Drive-in type ground goods allocation automatic warehousing system based on distiller's yeast warehouse AGV and warehouse-in and warehouse-out control method

Abstract

The invention discloses a drive-in type ground goods allocation automatic warehousing system based on a distiller's yeast warehouse AGV and a warehouse-in and warehouse-out control method, and relates to the technical field of ground flat warehouse automatic warehousing systems. According to the distiller's yeast production process requirements, automatic storage is achieved through cooperation of the AGV equipment, the distiller's yeast frames, the distiller's yeast baskets and the software management system. And goods storage rationalization, storage and taking automation and operation simplification are achieved. Automatic storage, automatic access and standardized management of warehouse goods are realized through equipment such as the yeast frame, the yeast basket, the AGV system and the conveyor as well as a scheduling control system and a software management system, the storage and transportation cost is reduced, the labor intensity is reduced, and the space utilization rate of the warehouse is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ground flat warehouse automation storage system, and particularly relates to a driving-in type ground goods location automation storage system based on koji warehouse AGV and a warehouse in-out control method. BACKGROUND

[0002] China has had the saying of "Koji is the bone of liquor" since ancient times, and koji is the core element that determines the flavor and quality of liquor. The traditional koji-making process is completed in a koji room, and the koji block after koji-making needs to go through a series of complex processes such as storage, fermentation, koji turning, and secondary fermentation in the koji room. For a long time, these processes have been highly dependent on manual work, which is characterized by: extremely high labor intensity and poor environment: workers need to carry out heavy koji block carrying, turning and stacking operations in the high-humidity and high-temperature environment of the koji room, which not only leads to low production efficiency, but also poses a risk to occupational health and safety. Production efficiency and quality bottleneck: manual operation cannot accurately control the koji turning time and fermentation uniformity, resulting in unstable koji quality and inability to achieve large-scale and standardized production. Extensive warehouse management and low space utilization: traditional ground flat warehouses lack scientific goods location management and planning, and the storage and retrieval of goods rely on manual memory and experience, resulting in low warehouse space utilization and difficulty in material tracing.

[0003] To solve the above problems, automation storage technology is introduced into the liquor-making industry. In particular, the automated guided vehicle (AGV) system has been applied in many fields of warehouse due to its high flexibility and good automation. The existing AGV storage system usually adopts the mode of shelf vertical warehouse or fixed goods location, and its warehouse in-out strategy is mostly based on the general "first-in-first-out" (FIFO) or "nearest principle".

[0004] However, directly applying these existing AGV systems and strategies to the koji warehouse scenario has significant inadaptability and technical obstacles: Disconnection with production process: the general AGV system cannot understand and execute the koji-making process-specific procedures such as "koji turning" and "koji stacking", and cannot meet the core process requirement of dynamically adjusting the storage location according to the fermentation time and temperature and humidity.

[0005] Single warehouse management dimension: the existing system usually only manages the state of a single goods location, and lacks the ability to collaboratively manage and control from the entire warehouse process dimension (such as whether it is fermenting, whether it is full, or whether it is waiting for warehouse in-out). This easily leads to the blocking of the channel by new warehouse in tasks during the warehouse out stage, disrupting the "first-in-first-out" order between different columns and affecting the consistency of the quality of the koji in the entire warehouse.

[0006] The strategy is rigid and inefficient: the ''driving-in ground flat warehouse'' layout of the koji warehouse requires the AGV to enter the interior of the goods location column for operation. The general in-out warehouse strategy is prone to task conflicts, path blockage and long waiting time when facing multiple AGVs, multiple concurrent tasks and the influence of uncertain carrying distance and speed, and cannot achieve the overall efficiency optimization of the system.

[0007] Therefore, there is an urgent need in the art for a special AGV automated warehousing system and control method that can deeply integrate the koji production process characteristics and optimize the design for the driving-in ground flat warehouse, to fundamentally solve the difficulties faced by the traditional manual mode and the existing general automation scheme. SUMMARY

[0008] The purpose of the present application is to provide a koji warehouse AGV-based driving-in ground goods location automated warehousing system and in-out warehouse control method, which greatly improves the warehouse space utilization rate, and reduces the labor intensity of workers and improves the production efficiency by using AGV to carry and turn koji racks or koji baskets.

[0009] The technical solution of the present application is as follows: A koji warehouse AGV-based driving-in ground goods location automated warehousing system, comprising: At least two koji warehouses, each warehouse is divided into at least two columns of ground goods locations for storing koji racks or koji baskets carrying koji; At least one AGV for carrying koji racks or koji baskets in the warehouse room and the warehouse; A warehouse management system in communication connection with the AGV for managing inventory information and issuing task instructions; The warehouse management system is configured to: Each ground goods location and each koji warehouse as a whole is respectively assigned and maintained a storage state, and the storage state includes: idle state, loaded state, move-in allocation state and move-out allocation state; Based on the storage state, the in-out warehouse strategy and the koji turning and warehouse reversing strategy are executed to control the AGV to complete the corresponding carrying task.

[0010] By defining and maintaining four states of ''idle, loaded, move-in allocation, and move-out allocation'' for each specific goods location and the entire warehouse, the warehouse management is realized from micro to macro full-dimensional fine control. Avoiding further in-out warehouse in the warehouse that has been planned to out-warehouse, fundamentally guarantees the process requirement of ''whole warehouse fermentation and whole warehouse out-warehouse'', and ensures the consistency of koji quality. Through the ''move-in / move-out allocation'' state, the allocated resources are effectively locked, avoiding the competition of multiple AGVs for the same goods location or warehouse, and improving the stability and efficiency of the system operation.

[0011] Further, the warehouse management system is configured to, when executing the warehousing strategy: in response to a warehousing request, according to the storage state of each wine yeast warehouse, the priority of the move-in allocation state is higher than the idle state, and the target warehouse is selected; after the AGV arrives at the specified position outside the target warehouse, the warehouse position application initiated by the AGV is received; According to the storage state of each storage position in the target warehouse, the wine rack or wine basket is allocated an idle state ground storage position in the order from inside to outside.

[0012] Through the above strategy, the dynamic delay allocation mechanism of "allocating warehouse first and then applying specific storage position after AGV arrives" is adopted, combined with the "from inside to outside" storage position allocation principle. By setting the warehouse selection priority of "MoveIn>Free", it is ensured that the system will fill a warehouse first and then start the next one, greatly improving the warehouse space utilization and the efficiency of the whole warehouse fermentation. The delay allocation mechanism perfectly solves the blocking problem caused by the difference in AGV carrying distance and speed, so that the AGV can execute warehousing according to the actual arrival order, and the system has a higher throughput.

[0013] Further, the warehouse management system is configured to, when executing the warehousing strategy: in response to a warehousing request, according to the storage state of each wine yeast warehouse, the priority of the move-in allocation state is higher than the idle state, and the target warehouse is selected; after the AGV arrives at the specified position outside the target warehouse, the warehouse position application initiated by the AGV is received; According to the storage state of each storage position in the target warehouse, the wine rack or wine basket is allocated an idle state ground storage position in the order from inside to outside.

[0014] Through the above strategy, by setting the warehouse out priority of "MoveOut>Load>MoveIn", and using the "from outside to inside" storage position allocation order in the warehouse, it is ensured that the materials in the whole column that are warehoused first can be preferentially out of the warehouse, perfectly meeting the strict requirement of batch consistency for wine yeast feeding. Similar to the delay allocation mechanism for warehousing, the timing conflict problem of the out-of-warehouse AGV is also solved, ensuring the smoothness of the out-of-warehouse operation and avoiding the invalid waiting of the AGV outside the warehouse.

[0015] Further, the warehouse management system is configured to, when executing the warehousing strategy: According to the predefined wine turning condition, generate the warehouse turning task; Control the AGV to carry the wine rack or wine basket located in the middle area of the warehouse to the idle storage position in the wall area, and carry the wine rack or wine basket located in the wall area to the idle storage position in the middle area of the warehouse.

[0016] Through the above strategy, the koji baskets are exchanged between the middle and the wall position in the warehouse by the automated equipment, ensuring that all koji blocks are evenly heated and humidified during fermentation, significantly improving the quality of finished koji. Workers are completely liberated from high-intensity, high-humidity and high-heat koji turning labor, achieving automation and intelligentization of the production process.

[0017] Further, the system further comprises: An environmental monitoring device is arranged in each koji warehouse for real-time collection of temperature and humidity data in the warehouse; The warehouse management system is in communication connection with the environmental monitoring device, and is configured to trigger or adjust the koji turning and warehouse reversing strategy based on the temperature and humidity data.

[0018] Further, the koji rack and koji basket are provided with RFID tags, and the AGV or the entrance of the warehouse is provided with an RFID reader for automatically identifying and recording the identity information and fermentation state of the materials when entering and leaving the warehouse.

[0019] Through the above system, the AGV equipment, koji rack / koji basket carrier, warehouse management system and the above core strategy are integrated into an organic whole, and the cargo storage is rationalized: the system uniformly plans the cargo location to realize standardized management of the koji warehouse. Access operation automation: all operations such as warehouse entry and exit, koji turning, etc. can be completed without manual intervention, reducing storage and transportation costs and labor intensity. Maximize space utilization: the driving-in ground cargo location design combined with efficient scheduling strategy maximizes the utilization rate of warehouse space.

[0020] The present application also includes a driving-in ground cargo location warehouse entry and exit control method based on koji AGV, applied to a driving-in ground cargo location automated warehouse system based on koji AGV, comprising the following steps: A storage state is allocated and maintained for each ground cargo location and each koji warehouse as a whole, and the storage state includes: idle state, cargo carrying state, moving-in allocation state and moving-out allocation state; Based on the storage state, the warehouse entry strategy, the warehouse exit strategy and the koji turning and warehouse reversing strategy are executed to control the AGV to complete the corresponding carrying task.

[0021] Further, the warehouse entry strategy comprises: In response to the warehouse entry request, according to the storage state of each koji warehouse, the target warehouse is selected according to the priority of the moving-in allocation state over the idle state, and the state is updated to the moving-in allocation state; The AGV is dispatched to transport the koji rack or koji basket to be entered into the warehouse to a designated position outside the target warehouse; After the AGV reaches the designated position, a free ground storage site is allocated according to the storage state of each site in the target warehouse in an order from inside to outside, and the AGV is controlled to drive in to complete the storage.

[0022] Further, the out-of-warehouse strategy comprises: In response to the out-of-warehouse request, a source warehouse is selected according to the storage state of each koji warehouse, in an order that the removal allocation state is prior to the cargo carrying state, and the cargo carrying state is prior to the removal allocation state, and the state of the source warehouse is updated to the removal allocation state; The AGV is dispatched to move to a designated position outside the source warehouse; After the AGV reaches the designated position, a cargo carrying state site is allocated according to the storage state of each site in the source warehouse in an order from outside to inside, and the AGV is controlled to drive in to complete the cargo carrying.

[0023] Further, the koji turning and warehouse reversing strategy comprises: The fermentation time or environmental parameters of each koji warehouse are monitored; When a predefined koji turning condition is met, a warehouse reversing task is generated; Based on the occupation of the sites in the current warehouse, the optimal site exchange pair is calculated; The AGV is controlled to perform a series of handling operations to exchange the koji racks or koji baskets located in the middle area of the warehouse with the koji racks or koji baskets located in the wall area.

[0024] Compared with the existing technology, the beneficial effects of the present application are: According to the requirements of the koji production process, the cooperation of AGV equipment, koji racks and koji baskets, and software management system is used to realize automatic storage. The rationalization of goods storage, automatic storage and retrieval, and the simplification of operation are realized. Through koji racks and koji baskets, AGV system, conveyors and other equipment, as well as scheduling control system and software management system, automatic storage, automatic storage and retrieval, and standardized management of warehouse goods are realized, which reduces the storage and transportation cost, reduces the labor intensity, and improves the utilization rate of warehouse space. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 It is a schematic diagram of the system of the present application.

[0026] Figure 2 It is a koji making process schematic diagram of the present application.

[0027] Figure 3 It is a warehouse-in process schematic diagram of the present application.

[0028] Figure 4 It is a warehouse-out process schematic diagram of the present application.

[0029] Figure 5 It is a koji turning and warehouse reversing process schematic diagram of the present application. DETAILED DESCRIPTION

[0030] It is to be understood that the terms "first" and "second" and the like are used merely to distinguish one entity or action from another, without necessarily requiring or implying any such actual relationship or order between such entities or actions. Also, the terms "comprises", "comprising", or any other variation thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0031] The features and advantages of the present application will be further described in the following detailed description of embodiments.

[0032] Please refer to Figures 1-5 A driving-in ground storage automatic warehousing system based on koji AGV, as shown in Figure 1 and Figure 2 , comprises: The in-out warehouse strategy includes in-out warehouse strategy, out-of-warehouse strategy, and koji turning and out-of-warehouse strategy. The strategy mainly realizes the in-out warehouse logic control through the storage state of the storage site, wherein the storage state of the storage site includes: Free, Load, MoveIn, MoveOut four states.

[0033] Koji shelf: a tray carrier for storing koji blocks, which is a material unit for AGV transportation.

[0034] Koji basket: a tray carrier for storing koji blocks after koji turning, which is a material unit for AGV transportation.

[0035] Koji library location includes: a location unit on the ground in the koji library that can store a koji shelf or koji basket. A koji library can be divided into multiple columns of storage sites, and storage and retrieval are performed column by column. The same column is stacked in a first-in-last-out manner, and different columns are queued in a first-in-first-out manner. The entire koji library is also regarded as a large storage site to set the location state, which is used for in-out warehouse logic judgment in the dimension of the entire library.

[0036] The storage state of the location unit in the koji library is as follows: Free: idle state, representing that the location is idle and can be used for in-warehouse operation.

[0037] Load: loaded state, representing that the location is loaded and can be used for out-of-warehouse operation.

[0038] MoveIn: Move In Assignment indicates that this position has been assigned an inbound task. It cannot be used for any other inbound or outbound operations before the AGV task is completed.

[0039] MoveOut: Moveout assignment indicates that this location has been assigned an outbound task and cannot be used for any other inbound or outbound operations until the AGV task is completed.

[0040] The overall storage status of the yeast cellar is as follows: Free: Idle state. When this warehouse is empty, the storage status of the warehouse is set to Free, which means that the warehouse can receive new inventory.

[0041] Load: Load status. When the warehouse has reached its maximum storage capacity and the last pallet of goods is stored after the inbound task is completed, the storage status of this warehouse is set to Load, meaning that no more goods can be stored.

[0042] MoveIn: Move In Assignment. When an inbound task has been generated in this warehouse, but it is not yet full or the task has not been completed, the storage status of this warehouse is set to MoveIn, which means that it can be prioritized for inbound.

[0043] MoveOut: Move out assignment. When an outbound task is generated in this warehouse, the storage status of this warehouse is set to MoveOut, which means that the warehouse already has an outbound demand and cannot move in again, because the first-in-first-out principle must be followed. Otherwise, moving in again will block the shipment of the column that should have been the first to go out between different columns.

[0044] like Figure 3 As shown, the inbound strategies include: Finding warehouse that can be entered: due to the requirements of the koji fermentation process, koji needs to be fermented in stable temperature and humidity, and once the warehouse starts fermentation, it cannot be randomly entered or exited, so the warehouse needs to be entered first and then the fermentation time is calculated. The system finds the warehouse that can be entered according to the storage state of the warehouse, and the priority of entering the warehouse is MoveIn>Free. The system checks the storage of materials with the same properties in the warehouse, and if there is a warehouse with a storage state of MoveIn, it is preferred to enter this warehouse, which ensures that the warehouse is full and improves the utilization of the storage space. Then, according to the distance from the entry station to the warehouse, the closest warehouse with a storage state of Free is found for entry. Due to the influence of the carrying distance and the AGV carrying speed, the time of AGV carrying goods to the warehouse is uncertain, so the AGV can only be assigned a task to carry to a specific location outside the warehouse, and then apply for a specific location inside the warehouse for entry. This avoids the situation where the actual arrival order of the AGV is inconsistent, which blocks the entry of tasks that should be entered first in different columns. When the warehouse is empty, the storage state of the warehouse is set to Free, indicating that the warehouse can be entered. When the warehouse has entry tasks but is not full or the tasks have not been completed, the storage state of the warehouse is set to MoveIn. When the warehouse has reached the upper limit of the entry storage space, and the last piece of goods is entered, the storage state of the warehouse is changed to Load. When the warehouse has an exit task, the storage state of the warehouse is set to MoveOut, indicating that the warehouse has an exit demand and cannot be re-entered, because the principle of first-in first-out must be followed, otherwise re-entering will block the exit of columns that should be exited first.

[0045] Finding available entry location in the warehouse: after the AGV arrives at a specific location outside the warehouse, the AGV initiates an entry application, and the system checks the storage of materials with the same properties in the warehouse. According to the storage state of the warehouse, the location is allocated from the inside to the outside of the different columns in the warehouse for entry.

[0046] As shown in Figure 4 , the exit strategy includes: Find the warehouse that can be out of stock: because of the requirements of wine starter feeding, in order to ensure the consistency of the quality of wine starter, the finished product starter in the same warehouse needs to be uniformly fed for production. The system finds the warehouse according to the planned total number of the same attribute material in the out-of-stock order, and the out-of-stock priority is MoveOut>Load>MoveIn. Because there are multiple out-of-stock stations in different positions at the same time to perform the out-of-stock feeding operation, affected by the carrying distance and the AGV carrying speed, the time of AGV arriving at the warehouse to pick up the goods is uncertain. Here, only the task of AGV carrying to a specific position outside the warehouse can be issued, and after AGV arrives at the specific position outside the warehouse, the specific position in the warehouse is applied for distribution for out-of-stock, so as to avoid the inconsistency of the actual arrival sequence of AGV, which blocks the tasks that should be out of stock in different columns. The system first selects the column whose storage state is MoveOut in the warehouse, and then selects the column whose storage state is Load in the warehouse. Finally, the warehouse whose storage state is MoveIn and has no in-warehouse task is selected. Once the out-of-stock task is generated, the storage state of the warehouse changes from the above three to MoveOut. After the last tray of goods in the warehouse is out of stock, the storage state of the warehouse is updated to Free.

[0047] Find the available out-of-stock position in the warehouse: after AGV arrives at a specific position outside the warehouse, AGV initiates an out-of-stock application at the specific position. The system checks the storage of the same attribute material in the warehouse, and according to the storage state of the warehouse, the position is distributed from the outside to the inside of the column in the warehouse.

[0048] As shown in Figure 5 , the turnover and warehouse reversal strategy includes: Because of the temperature and humidity requirements of the starter culture process, the temperature and humidity of the middle position and the wall corner position in the same warehouse are different, and the starter blocks that meet the turnover conditions need to be adjusted to the storage position, that is, the starter baskets in the middle position of the starter warehouse are adjusted to the wall position, and the starter baskets in the wall position are adjusted to the middle of the starter room, so that the starter blocks can be fully fermented in each position in the warehouse. After the system controls AGV to adjust the position of the starter frame up and down for turnover, it is transported to a new starter warehouse for secondary fermentation.

[0049] The application will be described in detail below through specific embodiments.

[0050] A wine starter warehouse uses AGV equipment, starter frames and starter baskets, and a software management system to realize automatic storage of wine starter, realize rationalization of wine starter storage, automatic access and easy operation. Among them, the wine starter warehouse is designed as four floors, and the warehouse layout and the position layout in the warehouse are consistent on each floor. As shown in Figure 1As shown, there are 180 warehouses on a single floor, with each warehouse having 2 rows × 20 = 40 storage locations. An automatic door is designed at one end of each warehouse, interlocked with the AGVs. The door opens and closes automatically when the AGVs retrieve or place goods. The warehouses in the same row operate in a stacked, first-in, last-out (LIFO) configuration, meaning the AGVs can only enter and exit from the automatic door side of the warehouse.

[0051] The system obtains production plans from the upstream system and uses two palletizing stations to palletize and store the yeast blocks. The planned total quantity to be stored is 80 yeast racks, requiring two warehouses and 80 storage locations. Figure 2 As shown, after the yeast blocks are pressed and shaped by the yeast press, they are stacked into the yeast rack by two robotic arms. When the yeast rack is full, the robotic arms send an inbound request to the system, and the system searches for a warehouse that can accept the yeast blocks based on the storage status of the warehouse.

[0052] like Figure 3 As shown, when all warehouses meet the warehousing requirements, the system determines the order of available warehouses based on their distance: Warehouse 1, Warehouse 2. The system first generates a task for Warehouse 1 and sets its storage status to MoveIn. Because the warehousing priority is MoveIn > Free, subsequent palletizing and warehousing tasks are prioritized for Warehouse 1. Once Warehouse 1 is full, tasks are then moved to Warehouse 2. After the system finds an available warehouse, it assigns a task to the AGV to reach a specific location outside the warehouse. Upon reaching this location, the AGV initiates an warehousing request. The system checks the storage status of materials with the same attributes as the warehousing material in the warehouse and, based on the storage status of the warehouse locations, allocates locations from the inside out according to different columns within the warehouse. When the last storage location in the warehouse is full, the warehouse storage status is set to Load, indicating that the warehouse is full. The warehouse then enters a fermentation state, and the system automatically begins calculating the fermentation time.

[0053] like Figure 5 As shown, once the fermentation time meets the requirements for turning the koji (fermented koji) out of storage, the system adjusts the storage location of the koji blocks that meet the turning conditions according to the storage transfer strategy. Specifically, the koji racks placed in the middle of the koji storage are moved to a position against the wall, and the koji racks against the wall are moved to the middle of the koji room, ensuring that the koji blocks can be fully fermented in all positions within the storage room. The system then controls an AGV (Automated Guided Vehicle) to rearrange the koji racks, turn the koji, and then transfer them to a new koji storage room for secondary fermentation.

[0054] like Figure 4As shown, the system records the fermentation time of each warehouse starter culture, and the starter culture powder starter can be used for brewing wine only after the fermentation of the starter culture is completed. The production plan is obtained from the upstream system, and the total quantity of the planned warehouse is 80 racks, and 80 storage locations in two warehouses are needed for warehouse out. The system finds the warehouse according to the planned total quantity of the same attribute material in the warehouse, and when the warehouse meets the out-of-stock requirements, the warehouse order is obtained according to the distance: warehouse 1, warehouse 2. The system first generates the warehouse 1 out-of-stock task, and sets the storage state of warehouse 1 to MoveOut, because the out-of-stock priority is: MoveOut>Load>MoveIn, so the subsequent priority is warehouse 1, and after warehouse 1 is out, warehouse 2 is out. After the system finds the warehouse that can be out, the system gives the AGV a task to reach a specific position outside the warehouse, and the AGV reaches the position and initiates an out-of-stock application to the system. The system checks the storage state of the material with the same attribute in the warehouse, and according to the storage state of the warehouse, the position is allocated from outside to inside according to the different columns in the warehouse. After the last tray of goods in the warehouse is out, the storage state of the warehouse is updated to Free.

[0055] In this embodiment, the software and hardware integration, AGV and other technologies and devices have reliability, stability, safety and advanced nature, which meet the overall requirements of modern logistics automated warehouse, and can fully reflect the basic requirements of modern logistics to improve labor efficiency, reduce labor intensity, reduce logistics cost, improve land resource utilization and the requirements of national energy saving and emission reduction.

[0056] The above-described embodiments only express the specific implementation of the present application, and the description is more specific and detailed, but it cannot be understood as a limitation on the protection scope of the present application. It should be noted that for ordinary skilled in the art, without departing from the technical concept of the present application, a number of modifications and improvements can be made, which are within the scope of protection of the present application.

Claims

1. A drive-in automated ground storage system based on a wine yeast storage AGV, characterized in that, include: There are at least two yeast storage rooms, each with at least two rows of floor storage areas for storing yeast racks or baskets. At least one AGV is used for transporting skewer or basket of skewer in and around the warehouse. The warehouse management system communicates with AGVs to manage inventory information and issue task instructions; The warehouse management system is configured as follows: Each ground storage location and each yeast warehouse as a whole is assigned and maintained with a storage status, which includes: idle status, loaded status, transfer-in allocation status and transfer-out allocation status. Based on the storage status, the AGV executes inbound, outbound, and folding / returning strategies to control the AGV to complete the corresponding handling tasks.

2. The automated ground-level warehousing system based on a wine yeast storage AGV as described in claim 1, characterized in that, The warehouse management system is configured as follows when executing the inbound strategy: In response to the warehousing request, the target warehouse is selected based on the storage status of each yeast warehouse, prioritizing the transfer and allocation status over the idle status. After the AGV arrives at the designated location outside the target warehouse, it receives the warehouse location request initiated by the AGV. Based on the storage status of each location in the target warehouse, allocate an empty ground location for each rack or basket in order from the inside out.

3. The automated ground-level warehousing system based on a wine yeast storage AGV as described in claim 1, characterized in that, The warehouse management system is configured to: In response to the outbound request, the source warehouse is selected based on the storage status of each yeast warehouse, with priority given to outbound allocation status over loaded status, and loaded status over inbound allocation status. After the AGV arrives at the designated location outside the source warehouse, it receives the pickup request initiated by the AGV. Based on the storage status of each location in the source warehouse, an outbound location is allocated from the locations that are loaded with goods, in order from the outside in.

4. The automated ground-level warehousing system based on a wine yeast storage AGV as described in claim 1, characterized in that, The warehouse management system is configured as follows when executing the inventory turnover strategy: Generate a reverse database task based on predefined curve flipping conditions; The AGV is controlled to move the curved racks or baskets located in the middle area of ​​the warehouse to the empty storage space in the wall area, and at the same time, it moves the curved racks or baskets located in the wall area to the empty storage space in the middle area of ​​the warehouse.

5. The automated ground-level warehousing system based on a wine yeast storage AGV as described in claim 1, characterized in that, The system also includes: Environmental monitoring devices are installed in each yeast storage room to collect temperature and humidity data in real time. The warehouse management system is connected to the environmental monitoring device and is configured to trigger or adjust the folding and inventory turnover strategy based on temperature and humidity data.

6. The automated ground-level warehousing system based on a wine yeast storage AGV as described in claim 1, characterized in that, The fermentation racks and baskets are equipped with RFID tags, and RFID readers are installed at the AGV or warehouse entrance to automatically identify and record the material's identity information and fermentation status when it enters or leaves the warehouse.

7. A method for controlling the entry and exit of drive-in ground storage locations based on an AGV for wine yeast storage, characterized in that, An automated ground-level warehousing system based on a wine yeast storage AGV, as described in any one of claims 1-6, comprises the following steps: Each ground storage location and each yeast warehouse as a whole is assigned and maintained with a storage status, which includes: idle status, loaded status, transfer-in allocation status and transfer-out allocation status. Based on the storage status, the AGV executes inbound, outbound, and folding / returning strategies to control the AGV to complete the corresponding handling tasks.

8. The method for controlling the entry and exit of ground-level storage locations based on a wine yeast storage AGV according to claim 7, characterized in that, The inbound strategy includes: In response to the inbound request, based on the storage status of each yeast warehouse, and prioritizing the move-in allocation status over the idle status, the target warehouse is selected and its status is updated to the move-in allocation status. The AGV is dispatched to transport the curved racks or baskets to be stored to the designated location outside the target warehouse; After the AGV arrives at the designated location, it allocates an idle ground storage location according to the storage status of each location in the target warehouse, in order from the inside out, and controls the AGV to drive in and complete the storage.

9. The method for controlling the entry and exit of ground-level storage locations based on a wine yeast storage AGV according to claim 7, characterized in that, The outbound strategy includes: In response to the outbound request, based on the storage status of each yeast warehouse, and prioritizing the outbound allocation status over the loaded status, and the loaded status over the inbound allocation status, the source warehouse is selected and its status is updated to the outbound allocation status. Dispatch the AGV to a designated location outside the source warehouse; After the AGV arrives at the designated location, it allocates a loaded storage location according to the storage status of each location in the source warehouse, in order from the outside to the inside, and controls the AGV to drive in and complete the retrieval.

10. A method for controlling the entry and exit of ground-level cargo locations based on a wine yeast storage AGV according to claim 7, characterized in that, The reverse-engineering strategy includes: Monitor the fermentation time or environmental parameters of each yeast storage room; When the predefined conditions for refurbishment are met, a data transfer task is generated. Based on the current occupancy of warehouse locations, calculate the optimal location swap pair; Control the AGV to perform a series of handling operations, and swap the positions of the curved racks or baskets located in the middle area of ​​the warehouse with those located in the wall area.

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