Transport system

Abstract

A handling system includes a handling vehicle that moves on a latticed track, the handling vehicle being in communication with a control module, the handling vehicle being in communication with the control module when a handling vehicle issues an exclusive use request to the control module to acquire an exclusive use right of a blocked area. A control module determines whether to release cells having acquired exclusive use right from a carrier according to a connection position between a blocking area corresponding to an exclusive use request and the cells having acquired exclusive use right from the carrier and whether exclusive request rights of all cells in the blocking area corresponding to the exclusive use request are granted to the carrier. And exclusive usage of at least a portion of the cells. The carrying vehicle does not need to independently send a release request to the control module, the communication frequency of the carrying vehicle and the control module is effectively reduced, meanwhile, different release strategies can be adopted according to different conditions, it can be guaranteed that the exclusive use right of the cells is released as early as possible, and when special conditions exist, the use right of the cells can be released as early as possible. And a back road for changing the driving path is reserved.

Description

Technical Field

[0001] The present invention relates to the field of automatic material handling, especially a handling system. Background Art

[0002] The patent document with the authorization announcement number CN113841099B discloses a handling system.

[0003] In this system, a carrier moving on a grid-shaped track is used to handle items. When the carrier moves on the track, it needs to perform exclusive control on the cells of the track. And after the carrier completes the actions within the blocked section for which occupancy permission has been given, it requests the release of the occupancy permission from the blocking controller for the blocked section for which occupancy permission has been given, and the blocking controller makes a judgment on releasing the occupancy permission.

[0004] The problem with this method is that every time the occupancy permission is released, the carrier needs to communicate with the blocking controller, which increases the communication times between the carrier and the blocking controller, raises the requirements for the blocking controller. At the same time, this method is not conducive to meeting the need for switching the driving path. Summary of the Invention

[0005] The purpose of the present invention is to solve the above problems existing in the prior art and provide a handling system.

[0006] The purpose of the present invention is achieved through the following technical solutions: A handling system, including a grid-shaped track and a carrier moving on the track. The carrier communicates with a control module. When a carrier sends an exclusive use request to the control module to obtain the exclusive use right of a blocked area, the control module determines whether to release the exclusive use right of at least some cells in the cells for which the carrier has obtained the exclusive use right according to the connection position between the blocked area corresponding to the exclusive use request and the cells for which the carrier has obtained the exclusive use right, and whether the exclusive request rights of all cells in the blocked area corresponding to the exclusive use request are all granted to the carrier.

[0007] Preferably, when receiving the exclusive use request, the control module determines whether the blocked area corresponding to the exclusive use request is connected to the cells for which the carrier has obtained the exclusive use right. If it is determined that the blocked area corresponding to the exclusive use request is connected to the cells for which the carrier has obtained the exclusive use right, it is sequentially determined whether to grant the exclusive use right of each cell in the blocked area corresponding to the exclusive use request to the carrier; if it is determined that the blocked area corresponding to the exclusive use request is not connected to the cells for which the carrier has obtained the exclusive use right, information that the cells are not connected and the request fails is sent to the carrier.

[0008] Preferably, when the transporter receives the information that the cell has no connection and the request fails, it determines a new blocked area based on the cells for which it has obtained the exclusive use right and the cells through which its driving path passes, and then sends an exclusive use request for obtaining the exclusive use right of the new blocked area to the control module.

[0009] Preferably, when the control module receives the exclusive use request, it sequentially determines whether to grant the exclusive use right of each cell in the blocked area corresponding to the exclusive use request to the transporter according to the following steps: The control module determines the status of the cell; When it is determined that the status of the cell is idle, the control module grants the exclusive use right of the cell to the transporter; When it is determined that the status of the cell is occupied, it is determined whether the cell is a cell to be unlocked. If not, the control system determines that the exclusive use right of the cell is not granted to the transporter. If so, the control system grants the exclusive use right of the cell to the transporter and instructs the transporter to unlock the cell to be unlocked; When it is determined that the status of the cell is locked, the control system determines that the exclusive use right of the cell is not granted to the transporter.

[0010] Preferably, when it is determined that the exclusive use right of any cell cannot be granted to the transporter, the control module ends the authorization of the exclusive use right of the other cells in the blocked area located after the cell.

[0011] Preferably, the process by which the control module determines whether a cell is a cell to be unlocked is as follows: The control module determines whether the duration for which the cell is occupied by a transporter exceeds a time threshold; If so, it is determined that the cell is not a cell to be unlocked; If not, it is determined whether the transporter is communicating normally; If not, it is determined that the cell is a cell to be unlocked; If so, it is determined whether the cell is the cell for which the transporter has currently obtained the exclusive use right; If not, it is determined that the cell is a cell to be unlocked; If so, it is determined whether the transporter has a mechanical failure; If so, it is determined that the cell is a cell to be unlocked; If not, the transporter is notified to release the exclusive use right of the cell in a timely manner.

[0012] Preferably, when the control module determines that the state of the cell is locked, it re-plans the driving path and instructs the carrier to move according to the re-planned driving path.

[0013] Preferably, when the control module determines that the last cell in the cells for which the carrier has obtained the exclusive use right is connected to the first cell of the blocked area corresponding to the exclusive use request and the exclusive use rights of all the cells in the blocked area corresponding to the exclusive use request have been granted to the carrier, the control module releases the exclusive use right of the cell upstream of the cell where the carrier issues the exclusive use request among the cells for which the carrier has obtained the exclusive use right; When the control module determines that the last cell in the cells for which the carrier has obtained the exclusive use right is not connected to the first cell of the blocked area corresponding to the exclusive use request, and the first cell of the blocked area corresponding to the exclusive use request is connected to other cells in the cells for which the carrier has obtained the exclusive use right, when the exclusive use rights of all the cells in the blocked area corresponding to the exclusive use request have been granted to the carrier, the control module does not release the exclusive use right of the cells for which the carrier has obtained the exclusive use right; When the control module determines that the last cell in the cells for which the carrier has obtained the exclusive use right is connected to the first cell of the blocked area corresponding to the exclusive use request, and the exclusive use rights of all the cells in the blocked area corresponding to the exclusive use request have not been fully granted to the carrier, the control module does not release the exclusive use right of the cells for which the carrier has obtained the exclusive use right.

[0014] Preferably, after receiving the response information from the control module, the carrier updates the information of the cells for which it has obtained the exclusive use right, and the response information includes whether the carrier has obtained the exclusive use right of a blocked area, which cells' exclusive use rights have been obtained, and the cells for which the carrier needs to release the exclusive use right.

[0015] Preferably, after the carrier updates which cells' exclusive use rights it has obtained, it determines whether the number of cells for which it has obtained the exclusive use right exceeds the threshold. If so, it actively applies to release the exclusive use right of the cells it no longer needs.

[0016] The advantages of the technical solution of the present invention are mainly reflected in: When the present invention requests an exclusive use right for a blocked area by a transport vehicle, the control module determines whether to release the exclusive use right of at least some of the cells in the cells where the transport vehicle has obtained the exclusive use right based on the positional relationship between the cells where the transport vehicle has obtained the exclusive use right and the blocked area for which the exclusive use right is requested, and whether all the exclusive request rights of all the cells in the blocked area for which the exclusive use right is requested are granted to the transport vehicle. Thus, it is possible to release the exclusive use right of the cells where the transport vehicle has obtained the exclusive use right when requesting the exclusive use right of the blocked area, without the need for the transport vehicle to separately send a release request to the control module, effectively reducing the communication between the transport vehicle and the control module. At the same time, different release strategies can be adopted according to different situations, which can not only ensure that the exclusive use right of the cells is released as early as possible, but also leave a fallback for changing the driving route in case of special situations.

[0017] When receiving an exclusive use request, the control module of the present invention first determines whether the blocked area corresponding to the exclusive use request is connected to the cells that have obtained the exclusive use right, thereby effectively identifying abnormal situations of the exclusive use request and timely notifying the transport vehicle to verify the blocked area of the exclusive use request.

[0018] When the control module of the present invention determines whether to grant the exclusive use right of a cell to a transport vehicle, it simultaneously determines whether the cell is a cell to be unlocked. When it is determined to be a cell to be unlocked, it grants the transport vehicle the exclusive use right of the cell to be unlocked and instructs it to unlock the cell to be unlocked. When it is determined that there are locked cells, it timely replans the driving route for the transport vehicle, thereby facilitating the timely discovery and handling of abnormal situations on the driving route and being conducive to improving the traffic efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a partial schematic diagram of the transport system of the present invention; Figure 2 is a schematic structural diagram of multiple transport vehicle controllers communicating with the control module of the present invention; Figure 3 is a schematic diagram of the communication process between the blocking controller and the transport vehicle controller of the present invention Figure 4 is a schematic diagram in which the cells where the transport vehicle has currently obtained the exclusive use right are not connected to the blocked area corresponding to the exclusive use request in the present invention; Figure 5 is a schematic diagram in which the last cell of the blocked area where the transport vehicle has obtained the exclusive use right is connected to the first cell of the blocked area corresponding to the exclusive use request in the present invention; Figure 6It is a schematic diagram showing the connection between the first cell in the blocked area corresponding to the exclusive use request of the transporter in the present invention and other points in the blocked area for which it has obtained the exclusive use right; Figure 7 It is that the blocking controller in the present invention determines whether to grant the exclusive use right of the cell to the transporter according to the different states of the cell; Figure 8 It is a perspective view of the transporter in the present invention with obstacle detection sensors provided on four sides; Figure 9 It is a schematic diagram showing the detection range of the obstacle avoidance radar on one side of the transporter in the present invention; Figure 10 It is a schematic flowchart of the blocking controller in the present invention for determining whether a cell is a cell to be released from the block; Figure 11 It is an example diagram showing that the driving path of an executing transporter in the present invention includes the release of a cell to be released from the block.

[0020] Figure 12 It is the front view of the transporter in the present invention; Figure 13 It is the top view of the transporter in the present invention; Figure 14 It is a schematic perspective view of the track in the present invention; Figure 15 It is a partial top view of the track in the present invention; Figure 16 It is an end view of the first track or the second track and the structures thereon in the present invention; Figure 17 It is a cross-sectional view of the track in the present invention connected to the ceiling or roof through a connecting member; Figure 18 It is a schematic diagram of the transporter in the present invention grasping an item; Figure 19 It is a schematic diagram of the transporter in the present invention grasping an item into its storage space. Detailed implementation manners

[0021] The objectives, advantages and features of the present invention will be illustrated and explained through the non-restrictive description of the following preferred embodiments. These embodiments are only typical examples of applying the technical solutions of the present invention, and all technical solutions formed by equivalent replacement or equivalent transformation fall within the scope of protection required by the present invention.

[0022] In the description of the solution, it should be noted that the orientation or positional relationship indicated by terms such as "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of description and simplification of the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0023] Embodiment 1 The handling system disclosed by the present invention will be described below with reference to the accompanying drawings. As shown in the Figure 1 drawings, the handling system includes a handling vehicle 100 and a grid-shaped track 300 for the handling vehicle 100 to travel. The handling vehicle 100 moves along a first direction and a second direction on the track 300.

[0024] The specific structures of the handling vehicle 100 and the track 300 can refer to the structures disclosed in the patent documents cited in the background art and will not be elaborated here.

[0025] The handling vehicle 100 includes a handling vehicle controller for controlling the movement, picking and placing operations of the handling vehicle 100, requesting exclusive use rights of the cell 301 from the control module, etc.

[0026] As shown in the Figure 2 drawings, the handling vehicle controller of each handling vehicle 100 communicates with the control module. The control module may include a transportation controller and a blocking controller that communicate with each other. For example, the blocking controller shares the attribute information of the cells 301 it manages with the transportation controller so that the transportation controller can plan a travel path for the handling vehicle 100 and instruct the handling vehicle 100 to release the cells that need to be released. The transportation controller and the blocking controller may be two independent controllers or integrated into one controller. The controller is usually composed of a processor, a memory, software, etc. and will not be elaborated here.

[0027] The transportation controller is also used to receive job tasks, determine the handling vehicles 100 for performing various job tasks, plan travel paths for the handling vehicles 100 performing job tasks, and instruct each handling vehicle 100 to perform job tasks according to the planned travel paths. The job tasks include but are not limited to handling tasks, scheduling tasks, release tasks, etc.

[0028] The blocking controller is also used to communicate with the forklift controller to allocate the exclusive use rights of each cell 301 to the forklift 100. At any moment, the exclusive use rights of a cell 301 can only be granted to one forklift 100. That is, when the exclusive use rights of a cell 301 have been granted to one forklift 100 (the cell 301 is occupied by a forklift 100), other forklifts 100 cannot obtain the exclusive use rights of this cell 301. After obtaining the exclusive use rights of a cell, the corresponding forklift 100 can move and stay in the cell.

[0029] The blocking controller maintains a cell attribute table, in which the attribute information of each cell 301 is stored and dynamically updated. The attribute information of each cell 301 includes but is not limited to the status of the cell 301, the check result of the status to be lifted, the occupied forklift 100, the start time of being occupied, the idle time, etc. Among them, the status of the cell 301 includes but is not limited to: occupied, idle, locked, etc.

[0030] The blocking controller allocates the exclusive use rights of each cell 301 according to the exclusive use requests of the forklifts. Moreover, the blocking controller determines which forklift is granted the exclusive request rights of the cell according to the order of the forklifts 100 requesting to obtain the exclusive use rights of a cell 301. That is, the forklift 100 that requests to obtain the exclusive use rights of the cell 301 first is granted the exclusive use rights of the cell 301 first, and the forklift 100 that requests to obtain the exclusive use rights of this cell 301 later is granted the exclusive use rights of the cell 301 later. Of course, on this basis, priority authorization of the corresponding forklift can also be carried out based on the handling priority.

[0031] When the handling system is working, when the transportation controller receives a job task, it determines a forklift 100 as the executing forklift for executing the job task, plans a driving path for the executing forklift and then sends an execution instruction to the executing forklift. When the executing forklift receives the execution instruction, it determines which cells 301 need to obtain the exclusive use rights according to the driving path.

[0032] When sending an exclusive use request to the lock controller, the blocking area corresponding to the exclusive use request sent by the executing carrier vehicle may include all cells 301 on the driving path. Of course, the executing carrier vehicle can also obtain the exclusive use rights of all cells 301 on the driving path by sending multiple exclusive use requests step by step, that is, the blocking area corresponding to each exclusive use request only includes some cells on the driving path. Each of the blocking areas may include only one cell 301. More preferably, in order to reduce the number of communications, the blocking area includes a plurality of cells 301 continuously distributed in the moving direction of the executing carrier vehicle. The specific number of continuously distributed cells 301 can be designed as needed. For example, a blocking area may include a fixed number of consecutive cells, such as a blocking area including 3 or 5 consecutive cells 301, which is not limited here. Of course, in another embodiment, the number of consecutive cells 301 included in a blocking area can also be determined within a threshold range according to the moving speed of the executing carrier vehicle, the distribution direction of the cells 301, etc. For example, it can be selected within the range of 2-10, which is not limited here.

[0033] More preferably, all cells 301 in a blocking area are continuously distributed only in one direction. For example, when all cells 301 to be passed by the driving path include 3 cells 301 continuously distributed along the first direction X and 4 cells 301 continuously distributed along the second direction Y, then the blocking area corresponding to an exclusive use request includes 3 cells 301 distributed along the first direction X, and the blocking area corresponding to another exclusive use request includes 4 cells 301 distributed along the second direction Y.

[0034] As shown in the Figure 3 attachment, after determining the blocking area for which the executing carrier vehicle wants to obtain exclusive use rights at one time, it sends an exclusive use request to the lock controller to obtain the exclusive use rights of the blocking area. When the lock controller receives each exclusive use request sent by the executing carrier vehicle, it first confirms whether the blocking area corresponding to the exclusive use request is connected to the cells 301 for which the executing carrier vehicle has obtained exclusive use rights. When it is determined that the two are not connected, it sends a message indicating that the cells are not connected and the request fails to the executing carrier vehicle. At the same time, it can also send information for verifying the blocking area corresponding to the exclusive use request to the executing carrier vehicle. After receiving the feedback information from the lock controller, the executing carrier vehicle can re-determine the blocking area for which it wants to obtain exclusive use rights based on the cells 301 for which it has obtained exclusive use rights and the cells 301 to be passed by its driving path, and re-send an exclusive use request to the lock controller. As shown in the Figure 4As shown, the transporter V01 has obtained the exclusive right to use cells 12 - 14. The locked area corresponding to the current exclusive use request sent by the transporter V01 includes cells 16 - 18. At this time, the lock controller confirms that the locked area corresponding to the exclusive use request of the transporter V01 is not connected to the cells for which it has currently obtained the exclusive right to use. Then, the lock controller sends a message indicating that the cells are not connected and the request has failed to the executing transporter for the failed transport vehicle request.

[0035] When it is determined that the locked area corresponding to the exclusive use request is connected to the cells 301 for which the executing transporter has obtained the exclusive right to use, the lock controller sequentially determines whether each cell 301 in the locked area corresponding to the exclusive use request is idle, starting from the first cell to the last cell of the locked area corresponding to the exclusive use request. That is, the lock controller first determines whether the first cell 301 in the locked area for which the executing transporter is to obtain the exclusive request right is idle. If it is determined that the first cell 301 is not idle (i.e., the first cell 301 is occupied by the transporter 100), then a message indicating that the request has failed is returned to the executing transporter, and the continued authorization of the other cells in the locked area is terminated. If it is determined that the first cell 301 is idle (not occupied by the transporter 100), then the exclusive right to use the first cell 301 is assigned to the executing transporter, and it is determined whether the next cell 301 is idle.

[0036] When it is determined that any subsequent cell 301 in the locked area is not idle, a message indicating that the request has failed is fed back to the transporter 100, and the continued authorization of the remaining cells 301 in the locked area is terminated.

[0037] When it is determined that the exclusive right to use all cells 301 in the locked area has been granted to the executing transporter, the lock controller sends a message indicating that the request has been successful to the executing transporter. The transporter controller of the executing transporter updates the occupancy information table it maintains and can move to the locked area.

[0038] When the execution carrier moves to a certain position in the blocked area for which it has obtained the exclusive use right, the execution carrier may request the exclusive use right of the next blocked area from the blocking controller. Generally, the request for the exclusive use right of the next blocked area may be made when the execution carrier moves to the last cell 301 of the blocked area for which it has obtained the exclusive use right. However, since there is a certain response time for the blocking controller to grant the exclusive use right, this will cause the execution carrier to wait at the last cell. Therefore, in order to avoid frequent start and stop of the execution carrier as much as possible, the request for the exclusive use right of the next blocked area may be made in advance before the execution carrier moves to the last cell 301 of the blocked area for which it has obtained the exclusive use right. The specific timing of the request may be determined according to the moving speed of the execution carrier and the response time of the blocking controller. For example, each execution carrier may count the response time of the blocking controller when it requests the exclusive use right in recent times, and calculate the average value of the recent response times as the possible response time for the next request for the exclusive use right. Thus, when it is determined that the time taken for the execution carrier to reach the last cell 301 of the blocked area for which it has obtained the exclusive use right from a certain position is slightly longer than the possible response time, the execution carrier requests the exclusive use right of the next blocked area from the blocking controller.

[0039] The timing of the above request for the exclusive use right of the next blocked area is based on the fact that the cells 301 of the next blocked area are continuously distributed in one direction with the cells for which the exclusive use right has been obtained currently, that is, continuously distributed in the first direction or the second direction. When the moving direction of the next blocked area for which the execution carrier is to obtain the exclusive use right is different from the moving direction of the execution carrier in the blocked area for which it has obtained the exclusive use right, since the execution carrier needs to stop at the last cell 301 of the blocked area for which it has obtained the exclusive use right to switch the wheels, therefore, the request for the exclusive use right of the next blocked area may be made when the execution carrier moves to the last cell 301 of the blocked area for which it has obtained the exclusive use right or a cell 301 upstream of the last cell 301.

[0040] When an execution carrier sends an exclusive use request for obtaining the exclusive use right of a blocked area to the blocking controller, the blocking controller not only determines whether to grant the exclusive use right of each cell of the blocked area to the execution carrier, but also determines whether to revoke the exclusive use right of at least some of the cells in the cells for which the execution carrier has obtained the exclusive use right, so that some of the cells 301 are restored to the idle state.

[0041] As attached Figure 3As shown, the locking controller determines whether to release the exclusive use right of at least some of the cells for which the executing carrier vehicle has obtained the exclusive use right based on the connection position between the locked area corresponding to the exclusive use request and the cells for which the executing carrier vehicle has obtained the exclusive use right, and whether the exclusive request rights for all the cells in the locked area corresponding to the exclusive use request are all granted to the executing carrier vehicle.

[0042] Specifically, if the locking controller determines that the last cell among the cells for which the executing carrier vehicle has obtained the exclusive use right is connected to the first cell of the locked area corresponding to the exclusive use request, and the exclusive use rights for all the cells 301 in the locked area corresponding to the exclusive use request are all granted to the executing carrier vehicle, the locking controller releases the exclusive use right of the cells 301 that are upstream of the cell 301 where the executing carrier vehicle issues the exclusive use request among the cells for which the executing carrier vehicle has obtained the exclusive use right.

[0043] For example, as shown in the appendix Figure 5 As shown, the locked area for which the V01 carrier vehicle currently obtains the exclusive request right includes cells 11 - 14. The V01 carrier vehicle issues an exclusive use request to the locking controller at cell 13 to obtain the exclusive use right for the next locked area. The next locked area includes cells 15 - 17. The last cell of the locked area for which it has obtained the exclusive use right is cell 14, and the first cell of the next locked area is cell 15, and the two are connected. Therefore, when it is determined that the exclusive use rights for cells 15 - 17 are all granted to the V01 carrier vehicle, the locking controller releases the exclusive use right of the V01 carrier vehicle for cells 11 and 12, which are cells 301. Adopting such a strategy can release the exclusive use right of the carrier vehicle for the cells 301 that are not needed as early as possible, thereby improving the utilization rate of the cells 301 and further improving the handling efficiency.

[0044] When the locking controller determines that the last cell of the locked area for which the executing carrier vehicle has obtained the exclusive use right is connected to the first cell of the locked area corresponding to the exclusive use request, but the exclusive use rights for all the cells 301 in the locked area corresponding to the exclusive use request are not all granted to the executing carrier vehicle, the locking controller does not release the exclusive use right of at least some of the cells for which the executing carrier vehicle has obtained the exclusive use right.

[0045] For example, as shown in the appendix Figure 5As shown, if the V01 transporter is only granted the exclusive use right of cells 15 and 16, but not the exclusive use right of cell 17, the blocking controller does not release the exclusive use right of the V01 transporter to cells 11 and 12. Instead, after the V01 transporter is granted the exclusive use right of cell 17, the blocking controller determines which cells 301' exclusive use right of the V01 transporter to release according to the position of the V01 transporter when it issues an exclusive use request to obtain the exclusive use right of cell 17 again. For example, when the V01 transporter requests to obtain the exclusive use right of cell 17 at cell 14 and is granted the exclusive use right, at this time, the blocking controller can release the exclusive use right of the V01 transporter to cells 11 - 13. This can provide a fallback in case it is impossible to obtain the exclusive use right of all cells 301 for a long time and the driving route needs to be changed.

[0046] When the last cell among the cells for which the blocking controller determines that the executing transporter has obtained the exclusive use right is not connected to the first cell of the blocking area corresponding to the exclusive use request, and the first cell of the blocking area corresponding to the exclusive use request is connected to the other cells except the last one among the cells for which the executing transporter has obtained the exclusive use right, when the exclusive use right of all cells in the blocking area corresponding to the exclusive use request is granted to the transporter, the blocking controller does not release the exclusive use right of the cells for which the transporter has obtained the exclusive use right.

[0047] For example, as shown in the appendix Figure 6As shown, when the blocking controller determines that the last cell (cell 14) of the blocking area (cells 11 - 14) where the V01 transporter currently obtains the exclusive request right is not adjacent to the first cell (cell 15) of the next blocking area (cells 15 - 17) requested to be occupied, and the first cell of the next blocking area is adjacent to other points (cell 13) of the blocking area for which it has obtained the exclusive use right, even when the V01 transporter is granted the exclusive use right for cells 15 - 17, the blocking controller does not release the exclusive use right of the cells for which the V01 transporter has obtained the exclusive use right. When the V01 transporter moves to the first cell of the next blocking area, the blocking controller can release the exclusive use right of the cells for which the V01 transporter has obtained the exclusive use right. That is, when the V01 transporter moves to cell 15, the exclusive use right of the cells for which the V01 transporter has obtained the exclusive use right is released. Of course, the exclusive use right of the cells for which the V01 transporter has obtained the exclusive use right can also be released at other appropriate times. Such a strategy can meet the requirement that when it is found that there is congestion in cell 301 on the driving path and the driving path needs to be changed, the executing transporter still has a fallback for driving path switching, which is beneficial to ensuring the handling flexibility and timeliness of the executing transporter.

[0048] When the blocking controller determines to release the exclusive use right of the executing transporter for some of the cells 301, it notifies the corresponding executing transporter of the cells 301 for which the exclusive use right needs to be released, so that the executing transporter can update the occupancy information table it maintains in a timely manner. And the blocking controller can integrate information such as the cells 301 for which the exclusive use right needs to be released, the request result of whether the executing transporter has successfully obtained the exclusive use right of a blocking area, and all the cells 301 for which the executing transporter has newly obtained the exclusive use right (excluding the cells for which the exclusive use right is released) into a response message and then feedback it to the executing transporter.

[0049] Of course, other methods can also be used to release the exclusive use right of the transporter for the cells 301 for which it has obtained the exclusive use right. For example, after receiving the response message from the blocking controller, the executing transporter updates the information of the cells 301 it occupies and determines whether the number of cells 301 it occupies exceeds a threshold. If so, it actively applies to release the exclusive use right of the cells 301 it no longer needs. The threshold can be set as needed, such as 5 - 8, etc., and is not limited here.

[0050] In the above process, when the blocking controller determines whether to grant the exclusive use right of a cell to the executing carrier vehicle, it only considers whether the cell is idle or occupied. However, in some cases, there may be some other situations with the cell. For example, the cell may be occupied by a malfunctioning carrier vehicle (a carrier vehicle that cannot continue to work) for a long time, resulting in the executing carrier vehicle being unable to obtain the exclusive use right of the cell for a long time or even always.

[0051] Therefore, as shown in the appendix Figure 7 When the blocking controller receives an exclusive use request sent by the executing carrier vehicle, it determines whether to grant the exclusive use right of each cell in the blocking area corresponding to the exclusive use request to the executing carrier vehicle in the following steps in sequence: The blocking controller determines the status of the cell; When it is determined that the status of the cell is idle, the blocking controller grants the exclusive use right of the cell to the executing carrier vehicle.

[0052] When it is determined that the status of the cell is locked, the control system of the blocking controller determines that the exclusive use right of the cell is not granted to the carrier vehicle. The lock means that there is a malfunctioning carrier vehicle that cannot continue to work at the cell, and the malfunction may be a communication malfunction, a mechanical malfunction, etc. When the blocking controller determines that the status of the cell is locked, it re-plans the driving path and instructs the executing carrier vehicle to move according to the re-planned driving path.

[0053] When it is determined that the status of the cell is occupied, the blocking controller also needs to determine whether the cell is a cell to be unlocked; If not, that is, it is determined that the cell is not a cell to be unlocked, the blocking controller determines that the exclusive use right of the cell is not granted to the executing carrier vehicle; If so, that is, it is determined that the cell is a cell to be unlocked, the blocking controller grants the exclusive use right of the cell to the executing carrier vehicle and instructs the executing carrier vehicle to unlock the cell to be unlocked. Unlocking the cell to be unlocked means eliminating the state where a cell without a carrier vehicle parked on it is continuously occupied by a carrier vehicle that may be down or has a mechanical malfunction or a carrier vehicle that does not need to occupy the cell. The reason for being able to operate like this is that: as shown in the appendix Figure 8 Each of the four sides of the carrier vehicle 100 is provided with an obstacle detection sensor 101 that communicates with the carrier vehicle controller. The obstacle detection sensor 101 is used to determine whether there is an obstacle in front of the driving direction of the carrier vehicle 100 that hinders passage. It can be a known obstacle avoidance radar, ultrasonic sensor, laser sensor, etc., which is not limited here.

[0054] As shown in the appendixFigure 9 As shown, the detection distance of the obstacle detection sensor 101 is not less than the length or width of a single cell 301, and the detection distance corresponding to the detection range 102 of the obstacle detection sensor 101 satisfies that when the carrier vehicle 100 is at a single cell of the track, the obstacle detection sensor on the carrier vehicle 100 can detect obstacles within the range of a single cell in front of it. To ensure that the obstacle detection sensor 101 can detect fully, the obstacle detection sensor 101 is located at the middle position in the horizontal direction on each side of the carrier vehicle 100. The specific height of the obstacle detection sensor 101 on each side of the carrier vehicle 100 can be designed as required and is not limited here.

[0055] Thus, when there are cells to be unlocked, the carrier vehicle can be used to unlock the cells to be unlocked.

[0056] The blocking controller can determine whether a single cell 301 is a cell to be unlocked by querying and requesting the attribute information of each cell 301 with exclusive use rights, as shown in the appendix Figure 10 As shown, the process by which the blocking controller determines whether a single cell is a cell to be unlocked is as follows: The blocking controller determines whether the duration for which the single cell 301 is occupied by a carrier vehicle 100 exceeds the time threshold; for example, when a single cell 301 is occupied by a carrier vehicle 100, the attribute information records the first time when the single cell 301 starts to be occupied by the carrier vehicle 100. When the blocking controller queries the attribute information of the single cell 301 at the second time and determines that the single cell 301 is still occupied by the carrier vehicle 100, it determines whether the time difference between the second time and the first time is greater than the time threshold.

[0057] When it is determined that the duration for which the single cell 301 is occupied by the carrier vehicle 100 does not exceed the time threshold, the judgment of this cell ends, and it can be determined that the single cell 301 is not a cell to be unlocked.

[0058] When it is determined that the duration for which the single cell 301 is occupied by a carrier vehicle 100 exceeds the time threshold, it is determined whether the carrier vehicle 100 is communicating normally; for example, the blocking controller sends a communication request to the carrier vehicle 100. If the blocking controller determines that it receives the communication feedback from the carrier vehicle 100 in time, it determines that the carrier vehicle 100 is communicating normally. On the contrary, if the blocking controller fails to receive the communication feedback from the carrier vehicle 100 continuously for multiple times, it determines that the carrier vehicle 100 is communicating abnormally. At this time, the carrier vehicle 100 may be in a down state.

[0059] When it is determined that the communication of the transporter 100 is abnormal, it is determined that the cell 301 is a cell to be unlocked. This is because when the communication of the transporter 100 is abnormal, it can no longer continue to request the exclusive use right of the next blocked area. Therefore, it can only stay in the blocked area where it has obtained the exclusive request right, resulting in all cells 301 in the blocked area where it has obtained the exclusive use right being occupied by it all the time.

[0060] When it is determined that the communication of the transporter 100 is normal, it is determined whether the cell 301 is one of the cells 301 currently occupied by the transporter 100. For example, the blocking controller may send a message to the transporter 100 to request it to feedback the cells 301 it currently occupies, and compare the cell 301 with the cells 301 feedback by the transporter 100 to determine whether the cell 301 is a cell 301 for which the transporter 100 has obtained the exclusive use right.

[0061] When it is determined that the cell 301 is not a cell 301 currently occupied by the transporter 100, that is, the transporter 100 no longer occupies the cell 301, it is confirmed that the cell 301 is a cell to be unlocked.

[0062] When it is determined that the cell 301 is a cell 301 currently occupied by the transporter 100, the blocking controller communicates with the transporter 100 to determine whether the transporter 100 has a mechanical failure and cannot continue to work. The mechanical failure includes but is not limited to a failure of the traveling part, a failure of the transfer part, etc. When it is determined that the transporter 100 has a mechanical failure, it is determined that the cell 301 is a cell to be unlocked. If it is determined that the transporter 100 has no mechanical failure, the transporter 100 is notified to release the exclusive use right of the cell 301 in time.

[0063] When it is determined that the executing transporter needs to unlock a cell to be unlocked, after the executing transporter successfully obtains the exclusive use right of the blocked area including the cell to be unlocked, the executing transporter moves towards the cell to be unlocked.

[0064] During the moving process, the executing transporter initially moves towards the cell to be unlocked at a first speed. When the executing transporter moves to a predetermined distance from the cell to be unlocked, for example, there is one cell 301 between the cell 301 where the executing transporter is currently located and the cell to be unlocked. At this time, the executing transporter decelerates to a second speed and slowly moves towards the cell to be unlocked.

[0065] Meanwhile, during the movement at the second speed, the execution carrier vehicle continuously collects the signals of the obstacle detection sensors facing the cell to be unlocked; if, during the movement of the execution carrier vehicle towards the cell to be unlocked, the obstacle detection sensor 101 detects that there is a carrier vehicle 100 at the cell to be unlocked, the execution carrier vehicle moves to and stops at the cell 301 upstream of the cell to be unlocked, and sends a message indicating that there is a carrier vehicle 100 at the grid to be unlocked and the unlocking fails to the locking controller; meanwhile, the execution carrier vehicle requests the transportation controller to re-plan the driving path; the locking controller changes the state of the grid to be unlocked to locked.

[0066] When the execution carrier vehicle confirms that there is no carrier vehicle 100 at the cell to be unlocked and moves to the cell to be unlocked, the execution carrier vehicle sends information indicating the successful unlocking of the cell to be unlocked to the control module, and the execution carrier vehicle determines whether to wait at the cell to be unlocked or continue to move to other cells downstream based on whether it has obtained the exclusive use right of other cells located downstream of the cell to be unlocked on its driving path.

[0067] For example, as shown in the attached Figure 11 figure, the driving path of carrier vehicle V01 needs to pass through cells 23, 33, 43, 53, 63, and 73. When carrier vehicle V01 requests to obtain the exclusive use right of the locked area including cells 23, 33, 43, and 53, if the locking controller has granted the exclusive use right of cells 23, 33, and 43 to carrier vehicle 100, and when determining whether to grant the exclusive use right of cell 53 to carrier vehicle V01, it is determined that cell 53 is the cell to be unlocked, then the locking controller grants the exclusive use right of cell 53 to carrier vehicle V01 and instructs carrier vehicle V01 to unlock cell 53.

[0068] Thus, the transporter V01 moves along the blocked area. When the transporter V01 moves to cell 33, it decelerates to the second speed and continues to move towards cell 53. At this time, if there is no transporter 100 at cell 53, the obstacle detection sensor 101 facing the forward direction on the transporter V01 will not detect any obstacles during the movement. Thus, when the transporter V01 moves to cell 53, the transporter V01 sends a message to the block controller indicating that the unlocking of cell 53 is successful. Also, when the transporter V01 moves to cell 43, it can already determine that there is no transporter 100 at cell 53. At this time, it can request the exclusive use right of the next blocked area including cells 63 and 73 from the block controller. If the transporter V01 has obtained the exclusive use right of the blocked area including cells 63 and 73 when it moves to cell 53, the transporter V01 continues to move towards cell 73. On the contrary, if the transporter V01 has not obtained the exclusive use right of the blocked area including cells 63 and 73 when it moves to cell 53, the transporter V01 waits at cell 53.

[0069] On the contrary, if the transporter V01 detects that there is a transporter 100 at cell 53, then when the transporter V01 starts to move within the range of cell 43, the obstacle detection sensor 101 may be able to start detecting the transporter 100 at cell 53. When the obstacle detection sensor 101 of the transporter V01 detects that there is a transporter 100 at cell 53, the transporter V01 can send a message to the transportation controller to re-plan the driving route. At the same time, the transporter V01 sends a message to the closed control module indicating that there is a transporter 100 at cell 53 and the unlocking fails. Also, the transporter V01 moves to cell 43 and waits for further instructions from the transportation controller.

[0070] Of course, in addition to determining whether there are cells to be unlocked when receiving an exclusive use request, the block controller can also determine in real time whether each cell is a cell to be unlocked by polling. Also, when the block controller determines that there is a communication abnormality or mechanical failure in the transporter 100 occupying a cell, it can determine that all cells 301 in the blocked area where the transporter 100 has obtained the exclusive use right are cells to be unlocked.

[0071] At this time, if it is determined that there are cells to be unlocked, the blocking controller can communicate with the transportation controller to inform the cells to be unlocked that need to be unlocked, and the transportation controller instructs the idle carrier on the track 300 to unlock the cells to be unlocked.

[0072] Of course, when it is necessary to unlock multiple cells to be unlocked in a blocked area, an idle carrier can be used to unlock all the cells to be unlocked in the blocked area. That is, the idle carrier can be instructed to unlock all the cells to be unlocked in the blocked area in sequence according to the serial number, or multiple idle carriers can be used to unlock different cells to be unlocked in the blocked area respectively. The transportation controller can select the idle carrier 100 closest to the cell to be unlocked or with the shortest travel time to the cell to be unlocked as the executing carrier. The specific determination method is a known technology and will not be elaborated here.

[0073] Embodiment 2 Another feasible structure of the carrier 100 and the track 300 is disclosed in this embodiment.

[0074] As shown in the attached Figure 12 and the attached Figure 13 figures, the carrier 100 includes a traveling part 101. The traveling part 101 includes a square bearing frame 102. The size of the bearing frame 102 is adapted to the size of a cell 301 of the track 300. Generally, the size of the bearing frame is slightly larger than the size of a cell. At the top of the bearing frame 102, there are rod bodies 103 near the four top corners and extending in the vertical direction. The height of the rod bodies 103 can be designed according to needs to ensure that the following storage space 120 can effectively store an article 500. A cover body 104 is arranged on a group of the rod bodies 103. Moreover, side enclosing plates can be arranged between the cover body 104 and the bearing frame 102 to realize the enclosure of the four sides of the traveling part 101.

[0075] A first traveling component 105 and a second traveling component 106 are arranged at the bearing frame 102. The first traveling component drives the carrier to move along the first direction X, and the second traveling component drives it to move along the second direction Y.

[0076] The first driving assembly 105 includes four first wheels 107. Of course, the number of the first wheels 107 is not limited to 4. The four first wheels 107 are arranged on two opposite sides of the bearing frame 102. On each side of the bearing frame 102, there are two first wheels 107 with axes extending in the second direction Y and distributed in the first direction X. The two first wheels 107 on each side correspond to the two first wheels 107 on the other side one by one. Among the two pairs of concentrically arranged first wheels 107, at least one pair is driven by a hub motor. The specific structure of the hub motor is a known technology and will not be elaborated here. In this way, the size of the driving mechanism can be effectively reduced.

[0077] Of course, in other embodiments, two first wheels 107 located on the same side of the bearing frame can be driven to move by an external motor or each first wheel 107 can be driven to move by an external motor. At this time, the motor can be a relatively thin motor. For example, among known motors, the thickness of the motor can be controlled within 2 - 57m. And the motor can drive the first wheels 107 to rotate through a transmission mechanism composed of a chain and a sprocket or a synchronous belt and a synchronous pulley.

[0078] Moreover, when the first wheels 107 move on the track 300, it is necessary to make the second wheels 108 be spaced above the track 300, and when the second wheels 108 move on the track 300, it is necessary to make the first wheels 107 be spaced above the track 300. Therefore, it is necessary to enable the first wheels and the second wheels to move up and down relative to the bearing frame respectively.

[0079] As shown in the attached Figure 12 and the attached Figure 13 figure, the two first wheels 107 on the same side are arranged on an installation vertical plate 109, and the first wheels 107 are generally located outside the installation vertical plate 109. The installation vertical plate 109 is movably arranged on the bearing frame 102 in the vertical direction and is connected to an up - and - down control assembly 110 that drives it to move up and down relative to the bearing frame 102.

[0080] The installation vertical plate 109 is in a convex shape. The bearing frame is provided with a perforation that matches the upper convex part 111 of the installation vertical plate 109 for guiding the upper convex part 111. The upper convex part 111 of the installation vertical plate 109 is movably inserted into the perforation in the up-and-down direction. The up-and-down control assembly 110 includes a lead screw and a first motor that drives the rotation of the nut 112 of the lead screw. One end of the screw rod 113 of the lead screw is connected to the installation vertical plate 109, and the connection position between it and the installation vertical plate 109 is located on one side of the upper convex part 111. The screw rod 113 passes through an avoidance hole (not shown in the figure) provided on the bearing frame 102 and whose axis extends in the vertical direction. The nut 112 of the lead screw is rotatably arranged on the bearing frame 102 through components such as bearings and is connected to the first motor 115 that drives its rotation through a transmission mechanism 114. The transmission mechanism is, for example, a gear transmission mechanism, a transmission mechanism composed of a synchronous belt and synchronous pulleys, etc. When the first motor drives the nut 112 to rotate, the screw rod 113 of the lead screw moves in the vertical direction, thereby driving the installation vertical plate 109 to move up and down. Of course, the lead screw can also be directly replaced by a screw rod and a nut.

[0081] In order to maintain the dynamic balance on both sides of the installation vertical plate 109, the installation vertical plate 109 can be connected to two up-and-down control assemblies 110 symmetrically distributed on both sides of the upper convex part 111, and the two up-and-down control assemblies 110 can respectively have a first motor. Of course, in a more preferred embodiment, the two up-and-down control assemblies 110 can share a first motor. At this time, the first motor can drive the two nuts or nuts 112 to rotate synchronously through a synchronous mechanism 116 composed of a synchronous belt and synchronous pulleys. At this time, the upper convex part 111 of the installation vertical plate 109 can be located within the area enclosed by the synchronous belt of the linkage mechanism connecting the two nuts or nuts 112.

[0082] Of course, in other embodiments, the installation vertical plate 109 can also be of other shapes, and they can be respectively arranged on the side of the bearing frame 102 through slide rails. At this time, the up-and-down control assembly 110 can be, for example, an electric rod arranged in the vertical direction, or other devices or mechanisms that can generate vertical movement, such as a structure in which a lead screw cooperates with a motor. At this time, the screw rod 113 of the lead screw rotates in place, while the nut 112 moves up and down along the screw rod 113 and is connected to the installation vertical plate 109.

[0083] As shown in the attached Figure 12 、attached Figure 13As shown, in order to ensure that when the first wheel 107 is running, the bearing frame 102 will not move downward relative to the mounting vertical plate 109. At the same time, to reduce the stress on the lead screw or screw 113 and the nut, when the first wheel 107 moves on the track 300, a stopper 117 is provided on the bearing frame 102 to cooperate with the mounting vertical plate 109 to limit the downward movement of the bearing frame 102 relative to the mounting vertical plate 109. The stopper 117 is, for example, a device such as an electromagnetic lock or an electric rod. The stopper 117 includes a blocking member 118 that can translate in a direction perpendicular to the mounting vertical plate 109. The blocking member 118 is, for example, the locking tongue of an electromagnetic lock or the telescopic rod of an electric rod. The blocking member 118 can extend above the top of the mounting vertical plate 109. At this time, the blocking member 118 abuts against the top of the mounting vertical plate 109, so that the mounting vertical plate 109 can limit the blocking member 118, preventing the bearing frame 102 where the blocking member 118 is located from moving downward relative to the mounting vertical plate 109. When it is necessary to enable the mounting vertical plate 109 to move upward relative to the bearing frame 102, the blocking member 118 retracts to the side of the mounting vertical plate 109, thus releasing the restriction on the mounting vertical plate 109. At this time, the mounting vertical plate 109 can be driven to move upward by the up-and-down control assembly 110.

[0084] Moreover, in order to facilitate the installation of the stopper 117, a notch 119 matching the blocking member 118 is provided at the top of the mounting vertical plate 109. The blocking member 118 can extend into the notch 119 from the outside of the notch 119, and the bottom of the blocking member 118 maintains a small gap or is in contact with the bottom of the notch 119 to limit the downward movement of the bearing frame 102 and limit the upward movement of the mounting vertical plate 109.

[0085] As shown in the attached Figure 12 attachment Figure 13 As shown, the structure of the second traveling assembly 106 is the same as that of the first traveling assembly 105, and will not be elaborated here.

[0086] When it is necessary to travel through the first wheel 107, the second wheel 108 of the second traveling assembly can be lifted above the track 300 through the up-and-down control assembly 110 connected to the mounting vertical plate 109 where the second wheel 108 is located; when it is necessary to switch to traveling with the second wheel 108, first lower the second wheel 108 onto the track 300, and then lift the first wheel 107 above the track 300 through the up-and-down control assembly 110 connected to the mounting vertical plate 109 where the first wheel 107 is located.

[0087] As shown in the attached Figure 12As shown, the traveling part 101 has a storage space 120. The lower end of the storage space is open. The storage space 120 extends in the vertical direction within the range of the inner hole of the bearing frame 102. For example, the range of its vertical extension is between the bottom of the cover body 104 and the bottom of the lower one of the mounting vertical plates 109. Below the cover body 104 of the traveling part 101, a transfer part 121 is provided. The transfer part 121 includes a turntable 122 provided at the bottom of the cover body 104, a lifting assembly 123 driven by the turntable 122 to rotate around an axis extending in the vertical direction, and a grasping assembly 124 driven by the lifting assembly 123 to move up and down. The specific structures of the turntable 122, the lifting assembly 123, and the grasping assembly 124 are known technologies and will not be elaborated here. Of course, the turntable 122 can also adopt other structures that can achieve the same function, or the turntable 122 is not necessary and can be omitted.

[0088] As shown in the attached Figure 14 figure, the track 300 includes multiple first tracks 302 extending horizontally in the first direction X and multiple second tracks 303 extending horizontally in the second direction Y. The multiple first tracks 302 are arranged at the same height and at equal intervals. A set of the second tracks 303 is arranged between two adjacent first tracks 302. A set of the second tracks 303 is arranged at the same height and at equal intervals between the first tracks 302, and the top surface of the second tracks 303 is flush with the top surface of the first tracks 302. Moreover, the positions of multiple sets of second tracks 303 correspond one by one. Thus, two adjacent second tracks 303 and the two first tracks 302 connected to them enclose a cell 301.

[0089] Of course, the track 300 can also be processed in other ways. For example, the track 300 is a structure with a grid-like top view formed by stamping multiple square holes distributed in a grid pattern on an integral plate, or the track 300 is assembled from multiple plates with grid-like square holes, and one square hole is one cell.

[0090] As shown in the attached Figure 14 figure, the top surfaces of the first tracks 302 and the second tracks 303 cooperate to form multiple first track surfaces 304 extending in the first direction X and multiple second track surfaces 305 extending in the second direction Y. Each first track surface 304 includes two first running surfaces 306 extending in the first direction X and maintaining a first gap 307. Each second track surface 305 includes two second running surfaces 309 extending in the second direction Y and maintaining a second gap 308. The carrier 100 moves on two adjacent first running surfaces of adjacent first bearing surfaces or on two adjacent second running surfaces of adjacent second bearing surfaces.

[0091] As shown in the attachedFigure 14 - Attached Figure 16 As shown, in order to better guide the wheels of the transporter 100, middle blockers 310 are provided at each of the first gaps 307 and the second gaps 308. The middle blockers 310 at each first gap 307 are spaced apart in the first direction X, and the middle blockers 310 at each second gap 308 are spaced apart in the second direction Y. Moreover, neither end of each middle blocker 310 extends into the overlapping area 311 where the first track surface 304 and the second track surface 305 intersect. Meanwhile, outer edge blockers 312 are provided near the outer sides of each first running surface 306 and the second running surface 309. Neither end of the outer edge blocker 312 extends into the overlapping area 311 either. Thus, the middle blockers and the outer edge blockers do not affect the passage of the transporter 100 in the overlapping area. And the middle blocker 310 and the outer edge blocker 312 on one side of it form a wheel groove 313, and the wheel groove 313 is a trapezoidal groove with a wider top and a narrower bottom. Of course, the middle blockers and the outer edge blockers are not necessary. The distance between two adjacent wheel grooves at the adjacent first track surfaces is the same as the distance between the first wheels or the second wheels on both sides.

[0092] As attached Figure 14 and attached Figure 15 and attached Figure 17 As shown, the track 300 is connected to the bottom of the ceiling or the ceiling 900 of the workshop through a set of suspension members 700. The suspension members 700 can be connected at the first gaps 307 and the second gaps 308 to avoid interfering with the passage of the transporter 100. More preferably, the suspension members 700 are connected to the intersection area 314 of the first gaps 307 and the second gaps 308. The structure of the suspension members 700 can be designed according to needs. To better support the track 300, the suspension members 700 include support rods 701. The support rods 701 pass through the through holes 315 at the intersection area 314. Meanwhile, the support rods 701 are connected to the support plates 702 located at the bottom of the track 300. The support plates 702 are fixed to the track 300, and the support plates 702 do not extend into the cell 301.

[0093] In this structure, as attached Figure 18 and attached Figure 19 As shown, the transporter 100 moves above the track 300. When the transporter 100 needs to pick up and place the item 500, the transporter 100 moves to directly above the cell 301, and then drives the grasping assembly 124 to lift and lower through the lifting assembly 123, so that the grasping assembly 124 can pick up and place the item 500. Moreover, after the transporter 100 grasps the item 500 directly below a cell 301, it extracts the item 500 through the cell 301 into its storage space 120 for transportation.

[0094] This can effectively meet the requirement that when the transporter 100 picks up and places items, only one cell needs to be used, rather than exclusively using multiple cells, effectively avoiding interference with the passage and operation of the transporter 100, and being conducive to improving the handling efficiency.

[0095] There are still various implementation manners of the present invention. All technical solutions formed by adopting equivalent transformations or equivalent substitutions fall within the protection scope of the present invention.

Claims

1. A handling system, comprising a grid-shaped track and a carrier moving on the track, the carrier communicating with a control module, characterized in that: When a transport vehicle sends an exclusive use request to the control module to obtain exclusive use rights for a blocked area, the control module determines whether to release the exclusive use rights of at least some of the cells for which the transport vehicle has obtained exclusive use rights based on the connection position between the blocked area corresponding to the exclusive use request and the cells for which the transport vehicle has obtained exclusive use rights, and whether the exclusive request rights for all cells in the blocked area corresponding to the exclusive use request are granted to the transport vehicle.

2. The handling system according to claim 1, characterized in that: Upon receiving the exclusive use request, the control module determines whether the blocked area corresponding to the exclusive use request is connected to the cells for which the transport vehicle has obtained exclusive use rights. If it is determined that the blocked area corresponding to the exclusive use request is connected to the cells for which the transport vehicle has obtained exclusive use rights, it is then sequentially determined whether to grant the exclusive use rights of each cell in the blocked area corresponding to the exclusive use request to the transport vehicle; If it is determined that the blocked area corresponding to the exclusive use request is not connected to the cells for which the transport vehicle has obtained exclusive use rights, the control module sends a message indicating that the cells are not connected and the request has failed to the transport vehicle.

3. The handling system according to claim 2, characterized in that: When the transport vehicle receives the message indicating that the cells are not connected and the request has failed, it re-determines a new blocked area based on the cells for which it has obtained exclusive use rights and the cells through which its driving path passes, and then sends an exclusive use request to the control module to obtain exclusive use rights for the new blocked area.

4. The handling system according to claim 1, wherein: When the control module receives the exclusive use request, it sequentially determines whether to grant the exclusive use rights of each cell in the blocked area corresponding to the exclusive use request to the transport vehicle according to the following steps: The control module determines the status of the cell; When it is determined that the status of the cell is idle, the control module grants the exclusive use rights of the cell to the transport vehicle; When it is determined that the status of the cell is occupied, it is determined whether the cell is a cell to be unlocked. If not, the control system determines that the exclusive use rights of the cell are not granted to the transport vehicle. If so, the control system grants the exclusive use rights of the cell to the transport vehicle and instructs the transport vehicle to unlock the cell to be unlocked; When it is determined that the status of the cell is locked, the control system determines that the exclusive use rights of the cell are not granted to the transport vehicle.

5. The conveying system according to claim 4, characterized in that: When it is determined that the exclusive use rights of any cell cannot be granted to the transport vehicle, the control module ends the authorization of the exclusive use rights of the other cells in the blocked area that are located after the cell.

6. The conveying system according to claim 4, characterized in that: The process by which the control module determines whether a cell is a cell to be unlocked is as follows: The control module determines whether the duration for which the cell is occupied by a transport vehicle exceeds a time threshold; If so, it is determined that the cell is not a cell to be unlocked; If not, it is determined whether the transport vehicle is communicating normally; If not, it is determined that the cell is a cell to be unlocked; If so, it is determined whether the cell is a cell for which the transport vehicle has currently obtained exclusive use rights; If not, it is determined that the cell is a cell to be unlocked; If so, determine whether there is a mechanical failure in the carrier vehicle; If so, determine that the cell is a cell to be unlocked; If not, notify the carrier vehicle to release the exclusive use right of the cell in a timely manner.

7. The conveying system according to claim 4, characterized in that: When the control module determines that the status of the cell is locked, it re-plans the driving path and instructs the carrier vehicle to move according to the re-planned driving path.

8. The conveying system according to claim 1, wherein: When the control module determines that the last cell among the cells for which the carrier vehicle has obtained the exclusive use right is connected to the first cell of the blocked area corresponding to the exclusive use request and the exclusive use rights of all cells in the blocked area corresponding to the exclusive use request have been granted to the carrier vehicle, the control module releases the exclusive use right of the cell located upstream of the cell where the carrier vehicle sent the exclusive use request among the cells for which the carrier vehicle has obtained the exclusive use right; When the control module determines that the last cell among the cells for which the carrier vehicle has obtained the exclusive use right is not connected to the first cell of the blocked area corresponding to the exclusive use request, but the first cell of the blocked area corresponding to the exclusive use request is connected to other cells among the cells for which the carrier vehicle has obtained the exclusive use right, and the exclusive use rights of all cells in the blocked area corresponding to the exclusive use request have been granted to the carrier vehicle, the control module does not release the exclusive use right of the cells for which the carrier vehicle has obtained the exclusive use right; When the control module determines that the last cell among the cells for which the carrier vehicle has obtained the exclusive use right is connected to the first cell of the blocked area corresponding to the exclusive use request, and the exclusive use rights of all cells in the blocked area corresponding to the exclusive use request have not been fully granted to the carrier vehicle, the control module does not release the exclusive use right of the cells for which the carrier vehicle has obtained the exclusive use right.

9. The transfer system according to claim 1, wherein: After receiving the response information from the control module, the carrier vehicle updates the information of the cells for which it has obtained the exclusive use right. The response information includes whether the carrier vehicle has obtained the exclusive use right of a blocked area, which cells' exclusive use rights have been obtained, and the cells for which the carrier vehicle needs to release the exclusive use right.

10. The conveying system according to claim 9, characterized in that: After the carrier vehicle updates which cells' exclusive use rights it has obtained, it determines whether the number of cells for which it has obtained the exclusive use right exceeds the threshold. If so, it actively applies to release the exclusive use right of the cells it no longer needs.

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