A method for storing and dispensing liquid

Abstract

The application discloses a kind of liquid warehouse-in and warehouse-out methods, it is related to liquid warehouse-in and warehouse-out technical field, the warehouse-in and warehouse-out method of the present application is: determine task information, task information includes the position information of target storage container, target storage container is the storage container needing to carry out warehouse-in operation or warehouse-out operation;According to task information, control walking device drive car body to travel to the position where target storage container is;Control the opening of container cover on target storage container;One end of pipeline system is controlled to extend to enter the inside of target storage container, the other end of pipeline system is connected with liquid buffer device;Control power device through pipeline system to pump the liquid in target storage container into liquid buffer device to complete warehouse-out operation;Or, control power device through pipeline system to pump the liquid in liquid buffer device into target storage container to complete warehouse-in operation.The present application can improve the efficiency of warehouse-in and warehouse-out, reduce the risk of contaminated liquid.

Description

Technical Field

[0001] This invention relates to the field of liquid inbound and outbound technology, specifically to a method for liquid inbound and outbound operations. Background Technology

[0002] Currently, when liquids are being stored or removed from the warehouse, workers first need to manually open the container lid of the target storage container; then, workers need to manually insert one end of the pipe into the target storage container and manually connect the other end of the pipe to the liquid buffer device; next, workers need to manually turn on the water pump to extract the liquid stored in the target storage container (i.e., out of the warehouse) or inject liquid into the target storage container (i.e., into the warehouse); after the out-of-warehouse process is completed, workers also need to manually turn off the water pump, manually remove the end of the pipe that entered the target storage container, and manually close the container lid.

[0003] For example, when pouring or extracting wine from a wine jar, workers need to manually open and close the jar lid, manually insert and remove the pipes, and manually turn the water pump on and off to complete the pouring (i.e., storage) or extraction (i.e., storage) operation.

[0004] The aforementioned liquid handling methods rely heavily on manual operation by workers, resulting in low efficiency and increasing the risk of liquid contamination. Summary of the Invention

[0005] This invention addresses the aforementioned shortcomings of existing technologies by providing a method for liquid entry and exit from storage. This invention can improve the efficiency of entry and exit from storage and reduce the risk of liquid contamination.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A method for handling liquids in and out of a liquid storage system, the method being applied to the liquid storage system, the liquid storage system including a host computer, storage containers, a mobile vehicle, a liquid buffer device, and a power unit, the mobile vehicle including a vehicle body, on which a walking device and a piping system are installed; the method includes:

[0008] Determine task information, which includes the location information of the target storage container, which is the storage container that needs to be put into storage or put out of storage.

[0009] Based on the task information, the host computer controls the walking device to drive the vehicle to the location of the target storage container;

[0010] The host computer controls the container lid on the target storage container to open;

[0011] The host computer controls one end of the piping system to extend into the target storage container, and the other end of the piping system is used to dock with the liquid buffer device;

[0012] The host computer controls the power unit to pump the liquid in the target storage container to the liquid buffer device through the pipeline system to complete the outbound operation; or...

[0013] The host computer controls the power unit to pump the liquid in the liquid buffer device to the target storage container through the pipeline system to complete the warehousing operation.

[0014] Furthermore, the task information also includes the amount of liquid discharged from the warehouse;

[0015] The host computer controls the power unit to pump the liquid in the target storage container to the liquid buffer device through the pipeline system to complete the outbound operation, including:

[0016] The host computer controls the power unit to pump the liquid in the target storage container to the liquid buffer device according to the liquid outflow rate through the pipeline system to complete the outflow operation.

[0017] Furthermore, the task information also includes the amount of liquid entering the warehouse;

[0018] The host computer controls the power unit to pump the liquid from the liquid buffer device to the target storage container through the pipeline system to complete the warehousing operation, including:

[0019] The host computer controls the power unit to pump the liquid in the liquid buffer device into the target storage container through the pipeline system according to the liquid ingestion amount to complete the ingestion operation.

[0020] Furthermore, it also includes:

[0021] After the outbound or inbound operation is completed, the host computer controls the power unit to shut down;

[0022] The host computer controls one end of the pipeline system to retract and exit the target storage container, and controls the container lid on the target storage container to close.

[0023] Furthermore, the container lid includes a container lid body, on which an inlet and outlet are provided, and a cover plate is hinged to the container lid body for covering the inlet and outlet.

[0024] Furthermore, a linear drive mechanism is provided on the container lid body, and the linear drive mechanism is hinged to the lid plate through a linkage mechanism;

[0025] The host computer controlling the opening of the container lid on the target storage container includes:

[0026] The host computer controls the linear drive mechanism to drive the linkage mechanism to move away from the cover plate in order to open the cover plate;

[0027] The host computer controlling the container lid on the target storage container to close includes:

[0028] The host computer controls the linear drive mechanism to drive the linkage mechanism to move closer to the cover plate to close the cover plate.

[0029] Furthermore, the vehicle body is also equipped with a cover opening and closing device;

[0030] The host computer controlling the opening of the container lid on the target storage container includes:

[0031] The host computer controls the cover opening device to open the cover plate;

[0032] The host computer controlling the container lid on the target storage container to close includes:

[0033] The host computer controls the cover switch device to close the cover plate.

[0034] Furthermore, the container lid body is elastically hinged to the lid plate, and the container lid body is also provided with a lock body. The lock body is equipped with a locking tongue that engages with the locking tongue. The locking tongue is provided with a slope at one end outside the lock body. The lock body is provided with a pressing trigger mechanism, which is used to drive the locking tongue to retract into the lock body.

[0035] The switch cover device includes a first telescopic structure;

[0036] The host computer controls the opening and closing device to open the cover plate, including:

[0037] The host computer controls the first telescopic structure to extend downward so that the first telescopic structure presses the pressing trigger mechanism. The pressing trigger mechanism drives the bolt to retract into the lock body, releasing the bolt from pressing the cover plate, and the cover plate flips upward and pops open.

[0038] After the cover is opened, the host computer controls the first telescopic structure to retract upward and reset into the vehicle body, and the end of the lock tongue with the slope extends out of the lock body again;

[0039] The host computer controls the cover-closing device to close the cover, including:

[0040] The host computer controls the walking device to drive the vehicle body backward, so that the first telescopic structure moves backward to the rear side of the cover plate;

[0041] The host computer controls the first telescopic structure to extend downwards;

[0042] The host computer controls the walking device to drive the vehicle body forward, so that the first telescopic structure in the extended state moves forward and pushes the cover plate, causing the cover plate to flip downward.

[0043] The host computer controls the first telescopic structure to continue extending downwards. The extended first telescopic structure presses down on the cover plate, and the cover plate continues to flip downwards and pushes the slope to push the bolt back into the lock body. When the cover plate flips downwards to below the bolt, the bolt returns to its original position and extends, so that the bolt presses against the top surface of the cover plate, and the cover plate closes.

[0044] The host computer controls the first telescopic structure to retract upwards and reset into the vehicle body.

[0045] Furthermore, the first telescopic structure includes one of a hydraulic telescopic structure, a pneumatic telescopic structure, an electric telescopic structure, or an electromagnetic telescopic structure.

[0046] Furthermore, the piping system includes pipes, coiling devices, and telescopic pipe devices. The coiling device includes a movable pulley and a linear motion module for driving the movable pulley to move in a straight line. The first end of the pipe is connected to the liquid buffer device, the middle part of the pipe is wound around the movable pulley, and the second end of the pipe is connected to the telescopic pipe device.

[0047] The host computer controls one end of the pipeline system to extend into the target storage container, including:

[0048] The host computer controls the telescopic tube device to drive the second end of the pipe to move downward, and the host computer controls the linear motion module to drive the movable pulley to move linearly towards the target storage container, so that the second end of the pipe enters the target storage container;

[0049] The host computer controls one end of the pipeline system to retract and exit the target storage container, including:

[0050] The host computer controls the telescopic tube device to drive the second end of the pipe to move upward, and the host computer controls the linear motion module to drive the movable pulley to move linearly away from the target storage container, so that the second end of the pipe exits the target storage container.

[0051] Furthermore, a first element is provided on the vehicle body, which is used to obtain the distance between the bottom of the vehicle body and the liquid surface in the target storage container; a second element is provided on the linear motion module, which is used to obtain the distance that the second end of the pipe extends relative to the vehicle body.

[0052] The host computer controls the telescopic tube device to drive the second end of the pipe to move upward, and the host computer controls the linear motion module to drive the movable pulley to move linearly away from the target storage container, so that the second end of the pipe exits the target storage container, including:

[0053] The host computer controls the first element to obtain the distance L1 between the bottom of the vehicle body and the liquid surface in the target storage container, and the host computer controls the second element to obtain the distance L2 of the second end of the pipe extending relative to the vehicle body;

[0054] The host computer determines a first moving distance; the first moving distance is the difference between the distance L2 and the distance L1;

[0055] The host computer controls the telescopic tube device to drive the second end of the pipe to move upward by the first moving distance, and the host computer controls the linear motion module to drive the movable pulley to move linearly away from the target storage container by the first moving distance, so that the second end of the pipe moves upward and exits the target storage container;

[0056] The host computer controls the telescopic tube device to drive the second end of the pipe to move downwards, and the host computer controls the linear motion module to drive the movable pulley to move linearly towards the target storage container, so that the second end of the pipe enters the target storage container, including:

[0057] The host computer determines a second moving distance; the second moving distance is the difference between distance L1 and distance L2;

[0058] The host computer controls the telescopic pipe device to drive the second end of the pipe to move down the second moving distance, and the host computer controls the linear motion module to drive the movable pulley to move linearly towards the target storage container the second moving distance, so that the second end of the pipe moves down into the target storage container.

[0059] Furthermore, the telescopic tube device includes a second telescopic structure, which may be one of a hydraulic telescopic structure, a pneumatic telescopic structure, an electric telescopic structure, an electromagnetic telescopic structure, or a rigid chain telescopic structure.

[0060] Furthermore, the vehicle body is also equipped with a barcode scanning system, and the container lid is equipped with an identification code. The identification code is used to identify at least the number and location information of the storage container, and the task information also includes the number of the target storage container.

[0061] Before the host computer controls the container lid on the target storage container to open, the following is also included:

[0062] The host computer controls the scanning system to scan the identification code and confirms whether the number and location information of the target storage container are correct according to the task information;

[0063] If the target storage container's number and location information are confirmed to be correct, then the container lid on the target storage container is opened.

[0064] Furthermore, the scanning system is also used to determine whether the container lid is closed.

[0065] Furthermore, the liquid buffer device includes a first buffer container, the bottom of which is provided with a movable chassis, and the first buffer container is connected to the pipeline system.

[0066] Furthermore, the liquid buffer device includes a second buffer container, a delivery pipe is provided on one side of the second buffer container, one end of the delivery pipe extends to the area where the target storage container is located, and the end of the delivery pipe extending to the area where the target storage container is located is connected to the pipeline system.

[0067] Compared with the prior art, the beneficial effects of the present invention are:

[0068] 1. The liquid entry and exit method of the present invention can realize the automated operation of liquid entry and exit, without the need for manual operation by workers, which is conducive to improving the efficiency of liquid entry and exit, reducing the risk of liquid contamination, reducing losses, and improving efficiency.

[0069] 2. The container lid on which the liquid in / out method of the present invention is based can be easily opened and closed, which is conducive to further improving the efficiency of liquid in / out.

[0070] 3. The liquid inbound / outbound method of the present invention is based on a mobile vehicle that can be used not only for outbound operations but also for inbound operations, meeting the need for a dual-purpose vehicle, improving integration and flexibility of use.

[0071] 4. The liquid in / out method of the present invention, based on the first and second elements, allows one end of the pipe entering the storage container to rise and fall with the liquid level. On the one hand, during outgoing operations, it ensures effective contact between the pipe and the liquid, preventing the pipe from failing to extract liquid and ensuring the reliability of the outgoing operation; on the other hand, during incoming operations, the pipe rises with the liquid level, and upon completion of incoming operations, the pipe can be immediately returned to the vehicle body, saving time in returning the pipe to the vehicle body and further improving the efficiency of pipe storage.

[0072] 5. The liquid entry and exit method of the present invention can scan the identification code on the container lid through a barcode scanning system to confirm the information of the target storage container, which can improve the accuracy and reliability of entry and exit operations. In addition, the barcode scanning system can also be used to confirm whether the container lid is closed, so as to improve the reliability of the container lid closing. Attached Figure Description

[0073] Figure 1 This is a schematic diagram of the structure of a container lid installed on a storage container;

[0074] Figure 2 This is a schematic diagram of the container lid's structure when the lid is open;

[0075] Figure 3 This is a schematic diagram of the container lid when it is closed;

[0076] Figure 4 This is a schematic diagram of the press-triggered mechanism;

[0077] Figure 5 This is a schematic diagram of the press-triggered mechanism. Figure 1 ,

[0078] Figure 6 This is a schematic diagram of the press-triggered mechanism. Figure 2 .

[0079] Figure 7 This is a structural diagram of the mobile vehicle. Figure 1 ;

[0080] Figure 8 This is a structural diagram of the mobile vehicle. Figure 2 ;

[0081] Figure 9 This is a structural schematic diagram of the telescopic pipe device;

[0082] Figure 10 Flowchart of liquid outbound process;

[0083] Figure 11 Flowchart of liquid warehousing method;

[0084] Figure 12 Flowchart of the method for opening the container lid using a lid opening and closing device;

[0085] Figure 13 Flowchart of the method for closing the container lid using a lid-opening device.

[0086] Explanation of reference numerals in the attached figures:

[0087] 11-Container lid body, 111-Inlet / outlet,

[0088] 12-Cover plate, 121-Hinge shaft, 122-Torsion spring, 123-Identification code

[0089] 13-Lock tongue, 131-Drive hole, 1311-Slanted hole wall, 132-Bevel surface

[0090] 14-Lock body, 141-Lock tongue cavity, 142-Mounting hole,

[0091] 15-Elastic compression bar, 151-Spring, 152-Bar body

[0092] 16-Drive pin,

[0093] 17-Reset elastic element,

[0094] 18- Mounting part, 181- Fixing lug,

[0095] 19-Breathable layer,

[0096] 21-Car body,

[0097] 221-Traveling wheel, 222-Guide wheel,

[0098] 231-Pipe, 2311-First end, 23111-Clamp, 2312-Second end, 232-Modible pulley

[0099] 241-Water Pump

[0100] 251 - First telescopic structure,

[0101] 261-First chain, 262-Second chain, 263-First sprocket, 264-Second sprocket, 265-Matching seat, 2651-Matching hole

[0102] 271 - Barcode Scanner

[0103] 281 - Window. Detailed Implementation

[0104] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0105] Example 1:

[0106] A liquid inbound / outbound method is disclosed, applied to a liquid storage system. The liquid storage system includes a host computer, storage containers, a mobile vehicle, a liquid buffer device, and a power unit. The mobile vehicle includes a vehicle body, on which a walking device and a piping system are mounted.

[0107] See Figure 10 Liquid outbound methods include:

[0108] S101. The host computer determines the task information, which includes the location information of the target storage container. The target storage container is the storage container that needs to be put into storage or put out storage.

[0109] S102. Based on the task information, the host computer controls the walking device to drive the vehicle to the location of the target storage container.

[0110] S103, The host computer controls the container lid on the target storage container to open.

[0111] S104. One end of the host computer control piping system extends into the target storage container, and the other end of the piping system is used to connect with the liquid buffer device.

[0112] S105, The host computer controls the power unit to pump the liquid in the target storage container to the liquid buffer device through the pipeline system to complete the outbound operation.

[0113] S106. After the outbound operation is completed, the host computer controls the power unit to shut down.

[0114] S107, One end of the host computer control pipeline system retracts to exit the target storage container.

[0115] S108, The host computer controls the container lid on the target storage container to close.

[0116] Furthermore, in step S101, the task information also includes the liquid outflow quantity, which can be the volume of the liquid to be outflowed. During step S105, the host computer controls the power unit to pump the liquid from the target storage container to the liquid buffer device via the pipeline system according to the liquid outflow quantity to complete the outflow operation.

[0117] As can be seen from the above liquid outflow method, this embodiment can realize the automated operation of liquid outflow without the need for manual operation by workers, which is conducive to improving the efficiency of liquid outflow, reducing the risk of liquid contamination, reducing losses, and improving efficiency.

[0118] Example 2:

[0119] A liquid inbound / outbound method is disclosed, applied to a liquid storage system. The liquid storage system includes a host computer, storage containers, a mobile vehicle, a liquid buffer device, and a power unit. The mobile vehicle includes a vehicle body, on which a walking device and a piping system are mounted.

[0120] See Figure 11 Liquid storage methods include:

[0121] S201. The host computer determines the task information, which includes the location information of the target storage container. The target storage container is a storage container that needs to be put into storage or has an inbound operation.

[0122] S202. Based on the task information, the host computer controls the walking device to drive the vehicle to the location of the target storage container.

[0123] S203, The host computer controls the container lid on the target storage container to open.

[0124] S204. One end of the host computer control piping system extends into the target storage container, and the other end of the piping system is used to connect with the liquid buffer device.

[0125] S205, The host computer controls the power unit to pump the liquid in the liquid buffer device to the target storage container through the pipeline system to complete the storage operation.

[0126] S206. After the warehousing operation is completed, the host computer controls the power unit to shut down.

[0127] S207, One end of the host computer control pipeline system retracts to exit the target storage container.

[0128] S208, The host computer controls the container lid on the target storage container to close.

[0129] Furthermore, in step S201, the task information also includes the liquid ingestion quantity, which can be the volume of the liquid to be ingested. During step S205, the host computer controls the power unit to pump the liquid from the liquid buffer device to the target storage container according to the liquid ingestion quantity through the pipeline system to complete the ingestion operation.

[0130] As can be seen from the above liquid storage method, this embodiment can realize the automation of liquid storage without manual operation by workers, which is conducive to improving the efficiency of liquid storage, reducing the risk of liquid contamination, reducing losses and improving efficiency.

[0131] Example 3:

[0132] Based on Embodiment 1 or Embodiment 2, this Embodiment 3 presents a first structural form of the container lid.

[0133] The container lid includes a container lid body, which has an inlet and outlet. A cover plate is hinged to the container lid body via a hinge shaft, and the cover plate is used to cover the inlet and outlet.

[0134] A linear drive mechanism is installed on the container lid body, and the linear drive mechanism is hinged to the lid plate via a linkage mechanism. It can be one of a hydraulic telescopic structure, a pneumatic telescopic structure, an electric telescopic structure, or an electromagnetic telescopic structure. The hydraulic telescopic structure can use a hydraulic cylinder; the pneumatic telescopic structure can use a pneumatic cylinder; the electric telescopic structure can use an electric push rod; and the electromagnetic telescopic structure can use an electromagnetic telescopic rod.

[0135] When executing steps S103 and S203, the host computer controls the linear drive mechanism to drive the linkage mechanism to move away from the cover plate in order to open the cover plate.

[0136] During steps S108 and S208, the host computer controls the linear drive mechanism to drive the linkage mechanism to move towards the cover plate to close the cover plate.

[0137] As can be seen from the above description, in this embodiment 3, the opening and closing of the cover plate on the container lid can be directly realized through a linear drive mechanism and a linkage mechanism.

[0138] Example 4:

[0139] Based on Embodiment 1 or Embodiment 2, this Embodiment 4 presents a second structural form of the container lid.

[0140] See Figure 1 , Figure 2 , Figure 3 The container lid includes a container lid body 11, on which an inlet / outlet 111 is provided. A cover plate 12 is hinged to the container lid body 11 via a hinge shaft 121, and the cover plate 12 is used to cover the inlet / outlet 111. A torsion spring 122 is sleeved on the hinge shaft 121. One end of the torsion spring 122 abuts against the container lid body 11, and the other end of the torsion spring 122 abuts against the cover plate 12. Under the elastic force of the torsion spring 122, the cover plate 12 has a tendency to flip upward.

[0141] See Figure 2 , Figure 3 , Figure 4 , Figure 5, Figure 6 A lock body 14 is mounted on the container lid body 11. A latch cavity 141 is provided on the side of the lock body 14, and a latch 13 is provided within the latch cavity 141. A drive hole 131 is provided on the latch 13, and an oblique hole wall 1311 is provided on the drive hole 131. The drive hole 131 can be a triangular hole or an oblique elongated hole. When a triangular hole is used as the drive hole 131, the longer side wall of the triangular hole is the oblique hole wall 1311; when an oblique elongated hole is used as the drive hole 131, the lower wall of the oblique elongated hole is the oblique hole wall 1311. A slope 132 is provided at one end of the latch 13 located outside the latch cavity 141. A mounting hole 142 is provided on the side of the lock body 14, and the mounting hole 142 communicates with the latch cavity 141.

[0142] See Figure 5 , Figure 6 A pressing trigger mechanism is installed on the lock body 14, which is used to drive the bolt 13 to retract into the lock body 14. The pressing trigger mechanism includes a spring-loaded lever 15 and a drive pin 16.

[0143] See Figure 5 , Figure 6 The elastic pressure rod 15 is a rod 152 with an elastic material sleeve on its upper part, and the rod 152 extends downward through the lock body 14. When a spring 151 is used as the elastic material, the bottom of the spring 151 abuts against the top surface of the lock body 14, and the top of the spring 151 abuts against the top of the rod 152. When an external force presses down on the elastic pressure rod 15, the spring 151 sleeved on the rod 152 compresses and stores energy. When no external force acts on the elastic pressure rod 15, the rod 152 moves upward and returns to its original position under the elastic force of the spring 151. It should be noted that the elastic material can also be an elastic block made of silicone or rubber.

[0144] See Figure 4 , Figure 5 , Figure 6 The drive pin 16 is fixedly installed at the bottom of the rod body 152 in the elastic pressure rod 15, and the drive pin 16 is located in the drive hole 131. When installing the drive pin 16, the drive pin 16 can be inserted into the drive hole 131 sequentially through the mounting hole 142 on the side of the lock body 14 and the through hole at the bottom of the rod body 152. The mounting hole 142 is an elongated hole extending vertically, so that when the elastic pressure rod 15 moves up and down carrying the drive pin 16, the mounting hole 142 will not obstruct the drive pin 16.

[0145] See Figure 5 When the drive hole 131 is a triangular hole, the press trigger mechanism also includes a reset elastic element 17. The reset elastic element 17 is installed in the latch cavity 141, and the elastic force of the reset elastic element 17 is used to push the latch 13 out of the latch cavity 141. It should be noted that the reset elastic element 17 can be made of a spring 151 or other elastic material, and this application does not limit it.

[0146] See Figure 6 When the drive hole 131 is an inclined elongated hole, the reset elastic element 17 is not required.

[0147] See Figure 1 , Figure 2 , Figure 3 Two mounting parts 18 are symmetrically installed on the periphery of the container lid body 11. A fixing ear plate 181 is hinged to the end of the mounting part 18 away from the container lid body 11. The fixing ear plate 181 is installed together with the storage container.

[0148] Example 5:

[0149] Based on the structure of the container lid in Embodiment 4, a cover opening and closing device is provided on the vehicle body. The cover opening and closing device is used to open and close the cover plate on the container lid in Embodiment 4.

[0150] When executing steps S103 and S203, the host computer controls the switch cover device to open the cover plate.

[0151] During steps S108 and S208, the host computer controls the cover switch device to close the cover.

[0152] In this embodiment 5, the cover opening and closing device includes a first telescopic structure 251, which is mounted on the vehicle body 21. The first telescopic structure 251 includes one of a hydraulic telescopic structure, a pneumatic telescopic structure, an electric telescopic structure, or an electromagnetic telescopic structure.

[0153] See Figure 12 The host computer controls the switch cover device to open the cover plate, including the following steps:

[0154] S301, the host computer controls the first telescopic structure 251 to extend downwards. The extended first telescopic structure 251 presses the elastic pressure rod 15, and the spring 151 sleeved on the rod body 152 is compressed and stored. The rod body 152 drives the drive pin 16 to move downwards. The drive pin 16 moves downwards against the inclined hole wall 1311 of the drive hole 131. The inclined hole wall 1311 is pushed in the horizontal direction, causing the locking tongue 13 to gradually retract into the locking tongue cavity 141. When the locking tongue 13 retracts, the locking tongue 13 can leave the cover plate 12. At this time, the pressure of the locking tongue 13 on the cover plate 12 is released. The cover plate 12 can flip upwards and spring open under the elastic force of the torsion spring 122, so that the inlet and outlet 111 is opened, realizing the opening of the cover plate 12.

[0155] After S302 and cover 12 are opened, the host computer controls the first telescopic structure 251 to retract upwards and return to its original position inside the vehicle body 21. The rod 152 returns to its original position upwards under the elastic force of the spring 151, and the rod 152 drives the drive pin 16 to move upwards and return to its original position. When the drive hole 131 is a triangular hole, the drive pin 16 moves upwards in the triangular hole. The drive pin 16 does not push the latch 13 out of the latch cavity 141; instead, the latch 13 extends out of the latch cavity 141 under the elastic force of the return spring 151, exposing the slope 132. When the drive hole 131 is an inclined elongated hole, when the drive pin 16 moves upwards in the inclined elongated hole, the drive pin 16 pushes the upper wall of the inclined elongated hole. The upper wall is pushed horizontally, and the latch 13 extends out of the latch cavity 141, exposing the slope 132.

[0156] See Figure 13 The method for closing the container lid using the lid opening and closing device includes the following steps:

[0157] S401, the host computer controls the walking device to drive the vehicle body 21 backward, so that the first telescopic structure 251 moves backward to the rear side of the cover plate 12.

[0158] S402, The host computer controls the first telescopic structure 251 to extend downwards, so that the length of the first telescopic structure 251 is sufficient to contact the cover plate 12.

[0159] S403, the host computer controls the walking device to drive the vehicle body 21 forward, the vehicle body 21 drives the first telescopic structure 251 in the extended state forward, the first telescopic structure 251 horizontally pushes the cover plate 12, so that the cover plate 12 overcomes the elastic force of the torsion spring 122 and flips downward.

[0160] S404, the host computer controls the first telescopic structure 251 to continue extending downwards. The extended first telescopic structure 251 presses down on the cover plate 12, causing the cover plate 12 to flip downwards and push the slope 132 of the latch 13. The slope 132 is pushed horizontally, causing the latch 13 to retract into the latch cavity 141. When the drive hole 131 is a triangular hole, during the process of the latch 13 retracting into the latch cavity 141, the triangular hole does not push the drive pin 16, the height of the drive pin 16 remains unchanged, and the return spring 151 is compressed. When the drive hole 131 is an inclined elongated hole, during the process of the latch 13 retracting into the latch cavity 141, the upper wall of the inclined elongated hole pushes the drive pin 16 downwards, causing the drive pin 16 to move the rod 152 downwards, thus compressing the spring 151.

[0161] When the cover plate 12 flips downwards to below the height of the latch 13, the slope 132 of the latch 13 is no longer pushed down by the cover plate 12, and the latch 13 can return to its original position and extend out of the latch cavity 141. When the drive hole 131 is a triangular hole, the latch 13 returns to its original position and extends out of the latch cavity 141 under the elastic force of the return spring 151. When the drive hole 131 is an inclined elongated hole, the spring 151 fitted on the rod 152 returns to its original position, the rod 152 drives the drive pin 16 to move upwards and return to its original position, and the drive pin 16 pushes the upper wall of the inclined elongated hole, so that the latch 13 returns to its original position and extends out of the latch cavity 141. The latch 13, which has re-extended out of the latch cavity 141, presses against the top surface of the cover plate 12, so that the cover plate 12 is pressed against the container lid body 11 by the latch 13, so that the inlet and outlet 111 are covered by the cover plate 12, that is, the cover plate 12 is closed.

[0162] S405, The host computer controls the first telescopic structure 251 to retract upward and reset into the vehicle body 21.

[0163] As can be seen from the above description, the container lid in Embodiment 4 needs to be used in conjunction with the opening and closing device in Embodiment 5 to realize the opening and closing of the container lid.

[0164] Example 6:

[0165] This embodiment 6 further improves upon the container lid in embodiment 3 or embodiment 4:

[0166] When a wine jar is used as a storage container, the wine is a liquid, and the jar lid is the container lid.

[0167] See Figure 1 In the brewing process of Maotai-flavor liquor, in order to enhance the flavor of Maotai-flavor liquor, a breathable layer 19 needs to be installed on the outer periphery of the container lid body 11. The outer periphery of the breathable layer 19 can be tied to the outside of the container opening (e.g., the opening of a wine jar) with hemp rope. This embodiment provides a structural form of the breathable layer 19: the breathable layer 19 includes Xuan paper laid close to the liquor and a plastic sheet laid on top of the Xuan paper.

[0168] Example 7:

[0169] This embodiment 7 further improves upon the container lid in embodiment 3 or 4: see [link / reference] Figure 1 The cover plate 12 is equipped with an identification code 123, which is used to identify the number and location information of the storage container.

[0170] The vehicle body 21 is also equipped with a barcode scanning system, which includes a barcode scanner 271. The barcode scanner 271 is installed on the vehicle body 21 and is used to scan and identify the identification code 123 installed on the cover plate 12.

[0171] The task information also includes the target storage container number.

[0172] In the liquid outbound method, when executing step S102, according to the task information, the host computer controls the walking device to drive the vehicle 21 to the location of the target storage container. The host computer controls the barcode scanning system to scan the identification code 123 and confirms whether the number and location information of the target storage container are correct according to the task information. If the number and location information of the target storage container are confirmed to be correct, then step S103 is executed.

[0173] In the liquid storage method, when executing step S202, according to the task information, the host computer controls the walking device to drive the vehicle 21 to the location of the target storage container. The host computer controls the barcode scanning system to scan the identification code 123 and confirms whether the number and location information of the target storage container are correct according to the task information. If the number and location information of the target storage container are confirmed to be correct, then step S203 is executed.

[0174] Furthermore, the barcode scanning system is also used to determine whether the container lid is closed. In the liquid in / out storage method, after the host computer controls the container lid on the target storage container to close when executing step S108 or step S208, the barcode scanning system scans to determine whether the container lid is closed. If it is not closed, step S108 or step S208 is re-executed until the container lid is closed.

[0175] As described above, scanning the identification code 123 on the container lid using a barcode scanning system can confirm the information of the target storage container, thereby improving the accuracy and reliability of inbound and outbound operations. Furthermore, the barcode scanning system can also be used to confirm whether the container lid is closed, thus improving the reliability of the container lid being closed.

[0176] Example 8:

[0177] This embodiment 8 presents a structural form of the walking device in embodiment 1.

[0178] The traveling device is used to drive the vehicle body 21 to travel over the storage container to the location of the target storage container. The target storage container refers to the storage container that needs to be used for inbound or outbound operations.

[0179] If the storage container is placed in a ground pit, the walking device can drive the vehicle body 21 to move on the ground surface; if the storage container is placed on a shelf, the walking device can drive the vehicle body 21 to move on the shelf. Whether the vehicle body 21 moves on the ground surface or on the shelf, in order to improve the accuracy and stability of the vehicle body 21's movement, guide rails can be installed on the ground surface and the shelf, allowing the walking device to drive the vehicle body 21 to move along the guide rails.

[0180] See Figure 7 , Figure 8The traveling device includes two rows of traveling wheels 221, which are respectively mounted on both sides of the vehicle body 21. The traveling device also includes a traveling drive mechanism and a traveling transmission mechanism, with each row of traveling wheels 221 equipped with one traveling drive mechanism and one traveling transmission mechanism. For example, the traveling transmission mechanism includes traveling sprockets mounted on the axles of the traveling wheels 221 and traveling chains wound around the traveling sprockets in the same row. The traveling drive mechanism includes a traveling motor, which is a servo motor, and a traveling sprocket is mounted on the output shaft of the traveling motor.

[0181] When the travel motor drives the travel sprockets mounted thereon to rotate forward, all the travel sprockets in each row are driven by the travel chain, causing each row of travel wheels 221 to rotate synchronously in the forward direction, thus propelling the vehicle body 21 forward. When the travel motor drives the travel sprockets mounted thereon to rotate in the reverse direction, all the travel sprockets in each row are driven by the travel chain, causing each row of travel wheels 221 to rotate synchronously in the reverse direction, thus propelling the vehicle body 21 backward. When the vehicle body 21 moves forward or backward, the travel wheels 221 travel on the guide rails.

[0182] See Figure 7 , Figure 8 The vehicle body 21 is also equipped with guide wheels 222 on the side where the driving wheels 221 are installed. The guide wheels 222 can prevent the sides of the vehicle body 21 from colliding with nearby facilities.

[0183] Example 9:

[0184] This embodiment 9 presents a structural form of the pipeline system in embodiment 1.

[0185] The piping system includes pipe 231, coiled pipe assembly and expansion joint assembly.

[0186] See Figure 8 The coil device includes a movable pulley 232 and a linear motion module for driving the movable pulley 232 to move in a straight line.

[0187] The linear motion module can employ a lead screw and nut transmission mechanism. This mechanism includes a drive motor, a lead screw, a guide rod, and a nut seat. The drive motor is a servo motor, mounted on the vehicle body 21. A lead screw is mounted on the output shaft of the drive motor, with its end rotatably connected to the vehicle body 21. The guide rod is fixedly mounted on the vehicle body 21. The nut seat is threadedly connected to the lead screw and linearly slidably connected to the guide rod. A movable pulley 232 is mounted on the nut seat.

[0188] When the drive motor drives the lead screw to rotate forward, the nut seat carries the movable pulley 232 forward; when the drive motor drives the lead screw to rotate in reverse, the nut seat carries the movable pulley 232 backward.

[0189] It should be noted that the linear motion module can use other linear motion devices, as long as they can drive the pulley 232 to move forward and backward in a straight line. This application does not impose any restrictions on this.

[0190] See Figure 7 and Figure 8 The first end 2311 of the pipe 231 is fixed to the vehicle body 21 by a clamp 23111. The first end 2311 of the pipe 231 is used to connect to the liquid buffer device. The middle part of the pipe 231 is wrapped around the pulley 232. The second end 2312 of the pipe 231 is used to enter and exit the target storage container.

[0191] The telescopic pipe device is used to drive the second end 2312 of the pipe 231 into and out of the target storage container. The telescopic pipe device includes a second telescopic structure, which includes one of a hydraulic telescopic structure, a pneumatic telescopic structure, an electric telescopic structure, an electromagnetic telescopic structure, or a rigid chain telescopic structure.

[0192] See Figure 9 In this embodiment, the telescopic tube device adopts a rigid chain telescopic structure. The rigid chain telescopic structure includes a first chain 261, a second chain 262, a first winding and unwinding mechanism, a second winding and unwinding mechanism, and a splicing mechanism. The first winding and unwinding mechanism is used to wind and unwind the first chain 261, and the second winding and unwinding mechanism is used to wind and unwind the second chain 262. The splicing mechanism is used to splice the first chain 261 and the second chain 262 into a rigid chain, and the rigid chain is installed together with the second end 2312 of the pipe 231.

[0193] See Figure 9 The first drive mechanism includes a first sprocket 263 and a first motor for driving the first sprocket 263 to rotate; the first motor may be a servo motor. The second drive mechanism includes a second sprocket 264 and a second motor for driving the second sprocket 264 to rotate; the second motor may be a servo motor. The assembly mechanism includes an assembly seat 265, which is mounted on the vehicle body 21, and an assembly hole 2651 is provided through the assembly seat 265. One end of the first chain 261 is wound around the first sprocket 263, and the other end of the first chain 261 passes through the assembly hole 2651. One end of the second chain 262 is wound around the second sprocket 264, and the other end of the second chain 262 also passes through the assembly hole 2651. The winding directions of the first chain 261 and the second chain 262 are opposite. When the first chain 261 and the second chain 262 pass through the splicing hole 2651, the gradually narrowing diameter of the splicing hole 2651 causes the teeth on the first chain 261 and the second chain 262 to mesh with each other to form a rigid chain. The rigid chain can maintain a straight state without bending or deforming.

[0194] See Figure 9When the first motor drives the first sprocket 263 to rotate counterclockwise and the second motor drives the second sprocket 264 to rotate clockwise, the first chain 261 is gradually released from the first sprocket 263 and the second chain 262 is gradually released from the second sprocket 264. This results in the first chain 261 and the second chain 262 passing through the splicing hole 2651 for a longer length, and the length of the rigid chain formed by splicing is also longer. As a result, the second end 2312 of the rigid chain carrying the pipe 231 enters the target storage container to a greater depth.

[0195] See Figure 9 When the first motor drives the first sprocket 263 to rotate clockwise and the second motor drives the second sprocket 264 to rotate counterclockwise, the first chain 261 and the second chain 262 retract from the splicing hole 2651, the length of the spliced ​​rigid chain shortens, and the second end 2312 of the rigid chain carrying the pipe 231 gradually exits from the target storage container.

[0196] While the telescopic tube device drives the second end 2312 of the pipe 231 to enter and exit the target storage container, the linear motion module drives the movable pulley 232 to move linearly. For example, when the telescopic tube device drives the second end 2312 of the pipe 231 downward into the target storage container, the linear motion module drives the movable pulley 232 forward to approach the target storage container, so that the pipe 231 has sufficient length to extend downward into the target storage container; when the telescopic tube device drives the second end 2312 of the pipe 231 upward out of the target storage container, the linear motion module drives the movable pulley 232 backward away from the target storage container, ensuring that the pipe 231 can effectively return to the vehicle body 21.

[0197] Furthermore, a first element is installed on the vehicle body 21, which is used to obtain the distance L1 between the bottom of the vehicle body 21 and the liquid surface in the target storage container. A second element is provided on the linear motion module, which is used to obtain the distance L2 of the second end 2312 of the pipe 231 extending relative to the vehicle body 21. The host computer drives the telescopic pipe device and the linear motion module to operate based on the information obtained from the first and second elements.

[0198] Both the first and second components employ one of the following: an encoder, a laser rangefinder, or a meter-counting wheel. Encoders, laser rangefinders, and meter-counting wheels are all existing products. For example, in a linear motion module, when a servo motor is used as the drive motor, an encoder is typically installed in the servo motor. The encoder can calculate the distance the nut seat carries the movable pulley 232, and this distance is the length of the second end 2312 of the pipe 231 extending out.

[0199] When performing step S104 or step S204: the host computer controls the telescopic tube device to drive the second end 2312 of the pipe 231 to move downward, and the host computer controls the linear motion module to drive the movable pulley 232 to move linearly towards the target storage container, so that the second end 2312 of the pipe 231 enters the target storage container.

[0200] More specifically: the host computer controls the first element to obtain the distance L1 between the bottom of the vehicle body 21 and the liquid surface in the target storage container; the host computer controls the second element to obtain the distance L2 of the second end 2312 of the pipe 231 extending relative to the vehicle body 21; the host computer determines the second moving distance; the second moving distance is the difference between distance L1 and distance L2 (L1 is greater than L2); the host computer controls the telescopic pipe device to drive the second end 2312 of the pipe 231 to move down the second moving distance, and the host computer controls the linear motion module to drive the movable pulley 232 to move linearly towards the target storage container the second moving distance, so that the second end 2312 of the pipe 231 moves down into the target storage container.

[0201] When executing step S107 or step S207: the host computer controls the telescopic tube device to drive the second end 2312 of the pipe 231 to move upward, and the host computer controls the linear motion module to drive the movable pulley 232 to move linearly away from the target storage container, so that the second end 2312 of the pipe 231 exits the target storage container.

[0202] More specifically: the host computer controls the first element to obtain the distance L1 between the bottom of the vehicle body 21 and the liquid surface in the target storage container; the host computer controls the second element to obtain the distance L2 of the second end 2312 of the pipe 231 extending relative to the vehicle body 21; the host computer determines the first moving distance; the first moving distance is the difference between distance L2 and distance L1 (L2 is greater than L1); the host computer controls the telescopic pipe device to drive the second end 2312 of the pipe 231 to move upward by the first moving distance, and the host computer controls the linear motion module to drive the movable pulley 232 to move linearly away from the target storage container by the first moving distance, so that the second end 2312 of the pipe 232 moves upward and exits the target storage container.

[0203] During the process of the second end 2312 of the aforementioned pipe 231 entering and exiting the target storage container, the first and second components monitor in real time to adjust the extension length of the second end 2312 of the pipe 231 in a timely manner. Thus, during the warehousing operation, the second end 2312 of the pipe 231 can move upwards as the liquid level rises; during the warehousing operation, the second end 2312 of the pipe 231 can move downwards as the liquid level falls. On the one hand, during the warehousing operation, this ensures that the pipe 231 effectively contacts the liquid, preventing the pipe 231 from failing to extract liquid and ensuring the reliability of the warehousing operation. On the other hand, during the warehousing operation, the pipe 231 rises with the liquid level, and upon completion of warehousing, the pipe 231 immediately retracts into the vehicle body 21, saving time and further improving the efficiency of pipe 231 storage.

[0204] Example 10:

[0205] This embodiment 10 illustrates a structural form of the power unit in embodiment 1:

[0206] In this embodiment 10, a power unit is mounted on the vehicle body 21, and the power unit is used to provide extraction power to the pipeline system. The power unit includes a water pump 241, which is mounted on the vehicle body 21.

[0207] Example 11:

[0208] This embodiment 11 further improves the vehicle body 21:

[0209] The vehicle body 21 is also equipped with a window 281, which is used to provide a channel for the second end 2312 of the pipe 231 to enter and exit the target storage container. The vehicle body 21 is also equipped with a liquid collection device and a telescopic mechanism for driving the liquid collection device to extend and retract. The liquid collection device can be a liquid collection tray or a liquid collection container, taking a liquid collection tray as an example.

[0210] When the telescopic mechanism drives the liquid collection tray to retract, the window 281 is exposed. At this time, the second end 2312 of the pipe 231 is allowed to extend out from the window 281, the first telescopic structure 251 is allowed to extend downward, and the barcode scanner 271 is allowed to scan.

[0211] When the pipeline system completes the outbound or inbound operation, the telescopic mechanism drives the liquid collection tray to extend, the window 281 is closed by the liquid collection tray, the second end 2312 of the pipe 231 cannot extend from the window 281, the first telescopic structure 251 cannot extend downward, the barcode scanner 271 cannot scan, and the liquid collection tray can collect the residual dripping liquid at the second end 2312 of the pipe 231.

[0212] The telescopic mechanism can be a hydraulic cylinder, pneumatic cylinder, or electric push rod, etc. The telescopic mechanism is installed on the vehicle body 21. The telescopic mechanism drives the liquid collection tray to move horizontally to open and close the window 281.

[0213] Example 12:

[0214] This embodiment 12 provides a structural form of the liquid buffer device in embodiment 1:

[0215] The liquid buffer device includes a first buffer container, with a mobile chassis at its bottom. The mobile chassis and the first buffer container constitute a transfer vehicle. The mobile chassis can be an AGV (Automated Guided Vehicle). The mobile chassis transports the first buffer container to the vicinity of the target storage container, and the first end 2311 of the pipe 231 connects to the first buffer container. During outbound operations, the power unit pumps the liquid stored in the target storage container into the first buffer container through the pipe 231. During inbound operations, the power unit pumps the liquid in the first buffer container into the target storage container through the pipe 231.

[0216] As another possible implementation, the liquid buffer device includes a second buffer container with a delivery pipe on one side. One end of the delivery pipe extends to the area where the target storage container is located, so as to connect with the first end 2311 of the pipe 231 when the vehicle body 1 is performing inbound or outbound operations.

[0217] For example, the second storage container can be a storage tank, and the second buffer container is located on the floor above the target storage container. The delivery pipeline extends downwards from the upper floor to the area where the target storage container is located. During the warehousing operation, the delivery pipeline extending to the area where the target storage container is located connects to the first end 2311, and the power unit pumps the liquid in the second buffer container sequentially through the delivery pipeline and pipeline 231 to the target storage container.

[0218] For example, the second storage container is located on the floor below the target storage container, and the delivery pipeline extends upwards from the floor below to the area where the target storage container is located. During outbound operations, the delivery pipeline extending to the area where the target storage container is located connects to the first end 2311, and the power unit delivers the liquid in the target storage container sequentially through pipeline 231 and the delivery pipeline to the second buffer container.

[0219] One end of the delivery pipeline extending to the area where the target storage container is located can be connected to the first end 2311 of the pipeline 231 via a quick connector, which is an existing product.

[0220] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A method for liquid entry and exit from a warehouse, characterized in that, The method is applied to a liquid storage system, which includes a host computer, a storage container, a mobile vehicle, a liquid buffer device, and a power unit. The storage container's lid includes a lid body with an inlet and outlet. A cover plate is elastically hinged to the lid body to cover the inlet and outlet. The lid body also has a lock body with a latch that engages with it. One end of the latch outside the lock body has a slope. The lock body has a press-triggered mechanism to drive the latch to retract. The mobile vehicle includes a vehicle body with a traveling device and a piping system. The vehicle body is also equipped with a switch cover device, which includes a first telescopic structure. The method includes: Determine task information, which includes the location information of the target storage container, which is the storage container that needs to be put into storage or put out storage. Based on the task information, the host computer controls the walking device to drive the vehicle to the location of the target storage container; The host computer controls the opening of the container lid on the target storage container, including: the host computer controls the first telescopic structure to extend downward so that the first telescopic structure presses the pressing trigger mechanism, the pressing trigger mechanism drives the latch to retract into the lock body, releasing the latch from pressing the cover plate, and the cover plate flips upward and pops open; after the cover plate is opened, the host computer controls the first telescopic structure to retract upward and reset into the vehicle body, and the end of the latch with the slope surface extends out of the lock body again; The host computer controls one end of the piping system to extend into the target storage container, and the other end of the piping system is used to dock with the liquid buffer device; The host computer controls the power unit to pump the liquid in the target storage container to the liquid buffer device through the pipeline system to complete the outbound operation; or... The host computer controls the power unit to pump the liquid in the liquid buffer device to the target storage container through the pipeline system to complete the warehousing operation.

2. The liquid in / out method as described in claim 1, characterized in that, The task information also includes the liquid outflow volume; The host computer controls the power unit to pump the liquid in the target storage container to the liquid buffer device through the pipeline system to complete the outbound operation, including: The host computer controls the power unit to pump the liquid in the target storage container to the liquid buffer device according to the liquid outflow rate through the pipeline system to complete the outflow operation.

3. The liquid in / out method as described in claim 1, characterized in that, The task information also includes the amount of liquid entering the warehouse; The host computer controls the power unit to pump the liquid from the liquid buffer device to the target storage container through the pipeline system to complete the warehousing operation, including: The host computer controls the power unit to pump the liquid in the liquid buffer device into the target storage container through the pipeline system according to the liquid ingestion amount to complete the ingestion operation.

4. The liquid in / out method as described in claim 1, characterized in that, Also includes: After the outbound or inbound operation is completed, the host computer controls the power unit to shut down; The host computer controls one end of the pipeline system to retract and exit the target storage container, and controls the container lid on the target storage container to close.

5. A liquid in / out method as described in claim 4, characterized in that, The host computer controlling the container lid on the target storage container to close includes: The host computer controls the cover switch device to close the cover plate.

6. The liquid in / out method as described in claim 5, characterized in that, The host computer controls the cover-closing device to close the cover, including: The host computer controls the walking device to drive the vehicle body backward, so that the first telescopic structure moves backward to the rear side of the cover plate; The host computer controls the first telescopic structure to extend downwards; The host computer controls the walking device to drive the vehicle body forward, so that the first telescopic structure in the extended state moves forward and pushes the cover plate, causing the cover plate to flip downward. The host computer controls the first telescopic structure to continue extending downwards. The extended first telescopic structure presses down on the cover plate, and the cover plate continues to flip downwards and pushes the slope to push the bolt back into the lock body. When the cover plate flips downwards to below the bolt, the bolt returns to its original position and extends, so that the bolt presses against the top surface of the cover plate, and the cover plate closes. The host computer controls the first telescopic structure to retract upwards and reset into the vehicle body.

7. The liquid in / out method as described in claim 1, characterized in that, The first telescopic structure includes one of a hydraulic telescopic structure, a pneumatic telescopic structure, an electric telescopic structure, or an electromagnetic telescopic structure.

8. A liquid in / out method as described in claim 4, characterized in that, The piping system includes pipes, coiling devices, and telescopic pipe devices. The coiling device includes a movable pulley and a linear motion module for driving the movable pulley to move in a straight line. The first end of the pipe is connected to the liquid buffer device, the middle part of the pipe is wound around the movable pulley, and the second end of the pipe is connected to the telescopic pipe device. The host computer controls one end of the pipeline system to extend into the target storage container, including: The host computer controls the telescopic tube device to drive the second end of the pipe to move downward, and the host computer controls the linear motion module to drive the movable pulley to move linearly towards the target storage container, so that the second end of the pipe enters the target storage container; The host computer controls one end of the pipeline system to retract and exit the target storage container, including: The host computer controls the telescopic tube device to drive the second end of the pipe to move upward, and the host computer controls the linear motion module to drive the movable pulley to move linearly away from the target storage container, so that the second end of the pipe exits the target storage container.

9. A liquid in / out method as described in claim 8, characterized in that, The vehicle body is provided with a first element, which is used to obtain the distance between the bottom of the vehicle body and the liquid surface in the target storage container. The linear motion module is provided with a second element, which is used to obtain the distance that the second end of the pipe extends relative to the vehicle body. The host computer controls the telescopic tube device to drive the second end of the pipe to move upward, and the host computer controls the linear motion module to drive the movable pulley to move linearly away from the target storage container, so that the second end of the pipe exits the target storage container, including: The host computer controls the first element to obtain the distance L1 between the bottom of the vehicle body and the liquid surface in the target storage container, and the host computer controls the second element to obtain the distance L2 of the second end of the pipe extending relative to the vehicle body; The host computer determines a first moving distance; the first moving distance is the difference between the distance L2 and the distance L1; The host computer controls the telescopic tube device to drive the second end of the pipe to move upward by the first moving distance, and the host computer controls the linear motion module to drive the movable pulley to move linearly away from the target storage container by the first moving distance, so that the second end of the pipe moves upward and exits the target storage container; The host computer controls the telescopic tube device to drive the second end of the pipe to move downwards, and the host computer controls the linear motion module to drive the movable pulley to move linearly towards the target storage container, so that the second end of the pipe enters the target storage container, including: The host computer determines a second moving distance; the second moving distance is the difference between distance L1 and distance L2; The host computer controls the telescopic pipe device to drive the second end of the pipe to move down the second moving distance, and the host computer controls the linear motion module to drive the movable pulley to move linearly towards the target storage container the second moving distance, so that the second end of the pipe moves down into the target storage container.

10. A liquid in / out method as described in claim 8, characterized in that, The telescopic tube device includes a second telescopic structure, which may be one of a hydraulic telescopic structure, a pneumatic telescopic structure, an electric telescopic structure, an electromagnetic telescopic structure, or a rigid chain telescopic structure.

11. A liquid in / out method as described in claim 1, characterized in that, The vehicle body is also equipped with a barcode scanning system, and the container lid is equipped with an identification code. The identification code is used to identify at least the number and location information of the storage container. The task information also includes the number of the target storage container. Before the host computer controls the container lid on the target storage container to open, the following is also included: The host computer controls the scanning system to scan the identification code and confirms whether the number and location information of the target storage container are correct according to the task information; If the target storage container's number and location information are confirmed to be correct, then the container lid on the target storage container is opened.

12. A liquid in / out method as described in claim 11, characterized in that, The scanning system is also used to determine whether the container lid is closed.

13. A liquid in / out method as described in claim 1, characterized in that, The liquid buffer device includes a first buffer container, the bottom of which is provided with a movable chassis, and the first buffer container is connected to the pipeline system.

14. A liquid in / out method as described in claim 1, characterized in that, The liquid buffer device includes a second buffer container, and a delivery pipe is provided on one side of the second buffer container. One end of the delivery pipe extends to the area where the target storage container is located, and the end of the delivery pipe extending to the area where the target storage container is located is connected to the pipeline system.

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