Warehouse cargo handling system and method, electronic equipment and medium

Abstract

The embodiment of the invention provides a warehouse cargo handling system and method, electronic equipment and a readable storage medium. The system comprises an automatic guided vehicle docking area, a rail guided vehicle operation area, a four-way vehicle docking area, a warehouse in-out area and a cargo storage area which are arranged in sequence. The dispatching unit dispatches the automatic guided transport vehicle to carry goods in the warehouse-in and warehouse-out area and the automatic guided transport vehicle docking area; the rail guidance vehicle is dispatched to move in the rail guidance vehicle operation area, and cargoes in the automatic guidance transport vehicle docking area and the four-way vehicle docking area are carried; and the four-way vehicle is dispatched to carry the goods in the goods storage area and the goods allocation in the four-way vehicle butt joint area. According to the embodiment of the invention, through the arrangement of the rail guidance vehicle running area, the rail guidance vehicle runs linearly in the cargo carrying process, and the rail guidance vehicle running area is connected with the automatic guidance transport vehicle docking area and the four-way vehicle docking area, so that the logistics transportation line in the warehouse is simplified, and the cargo carrying efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of warehouse cargo handling technology, and in particular to a warehouse cargo handling system, method, electronic device, and readable storage medium. Background Technology

[0002] In the logistics and warehousing industry, four-way parking garages are widely used in cargo storage scenarios due to their advantages of high storage density and large storage capacity. However, as the industry's requirements for inbound and outbound efficiency, storage scale, and diversity of cargo types continue to increase, the design complexity of four-way parking garage systems has increased significantly.

[0003] In existing docking methods, conveyor lines are mainly used to transfer goods to and from four-way shuttles. When the garage system needs to meet the requirements of high inbound / outbound cycle time, large storage capacity, and multi-type cargo storage, a dedicated conveyor line is usually required for each docking point. In some scenarios, conveyor lines with lifting functions are also required to achieve effective docking with four-way shuttles. However, conveyor lines occupy a lot of ground space, and the system construction and maintenance costs are high, limiting the flexibility of warehouse layout and the efficiency of cargo transportation. Summary of the Invention

[0004] In view of the above problems, embodiments of the present invention are proposed to provide a warehouse cargo handling system, method, electronic device, and readable storage medium that overcomes or at least partially solves the above problems.

[0005] In a first aspect, embodiments of the present invention provide a warehouse cargo handling system, the warehouse comprising, in sequence, an automated guided vehicle docking area, a rail-guided vehicle operating area, a four-way vehicle docking area, an inbound / outbound area, and a cargo storage area, the system comprising: An automated guided vehicle (AGV) is used to move goods from the AGV docking area to the inbound / outbound area, and / or to move goods from the inbound / outbound area to the storage location in the AGV docking area. A rail-guided vehicle is used to move goods from the docking area of ​​the automated guided vehicle to the cargo position in the four-way docking area, and / or to move goods from the four-way docking area to the cargo position in the docking area of ​​the automated guided vehicle. A four-way vehicle is used to move goods from the four-way vehicle docking area to the goods storage area, and / or move goods from the goods storage area to the storage location in the four-way vehicle docking area; The scheduling unit is used to schedule the automated guided vehicles (AGVs) to move between the AGV docking area and the inbound / outbound area and to transport goods in the inbound / outbound area and the AGV docking area; to schedule the rail-guided vehicles to move within the rail-guided vehicle operating area and to transport goods in the AGV docking area and the four-way vehicle docking area; and to schedule the four-way vehicles to move between the four-way vehicle docking area and the goods storage area and to transport goods in the goods storage area and the storage locations in the four-way vehicle docking area.

[0006] Optionally, the scheduling unit is further configured to send a first inbound instruction to the automated guided vehicle (AGV) to transport goods to the first cargo location in the AGV docking area; after receiving the first cargo inbound information from the AGV, it sends a second inbound instruction generated based on the first cargo inbound information to the rail-guided vehicle, so that the rail-guided vehicle moves to the position corresponding to the first cargo location according to the second inbound instruction, and transfers the goods onto the rail-guided vehicle, and then moves to the position corresponding to the second cargo location in the four-way vehicle docking area. The goods are then transferred from the rail-guided vehicle to the four-way vehicle docking area. After receiving the second goods entry information sent by the rail-guided vehicle, a third entry instruction generated based on the second goods entry information is sent to the four-way vehicle, so that the four-way vehicle moves the goods to the second storage location according to the third entry instruction. After receiving the third goods entry information sent by the four-way vehicle, a fourth entry instruction generated based on the third goods entry information is sent to the four-way vehicle, so that the four-way vehicle moves the goods from the second storage location to the goods storage area according to the fourth entry instruction.

[0007] Optionally, the scheduling unit is further configured to send a first outbound instruction to the four-way vehicle, so that the four-way vehicle moves the goods from the goods storage area to the third storage location in the four-way vehicle docking area; after receiving the first outbound information from the four-way vehicle, it sends a second outbound instruction generated based on the first outbound information to the rail-guided vehicle, so that the rail-guided vehicle moves to the position corresponding to the third storage location according to the second outbound instruction and moves the goods onto the rail-guided vehicle, and then moves to the position corresponding to the fourth storage location in the docking area of ​​the automated guided vehicle and moves the goods from the rail-guided vehicle to the docking area of ​​the automated guided vehicle; after receiving the second outbound information from the rail-guided vehicle, it sends a third outbound instruction generated based on the second outbound information to the automated guided vehicle, so that the automated guided vehicle moves the goods from the fourth storage location to the inbound / outbound area according to the third outbound instruction.

[0008] Optionally, the rail-guided vehicle includes: A bi-directional telescopic fork is used to extend the bi-directional telescopic fork into the docking area of ​​the automated guided vehicle, and / or the docking area of ​​the four-way vehicle, and to move the goods; the extension length of the bi-directional telescopic fork is determined according to the size of the goods.

[0009] Secondly, embodiments of the present invention provide a method for handling goods in a warehouse, the warehouse comprising, in sequence, an AGV docking area, a rail-guided vehicle operating area, a four-way vehicle docking area, an inbound / outbound area, and a goods storage area, the method comprising: The AGV is scheduled to move between the AGV docking area and the inbound / outbound area and transfer goods between the inbound / outbound area and the AGV docking area; The system dispatches rail-guided vehicles to move within the rail-guided vehicle operating area and transfers goods in the AGV docking area and the four-way vehicle docking area. The four-way vehicle is dispatched to move between the four-way vehicle docking area and the cargo storage area, and to transfer the cargo in the cargo storage area to the cargo location in the four-way vehicle docking area.

[0010] Optionally, scheduling the AGV to move between the AGV docking area and the inbound / outbound area and to transfer goods between the inbound / outbound area and the AGV docking area includes: Send a first inbound instruction to the AGV so that the AGV transports the goods to the first storage location in the AGV docking area; The scheduling of the rail-guided vehicle to move within the rail-guided vehicle operating area and to transfer goods in the AGV docking area and the four-way vehicle docking area includes: After receiving the first cargo entry information sent by the AGV, a second entry instruction generated based on the first cargo entry information is sent to the rail-guided vehicle, so that the rail-guided vehicle runs to the position corresponding to the first cargo location according to the second entry instruction, and transfers the cargo to the rail-guided vehicle, then runs to the position corresponding to the second cargo location in the four-way vehicle docking area, and transfers the cargo from the rail-guided vehicle to the four-way vehicle docking area; The scheduling of the four-way vehicle to move between the four-way vehicle docking area and the cargo storage area, and to transfer the cargo in the cargo storage area to the cargo location in the four-way vehicle docking area, includes: After receiving the second cargo entry information sent by the rail-guided vehicle, a third entry instruction generated based on the second cargo entry information is sent to the four-way vehicle so that the four-way vehicle can transfer the cargo to the second cargo location according to the third entry instruction. After receiving the third cargo entry information sent by the four-way vehicle, a fourth entry instruction generated based on the third cargo entry information is sent to the four-way vehicle, so that the four-way vehicle can transfer the cargo from the second cargo location to the cargo storage area according to the fourth entry instruction.

[0011] Optionally, the scheduling of the four-way vehicle to move between the four-way vehicle docking area and the cargo storage area, and to transfer the cargo in the cargo storage area to the storage location in the four-way vehicle docking area, includes: Send a first outbound instruction to the four-way vehicle so that the four-way vehicle can transfer the goods from the goods storage area to the third cargo position in the four-way vehicle docking area; The scheduling of the rail-guided vehicle to move within the rail-guided vehicle operating area and to transfer goods in the AGV docking area and the four-way vehicle docking area includes: After receiving the first cargo outbound information sent by the four-way vehicle, a second outbound instruction generated based on the first cargo outbound information is sent to the rail-guided vehicle, so that the rail-guided vehicle runs to the position corresponding to the third cargo position according to the second outbound instruction and transfers the cargo to the rail-guided vehicle, and then runs to the position corresponding to the fourth cargo position of the AGV docking area and transfers the cargo from the rail-guided vehicle to the AGV docking area; The scheduling of the AGV to move between the AGV docking area and the inbound / outbound area and to transfer goods between the inbound / outbound area and the AGV docking area includes: After receiving the second cargo outbound information sent by the rail-guided vehicle, a third outbound instruction generated based on the second cargo outbound information is sent to the AGV, so that the AGV can transfer the cargo from the fourth storage location to the inbound / outbound area according to the third outbound instruction.

[0012] Optionally, the rail-guided vehicle includes: bidirectional telescopic forks for extending into the AGV docking area and / or the four-way vehicle docking area and transferring goods; the telescopic length of the bidirectional telescopic forks is determined according to the size of the goods.

[0013] Thirdly, embodiments of the present invention provide an electronic device including a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the method described in the second aspect.

[0014] Fourthly, embodiments of the present invention provide a readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the steps of the warehouse goods handling method as described in the second aspect.

[0015] The embodiments of the present invention have the following advantages: This invention, through its embodiments, establishes sequentially arranged automated guided vehicle (AGV) docking areas, rail-guided vehicle (AGV) operating areas, four-way vehicle docking areas, inbound / outbound areas, and goods storage areas. A scheduling unit dispatches AGVs to move goods in the inbound / outbound areas and AGV docking areas; it also dispatches AGVs to move within the AGV operating areas and move goods in the AGV docking areas and four-way vehicle docking areas; and it dispatches four-way vehicles to move goods in the goods storage area and to the storage locations in the four-way vehicle docking areas. The rail-guided vehicle operating area allows these vehicles to move linearly during goods handling and connects the AGV docking areas and four-way vehicle docking areas, simplifying the logistics lines in the warehouse and improving goods handling efficiency. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of a warehouse cargo handling system provided in an embodiment of the present invention; Figure 2 This is a top view schematic diagram of another warehouse cargo handling system provided in an embodiment of the present invention; Figure 3 This is a front view schematic diagram of another warehouse cargo handling system provided in an embodiment of the present invention; Figure 4 This is a flowchart illustrating the steps of a warehouse goods handling method provided in an embodiment of the present invention; Figure 5 This is a flowchart of another warehouse cargo handling method provided by an embodiment of the present invention; Figure 6 This is a flowchart illustrating the steps of another warehouse cargo handling method provided in an embodiment of the present invention. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] The terms "first," "second," etc., used in the specification and claims of this invention are used to distinguish similar objects and are not used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention can be implemented in orders other than those illustrated or described herein. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0020] In the logistics and warehousing industry, four-way parking garages have become a core component of modern automated warehousing systems due to their significant advantages of high storage density and large storage capacity. This storage solution not only effectively increases the storage capacity per unit area but also meets the high standards of modern logistics for space utilization and storage scale, making it particularly suitable for e-commerce, smart manufacturing, and other industries with stringent requirements for warehousing efficiency.

[0021] In existing docking technologies, systems generally rely on fixed conveyor lines to transfer goods between four-way shuttles and external handling equipment. When warehousing systems need to support high-frequency inbound and outbound operations, handle massive amounts of goods storage, and process goods of various sizes and specifications, the usual solution is to lay dedicated conveyor lines for each warehouse docking point. In operational scenarios with height differences, complex lifting conveyor lines are even required to match the storage and retrieval planes of the four-way shuttles. This mechanical docking method directly results in a large amount of ground space being occupied by rigid infrastructure, severely restricting the optimization and adjustment of the overall warehouse layout and the flexibility of future renovations. At the same time, the procurement, installation, and long-term maintenance of dedicated lines also bring high construction and operating costs. More importantly, conveyor lines relying on fixed tracks have low tolerance for error in docking accuracy adjustments, and the system's scalability is limited by the number and location of physical docking points, making it difficult to flexibly adapt to the dynamic growth of business scale.

[0022] Existing docking solutions centered on conveyor lines suffer from a series of problems, including large space occupation, poor flexibility, high cost, and limited scalability. These issues have become major bottlenecks restricting the full realization and further promotion of four-way parking garage technology. Therefore, the warehousing industry urgently needs a highly efficient docking technology solution that can achieve better space utilization and lower overall costs while ensuring high-precision transfer, thereby improving cargo handling efficiency.

[0023] Figure 1 This is a schematic diagram of the structure of a warehouse cargo handling system provided in an embodiment of the present invention.

[0024] like Figure 1 As shown in the figure, an embodiment of the present invention provides a warehouse cargo handling system. The warehouse includes an automated guided vehicle docking area, a rail-guided vehicle operating area, a four-way vehicle docking area, an inbound / outbound area, and a cargo storage area arranged in sequence. The specific structure may include the following: An automated guided vehicle 101 is used to move goods from the automated guided vehicle docking area to the inbound / outbound area, and / or to move goods from the inbound / outbound area to the storage location in the automated guided vehicle docking area. This invention can be applied to four-way vehicle warehouses in warehousing and logistics. The warehouse includes automated guided vehicles (AGVs), rail-guided vehicles, four-way vehicles, and a dispatching unit. The AGV docking area, the rail-guided vehicle operating area, and the four-way vehicle docking area are three consecutive rows of space within the four-way garage rack. The AGV docking area is located on the outermost row of the four-way garage rack, adjacent to the external inbound / outbound area. After receiving handling instructions from the dispatching unit, the AGVs move back and forth between the AGV docking area and the external inbound / outbound area to perform loading, unloading, and transportation of goods.

[0025] By deploying automated guided vehicles (AGVs) to handle the handling tasks at warehouse entrances and exits, the automated flow of goods between the inside and outside of the warehouse has been achieved, improving the efficiency of inbound and outbound operations and the ability to operate continuously.

[0026] The rail-guided vehicle 102 is used to move goods from the docking area of ​​the automated guided vehicle to the cargo position of the four-way vehicle docking area, and / or to move goods from the four-way vehicle docking area to the cargo position of the automated guided vehicle docking area. In this embodiment of the invention, a rail-guided vehicle is deployed in a dedicated rail-guided vehicle operating area. This area can be a straight track located between the automated guided vehicle (AGV) docking area and the four-way vehicle docking area, connecting the AGV docking area and the four-way vehicle docking area. After receiving instructions from the dispatching unit, the rail-guided vehicle can run along the track to the designated docking area and transfer goods using its onboard forks or loading platform, achieving efficient and linear transportation of goods between the two key transfer areas.

[0027] By establishing a fast and stable logistics channel between the two docking areas using rail-guided vehicles, the problem of overlapping and inefficient handling equipment paths in traditional warehouses is solved. Its straight-line operation mode simplifies logistics path planning and significantly improves the transfer efficiency within the warehouse.

[0028] The four-way vehicle 103 is used to move goods from the four-way vehicle docking area to the goods storage area, and / or move goods from the goods storage area to the storage location in the four-way vehicle docking area; In this embodiment of the invention, a four-way vehicle is deployed in the four-way vehicle docking area, enabling it to travel in four directions within the rack. The four-way vehicle docking area is an interface directly connected to the goods storage area. After receiving instructions from the scheduling unit, the four-way vehicle retrieves goods from the four-way vehicle docking area and transports them to a designated location on the storage rack, or retrieves goods from the storage location and transports them to the four-way vehicle docking area.

[0029] By using four-way vehicles to move back and forth between the docking area and the storage area, automated storage and retrieval of goods on the shelves is achieved. This step is crucial for warehouse storage density and retrieval efficiency, constituting the core storage and retrieval operations of automated storage and retrieval warehouses.

[0030] The scheduling unit 104 is used to schedule the automated guided vehicle (AGV) to move between the AGV docking area and the inbound / outbound area and to transport goods in the inbound / outbound area and the AGV docking area; to schedule the rail-guided vehicle to move between the rail-guided vehicle operating area and to transport goods in the AGV docking area and the four-way vehicle docking area; and to schedule the four-way vehicle to move between the four-way vehicle docking area and the goods storage area and to transport goods in the goods storage area and the storage locations in the four-way vehicle docking area.

[0031] In this embodiment of the invention, the scheduling unit, as the central control unit, can monitor the status of each device, inventory information, and task queue in real time. Based on the overall inbound and outbound plan, the scheduling unit dynamically generates and assigns handling instructions to the corresponding devices, ensuring seamless operation of automated guided vehicles (AGVs) for internal and external transfers, rail-guided vehicles for cross-regional transfers, and four-way vehicles for shelf storage and retrieval.

[0032] Centralized scheduling through the scheduling unit ensures the efficient and orderly operation of the entire logistics system, avoids equipment conflicts and task waiting, and maximizes the overall throughput of the warehousing system.

[0033] This invention, through its embodiments, establishes sequentially arranged automated guided vehicle (AGV) docking areas, rail-guided vehicle (AGV) operating areas, four-way vehicle docking areas, inbound / outbound areas, and goods storage areas. A scheduling unit dispatches AGVs to move goods in the inbound / outbound areas and AGV docking areas; it also dispatches AGVs to move within the AGV operating areas and move goods in the AGV docking areas and four-way vehicle docking areas; and it dispatches four-way vehicles to move goods in the goods storage area and to the storage locations in the four-way vehicle docking areas. The rail-guided vehicle operating area allows these vehicles to move linearly during goods handling and connects the AGV docking areas and four-way vehicle docking areas, simplifying the logistics lines in the warehouse and improving goods handling efficiency.

[0034] Figure 2 This is a top view schematic diagram of another warehouse cargo handling system provided in an embodiment of the present invention.

[0035] like Figure 2 As shown in the figure, another warehouse cargo handling system provided by an embodiment of the present invention may include the following specific structure: An automated guided vehicle 201 is used to move goods from the automated guided vehicle docking area to the inbound / outbound area, and / or to move goods from the inbound / outbound area to the storage location in the automated guided vehicle docking area; This invention can be applied to four-way vehicle warehouses in warehousing and logistics. The warehouse includes automated guided vehicles (AGVs), rail-guided vehicles, four-way vehicles, and a dispatching unit. The AGV docking area, the rail-guided vehicle operating area, and the four-way vehicle docking area are three consecutive rows of space within the four-way garage rack. The AGV docking area is located on the outermost row of the four-way garage rack, adjacent to the external inbound / outbound area. After receiving handling instructions from the dispatching unit, the AGVs move back and forth between the AGV docking area and the external inbound / outbound area to perform loading, unloading, and transportation of goods.

[0036] Figure 3 This is a front view schematic diagram of another warehouse cargo handling system provided in an embodiment of the present invention. like Figure 3 As shown, the specific structure may include the following: The automated guided vehicle docking area and the four-way vehicle docking area are corresponding racks with identical structures, and the height of each rack in both areas corresponds one-to-one. The rail-guided vehicle operating area is located between the automated guided vehicle docking area and the four-way vehicle docking area, and is used to schedule the operation of rail-guided vehicles.

[0037] By deploying automated guided vehicles (AGVs) to handle the handling tasks at warehouse entrances and exits, the automated flow of goods between the inside and outside of the warehouse has been achieved, improving the efficiency of inbound and outbound operations and the ability to operate continuously.

[0038] A rail-guided vehicle 202 is used to move goods from the docking area of ​​the automated guided vehicle (AGV) to the cargo position in the four-way docking area, and / or to move goods from the four-way docking area to the cargo position in the AGV docking area; the rail-guided vehicle includes: bidirectional telescopic forks, used to extend the bidirectional telescopic forks into the AGV docking area, and / or the four-way docking area, and to move the goods; the extension length of the bidirectional telescopic forks is determined according to the size of the goods.

[0039] In this embodiment of the invention, a rail-guided vehicle is deployed in a dedicated rail-guided vehicle operating area. This area can be a straight track located between the automated guided vehicle (AGV) docking area and the four-way vehicle docking area, connecting the AGV docking area and the four-way vehicle docking area. After receiving instructions from the dispatching unit, the rail-guided vehicle can run along the track to the designated docking area cargo position. Its onboard bidirectional telescopic forks can adjust the fork tooth spacing or change to different sized cargo support plates according to the size of the cargo to accommodate different cargo types.

[0040] The four-way vehicle 203 is used to move goods from the four-way vehicle docking area to the goods storage area, and / or move goods from the goods storage area to the storage location in the four-way vehicle docking area; In this embodiment of the invention, a four-way vehicle is deployed in the four-way vehicle docking area, enabling it to travel in four directions within the rack. The four-way vehicle docking area is an interface directly connected to the goods storage area. After receiving instructions from the scheduling unit, the four-way vehicle retrieves goods from the four-way vehicle docking area and transports them to a designated location on the storage rack, or retrieves goods from the storage location and transports them to the four-way vehicle docking area.

[0041] By using four-way vehicles to move back and forth between the docking area and the storage area, automated storage and retrieval of goods on the shelves is achieved. This step is crucial for warehouse storage density and retrieval efficiency, constituting the core storage and retrieval operations of automated storage and retrieval warehouses.

[0042] The scheduling unit 204 is used to send a first inbound instruction to the automated guided vehicle (AGV) so that the AGV transports goods to the first cargo location in the AGV docking area; after receiving the first cargo inbound information from the AGV, it sends a second inbound instruction generated based on the first cargo inbound information to the rail-guided vehicle, so that the rail-guided vehicle moves to the position corresponding to the first cargo location according to the second inbound instruction, and transfers the goods onto the rail-guided vehicle, and then moves to the position corresponding to the second cargo location in the four-way vehicle docking area, and... The goods are transported from the rail-guided vehicle to the four-way vehicle docking area; after receiving the second goods entry information sent by the rail-guided vehicle, a third entry instruction generated based on the second goods entry information is sent to the four-way vehicle, so that the four-way vehicle transports the goods to the second storage location according to the third entry instruction; after receiving the third goods entry information sent by the four-way vehicle, a fourth entry instruction generated based on the third goods entry information is sent to the four-way vehicle, so that the four-way vehicle transports the goods from the second storage location to the goods storage area according to the fourth entry instruction; In this embodiment of the invention, when goods need to be stored, a first storage instruction for the automated guided vehicle (AGV) is first generated. The first storage instruction may include the precise location coordinates of the first storage location, enabling the goods to be transported to the first storage location in the AGV docking area. After the scheduling unit receives the first goods storage information, a second storage instruction can be generated. The second storage instruction may include the specific size information of the goods, the track position corresponding to the first storage location, and the track position corresponding to the second storage location. After receiving the instruction, the rail-guided vehicle can drive along the track to the track position corresponding to the first storage location. Its bidirectional telescopic forks extend to an appropriate length according to the size of the goods, smoothly picking up the goods from the storage location and retracting them to the vehicle platform. Subsequently, the vehicle carrying the cargo moves to the four-way vehicle docking area, aligns with the designated second cargo position, and extends its forks again to unload the cargo into the second cargo position. After the rail-guided vehicle places the cargo in the position corresponding to the second cargo position in the four-way vehicle docking area, it sends the second cargo entry information to the dispatching unit. The second cargo entry information may include, but is not limited to, the precise coordinates of the second cargo position. The dispatching unit can generate a third entry instruction based on the second cargo entry information and send it to the four-way vehicle. The third entry instruction may include the precise coordinates of the second cargo position. After receiving the third entry instruction, the four-way vehicle can move to the same vertical line as the second cargo position in the four-way vehicle docking area and be close to the first-level cargo position in the rail-guided vehicle's operating area. Using its own forklift mechanism, the four-way vehicle loads goods onto itself and moves them to the third storage location. After placing the goods in the third storage location, it sends a third goods entry information to the dispatching unit, which includes the corresponding storage location of the goods in the goods storage area. The dispatching unit then generates a fourth entry instruction, which includes the coordinates of the corresponding storage location of the goods in the goods storage area. Based on the fourth entry instruction, the four-way vehicle carries the goods into the designated rack aisle, and through precise positioning and vertical lifting, reaches the storage location and places the goods. After completing the operation, the four-way vehicle sends a task completion signal back to the dispatching unit.

[0043] In some embodiments, the scheduling unit 204 can also be used to send a first outbound instruction to the four-way vehicle, so that the four-way vehicle moves the goods from the goods storage area to the third storage location of the four-way vehicle docking area; after receiving the first outbound information from the four-way vehicle, it sends a second outbound instruction generated according to the first outbound information to the rail-guided vehicle, so that the rail-guided vehicle runs to the position corresponding to the third storage location according to the second outbound instruction and moves the goods onto the rail-guided vehicle, and then runs to the position corresponding to the fourth storage location of the automated guided vehicle docking area and moves the goods from the rail-guided vehicle to the automated guided vehicle docking area; after receiving the second outbound information from the rail-guided vehicle, it sends a third outbound instruction generated according to the second outbound information to the automated guided vehicle, so that the automated guided vehicle moves the goods from the fourth storage location to the inbound / outbound area according to the third outbound instruction.

[0044] In this embodiment of the invention, when goods need to be shipped out, the scheduling unit can first generate a first shipping instruction for the four-way vehicle. The first shipping instruction may include the precise location coordinates of the third storage location, enabling the goods to be moved to the third storage location in the docking area of ​​the four-way vehicle. After the four-way vehicle places the goods in the third storage location, it can send first goods shipping information to the scheduling unit. Upon receiving the first goods shipping information, the scheduling unit can generate a second shipping instruction. The second shipping instruction may include the specific dimensions of the goods, the track position corresponding to the third storage location, and the track position corresponding to the fourth storage location. After receiving the instruction, the rail-guided vehicle can travel along the track to the track position corresponding to the third storage location. Its bidirectional telescopic forks extend to an appropriate length according to the size of the goods, smoothly picking up the goods from the storage location and retracting them to the vehicle platform. Subsequently, the vehicle carrying the cargo moves to the automated guided vehicle (AGV) docking area, aligns with the designated fourth cargo position, and extends its forks again to unload the cargo into the fourth cargo position. Once the rail-guided vehicle has placed the cargo in the corresponding position of the fourth cargo position in the AGV docking area, it sends a second cargo release information to the dispatch unit. This second cargo release information may include, but is not limited to, the precise coordinates of the fourth cargo position. The dispatch unit can generate a third release instruction based on the second cargo release information and send it to the AGV. This third release instruction may include the precise coordinates of the fourth cargo position. After receiving the third release instruction, the AGV can move to the fourth cargo position in the AGV docking area. Using its own cargo platform, it loads the cargo onto itself and moves it from the fourth cargo position to the corresponding storage location in the inbound / outbound area. After completing the operation, the AGV sends a task completion signal back to the dispatch unit.

[0045] This invention employs three types of handling equipment: Automated Guided Vehicles (AGVs) for moving and transporting goods between the AGV docking area and the inbound / outbound storage area; Rail-guided Vehicles (GRVs) for moving and transporting goods between the AGV docking area and the four-way vehicle docking area; and a four-way vehicle for moving and transporting goods between the four-way vehicle docking area and the goods storage area. By coordinating and functionally dividing these three types of handling equipment, this invention constructs an automated handling system covering the entire process of warehousing, transfer, and storage, thereby improving the continuity and overall operational efficiency of warehousing and logistics.

[0046] Figure 4 This is a flowchart illustrating the steps of a warehouse cargo handling method provided in an embodiment of the present invention.

[0047] like Figure 4 As shown in the figure, an embodiment of the present invention provides a warehouse goods handling method, the specific steps of which may include the following: Step 301: Dispatch the automated guided vehicle to move between the automated guided vehicle docking area and the inbound / outbound area and transport the goods in the inbound / outbound area and the automated guided vehicle docking area. This invention can be applied to four-way vehicle warehouses in warehousing and logistics. The warehouse includes automated guided vehicles (AGVs), rail-guided vehicles, four-way vehicles, and a dispatching unit. The AGV docking area, rail-guided vehicle operating area, and four-way vehicle docking area are three consecutive rows of space within the four-way garage racking system. The AGV docking area is located on the outermost row of the four-way garage racking system, adjacent to the external inbound / outbound area. The dispatching unit can plan the movement path of the AGVs within this area from the AGV docking area to the inbound / outbound area based on inbound / outbound instructions, and direct them to complete loading and unloading operations.

[0048] In some examples, automated guided vehicles (AGVs) can accurately pick up and place pallets or bins using their lifting or conveying mechanisms, based on control commands issued by the dispatching unit.

[0049] Step 302: Dispatch the rail-guided vehicle to move in the rail-guided vehicle operating area and transport the goods in the automated guided vehicle docking area and the four-way vehicle docking area. In this embodiment of the invention, a rail-guided vehicle is deployed in a dedicated rail-guided vehicle operating area. This area can be a straight track located between the automated guided vehicle (AGV) docking area and the four-way vehicle docking area, connecting the AGV docking area and the four-way vehicle docking area. After receiving instructions from the dispatching unit, the rail-guided vehicle can run along the track to the designated docking area and transfer goods using its onboard forks or loading platform, achieving efficient and linear transportation of goods between the two key transfer areas.

[0050] By establishing a fast and stable logistics channel between the two docking areas using rail-guided vehicles, the problem of overlapping and inefficient handling equipment paths in traditional warehouses is solved. Its straight-line operation mode simplifies logistics path planning and significantly improves the transfer efficiency within the warehouse.

[0051] Step 303: The four-way vehicle is dispatched to move between the four-way vehicle docking area and the cargo storage area, and to move the cargo in the cargo storage area and the cargo location in the four-way vehicle docking area.

[0052] In this embodiment of the invention, a four-way vehicle is deployed in the four-way vehicle docking area, enabling it to travel in four directions within the rack. The four-way vehicle docking area is an interface directly connected to the goods storage area. After receiving instructions from the scheduling unit, the four-way vehicle retrieves goods from the four-way vehicle docking area and transports them to a designated location on the storage rack, or retrieves goods from the storage location and transports them to the four-way vehicle docking area.

[0053] By using four-way vehicles to move back and forth between the docking area and the storage area, automated storage and retrieval of goods on the shelves is achieved. This step is crucial for warehouse storage density and retrieval efficiency, constituting the core storage and retrieval operations of automated storage and retrieval warehouses.

[0054] This invention, through its embodiments, establishes sequentially arranged automated guided vehicle (AGV) docking areas, rail-guided vehicle (AGV) operating areas, four-way vehicle docking areas, inbound / outbound areas, and goods storage areas. A scheduling unit dispatches AGVs to move goods in the inbound / outbound areas and AGV docking areas; it also dispatches AGVs to move within the AGV operating areas and move goods in the AGV docking areas and four-way vehicle docking areas; and it dispatches four-way vehicles to move goods in the goods storage area and to the storage locations in the four-way vehicle docking areas. The rail-guided vehicle operating area allows these vehicles to move linearly during goods handling and connects the AGV docking areas and four-way vehicle docking areas, simplifying the logistics lines in the warehouse and improving goods handling efficiency.

[0055] Figure 5 This is a flowchart of another warehouse cargo handling method provided by an embodiment of the present invention.

[0056] like Figure 5 As shown in the figure, another warehouse goods handling method provided by an embodiment of the present invention may include the following specific steps: Step 401: Send a first inbound instruction to the automated guided vehicle (AGV) so that the AGV transports the goods to the first storage location in the AGV docking area. In this embodiment of the invention, when goods need to be stored in the warehouse, the scheduling unit can first generate a first storage instruction for the automated guided vehicle. The first storage instruction can include the precise location coordinates of the first storage location, which can transport the goods to the first storage location in the docking area of ​​the automated guided vehicle.

[0057] In some examples, automated guided vehicles (AGVs) can depart from the standby area or the previous work point to the inbound / outbound area to receive goods. After successful loading, the vehicle can transport the goods to the first pre-assigned cargo location within the AGV docking area according to the route planned by the dispatching unit, and complete precise parking and unloading.

[0058] Step 402: After receiving the first cargo entry information sent by the automated guided vehicle, a second entry instruction generated based on the first cargo entry information is sent to the rail-guided vehicle, so that the rail-guided vehicle runs to the position corresponding to the first cargo location according to the second entry instruction, and moves the cargo onto the rail-guided vehicle, then runs to the position corresponding to the second cargo location in the four-way vehicle docking area, and moves the cargo from the rail-guided vehicle to the four-way vehicle docking area; In this embodiment of the invention, after the automated guided vehicle (AGV) places the goods into the first storage location, it can send first goods entry information to the scheduling unit. Upon receiving the first goods entry information, the scheduling unit can generate a second entry instruction. The second entry instruction may include the specific dimensions of the goods, the track position corresponding to the first storage location, and the track position corresponding to the second storage location. After receiving the instruction, the rail-guided vehicle can travel along the track to the track position corresponding to the first storage location. Its bidirectional telescopic forks extend to an appropriate length according to the size of the goods, smoothly picking up the goods from the storage location and retracting them to the vehicle platform. Subsequently, the vehicle, carrying the goods, travels to the four-way docking area, aligns with the designated second storage location, and extends its forks again to unload the goods into the second storage location.

[0059] In some examples, the rail-guided vehicle includes: bi-directional telescopic forks for extending into the docking area of ​​the automated guided vehicle, and / or, the four-way docking area of ​​the automated guided vehicle, and for transporting goods; the telescopic length of the bi-directional telescopic forks is determined according to the size of the goods.

[0060] In some examples, the automated guided vehicle (AGV) can temporarily store goods in the first storage location. When it receives a second storage instruction from the dispatching unit, it moves the goods to the first storage location on the same vertical line as the first storage location and close to the operating area of ​​the rail-guided vehicle, so that the rail-guided vehicle can transport the goods on its operating track.

[0061] Step 403: After receiving the second cargo entry information sent by the rail-guided vehicle, a third entry instruction generated based on the second cargo entry information is sent to the four-way vehicle so that the four-way vehicle can move the cargo to the second cargo location according to the third entry instruction. In this embodiment of the invention, after the rail-guided vehicle places the goods at the location corresponding to the second cargo position in the four-way vehicle docking area, it sends second cargo entry information to the scheduling unit. This second cargo entry information may include, but is not limited to, the precise coordinates of the second cargo position. The scheduling unit can generate a third entry instruction based on the second cargo entry information and send it to the four-way vehicle. The third entry instruction may include the precise coordinates of the second cargo position. After receiving the third entry instruction, the four-way vehicle can move to the first-level cargo position on the same vertical line as the second cargo position in the four-way vehicle docking area, close to the rail-guided vehicle's operating area. Using its own forklift mechanism, it loads the goods onto itself and moves the goods to the third cargo position.

[0062] Step 404: After receiving the third goods entry information sent by the four-way vehicle, send a fourth entry instruction generated based on the third goods entry information to the four-way vehicle, so that the four-way vehicle can move the goods from the second storage location to the goods storage area according to the fourth entry instruction.

[0063] In this embodiment of the invention, after the four-way vehicle places the goods in the third storage location, it sends the third goods entry information to the scheduling unit. The third goods entry information includes the storage location of the goods in the goods storage area. The scheduling unit then generates a fourth entry instruction, which includes the coordinates of the storage location of the goods in the goods storage area. According to the fourth entry instruction, the four-way vehicle carries the goods into the designated rack aisle, and through precise positioning and vertical lifting, reaches the storage location and places the goods. After completing the operation, the four-way vehicle sends a task completion signal back to the scheduling unit.

[0064] This invention embodiment sends a first inbound instruction to the automated guided vehicle (AGV), causing the AGV to transport goods to the first storage location in the AGV docking area. After receiving the first inbound information from the AGV, a second inbound instruction is sent to a rail-guided vehicle, causing the rail-guided vehicle to move the goods from the first storage location to the rail-guided vehicle, and then to the second storage location in the four-way vehicle docking area. After receiving the second inbound information from the rail-guided vehicle, a third inbound instruction is sent to the four-way vehicle, causing the four-way vehicle to move the goods to the second storage location. After receiving the third inbound information from the four-way vehicle, a fourth inbound instruction is sent to the four-way vehicle, causing the four-way vehicle to move the goods from the second storage location to the goods storage area. This invention embodiment, by sequentially controlling the AGV, rail-guided vehicle, and four-way vehicle to perform goods handover and handling, achieves fully automated and continuous operation of goods from the inbound end to the storage area, improving the inbound efficiency and operational reliability of the warehousing system.

[0065] like Figure 6 As shown in the flowchart of another warehouse cargo handling method provided by an embodiment of the present invention, the specific steps may include the following: Step 501: Send a first outbound instruction to the four-way vehicle so that the four-way vehicle can move the goods from the goods storage area to the third cargo position in the four-way vehicle docking area; In this embodiment of the invention, when goods need to be shipped out, the scheduling unit can first generate a first shipping instruction for the four-way vehicle. The first shipping instruction can include the precise location coordinates of the third storage location, which can move the goods to the third storage location in the docking area of ​​the four-way vehicle.

[0066] In some examples, the four-way vehicle can depart from the standby area or the previous work point and proceed to the cargo storage area to retrieve goods. After successfully retrieving the goods, the vehicle can move the goods from the cargo storage area to the pre-assigned third cargo location within the four-way vehicle docking area according to the route planned by the dispatching unit, and complete precise parking and unloading.

[0067] Step 502: After receiving the first cargo outbound information sent by the four-way vehicle, a second outbound instruction generated based on the first cargo outbound information is sent to the rail-guided vehicle, so that the rail-guided vehicle runs to the position corresponding to the third cargo position according to the second outbound instruction and moves the cargo onto the rail-guided vehicle, and then runs to the position corresponding to the fourth cargo position of the automated guided vehicle docking area and moves the cargo from the rail-guided vehicle to the automated guided vehicle docking area; In this embodiment of the invention, after the four-way vehicle places the goods in the third storage location, it can send first goods outbound information to the scheduling unit. Upon receiving the first goods outbound information, the scheduling unit can generate a second outbound instruction. The second outbound instruction may include the specific dimensions of the goods, the track position corresponding to the third storage location, and the track position corresponding to the fourth storage location. After receiving the instruction, the rail-guided vehicle can travel along the track to the track position corresponding to the third storage location. Its bidirectional telescopic forks extend to an appropriate length according to the size of the goods, smoothly picking up the goods from the storage location and retracting them to the onboard platform. Subsequently, the vehicle, carrying the goods, travels to the automated guided vehicle docking area, aligns with the designated fourth storage location, and extends its forks again to unload the goods into the fourth storage location.

[0068] In some examples, the rail-guided vehicle includes: bi-directional telescopic forks for extending into the docking area of ​​the automated guided vehicle, and / or, the four-way docking area of ​​the automated guided vehicle, and for transporting goods; the telescopic length of the bi-directional telescopic forks is determined according to the size of the goods.

[0069] In some examples, the four-way vehicle can temporarily store goods in the third storage location. When it receives the second outbound instruction from the dispatching unit, it moves the goods to the first storage location on the same vertical line as the third storage location and close to the operating area of ​​the rail-guided vehicle, so that the rail-guided vehicle can move the goods on its operating track.

[0070] Step 503: After receiving the second cargo outbound information sent by the rail-guided vehicle, a third outbound instruction generated based on the second cargo outbound information is sent to the automated guided vehicle, so that the automated guided vehicle moves the cargo from the fourth storage location to the inbound / outbound area according to the third outbound instruction.

[0071] In this embodiment of the invention, after the rail-guided vehicle places the goods at the fourth cargo position corresponding to the docking area of ​​the automated guided vehicle (AGV), it sends second cargo release information to the scheduling unit. This second cargo release information may include, but is not limited to, the precise coordinates of the fourth cargo position. The scheduling unit can generate a third release instruction based on the second cargo release information and send it to the AGV. The third release instruction may include the precise coordinates of the fourth cargo position. After receiving the third release instruction, the AGV can move to the fourth cargo position in the docking area. Using its own cargo platform, it loads the goods onto itself and moves the goods from the fourth cargo position to the corresponding storage location in the inbound / outbound area. After completing the operation, the AGV sends a task completion signal back to the scheduling unit.

[0072] This invention embodiment sends a first outbound command to a four-way vehicle, causing it to move goods from the storage area to the third storage location in the four-way vehicle docking area. After receiving the first outbound information from the four-way vehicle, a second outbound command is sent to a rail-guided vehicle, causing it to move the goods from the third storage location to the rail-guided vehicle, and then to the fourth storage location in the automated guided vehicle (AGV) docking area. After receiving the second outbound information from the rail-guided vehicle, a third outbound command is sent to the AGV, causing it to move the goods from the fourth storage location to the inbound / outbound area. This invention embodiment, by sequentially controlling the four-way vehicle, rail-guided vehicle, and AGV to perform goods handover and handling, achieves fully automated and continuous operations from the storage area to the outbound end, improving the outbound efficiency and operational reliability of the warehousing system.

[0073] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0074] This invention also provides an electronic device, including a processor, a memory, and a program or instructions stored in the memory and executable on the processor. When the program or instructions are executed by the processor, they implement the various processes of the above-described warehouse goods handling method embodiments and achieve the same technical effects. To avoid repetition, they will not be described again here.

[0075] It should be noted that the electronic devices in the embodiments of the present invention include the mobile electronic devices and non-mobile electronic devices described above.

[0076] This invention also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-described warehouse goods handling method embodiment and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0077] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0078] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0079] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, embodiments of the present invention can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0080] Embodiments of the present invention are described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, as well as combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0081] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0082] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0083] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the present invention.

[0084] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only 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 terminal device 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 terminal device. 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 terminal device that includes said element.

[0085] The present invention has provided a detailed description of a warehouse cargo handling method, apparatus, electronic device, and computer-readable storage medium. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A goods handling system for a warehouse, characterised in that, The warehouse comprises an automated guided vehicle docking area, a track guided vehicle operation area, a four-way vehicle docking area, an in-out warehouse area and a goods storage area arranged in sequence, and the system comprises: an automated guided vehicle, which is used to carry the goods in the automated guided vehicle docking area to the in-out warehouse area, and / or carry the goods in the in-out warehouse area to the goods location in the automated guided vehicle docking area; a track guided vehicle, which is used to carry the goods in the automated guided vehicle docking area to the goods location in the four-way vehicle docking area, and / or carry the goods in the four-way vehicle docking area to the goods location in the automated guided vehicle docking area; a four-way vehicle, which is used to carry the goods in the four-way vehicle docking area to the goods storage area, and / or carry the goods in the goods storage area to the goods location in the four-way vehicle docking area; a scheduling unit, which is used to schedule the automated guided vehicle to move between the automated guided vehicle docking area and the in-out warehouse area and carry the goods in the in-out warehouse area and the automated guided vehicle docking area; schedule the track guided vehicle to move in the track guided vehicle operation area and carry the goods in the automated guided vehicle docking area and the four-way vehicle docking area; and schedule the four-way vehicle to move between the four-way vehicle docking area and the goods storage area and carry the goods in the goods storage area and the goods location in the four-way vehicle docking area.

2. The goods carrying system of the warehouse according to claim 1, wherein the scheduling unit is further used to send a first in-warehouse instruction to the automated guided vehicle to make the automated guided vehicle carry the goods to a first goods location in the automated guided vehicle docking area; after receiving the first goods in-warehouse information sent by the automated guided vehicle, send a second in-warehouse instruction generated according to the first goods in-warehouse information to the track guided vehicle to make the track guided vehicle run to a position corresponding to the first goods location according to the second in-warehouse instruction, carry the goods on the track guided vehicle, run to a second goods location in the four-way vehicle docking area, and carry the goods from the track guided vehicle to the four-way vehicle docking area; after receiving the second goods in-warehouse information sent by the track guided vehicle, send a third in-warehouse instruction generated according to the second goods in-warehouse information to the four-way vehicle to make the four-way vehicle carry the goods to the second goods location according to the third in-warehouse instruction; after receiving the third goods in-warehouse information sent by the four-way vehicle, send a fourth in-warehouse instruction generated according to the third goods in-warehouse information to the four-way vehicle to make the four-way vehicle carry the goods from the second goods location to the goods storage area according to the fourth in-warehouse instruction.

3. The goods carrying system of the warehouse according to claim 1, wherein The scheduling unit is further configured to send a first warehouse-out instruction to the four-way vehicle to make the four-way vehicle carry the goods from the goods storage area to a third storage position in the four-way vehicle docking area; after receiving first goods warehouse-out information sent by the four-way vehicle, send a second warehouse-out instruction generated based on the first goods warehouse-out information to the rail-guided vehicle to make the rail-guided vehicle run to a position corresponding to the third storage position according to the second warehouse-out instruction, carry the goods onto the rail-guided vehicle, and then run to a position corresponding to a fourth storage position in the automated guided vehicle docking area and carry the goods from the rail-guided vehicle to the automated guided vehicle docking area; and after receiving second goods warehouse-out information sent by the rail-guided vehicle, send a third warehouse-out instruction generated based on the second goods warehouse-out information to the automated guided vehicle to make the automated guided vehicle carry the goods from the fourth storage position to the warehouse-in / out area according to the third warehouse-out instruction.

4. The warehouse goods handling system according to claim 1, characterized in that, The rail-guided vehicle comprises: A bidirectional telescopic fork configured to extend into the automated guided vehicle docking area and / or the four-way vehicle docking area and carry the goods; and a telescopic length of the bidirectional telescopic fork is determined according to a size of the goods.

5. A method of goods handling in a warehouse, characterized in that The warehouse comprises the automated guided vehicle docking area, the rail-guided vehicle running area, the four-way vehicle docking area, the warehouse-in / out area, and the goods storage area arranged in sequence, and the method comprises: Scheduling the automated guided vehicle to move between the automated guided vehicle docking area and the warehouse-in / out area and carry the goods in the warehouse-in / out area and the automated guided vehicle docking area; Scheduling the rail-guided vehicle to move in the rail-guided vehicle running area and carry the goods in the automated guided vehicle docking area and the four-way vehicle docking area; Scheduling the four-way vehicle to move between the four-way vehicle docking area and the goods storage area and carry the goods in the goods storage area and the storage positions in the four-way vehicle docking area.

6. The goods carrying method of the warehouse according to claim 5, wherein The scheduling of the automated guided vehicle to move between the automated guided vehicle docking area and the warehouse-in / out area and carry the goods in the warehouse-in / out area and the automated guided vehicle docking area comprises: sending a first warehouse-in instruction to the automated guided vehicle to make the automated guided vehicle carry the goods to a first storage position in the automated guided vehicle docking area; and The scheduling of the rail-guided vehicle to move in the rail-guided vehicle running area and carry the goods in the automated guided vehicle docking area and the four-way vehicle docking area comprises: after receiving the first goods storage information sent by the automatic guided vehicle, a second storage instruction is sent to the rail guided vehicle according to the first goods storage information, so that the rail guided vehicle runs to a position corresponding to the first storage location according to the second storage instruction, carries the goods onto the rail guided vehicle, and then runs to a position corresponding to the second storage location of the four-way vehicle docking area and carries the goods from the rail guided vehicle to the four-way vehicle docking area; the scheduling the four-way vehicle to move between the four-way vehicle docking area and the goods storage area, and carrying the goods of the goods storage area and the storage locations of the four-way vehicle docking area, comprises: after receiving the second goods storage information sent by the rail guided vehicle, a third storage instruction is sent to the four-way vehicle according to the second goods storage information, so that the four-way vehicle carries the goods to the second storage location according to the third storage instruction; after receiving the third goods storage information sent by the four-way vehicle, a fourth storage instruction is sent to the four-way vehicle according to the third goods storage information, so that the four-way vehicle carries the goods from the second storage location to the goods storage area according to the fourth storage instruction.

7. The warehouse goods carrying method according to claim 5, wherein the scheduling the four-way vehicle to move between the four-way vehicle docking area and the goods storage area, and carrying the goods of the goods storage area and the storage locations of the four-way vehicle docking area, comprises: a first storage-out instruction is sent to the four-way vehicle, so that the four-way vehicle carries the goods from the goods storage area to the third storage location of the four-way vehicle docking area; the scheduling the rail guided vehicle to move in the rail guided vehicle running area and carry the goods in the automatic guided vehicle docking area and the four-way vehicle docking area, comprises: after receiving the first goods storage information sent by the four-way vehicle, a second storage instruction is sent to the rail guided vehicle according to the first goods storage information, so that the rail guided vehicle runs to a position corresponding to the third storage location according to the second storage instruction and carries the goods onto the rail guided vehicle, and then runs to a position corresponding to the fourth storage location of the automatic guided vehicle docking area and carries the goods from the rail guided vehicle to the automatic guided vehicle docking area; the scheduling the automatic guided vehicle to move between the automatic guided vehicle docking area and the storage-in and storage-out area, and carrying the goods of the storage-in and storage-out area and the automatic guided vehicle docking area, comprises: after receiving the second goods storage information sent by the rail guided vehicle, a third storage instruction is sent to the automatic guided vehicle according to the second goods storage information, so that the automatic guided vehicle carries the goods from the fourth storage location to the storage-in and storage-out area according to the third storage instruction.

8. The warehouse goods carrying method according to claim 5, wherein The rail-guided vehicle comprises a two-way telescopic fork for docking with the automated guided vehicle docking area, and / or the four-way vehicle docking area extends the two-way telescopic fork and carries the goods; the telescopic length of the two-way telescopic fork is determined according to the size of the goods.

9. An electronic device, comprising: A computer program product comprising a processor, a memory, and a program or instructions stored on the memory, the program or instructions being executable by the processor to implement the steps of the warehouse goods carrying method of claims 5-8.

10. A readable storage medium, characterized by, A computer program product comprising a program or instructions stored on a readable storage medium, the program or instructions being executable by a processor to implement the steps of the warehouse goods carrying method of claims 5-8.

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