Intelligent three-dimensional warehouse with intelligent three-dimensional sorting robot and control method thereof

Abstract

This invention belongs to the field of intelligent warehousing technology, specifically relating to an intelligent automated warehouse with an intelligent automated sorting robot and its control method. The control method for the intelligent automated warehouse includes the following steps: Step 1, a cargo box on a shelf is delivered to a freight robot via a storage and retrieval device; Step 2, the freight robot delivers the cargo box to a workstation; Step 3, after the workstation identifies the cargo box, the freight robot delivers the cargo box to a sorting rack; Step 4, the intelligent automated sorting robot performs sorting operations on the goods in the cargo boxes delivered to the sorting rack; In Step 4, a load balancing algorithm is used to select a suitable individual from among multiple intelligent automated sorting robots to perform the sorting operation.

Description

Technical Field

[0001] This invention belongs to the field of intelligent warehousing technology, specifically, it relates to an intelligent automated warehouse with an intelligent automated sorting robot and a control method for the intelligent automated warehouse. Background Technology

[0002] Intelligent automated warehouses are used to achieve automated loading and unloading of goods and / or containers. Chinese patent document CN219970780U discloses a rack fixing guide rail machine and a transmission system; Chinese patent document CN113830485B discloses loading and unloading equipment fixed on racks; and Chinese patent document CN115649730A discloses a control method for loading and unloading equipment to pull goods from racks. These technical solutions have been well applied, but some problems still exist in practical applications. For example, if the goods and / or containers on the racks are not placed correctly for some reason, the storage and retrieval equipment may not be able to work; how to obtain the position information of the goods and / or containers in advance; how to promptly confirm that the goods and / or containers have been transported to the correct position by the conveyor belt on the storage and retrieval equipment when the storage and retrieval arm rotates to make way; and how to improve the loading and unloading speed when the racks are relatively high and the travel distance of the storage and retrieval equipment is relatively long.

[0003] Therefore, there is an urgent need to develop an intelligent automated warehouse that can solve the above-mentioned technical problems. Summary of the Invention

[0004] In view of the technical problems mentioned above, the present invention aims to propose a control method for an intelligent automated warehouse, which can solve at least one of the above technical problems.

[0005] The present invention also proposes an intelligent automated warehouse, which can solve at least one of the above-mentioned technical problems.

[0006] According to the present invention, a control method for an intelligent automated warehouse is provided, comprising the following steps:

[0007] Step 1: Use the storage and retrieval equipment to deliver the items on the shelf to the freight robot;

[0008] Step two: The cargo robot delivers the items to the workstation;

[0009] Step 3: After the workstation identifies the item, it uses a cargo robot to deliver the item to the sorting rack.

[0010] Step four: The intelligent three-dimensional sorting robot sorts the goods in the sorting rack.

[0011] In step four, a load balancing algorithm is used to select a suitable individual from among multiple intelligent three-dimensional sorting robots for sorting operations. The load balancing algorithm is as follows:

[0012] Find a subset of intelligent 3D sorting robots that match the weight of the goods. ;

[0013] Based on the number of tasks assigned within the preset work cycle, determine the current load of the intelligent three-dimensional sorting robot, and select the individual with the smallest current load from the subset of intelligent three-dimensional sorting robots. The individual The load is obtained by calculating the extreme value of the number of assigned tasks within a past fixed time window, where the load represents the number of assigned tasks within that window.

[0014] ,

[0015] Here, load represents the number of tasks assigned within a fixed time window in the past.

[0016] Setting dynamic weighting factors for each intelligent 3D sorting robot :

[0017]

[0018] The intelligent 3D sorting robot selects the individual with the smallest current load from a subset of its components using a probability-weighted allocation or weighted minimization strategy. ,

[0019] ,

[0020] in, This represents the highest load value. λ is a temporary variable for the load; current load is the current load; λ is set to 0.1 to 0.5.

[0021] According to the present invention, a processor is also provided, the processor being configured to execute one or more programs, the programs including instructions for performing the control method provided according to the present invention.

[0022] According to the present invention, an electronic device is also provided, comprising: a display; one or more processors; and a memory configured to store one or more programs executed by the one or more processors, the programs including instructions for performing the control method provided according to the present invention.

[0023] According to the present invention, an intelligent automated warehouse is also provided, characterized in that it includes a control method for implementing the control method provided according to the present invention, comprising:

[0024] The shelf is equipped with a guide rail, and a storage and retrieval device is installed on the guide rail. The storage and retrieval device can move along the guide rail and can load and unload items on the shelf. The partition of one or more storage positions at the bottom of the shelf can be removed, and the height of the removed storage position can meet the operation of a ground-based freight robot.

[0025] A docking platform, which is connected to the ground via a ramp, allows cargo robots loaded with goods to drive onto the docking platform;

[0026] A work rack is set up on the docking platform, and an identification device is installed on the work rack. When the cargo robot loads goods into the docking platform, the identification device can identify the goods.

[0027] Sorting racks;

[0028] At least one intelligent three-dimensional sorting robot adapted to the sorting rack.

[0029] Preferably, the storage and retrieval device is equipped with at least two sensors for collecting position signals of items on the shelf. The sensors are horizontally positioned, and when the position of an item on the shelf shifts, the storage and retrieval device adjusts the angle of the item using the sensors. The sensors are any one or more of infrared rangefinders, laser rangefinders, or ultrasonic rangefinders.

[0030] Preferably, the guide rail includes:

[0031] Access rails installed on the shelf;

[0032] The access device is movably mounted on the access horizontal guide rail and is movably mounted on the access vertical guide rail along the vertical direction.

[0033] The access device, the horizontal access guide rail, and the vertical access guide rail are all provided in two sets, among which,

[0034] One set of storage and retrieval equipment is installed at the top of the shelf, and another set of storage and retrieval equipment is installed at the bottom of the same shelf. The two sets of storage and retrieval equipment can access the top and bottom of the same shelf and transfer items between them.

[0035] Alternatively, one set of storage and retrieval equipment is installed at the top of another shelf, and another set of storage and retrieval equipment is installed at the bottom of another shelf. The two shelves are located on opposite sides of the same aisle, and the two sets of storage and retrieval equipment can respectively store and retrieve items from the shelves on opposite sides of the aisle, as well as transfer items between them.

[0036] Preferably, the device also includes a picking device, which includes:

[0037] A picking vertical guide rail is movable and mounted on the access horizontal guide rail;

[0038] A picking slider that is movable along the vertical direction on the picking vertical guide rail;

[0039] A movable mechanism fixedly mounted on the picking slider;

[0040] A picking arm is fixedly mounted on the moving mechanism, and a picking and retrieval arm is provided at the end of the picking arm away from the moving mechanism. The picking arm can be moved above the items on the storage and retrieval device under the control of the moving mechanism.

[0041] The picking and storing arm is a clamping cylinder or a vacuum suction cup, and the vacuum suction cup is connected to a vacuum pump via a hose and a solenoid valve.

[0042] Preferably, the top floor of the intelligent automated warehouse has an opening, through which the storage and retrieval equipment can extend upward to transfer goods with the freight robot on the top floor.

[0043] Preferably, the freight robot is a ground freight robot AGV and / or a warehouse robot.

[0044] Compared with the prior art, the advantages of this application are as follows.

[0045] Intelligent automated warehouses (AS / RS) fundamentally solve the problem of wasted space in existing warehousing systems by configuring shelving, modifying the bottom partitions of the shelving, and adding openings to the top of the warehouse to provide operating channels for freight robots. Storage and retrieval equipment, picking equipment, freight robots, and intelligent automated sorting robots work together to efficiently complete goods storage, goods / box transfer, and goods / box sorting within the AS / RS. This invention incorporates sensors on the storage and retrieval equipment. When a box or item shifts position, the sensors detect the angle of this shift and adjust the operating angle of the storage and retrieval equipment accordingly, improving the accuracy of loading and unloading. This invention significantly improves the utilization rate of intelligent automated warehouses and the speed of goods handling, while effectively reducing deployment costs.

[0046] This invention features low cost, ease of use, full functionality, and high loading and unloading efficiency. Attached Figure Description

[0047] The present invention will now be described with reference to the accompanying drawings.

[0048] Figure 1 This is a flowchart illustrating the control method for an intelligent automated warehouse provided by the present invention.

[0049] Figure 2 This is a schematic diagram of an embodiment of an intelligent automated warehouse provided by the present invention;

[0050] Figure 3 This is a schematic diagram of an embodiment of the racking system of an intelligent automated warehouse provided by the present invention.

[0051] Figure 4 for Figure 3 Top view;

[0052] Figure 5 for Figure 2 A magnified view of a portion of the image;

[0053] Figure 6 This is a structural schematic diagram of the workstation of the intelligent automated warehouse provided by the present invention;

[0054] Figure 7 This is a schematic diagram of the structure of two sets of access equipment;

[0055] Figure 8 for Figure 7 Side view;

[0056] Figure 9 A schematic diagram of a structure with an opening on the top floor and shelving on both sides of the aisle.

[0057] The reference numerals in the figure are as follows:

[0058] 2. Accessing the horizontal guide rail; 3. Accessing the vertical guide rail; 5. Accessing the equipment;

[0059] 21. Sorting rack; 22. Intelligent three-dimensional sorting robot;

[0060] 40. Picking vertical guide rail; 41. Picking slider; 42. Picking movable arm; 43. Reducer; 44. Movable motor; 45. Picking storage arm;

[0061] 51. Support platform; 52. Conveyor belt; 53. First monitoring position sensor; 54. Second monitoring position sensor; 55. Infrared rangefinder;

[0062] 61. Freight robot; 62. Cargo container;

[0063] 7. Shelves; 71. Dividers;

[0064] 81. Connecting platform; 811. Ramp; 82. Identification device; 84. Work frame;

[0065] 9. Opening.

[0066] In this application, all drawings are schematic and are used only to illustrate the principles of the invention, and are not drawn to scale. Detailed Implementation

[0067] The invention will now be described with reference to the accompanying drawings.

[0068] It should be noted that the directional terms or qualifiers used in this application, such as "up," "down," "front," "back," "left," and "right," are all in relation to the accompanying drawings. They are not used to define the absolute position of the components involved, but can vary depending on the specific circumstances.

[0069] Example 1

[0070] This embodiment proposes a control method for an intelligent automated warehouse, such as... Figure 1 As shown, it includes the following steps:

[0071] Step 1: The boxes on the shelf 7 are delivered to the freight robot 61 via the storage and retrieval device 5;

[0072] Step 2: The cargo container is delivered to the workstation by the cargo robot 61;

[0073] Step 3: After the workstation identifies the cargo box, the cargo robot 61 delivers the cargo box to the sorting rack 21.

[0074] Step 4: The intelligent three-dimensional sorting robot 22 sorts the goods in the boxes sent to the sorting rack 21.

[0075] In step four, a load balancing algorithm is used to select a suitable individual from among the multiple intelligent three-dimensional sorting robots 22 for sorting operations. The load balancing algorithm is as follows.

[0076] Define various elements, such as a set of goods: G = {g1, g2, ... g} n}, Intelligent 3D Sorting Robot Set: M = {m1, m2, M} n}

[0077] Prioritize minimum load allocation and find a subset of available intelligent 3D sorting robots based on the weight of the goods. In other words, a subset of intelligent three-dimensional sorting robots. All 22 intelligent three-dimensional sorting robots in the system should be able to carry the weight of the goods. .

[0078] Based on the number of tasks assigned within a fixed time window in the past, determine the subset of intelligent three-dimensional sorting robots. The current load size of each intelligent 3D sorting robot 22 is used to select the individual robot with the smallest current load from the subset of intelligent 3D sorting robots. ,Right now

[0079]

[0080] Here, load represents the number of tasks assigned within a fixed time window in the past.

[0081] Furthermore, dynamic weighting factors are set for each intelligent three-dimensional sorting robot. :

[0082]

[0083] The intelligent 3D sorting robot selects the individual with the smallest current load from a subset of its components using a probability-weighted allocation or weighted minimization strategy. ,Right now

[0084]

[0085] in, This represents the highest load value. λ is a temporary variable for the load; current load is the current load; λ is set to 0.1 to 0.5.

[0086] Furthermore, allocation stickiness is introduced to prevent frequent jumps between two intelligent 3D sorting robots with similar loads. A weighted moving average is used to process the load curve, or a penalty function is added to the allocation decision to suppress short-term fluctuations.

[0087] In a preferred embodiment, each intelligent 3D sorting robot 22 has a maximum cycle capacity C. j This refers to the maximum number of tasks that can be processed per unit of time. The processing time must not exceed the cycle capacity limit of the intelligent automated sorting robot 22 to avoid congestion. The load should be distributed as evenly as possible among the multiple intelligent automated sorting robots 22.

[0088] In a preferred embodiment, the model can be further extended or trained based on the following types of scheduling algorithms.

[0089] Genetic Algorithm (GA): Calculates the optimal allocation combination for batch cargo scheduling.

[0090] Reinforcement Learning (RL): AGV path scheduling + intelligent three-dimensional sorting robot flow synchronization optimization simulated annealing (SA) to find low-cost alternative routing strategies under system congestion.

[0091] Ant colony algorithm: suitable for dynamic task allocation, simulating "flow to self-organization".

[0092] Furthermore, the sorting robot's cycle time heatmap is refreshed periodically, and the sorting saturation prediction for the next 2 minutes is calculated periodically. Preferably, the sorting robot's cycle time heatmap is refreshed every 3 seconds, and the sorting saturation prediction for the next 2 minutes is calculated every 5 minutes.

[0093] In a preferred embodiment, a temporary buffer can be set at the inlet of the sorting rack 21. If a group of intelligent three-dimensional sorting robots 22 is found to be critically saturated, the input of that batch can be postponed or a better window can be waited for.

[0094] Example 2

[0095] This embodiment provides a processor configured to execute one or more programs. The programs include instructions for performing the control method described in Embodiment 1.

[0096] Example 3

[0097] This embodiment provides an electronic device, including a display, one or more processors, and a memory. The memory is configured to store one or more programs executed by the one or more processors, the programs including instructions for performing the control method described in Embodiment 1.

[0098] Example 4

[0099] like Figure 2 As shown, the intelligent automated warehouse mainly includes shelves 7, workstations and sorting racks 21.

[0100] like Figures 2-5 As shown, the shelf 7 is set on the ground, and multiple partitions 71 are arranged on the shelf 7 from top to bottom. Each partition 71 can hold items (cargo boxes 62 and / or goods). One or more partitions 71 at the bottom of the shelf 7 can be removed, and the height of the removed storage space allows the cargo robot 61 on the ground to pass through. The bottom partitions 71 of a conventional shelf 7 are relatively low, while the cargo robot 61 typically needs to carry cargo boxes 62, resulting in a relatively high overall height and needing to maneuver between the shelves 7. By making the partitions 71 removable, when the bottom of the shelf 7 needs to be used as a passageway for the cargo robot 61, the partitions 71 can be removed; when the bottom of the shelf 7 is not used as a passageway, the partitions 71 can be retained to accommodate more cargo boxes 62.

[0101] In this embodiment, the items include cargo boxes and / or goods.

[0102] A guide rail is fixed on the shelf 7, and an access device 5 is installed on the guide rail. The access device 5 can move along the guide rail and can load and unload boxes 62 and / or goods on the shelf 7.

[0103] The guide rails mainly include horizontal access guide rails 2 and vertical access guide rails 3. At least one horizontal access guide rail 2 is fixedly mounted on the shelf 7. At least one vertical access guide rail 3 is movably mounted on the horizontal access guide rail 2. Rollers are provided on the vertical access guide rail 3, allowing it to move along the horizontal access guide rail 2. The vertical access guide rail 3 is driven by a horizontal drive device, which is well known to those skilled in the art and will not be described in detail here.

[0104] The access device 5 is movably mounted on the access vertical guide rail 3, and can move up and down along the access vertical guide rail 3. The access device 5 is driven by a vertical drive device, which is well known to those skilled in the art and will not be described in detail here. At the same time, the access device 5 can also move along the access horizontal guide rail 2 following the access vertical guide rail 3.

[0105] In a preferred embodiment, two sets of access devices 5 are provided. Correspondingly, two sets of access horizontal guide rails 2 and access vertical guide rails 3 adapted to access devices 5 are also provided.

[0106] One set of storage and retrieval equipment 5 is installed on the upper part of the shelf 7, and the other set of storage and retrieval equipment 5 is installed on the lower part of the same shelf 7. These two sets of storage and retrieval equipment 5 can respectively access the upper and lower parts of the same shelf 7, such as... Figure 7 and Figure 8 As shown. The two sets of storage and retrieval equipment 5 can also transfer the boxes 62 and / or goods between each other. That is, the storage and retrieval equipment 5 located at the lower part of the shelf 7 can transfer the boxes 62 and / or goods at the lower part of the shelf 7 to the storage and retrieval equipment 5 at the upper part of the shelf 7, and then the storage and retrieval equipment 5 at the upper part of the shelf 7 can transfer the boxes 62 and / or goods to the lower part of the shelf 7, and vice versa.

[0107] Or, such as Figure 9 As shown, one set of storage and retrieval equipment 5 is installed on the upper part of the shelf 7, and another set of storage and retrieval equipment 5 is installed on the lower part of another shelf 7. The two shelves 7 are located on both sides of the same aisle. The two sets of storage and retrieval equipment 5 can respectively store and retrieve the shelves 7 on both sides of the aisle, and can also transfer the cargo boxes 62 and / or goods to each other.

[0108] When the shelf 7 is relatively high, if only one set of storage and retrieval equipment 5 is installed, the travel distance of the storage and retrieval equipment 5 will be relatively long. By setting up two sets of storage and retrieval equipment 5, the travel distance of the storage and retrieval equipment 5 can be shortened. When storing goods, the lower storage and retrieval equipment 5 moves the boxes 62 and / or goods to the transfer layer (the transfer layer can be set at the junction of the upper and lower sets of storage and retrieval equipment 5). At the transfer layer, the lower storage and retrieval equipment 5 transfers the boxes and / or goods to the upper storage and retrieval equipment 5, and then the upper storage and retrieval equipment 5 moves them from the transfer layer to the top of the shelf 7. When shipping goods, the steps are reversed.

[0109] It should be noted that two sets of storage and retrieval equipment 5 can also be installed on each of the shelves 7 on both sides of the aisle. That is, two sets of storage and retrieval equipment 5 can be installed on one shelf 7, and the same two sets of storage and retrieval equipment 5 can be installed on the other shelf 7. This design makes storage and retrieval more flexible and convenient, and even if there is a significant overlap in height between the vertical guide rails 3 of the two sets of storage and retrieval equipment on the two shelves 7, it will not affect their respective operation. It should also be noted that the ability of the same set of storage and retrieval equipment 5 to separately store and retrieve the boxes 62 on the shelves 7 on both sides of the aisle is existing technology.

[0110] In one embodiment of the present invention, two or more horizontally placed sensors are fixed on the frame of the access device 5. The sensors are used to collect position signals of goods and / or boxes 62 on the shelf 7. When the position of the boxes 62 and / or goods on the shelf 7 shifts, the access device 5 adjusts the angle of the boxes 62 and / or goods according to the position signals of the goods and / or boxes 62 collected by the sensors.

[0111] Both the storage and retrieval device 5 and the sensors are electrically connected to the control center. In the event of a tilt in the shelving 7, such as a depression in the warehouse floor causing the entire shelving 7 to tilt, a misalignment of the beams of the shelving 7, or displacement of the cargo box 62, the storage and retrieval device 5 needs to adjust its angle for smooth operation. In this case, the left and right sensors detect the horizontal or vertical offset, and the control center controls the storage and retrieval device 5 to fine-tune its angle or travel distance. The storage and retrieval arm of the device pushes or pulls the goods and / or cargo box 62 to straighten them, and then the storage and retrieval arm retrieves the goods or cargo box 62, successfully completing the retrieval operation.

[0112] It should be noted that the access device 5 includes a support platform 51, an access arm, a conveyor belt 52, etc. The specific structure of the access device 5 is existing technology and will not be described in detail here.

[0113] In one specific embodiment, the sensor is an infrared rangefinder 55, a laser rangefinder, or an ultrasonic rangefinder, which is fixedly mounted on the access device 5.

[0114] Furthermore, two sensors are fixedly installed on the access arm of the access device 5, namely a first monitoring position sensor 53 and a second monitoring position sensor 54, which are electrically connected to the control center. The monitoring directions of the first monitoring position sensor 53 and the second monitoring position sensor 54 are 90 degrees apart. That is, when the first monitoring position sensor 53 is installed on the access arm, parallel to the front side of the shelf 7, the second monitoring position sensor 54 is installed on the access arm with a monitoring direction 90 degrees different from that of the first monitoring position sensor 53, perpendicular to the front side of the shelf 7, and directly aligned with the goods and / or boxes.

[0115] By setting a first monitoring position sensor 53 and a second monitoring position sensor 54, during the process of the storage arm of the storage device 5 moving goods and / or boxes to the storage device 5, when the storage arm rotates 90 degrees to make way for the goods and / or boxes 62, it is possible to monitor in real time whether the conveyor belt 52 on the storage device 5 has completed the movement of the goods and / or boxes into place.

[0116] like Figure 2 and Figure 6 As shown, the workstation includes a docking platform 81 and a work rack 84. The docking platform 81 is connected to the ground via a ramp 811, allowing a cargo robot 61 loaded with cargo boxes 62 and / or goods to enter the docking platform 81 via the ramp 811. The work rack 84 is fixedly mounted on the docking platform 81, and an identification device 82 for identifying the cargo boxes 62 and / or goods is fixed on the work rack 84. When the cargo robot 61 loads cargo boxes 62 and / or goods and enters the docking platform 81, the identification device 82 can identify various information about the cargo boxes 62 and / or goods.

[0117] In one specific embodiment, the identification device 82, the storage and retrieval device, and the cargo robot 61 are all electrically connected to the control center. The identification device 82 can be configured as a barcode reader, QR code reader, or RFID tag reader, etc. When the identification device 82 reads the barcode, QR code, or RFID tag of the cargo box 62 carried by the cargo robot 61, the software in the control center can automatically identify which cargo boxes 62 are incoming goods and which are outgoing goods. If it is an incoming goods source, usually goods sent from the incoming sorting center, the control center outputs the target address to a specific cargo robot 61 according to the storage rules and by querying the shelf space, for example, the first empty space on the third layer of shelf 1. The cargo robot 61 delivers the cargo box 62 to the corresponding ground position according to the instruction, and then the storage and retrieval device 5 delivers it to the target address. If it is an outgoing goods source, the control center provides the address of the outgoing sorting center (sorting rack 21), and the cargo robot 61 delivers the goods to the address of the outgoing sorting center. To improve efficiency, some empty cargo robots will also be on standby, waiting for instructions from the control center.

[0118] like Figure 2 As shown, the sorting rack 21 is set on the ground. The intelligent automated warehouse also includes at least one intelligent automated sorting robot 22 adapted to the sorting rack 21. The intelligent automated sorting robot 22 is able to sort the cargo boxes 62 and / or goods delivered by the freight robot 61 and send the sorted goods into the sorting rack 21.

[0119] In a preferred embodiment, the intelligent automated warehouse also includes picking equipment. For example... Figure 3 and Figure 5As shown, the picking equipment mainly includes a picking vertical guide rail 40, a picking slider 41, a moving mechanism, a picking moving arm 42, a picking storage arm 45, and a picking controller.

[0120] The picking vertical guide rail 40 is movable and set on the storage horizontal guide rail 2. Further, the picking vertical guide rail 40 can be the storage vertical guide rail 3 for installing the storage device 5.

[0121] The picking slider 41 is vertically movable on the picking vertical guide rail 40 and can move up and down along the picking vertical guide rail 40. The picking slider 41 is driven by a picking vertical drive device, which is well known to those skilled in the art and will not be described in detail here.

[0122] The active mechanism is fixedly mounted on the picking slider 41.

[0123] One end of the picking arm 42 is fixedly connected to the moving mechanism, and the picking storage arm 45 is fixedly set at the end of the picking arm 42 away from the moving mechanism.

[0124] The picking controller is electrically connected to the electrical components of the picking and retrieval arm 45, the picking vertical drive device, and the moving mechanism, coordinating their actions. Under the control of the picking controller, the picking arm 42 can move the picking and retrieval arm 45 above the goods and / or boxes 62 on the storage and retrieval equipment 5 through the action of the moving mechanism.

[0125] When picking equipment is installed, if there are many goods in the carton 62, but only one item is needed, the required item can be obtained through the picking equipment, and the carton 62 can be returned to the shelf 7. The item can be directly placed into the storage and retrieval equipment 5, and the required item can be sent out through the storage and retrieval equipment 5. This technical solution can save time.

[0126] In one specific embodiment, the moving mechanism mainly includes a reducer 43 and a moving motor 44. The housing of the reducer 43 is fixed to the picking slider 41, and the output shaft of the reducer 43 is connected to the picking arm 42. The housing of the moving motor 44 is fixed to the housing of the reducer 43, and the rotating shaft of the moving motor 44 is fixed to the input shaft of the reducer 43.

[0127] The picking arm 45 is either a clamping cylinder or a vacuum suction cup. When the picking arm 45 is a vacuum suction cup, the vacuum suction cup is connected to a vacuum pump via a hose and a solenoid valve. By controlling the opening and closing of the solenoid valve, the goods can be picked up.

[0128] like Figure 9As shown, an opening 9 is provided on the top floor of the intelligent automated warehouse, through which the storage and retrieval equipment 5 can extend upwards to facilitate the transfer of cargo boxes 62 and / or goods with the freight robot 61 on the top floor. This configuration allows the intelligent automated warehouse to be further extended to the top floor, meaning the ground, shelving 7, and top floor are fully connected, resulting in higher efficiency.

[0129] Preferably, the freight robot 61 is a ground freight robot AGV and / or a warehouse robot.

[0130] It needs to be clarified that intelligent automated warehouses can be standard warehouses equipped with integrated control systems, high-density automated warehouses, high-meter-scale automated warehouses, customized automated warehouses, or container units. Automated warehouses can be disassembled or set up as mobile warehouses. When automated warehouses are continuously assembled, they expand into mobile storage, transfer, and sorting plants.

[0131] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0132] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0133] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0134] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and does not constitute any limitation on the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A control method of an intelligent three-dimensional warehouse, characterized by, The method comprises the following steps: Step 1: sending the goods on the shelf (7) to the goods transport robot (61) through the access device (5); Step 2: sending the goods to the work station through the goods transport robot (61); Step 3: after the work station identifies the goods, sending the goods to the sorting shelf (21) through the goods transport robot (61); Step 4: sorting the goods in the goods sent to the sorting shelf (21) through the intelligent three-dimensional sorting robot (22); In the step 4, a load balancing algorithm is used to select a suitable individual from the plurality of intelligent three-dimensional sorting robots for the sorting operation, and the load balancing algorithm is as follows: finding all subsets of smart 3D sorting robots that fit with the weight of the cargo , According to the number of tasks allocated in a preset operation cycle, the current load of the intelligent three-dimensional sorting robot is judged, and an individual with the smallest current load is selected from the subset of the intelligent three-dimensional sorting robots , the load of the individual is obtained by taking the extreme value of the number of tasks allocated in a fixed time window in the past, and the load represents the number of tasks allocated in the fixed time window in the past, ， Wherein, load represents the number of allocated tasks in a fixed time window in the past, Setting dynamic weight factors for each intelligent stereoscopic sorting robot : ， selecting the individual with the lowest current load in the subset of intelligent three-dimensional sorting robot using a probability weighted distribution or a weighted minimization strategy , ， wherein, is the maximum value of the load; is a temporary variable for the load; current load is the current load; λ is set to 0.1-0.

5.

2. A processor, comprising: The processor is configured to execute one or more programs, and the programs include instructions for executing the control method of claim 1.

3. An electronic device, comprising: It comprises: a display; one or more processors; a memory configured to store one or more programs executed by the one or more processors, the programs including instructions for executing the control method of claim 1.

4. An intelligent stereoscopic warehouse, characterized by, For implementing the control method according to claim 1, comprising: a shelf (7) on which a guide rail is fixed, and an access device (5) is installed on the guide rail, the access device (5) can move along the guide rail and can load and unload the goods on the shelf (7), and the partition plate of one or more storage spaces in the bottom layer of the shelf (7) can be removed, and the height of the removed storage space can meet the operation of the ground goods transport robot (61); a docking platform (81) connected to the ground through a slope (811), and the goods transport robot (61) loaded with goods can enter the docking platform; a work shelf provided on the docking platform (81), and an identification device (82) is provided on the work shelf, and the identification device (82) can identify the goods when the goods transport robot (61) loaded with goods enters the docking platform (81); a sorting shelf (21); at least one intelligent three-dimensional sorting robot (22) matched with the sorting shelf (21).

5. The intelligent warehouse according to claim 4, wherein, At least two sensors for collecting the position signal of the goods on the shelf (7) are provided on the access device (5), and the sensors are horizontally arranged, and when the position of the goods on the shelf (7) deviates, the access device (5) adjusts the angle of the goods through the sensors, and the sensors are any one or more of an infrared range finder, a laser range finder or an ultrasonic range finder.

6. The intelligent warehouse according to claim 4, wherein, The guide rail comprises: an access horizontal guide rail (2) provided on the shelf (7); an access vertical guide rail (3) movably provided on the access horizontal guide rail (2), and the access device (5) is movably arranged on the access vertical guide rail (3) in the vertical direction; The access device (5), the access horizontal guide rail (2) and the access vertical guide rail (3) are each provided with two sets, wherein, A set of access devices (5) is arranged at the upper part of the shelf (7), and another set of access devices (5) is arranged at the lower part of the same shelf (7), the two sets of access devices (5) can access the upper part and the lower part of the same shelf (7), and transfer articles to each other; Or, a set of access devices (5) is arranged at the upper part of the shelf (7), and another set of access devices (5) is arranged at the lower part of another shelf (7), the two shelves (7) are located on both sides of the same aisle, the two sets of access devices (5) can access the shelves (7) on both sides of the aisle respectively, and transfer articles to each other.

7. The intelligent warehouse according to claim 6, wherein, Further comprising a picking device, the picking device comprising: A picking vertical guide rail (40) movably arranged on the access horizontal guide rail (2); A picking slider (41) movably arranged on the picking vertical guide rail (40) in the vertical direction; A movable mechanism fixedly arranged on the picking slider (41); A picking movable arm (42) fixedly arranged on the movable mechanism, a picking access arm (45) is arranged at the end of the picking movable arm (42) away from the movable mechanism, the picking movable arm (42) can move the picking access arm (45) above the article on the access device (5) under the control of the movable mechanism; The picking access arm (45) is a clamping air cylinder or a vacuum suction cup, and the vacuum suction cup is connected to a vacuum pump through a solenoid valve and a hose.

8. The intelligent warehouse according to any one of claims 4 to 7, wherein An opening (9) is arranged at the top floor of the intelligent vertical warehouse, and the access device (5) can extend upward from the opening (9) to transfer articles with a top floor freight robot (61).

9. The intelligent warehouse according to any one of claims 4 to 7, wherein The freight robot (61) is a ground freight robot AGV and / or a warehouse robot.

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