Intelligent warehousing system and control method thereof

Abstract

The invention belongs to the technical field of warehousing, and particularly discloses an intelligent warehousing system and a control method thereof.The system comprises a plurality of goods shelves, each goods shelf comprises a plurality of sets of cross beams, a plurality of storage layers are formed in the vertical direction of stand columns and used for storing goods for a long time, and the lowest layer in the storage layers serves as a temporary storage position; the storage module is used for temporarily storing goods when the goods are put in and put out; wherein when the multiple goods shelves are continuously arranged with the short edges as the common edges, a first goods shelf row is formed, a first channel is formed in the continuous buffering positions below the first goods shelf row, and the first robot transports goods to be put in and put out of a warehouse in the first channel; the two first goods shelf rows arranged in a spaced mode form a single-deep-position goods shelf row unit, a second channel is formed in the interval between the single-deep-position goods shelf row units, and the second robot works in the second channel and carries goods to be put in and put out of a warehouse from the storage layer to the cache position or carries the goods to be put in and put out of the warehouse from the cache position to the storage layer. The method has the advantage that the cargo storing and taking efficiency of the robot is improved.

Description

Technical Field

[0001] This invention relates to the field of warehousing technology, and in particular to an intelligent warehousing system and its control method. Background Technology

[0002] For warehousing companies, effectively managing inventory and reducing inventory costs is key to lowering overall costs and increasing profits. Therefore, inventory management has become a crucial task for warehousing companies. As a vital component, the warehousing system's key functions include accurately placing goods in suitable locations, timely and accurate acquisition of warehouse inventory information, and precise and rapid location of goods meeting requirements.

[0003] However, existing warehousing systems that rely primarily on manual operations have significant bottlenecks in operational efficiency. The low efficiency of manual labor makes it difficult to break through the "ceiling," and labor and space costs continue to rise. Safety risks are also prominent, with manual handling easily leading to workplace injuries, and compliance costs for scenarios such as cold chain and explosion-proof are high.

[0004] For existing old warehouses, the transformation threshold is high. In the dual-deep storage scenario, there is a lack of suitable intelligent equipment, and most of the equipment suffers from serious high-level underload and poor scenario compatibility.

[0005] Therefore, there is an urgent need to provide a warehousing system and control method that facilitates the independent operation of intelligent handling robots. Summary of the Invention

[0006] To address the aforementioned shortcomings, this invention proposes a control method for shelves and intelligent warehousing systems.

[0007] This invention provides an intelligent warehousing system, comprising multiple shelves, wherein the shelves include:

[0008] Four pillars, each located at one of the four vertices of a rectangle; and

[0009] Multiple sets of crossbeams, wherein each set of crossbeams is connected to the four columns in sequence, forming multiple storage layers in the vertical direction of the columns for long-term storage of goods. The bottom layer of the multiple storage layers serves as a buffer for temporary storage of goods when they enter or leave the warehouse.

[0010] in,

[0011] When multiple shelves are arranged continuously with their short sides as a common side, they form a first shelf row. The continuous buffer positions below the first shelf row form a first channel, and the first robot transports goods to be stored or removed from the warehouse in the first channel.

[0012] Two rows of the first shelving units are spaced apart to form a single-depth shelving unit. The gap between the single-depth shelving units forms a second aisle. A second robot operates in the second aisle to move the goods to be entered or exited from the storage layer to the buffer position, or to move the goods to be entered or exited from the buffer position to the storage layer.

[0013] In the above system, multiple single-deep rack units are arranged sequentially with their long sides as a common side to form a single-deep storage area. The single-deep storage area has multiple second aisles, and the width of the second aisles is suitable for a single-deep forklift to rotate and move in a straight line within the second aisle.

[0014] In the above system, when two shelves are combined with their long sides as a common side, they form a double-deep shelf. The bottom layer of the double-deep shelf is a double-deep buffer position. Multiple double-deep shelves are arranged continuously with their short sides as a common side to form a second shelf row. The continuous double-deep buffer positions below the second shelf row form a third channel. The first robot transports goods to be stored or removed from the warehouse in the third channel.

[0015] Two rows of the second shelf units are spaced apart to form a double-deep shelf unit. The gap between the double-deep shelf units forms a fourth channel. The second robot operates in the fourth channel to move the goods to be entered or exited from the storage layer to the buffer position, or to move the goods to be entered or exited from the buffer position to the storage layer.

[0016] In the above system, multiple double-deep rack units are arranged sequentially with their long sides as a common side to form a double-deep storage area. The double-deep storage area has multiple fourth channels, and the width of the fourth channels is suitable for a double-deep forklift to rotate and move in a straight line within the fourth channels.

[0017] In the above system, when the buffer position is arranged on the outside of one end of the first shelf row or the second shelf row, the bottommost layer of the multi-layer storage layer is used as a storage layer for long-term storage of goods, and the space below it still forms the first passage for the first robot to pass through.

[0018] In the above system, the buffer position is provided with a buffer rack, which includes a first crossbeam and a second crossbeam arranged opposite each other. The length of the crossbeam is adapted to the length of the pallet holding the goods. The first crossbeam and the second crossbeam are provided with horn fasteners at both ends. The first crossbeam and the second crossbeam are respectively fixed to four legs by the horn fasteners. The legs are fixed to the ground. The distance between the second crossbeam and the first crossbeam is adapted to the width of the pallet.

[0019] In the above system, when the distance between adjacent uprights of the shelf is approximately equal to the width of the pallet, the first beam and the second beam are respectively fixed to the four uprights of the shelf using the horn-shaped fasteners, or...

[0020] When the distance between adjacent uprights of the shelf is not commensurate with the width of the pallet, the first crossbeam is fixed to the two uprights of the shelf by the horn fasteners, and the second crossbeam is fixed to the two legs by the horn fasteners, the legs being fixed to the ground.

[0021] In the above system, the height of the first beam and the second beam above the ground allows the first robot to pass under the first beam and the second beam.

[0022] In the above system, the first crossbeam and the second crossbeam are also provided with guide portions, each guide portion having an inclined panel. The inclined panels on the first crossbeam and the second crossbeam are arranged opposite to each other to define the position of the tray and guide the tray to move toward the center position when the tray is placed.

[0023] In the above system, the inclined panel has a predefined length and is fixed to the first crossbeam and the second crossbeam by at least one support member, with at least one inclined panel provided on each crossbeam.

[0024] The system described above also includes a third crossbeam, the two ends of which are fixedly connected to one end of the first crossbeam and one end of the second crossbeam, respectively. The third crossbeam is provided with a guide part, which guides the pallet to move toward the forklift when the pallet is placed.

[0025] In the above system, the shelf also includes a movable H-beam. The H-beam includes a crossbeam and two side beams. The two ends of the crossbeam are fixedly connected to the two side beams respectively to form an H-shape. The length of the side beams is greater than the length of the shelf. The H-beam is placed on the shelf to extend the length of the shelf.

[0026] Accordingly, this invention also proposes a control method for an intelligent warehousing system, wherein the goods receiving process includes:

[0027] The first robot, according to instructions, moves the goods to the designated buffer rack and reports the goods information and temporary storage location to the intelligent warehousing system;

[0028] The second robot retrieves the goods from the temporary storage location according to the instructions, confirms the goods information, and then stores the goods in the designated storage location.

[0029] The temporary storage location and the storage location are located in the same column.

[0030] In the above control method, when the shelf is a double-deep shelf and goods need to be stored in the inner layer, the second robot temporarily stores the outer layer goods on a buffer shelf, then takes the goods from the temporary storage location and places them in the designated storage location, and finally restores the outer layer goods.

[0031] Accordingly, this invention also proposes a control method for an intelligent warehousing system, wherein the goods outbound operation process includes:

[0032] The second robot retrieves the goods from the designated storage location according to the instructions, confirms the goods information, stores the goods on the designated buffer shelf, and reports the goods information and temporary storage location to the control system.

[0033] The first robot, according to instructions, moves the goods from the temporary storage location;

[0034] The temporary storage location and the storage location are located in the same column.

[0035] In the above control method, when the shelf is a double-deep shelf and it is necessary to fork goods from the inner layer, the second robot temporarily stores the outer layer goods on a buffer shelf, then places the goods in the temporary storage position, and finally restores the outer layer goods.

[0036] Compared to existing technologies, this invention uses only the bottom layer of the shelving as a buffer position, significantly improving shelf utilization. Below the buffer position, space is reserved to form a first aisle, specifically for a first robot (e.g., a stealth robot) to move between the buffer position and the workstation, transporting goods to be stored or retrieved. The gap between two rows of shelves serves as a second aisle, specifically for a second robot (e.g., a double-deep high-bay forklift) to navigate and locate designated goods. In high-density warehousing environments where the aisles between shelves are increasingly narrow, their width limited only to the second robot's turning radius, the first and second aisles, each for the first and second robots respectively, prevent congestion, reduce the pathfinding difficulty for the robot control system, and improve the efficiency of robot storage and retrieval of goods.

[0037] Furthermore, as an alternative, the shelves can be used entirely for long-term storage of goods, while the buffer spaces are located outside the shelves, further increasing the density of goods storage. Below the lowest storage layer, including below the external buffer spaces, a sufficient passageway can still be formed for the first robot to pass through, without affecting the separate movement of the first and second robots.

[0038] This invention is compatible with both single-deep and double-deep shelving, offering greater flexibility in scenario adaptation. After improvements, it can be dynamically deployed in multiple industries such as FMCG, automotive, and pharmaceuticals, and is suitable for various scenarios such as goods-to-person (zero picking, box picking, pallet picking), resulting in a wide coverage and flexible application. Attached Figure Description

[0039] Figure 1 This is a top view of a single-depth shelving layout with the cache space outside the shelving unit.

[0040] Figure 2 This is a top view of a double-deep shelving layout with the cache compartment located outside the shelving unit.

[0041] Figure 3 This is a top view of a single-depth shelving layout with the cache compartment at the bottom of the shelf.

[0042] Figure 4 This is a top view of a double-deep shelving layout with the cache compartment at the bottom of the shelf.

[0043] Figure 5 yes Figure 3 The layout diagram shown includes the first channel, the second channel, and the operation diagrams of the first and second robots.

[0044] Figure 6 yes Figure 4 The layout diagram shown illustrates the operation of the third and fourth channels, as well as the first and second robots.

[0045] Figure 7 This is a front view of a cache rack provided according to an embodiment of the present invention;

[0046] Figure 8 This is an isometric view of a cache rack provided according to an embodiment of the present invention;

[0047] Figure 9 This is yet another specific implementation of a cache rack provided according to an embodiment of the present invention.

[0048] Explanation of reference numerals in the attached figures:

[0049] 10. Cache rack;

[0050] 11. Support legs;

[0051] 12a. First crossbeam;

[0052] 12b. Second crossbeam;

[0053] 13. Sloping panel;

[0054] 14. Support components;

[0055] 15. Horn fastener;

[0056] 20. The Second Robot;

[0057] 30. Single-depth racking;

[0058] 31. First row of shelves (single-depth shelf row);

[0059] 32. Single-depth racking unit;

[0060] 41. First passage;

[0061] 42. Second Channel;

[0062] 43. The third channel;

[0063] 44. Fourth Channel;

[0064] 50. Double-deep shelving;

[0065] 51. Second row of shelves (double-deep shelf row);

[0066] 52. Double-deep shelving unit;

[0067] 60. The First Robot;

[0068] 70. Pallet. Detailed Implementation

[0069] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Although the description of the present invention is presented in conjunction with preferred embodiments, this does not mean that the features of the invention are limited to these embodiments. On the contrary, the purpose of describing the invention in conjunction with embodiments is to cover other options or modifications that may be derived based on the claims of the present invention. To provide a deep understanding of the invention, many specific details will be included in the following description. The invention may also be implemented without using these details. Furthermore, to avoid confusion or obscuring the focus of the invention, some specific details will be omitted in the description. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0070] It should be noted that in this specification, similar reference numerals and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures, and is assumed to be the same definition.

[0071] It should also be stated that the methods and processes in this invention are numbered for ease of reference, not to limit the order of steps. If there is a sequence between the steps, the textual description shall prevail.

[0072] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0073] Shelving is a three-dimensional storage facility that increases warehouse utilization efficiency. How to arrange shelving and how to effectively control automated handling robots to move goods are problems that the warehousing industry currently needs to solve.

[0074] This application proposes an intelligent warehousing system and its control method, which specifically discloses shelves, shelf arrangement, and robot storage and retrieval schemes, thereby increasing the density of goods placement in the warehouse and improving the efficiency of robot storage and retrieval.

[0075] First, this application proposes a buffer rack that can be used in conjunction with conventional shelves to provide buffer space for goods. Figure 1 A schematic diagram of a shelving arrangement consisting of a combination of single-depth shelving and buffer shelving is shown. When viewed from above, multiple single-depth shelving units 30 are arranged sequentially with their short sides as a common side, forming the first shelving row 31. Figure 1 In the layout shown, a buffer rack 10 is configured for each first shelf row 31, and the buffer rack 10 is located at one end of the first shelf row 31 (or two buffer racks 10 may be located at opposite ends), forming a fixed pair with the first shelf row 31. When the first robot 60 transports goods, it can access and retrieve goods from the buffer rack 10 outside the shelf without passing through the area where the first shelf row 31 is located, which basically avoids encounters with the second robot 20 (e.g., a fully automated forklift) and can reduce the probability of road congestion.

[0076] Two first rack rows 31 are spaced apart to form a single-depth rack unit 32. A single-depth rack unit 32 can be continuously expanded and arranged as a basic unit to form a large-scale single-depth rack area within a given region. Within a single-depth rack unit 32, the interval between the two first rack rows 31 serves as a second aisle 42 for the second robot 20 to move back and forth. When a single-depth forklift is selected as the second robot, the width of the second aisle 42 only needs to be greater than or equal to the radius of rotation of the single-depth forklift with its forks retracted (minimum operating radius). Therefore, the minimum width of a single-depth rack unit 32 is the sum of the lengths of the two single-depth racks and the minimum operating radius of the forklift. Minimizing the width of the single-depth rack unit 32 allows for the arrangement of more racks in a limited warehouse, further increasing storage density.

[0077] Figure 2 This is a layout diagram of a double-deep shelving unit where the cache area is located outside the shelving unit. (Compared to...) Figure 1The layout is similar to that of single-deep shelving units, with multiple double-deep shelving units 50 arranged sequentially along their short sides as a common side, forming a second row of shelving units 51. Figure 2 In the layout shown, a double-deep buffer rack 10 is configured for each second shelf row 51, and the buffer rack 10 is located at one end of the first shelf row 31 (or two buffer racks 10 can be located at opposite ends), forming a fixed pairing with the second shelf row 51. When transporting goods, the first robot 60 retrieves goods from the double-deep buffer rack 10 outside the shelf without passing through the area of ​​the second shelf row 51, thus largely avoiding intersections with the second robot 20 (e.g., a fully automated forklift) and reducing the probability of road congestion.

[0078] Two second rack rows 51 are spaced apart to form a double-deep rack unit 52. A single double-deep rack unit 52 can be continuously expanded and arranged as a basic splicing unit, thereby forming a large-scale double-deep rack area within a region. In a double-deep rack unit 52, the interval between the two second rack rows 51 serves as a fourth aisle 44, through which a second robot 20 moves back and forth. A double-deep forklift is preferred as the second robot. Similar to the previous embodiment, the width of the fourth aisle 44 in this embodiment only needs to be greater than or equal to the minimum operating radius of the double-deep forklift. Therefore, the minimum width of a double-deep rack unit 52 is the sum of the lengths of the two double-deep racks and the minimum operating radius of the forklift.

[0079] When double-deep and single-deep racks are used together, it is more reasonable to choose a double-deep forklift. At this time, the width of the second aisle 42 between the single-deep rack rows must be adapted to the minimum operating radius of the double-deep forklift. Therefore, the overall size of the single-deep rack row unit 32 is increased, which reduces the storage density of goods to a certain extent.

[0080] Figure 3 and Figure 4 The layouts of single-deep and double-deep shelving units with the cache space at the bottom of the shelf are shown respectively. Figure 3 This is a top view of a single-depth shelving layout with the cache compartment at the bottom of the shelf. Figure 4 This is a top view of a double-deep shelving layout with the cache compartment at the bottom of the shelf. The following is combined with... Figure 5 and Figure 6 To explain. Figure 5 yes Figure 3 The layout diagram shown illustrates the operation of the first channel, the second channel, the first robot, and the second robot. Figure 6 yes Figure 4 The layout diagram shows the operation schematics of the third and fourth channels, as well as the first and second robots.

[0081] Figure 3 and Figure 5Two sets of consecutive single-depth shelving units 32 are shown. In each first shelf row 31 of shelving unit 32, the bottom item is not placed directly on the ground, but is elevated to a certain height, allowing a first robot 60 (e.g., a stealth vehicle) to move within it, serving as a dedicated space for the first robot 60 (see [reference]). Figure 5 The first channel of the event, 41 (see also) Figure 5 Specifically, the first robot 60 can move between the first channel 41 and the second channel 42. For example, when the first robot 60 is unloaded, it preferentially moves within the first channel 41; when transporting designated goods, it preferably moves within the second channel 42. The second robot 20 moves within the second channel 42. When goods are out of the warehouse, the second robot 20 moves to the designated storage location according to the outbound instruction sent by the management system, raises its forks to the height of the designated goods, confirms the goods information, and then places the designated goods into the buffer position directly below. Alternatively, in some other embodiments, if the buffer position directly below is already occupied, the designated goods can be temporarily stored in a nearby buffer position. The second robot 20 reports the location of the designated goods to the management system. Based on the goods information and buffer position information of the designated goods issued by the management system, the first robot 60 locates below the corresponding buffer position through the first channel 41, removes the designated goods by raising and lowering its platform, verifies the goods information, and then transports the designated goods to the workstation (or other designated location) via the second channel 42. When goods are received into the warehouse, the steps are reversed. The first robot 60 transports the goods to be received to the designated cache position according to the warehouse receipt instruction sent by the management system, and then reports to the management system that the goods have been delivered to the designated position. The second robot 20 receives the warehouse receipt instruction sent by the management system, which includes the designated position, and lifts the goods to be received from the cache position to the upper storage position.

[0082] Clearly, during inbound and outbound operations, it is preferable that the buffer position and the storage position be in the same column. This way, the second robot 20 only needs to move its forks up and down in the same position to complete the inbound or outbound operation, which can effectively improve the working efficiency of the second robot 20.

[0083] Figure 4 and Figure 6 Two consecutive sets of double-deep shelving units 52 are shown. In each of the second shelving rows 51 of the double-deep shelving unit 52, the bottom item is not placed directly on the ground, but is elevated to a height that allows a first robot 60 (e.g., a stealth vehicle) to move within it, serving as a dedicated space for the first robot 60 (see [reference]). Figure 6 The third channel of the activity, 43 (see also) Figure 6The first robot 60 moves between the third channel 43 and the fourth channel 44. Similar to before, when the first robot 60 is unloaded, it preferably moves within the third channel 43. When the first robot 60 is transporting designated goods, it preferentially moves within the fourth channel 44. The second robot 20 moves within the fourth channel 44. Its inbound and outbound processes are similar to... Figure 3 and Figure 5 The illustrated embodiment is similar. The difference lies in that, in this embodiment, the second robot 20 is preferably a double-deep forklift. When the designated goods to be retrieved or placed by the second robot 20 are located in the inner layer of the double-deep rack, the goods in the outer layer need to be moved to a nearby storage location or an empty buffer location below before retrieving or placing the designated goods. If the rack contains frequently entering and exiting high-frequency goods, or if an instruction requires simultaneous retrieval of goods in both the inner and outer layers of the double-deep rack, the second robot 20 can sequentially transfer the high-frequency goods from the outer and inner layers of the rack to the bottom buffer locations in both layers. Then, the second robot 20 can perform other tasks, while two first robots 60 sequentially retrieve goods from the buffer rack via the third channel 43 and transport the goods via the fourth channel 44, thereby increasing transportation efficiency. The same principle applies to inbound operations: the two first robots 60 sequentially place the goods into the double-deep buffer locations, and then the second robot 20 moves them from the buffer locations to the storage locations on the rack.

[0084] The following describes the structure and installation method of the cache rack. Figure 7 This is a front view of a cache rack provided according to an embodiment of the present invention. Figure 8 This is an isometric view of a cache rack provided according to an embodiment of the present invention. Figure 7 and 8 As shown, a standard buffer rack 10 includes four legs 11, two opposing first crossbeams 12a and second crossbeams 12b, and the crossbeams (first crossbeam 12a and second crossbeam 12b) also include guides for defining the placement position of the tray 70.

[0085] Four support legs 11 are fixed to the ground, forming a rectangle that conforms to the dimensions of the pallet 70. The first crossbeam 12a and the second crossbeam 12b are respectively fixedly connected to two support legs 11, and their lengths are approximately equal to the width of the pallet 70 to facilitate stable temporary storage of goods. The fixed connection can be directly welded to the support legs 11, or it can be achieved using dedicated fasteners, such as horn-shaped fasteners 15 (see reference). Figure 9 The crossbeam is fixedly connected to the support leg. In some other embodiments, a third crossbeam may also be included to increase the mechanical strength of the buffer position. The two ends of the third crossbeam are fixedly connected to one end of the first crossbeam 12a and the second crossbeam 12b, respectively.

[0086] The height of the support leg 11 is slightly greater than the thickness of the first robot (lurking vehicle). The top of the first robot is equipped with a vertically movable support platform. When it moves from the first channel to the area below the designated goods, the support platform rises slightly to remove the designated goods from the buffer shelf.

[0087] The guide section on the crossbeam includes an inclined panel 13 and a support member 14. The inclined panels 13 on the first crossbeam 12a and the inclined panels 13 on the second crossbeam 12b are arranged opposite each other. When the tray 70 is placed between the two inclined panels 13, the tray 70 is pushed and guided by the inclined panels 13 on both sides in the direction of the central axis of the buffer rack 10, and finally falls in the middle of the two inclined panels 13.

[0088] The inclined panel 13 is preferably the same length as the crossbeam, and multiple supports 14 are provided between the inclined panel 13 and the crossbeams (first crossbeam 12a and second crossbeam 12b) to maintain the inclination and strength of the inclined panel 13. In some other embodiments, the inclined panels 13 may also be spaced apart; for example, the length of the inclined panel 13 is less than the length of the crossbeam, and it is supported on the crossbeam (first crossbeam 12a or second crossbeam 12b) by a support 14. In this application scenario, one or more guides may be provided on each crossbeam.

[0089] The inclined plate 13 on the third crossbeam faces the direction of the second robot (forklift) for picking / placing goods. It guides the pallet 70 towards the second robot. Under the action of the inclined plates 13 on the first crossbeam 12a, second crossbeam 12b, and third crossbeam, the pallet 70 moves towards the center of the buffer rack. The guide section guides the pallet 70 to a predetermined position (center point).

[0090] Figure 9 A variation of the cache rack 10 is shown. Figure 9 This is another specific embodiment of a buffer rack provided by the present invention. As shown in the figure, when the width of the rack is suitable, the uprights of the rack can be used as support legs 11, thereby reducing the use of some parts (support legs). In this embodiment, the length of the rack is an integer multiple (e.g., twice) of the length of the pallet. Thus, the first crossbeam 12a of the first buffer position can be directly fixed to the upright of the rack by the horn-shaped fastener 15, and the second crossbeam 12b of the second buffer position can also be directly fixed to the upright of the rack by the horn-shaped fastener 15. In another embodiment, the width of the rack can be exactly the same as that of the pallet, then all four support legs of the buffer rack 10 can be replaced by rack uprights. In this application scenario, the installation height of the crossbeams can be flexibly adjusted to adapt to the height of different lurking vehicles. Compared with the solution using fixed support legs, this embodiment has higher flexibility and adaptability.

[0091] Furthermore, given that the dimensions of the pallet 70 are sometimes inconsistent and cannot be stably stored on the shelf, this invention also proposes a movable H-beam. The H-beam includes a crossbeam and two side beams, with both ends of the crossbeam fixedly connected to the two side beams to form an H-shape. The length of the side beams is greater than the length of the shelf. Placing the H-beam on the shelf extends the shelf's length, allowing the pallet 70 to be securely placed within the shelf.

[0092] There is no mutual exclusion among the above embodiments; they can be combined and complement each other.

[0093] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0094] Similarly, it should be understood that, in order to simplify the invention and aid in understanding one or more of the various inventive aspects, features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof in the above description of exemplary embodiments of the invention. However, this disclosure should not be construed as reflecting an intention that the claimed invention requires more features than expressly recited in each claim. Rather, as reflected in the claims, inventive aspects lie in fewer than all features of the single foregoing disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of the invention.

[0095] Those skilled in the art will understand that modules in the device of the embodiments can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiments can be combined into a single module, unit, or component, and further, they can be divided into multiple sub-modules, sub-units, or sub-components. Except where at least some of such features and / or processes or units are mutually exclusive, any combination can be used to combine all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or device so disclosed. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature serving the same, equivalent, or similar purpose.

[0096] Furthermore, those skilled in the art will understand that although some embodiments described herein include certain features but not others included in other embodiments, combinations of features from different embodiments are intended to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments can be used in any combination.

Claims

1. An intelligent warehousing system, comprising multiple shelves, characterized in that, The shelf includes: Four pillars, each located at one of the four vertices of a rectangle; and Multiple sets of crossbeams, wherein each set of crossbeams is connected to the four columns in sequence, forming multiple storage layers in the vertical direction of the columns for long-term storage of goods. The bottom layer of the multiple storage layers serves as a buffer for temporary storage of goods when they enter or leave the warehouse. in, When multiple shelves are arranged continuously with their short sides as a common side, they form a first shelf row. The continuous buffer positions below the first shelf row form a first channel, and the first robot transports goods to be stored or removed from the warehouse in the first channel. Two rows of the first shelving units are spaced apart to form a single-depth shelving unit. The gap between the single-depth shelving units forms a second aisle. A second robot operates in the second aisle to move the goods to be entered or exited from the storage layer to the buffer position, or to move the goods to be entered or exited from the buffer position to the storage layer.

2. The system as described in claim 1, characterized in that, Multiple single-deep rack units are arranged sequentially with their long sides as a common side to form a single-deep storage area. The single-deep storage area has multiple second aisles, the width of which is suitable for a single-deep forklift to rotate and move in a straight line within the second aisle.

3. The system as described in claim 1, characterized in that, When two of the aforementioned shelves are combined with their long sides as a common side, they form a double-deep shelf. The bottom layer of the double-deep shelf is a double-deep buffer position. Multiple double-deep shelves are arranged continuously with their short sides as a common side to form a second shelf row. The continuous double-deep buffer positions below the second shelf row form a third channel. The first robot transports goods to be stored or removed from the warehouse in the third channel. Two rows of the second shelf units are spaced apart to form a double-deep shelf unit. The gap between the double-deep shelf units forms a fourth channel. The second robot operates in the fourth channel to move the goods to be entered or exited from the storage layer to the buffer position, or to move the goods to be entered or exited from the buffer position to the storage layer.

4. The system as described in claim 3, characterized in that, Multiple double-deep rack units are arranged sequentially with their long sides as a common side to form a double-deep storage area. The double-deep storage area has multiple fourth aisles, the width of which is suitable for a double-deep forklift to rotate and move in a straight line within the fourth aisle.

5. The system as described in claim 1 or 3, characterized in that, When the buffer position is arranged on the outer side of one end of the first shelf row or the second shelf row, the bottommost layer of the multi-layer storage layer is used as a storage layer for long-term storage of goods, and the space below it still forms the first passage for the first robot to pass through.

6. The system according to any one of claims 1-4, characterized in that, The buffer position is equipped with a buffer rack, which includes a first crossbeam and a second crossbeam arranged opposite each other. The length of the first crossbeam and the second crossbeam is adapted to the length of the pallet holding the goods. The first crossbeam and the second crossbeam are provided with horn fasteners at both ends. The first crossbeam and the second crossbeam are respectively fixed to four legs by the horn fasteners. The legs are fixed to the ground. The distance between the second crossbeam and the first crossbeam is adapted to the width of the pallet.

7. The system as described in claim 6, characterized in that, When the distance between adjacent uprights of the shelf is approximately equal to the width of the pallet, the first beam and the second beam are respectively fixed to the four uprights of the shelf using the horn-shaped fasteners, or... When the distance between adjacent uprights of the shelf is not commensurate with the width of the pallet, the first crossbeam is fixed to the two uprights of the shelf by the horn fasteners, and the second crossbeam is fixed to the two legs by the horn fasteners, the legs being fixed to the ground.

8. The system as described in claim 6, characterized in that, The height of the first and second crossbeams above the ground allows the first robot to pass underneath them.

9. The system as described in claim 6, characterized in that, The first crossbeam and the second crossbeam are also provided with guide portions, each guide portion having an inclined panel. The inclined panels on the first crossbeam and the second crossbeam are arranged opposite to each other to define the position of the tray and guide the tray to move toward the center position when the tray is placed.

10. The system as described in claim 9, characterized in that, The inclined panel has a predefined length and is fixed to the first crossbeam and the second crossbeam by at least one support member. At least one inclined panel is provided on each crossbeam.

11. The system as described in claim 6, characterized in that, It also includes a third crossbeam, the two ends of which are fixedly connected to one end of the first crossbeam and one end of the second crossbeam, respectively. The third crossbeam is provided with a guide part, which guides the pallet to move toward the forklift when the pallet is placed.

12. The system as claimed in claim 1, characterized in that, The shelf also includes a movable H-beam, which includes a crossbeam and two side beams. The two ends of the crossbeam are fixedly connected to the two side beams respectively to form an H-shape. The length of the side beams is greater than the length of the shelf. The H-beam is placed on the shelf to extend the length of the shelf.

13. A control method for an intelligent warehousing system, characterized in that, The process of receiving goods into the warehouse includes: The first robot, according to instructions, moves the goods to the designated buffer rack and reports the goods information and temporary storage location to the intelligent warehousing system. The second robot retrieves the goods from the temporary storage location according to the instructions, confirms the goods information, and then stores the goods in the designated storage location. The temporary storage location and the storage location are located in the same column.

14. The control method as described in claim 13, characterized in that, When the shelf is a double-deep shelf and goods need to be stored in the inner layer, the second robot temporarily stores the goods in the outer layer on a buffer shelf, then takes the goods from the temporary storage location and places them in the designated storage location, and finally restores the goods in the outer layer.

15. A control method for an intelligent warehousing system, characterized in that, The outbound goods operation process includes: The second robot retrieves the goods from the designated storage location according to the instructions, confirms the goods information, stores the goods on the designated buffer shelf, and reports the goods information and temporary storage location to the control system. The first robot, according to instructions, moves the goods from the temporary storage location; The temporary storage location and the storage location are located in the same column.

16. The control method as described in claim 15, characterized in that, When the shelf is a double-deep shelf and goods need to be forked from the inner layer, the second robot temporarily stores the outer layer goods on a buffer shelf, then places the goods in the temporary storage position, and finally restores the outer layer goods.

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