An AGV-based driving-in ground storage automatic warehousing system and a warehouse access control method

Abstract

The application discloses a driving-in type ground storage location automatic storage system based on a wine starter culture AGV and a warehouse access control method, and relates to the technical field of ground flat warehouse automatic storage systems. According to the wine starter culture production process requirement, the application realizes automatic storage by cooperation of AGV equipment, a starter culture frame and a starter culture basket and a software management system. The application realizes rationalization of goods storage, automatic storage and retrieval and simple operation. Through the starter culture frame and the starter culture basket, the AGV system, conveyors and other equipment and a scheduling control system and the software management system, automatic storage, automatic retrieval and standardized management of warehouse goods are realized, storage and transportation costs are reduced, labor intensity is reduced and warehouse space utilization is improved.

Description

Technical Field

[0001] This invention relates to the field of automated warehousing systems for ground-level warehouses, specifically to an automated ground-level storage system based on a wine yeast storage AGV and an inbound / outbound control method. Background Technology

[0002] In Chinese liquor brewing, there's an ancient saying that "koji (fermentation starter) is the bone of the liquor," highlighting its crucial role in determining flavor and quality. Traditional koji-making takes place in a koji room, where the koji blocks undergo a series of complex processes including storage, fermentation, turning, and secondary fermentation. For a long time, these processes have relied heavily on manual labor, resulting in: extremely high labor intensity and harsh environments: workers must perform heavy tasks of moving, turning, and stacking koji blocks in the high humidity and temperature of the koji room, leading to low production efficiency and occupational health and safety hazards. Bottlenecks in production efficiency and quality: manual operation makes it difficult to precisely control the timing of turning and the uniformity of fermentation, resulting in unstable koji quality and hindering large-scale, standardized production. Inefficient warehouse management and low space utilization: traditional flat warehouses lack scientific location management and planning, relying on manual memory and experience for storage and retrieval, leading to low warehouse space utilization and difficulties in material traceability.

[0003] To address these issues, automated warehousing technology has been introduced into the brewing industry. In particular, Automated Guided Vehicle (AGV) systems, due to their high flexibility and automation, have been applied in warehouses across various sectors. Existing AGV warehousing systems typically employ rack-mounted or fixed-location storage models, and their inbound and outbound strategies are mostly based on the common "First-In-First-Out" (FIFO) or "proximity principle."

[0004] However, directly applying these existing AGV systems and strategies to the yeast storage scenario presents significant incompatibility and technical obstacles: Disconnected from the production process: General-purpose AGV systems cannot understand and execute the unique processes of koji making, such as "turning the koji" and "emptying the warehouse," and cannot meet the core process requirement of dynamically adjusting the storage location according to fermentation time and temperature and humidity.

[0005] The existing system suffers from a single dimension in warehouse management: it typically only manages the status of individual storage locations, lacking the ability to coordinate and control the entire warehouse process (such as whether fermentation is underway, whether the warehouse is full, or whether it is ready for shipment). This can easily lead to new inbound tasks clogging the channels during the outbound phase, disrupting the "first-in, first-out" order between different columns, and affecting the consistency of the quality of the entire warehouse's yeast.

[0006] Inflexible strategy and low efficiency: The "drive-in flat warehouse" layout of the yeast storage requires AGVs to operate inside the cargo area. General inbound and outbound strategies are prone to problems such as task conflicts, path blockages, and excessively long waiting times when faced with multiple AGVs, multiple concurrent tasks, and the uncertainty of handling distance and speed, thus failing to achieve optimal overall system efficiency.

[0007] Therefore, there is an urgent need in this field for a dedicated AGV automated warehousing system and control method that can deeply integrate the characteristics of yeast production process and be optimized for drive-in ground flat warehouses, so as to fundamentally solve the dilemmas faced by traditional manual mode and existing general automation solutions. Summary of the Invention

[0008] The purpose of this invention is to address the aforementioned problems by providing an automated warehousing system and inbound / outbound control method based on AGVs for yeast storage, which greatly improves warehouse space utilization. By using AGVs to transport and turn yeast racks or baskets, the system reduces the labor intensity of workers and increases production efficiency.

[0009] The technical solution of the present invention is as follows: An automated warehousing system based on a wine yeast storage AGV (Automated Guided Vehicle) for drive-in ground storage includes: 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.

[0010] By defining and maintaining four states—"idle," "loaded," "inbound allocation," and "outbound allocation"—for each specific storage location and the entire warehouse, comprehensive and refined control of warehouse management is achieved from micro to macro levels. This avoids continuing to store goods in warehouses already planned for outbound shipments, fundamentally ensuring the process requirement of "whole-warehouse fermentation and whole-warehouse outbound," and guaranteeing the consistency of yeast quality. The "inbound / outbound allocation" status effectively locks in allocated resources, preventing multiple AGVs from competing for the same storage location or warehouse, thus improving the stability and efficiency of system operation.

[0011] Furthermore, the warehouse management system is configured to: 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.

[0012] The above strategy employs a dynamic delayed allocation mechanism of "allocating warehouses first, then requesting specific storage locations after AGVs arrive," combined with a "from the inside out" storage location allocation principle. By setting a warehouse selection priority of "MoveIn>Free," the system ensures that one warehouse is filled before the next is opened, greatly improving warehouse space utilization and overall warehouse efficiency. The delayed allocation mechanism perfectly solves the blocking problem of "assigning tasks first and arriving later" caused by differences in AGV carrying distance and speed, allowing AGVs to seamlessly execute warehousing according to their actual arrival order, resulting in higher system throughput.

[0013] Furthermore, 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.

[0014] By employing the above strategy, and setting a warehouse outbound priority of "MoveOut>Load>MoveIn," and using an "outside-in" location allocation order within the warehouse, it is ensured that materials entering the warehouse earlier in different columns are prioritized for outbound processing. This perfectly meets the stringent batch consistency requirements for yeast feeding. A similar delayed allocation mechanism to the inbound process also resolves the timing conflict issue of outbound AGVs, ensuring smooth outbound operations and avoiding unnecessary waiting by AGVs outside the warehouse.

[0015] Furthermore, the warehouse management system is configured to: 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.

[0016] By employing the aforementioned strategy, automated equipment was used to swap the koji baskets between locations in the center of the warehouse and against the wall, ensuring that all koji blocks received uniform temperature and humidity during fermentation, significantly improving the quality of the finished koji. This completely freed workers from the high-intensity, high-humidity, and high-heat labor of turning the koji, achieving automation and intelligentization of the production process.

[0017] Furthermore, 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.

[0018] Furthermore, RFID tags are installed on the fermentation racks and baskets, and RFID readers are installed at the AGV or warehouse entrance to automatically identify and record the identity information and fermentation status of materials when they enter or leave the warehouse.

[0019] The aforementioned system integrates AGV equipment, crate / basket carriers, warehouse management system, and the core strategies described above into a cohesive whole, achieving rationalized cargo storage: the system uniformly plans storage locations, enabling standardized management of the crate warehouse. Automated storage and retrieval operations: all operations, including inbound / outbound and crate turnover, can be completed without human intervention, reducing storage and transportation costs and alleviating labor intensity. Maximized space utilization: the drive-in ground-level storage design combined with efficient scheduling strategies maximizes warehouse space utilization.

[0020] This application also includes a drive-in ground storage location access control method based on a wine yeast storage AGV, applied to an automated warehousing system based on a wine yeast storage AGV, comprising 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.

[0021] Furthermore, 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 frames 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.

[0022] Furthermore, 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. Schedule the AGV to move to the 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.

[0023] Furthermore, the reverse-curve inventory 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.

[0024] Compared with existing technologies, the advantages of this invention are: Based on the requirements of the yeast production process, automated storage is achieved through the collaboration of AGV equipment, yeast racks and baskets, and a software management system. This enables rational storage, automated retrieval, and simplified operation of goods. Through yeast racks and baskets, AGV systems, conveyors, and other equipment, along with a scheduling and control system and software management system, automated storage and retrieval of warehouse goods, standardized management, reduced storage and transportation costs, reduced labor intensity, and improved warehouse space utilization are achieved. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the system in this application.

[0026] Figure 2 This is a schematic diagram of the koji-making process described in this application.

[0027] Figure 3 This is a schematic diagram of the warehousing process for this application.

[0028] Figure 4 This is a schematic diagram of the outbound process for this application.

[0029] Figure 5 This is a schematic diagram of the folding and relocation process in this application. Detailed Implementation

[0030] It should be noted that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0031] The features and performance of the present invention will be further described in detail below with reference to embodiments.

[0032] Please see Figure 1-5 An automated warehousing system based on a drive-in ground storage AGV for wine yeast storage, such as... Figure 1 and Figure 2 As shown, it includes: The inbound and outbound strategies include inbound strategies, outbound strategies, and turnover strategies. These strategies primarily control inbound and outbound logic through the storage status of the storage locations, which includes four states: Free, Load, MoveIn, and MoveOut.

[0033] Yeast rack: A pallet carrier used to store yeast blocks, which is a material unit handled by AGV.

[0034] Fermentation yeast basket: A pallet carrier used to store fermentation yeast blocks after they have been turned over; it is a material unit for AGV handling.

[0035] A yeast storage location includes a floor space within the yeast storage area that can store a yeast rack or yeast basket. A yeast storage area can be divided into multiple rows of storage locations, with storage occurring row by row during inbound and outbound operations. Yeasts in the same row are stacked (last-in, first-out), while those in different rows are queued (first-in, first-out). The entire yeast storage area is also treated as a large storage location with defined positional states for inbound and outbound logic across the entire storage facility.

[0036] The storage status of the locations within the yeast storage unit is as follows: Free: Idle state, indicating that the position is available and can be used for assigning inbound operations.

[0037] Load: Loaded status, indicating that the location is loaded with goods, which can be used to allocate outbound operations.

[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 state 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 the 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: Moveout 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 shipped out first between different columns.

[0044] like Figure 3 As shown, the inbound strategies include: Finding Available Warehouses: Due to the fermentation process requirements of the yeast, the yeast needs to ferment within a stable temperature and humidity range. Once fermentation begins, warehouses cannot be opened for entry or exit at will. Therefore, warehouses must be filled before fermentation begins and the fermentation time is calculated. The system searches for available warehouses based on their storage status, with a priority of MoveIn > Free. The system checks the storage status of materials with the same attributes as the materials to be stored. If a warehouse with a MoveIn status exists, it is prioritized for storage to ensure all warehouses are filled first, maximizing storage space utilization. Then, the system sorts the warehouses by distance from the entry station and finds the nearest warehouse with a Free status for storage. Because multiple inbound stations at different locations are performing inbound operations simultaneously, the arrival time of goods transported by AGVs is uncertain due to differences in transport distance and AGV speed. Therefore, tasks can only be assigned to move AGVs to a specific location outside the warehouse. Once the AGVs arrive at that location, a specific location within the warehouse is requested for inbound transport. This avoids situations where inconsistent arrival orders after pre-assignment could block tasks that should be performed first between different rows. When the warehouse is empty, its storage status is set to Free, indicating that the warehouse is ready for inbound transport. When an inbound task has been generated in the warehouse but it is not yet full or the task is not yet completed, the storage status is set to MoveIn. When the warehouse has reached its inbound storage capacity and the last pallet of goods is inbound, the storage status is changed to Load. When an outbound task is generated in this warehouse, the storage status of the 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 would block the shipment of the column that should have been the first to go out between different columns.

[0045] Finding an available storage location in the warehouse: After the AGV arrives at a specific location outside the warehouse, the AGV initiates an entry request. The system checks the storage status of materials with the same attributes as the materials to be stored in the warehouse, and allocates storage locations from the inside to the outside according to the storage status of the warehouse locations and different columns in the warehouse.

[0046] like Figure 4 As shown, the outbound strategy includes: Finding Available Warehouses: Due to requirements for yeast starter input, to ensure consistent yeast starter quality, all finished yeast starters fermented in the same warehouse must be fed into production. The system searches for warehouses based on the planned total output of materials with the same attributes in the outbound order, with outbound priority: MoveOut > Load > MoveIn. Since multiple outbound stations at different locations may be performing outbound feeding operations simultaneously, the arrival time of AGVs at the warehouse is uncertain due to differences in transport distance and AGV speed. Therefore, the system can only assign tasks to AGVs to transport the goods to a specific location outside the warehouse. Once the AGVs arrive at that location, a specific location within the warehouse can be requested for outbound processing. This avoids situations where inconsistent arrival orders after pre-assigning outbound locations could block tasks that should be processed later in different columns. The system prioritizes warehouses with a MoveOut storage status, followed by those with a Load storage status. Finally, it selects warehouses with a MoveIn storage status and no inbound tasks. Once an outbound task is generated, the warehouse's storage status changes from one of the three states mentioned above to MoveOut. After the last shipment from this warehouse is dispatched, the warehouse's storage status is synchronously updated to Free.

[0047] Finding available locations for outbound shipment within the warehouse: After the AGV arrives at a specific location outside the warehouse, it initiates an outbound request at that location. The system checks the storage status of materials with the same attributes as the outbound material in the warehouse and allocates outbound locations from the outside to the inside according to the storage status of the warehouse locations and different columns within the warehouse.

[0048] like Figure 5 As shown, the reverse-engineering strategy includes: Due to the temperature and humidity requirements of the koji-making process, the temperature and humidity differ between the central area and the corners of the same warehouse. Therefore, the storage positions of koji blocks that meet the turning conditions need to be adjusted. Specifically, koji baskets placed in the middle of the warehouse should be moved to a position against the wall, and koji baskets placed against the wall should be moved to the center of the warehouse. This ensures that the koji blocks can undergo sufficient fermentation in all locations within the warehouse. Based on this inbound / outbound strategy, the system controls AGVs to rearrange the koji racks, turn the koji, and then transfer them to a new koji warehouse for secondary fermentation.

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

[0050] A winery's yeast storage facility utilizes AGV equipment, yeast racks and baskets, and a software management system to achieve automated yeast storage, rational yeast placement, automated retrieval, and simplified operation. The yeast storage facility is a four-story building with a consistent layout of rooms and storage locations on each floor. For example... 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 the yeast in each warehouse. Only after the yeast fermentation is complete can the yeast powder be added for brewing. The system obtains the production plan from the upstream system, with a planned total outbound volume of 80 yeast racks, requiring 80 storage locations in two warehouses. The system searches for outbound warehouses based on the planned outbound volume of materials with the same attributes in the outbound orders. When both warehouses meet the outbound material requirements, the order of available warehouses based on outbound distance is: Warehouse 1, Warehouse 2. The system first generates the outbound task for Warehouse 1 and sets its storage status to MoveOut. Because the outbound priority is: MoveOut > Load > MoveIn, subsequent outbound tasks are prioritized for Warehouse 1, and Warehouse 2 is processed only after Warehouse 1 has finished its outbound task. After the system locates a warehouse that can be dispatched, it assigns a task to the AGV to reach a specific location outside the warehouse. Once the AGV arrives at that location, it initiates a dispatch request to the system. The system checks the storage status of materials with the same attributes as the dispatched materials in the warehouse and, based on the storage status of the warehouse locations, allocates dispatch locations from the outside in according to different columns within the warehouse. After the last batch of goods is dispatched from that warehouse, the warehouse's storage status is synchronously updated to Free.

[0055] In this embodiment, the software and hardware integration, AGV and other technologies and equipment have reliability, stability, safety and advanced features, which meet the overall requirements of modern logistics automated warehouses. They can fully reflect the basic requirements of modern logistics such as improving labor efficiency, reducing labor intensity, reducing logistics costs and improving land resource utilization, as well as the energy conservation and emission reduction requirements advocated by the state.

[0056] The embodiments described above merely illustrate specific implementation methods of this application, and while the descriptions are detailed and specific, they should not be construed as limiting the scope of protection of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the technical solution of this application, and these modifications and improvements all fall within the scope of protection of this 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 it to complete the corresponding handling tasks. The warehouse management system is configured as follows when executing the inbound policy: 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. The warehouse management system is configured as follows when executing the outbound strategy: 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.

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 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.

3. 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.

4. 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.

5. 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 1-4, 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.

6. The method for controlling the entry and exit of ground-level storage locations based on a wine yeast storage AGV according to claim 5, 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 frames 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.

7. The method for controlling the entry and exit of ground-level storage locations based on a wine yeast storage AGV according to claim 5, 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. Schedule the AGV to move to the 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.

8. The method for controlling the entry and exit of ground-level storage locations based on a wine yeast storage AGV according to claim 5, 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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