, thereby improving the outbound efficiency.

[0101] See Figure 6 Specifically, the method described above further includes:

[0102] Step S601: Obtain the battery temperature of the shuttle vehicle;

[0103] Step S602: When the battery temperature reaches the first preset temperature threshold, the target output power of the shuttle is determined according to the preset correspondence between temperature and output power.

[0104] Step S603: Control the output power of the shuttle to be less than or equal to the target output power;

[0105] Step S604: When the battery temperature drops below the first preset temperature threshold, control the shuttle to restore its previous output power.

[0106] In this embodiment, the shuttle's control system can also obtain the battery temperature of the shuttle in operation through a temperature sensor installed in the shuttle. Taking a lithium battery as an example, when the battery temperature is within the normal range (greater than zero degrees Celsius and less than the first preset temperature threshold, such as 40 degrees Celsius), the shuttle can be controlled to operate normally. At this time, the speed of the shuttle is the preset speed or the target speed obtained above, and the output power of the shuttle is the normal output power corresponding to the preset speed or the target speed.

[0107] When the battery temperature reaches the first preset temperature threshold, it can be determined that the battery temperature is too high. Although the battery is still within the safe range, it has begun to degrade, which will affect the battery's lifespan. Therefore, in order to ensure the battery's lifespan, the target output power of the shuttle is determined based on the preset relationship between temperature and output power (this target output power is less than the current output power of the shuttle). This controls the output power of the shuttle to be less than or equal to the target output power, so that the shuttle reduces heat generation to cool the battery. This can avoid shuttle malfunctions and thus reduce the impact on outbound efficiency.

[0108] When the battery temperature drops below the first preset temperature threshold, it is determined that the battery will not deteriorate at this time, and the shuttle is controlled to restore the previous output power to ensure the speed of the shuttle and thus ensure the outbound efficiency.

[0109] Furthermore, the method described above also includes:

[0110] When the battery temperature reaches the second preset temperature threshold, an over-temperature alarm is triggered, and the shuttle is controlled to enter a safe and isolated charging point.

[0111] Furthermore, in one specific embodiment, when the battery temperature continues to rise and reaches a second preset temperature threshold (e.g., 120 degrees Celsius), the battery may spontaneously explode. Therefore, for the safe use of the shuttle, an overheating alarm will be triggered so that relevant personnel can be notified and pay attention to the situation in a timely manner. At the same time, to prevent explosions in areas where items are stored on the shuttle, the shuttle will be controlled to enter a safe isolation charging point to isolate the shuttle from the items and ensure the safety of the items.

[0112] It should be noted that each floor is equipped with at least one safety isolation charging point. This safety isolation charging point is an explosion-proof, flame-retardant, fully enclosed isolation chamber equipped with a carbon dioxide fire extinguisher. Normally, the door facing the track at this point is open to allow for heat dissipation during shuttle charging. If a shuttle with excessively high temperature enters the safety isolation charging point, the door will be closed, and maintenance personnel will be notified for repairs. If an open flame is detected at this point, carbon dioxide fire extinguishing will be triggered.

[0113] Specifically, the method described above, before controlling the shuttle to enter the safe and isolated charging point while the shuttle is transporting the target item or the first target item, further includes:

[0114] Based on the available cargo space information near the shuttle, the shuttle is controlled to place the target item or the first target item on a shuttle track near an available cargo space or the safe isolation charging point.

[0115] In another specific embodiment, if the shuttle is not carrying any items, it can be directly controlled to enter the safe isolation charging point. However, if the shuttle is carrying items, bringing the items into the safe isolation charging point could easily damage them and would also make it inconvenient for relevant personnel to maintain the shuttle. Therefore, when the shuttle is carrying items (target items or first target items), the system will obtain information on available storage spaces nearby based on the shuttle's current location. If there are available storage spaces nearby, the shuttle will first place the items in an available storage space before entering the safe isolation charging point. If there are no available storage spaces nearby, the shuttle will first place the items on the shuttle track near the safe isolation charging point before entering the safe isolation charging point. To ensure timely transportation of the items, another transport vehicle will be controlled to transport the items placed in available storage spaces or on the shuttle track.

[0116] It should be noted that the control system of the shuttle in this application is connected to the WMS. After any change in the position of an item, the changed position information of the item will be uploaded to the WMS for storage in a timely manner.

[0117] See Figure 7 Another embodiment of this application also provides an outbound control device based on a multi-level shuttle car, comprising:

[0118] The first processing module 701 is used to obtain information on items that need to be shipped out of the warehouse within a future time period.

[0119] The second processing module 702 is used to control the shuttle to transport at least a portion of the target items to a preset outbound temporary storage area based on the item information. The target items correspond to the item information, and the outbound temporary storage area is located on the outbound layer and is adjacent to the outbound conveyor line.

[0120] The third processing module 703 is used to control the shuttle to transport the first target item to the outbound conveyor line according to the outbound instruction when it receives an outbound instruction for the first target item among the target items, wherein at least a portion of the first target item is stored in the outbound temporary storage area.

[0121] Specifically, in the apparatus described above, when the first target item is partially stored in the outbound temporary storage area, the third processing module includes at least one of the following:

[0122] The first sub-processing module is used to control at least one first shuttle car on the outbound layer to transport the first target item from the outbound temporary storage area to the outbound conveyor line;

[0123] The second sub-processing module is used to control at least one of the first shuttle cars to transport the first target item from the normal storage area of ​​the outbound layer to the outbound conveyor line;

[0124] The third sub-processing module is used to control at least one second shuttle car in the target layer to transport the first target item from the target layer to the corresponding elevator connection point. The elevator connection point is connected to the outbound connection point on the outbound conveyor line through an elevator. The target layer is the cargo layer in the warehouse other than the outbound layer that stores the first target item.

[0125] Preferably, in the apparatus described above, the third sub-processing module includes:

[0126] The first processing unit is used to obtain the first predicted time node information for transporting the first target item from the outbound layer to the outbound conveyor line.

[0127] The second processing unit is used to determine, based on the first predicted time node information, the idle time period available for the second shuttle to transport the first target item;

[0128] The third processing unit is used to control at least one of the second shuttle cars to transport the first target item to the elevator connection point according to the idle time period, wherein the time node when the second shuttle car arrives at the elevator connection point is within the idle time period.

[0129] Furthermore, in the apparatus described above, the third processing unit includes:

[0130] The first sub-processing unit is used to obtain the second predicted time node of the arrival of the second shuttle car of each target layer at the corresponding elevator connection point in real time.

[0131] The second sub-processing unit is used to control the hoist to reach the corresponding target layer in advance according to the order of the second predicted time nodes.

[0132] Specifically, the device described above further includes:

[0133] The fourth processing module is used to control at least two shuttle cars to transport the first target item when there are at least two shuttle cars located on the same floor for transporting the first target item, based on the horizontal distance of each first target item to the outbound conveyor line.

[0134] Preferably, the apparatus as described above further includes:

[0135] The fifth processing module is used to acquire distance data detected by the laser rangefinder on the shuttle car during the movement of the shuttle car. The distance data is obtained by the laser rangefinder measuring the distance to a preset reference point in the vertical warehouse. The reference point is set at both ends of the shuttle car track on each floor.

[0136] The sixth processing module is used to determine the absolute position of the shuttle based on the distance data;

[0137] The seventh processing module is used to correct the position information of the shuttle based on the absolute position.

[0138] Preferably, the apparatus as described above further includes:

[0139] The eighth processing module is used to obtain the weight information of the target item or the first target item;

[0140] The ninth processing module is used to determine the target speed and target braking distance of the shuttle vehicle based on the weight information and the preset correspondence between weight, vehicle speed and braking distance.

[0141] The tenth processing module is used to control the shuttle car based on the target vehicle speed and the target braking distance.

[0142] Specifically, the device described above further includes:

[0143] The eleventh processing module is used to obtain the battery temperature of the shuttle vehicle;

[0144] The twelfth processing module is used to determine the target output power of the shuttle vehicle according to the preset relationship between temperature and output power when the battery temperature reaches the first preset temperature threshold.

[0145] The thirteenth processing module is used to control the output power of the shuttle to be less than or equal to the target output power;

[0146] The fourteenth processing module is used to control the shuttle to restore its previous output power when the battery temperature drops below the first preset temperature threshold.

[0147] Furthermore, the apparatus described above also includes:

[0148] The fifteenth processing module is used to trigger an over-temperature alarm when the battery temperature reaches a second preset temperature threshold, and to control the shuttle to enter a safe isolation charging point.

[0149] Specifically, the device described above further includes:

[0150] The sixteenth processing module is used to control the shuttle car to place the target item or the first target item on a shuttle car track near an empty cargo area or the safety isolation charging point, based on the available cargo space information near the shuttle car.

[0151] The outbound control device embodiment based on a multi-level shuttle car in this application corresponds to the embodiment of the outbound control method based on a multi-level shuttle car described above. All implementation means in the above method embodiments are applicable to the embodiment of this device and can achieve the same technical effect. The outbound control device based on a multi-level shuttle car provided in this application embodiment can implement all the method steps implemented in the above method embodiments and can achieve the same technical effect. Therefore, the parts that are the same as those in the method embodiments and the beneficial effects will not be described in detail here.

[0152] Another embodiment of this application provides a warehouse control system, including a processor, a memory, and a computer program stored in the memory and executable on the processor. When executed by the processor, the computer program implements the steps of the outbound control method based on a multi-level shuttle as described above.

[0153] Another embodiment of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the outbound control method based on a multi-level shuttle as described above.

[0154] Furthermore, reference numerals and / or letters may be repeated in different examples within this application. Such repetition is for the purpose of simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or settings discussed.

[0155] It should also be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion.

[0156] The above description is the preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principles described in this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for outbound control based on a multi-level shuttle car, characterized in that, include: Obtain information on items that need to be shipped out of the warehouse within a future time period; Based on the item information, the shuttle is controlled to transport at least a portion of the target items to a preset outbound temporary storage area. The target items correspond to the item information, and the outbound temporary storage area is located on the outbound floor and is adjacent to the outbound conveyor line. When an outbound instruction is received regarding the first target item among the target items, the shuttle is controlled to transport the first target item to the outbound conveyor line according to the outbound instruction, and at least a portion of the first target item is stored in the outbound temporary storage area. When the first target item is partially stored in the outbound temporary storage area, controlling the shuttle to transport the first target item to the outbound conveyor line according to the outbound instruction includes at least one of the following: Control at least one first shuttle car on the outbound level to transport the first target item from the outbound temporary storage area to the outbound conveyor line; Control at least one of the first shuttle cars to transport the first target item from the normal storage area of ​​the outbound level to the outbound conveyor line; At least one second shuttle car in the target layer transports the first target item from the target layer to the corresponding elevator connection point. The elevator connection point is connected to the outbound connection point on the outbound conveyor line via an elevator. The target layer is the cargo layer in the vertical warehouse that stores the first target item, excluding the outbound layer. The control of at least one second shuttle car on the target level to transport the first target item from the target level to the corresponding elevator connection point includes: Obtain the first predicted time node information for transporting the first target item from the outbound layer to the outbound conveyor line; Based on the first predicted time node information, determine the idle time period that the second shuttle can use to transport the first target item; According to the idle time period, at least one second shuttle car is controlled to transport the first target item to the elevator connection point, wherein the time node when the second shuttle car arrives at the elevator connection point is within the idle time period.

2. The method according to claim 1, characterized in that, The step of controlling at least one of the second shuttle cars to transport the first target item to the elevator connection point according to the idle time period further includes: Real-time acquisition of the second predicted time node when the second shuttle car of each target layer arrives at the corresponding elevator connection point; Based on the order of the second predicted time nodes, the hoist is controlled to reach the corresponding target layer in advance.

3. The method according to claim 1, characterized in that, The method further includes: When there are at least two shuttle cars located on the same floor used for transporting the first target item, the at least two shuttle cars are controlled to transport the first target item according to the horizontal distance from each first target item to the outbound conveyor line.

4. The method according to claim 1, characterized in that, The method further includes: During the movement of the shuttle, distance data detected by the laser rangefinder on the shuttle is obtained. The distance data is obtained by the laser rangefinder measuring the distance to a preset reference point in the vertical warehouse. The reference point is set at both ends of the shuttle track on each floor. Based on the distance data, determine the absolute position of the shuttle vehicle; The shuttle corrects its position information based on the absolute position.

5. The method according to claim 1, characterized in that, The method further includes: Obtain the weight information of the target item or the first target item; Based on the weight information and the preset correspondence between weight, vehicle speed, and braking distance, the target vehicle speed and target braking distance of the shuttle are determined. The shuttle is controlled based on the target vehicle speed and the target braking distance.

6. The method according to claim 1, characterized in that, The method further includes: Obtain the battery temperature of the shuttle vehicle; When the battery temperature reaches a first preset temperature threshold, the target output power of the shuttle is determined according to the preset correspondence between temperature and output power. Control the output power of the shuttle to be less than or equal to the target output power; When the battery temperature drops below the first preset temperature threshold, the shuttle is controlled to restore its previous output power.

7. The method according to claim 6, characterized in that, Also includes: When the battery temperature reaches the second preset temperature threshold, an over-temperature alarm is triggered, and the shuttle is controlled to enter a safe and isolated charging point.

8. The method according to claim 7, characterized in that, Before controlling the shuttle to enter the safe and isolated charging point while the shuttle is transporting the target item or the first target item, the method further includes: Based on the available cargo space information near the shuttle, the shuttle is controlled to place the target item or the first target item on a shuttle track near an available cargo space or the safe isolation charging point.

9. A depot exit control device based on a multi-level shuttle car, characterized in that, include: The first processing module is used to obtain information on items that need to be shipped out of the warehouse within a future time period. The second processing module is used to control the shuttle car to transport at least a portion of the target items to a preset outbound temporary storage area based on the item information. The target items correspond to the item information, and the outbound temporary storage area is located on the outbound layer and is adjacent to the outbound conveyor line. The third processing module is used to control the shuttle to transport the first target item to the outbound conveyor line according to the outbound instruction when it receives an outbound instruction for the first target item among the target items, wherein at least a portion of the first target item is stored in the outbound temporary storage area. When the first target item is partially stored in the outbound temporary storage area, the third processing module includes at least one of the following: The first sub-processing module is used to control at least one first shuttle car on the outbound layer to transport the first target item from the outbound temporary storage area to the outbound conveyor line; The second sub-processing module is used to control at least one of the first shuttle cars to transport the first target item from the normal storage area of ​​the outbound layer to the outbound conveyor line; The third sub-processing module is used to control at least one second shuttle car in the target layer to transport the first target item from the target layer to the corresponding elevator connection point. The elevator connection point is connected to the outbound connection point on the outbound conveyor line through an elevator. The target layer is the cargo layer in the vertical warehouse that stores the first target item, excluding the outbound layer. The third sub-processing module includes: The first processing unit is used to obtain the first predicted time node information for transporting the first target item from the outbound layer to the outbound conveyor line. The second processing unit is used to determine, based on the first predicted time node information, the idle time period available for the second shuttle to transport the first target item; The third processing unit is used to control at least one of the second shuttle cars to transport the first target item to the elevator connection point according to the idle time period, wherein the time node when the second shuttle car arrives at the elevator connection point is within the idle time period.

10. A control system, characterized in that, It includes a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the outbound control method based on a multi-level shuttle as described in any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, which, when executed by a processor, implements the steps of the outbound control method based on a multi-level shuttle as described in any one of claims 1 to 8.

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