A four-way shuttle vehicle and a warehousing system

Abstract

This invention relates to the field of logistics warehousing technology, and discloses a four-way shuttle and warehousing system. The four-way shuttle includes a vehicle body and a traveling assembly for driving the vehicle body on a preset track; the vehicle body is equipped with extendable forks, an adjusting assembly for adjusting the clamping distance of the extendable forks, and a telescopic assembly for controlling the extension length of the extendable forks; each extendable fork has a tumblerable material-collecting mechanism at one end in its extension direction; the vehicle body also has an actuator, and the telescopic assembly includes a telescopic motor for driving the extendable forks to extend outward from the vehicle body, the actuator being electrically connected to the telescopic motor. This invention can precisely set the extension length and clamping distance of the extendable forks, matching goods of different specifications and sizes, improving the flexibility and stability of scheduling.

Description

Technical Field

[0001] This invention relates to the field of logistics and warehousing technology, and in particular to a four-way shuttle and warehousing system. Background Technology

[0002] As business scenarios become increasingly complex and diverse, traditional fixed storage solutions cannot adequately adapt to all real-world business scenarios. For example, compared to the parts processing industry, the e-commerce industry is characterized by the varying specifications and sizes of target goods, while the parts processing industry, although also featuring diverse component specifications, can use standardized containers for storage, even though it can organize components by type. However, the e-commerce industry is characterized by a wide variety of target goods, and while traditional automated warehouse storage technology can be adapted, it undoubtedly represents a waste of resources in terms of flexibility and space utilization.

[0003] In addition, for industries like e-commerce with a wide variety of target goods, the existing four-way shuttles cannot match the different sizes of goods, causing great inconvenience in goods scheduling.

[0004] Therefore, for this field, how to solve the pain points of the above-mentioned application scenarios and improve the flexibility of scheduling and space utilization has become an urgent technical problem to be solved.

[0005] The above information is provided as background information only to aid in understanding this disclosure and does not constitute an assertion or admission that any of the above content can be used as prior art relative to this disclosure. Summary of the Invention

[0006] The purpose of this invention is to provide a four-way shuttle and warehousing system to solve or at least partially solve the technical problems existing in the prior art.

[0007] To achieve this objective, the present invention adopts the following technical solution:

[0008] In a first aspect, the present invention provides a four-way shuttle, which includes a car body and a traveling component for driving the car body to travel on a preset track; the car body is provided with a fork, an adjusting component for adjusting the clamping distance of the fork, and a telescopic component for controlling the extension length of the fork; the fork is provided with a tumbled material-collecting mechanism at one end in its extension direction.

[0009] The vehicle body is also equipped with an actuator, and the telescopic assembly includes a telescopic motor for driving the extension fork to extend out of the vehicle body, and the actuator is electrically connected to the telescopic motor;

[0010] When the actuator receives an execution instruction from the programmable logic controller of the automated warehouse, it controls the adjustment component to adjust the clamping distance of the fork according to a preset clamping distance, and controls the walking component to move to the location of the container to be unloaded according to a preset stroke. Then, it controls the telescopic motor to drive the fork to extend a preset length, and controls the material-catching mechanism to flip towards the container to catch the container. Finally, it drives the fork to retract to its initial position to complete the unloading of the container.

[0011] The execution instructions include the preset travel distance, the preset clamping distance, and the preset length.

[0012] Optionally, the telescopic motor is a servo motor;

[0013] The programmable logic controller or the actuator pre-stores a scale mapping relationship between the number of pulses of the telescopic motor and the extension length of the telescopic fork; wherein, the number of rotations and / or rotation angle of the telescopic motor are directly proportional to the number of pulses of the telescopic motor;

[0014] The programmable logic controller or the actuator can calculate the number of pulses of the telescopic motor based on the preset length.

[0015] Optionally, the adjustment assembly includes a variable pitch motor, a synchronous belt, and a variable pitch guide rail mounted on the vehicle body. A variable pitch slider is provided on the synchronous belt, and the variable pitch slider is slidably connected to the variable pitch guide rail. The variable pitch slider is also fixedly connected to one of the forks of the extension fork. The output end of the variable pitch motor is tensioned and fitted onto one end of the synchronous belt, and the other end of the synchronous belt is tensioned and fitted onto a belt shaft, which is fixed to the vehicle body.

[0016] The synchronous belt can be driven to move the variable pitch slider toward the other fork plate that is closer to or farther away from the extension fork, so as to adjust the clamping distance between the two fork plates of the extension fork.

[0017] Optionally, the variable pitch motor is a stepper motor or a telescopic motor;

[0018] The programmable logic controller or the actuator pre-stores a scale mapping relationship between the number of pulses of the variable pitch motor and the clamping distance of the extension fork; wherein, the number of rotations and / or rotation angle of the variable pitch motor is directly proportional to the number of pulses of the variable pitch motor;

[0019] The programmable logic controller or the actuator can calculate the number of pulses of the variable pitch motor based on the preset clamping distance.

[0020] Optionally, the variable pitch slider is a spline slider, and the variable pitch guide rail has a spline groove adapted to the spline slider; or,

[0021] The variable pitch slider is provided with a threaded sleeve, and the variable pitch guide rail is a lead screw or screw that is adapted to the threaded sleeve.

[0022] Optionally, the walking assembly includes a first set of wheels that can be driven to travel along a predetermined first direction and a second set of wheels that can be driven to travel along a predetermined second direction; wherein the first direction is perpendicular to the second direction, and the extension direction of the fork is the first direction;

[0023] The walking assembly also includes a power motor, the drive end of which is connected to a dual-output reduction gearbox. The two output ends of the dual-output reduction gearbox are respectively connected to the first walking wheel set and the second walking wheel set; the power motor is electrically connected to the actuator.

[0024] Optionally, the actuator is a microcontroller; the actuator is electrically connected to the walking component, the telescopic component, and the material-collecting mechanism respectively; the actuator is communicatively connected to the programmable logic controller.

[0025] Secondly, the present invention also provides a warehousing system, including a conveyor line, an automated warehouse, and a server; the conveyor line is equipped with a barcode scanning device, and the server includes a warehouse control system and a warehouse management system; the automated warehouse includes a shuttle and a programmable logic controller; the warehouse management system is used to store the storage status of all containers and storage areas in the automated warehouse; the shuttle is a four-way shuttle as described above.

[0026] Optionally, the warehouse control system includes:

[0027] The acquisition module is used to acquire the storage information of the containers that need to be shipped out from the warehouse management system, as well as the storage status of the containers along the aisle.

[0028] The judgment module is used to determine whether the container is blocked from leaving the warehouse. If the container is not blocked, a scheduling instruction is issued. If the container is blocked, the containers on the aisle are moved to other locations in the warehouse in sequence according to the predetermined storage method, and then a scheduling instruction is issued.

[0029] The instruction issuing module is used to issue the specified scheduling instructions to the programmable logic controller;

[0030] The programmable logic controller is used to set corresponding execution instructions according to the scheduling instructions and send them to the execution mechanism.

[0031] Optionally, the method for obtaining the target storage location includes:

[0032] Receive the verified container size parameters; obtain the storage area that is currently not occupied; find the available storage area that matches the container size and can be placed in the storage space from the storage area; match a suitable storage space in the available storage area to obtain the target storage space;

[0033] The storage method includes:

[0034] Verify the container request for inbound storage; if the verification fails, process it through another channel; if the verification passes, execute the target storage location acquisition method to obtain the target storage location; formulate a scheduling instruction for the container based on the target storage location; execute the scheduling instruction to complete the container inbound storage.

[0035] Optionally, before executing the target storage location acquisition method, the method further includes:

[0036] The warehouse management system compares the verified container dimensions with existing container dimension information.

[0037] If the container size information is correct, then execute the target storage location acquisition method;

[0038] If the container size does not match the existing container size information, determine whether the container is being received into the warehouse for the first time.

[0039] If it is the first time the container is received, the warehouse will be divided into large areas, and the container will be assigned to an empty area.

[0040] If this is not the first time data has been entered into the database, the database will be divided into major regions and then a second level of verification will be performed.

[0041] If a large free area is found during the second check, the container will be allocated to that free area.

[0042] If the second check finds no free regions, then search all non-free but not full regions, obtain the corresponding depth data, filter out regions that cannot be stored, sort the remaining regions by distance and index priority, and select the non-free but not full regions for allocation.

[0043] Compared with the prior art, the present invention has the following beneficial effects:

[0044] The warehousing system provided by this invention can formulate corresponding scheduling instructions based on the size parameters and location information of the containers to set the travel distance of the four-way shuttle and the clamping distance of the forks. It can not only match goods of different specifications and sizes, but also realize the orderly outbound of containers, improving the flexibility of scheduling and space utilization.

[0045] The present invention has other features and advantages, which will be apparent from or will be set forth in detail in the accompanying drawings and the following detailed description, which together serve to explain the particular principles of the invention. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the 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.

[0047] Figure 1 This is a three-dimensional structural diagram of a four-way shuttle provided in an embodiment of the present invention.

[0048] Figure 2 This is a top view of a four-way shuttle provided in an embodiment of the present invention.

[0049] Figure 3 This is a bottom view of the structure of a four-way shuttle provided in an embodiment of the present invention.

[0050] Figure 4 This is a schematic diagram of the internal structure of a four-way shuttle provided in an embodiment of the present invention.

[0051] Figure 5 yes Figure 4 AA section diagram.

[0052] Figure 6 yes Figure 5 A schematic diagram of the structure after the clamping distance of the center extension fork is adjusted.

[0053] Figure 7 This is a schematic diagram of the target storage location acquisition method provided in an embodiment of the present invention.

[0054] Figure 8 This is a first schematic diagram of an embodiment of a target storage location acquisition method provided by the present invention.

[0055] Figure 9 This is a second schematic diagram of an embodiment of a target storage location acquisition method provided by the present invention.

[0056] Figure 10 This is a first schematic diagram of an embodiment of a storage method provided by the present invention.

[0057] Figure 11 This is a second schematic diagram of an embodiment of a storage method provided by the present invention.

[0058] Figure 12 This is a third schematic diagram of an embodiment of a storage method provided by the present invention.

[0059] Figure 13 This is a fourth schematic diagram of an embodiment of a storage method provided by the present invention.

[0060] Figure 14 This is a fifth schematic diagram of a storage method provided in an embodiment of the present invention.

[0061] Figure 15 This is a sixth schematic diagram of a storage method provided in an embodiment of the present invention.

[0062] Figure 16 This is a seventh schematic diagram of a storage method provided by an embodiment of the present invention.

[0063] Figure 17 This is an eighth schematic diagram of an embodiment of a storage method provided by the present invention.

[0064] Figure 18 This is a ninth schematic diagram of a storage method provided in an embodiment of the present invention.

[0065] In the diagram: 10. Vehicle body; 101. Shell; 20. Extending fork; 201. Fork plate; 202. Guide bottom rod; 21. Adjustment assembly; 200. Material feeding mechanism; 210. Variable pitch motor; 211. Synchronous belt; 212. Variable pitch guide rail; 213. Tensioning component; 214. Variable pitch slider; 215. Belt shaft; 22. Drive shaft; 30. Traveling assembly; 301. Power motor; 302. Dual output reduction gearbox; 31. First traveling wheel; 32. Second traveling wheel; 40. Guide wheel. Detailed Implementation

[0066] To illustrate the possible application scenarios, technical principles, implementable specific solutions, and achievable objectives and effects of this application in detail, the following description, in conjunction with the listed specific embodiments and accompanying drawings, provides a detailed explanation. The embodiments described herein are merely illustrative of the technical solutions of this application and are therefore intended to limit the scope of protection of this application.

[0067] In this document, the term "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The term "embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment, nor does it specifically limit its independence or connection with other embodiments. In principle, in this application, as long as there are no technical contradictions or conflicts, the technical features mentioned in each embodiment can be combined in any way to form corresponding implementable technical solutions.

[0068] Unless otherwise defined, the technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the use of related terms herein is merely for the purpose of describing particular embodiments and is not intended to limit this application.

[0069] In the description of this application, the term "and / or" is used to describe the logical relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A exists, B exists, and A and B exist simultaneously. Additionally, the character " / " in this document generally indicates that the preceding and following objects have an "or" logical relationship.

[0070] In this application, 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 actual quantity, hierarchy or order relationship between these entities or operations.

[0071] Unless otherwise specified, the use of terms such as “comprising,” “including,” “having,” or other similar expressions in this application is intended to cover non-exclusive inclusion, which does not exclude the presence of additional elements in a process, method, or product that includes the stated elements, such that a process, method, or product that includes a list of elements may include not only those defined elements but also other elements not expressly listed, or elements inherent to such a process, method, or product.

[0072] Similar to the understanding in the Examination Guidelines, in this application, expressions such as "greater than," "less than," and "exceeding" are understood to exclude the stated number; expressions such as "above," "below," and "within" are understood to include the stated number. Furthermore, in the description of the embodiments in this application, "multiple" means two or more (including two), and similar expressions related to "multiple" are also understood in this way, such as "multiple groups" and "multiple times," unless otherwise explicitly specified.

[0073] In the description of the embodiments of this application, the space-related expressions used, such as "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "vertical," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," indicate the orientation or positional relationship based on the orientation or positional relationship shown in the specific embodiments or drawings. They are only for the purpose of describing the specific embodiments of this application or for the reader's understanding, and do not indicate or imply that the device or component referred to must have a specific position, a specific orientation, or be constructed or operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0074] Unless otherwise expressly specified or limited, the terms "installation," "connection," "linking," "fixing," and "setting," as used in the description of the embodiments of this application, should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral setting; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two components or the interaction between two components. For those skilled in the art to which this application pertains, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0075] Example 1:

[0076] Please see Figures 1-6 , Figure 1 This is a three-dimensional structural diagram of a four-way shuttle provided in an embodiment of the present invention. Figure 1 This is a three-dimensional structural diagram of a four-way shuttle provided in an embodiment of the present invention. Figure 2 This is a top view of a four-way shuttle vehicle provided in an embodiment of the present invention. Figure 3 This is a bottom view of a four-way shuttle vehicle provided in an embodiment of the present invention. Figure 4 This is a schematic diagram of the internal structure of a four-way shuttle provided in an embodiment of the present invention. Figure 5 yes Figure 4 AA section diagram, Figure 6 yes Figure 5 A schematic diagram of the structure after the clamping distance of the center extension fork is adjusted.

[0077] like Figure 1 As shown, the four-way shuttle includes a vehicle body 10 and a mechanism for driving the vehicle body 10 along a predetermined first direction (…). Figure 2 Lateral) or second direction ( Figure 2 (Longitudinal) walking component 30;

[0078] The vehicle body 10 is provided with an extension fork 20, an adjustment component 21 for adjusting the clamping distance of the extension fork 20, and a telescopic component for controlling the extension length of the extension fork 20; the extension fork 20 is provided with a flip-up material-collecting mechanism 200 at one end in its extension direction.

[0079] The vehicle body 10 is also equipped with an actuator, and the telescopic assembly includes a telescopic motor for driving the extension fork 20 to extend outward from the vehicle body 10, and the actuator is electrically connected to the telescopic motor;

[0080] When the actuator receives the execution instruction from the programmable logic controller of the automated warehouse, the control adjustment component 21 adjusts the clamping distance of the extension fork 20 according to the preset clamping distance, and controls the walking component 30 to move to the location of the container to be unloaded according to the preset stroke. Then, the telescopic motor is controlled to drive the extension fork 20 to extend the preset length, and the material grabbing mechanism 200 is controlled to flip towards the container to grab the container. Then, the extension fork 20 is driven to retract to its initial position to complete the unloading of the container.

[0081] The execution instructions include preset travel, preset clamping distance, and preset length.

[0082] It should be noted that in this embodiment, the extension fork 20 can be driven by the telescopic component to extend to a predetermined length along the first direction, or it can be driven by the adjustment component 21 to adjust the clamping distance of the extension fork 20.

[0083] As a preferred implementation method, the telescopic motor is a servo motor;

[0084] The programmable logic controller or actuator pre-stores a scale mapping relationship between the number of pulses of the telescopic motor and the extension length of the extension fork 20; wherein, the number of rotations and / or rotation angle of the telescopic motor are directly proportional to the number of pulses of the telescopic motor;

[0085] The programmable logic controller or actuator can calculate the number of pulses of the telescopic motor based on the preset length.

[0086] Specifically, such as Figure 2 As shown, the adjustment assembly 21 includes a timing belt 211 and a variable pitch guide rail 212 mounted on the vehicle body 10;

[0087] Furthermore, such as Figure 4 and Figure 5 As shown, a variable pitch slider 214 is provided on the synchronous belt 211, and the variable pitch slider 214 is slidably connected to the variable pitch guide rail 212; the variable pitch slider 214 is also connected to one of the forks 201 of the extension fork 20 (i.e. Figure 4 The fork plate 201 on the right side is fixedly connected;

[0088] The adjustment assembly 21 also includes a variable pitch motor 210, the output end of which is tensioned and fitted onto one end of a synchronous belt 211, and the other end of the synchronous belt 211 is tensioned and fitted onto a belt shaft 215, which is fixed to the vehicle body 10.

[0089] like Figure 6 As shown, the synchronous belt 211 can be driven to move, causing the variable pitch slider 214 to move toward or away from the other fork plate 201 of the extension fork 20, so as to adjust the clamping distance between the two fork plates 201 of the extension fork 20.

[0090] As a preferred implementation method, the variable pitch motor 210 is a stepper motor or a telescopic motor;

[0091] The programmable logic controller or actuator pre-stores a scale mapping relationship between the number of pulses of the variable pitch motor 210 and the clamping distance of the extension fork 20; wherein, the number of rotations and / or rotation angle of the variable pitch motor 210 are directly proportional to the number of pulses of the variable pitch motor 210.

[0092] The programmable logic controller or actuator can calculate the number of pulses of the variable pitch motor 210 according to the preset clamping distance.

[0093] The four-way shuttle provided in this embodiment can set the clamping distance of the forks according to the size parameters of the container, which can match goods of different sizes and specifications, improving the flexibility and stability of scheduling. Furthermore, since the four-way shuttle can match goods of different specifications, logistics warehousing can support the setting of storage locations of different specifications, which can effectively improve space utilization.

[0094] Specifically, such as Figure 5 As shown, two tensioning members 213 are fixedly installed on the synchronous belt 211. The two tensioning members 213 can be driven to come together to tension the synchronous belt 211.

[0095] For specific details, please refer to... Figure 4 and Figure 5 As an optional implementation, in this embodiment, the variable pitch slider 214 is a spline slider, and the variable pitch guide rail 212 is provided with a spline groove that is compatible with the spline slider.

[0096] Understandably, as another alternative implementation, the variable pitch slider 214 is provided with a threaded sleeve, and the variable pitch guide rail 212 is a lead screw or screw that is adapted to the threaded sleeve.

[0097] In this embodiment, the actuator can control the action of the variable pitch motor 210 according to the execution command, driving the variable pitch slider 214 to slide on the variable pitch guide rail 212, thereby driving... Figure 4 The fork plate 201 on the right side moves, as follows: Figure 2 As shown, the vehicle body 10 includes two mirror-symmetrically arranged shells 101, with a guide rod 202 connecting the two shells 101. Figure 4 The bottom side of the right fork plate 201 is provided with a sliding structure, which is slidably sleeved on the guide bottom rod 202;

[0098] The guide rod 202 makes the movement of the extension fork 20 smoother, thus playing a guiding role.

[0099] Specifically, such as Figure 4As shown, the walking assembly 30 includes a first walking wheel set that can be driven to walk in a predetermined first direction and a second walking wheel set that can be driven to walk in a predetermined second direction.

[0100] The walking assembly 30 also includes a power motor 301, the drive end of which is connected to a dual-output reduction gearbox 302. The two output ends of the dual-output reduction gearbox 302 are respectively connected to the first walking wheel set and the second walking wheel set. The power motor 301 is electrically connected to a programmable logic controller.

[0101] The server is also used to determine the available storage area and the matching target storage location in the available storage area based on the size parameters of the container, and to set the travel of the four-way shuttle according to the target storage location, thereby formulating corresponding scheduling instructions and sending them to the programmable logic controller.

[0102] More specifically, each housing 101 is provided with a set of first traveling wheels 31 and a set of second traveling wheels 32, wherein the set of first traveling wheels 31 includes two first traveling wheels 31 and the set of second traveling wheels 32 includes two second traveling wheels 32.

[0103] The dual-output gearbox 302 is installed inside one of the housings 101; one output end of the dual-output gearbox 302 is connected to a set of first travel wheels 31 located inside one of the housings 10, and is also synchronously connected to another set of first travel wheels 31 through a drive shaft 22.

[0104] The other output end of the dual-output gearbox 302 is connected to a set of second traveling wheels 32 located inside one of the housings 10; each second traveling wheel 32 is also provided with a guide wheel 31 that can roll in a second direction, and the axle of the guide wheel 31 and the axle of the second traveling wheel 32 are perpendicular to each other.

[0105] Furthermore, the four-way shuttle also includes a lifting assembly for driving the four first traveling wheels 31 or the four second traveling wheels 32 to lift synchronously.

[0106] When the four-way shuttle moves along the first direction, the four second wheels 32 are raised simultaneously or the four first wheels 31 are lowered simultaneously, so that only the first wheels 31 are in contact with the ground.

[0107] When the four-way shuttle moves along the second direction, the four second-moving wheels 32 are lowered simultaneously or the four first-moving wheels 31 are raised simultaneously, so that only the second-moving wheels 32 are in contact with the ground.

[0108] Understandably, the lifting assembly also includes a lifting motor, which is electrically connected to the programmable logic controller (PLC). Once the travel distance of the four-way shuttle is determined, the PLC can formulate corresponding scheduling instructions. That is, when the four-way shuttle needs to travel in the first direction, the PLC controls the movement of the lifting assembly so that only the first traveling wheel 31 is in contact with the ground. When the four-way shuttle needs to travel in the second direction, the PLC controls the movement of the lifting assembly so that only the second traveling wheel 32 is in contact with the ground.

[0109] In this embodiment, the actuator is a microcontroller; the actuator is electrically connected to the walking component 30, the telescopic component and the material-collecting mechanism 200 respectively; the actuator is communicatively connected to the programmable logic controller.

[0110] Microcontrollers have certain computing power, and users can transfer some of the computing power of the programmable logic controller to the microcontroller as needed to share the computing burden of the programmable logic controller.

[0111] In summary, the four-way shuttle provided in this embodiment can set the clamping distance of the forks according to the size parameters of the container, which can match goods of different sizes, improve the flexibility and stability of scheduling, and also enable logistics warehousing to realize storage locations of different sizes, thus effectively improving space utilization.

[0112] Example 2:

[0113] Please refer to Figures 7-18 The diagram illustrates an embodiment of the target storage location acquisition method and storage method of this invention, and is described in detail below:

[0114] This embodiment provides a method for acquiring a target storage location, which can be found in [reference needed]. Figure 7 The schematic diagram shown includes:

[0115] S1. Receive the verified container size parameters.

[0116] This embodiment's solution is applicable to the storage of packaged items or items placed in bins. Therefore, the container can refer to a regular-shaped object such as a packaging box or bin for selected items. Since the storage area size of an automated warehouse is usually fixed and non-adjustable, the size of non-fixed-size containers needs to be verified before they enter the warehouse. This verification occurs along the path before the container enters the automated warehouse system. Size verification can be achieved through any of the following methods or combinations: scanning the container's QR code, barcode, or RFID tag, or using visual scanning, laser scanning, or other methods to identify container size information. If the verification result meets the requirements for entering the automated warehouse (i.e., the container size is suitable for the warehouse and / or there is available storage space in the warehouse), the container is transported to the front of the automated warehouse via a conveyor. Conversely, if the verification does not meet the requirements, the container is detoured via a conveyor. To further explain, the conveying device can be a conveyor line, AGV (Automated Guided Vehicle), RGV (Automated Guided Vehicle), or humanoid robot, etc., which can transport containers. The "borrowing route" process refers to a task where a container fails the verification but is subsequently assigned a "borrowing route" task, which involves transporting the container in and out of the warehousing system via a conveyor to a designated location. In this embodiment, the conveying equipment is described using a conveyor line as an example. A container identification device is installed on the conveyor line. This device uses the verification method described above. If the container meets the warehousing requirements of the automated warehouse, the system controls the container to be transported to a designated position at the front of the automated warehouse via the conveyor line. If the container does not meet the warehousing requirements, such as if the size does not meet the requirements, the system controls the container to be transported out of the system to a designated position. If the container size meets the requirements but the automated warehouse does not have a storage space, the system controls the container to either circle around on the conveyor line or be transported out of the system to a designated position to wait.

[0117] S2. Get the storage area that is not currently in use.

[0118] The system obtains the current storage status of the automated warehouse from the warehouse management system. The automated warehouse control system uploads the container inbound and outbound status in real time. The warehouse management system stores all storage areas, container locations, and container inbound and outbound status of the automated warehouse. In the warehouse management system, areas with stored containers and areas that are being locked for inbound storage are marked as occupied areas, and the remaining storage areas are marked as unoccupied areas.

[0119] S3. Find an available storage area that matches the container size and can be placed in the storage space from the storage area.

[0120] Since this embodiment is a storage scheme without fixed-size containers, the following situation may occur: when a smaller container is stored in a storage area far from the aisle, and a larger container is stored near the aisle, there is a container size in the storage area next to the smaller container that is far from the aisle that can store the container that needs to be stored. However, since a larger container is stored near the aisle, the aisle size next to the larger container is insufficient for the container that needs to be stored to enter. Therefore, it is necessary not only to search for an area in the storage area that matches the container size, but also to filter these areas based on the container size, the existing storage status, and the aisle size to ensure that the container cannot be placed in the storage area.

[0121] It should be noted that the container size here refers to the minimum size required for the container to be placed in the storage location, meaning the container size must be at least greater than the actual container size plus the width of the transport vehicle clamp. The actual container size refers to the maximum height, length, and width values ​​of the container, which can be obtained through one or more of the following methods: through the warehouse management system, or through visual scanning, raster scanning, or identification methods. For example, if the warehouse management system stores the actual container size, this can be obtained through the system. Visual scanning or raster scanning can obtain the three-dimensional shape of the container, thereby calculating the maximum length, width, and height values. The transport vehicle clamp is used to place the container from the transport vehicle into the automated warehouse storage location, or to retrieve the container from the automated warehouse storage location onto the transport vehicle. It can be a fork, hook, etc. Therefore, the width of the transport supply clamp needs to be set according to the clamp type and retrieval method. For example, forks require a portion located on the side of the container, so the container size value needs to include the clamp width. If the container is retrieved from the front using hooks or suction cups, the container size value does not need to include the clamp width. This embodiment uses an extendable fork as an example. The width of the transport clamp is assumed to be 2b, then the width on one side is b. If the actual width of the container is a, then the container size is a + 2b. Figure 8 The schematic diagram shown indicates that the actual length occupied is a+b+b. Furthermore, due to factors such as control precision and trolley running precision, a certain redundancy (i.e., safety distance) may be set as needed based on actual conditions. If the safety distance on each side is c, then the actual length occupied is a+b+b+c+c. Unless otherwise specified in this embodiment, all examples in this embodiment use a forklift and conveying device as examples of conveyor lines. The principles of other solutions are basically the same and will not be elaborated further.

[0122] S4. Match a suitable storage location in the available storage area to obtain the target storage location.

[0123] Based on the container dimensions mentioned above, a storage location is located according to the system's predefined rules to obtain the target storage location. This enables the matching of storage locations for target goods (i.e., containers) with varying specifications and sizes, solving the problem that existing fixed storage solutions cannot meet the storage needs of scenarios with complex container types and different specifications.

[0124] Specifically, in S3, since the storage space occupied by the container is a three-dimensional space, it is necessary to match the storage area in the automated storage and retrieval system (AS / RS) based on the container's maximum height, length, and width values. The height value filters out areas in the AS / RS where the height does not match, while the length and width values ​​provide the container's occupied area. This allows for the search of storage areas that match the occupied area; that is, finding suitable storage locations based on the container's length and width values ​​yields a set of storage locations. From this set, storage areas that do not match the container's height value and those that cannot be placed according to the container's length and width values ​​are then filtered out, resulting in usable storage areas.

[0125] Typically, automated storage and retrieval systems (AS / RS) utilize low-cost, stable data processing units such as PLCs (Programmable Logic Controllers) and microcontrollers. Of course, other processing units with higher processing speeds and greater computational demands can also be used. Therefore, to reduce the hardware requirements and computation time of this method, this embodiment offers two approaches. The first is to first select the optimal region, then find storage locations within that region that match the container size, and finally perform the corresponding calculations to obtain the target storage location. The second is to first find all available storage locations based on the container size, obtaining a storage location set. Then, by selecting the optimal region, the number of storage locations in the set is reduced to those located within the optimal region, and the corresponding calculations are then performed to obtain the target storage location. The following embodiment provides a detailed explanation of these two methods for quickly obtaining the target storage location:

[0126] The first approach is to first obtain the optimal layer of the automated storage and retrieval system (AS / RS), and then match a suitable storage location within the available storage area of ​​the optimal layer. Alternatively, the optimal layer can be first obtained, then divided into large regions, and the optimal large region can be selected. From the optimal large region, a suitable storage location can be allocated. The optimal layer selection method is as follows:

[0127] The optimal layer is influenced by many factors, including the availability of the layer status, the status of the corresponding equipment (elevator, temporary storage platform, RGV trolley, etc.), layer space utilization, layer task load, container height, and layer height. Different equipment selections lead to different maximum operating efficiencies, and different application scenarios also result in variations in the main factors considered. This embodiment will explain the impact of each factor on the optimal layer. Implementers can select appropriate factors from the following solutions based on the specific computing power, operating efficiency, and application scenario to achieve the optimal solution for both the equipment and the scenario. As described above, this embodiment uses a conveyor line as the conveying equipment, a shuttle car as the transport container tool, and an extender fork as the clamping device. Specifically, the implementation involves obtaining the usage status of all layers in the current storage library based on the library number, interface line body edge, and preceding and following information transmitted via barcode scanning (this can be handled through Redis caching). First, available storage areas are obtained. Within these storage areas, storage layers that meet the requirements are searched based on the container height value, resulting in a set of available storage layer areas. This involves obtaining the height limit value configured in the dynamic values ​​(i.e., whether the maximum container height matches the layer height of the automated storage system). The library number is then used to search for the first set of available layer IDs. Within this set of available storage layer areas, areas that cannot be placed in storage spaces according to the container length and width values ​​are searched, resulting in a set of areas that can be placed in storage spaces. This involves obtaining the set of free area IDs for the current layer that matches the container length and width values ​​based on the available layer IDs and the step distance and hole spacing occupied by the container's length and width (i.e., the maximum length and width values). Then, the set of layer IDs for the partially filled areas that match the container size is obtained based on the available layer IDs and the step distance and hole spacing occupied by the container's length and width. Finally, the set of IDs for the already stored free depth areas that match the container size is obtained based on the available layer IDs and the step distance and hole spacing occupied by the container. The available storage areas are obtained by performing an intersection operation on the set of storage space areas, the set of available storage layer areas, and the set of areas where storage space can be placed. This involves deduplicating the three ID sets to obtain a deduplicated set of available layer IDs. Then, the utilization rate of all layers in the current library is obtained from the cache based on the library number. The intersection of the obtained set of available layer information and the layer utilization rate IDs is taken. The layer utilization rate is calculated as: used area / current available layer area. The optimal layer area is selected from the set of available storage layer areas based on the layer utilization rate value. Areas that cannot be placed in storage spaces according to the container length and width values ​​are then filtered out from the optimal layer area to obtain the available storage areas.

[0128] The calculation formula for the computational layer space utilization rate U is as follows:

[0129] U=((A 占 +A 预约 ) / A 总 )*100%, where A 占 Indicates the area occupied by the current layer, A预约 Indicates the area of ​​the current layer's reservation status, A 总 This represents the total area of ​​the current layer.

[0130] The calculated layer utilization results are filtered. The filtering steps include filtering layers that only accept input and not output, layers with more than three tasks, layers with a utilization rate exceeding 90%, and layers where the difference between the minimum utilization value and the layer value exceeds 30%. If the result set in any step of the filtering process is empty, the result set from the previous step is used as the final result set. The final result set is then sorted from lowest to highest utilization rate, and the layer with the lowest utilization rate is selected as the optimal layer region. The obtained layer utilization results are then quickly filtered, including filtering layers that only accept input and not output, and layers with more than three tasks (this can be determined based on the size of the temporary storage station, the number of shuttles, and operational efficiency). If a layer executes too many tasks, it can lead to container backlog, affecting the inbound of other containers. Layers with a utilization rate exceeding the dynamically configured layer utilization threshold of 90% (dynamic) are filtered out. Since this embodiment uses dynamic storage (i.e., a non-fixed-size storage scheme), when a layer utilization rate exceeds 90%, the remaining unstored areas are typically corner areas, edge areas that cannot be occupied by containers, or areas that need to be reserved for container relocation. Therefore, when a layer utilization rate exceeds a preset threshold, it is marked as having no storage space. It should also be noted that this threshold is set according to actual conditions. For example, if the number of container sizes and shapes is relatively small and regular, the threshold can be preset to 95%. If the number of container sizes and / or shapes is large, the threshold should be preset to 85%, etc. Layers whose minimum utilization rate exceeds 30% are also filtered out. This 30% value is defined as the layer space threshold. In this embodiment, 30% is the default, but it can be set to other values, such as 20%, 25%, 35%, 40%, etc. This value limits the upper limit of the layer space storage difference percentage. For example, if the difference in layer space storage ratio is greater than the layer space balancing threshold, the inbound mode is adjusted to space utilization priority, prioritizing the allocation of containers to layers with lower layer space utilization. If the difference in layer space storage ratio is less than or equal to the layer space balancing threshold, the inbound mode is adjusted to device efficiency priority, prioritizing the allocation of containers to layers with lower device load. If the result set of any step in the above filtering is 0, the result set of the previous step is used in the result set of the next step for further calculation. Finally, based on the utilization rate, the layer with the lowest utilization rate is selected as the optimal layer.

[0131] Furthermore, if all result sets in the filtering step are empty, then the current storage space usage has reached the set saturation state, and the acquisition of the target storage space ends; if all result sets in the filtering step contain non-empty sets, it is determined whether the number of currently allocable layer result sets exceeds the predetermined layer threshold; if the number of currently allocable layer result sets does not exceed the predetermined layer threshold, then the layer result set with the lowest usage rate is selected as the final result set; if the number of currently allocable layer result sets exceeds the predetermined layer threshold, then the current order's layer usage is searched according to the current container's order number. If the number of layers used reaches the preset layer threshold, then the layer result set with the lowest usage rate among the current order's layer result sets is selected as the final result set; if the current order's layer usage does not reach the preset layer threshold, then the layer result set with the lowest usage rate is selected as the final result set. Assuming the threshold number of layers is set to 5, the final result set after quickly filtering all the layer utilization results is empty, meaning that the current automated storage system has reached the set saturation state and cannot continue to the next storage location allocation calculation. If the final result set is not empty, it is determined whether the available layers in the current allocable layer result set exceed 5 (this value is dynamically configured and can be determined according to the actual situation and equipment). If not, the layer with the lowest utilization rate can be selected. If so, the number of layers used by the current order is found according to the current container's order number. If it also reaches 5 layers, then the layer with the lowest utilization rate among the 5 layers used by the current order is taken as the optimal layer. If the current order number does not use 5 layers, then the layer with the lowest utilization rate among the available layers is taken. If the result set is empty, then a bypass process is performed.

[0132] Furthermore, this embodiment can also add the container construction scheduling task obtained by the optimal layer to the task pool for processing. The task pool organizes the tasks according to their types and assigns them to the layer in the previous step. If the number of tasks in this layer does not exceed the dynamically configured threshold, the task is directly retrieved for storage. If the number of tasks in this layer reaches the specified layer task threshold, the task is put into waiting processing.

[0133] As a preferred approach, a region partitioning and selection step is included before acquiring the target storage location. This partitioning and selection can occur either before or after acquiring the optimal layer. To reduce computational load and cache pressure, it is preferable to perform the region partitioning and selection step after acquiring the optimal layer. Please refer to [reference needed]. Figure 9 The diagram shown is illustrated below. The specific steps for dividing and selecting regions are explained in detail below.

[0134] Obtain information about large storage areas; match suitable storage locations according to matching rules to obtain target storage locations. The matching rules are as follows: large areas with similar container sizes and widths and not full on the side closest to the aisle; empty large areas; empty large areas with deep storage locations; large areas with similar container sizes and widths; and other remaining large areas. In this solution, large areas are based on the entire floor area. When quickly creating a wizard on the web, the data layer on both sides of the entire aisle is divided according to the specified number of hole spacings, depending on the aisle length but not limited by the step distance of the storage locations on both sides of the aisle. That is, the length of a large area is an integer multiple of the distance between two adjacent columns of the automated storage and retrieval system. The minimum length of a large area is the distance between two adjacent columns of the automated storage and retrieval system. The maximum length of a large area is the entire floor distance of the automated storage and retrieval system. The preferred length of a large area is the distance between two adjacent columns of the automated storage and retrieval system. To improve equipment operating efficiency, containers of the same size are placed in the same large area when entering the warehouse to facilitate relocation and improve utilization. The principle followed is to prioritize storing in areas with similar dimensions and widths that are not full on the side closest to the aisle, then prioritize storing in large, empty areas, then in deep, empty areas, then in areas with similar widths and dimensions, and finally in other areas.

[0135] The second approach involves first obtaining a set of storage locations, and then quickly selecting usable storage areas from this set through layer selection and / or large-area partitioning. The specific steps are as follows:

[0136] The set of available storage layer areas is searched for regions that match the container length and width values ​​to obtain a set of storage space regions. The container length and width values ​​here are consistent with those described in the first method of this embodiment; that is, the container length and width values ​​refer to the maximum length and width of the container. When searching for matching regions, it is also necessary to convert the maximum length and width values ​​of the container, the clamping method and size, and / or the safety distance into the size values ​​of the storage space occupied by the container (i.e., the container size in the first method). Regions that cannot be placed in storage spaces according to the container length and width values ​​are searched for in the set of available storage layer areas to obtain a set of storage space regions that can be placed. This step is based on the same principle as the first method described in this embodiment; that is, the container's occupied area can be obtained through the length and width values, thereby allowing the search for regions in the storage area that match the occupied area. These storage locations are quickly filtered based on the optimal layer and / or region. Specifically, within the storage region, suitable storage layers are searched based on the container height value to obtain a set of available storage layer regions. Within this set, regions that cannot be placed in storage locations according to the container length and width values ​​are searched to obtain a set of usable storage location regions. The intersection of this set of storage location regions, the set of available storage layer regions, and the set of usable storage location regions is performed to obtain a usable storage region. Alternatively, within the storage region, suitable storage layers are searched based on the container height value to obtain a set of available storage layer regions. The optimal layer region is selected from the set of available storage layer regions based on the layer utilization value. Within this optimal layer region, regions that cannot be placed in storage locations according to the container length and width values ​​are filtered out to obtain a usable storage region. The principles of optimal layer acquisition, region division, and selection are described in the first method of target storage location acquisition in this embodiment, and will not be repeated here.

[0137] This embodiment also provides a storage method, which can be referred to in the following description. Figures 10-18 The schematic diagram shows the specific steps as follows: Verify the container requested for storage. This verification step is explained in detail in the first aspect of the target storage location acquisition method provided in this embodiment, and the principle is as described above, so it will not be repeated here. If the verification fails, a bypass process is initiated. The bypass process is explained in detail in the first aspect of the target storage location acquisition method provided in this embodiment, and the principle is as described above, so it will not be repeated here. If the verification passes, execute any of the above-mentioned target storage location acquisition methods to obtain the target storage location; formulate a scheduling instruction for the container based on the target storage location, execute the scheduling instruction, and complete the container storage.

[0138] For example, one application scenario of this embodiment includes a conveyor line, an automated storage and retrieval system (AS / RS), and a server. The conveyor line is equipped with a barcode scanning device. The AS / RS includes a floor-changing elevator, a temporary storage platform, a shuttle car, and a PLC control system. The server includes a WCS (Warehouse Control System) and a WMS (Warehouse Management System). The WMS stores the storage status of all containers in the AS / RS and the storage areas of the AS / RS. Upon receiving a container barcode scanning request, the WCS calculates the target storage location based on the target storage location acquisition method and finally determines the optimal storage location. The WCS generates a scheduling instruction in conjunction with the task scheduling of the scanned container and sends it to the PLC. The PLC then executes the instruction to complete the container storage operation.

[0139] The WCS system is configured with a task service module and an SLS600 service module. The task service module is used to specify the library based on the task (multiple library scenarios), and the SLS600 service module is used to execute the target storage location acquisition method upon receiving the container scanning request. During library selection, the SLS600 service module caches the real-time inbound and outbound task information for all libraries. The task service module dynamically switches operating modes and selects a suitable library based on the operating mode. These operating modes include a library task balancing mode and a library utilization mode. If switched to library task balancing mode, it acquires inbound and outbound data, calculates the library task load, and selects the library with the lowest task load. If switched to library utilization mode, it acquires the utilization rate of each layer of space in the library, calculates the library space utilization rate, and selects the library with the lowest space utilization rate.

[0140] If the library task balancing mode is selected, the SLS600 service module will retrieve the real-time library entry and exit status results from the cache and feed them back to the task service module. The task service module calculates which library has fewer tasks based on the feedback from the SLS600 service module and assigns the library with the lowest task allocation. If the library utilization mode is selected, the SLS600 service module will feed back the space usage status of each layer to the task service module. The task service module calculates the space utilization rate of each library based on the results and selects the appropriate library. This information is then passed to the SLS600 service module during library scanning, enabling dynamic storage allocation. Scanning requests: When the container scans the library entry, the scanning module passes the scan information to the SLS600 service module. The SLS600 service module packages the scan information with attribute mapping for parameter transmission and further verification. If the library balancing mode is selected, the set layer balancing threshold T is compared with the calculated layer space storage ratio difference value D.

[0141] Where D = U max -U min U maxU represents the maximum space utilization of the layer. min This represents the minimum layer space utilization rate, where the layer space utilization rate U is calculated using the following formula:

[0142] U=((A 占 +A 预约 ) / A 总 )*100%, where A 占 Indicates the area occupied by the current layer, A 预约 Indicates the area of ​​the current layer's reservation status, A 总 This represents the total area of ​​the current layer.

[0143] If D is greater than T, then space utilization is prioritized, and containers are preferentially allocated to the layer with the lowest space utilization. If D is less than or equal to T, then equipment efficiency is prioritized, and containers are preferentially allocated to the layer with the lowest load rate.

[0144] Furthermore, before executing the target storage location acquisition method, the process includes: comparing the verified container size with existing container size information; if it matches the existing container size information, executing the target storage location acquisition method; if it does not match the existing container size information, determining whether the container is being stored for the first time; if it is being stored for the first time, dividing the storage into large areas and assigning the container to an empty large area; if it is not being stored for the first time, dividing the storage into large areas and performing a second-level verification; if an empty large area is found in the second verification, assigning the container to an empty large area; if no empty large area is found in the second verification, searching all non-empty but not full large areas, obtaining the corresponding depth data, filtering out large areas that cannot be stored, sorting the remaining large areas by distance and index priority, and selecting the non-empty but not full large areas for allocation.

[0145] The specific implementation scheme is as follows: First, acquire all depth data that matches the container size. Then, perform waste removal based on the depth data. This includes removing depths where the container width is smaller than the width of the container to be allocated. Next, find the storage location to be dispatched based on all existing storage location data that matches the size. Also, find abnormal storage locations and remove abnormal depths based on the found abnormal storage locations. Finally, remove the depth containing the container to be dispatched based on the found storage location. For scanned containers, determine if they are small or large items (i.e., items smaller than a preset value are defined as small items, otherwise large items). If it is a small item, add a waste removal item to the depth of the reserved storage location, and dynamically configure the quantity for small item scenarios. Calculate the waste removal items based on the results of the waste removal items and all depths that match the size, and propose waste removal items. The final result is then limited by the dynamically configured maximum storage capacity of the depth. Based on the results obtained after impurity removal, the algorithm continues to calculate the difference in hole spacing for each depth. Based on these depths, the corresponding region is determined. Then, the algorithm continues to calculate the depth data that conforms to the step size. Finally, the depths are sorted according to the number of containers, the difference in hole spacing, and the starting point of the hole spacing, and the first depth is selected after sorting.

[0146] Furthermore, if it is the first time the container is being stored, the container is divided into large areas and then allocated to an empty large area. This includes: if it is the first time the container is being stored, obtaining the current container position and calculating the distance between the current container's requested storage location and each aisle; selecting the aisle closest to the current container's requested storage location from all the distance data between the current container's requested storage location and each aisle as the optimal aisle; dividing the storage layers on both sides of the obtained optimal aisle into large areas, excluding areas that do not conform to the container size, and then determining the empty large area allocated to the container according to the hole spacing order.

[0147] If there is no matching barcode container size information, a first-level verification is performed. If this storage location allocation is not the first time for the automated warehouse, regardless of the size, it is the first time the warehouse has received an item. If it is not the first time the automated warehouse has allocated a storage location, a second-level verification is performed. The second-level verification is divided into two scenarios: one is a scenario with a free area, and the other is a scenario without a free area. In the first-level verification, the system directly enters the idle area branch. First, it obtains the distance between the current scanning position and each aisle. Because the automated storage and retrieval system (AS / RS) is a dynamic system, and if it's a four-way AS / RS, it's divided into parent and child aisles, involving multiple turns of the RGV trolley. Therefore, the distance between the aisle and the scanning point needs to be calculated using a separate algorithm. The input parameters for this scheme are STR1 and STR2. STR1 is the aisle number where the scanning point is located (in the form of 2_1 / 1_1 / 3_1, etc.), and STR2 is the aisle numbers of all the AS / RS (in the form of 2_2 / 3_2 / 1_2, etc.). First, the String method `split` is used to split the system using underscores to obtain two arrays, part1 and part2, representing the positions of the child aisles before and after the parent aisle. Then, each array is indices obtained using Integer, and after type conversion, two values ​​are obtained: num1Before, num1After, num2Before, and num2After. Next, the difference rule is calculated: `int diffBefore = Math.abs(num1Before - num2Before)`. `diffAfter = Math.abs(num1After - num2After)`, `doublereq = diffBefore + (diffAfter / 2.0)`. This `req` calculates the distance between the lane and the scanning point (stored in the cache). All lane-to-scanning point distances are stored in the cache. Thus, from all the cached distance data, the lane closest to the scanning point can be quickly identified as the optimal lane. Based on the obtained lane and area data, lanes whose length and width do not match the scanning container size are excluded. Then, the lanes are sorted according to the spacing of the spacing and the first value is taken.

[0148] Furthermore, if a free area is found in the second verification, the container will be allocated to that free area. This includes: if a free area is found in the second verification, obtaining the current container position and calculating the distance between the current container's requested storage location and each lane; selecting the lane closest to the current container's requested storage location from all the distance data between the current container's requested storage location and each lane as the optimal lane; dividing the storage layers on both sides of the obtained optimal lane into large areas, excluding areas that do not conform to the container size, and determining the free area allocated to the container based on the hole spacing order. In the second-level verification, there are two scenarios: one with a free area and the other without. In the free area scenario, the optimal lane is obtained based on the distance algorithm between the scanning point and each lane mentioned above, and then the large area to which the depth corresponding to the size belongs is obtained by filtering the results.

[0149] Furthermore, if the second check finds no free regions, then all non-free but not full regions are searched, their corresponding depth data is obtained, regions that cannot be stored are filtered out, and the remaining regions are sorted by distance and index priority in turn. Non-free but not full regions for allocation are selected, including: if the second check finds no free regions, all current region information is obtained, resulting in a set of all currently used region IDs, and their corresponding depth data is obtained; the distance between all currently used regions and the container is calculated, regions with the same distance are grouped and sorted to obtain a distance set; the distance set is traversed, and a set of regions with the same distance value is extracted from the groupings, and a non-empty check is performed to obtain the depth set for each region; the depth index is sorted according to each depth index value, and the depth data with the smallest used index value is selected, and the difference between depth indices is compared with the container size. If the depth difference is greater than or equal to the container width, then there are available depths at the head of the current region for storage. If the depth difference is not greater than or equal to the container width, then the middle depth of the region is searched, and data with discontinuous depth indexes in the current region are searched. The relationship between the discontinuous middle depth difference and the container width is calculated. If the middle depth difference is greater than or equal to the container width, then there are available storage spaces in the middle of the region. If the middle depth difference is not greater than or equal to the container width, then the size of the remaining region is checked to see if it meets the minimum width requirement of the container. If the size of the remaining region meets the requirement, then there are available storage spaces in the remaining region. Regions that do not meet the requirement of having available storage spaces are filtered out, and a set of regions that meet the requirement of having available storage spaces is obtained. This set of regions is then sorted by distance and index priority to select non-idle but not full regions for allocation.

[0150] In scenarios where no free regions exist, since a first-level same-size verification has already been performed, and no free regions are found, the search needs to be conducted within non-free, partially filled regions. First, calculate all region information at the current layer. Obtain a set of all currently used region IDs based on memory operations. Then, based on this set, retrieve all corresponding depth data. Calculate the distance between each currently used region and the source address (scan container point or shift point). Group regions with the same distance into map groups, sort them according to `sorted` to obtain a distance set. Iterate through this distance set, retrieving values ​​with the same key distance from the map (i.e., the region set). Perform a non-empty check; if empty, move to the next group and continue until non-empty. Then, perform a second memory traversal and filtering operation based on this result. In each filtering operation, obtain the depth set for each region, and then perform an AS operation based on the value of each depth table. The algorithm sorts the data by index c, taking the first index as the minimum usable depth. It then converts the index to the value of the region and compares the difference between the indices with the container width. If the difference is greater than or equal to the container width, it means there are remaining depths at the beginning of the region. If not, it looks for depths in the middle of the region. The algorithm roughly involves finding discontinuous indices in the current region's depth and calculating the difference between these discontinuous indices and the container width. If the difference is greater than or equal to the container width, the middle of the region can be stored. If the middle of the region also doesn't have this value, it checks if the remaining depths at the end of the region meet the minimum container width requirement. If they do, the remaining depths at the end of the region can also be stored. This process checks all regions that meet the requirements. These regions are then packaged into a new set, and sorted by distance and index priority to select the optimal region.

[0151] The specific regional divisions and selection examples are as follows:

[0152] like Figure 10 As shown, when the warehouse has no containers yet, the container scans its information via the interface line and transmits it to the scheduling system. The scheduling system performs checks on the received container information, including NOREAD verification, container registration verification, size verification, verification of whether there is an inbound notification, and duplicate scanning verification. If the verification fails, a detour task is initiated, and the scanned container is detoured out of the warehouse via the cargo elevator. If the verification passes, the number of holes occupied by the container's length and width, and the step distance occupied by its width are calculated. For the automated warehouse, this is the first inbound, so the process of obtaining an available large area is directly initiated, filtering out areas that do not meet the size requirements. Since the entire automated warehouse is currently in an available large area, the optimal large area is necessarily the one closest to the scanning point. Furthermore, to maximize the utilization rate of the automated warehouse and improve operational efficiency, our algorithm will allocate container A to a storage location as follows: Figure 10 The location shown is the optimal storage location.

[0153] If the incoming container at this point does not exist in the automated storage and retrieval system (AS / RS), and the AS / RS only has storage space on one side, then... Figure 11 For container F, if there are storage locations on both sides of the tunnel, such as... Figure 12 Therefore, the optimal location for container F is no longer F1, but F2. If we continue to allocate storage space A-sized containers, the result will be as follows: Figure 13 The position shown for container B. Container F is processed because its size is new to the library and doesn't exist yet. Therefore, a free large area matching the size is searched. Since free large areas are still plentiful, according to the algorithm, it is preferentially placed in the position shown for F, i.e., large area 3. When processing container B, since its size is the same as A's, according to the algorithm, area 1 contains a large area matching size B, meaning the depth of A is not yet full. Based on the sorting strategy, the optimal large area is area 1, and the optimal depth is the depth of container A. Therefore, the optimal storage space allocation result for container B at this time is... Figure 12 The location of container B.

[0154] Continuing with the warehousing process under this scheme, if containers of size A are to be added, according to the algorithm logic, priority is given to allocating the depth position corresponding to A. This is because the algorithm has an automatically adjusting dynamic threshold `smallLimit`. If the material is small, it will be filled up to the `smallLimit` value first. For example, if `smallLimit = 4` at this point, the effect would be as follows... Figure 13 As shown, the storage space allocation effect of containers ABCD is as follows: When the number of containers allocated to depth A reaches smallLimit=4, according to the algorithm, depth A is not full, but the dynamic limit of depth has been reached. Therefore, depth A is not considered as the priority allocation area for the next container; instead, the area containing large region 2 is prioritized. If a container H of the same size arrives at this time, H will, according to the algorithm, obtain large region 2 as the largest available area. Then, based on the proximity strategy for storage, it will select the area closest to the interface line. Therefore, the allocated position of H is as follows: Figure 13 As shown, the current position of H is represented as deep-level data.

[0155] Continuing with the inbound process in this scheme, containers I, J, and K will continue to be assigned storage locations. For the vertical storage system, these three containers already have depth data of approximately the same size within the system, and do not meet the dynamic value smallLimit limit. Therefore, the allocation of locations is as follows: Figure 14 The distribution effect of containers I, J, and K is shown. They are exactly distributed across two depths. Now, continuing to allocate storage space G, for a vertical storage unit, F and G are containers of the same size. Therefore, according to the algorithm results, the optimal area is area 3, and the optimal depth is the depth where F is located. Thus, the allocation position of G is as follows... Figure 14As shown. When a new size M is allocated storage space, since there are no storage spaces of the same size in the automated storage and retrieval system (AS / RS), the algorithm prioritizes finding a large vacant area. Figure 14 As shown, region 4 is an idle region, therefore region 4 is the optimal region for M. Since it is an inbound task, it needs to be close to the interface line, so the storage location allocation result is as follows. Figure 14 As shown in M, this is the result of the allocation of storage locations for M.

[0156] Continuing with the current storage method, the new-size container N will continue to be allocated storage space. Since N is a new size, no storage space exists for it, and there are no free large areas in the warehouse; each large area contains containers, possibly one or more. According to the algorithm, we need to find free deep spaces, such as... Figure 14 As shown, each region has available depths. According to the algorithm, all used regions and their available depths are obtained. The depths and regions are mapped using a map. Then, based on the distance algorithm to the scanning point (described above), the optimal region and its associated depth data relationship are selected for the next step of the calculation. Header available depth calculation: The starting value of the container's depth, ystart, is compared with the starting index value of the region to which the depth belongs (the depth data of each region is also sorted according to the starting index value). If the difference is sufficient for the width occupied by container N, it can be used as an allocation storage space, i.e., the header available depth of the region. If not, the search continues for the middle depth data of the region. The so-called middle depth data of the region refers to the available depth between two existing depth data. In general, this is caused by outbound / relocation. The calculation of the middle available depth is based on the difference between the front and back values ​​of all depth data belonging to the region, such as... Figure 15 .

[0157] Calculating the middle empty space depth: Containers A, B, C, D, and E all belong to one large region 1. The algorithm for calculating the middle empty space depth is roughly as follows: the depths of containers A, E, and D are sorted according to the starting value of Y, and then calculated sequentially. If the starting value of the depth of E is different from the ending value of the depth of A, then there must be empty space between A and E. The amount of empty space is the difference between the two. Calculating the tail empty space depth: Similarly, this method can be used to calculate the remaining width above E in region 1. The difference between the ending value of the depth of E and the ending value of region 1 is the tail empty space depth. Figure 14 If the data is used to allocate storage locations for container N, the final storage location allocation result for container N is as follows, based on the above algorithm of head, middle, and tail of the region: Figure 16 As shown.

[0158] Continuing with the data entry in this scheme, if the size of the scanning container is full of containers with the `smallLimit` limit, then the algorithm will trigger the limit of the maximum depth limit `columnLimit`. Generally, `columnLimit` >= `smallLimit`. In this example, `smallLimit` = 4 and `columnLimit` = 5. In this scenario, if the container is not full, continue with the data entry. Now the scanning container is P, and the size of P is the same as container A, but there are no free areas. Therefore, according to the above, we will retrieve the free depth bits. If there are no free depth bits at this point, ... Figure 17 .

[0159] exist Figure 17 As shown, if a container P arrives for scanning, and container P has the same size as container A, because `smallLimit = 4`, there are no large free areas, no free deep positions, and no deep positions of the same size that do not reach `smallLimit`. Therefore, the `columnLimit` branch algorithm will be performed. All deep data of the same size will be found, and those with a depth of 5 will be filtered out. The remaining data will all have a depth of 4. Then, the example algorithm will be used for sorting and filtering. The resulting data will be allocated storage space to container P. Figure 18 .

[0160] Furthermore, the storage method also includes:

[0161] After obtaining the target storage location, the target storage location is locked to obtain the number of containers to be stored in the region. If the number of containers stored in the region reaches the threshold, the region is marked as full and the region status is uploaded.

[0162] The algorithm addresses the locking state of deep positions. Due to the system's high flexibility and ability to dynamically adjust the number of inter-layer storage, this algorithm assigns a locking attribute to all deep positions within a given region. When the number of containers in a deep position reaches a dynamic value, it signifies that a threshold has been reached. Regardless of the remaining number of containers, this is considered a threshold-fulfilled state, i.e., a locked state. At this point, it's necessary to acquire deep positions that are not yet at the threshold and allocate them to the given region. This significantly reduces the computational burden on the algorithm.

[0163] This embodiment also provides a method for outbound storage, which obtains the storage information of the container to be outbound stored by the above storage method, as well as the storage status of the container during its travel in the aisle.

[0164] Determine if the container's departure is blocked;

[0165] If the container is unobstructed, then issue an outbound instruction;

[0166] If a container is blocked, the containers along the container aisle are moved to other locations in the warehouse in sequence according to the storage method described above, and then an outbound instruction is issued.

[0167] Execute the outbound command to complete the container outbound process.

[0168] Example 3:

[0169] This embodiment provides a warehousing system, including a conveyor line, an automated warehouse, and a server;

[0170] The conveyor line is equipped with a barcode scanning device; since barcode scanning is a conventional technology in this field, it will not be described in detail here.

[0171] The automated storage and retrieval system includes a floor-changing elevator, a temporary storage platform, a shuttle car, and a PLC (Programmable Logic Controller). Since the principle of the automated storage and retrieval system is a conventional technique in this field, it will not be described in detail here. However, it should be noted that in this embodiment, the shuttle car is a four-way shuttle car as described in Embodiment 1. Since the structure of the four-way shuttle car has been described in detail in Embodiment 1, it will not be repeated in this embodiment.

[0172] The server includes a WCS (Warehouse Control System) and a WMS (Warehouse Management System); the Warehouse Management System stores the storage status of all containers in the automated warehouse and the storage area information of the automated warehouse.

[0173] When a container barcode scanning request is received, the warehouse control system acquires the target storage location according to the target storage location acquisition method described in Embodiment 2 and determines the optimal storage location accordingly. Then, it generates a scheduling instruction and sends it to the PLC to control the shuttle car to complete the container entry operation.

[0174] Specifically, the warehouse control system includes:

[0175] The acquisition module is used to obtain the storage information of the containers that need to be shipped out from the warehouse management system, as well as the storage status of the containers along the aisle.

[0176] The judgment module is used to determine whether the container's outbound process is blocked. If the container is unobstructed, a scheduling instruction is issued. If the container is blocked, the containers along the aisle are moved to other locations in the warehouse according to a predetermined storage method before a scheduling instruction is issued. It can be understood that when the picking path of a container in a deep location is blocked, the blocking container needs to be moved to another location, and the relocated storage information in the warehouse management system needs to be updated. The method for obtaining the storage location to be moved is the target storage location acquisition method described in Example 2 (for efficiency, this movement is usually limited to obtaining the available storage location area in this case).

[0177] The instruction issuing module is used to issue the specified scheduling instructions to the programmable logic controller;

[0178] The execution module is used to issue the specified scheduling instructions to the programmable logic controller to control the movement of the four-way shuttle and complete the container in / out process.

[0179] The programmable logic controller (PLC) is used to set the corresponding execution instructions according to the scheduling instructions and send them to the execution mechanism.

[0180] In summary, the warehousing system provided in this embodiment can formulate corresponding scheduling instructions based on the size parameters and location information of the containers to set the travel distance of the four-way shuttle and the clamping distance of the forks. It can not only match goods of different specifications and sizes, but also realize the orderly outbound of containers, improving the flexibility of scheduling and space utilization.

[0181] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A four-way shuttle vehicle, comprising a vehicle body (10) and a traveling assembly (30) for driving the vehicle body (10) to travel on a preset track; characterized in that, The vehicle body (10) is provided with an extension fork (20), an adjustment component (21) for adjusting the clamping distance of the extension fork (20), and a telescopic component for controlling the extension length of the extension fork (20); the extension fork (20) is provided with a flip-up material-catching mechanism (200) at one end in its extension direction. The vehicle body (10) is also provided with an actuator, and the telescopic assembly includes a telescopic motor for driving the extension fork (20) to extend outward from the vehicle body (10); When the actuator receives the execution instruction issued by the programmable logic controller of the automated warehouse, the control adjustment component (21) adjusts the clamping distance of the extension fork (20) according to the preset clamping distance, and controls the walking component (30) to move to the location of the container to be unloaded according to the preset stroke, and then controls the telescopic motor to drive the extension fork (20) to extend the preset length, and controls the material grabbing mechanism (200) to flip towards the container to grab the container, and then drives the extension fork (20) to retract to its initial position to complete the unloading of the container; The execution instructions include the preset travel distance, the preset clamping distance, and the preset length.

2. A four-way shuttle vehicle according to claim 1, characterized in that, The telescopic motor is a servo motor; The programmable logic controller or the actuator pre-stores a scale mapping relationship between the number of pulses of the telescopic motor and the extension length of the extension fork (20); wherein the number of rotations and / or rotation angle of the telescopic motor are directly proportional to the number of pulses of the telescopic motor. The programmable logic controller or the actuator can calculate the number of pulses of the telescopic motor based on the preset length.

3. A four-way shuttle vehicle according to claim 1, characterized in that, The adjustment assembly (21) includes a variable pitch motor (210), a synchronous belt (211), and a variable pitch guide rail (212) mounted on the vehicle body (10). A variable pitch slider (214) is provided on the synchronous belt (211), and the variable pitch slider (214) is slidably connected to the variable pitch guide rail (212). The variable pitch slider (214) is also fixedly connected to one of the forks (201) of the extension fork (20). The output end of the variable pitch motor (210) is tensioned and fitted onto one end of the synchronous belt (211), and the other end of the synchronous belt (211) is tensioned and fitted onto the belt shaft (215), which is fixed to the vehicle body (10). The synchronous belt (211) can be driven to move the variable pitch slider (214) toward the other fork plate (201) of the extension fork (20) or away from it, so as to adjust the clamping distance between the two fork plates (201) of the extension fork (20).

4. A four-way shuttle vehicle according to claim 3, characterized in that, The variable pitch motor (210) is a stepper motor or a telescopic motor; The programmable logic controller or the actuator pre-stores a scale mapping relationship between the number of pulses of the variable pitch motor (210) and the clamping distance of the extension fork (20); wherein the number of rotations and / or rotation angle of the variable pitch motor (210) is directly proportional to the number of pulses of the variable pitch motor (210). The programmable logic controller or the actuator can calculate the number of pulses of the variable pitch motor (210) according to the preset clamping distance.

5. A four-way shuttle vehicle according to claim 3, characterized in that, The variable-pitch slider (214) is a spline slider, and the variable-pitch guide rail (212) has a spline groove adapted to the spline slider; or, The variable pitch slider (214) is provided with a threaded sleeve, and the variable pitch guide rail (212) is a lead screw or screw that is adapted to the threaded sleeve.

6. A four-way shuttle vehicle according to claim 1, characterized in that, The walking assembly (30) includes a first walking wheel set that can be driven to walk in a predetermined first direction and a second walking wheel set that can be driven to walk in a predetermined second direction; wherein, the first direction is perpendicular to the second direction, and the extension direction of the extension fork (20) is the first direction; The walking assembly (30) also includes a power motor (301), the drive end of which is connected to a dual-output reduction gearbox (302), the two output ends of which are respectively connected to the first walking wheel set and the second walking wheel set; the power motor (301) is electrically connected to the actuator.

7. A four-way shuttle vehicle according to claim 1, characterized in that, The actuator is a microcontroller, and the actuator is electrically connected to the walking component (30), the telescopic component and the material feeding mechanism (200); the actuator is communicatively connected to the programmable logic controller.

8. A warehousing system, comprising a conveyor line, an automated storage and retrieval system (AS / RS), and a server; the conveyor line is equipped with a barcode scanning device, and the server includes a warehouse control system and a warehouse management system; the AS / RS includes a shuttle and a programmable logic controller (PLC); the warehouse management system is used to store the storage status of all containers and storage areas in the AS / RS; characterized in that, The shuttle is a four-way shuttle as described in any one of claims 1-7.

9. A warehousing system according to claim 8, characterized in that, The warehouse control system includes: The acquisition module is used to acquire the storage information of the containers that need to be shipped out from the warehouse management system, as well as the storage status of the containers along the aisle. The judgment module is used to determine whether the container is blocked from leaving the warehouse. If the container is not blocked, a scheduling instruction is issued. If the container is blocked, the containers on the aisle are moved to other locations in the warehouse in sequence according to the predetermined storage method, and then a scheduling instruction is issued. The instruction issuing module is used to issue the specified scheduling instructions to the programmable logic controller; The programmable logic controller is used to set corresponding execution instructions according to the scheduling instructions and send them to the execution mechanism.

10. A warehousing system according to claim 9, characterized in that, The method for obtaining the target storage location includes: Receive the verified container size parameters; obtain the storage area that is currently not occupied; find the available storage area that matches the container size and can be placed in the storage space from the storage area; match a suitable storage space in the available storage area to obtain the target storage space; The storage method includes: Verify the container request for inbound storage; if the verification fails, process it through another channel; if the verification passes, execute the target storage location acquisition method to obtain the target storage location; formulate a scheduling instruction for the container based on the target storage location; execute the scheduling instruction to complete the container inbound storage.

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