A four-way vehicle regulation method and system applied to an automated stereoscopic warehouse

Abstract

The embodiment of the specification mainly relates to the technical field of automated stereoscopic warehouse, and a four-way vehicle regulation method applied to an automated stereoscopic warehouse, which comprises the following steps: L1. generating a one-time storage / taking instruction and sending the one-time storage / taking instruction to a first four-way vehicle; L2. the first four-way vehicle moves to a first position according to the one-time storage / taking instruction, and when the first four-way vehicle reaches the first position, the one-time storage / taking instruction is converted into a two-time storage / taking instruction and the two-time storage / taking instruction is sent to a conveying device; L3. the conveying device receives the two-time storage / taking instruction and stores the two-time storage / taking instruction in an instruction storage list according to the time sequence of the instruction; and L4. the first four-way vehicle, a second four-way vehicle and the conveying device are regulated according to the two-time storage / taking instruction in the instruction storage list to perform a storage / taking operation. The four-way vehicle regulation method and system of the embodiment of the specification improve the work efficiency of the storage / taking operation of the automated stereoscopic warehouse.

Description

Technical Field

[0001] The embodiments in this specification mainly relate to the field of automated storage and retrieval systems (AS / RS), specifically a four-way vehicle control method and system applied to AS / RS. Background Technology

[0002] With the development of logistics automation, automated storage and retrieval systems (AS / RS) have been widely adopted. AS / RS typically include racking, mobile equipment, and four-way vehicles. These four-way vehicles can move along the racking and mobile equipment to complete storage / retrieval operations. In existing technologies, the storage / retrieval operations of four-way vehicles are as follows:

[0003] Inventory Operation: First, a inventory instruction is sent to the four-way trolley. Upon receiving the instruction, the trolley moves from the rack to the bottom receiving / delivery end of the mobile equipment. Then, a forklift places the loaded component containing the goods on top of the trolley. The trolley then delivers the loaded component and goods to the designated location on the designated rack level for storage. Picking Operation: First, a picking instruction is sent to the four-way trolley. Upon receiving the instruction, the trolley moves to the designated location on the designated rack level. Then, the trolley lifts the loaded component containing the goods. The trolley then moves the loaded component and goods from the rack to the bottom receiving / delivery end of the mobile equipment. Finally, a forklift removes the loaded component from the trolley.

[0004] The existing four-way vehicle storage and retrieval control method requires only one four-way vehicle to perform a single storage / retrieval instruction, and the entire storage / retrieval process requires the participation of the four-way vehicle. This results in the four-way vehicle spending a long time in each storage / retrieval operation, thus leading to low efficiency in the storage / retrieval operations of the automated warehouse. Summary of the Invention

[0005] This specification addresses the problems existing in the prior art by proposing a four-way vehicle control method and system for automated storage and retrieval systems.

[0006] In a first aspect, embodiments of this specification provide a four-way vehicle control method applied to automated storage and retrieval systems (AS / RS), comprising:

[0007] L1. Generate a storage / retrieval instruction and send the storage / retrieval instruction to the first four-way vehicle;

[0008] L2. The first four-way vehicle moves to the first position according to the first storage / retrieval instruction. When the first four-way vehicle reaches the first position, it converts the first storage / retrieval instruction into a second storage / retrieval instruction and sends the second storage / retrieval instruction to the conveying equipment.

[0009] L3. The conveying equipment receives secondary inventory / retrieval instructions and stores them in the instruction storage list in the order they were received;

[0010] L4. Control the first four-way vehicle, the second four-way vehicle, and the conveying equipment to perform storage / retrieval operations according to the secondary storage / retrieval instructions in the instruction storage list.

[0011] As a preferred option, L4 specifically includes:

[0012] L41. The conveying equipment obtains the first secondary inventory / retrieval instruction in the instruction storage list, and sends inventory / retrieval start information to the second four-way vehicle on the corresponding shelf layer according to the secondary inventory / retrieval instruction, and at the same time sends inventory / retrieval start information to the corresponding first four-way vehicle located at the first position;

[0013] L42. After receiving the storage / retrieval start information, the first four-way vehicle moves from the first position to the second position that is connected to the conveying equipment;

[0014] When the first four-way vehicle arrives at the second position, if it receives a storage start information, the first four-way vehicle first places the cargo-carrying component containing the goods on the conveyor equipment, then leaves the second position, and then sends a storage placement completion information to the conveyor equipment; if it receives a pickup start information, the first four-way vehicle sends a pickup preparation completion information to the conveyor equipment.

[0015] L43. After receiving the storage / retrieval start information, the second four-way vehicle moves from the corresponding shelf layer to the third position that docks with the conveyor equipment;

[0016] When the second four-way vehicle reaches the third position, if it receives a pickup start information, the second four-way vehicle first places the cargo-loaded component on the conveyor equipment, then leaves the third position, and then sends a pickup placement completion information to the conveyor equipment; if it receives a storage start information, the second four-way vehicle sends a storage preparation completion information to the conveyor equipment.

[0017] L44. After receiving the information that the storage placement is complete, the conveying equipment will transport the cargo component from the second position to the third position; when the cargo component arrives at the third position and the conveying equipment receives the information that the storage preparation is complete, the conveying equipment will send the storage execution information to the second and fourth direction vehicles;

[0018] Alternatively, after receiving the information that the pickup and placement is complete, the conveying equipment will transport the cargo component from the third position to the second position; when the cargo component arrives at the second position and the conveying equipment receives the information that the pickup preparation is complete, the conveying equipment will send the pickup execution information to the first four-way vehicle.

[0019] L45. After receiving the inventory execution information, the second four-way vehicle first lifts the cargo-carrying component on the conveyor equipment, then leaves the third position, and then sends the inventory completion information to the conveyor equipment.

[0020] Alternatively, after receiving the pickup execution information, the first four-way vehicle first lifts the cargo-carrying component on the conveyor equipment, then leaves the second position, and then sends the pickup completion information to the conveyor equipment.

[0021] L46. After receiving the inventory / retrieval completion information, the conveying equipment deletes the corresponding secondary inventory / retrieval instruction from the instruction storage list.

[0022] As a preferred option, it also includes:

[0023] S1. The conveying equipment obtains the second-order secondary inventory / retrieval instruction in the instruction storage list. When the shelf layer corresponding to the second-order secondary inventory / retrieval instruction is different from the shelf layer corresponding to the first-order secondary inventory / retrieval instruction, the conveying equipment sends the inventory / retrieval preparation start information to the second four-way vehicle on the corresponding shelf layer according to the second-order secondary inventory / retrieval instruction.

[0024] S2. After receiving the storage / retrieval preparation start information, the second four-way vehicle moves from the corresponding shelf layer to the third position to dock with the conveyor equipment.

[0025] As a preferred option, it also includes:

[0026] S3. After receiving the information that the storage is completed, the conveying equipment obtains the second storage / retrieval instruction in the instruction storage list and sends the storage / retrieval preparation start information to the corresponding first four-way vehicle located at the first position according to the second storage / retrieval instruction in the second position.

[0027] S4. After receiving the storage / retrieval preparation start information, the first four-way vehicle moves from the first position to the second position to dock with the conveying equipment.

[0028] As a preferred option, it also includes:

[0029] S5. The conveying equipment determines whether the first secondary inventory / retrieval instruction is an inventory instruction. If the secondary inventory / retrieval instruction is an inventory instruction, it obtains the movement position of the loading component. If the loading component is located in the level conveying area of ​​the corresponding shelf layer, it deletes the corresponding secondary inventory / retrieval instruction from the instruction storage list.

[0030] In a second aspect, embodiments of this specification provide a four-way vehicle control system for use in automated storage and retrieval systems, comprising:

[0031] The instruction generation and sending module is used to generate a single inventory / retrieval instruction and send the single inventory / retrieval instruction to the first four-way vehicle;

[0032] The instruction conversion and sending module is used to convert a primary storage / retrieval instruction into a secondary storage / retrieval instruction and send the secondary storage / retrieval instruction to the conveying equipment when the first four-way vehicle reaches the first position;

[0033] The instruction storage module is used to receive secondary inventory / retrieval instructions and store them in the instruction storage list in the order in which the instructions are received.

[0034] The storage and retrieval operation execution module is used to control the first four-way vehicle, the second four-way vehicle, and the conveying equipment to perform storage and retrieval operations according to the secondary storage / retrieval instructions in the instruction storage list.

[0035] As a preferred embodiment, the storage and retrieval operation execution module specifically includes:

[0036] The first information sending unit is used to obtain the second inventory / retrieval instruction that is first in the instruction storage list, and send inventory / retrieval start information to the second four-way vehicle on the corresponding shelf layer according to the second inventory / retrieval instruction, and at the same time send inventory / retrieval start information to the corresponding first four-way vehicle located at the first position;

[0037] The second information sending unit is used to send a storage placement completion information to the conveying equipment after the first four-way vehicle leaves the second position if the received information is a storage start information; and to send a retrieval preparation completion information to the conveying equipment if the received information is a retrieval start information.

[0038] The third information sending unit is used to send a pickup and placement completion information to the conveying equipment after the second four-way vehicle leaves the third position if the received information is a pickup start information; and to send a storage preparation completion information to the conveying equipment if the received information is a storage start information.

[0039] The fourth information sending unit is used to send inventory execution information to the second and fourth vehicles after the cargo-carrying component reaches the third position and the conveying equipment receives the inventory preparation completion information.

[0040] The fifth information sending unit is used to send pickup execution information to the first four-way vehicle after the cargo-carrying component reaches the second position and the conveying equipment receives the pickup preparation completion information;

[0041] The sixth information sending unit is used to send inventory completion information to the conveying equipment after the second four-way vehicle leaves the third position; or, after the first four-way vehicle leaves the second position, to send pickup completion information to the conveying equipment.

[0042] The instruction deletion unit 1 is used to delete the corresponding secondary inventory / retrieval instruction from the instruction storage list after the conveying equipment receives the inventory / retrieval completion information.

[0043] As a preferred option, the storage and retrieval operation execution module also includes:

[0044] The seventh information sending unit is used to obtain the second secondary inventory / retrieval instruction in the instruction storage list. When the shelf layer corresponding to the second secondary inventory / retrieval instruction is different from the shelf layer corresponding to the first secondary inventory / retrieval instruction, the unit sends inventory / retrieval preparation start information to the second four-way vehicle on the corresponding shelf layer according to the second secondary inventory / retrieval instruction.

[0045] As a preferred option, the storage and retrieval operation execution module also includes:

[0046] The eighth information sending unit is used to, after receiving the information that the storage has been completed, obtain the second storage / retrieval instruction in the instruction storage list, and send the storage / retrieval preparation start information to the corresponding first four-way vehicle located at the first position according to the second storage / retrieval instruction in the second position.

[0047] As a preferred option, the storage and retrieval operation execution module also includes:

[0048] The second instruction deletion unit is used to determine whether the first secondary inventory / retrieval instruction is an inventory instruction. When the secondary inventory / retrieval instruction is an inventory instruction, the moving position of the loading component is obtained. When the loading component is located in the hierarchical conveying area of ​​the corresponding shelf layer, the corresponding secondary inventory / retrieval instruction is deleted from the instruction storage list.

[0049] Beneficial effects

[0050] The four-way vehicle control method and system in the embodiments of this specification executes storage / retrieval instructions through the cooperation of a first four-way vehicle, a second four-way vehicle, and a conveying device. In a storage / retrieval process, the first four-way vehicle is responsible for transporting goods on the ground, the second four-way vehicle is responsible for transporting goods on the shelf, and the conveying device is responsible for transporting the loaded components from the ground to a designated shelf layer or from a designated shelf layer to the ground. For the same storage / retrieval instruction, this setting can save a lot of waiting time, thereby improving the work efficiency of storage and retrieval operations in automated warehouses. Attached Figure Description

[0051] Figure 1 This is a structural diagram of an automated storage and retrieval system provided in the embodiments of this specification;

[0052] Figure 2 This is a schematic diagram of the structure for docking a four-way vehicle with a conveying device, as provided in the embodiments of this specification.

[0053] Figure 3 This is a schematic diagram of another four-way vehicle docking with a conveying device, provided in an embodiment of this specification.

[0054] Figure 4 A flowchart illustrating the four-way vehicle control method for automated storage and retrieval systems provided in the embodiments of this specification;

[0055] Figure 5 This is a schematic diagram of a four-way vehicle control system for automated warehouses provided in the embodiments of this specification. Detailed Implementation

[0056] Embodiments of this specification will now be described in more detail with reference to the accompanying drawings.

[0057] like Figure 1 As shown, the automated storage and retrieval system (AS / RS) of this embodiment includes conveying equipment, racks 4, and four-way vehicles. The conveying equipment includes a lifting mechanism 1, hierarchical conveying areas 2, and a main conveying area 3. Each layer of racks 4 has a corresponding hierarchical conveying area 2, and these areas are connected by the lifting mechanism 1. The lifting support plate of the lifting mechanism 1 connects with the hierarchical conveying area 2 of the layer it reaches. The main conveying area 3 connects with the hierarchical conveying area 2 of the bottom first layer.

[0058] The four-way carts in this embodiment include a first four-way cart and a second four-way cart. The first four-way cart is located on the ground, and multiple first four-way carts are provided. The first four-way carts can dock with the free end of the main conveying area 3. The second four-way cart is located on the shelf 4, and one second four-way cart is provided on each layer of the shelf 4. The second four-way carts can dock with the free end of the layer conveying area 2.

[0059] like Figure 2 and Figure 3 As shown, the top of the first four-way vehicle is equipped with support protrusions that can be raised and lowered. When the support protrusions are raised, they can support the cargo components. The distance between the two support protrusions is less than the distance between the two conveyor chains in the main conveying area 3, allowing the first four-way vehicle to move the cargo components to the top of the two conveyor chains in the main conveying area 3. When the support protrusions are lowered, the cargo components on the support protrusions can fall precisely onto the two conveyor chains in the main conveying area 3.

[0060] The structure and working principle of the second four-way vehicle are the same as those of the first four-way vehicle.

[0061] Example 1:

[0062] A four-way vehicle control method applied to automated storage and retrieval systems, such as Figure 4 As shown, it includes:

[0063] L1. Generate a storage / retrieval instruction and send the storage / retrieval instruction to the first four-way vehicle.

[0064] This embodiment assumes there are 10 four-way vehicles on the ground and only one shelf A. The four-way vehicle control system can generate a storage / retrieval instruction based on actual storage / retrieval needs.

[0065] For example, the four-way vehicle control system generates a single inventory instruction: "Store item 'a' on shelf A, level 3, aisle 2, location 5." The system then randomly selects one of the available four-way vehicles, for example, vehicle number 2, and sends the inventory instruction to it. Upon receiving this instruction, vehicle number 2, being a storage vehicle, waits for a worker to place item 'a' and its loading components onto it. Once item 'a' is in place, the worker presses the start button on vehicle number 2, and the vehicle begins its movement to store the item.

[0066] For example, the four-way vehicle control system generates a single pickup instruction: "Retrieve item b from shelf A, 4th floor, aisle 1, storage location 6." The system then randomly selects one of the available four-way vehicles, for example, vehicle number 8, and sends the pickup instruction to it. Upon receiving this instruction, vehicle number 8, being a pickup vehicle, will immediately move to retrieve the item.

[0067] L2. The first four-way vehicle moves to the first position according to the first storage / retrieval instruction. When the first four-way vehicle reaches the first position, it converts the first storage / retrieval instruction into a second storage / retrieval instruction and sends the second storage / retrieval instruction to the conveying equipment.

[0068] In this embodiment, multiple first positions are provided near shelf A, which are used for temporary parking of first four-way vehicles. For example, the second first four-way vehicle in step L1 can be parked in first position 1, and the eighth first four-way vehicle can be parked in first position 2.

[0069] After the No. 2 four-way vehicle stops at the No. 1 first position, the primary inventory instruction (store item a in warehouse location 5 of shelf 3, aisle 2) is converted into a secondary inventory instruction (store item a in warehouse location 5 of shelf 3, aisle 2 - No. 2 four-way vehicle), and then the secondary inventory instruction is sent to the conveying equipment.

[0070] After the No. 8 first four-way vehicle stops at the No. 2 first position, the first picking instruction (retrieve item b from warehouse location 6, aisle 1, shelf 4) is converted into a second picking instruction (retrieve item b from warehouse location 6, aisle 1, shelf 4) and then the second picking instruction is sent to the conveying equipment.

[0071] L3. The conveying equipment receives secondary inventory / retrieval instructions and stores them in the instruction storage list in the order they were received.

[0072] The conveying equipment in this embodiment is equipped with a controller, which is used to receive secondary storage / retrieval instructions and store the received secondary storage / retrieval instructions in the order of receipt of the instructions in the instruction storage list.

[0073] Assume the instruction storage list already contains 3 secondary inventory / retrieval instructions. Then, the conveyor receives a secondary inventory instruction (store item a-2, first four-way vehicle, on rack A, level 3, aisle 2, location 5). The conveyor will then store this instruction in the 4th position of the instruction storage list. Next, the conveyor receives a secondary retrieval instruction (retrieve item b-8, first four-way vehicle, on rack A, level 4, aisle 1, location 6). The conveyor will then store this instruction in the 5th position of the instruction storage list.

[0074] L4. Control the first four-way vehicle, the second four-way vehicle, and the conveying equipment to perform storage / retrieval operations according to the secondary storage / retrieval instructions in the instruction storage list.

[0075] The four-way vehicle control system first controls the first four-way vehicle, the second four-way vehicle, and the conveying equipment to execute the second inventory / retrieval instruction that is first in the instruction storage list. After the first second inventory / retrieval instruction is executed, the four-way vehicle control system first deletes the first second inventory / retrieval instruction, then updates the second second inventory / retrieval instruction to the first second, and then continues to execute the second second inventory / retrieval instruction that is first in the instruction storage list, and so on in sequence.

[0076] Furthermore, step L4 in this embodiment specifically includes:

[0077] L41. The conveying equipment acquires the first secondary inventory / retrieval instruction in the instruction storage list, and sends inventory / retrieval start information to the second four-way vehicle on the corresponding shelf layer according to the secondary inventory / retrieval instruction, and at the same time sends inventory / retrieval start information to the corresponding first four-way vehicle located at the first position.

[0078] Suppose there are currently 3 instructions in the storage list: the first secondary inventory instruction (store item a-2 first four-way vehicle on shelf A, level 3, aisle 2, location 5); the second secondary retrieval instruction (retrieve item b-8 first four-way vehicle on shelf A, level 4, aisle 1, location 6); and the third secondary retrieval instruction (retrieve item c-7 first four-way vehicle on shelf A, level 1, aisle 4, location 3).

[0079] In this step, the conveyor equipment first obtains the second-order inventory / retrieval instruction at the top of the inventory list, namely the second-order inventory instruction (store item a-2, first four-way vehicle, on shelf A, level 3, aisle 2, storage location 5). Then, the conveyor equipment sends inventory start information to the second four-way vehicle on the third shelf level and to the second four-way vehicle located at the first position.

[0080] L42. After receiving the storage / retrieval start information, the first four-way vehicle moves from the first position to the second position to dock with the conveyor equipment. When the first four-way vehicle reaches the second position, if the received information is storage start information, the first four-way vehicle first places the cargo-carrying component containing the goods on the conveyor equipment, then leaves the second position, and then sends the storage placement completion information to the conveyor equipment. If the received information is retrieval start information, the first four-way vehicle sends the retrieval preparation completion information to the conveyor equipment.

[0081] Following step L41, after receiving the inventory start information, the No. 2 first four-way vehicle will immediately move from the first position to the second position, which is connected to the free end of the main conveyor zone 3. Since the received information is inventory start information, after reaching the second position, the No. 2 first four-way vehicle will control the support protrusion to retract so that the loaded component and item a are placed on the conveyor chain of the main conveyor zone 3, and then leave the second position. After the No. 2 first four-way vehicle leaves the second position, it will send an inventory placement completion information to the conveying equipment.

[0082] At this point, the status of car number 2, the first four-way vehicle, can be changed to "basic idle". Car number 2, the first four-way vehicle, can be directly assigned to pick up goods (i.e., receive a pick-up instruction). When car number 2, the first four-way vehicle, returns to its initial position, its status becomes "completely idle". Car number 2, the first four-way vehicle, can be assigned to pick up goods (i.e., receive a pick-up instruction) or to store goods (i.e., receive a storage instruction).

[0083] L43. After receiving the storage / retrieval start information, the second four-way vehicle moves from the corresponding shelf layer to the third position where it docks with the conveyor equipment. When the second four-way vehicle reaches the third position, if it receives the retrieval start information, the second four-way vehicle first places the cargo-carrying component containing the goods on the conveyor equipment, then leaves the third position, and then sends the retrieval placement completion information to the conveyor equipment. If it receives the storage start information, the second four-way vehicle sends the storage preparation completion information to the conveyor equipment.

[0084] Following step L41, once the second four-way trolley on the third shelf receives the inventory start information, it will immediately move to the third position, docking with the free end of the third shelf's conveyor zone 2. Since it receives inventory start information, the second four-way trolley will immediately send inventory preparation completion information to the conveyor system upon reaching the third position.

[0085] L44. After receiving the information that the storage placement is complete, the conveying equipment transports the loaded component from the second position to the third position; when the loaded component arrives at the third position and the conveying equipment receives the information that the storage preparation is complete, the conveying equipment sends the storage execution information to the second four-way vehicle; or, after receiving the information that the retrieval placement is complete, the conveying equipment transports the loaded component from the third position to the second position; when the loaded component arrives at the second position and the conveying equipment receives the information that the retrieval preparation is complete, the conveying equipment sends the retrieval execution information to the first four-way vehicle.

[0086] Following step L42, after receiving the inventory placement completion information, the conveying equipment will immediately transport the cargo component containing item a from the second position to the third position. Once the cargo component reaches the third position, if the conveying equipment has already received the inventory preparation completion information from the second / fourth-way vehicle, it will directly send inventory execution information to the second / fourth-way vehicle. If, after the cargo component reaches the third position, the conveying equipment has not yet received the inventory preparation completion information from the second / fourth-way vehicle, it will wait until it receives the inventory preparation completion information from the second / fourth-way vehicle before sending the inventory execution information to the second / fourth-way vehicle.

[0087] L45. After receiving the inventory execution information, the second four-way vehicle first lifts the cargo-carrying component on the conveyor equipment, then leaves the third position, and then sends the inventory completion information to the conveyor equipment; or, after receiving the pickup execution information, the first four-way vehicle first lifts the cargo-carrying component on the conveyor equipment, then leaves the second position, and then sends the pickup completion information to the conveyor equipment.

[0088] Following step L44, when the second four-way trolley on the third shelf receives the inventory execution information, it immediately raises its support protrusion to lift the loaded component from the third shelf's level conveyor area 2, and then leaves the third position. After leaving the third position, the second four-way trolley sends an inventory completion message to the conveyor system. Then, the second four-way trolley continues to move to store the loaded component and item 'a' in storage location 5 of aisle 2 on shelf A, level 3. Once the second four-way trolley has finished storing the goods, its status changes to idle. Only after the second four-way trolley's status becomes idle can it continue processing the next inventory / retrieval start message.

[0089] L46. After receiving the inventory / retrieval completion information, the conveying equipment deletes the corresponding secondary inventory / retrieval instruction from the instruction storage list.

[0090] Following step L45, after the conveying equipment receives the inventory completion information sent by the second four-way vehicle, it will delete the corresponding secondary inventory instruction (store item a-2, first four-way vehicle, on shelf A, level 3, aisle 2, location 5) from the instruction storage list. Assuming that the conveying equipment does not receive any new secondary inventory / retrieval instructions during this inventory period, the instruction storage list will be updated to contain two instructions: the first secondary retrieval instruction (retrieve item b-8, first four-way vehicle, on shelf A, level 4, aisle 1, location 6), and the second secondary retrieval instruction (retrieve item c-7, first four-way vehicle, on shelf A, level 1, aisle 4, location 3).

[0091] Then repeat steps L41 to L46.

[0092] The conveying equipment first obtains the second retrieval instruction (retrieve item b-8, first four-way vehicle) from the first position in the storage list on shelf A, level 4, aisle 1, storage location 6. Then, the conveying equipment sends storage start information to the second four-way vehicle on shelf 4 and to the first four-way vehicle located at position 8.

[0093] Once the No. 8 four-way vehicle receives the pickup start information, it will immediately move from the first position to the second position, which is connected to the free end of the main conveyor area 3. Since it has received the pickup start information, the No. 8 four-way vehicle will immediately send a pickup preparation completion message to the conveyor equipment after reaching the second position.

[0094] When the second four-way trolley on the 4th shelf receives the picking start information, it will first move to the 6th storage location in aisle 1 of shelf 4 to retrieve item b, and then move to the third position where it docks with the free end of the hierarchical conveyor area 2 on the 4th shelf. Since it received the picking start information, the second four-way trolley will retract its support protrusion after reaching the third position to place the loaded component and item b on the conveyor chain of hierarchical conveyor area 2, and then leave the third position. After leaving the third position, the second four-way trolley will send a picking and placement completion information to the conveyor system. After sending the picking and placement completion information, the second four-way trolley's status will change to idle.

[0095] Upon receiving the pickup and placement completion information, the conveyor will immediately transport the cargo component containing item b from position three to position two. Once the cargo component arrives at position two, if the conveyor has already received the pickup preparation completion information from vehicle number 8 (first four-way vehicle), it will directly send pickup execution information to vehicle number 8 (first four-way vehicle). If, after the cargo component arrives at position two, the conveyor has not yet received the pickup preparation completion information from vehicle number 8 (first four-way vehicle), it will wait until it receives the pickup preparation completion information from vehicle number 8 (first four-way vehicle) before sending pickup execution information to vehicle number 8 (first four-way vehicle).

[0096] Upon receiving the delivery execution information, the No. 8 four-way vehicle will immediately raise its support protrusion to lift the loaded component from the main conveyor area 3, and then leave the second position. After leaving the second position, the No. 8 four-way vehicle will send a pickup completion message to the conveyor system. After sending the pickup completion message, the No. 8 four-way vehicle will continue to move to the worker's pickup location. Once the goods on the No. 8 four-way vehicle have been picked up by the worker, its status will change to idle. Only after the No. 8 four-way vehicle's status becomes idle can it continue to receive the next one-time storage / pickup instruction.

[0097] When the conveyor receives the pickup completion information from vehicle number 8 (first four-way vehicle), it will delete the corresponding secondary pickup instruction (retrieve item b from location 6, aisle 1, level 4 of shelf A - vehicle number 8 (first four-way vehicle)) from the instruction storage list. Assuming that the conveyor does not receive any new secondary storage / retrieval instructions during this storage period, the instruction storage list will be updated to contain one instruction: the primary secondary pickup instruction (retrieve item c from location 3, aisle 4, level 1 of shelf A - vehicle number 7 (first four-way vehicle)).

[0098] Then, steps L41 to L46 are repeated until all secondary inventory / retrieval instructions in the instruction store list have been executed. If, after a period of time, new secondary inventory / retrieval instructions are stored in the instruction store list, steps L41 to L46 are executed again.

[0099] The four-way vehicle control method of this embodiment executes storage / retrieval instructions through the cooperation of a first four-way vehicle, a second four-way vehicle, and a conveying device. In a storage / retrieval process, the first four-way vehicle is responsible for transporting goods on the ground, the second four-way vehicle is responsible for transporting goods on the shelf, and the conveying device is responsible for transporting the loaded components from the ground to a designated shelf level or from a designated shelf level to the ground. For the same storage / retrieval instruction, this setting can save a lot of waiting time (for example, when storing goods, the first four-way vehicle can directly place the loaded components on the conveying device for transport, instead of waiting for the four-way vehicle to move from the shelf to load goods as in the prior art; and for example, when retrieving goods, the second four-way vehicle located on the corresponding shelf level can directly move to the designated position to retrieve goods, instead of waiting for the four-way vehicle to move from other shelves to the corresponding shelf level to retrieve goods as in the prior art), thereby improving the work efficiency of storage and retrieval operations in automated warehouses.

[0100] Furthermore, the four-way vehicle control method of this embodiment also includes:

[0101] S1. The conveying equipment obtains the second-ranked secondary inventory / retrieval instruction in the instruction storage list. When the shelf layer corresponding to the second-ranked secondary inventory / retrieval instruction is different from the shelf layer corresponding to the first-ranked secondary inventory / retrieval instruction, the conveying equipment sends inventory / retrieval preparation start information to the second four-way vehicle on the corresponding shelf layer according to the second-ranked secondary inventory / retrieval instruction.

[0102] In this embodiment, the four-way vehicle control system can also preprocess the second-order secondary inventory / retrieval instruction in the instruction storage list when executing the first secondary inventory / retrieval instruction in the instruction storage list.

[0103] Assume the first secondary inventory / retrieval instruction in the instruction storage list is a secondary inventory instruction (store item a-2, first four-way vehicle, on shelf A, level 3, aisle 2, location 5); the second secondary inventory / retrieval instruction is a secondary retrieval instruction (retrieve item c-7, first four-way vehicle, on shelf A, level 1, aisle 4, location 3).

[0104] First, it is determined whether the shelf level corresponding to the second secondary inventory / retrieval instruction is different from the shelf level corresponding to the first secondary inventory / retrieval instruction. In this embodiment, the first secondary inventory instruction is shelf level 3, and the second secondary retrieval instruction is shelf level 1, which are different. Therefore, the conveying equipment sends a retrieval preparation start information to the second four-way vehicle on shelf level 1 based on the second secondary retrieval instruction (i.e., retrieving item c-7, first four-way vehicle, from aisle 4, storage location 3 on shelf level 1 of shelf A).

[0105] S2. After receiving the storage / retrieval preparation start information, the second four-way vehicle moves from the corresponding shelf layer to the third position to dock with the conveyor equipment.

[0106] Upon receiving the picking preparation start information, the second four-way trolley on the first level of the rack will immediately go to the designated location (i.e., aisle 4, storage location 3) to retrieve item c. After retrieving item c, the second four-way trolley will immediately move to the third position where it docks with the free end of the hierarchical conveyor area 2 on the first level. That is, when the four-way trolley control system executes the first secondary storage instruction in the instruction storage list (storing item a-2 first four-way trolley in aisle 2, storage location 5 on rack 3), it begins processing the second secondary picking instruction in the instruction storage list in advance, so that the second four-way trolley on the first level of the rack has completed picking and docked with the free end of the hierarchical conveyor area 2 on the first level.

[0107] When the secondary retrieval instruction that was originally in the second position (i.e., retrieving item c-7 from location 3 of aisle 4 on shelf 1) becomes the first secondary retrieval instruction in the instruction storage list and is officially executed, since the second four-way vehicle on shelf 1 has already reached the third position, when the second four-way vehicle on shelf 1 receives the retrieval start information, it can immediately place item c on the conveyor chain of conveyor zone 2 of the conveyor equipment. The conveyor equipment can then immediately transport item c, saving the time for the second four-way vehicle to retrieve the item and move it to the third position, thereby further improving the work efficiency of the automated warehouse's storage and retrieval operations.

[0108] Even if the second item in the instruction storage list is a secondary inventory instruction, the second and fourth-direction vehicles of the corresponding shelf layer can be pre-loaded to the third position. This avoids the situation where the loaded component has already reached the third position via the conveyor equipment but the second and fourth-direction vehicles have not yet reached the third position during the actual execution, thereby indirectly improving the work efficiency of the storage and retrieval operations of the automated warehouse.

[0109] Furthermore, the four-way vehicle control method of this embodiment also includes:

[0110] S3. After receiving the information that the storage has been placed, the conveying equipment obtains the second storage / retrieval instruction in the instruction storage list and sends the storage / retrieval preparation start information to the corresponding first four-way vehicle located at the first position according to the second storage / retrieval instruction.

[0111] In this embodiment, the four-way vehicle control system can also preprocess the second-order secondary inventory / retrieval instruction in the instruction storage list when executing the first secondary inventory / retrieval instruction in the instruction storage list.

[0112] Assume that the first secondary inventory / retrieval instruction in the instruction storage list is a secondary inventory instruction (store item a-2, first four-way vehicle, on shelf A, 3rd floor, aisle 2, storage location 5); and the second secondary inventory / retrieval instruction is a secondary inventory instruction (store item d-10, first four-way vehicle, on shelf A, 8th floor, aisle 3, storage location 1).

[0113] First, determine if the first secondary inventory / retrieval instruction is a secondary inventory instruction. If so, wait to receive the inventory placement completion information sent by the second four-way vehicle. After the conveyor receives the inventory placement completion information sent by the second four-way vehicle, it will send the inventory preparation start information to the tenth four-way vehicle according to the second secondary inventory instruction (item d-10, storage location 1, A shelf 8, layer 3, aisle 1).

[0114] S4. After receiving the storage / retrieval preparation start information, the first four-way vehicle moves from the first position to the second position to dock with the conveying equipment.

[0115] After receiving the inventory preparation start information, the No. 10 first four-way vehicle will immediately move to the second position to dock with the free end of the main conveyor area 3. That is, when the four-way vehicle control system executes the second inventory instruction (store item a-2 first four-way vehicle on shelf 3, aisle 2, storage location 5) which is the first in the instruction storage list, it will start processing the second inventory instruction in the instruction storage list in advance, so that the No. 10 first four-way vehicle has docked with the free end of the main conveyor area 3.

[0116] When the secondary inventory instruction (item d - No. 10 first four-way vehicle) which was originally in the second position becomes the first secondary inventory instruction in the instruction storage list and is officially executed, since No. 10 first four-way vehicle has already reached the second position, when No. 10 first four-way vehicle receives the inventory retrieval start information, it can immediately place item d on the conveyor chain of the main conveyor area 3 of the conveyor equipment, and the conveyor equipment can immediately transport item d, saving the time for the first four-way vehicle to move to the second position, thereby improving the work efficiency of the automated warehouse's inventory retrieval operation.

[0117] Even if the second item in the instruction storage list is a secondary retrieval instruction, the corresponding first four-way vehicle can be pre-loaded and transported to the second position. This avoids the situation where the loaded component has already reached the second position via the conveyor equipment but the first four-way vehicle has not yet reached the second position during actual execution, thereby indirectly improving the work efficiency of storage and retrieval operations in automated warehouses.

[0118] Furthermore, the four-way vehicle control method of this embodiment also includes:

[0119] S5. The conveying equipment determines whether the first secondary inventory / retrieval instruction is an inventory instruction. If the secondary inventory / retrieval instruction is an inventory instruction, it obtains the movement position of the loading component. If the loading component is located in the level conveying area of ​​the corresponding shelf layer, it deletes the corresponding secondary inventory / retrieval instruction from the instruction storage list.

[0120] Assume that the first secondary inventory / retrieval instruction in the instruction storage list is a secondary inventory instruction (item a-2, first four-way vehicle, stored on shelf A, 3rd floor, 2nd aisle, 5th storage location).

[0121] First, it is determined whether the first secondary storage / retrieval instruction is indeed a secondary storage instruction (and the shelf level corresponding to the first secondary storage / retrieval instruction is different from the shelf level corresponding to the second secondary storage / retrieval instruction). If so, the movement position of the loading component is obtained in real time. When the loading component moves from the main conveying area 3 to the level conveying area 2 of the third shelf via the lifting mechanism 1, the conveying equipment will delete the corresponding secondary storage instruction (item a-2, first four-way vehicle, storage location 5, aisle 2, shelf 3) from the instruction storage list, and then officially execute the secondary storage / retrieval instruction that was originally in the second position in the instruction storage list. The loading component on the level conveying area 2 of the third shelf will continue to move forward until item a is stored. When item a is stored, the second four-way vehicle on the third shelf will still send a storage completion message to the conveying equipment. After receiving the storage completion message, the conveying equipment will not perform an instruction deletion operation because the original secondary storage instruction (item a-2, first four-way vehicle, storage location 5, aisle 2, shelf 3) has been deleted.

[0122] In this embodiment, the four-way vehicle control system deletes the first secondary inventory instruction in the instruction storage list before it has been fully executed, so as to process the second secondary inventory / retrieval instruction that was originally in the instruction storage list in advance. This saves subsequent inventory time and further improves the efficiency of the automated warehouse's inventory and retrieval operations.

[0123] Example 2:

[0124] A four-way vehicle control system applied to automated storage and retrieval systems, such as Figure 5 As shown, it includes: an instruction generation and sending module, an instruction conversion and sending module, an instruction storage module, and a storage and retrieval operation execution module.

[0125] The instruction generation and sending module generates a primary inventory / retrieval instruction and sends it to the first four-way vehicle. The instruction conversion and sending module converts the primary inventory / retrieval instruction into a secondary inventory / retrieval instruction when the first four-way vehicle reaches the first position and sends this secondary instruction to the conveying equipment. The instruction storage module receives the secondary inventory / retrieval instructions and stores them in an instruction storage list in the order they were received. The inventory / retrieval operation execution module controls the first four-way vehicle, the second four-way vehicle, and the conveying equipment to perform inventory / retrieval operations based on the secondary inventory / retrieval instructions in the instruction storage list.

[0126] The storage and retrieval operation execution module specifically includes: a first information sending unit, a second information sending unit, a third information sending unit, a fourth information sending unit, a fifth information sending unit, a sixth information sending unit, and an instruction deletion unit.

[0127] The first information sending unit is used to acquire the second inventory / retrieval instruction at the first position in the instruction storage list, and send inventory / retrieval start information to the second four-way cart on the corresponding shelf layer according to the second inventory / retrieval instruction, and at the same time send inventory / retrieval start information to the corresponding first four-way cart located at the first position. The second information sending unit is used to, when the first four-way cart reaches the second position, if it receives inventory start information, send inventory placement completion information to the conveying equipment after the first four-way cart leaves the second position; if it receives retrieval start information, send retrieval preparation completion information to the conveying equipment. The third information sending unit is used to, when the second four-way cart reaches the third position, if it receives retrieval start information, send retrieval placement completion information to the conveying equipment after the second four-way cart leaves the third position; if it receives inventory start information, send inventory preparation completion information to the conveying equipment. The fourth information sending unit is used to, when the loading component reaches the third position and the conveying equipment receives inventory preparation completion information, send inventory execution information to the second four-way cart. The fifth information sending unit is used to send pickup execution information to the first four-way vehicle after the cargo-carrying component reaches the second position and the conveying equipment receives the pickup preparation completion information. The sixth information sending unit is used to send inventory completion information to the conveying equipment after the second four-way vehicle leaves the third position; or, after the first four-way vehicle leaves the second position, to send pickup completion information to the conveying equipment. The instruction deletion unit one is used to delete the corresponding secondary inventory / pickup instruction from the instruction storage list after the conveying equipment receives the inventory / pickup completion information.

[0128] The four-way vehicle control system of this embodiment executes storage / retrieval instructions through the cooperation of a first four-way vehicle, a second four-way vehicle, and a conveying device. In a storage / retrieval process, the first four-way vehicle is responsible for transporting goods on the ground, the second four-way vehicle is responsible for transporting goods on the shelf, and the conveying device is responsible for transporting the loaded components from the ground to a designated shelf level or from a designated shelf level to the ground. For the same storage / retrieval instruction, this setup can save a lot of waiting time (for example, when storing goods, the first four-way vehicle can directly place the loaded components on the conveying device for transport, instead of waiting for the four-way vehicle to move from the shelf to load goods as in the prior art; and for example, when retrieving goods, the second four-way vehicle located on the corresponding shelf level can directly move to the designated location to retrieve goods, instead of waiting for the four-way vehicle to move from other shelves to the corresponding shelf level as in the prior art), thereby improving the work efficiency of storage and retrieval operations in automated warehouses.

[0129] The storage and retrieval operation execution module also includes: a seventh information sending unit, an eighth information sending unit, and an instruction deletion unit two.

[0130] The seventh information sending unit is used to obtain the second secondary inventory / retrieval instruction in the instruction storage list. When the shelf layer corresponding to the second secondary inventory / retrieval instruction is different from the shelf layer corresponding to the first secondary inventory / retrieval instruction, the unit sends inventory / retrieval preparation start information to the second four-way vehicle on the corresponding shelf layer according to the second secondary inventory / retrieval instruction.

[0131] The eighth information sending unit is used to obtain the second storage / retrieval instruction in the instruction storage list after receiving the storage placement completion information, and send the storage / retrieval preparation start information to the corresponding first four-way vehicle located at the first position according to the second storage / retrieval instruction in the second position.

[0132] The second instruction deletion unit is used to determine whether the first secondary inventory / retrieval instruction is an inventory instruction. When the secondary inventory / retrieval instruction is an inventory instruction, it obtains the movement position of the loading component. When the loading component is located in the hierarchical conveying area of ​​the corresponding shelf layer, it deletes the corresponding secondary inventory / retrieval instruction from the instruction storage list.

[0133] While some embodiments of this specification are shown in the accompanying drawings, it should be understood that this specification can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this specification. It should be understood that the accompanying drawings and embodiments are for illustrative purposes only and are not intended to limit the scope of this specification.

Claims

1. A four-way vehicle control method applied to automated storage and retrieval systems, characterized in that, include: L1. Generate a storage / retrieval instruction and send the storage / retrieval instruction to the first four-way vehicle; L2. The first four-way vehicle moves to the first position according to the first storage / retrieval instruction. When the first four-way vehicle reaches the first position, it converts the first storage / retrieval instruction into a second storage / retrieval instruction and sends the second storage / retrieval instruction to the conveying equipment. L3. The conveying equipment receives the secondary inventory / retrieval instruction and stores the secondary inventory / retrieval instruction in the instruction storage list in the order in which the instruction was received; L4. Control the first four-way vehicle, the second four-way vehicle, and the conveying equipment to perform storage / retrieval operations according to the secondary inventory / retrieval instructions in the instruction storage list; The L4 specifically includes: L41. The conveying equipment obtains the first secondary inventory / retrieval instruction in the instruction storage list, and sends inventory / retrieval start information to the second four-way vehicle on the corresponding shelf layer according to the secondary inventory / retrieval instruction, and at the same time sends inventory / retrieval start information to the corresponding first four-way vehicle located at the first position; L42. After receiving the inventory / retrieval start information, the first four-way vehicle moves from the first position to the second position that is docked with the conveying equipment; When the first four-way vehicle arrives at the second position, if the received information is a storage start message, the first four-way vehicle first places the cargo-carrying component containing the goods on the conveying equipment, then leaves the second position, and then sends a storage placement completion message to the conveying equipment; if the received information is a retrieval start message, the first four-way vehicle sends a retrieval preparation completion message to the conveying equipment. L43. After receiving the storage / retrieval start information, the second four-way vehicle moves from the corresponding shelf layer to the third position that docks with the conveying equipment; When the second four-way vehicle arrives at the third position, if the received information is a pickup start message, the second four-way vehicle first places the cargo-carrying component containing the goods on the conveying equipment, then leaves the third position, and then sends a pickup placement completion message to the conveying equipment; if the received information is a storage start message, the second four-way vehicle sends a storage preparation completion message to the conveying equipment. L44. After receiving the information that the storage placement is complete, the conveying equipment transports the cargo-carrying component from the second position to the third position; when the cargo-carrying component arrives at the third position and the conveying equipment receives the information that the storage preparation is complete, the conveying equipment sends storage execution information to the second four-way vehicle; Alternatively, after receiving the information that the goods have been placed, the conveying device may transport the cargo component from the third position to the second position; when the cargo component arrives at the second position and the conveying device receives the information that the goods are ready to be placed, the conveying device may send the goods placement execution information to the first four-way vehicle. L45. After receiving the inventory execution information, the second four-way vehicle first lifts the cargo-carrying component on the conveying equipment, then leaves the third position, and then sends the inventory completion information to the conveying equipment; Alternatively, after receiving the pickup execution information, the first four-way vehicle first lifts the cargo-carrying component on the conveying equipment, then leaves the second position, and then sends pickup completion information to the conveying equipment. L46. After receiving the inventory / retrieval completion information, the conveying equipment deletes the corresponding secondary inventory / retrieval instruction from the instruction storage list.

2. The four-way vehicle control method according to claim 1, characterized in that, Also includes: The conveying equipment obtains the second-position secondary inventory / retrieval instruction in the instruction storage list. When the shelf layer corresponding to the second-position secondary inventory / retrieval instruction is different from the shelf layer corresponding to the first-position secondary inventory / retrieval instruction, the conveying equipment sends inventory / retrieval preparation start information to the second four-way vehicle on the corresponding shelf layer according to the second-position secondary inventory / retrieval instruction. After receiving the inventory / retrieval preparation start information, the second four-way vehicle moves from the corresponding shelf layer to the third position where it docks with the conveyor equipment.

3. The four-way vehicle control method according to claim 1, characterized in that, Also includes: After receiving the information that the storage has been placed, the conveying equipment obtains the second storage / retrieval instruction in the instruction storage list and sends the storage / retrieval preparation start information to the corresponding first four-way vehicle located at the first position according to the second storage / retrieval instruction in the second position. After receiving the storage / retrieval preparation start information, the first four-way vehicle moves from the first position to the second position to dock with the conveying equipment.

4. The four-way vehicle control method according to claim 2, characterized in that, Also includes: The conveying equipment determines whether the first secondary inventory / retrieval instruction is an inventory instruction. If the secondary inventory / retrieval instruction is an inventory instruction, it obtains the movement position of the loading component. When the loading component is located in the level conveying area of ​​the corresponding shelf layer, it deletes the corresponding secondary inventory / retrieval instruction from the instruction storage list.

5. A four-way vehicle control system for use in automated storage and retrieval systems, characterized in that: include: The instruction generation and sending module is used to generate a single inventory / retrieval instruction and send the single inventory / retrieval instruction to the first four-way vehicle; The instruction conversion and sending module is used to convert the primary storage / retrieval instruction into a secondary storage / retrieval instruction and send the secondary storage / retrieval instruction to the conveying equipment when the first four-way vehicle reaches the first position; The instruction storage module is used to receive the secondary inventory / retrieval instruction and store the secondary inventory / retrieval instruction in the instruction storage list according to the order in which the instruction was received; The storage and retrieval operation execution module is used to control the first four-way vehicle, the second four-way vehicle, and the conveying equipment to perform storage and retrieval operations according to the secondary storage / retrieval instructions in the instruction storage list; The storage and retrieval operation execution module specifically includes: The first information sending unit is used to obtain the second inventory / retrieval instruction that is first in the instruction storage list, and send inventory / retrieval start information to the second four-way vehicle on the corresponding shelf layer according to the second inventory / retrieval instruction, and at the same time send inventory / retrieval start information to the corresponding first four-way vehicle located at the first position; The second information sending unit is configured to, when the first four-way vehicle arrives at the second position, if the received information is "inventory start" information, send "inventory placement completed" information to the conveying device after the first four-way vehicle leaves the second position; if the received information is "retrieval start" information, send "retrieval preparation completed" information to the conveying device. The third information sending unit is used to send a pickup and placement completion information to the conveying equipment after the second four-way vehicle leaves the third position if the received information is a pickup start information; and to send a storage preparation completion information to the conveying equipment if the received information is a storage start information. The fourth information sending unit is used to send storage execution information to the second and fourth vehicles after the cargo-carrying component arrives at the third position and the conveying equipment receives the storage preparation completion information; The fifth information sending unit is used to send pickup execution information to the first four-way vehicle after the cargo-carrying component arrives at the second position and the conveying device receives the pickup preparation completion information; The sixth information sending unit is used to send a stock completion information to the conveying equipment after the second four-way vehicle leaves the third position; or, to send a pickup completion information to the conveying equipment after the first four-way vehicle leaves the second position. The instruction deletion unit 1 is used to delete the corresponding secondary inventory / retrieval instruction from the instruction storage list after the conveying device receives the inventory / retrieval completion information.

6. A four-way vehicle control system for automated storage and retrieval systems according to claim 5, characterized in that, The storage and retrieval operation execution module also includes: The seventh information sending unit is used to obtain the second inventory / retrieval instruction in the instruction storage list. When the shelf layer corresponding to the second inventory / retrieval instruction is different from the shelf layer corresponding to the first inventory / retrieval instruction, the unit sends inventory / retrieval preparation start information to the second four-way vehicle on the corresponding shelf layer according to the second inventory / retrieval instruction in the second position.

7. A four-way vehicle control system for automated storage and retrieval systems according to claim 5, characterized in that, The storage and retrieval operation execution module also includes: The eighth information sending unit is used to, after receiving the inventory placement completion information, obtain the second inventory / retrieval instruction in the instruction storage list, and send inventory / retrieval preparation start information to the corresponding first four-way vehicle located at the first position according to the second inventory / retrieval instruction in the second position.

8. A four-way vehicle control system for automated storage and retrieval systems according to claim 6, characterized in that, The storage and retrieval operation execution module also includes: The second instruction deletion unit is used to determine whether the first secondary inventory / retrieval instruction is an inventory instruction. When the secondary inventory / retrieval instruction is an inventory instruction, the moving position of the loading component is obtained. When the loading component is located in the hierarchical conveying area of ​​the corresponding shelf layer, the corresponding secondary inventory / retrieval instruction is deleted from the instruction storage list.

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