Decentralized Logistics System

Abstract

The present invention relates to a distributed logistics system including multiple cargo transport devices and one or more fixed warehouses. Multiple cargoes entering the logistics system are distributed to one or more of the multiple cargo transport devices and multiple fixed warehouses. The ratio of cargo volume between the multiple cargo transport devices and the fixed warehouses is 50% or more, 80% or more, 90% or more, 95% or more, or 99% or more. Since most cargo in the logistics system is in transit most of the time, the logistics system provided by the present invention has shorter cargo dwell times and is more efficient than existing logistics systems.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics warehouses, and particularly to a distributed logistics system.

Background Art

[0002] With the dual promotion of science and technology and the economy, the logistics industry is rapidly changing from traditional logistics to modern logistics. In the process of moving goods from the place of origin to the place of consumption, regarding multiple links such as transportation, storage, and distribution, the logistics chain is evolving in the direction of automation, informatization, intelligence, and unmanned operation. In the logistics industry, a large amount of funds is invested in research and development, the circulation efficiency of goods is improved, and customers can obtain a better logistics experience. In the existing logistics system, the goods entering the logistics system are sorted, classified, and transferred in warehouses at each level, and the quantity of goods distributed to the warehouses is at least more or equal to the quantity of goods in the transfer vehicles.

[0003] The present invention is made in view of the technical problems existing in the prior art, and provides a distributed logistics system that improves logistics efficiency, increases the goods in the transportation state, and improves logistics efficiency.

[0004] To solve the above technical problems, the present invention proposes a distributed logistics system including a plurality of goods transportation devices and one or more fixed warehouses. The plurality of goods entering the logistics system are distributed to one or more of the plurality of goods transportation devices and the plurality of fixed warehouses. Among them, the ratio of the number of goods in the plurality of goods transportation devices to the number of goods in the fixed warehouses is 50% or more, 80% or more, 90% or more, 95% or more, or 99% or more.

[0005] In the logistics system provided by the present invention, most of the goods distributed to the goods transportation devices are in the transportation state most of the time after entering the logistics system, shortening the residence time at fixed positions and improving logistics efficiency.

[0006] The cargo transportation device according to the present invention is a mobile warehouse equipped with a three-dimensional warehouse, a storage device, a moving device, and transportation equipment. The three-dimensional warehouse includes one or more warehouse cells. The storage device is configured to be stored in the storage space of the warehouse cell. The moving device moves within the space formed by the moving spaces of a plurality of warehouse cells and transports the storage device between the warehouse cells. The transportation equipment is used to transport the three-dimensional warehouse and provides a moving function. In one embodiment, the mobile warehouse further includes a sorting device configured to sort the goods in the storage device. In one embodiment, the sorting device is arranged outside the three-dimensional warehouse or inside the three-dimensional warehouse. In one embodiment, the sorting device is configured to occupy a plurality of adjacent warehouse cells. In one embodiment, the sorting device in the mobile warehouse includes a plurality of sorting cells. The sorting cells are connected to the warehouse cells for storing the storage device. The moving device is configured to transport the storage device storing the goods to be sorted from the warehouse cell of the three-dimensional warehouse to one sorting cell. In one embodiment, the sorting device includes a support unit connected to at least one sorting cell, the moving unit, and the sorting robot. The moving unit is movably connected to the support unit and is movable between a plurality of sorting cells along the support unit. The sorting robot is attached to the moving unit and sorts the goods from the first storage device to the second storage device as the moving unit moves. In one embodiment, the storage device includes a parent and child container. The child container contains goods therein, the parent container contains one or more child containers therein, and the parent container is arranged in the storage space in the warehouse cell. Here, the parent container binds to the ID of the child container inside it. In one embodiment, the mobile warehouse further includes a docking device for directly or indirectly docking the three-dimensional warehouse with another three-dimensional warehouse. In one embodiment, the docking device is a lifting docking device and / or a horizontal moving docking device.

[0007] The present invention further includes a customer service system and a logistics system including the multi-level mobile warehouse and a plurality of distributed logistics control modules. The customer service system is configured to interact with customers and receive logistics orders from customers. The multi-level mobile warehouse transports goods within its respective transportation range and docks with different mobile warehouses in the same logistics direction to transfer goods. The multi-level mobile warehouse sorts the next transfer goods during the transportation of goods. The plurality of distributed logistics control modules are configured to manage the logistics information of goods, the consolidation and distribution of goods, transfer, and sorting. In one embodiment, the customer service system includes a customer service client side and a customer service side. The customer service client side provides a customer interface, provides relevant logistics information to customers, and receives customers' logistics orders. The customer service side receives the logistics order sent from the customer service client side, transmits the logistics information of the goods extracted therefrom to the logistics control system, and obtains the circulation information of the goods in the logistics chain. In one embodiment, the multi-level mobile warehouse includes a consolidation and distribution device for delivering goods to and receiving goods from customers, a multi-level urban mobile warehouse, and an inter-city goods transportation device. In one embodiment, the logistics system further includes a home delivery robot and / or a drone for delivering goods to and receiving goods from customers. In one embodiment, the inter-city goods transportation device includes a sea transportation device, an air transportation device, and a land transportation device having a three-dimensional warehouse. In one embodiment, the logistics control module includes one or more distributed geographic information modules and one or more distributed route planning modules. The one or more distributed geographic information modules are configured to acquire and maintain the real-time position information of the mobile warehouse. The one or more distributed route planning modules are configured to determine the mobile warehouse for transferring goods, the docking point, and the corresponding logistics information based on the real-time position information of the mobile warehouse, the transportation direction, the geographic traffic information, and the logistics information of transporting goods.In one embodiment, the logistics control module further includes one or more distributed cargo monitoring modules configured to acquire and maintain management of logistics information for transferring cargo, and the logistics information includes cargo logistics order information, logistics level information, ID binding information of the cargo and the mobile warehouse, warehouse cell, storage device, and cargo circulation information. In one embodiment, the logistics control module further includes one or more distributed sorting control modules, and is configured to determine the sorted cargo list of the mobile warehouse based on the mobile warehouse and the docking location for docking and transferring the cargo. And assign sorting tasks to the sorting devices in the three-dimensional warehouse built in the mobile warehouse, assign transportation tasks to the mobile devices, and adjust them to complete the sorting of the cargo before docking through their cooperation. In one embodiment, the customer service system further receives customer orders and distributes the information of this customer order to the plurality of logistics control modules. One or more of the plurality of logistics control modules cooperate to process the customer order. In one embodiment, the logistics system is further configured such that when one distributed logistics control module or a single module fails, another distributed logistics control module or a single module continues to process the customer order. Also, in one embodiment, the present invention provides a logistics method based on the mobile warehouse, including the following steps. In response to the customer's logistics order, the cargo is received into the logistics chain. The cargo is transferred step by step between different mobile warehouses in the same logistics direction. Each mobile warehouse transfers the cargo within its corresponding transportation range. The mobile warehouse sorts the cargo to be transferred to the mobile warehouse for docking during cargo transportation. In one embodiment, the mobile warehouse is built with movable parent and child containers. One or more child containers are built in the parent container, and the cargo is placed in the child container. When delivering the cargo, the parent container and / or the child container are delivered. The mobile warehouse sorts the child containers during cargo sorting. In one embodiment, in the process of cargo sorting and docking, establishing or releasing the ID binding relationship between the warehouse cell of the mobile warehouse and the parent container therein, and establishing or releasing the ID binding relationship between the parent container and the child container are included.In one embodiment, the logistics method further includes preferentially determining the mobile warehouse category and the docked mobile warehouse within the logistics chain for goods with a higher logistics level according to the logistics level selected in the customer's logistics order. In one embodiment, the logistics method further includes determining the mobile warehouse and the docking location for transferring goods based on the real-time position, transportation direction, geographical traffic information, and the logistics direction for transporting the goods during the logistics transfer of the goods. In one embodiment, the logistics method further includes the driving route of the mobile warehouse to the docking point. to including determining. In one embodiment, when the mobile warehouse docks to transfer goods in the implementation of the logistics method, the mobile warehouse and the docking location for the next docking are calculated.

[0008] The present invention completes the storage, sorting, and transfer of goods during transportation, and overall shortens the residence time of the goods, thereby improving the transfer efficiency.

[0009] The present invention also relates to a delivery robot including a base, a housing, a traveling mechanism, and an interaction mechanism that includes an electric control device. The housing is located on the base and includes an openable top cover and a front cover, and the housing is composed of a frame that constitutes a storage space and a movement space. The traveling mechanism is located at the bottom of the base for controlling traveling and turning. The interaction mechanism is located on the housing, interacts with customers, monitors the entry and exit of goods in the housing, observes and monitors the surrounding environment and road conditions during traveling. In one embodiment, the frame built into the housing includes two side frames arranged in the vertical direction, and support blocks are provided inside the columns of each side frame. Above the support blocks constitutes a storage space, and below the support blocks and the upper surface of the base constitute a movement space. In one embodiment, a traveling guidance device for the moving device is provided on the upper surface of the base that constitutes the movement space. In one embodiment, the guidance device is a longitudinal guide groove. In one embodiment, a timing pulley is attached to the upper part of the side frame, and both sides of the top cover and the front cover are fixed to the timing pulley shaft respectively. The drive motor installed inside the base rotates the timing pulley through a transfer mechanism to open the top cover or open the front cover upward. In one embodiment, the traveling mechanism includes a plurality of wheel assemblies. In one embodiment, the wheel assembly corresponds to an independent drive mechanism and a steering mechanism. In one embodiment, the drive mechanism includes a drive motor and Power transmission mechanism including. The drive motor is fixed to the base via a bracket and outputs a traveling driving force. The Power transmission mechanism is provided with a drive wheel at the tip and a multi-stage driven wheel. The end timing pulley is a wheel driven wheel. The power output by the drive motor is transmitted to the wheel driven wheel at the end through Power transmission mechanism and rotates the wheel body fixed to the wheel shaft by the wheel driven wheel. In one embodiment, the memorizationThe steering mechanism includes a first-stage steering mechanism and a second-stage steering mechanism. The first-stage steering mechanism is connected between the end of the output shaft of the drive motor and the drive wheel. The second-stage steering mechanism is connected between the end of the first-stage timing pulley shaft that is transferred synchronously with the drive wheel and the tip of the second-stage timing pulley shaft. In one embodiment, the steering assembly includes a steering motor and, Power transmission mechanism and a steering frame. The steering motor outputs steering power. The power transmission mechanism includes a steering drive wheel and a steering driven wheel at the tip. The steering frame is fixed to the first-stage driven wheel shaft and the upper swing arm of the wheel assembly. Among these, the output shaft of the steering motor transmits power to the steering driven wheel via the steering drive wheel, and the steering driven wheel integrally rotates the upper swing arm fixedly connected to the steering frame to change the traveling direction of the wheel body. In one embodiment, the steering assembly further includes a steering mechanism connected between the output end of the steering motor and the steering drive wheel shaft to change the power transmission direction of the steering motor. In one embodiment, the interactive mechanism includes a camera, a display, a touch screen, and a voice device, and any plurality of laser navigation SLAM and visual navigation VSLAM systems. In one embodiment, the robot includes a control device. The control device includes a communication module, a task management module, a traveling control module, and an interactive control module. The communication module communicates with the cloud management system. The task management module is configured to receive loading / delivery tasks and docking information via the communication module and transmit corresponding loading / delivery task information. The traveling control module controls the traveling mechanism according to the traveling route and controls traveling and / or steering along the planned route. The interactive control module is configured to complete loading or delivery based on the loading / delivery task and the interaction scenario. In one embodiment, the control device further includes a position information module configured to determine the current position information and upload the real-time position information to the cloud management system via the communication module. In one embodiment, the traveling control module receives the traveling route from the cloud management system via the communication module toReceives, or the driving control module calculates a driving route based on the current position and the docking position. to In one embodiment, the driving control module adjusts the output power and the driving mode according to the state of the driving ground. In one embodiment, the control device includes one or both of a visual sensor, a distance sensor, and an audio sensor. In one embodiment, the interaction control module includes one or more of an operation unit for operating the opening and closing of the housing, an audio unit configured for voice interaction to guide a customer who receives / sends through the receiving / sending process, and a video unit configured to monitor the receiving / sending process and play a video of information related to the receiving / sending scene.

[0010] Also, in one embodiment, the present invention provides a method for collecting goods by a delivery robot, including the following steps. The delivery robot loads the parent and child boxes and arrives at the collection location corresponding to the collection task according to the planned route. The top cover of the housing is opened, and the shipper opens the corresponding child box according to the guidance, puts the goods in, and then closes the top cover of the housing. Then the delivery robot arrives at the docking location according to the planned route and transfers the goods to the goods transportation device of the next logistics chain. In one embodiment, the working method further includes the step of obtaining a child box that conforms to the specifications. In one embodiment, at the collection location, the front cover of the housing of the delivery robot is opened, and a moving device containing a parent box with a child box conforming to the specifications enters the moving space inside the housing of the delivery robot. The parent box is set in the storage space, and the ID binding information between the parent box and the child box, and the parent box and the delivery robot is established. In one embodiment, during the process of guiding the customer, the customer is guided to properly put the goods into the child box through voice interaction, video playback, and video monitoring. In one embodiment, when guiding the shipper to open the corresponding child box, an instruction for identifying the corresponding child box is sent to the shipper. In one embodiment, when the shipper puts in the goods and the child box is closed, an unpacking password is generated and recorded in the ID information of the child box. In one embodiment, when transferring the goods to the goods transportation device of the next logistics chain, the front cover of the housing of the delivery robot is opened. When the moving device of the goods transportation device enters the moving space of the housing, the parent box in the storage space is moved out of the housing of the delivery robot.

[0011] Also, in one embodiment, the present invention provides a delivery operation method for a home delivery robot, which includes the following steps. The home delivery robot transports a parent box in which delivery goods are stored and reaches a delivery location according to a planned route. After interacting with the consignee, the top cover of the housing is opened, and the shipper opens the corresponding child box according to the guidance, takes out the goods, and then closes the top cover of the housing. In one embodiment, the delivery operation method includes that when the home delivery robot reaches the delivery location but the consignee does not arrive, the home delivery robot waits for a preset time. Also, when the preset time elapses, the home delivery robot deposits the parent box containing the delivery goods into a designated home delivery locker or extends the waiting time. And the home delivery locker information is recorded in the logistics information of the goods.

[0012] Also, in one embodiment, the present invention provides an operation method for a home delivery robot, which includes the following steps. According to the delivery task and the collection task of the home delivery robot, a driving route to consisting of a plurality of task execution locations arranged in order is planned. The home delivery robot transports a delivery parent box containing a child box with goods inside and a collection parent box with a collection child box respectively, and executes the corresponding collection or delivery process at each execution location in turn according to the planned driving route. Then, in response to the completion of the delivery task and / or the collection task, it heads towards the docking point according to the planned driving route and exchanges the goods transportation device and the parent box of the next logistics chain. In one embodiment, during the execution of the collection process, the home delivery robot individually opens the top cover corresponding to the collection parent box, and when executing the delivery process, individually opens the top cover corresponding to the delivery parent box.

[0013] The home delivery robot provided by the present invention can interact with customers independently, enable the collection, shipping of goods, and autonomous docking with other logistics equipment. In these processes, it does not require the assistance of staff and can achieve stable, safe and flexible driving and high working efficiency.

[0014] The present invention includes a first cargo transport device and a second cargo transport device. The first cargo transport device is configured to travel from a first location to a second location. The second cargo transport device is configured to operate from a third location to a fourth location. Here, at a first merging location, the first cargo transport device and the second cargo transport device dock to transfer one or more first cargos. In one embodiment, the logistics system further docks to the first cargo transport device at one or more second merging locations to transfer one or more second cargos, or after docking and cargo transfer via one or more cargo transport devices, docks to the first cargo transport device to transfer one or more second cargos, including a third cargo transport device. In one embodiment, the third cargo transport device is configured to directly receive cargos from a customer or a cargo collection staff in direct contact with the customer. In one embodiment, the logistics system further docks to the second cargo transport device at one or more third merging locations to transfer one or more third cargos, or after docking and cargo transfer via one or more cargo transport devices, docks to the second cargo transport device to transfer one or more third cargos in the delivery direction, including a fourth cargo transport device. In one embodiment, the fourth cargo transport device is configured to deliver cargos to a customer or a delivery staff in direct contact with the customer. In one embodiment, the first cargo transport device and the second cargo transport device are at the same or different levels in an urban cargo transport device, an intercity cargo transport device, and an international cargo transport device. In one embodiment, the docking between the cargo transport devices is performed by the cargo transport devices themselves. In one embodiment, the docking between the cargo transport devices includes a three-dimensional warehouse on each cargo transport device, which are directly docked to form an integrated three-dimensional warehouse. In one embodiment, the docking between the cargo transport devices includes a movement support structure of a three-dimensional warehouse on an individual cargo transport device capable of transferring cargos. In one embodiment, the docking between the cargo transport devices includes directly or indirectly docking a movement guiding device of a three-dimensional warehouse on an individual cargo transport device to enable cargo transfer. In one embodiment, the cargo transfer between the cargo transport devices includes transferring cargos using a moving device in a three-dimensional warehouse on each cargo transport device.In one embodiment, the mobile device in the three-dimensional warehouse of the cargo transportation device is one or more AGVs. In one embodiment, the goods are always between a third cargo transportation device that directly receives the goods from the customer or the goods collection staff in direct contact with the customer, and a fourth cargo transportation device that delivers the goods to the customer or the delivery staff in direct contact with the customer. In one embodiment, during the transfer of the goods, the ratio of the number of goods stored in the fixed warehouse to the number of goods stored in the cargo transportation device is less than 50%, less than 30%, less than 20%, or less than 10%, or less than 5%, or less than 1% during the transfer between the third cargo transportation device and the fourth cargo transportation device that delivers the goods to the customer or the goods collection staff in direct contact with the customer. In one embodiment, the three-dimensional warehouse on the cargo transportation device is docked with the three-dimensional warehouse of the fixed warehouse. Using the mobile devices of the cargo transportation device and the fixed warehouse, the cargo transfer between the cargo transportation device and the fixed warehouse is realized. In one embodiment, the cargo sorting system is included in each cargo transportation device. In one embodiment, the cargo sorting system in the cargo transportation device is configured to aggregate the goods scheduled for transfer. In one embodiment, the cargo sorting system in the cargo transportation device is configured to change the position of the goods scheduled for transfer to be near the area where the cargo transportation device docks.

[0015] In one embodiment, the present invention provides a logistics method for reducing the cargo residence time, including the following steps. Travel from a first location to a second location using a first cargo transport device. Travel from a third location to a fourth location using a second cargo transport device. Or at a first merging location, dock the first cargo transport device and the second cargo transport device and transfer one or more first cargos. In one embodiment, the logistics method further includes, at one or more second merging locations, docking the third cargo transport device to the first cargo transport device and transferring one or more second cargos. Or, after docking and cargo transfer of one or more cargo transport devices, the third cargo transport device transfers one or more second cargos with the first cargo transport device. The third cargo transport device is configured to receive cargos from a customer directly or from a cargo collection staff in direct contact with the customer. In one embodiment, the logistics method further includes, at one or more third merging locations, docking the fourth cargo transport device to the second cargo transport device and transferring one or more third cargos. Or, after docking and cargo transfer of one or more cargo transport devices, the fourth cargo transport device and the second cargo transport device transfer one or more third cargos. The fourth cargo transport device is configured such that a customer or a delivery staff in direct contact with the customer delivers the cargos. In one embodiment, the logistics method further includes docking a three-dimensional warehouse on the cargo transport device with a three-dimensional warehouse of a fixed warehouse. It includes realizing the transfer of cargos between the cargo transport device and the fixed warehouse by a transfer device of the cargo transport device and the fixed warehouse. In one embodiment, the logistics method further includes performing sorting of cargos in an individual cargo transport device. In one embodiment, the logistics method further includes changing the position of the cargos scheduled for transfer by sorting in each cargo transport device and bringing them closer to the area where the cargo transport device docks.

[0016] The present invention provides a logistics system and method that can transfer cargos step by step directly among different cargo transport devices without transferring the cargos to a sorting center during the transfer. As a result, the residence time of the cargos can be shortened and the logistics efficiency can be improved.

[0017] The present invention also relates to a logistics system for shortening the sorting time, which includes a plurality of first cargo transportation devices and a plurality of second cargo transportation devices. The first cargo transportation device includes a cargo sorting system configured to sort the cargo within the first cargo transportation device during the operation of the first cargo transportation device. In one embodiment, the logistics system further includes one or more fixed-position warehouses that dock with the first cargo transportation device and / or the second cargo transportation device to transfer the cargo. In one embodiment, the cargo sorting system is configured to aggregate the cargo scheduled for delivery to the second cargo transportation device and / or the fixed warehouse. In one embodiment, the cargo sorting system is configured to change the position of the cargo scheduled for transfer to the second cargo transportation device and / or the fixed warehouse to an area closer to the second cargo transportation device and / or the fixed warehouse. In one embodiment, the first cargo transportation device does not include an independent cargo sorting area. In one embodiment, the first cargo transportation device includes a multi-story warehouse composed of a plurality of stacked warehouse cells, and the cargo sorting system occupies a part of it. In one embodiment, the cargo sorting system occupies at least two or four stacked warehouse cells. In one embodiment, the warehouse cells of the multi-story warehouse are configured to store the first through boxes, and the first through boxes are configured to change the warehouse cells occupied by the moving device of the multi-story warehouse. In one embodiment, the first through box is configured to store a plurality of second through boxes, and the second through box is configured to store the cargo. In one embodiment, the cargo sorting system is for allocating the second through boxes to different first through boxes. In one embodiment, the second cargo transportation device and / or the fixed warehouse includes a cargo sorting system. In one embodiment, the second cargo transportation device and / or the fixed warehouse does not include an independent cargo sorting area. In one embodiment, the second cargo transportation device and / or the fixed-position warehouse includes a multi-story warehouse composed of a plurality of stacked warehouse cells, and the cargo sorting system occupies a part of it. In one embodiment, the first cargo transportation device and the second cargo transportation device can dock with each other at a position outside the fixed warehouse to transfer the cargo. In one embodiment, the docking of the cargo transportation devices includes directly docking the multi-story warehouses on the cargo transportation devices to form an integrated multi-story warehouse.Docking between the cargo transport device and the fixed warehouse includes direct docking between the three-dimensional warehouse on the cargo transport device and the three-dimensional warehouse of the fixed warehouse. In one embodiment, docking between cargo transport devices includes directly or indirectly docking the moving support structure of the three-dimensional warehouse on the cargo transport device and transferring the cargo. Docking between the cargo transport device and the fixed warehouse includes directly or indirectly docking the moving support structure of the three-dimensional warehouse on the cargo transport device and the three-dimensional warehouse of the fixed warehouse and transferring the cargo. In one embodiment, docking between cargo transport devices includes directly or indirectly docking the movement guiding device of the three-dimensional warehouse on the cargo transport device and transferring the cargo. Docking between the cargo transport device and the fixed warehouse includes directly or indirectly docking the movement guiding device of the three-dimensional warehouse on the cargo transport device and the three-dimensional warehouse of the fixed warehouse and transferring the cargo. In one embodiment, at least some of the plurality of cargo transport devices and / or the fixed warehouse are configured to enable the transfer of cargo using all or part of their respective moving devices.

[0018] Also, in one embodiment, the present invention relates to a logistics method for reducing sorting time, including the following steps: Transferring goods using a first cargo transport device. Transferring goods between the first cargo transport device and the second cargo transport device and / or a fixed warehouse. Among them, the goods of the first cargo transport device are sorted during transportation. In one embodiment, the logistics method further includes collecting the goods to be transferred to the second cargo transport device and / or the fixed warehouse. In one embodiment, the logistics method further includes changing the position of the goods to be transferred to the second cargo transport device and / or the fixed warehouse and bringing them closer to the docking entrance. In one embodiment, the logistics method further includes sorting the goods of the second cargo transport device during transportation. In one embodiment, the three-dimensional warehouses in the first cargo transport device and the second cargo transport device include a plurality of stacked warehouse cells. The warehouse cells store a first through-box. The first through-box stores one or more goods or one or more second through-boxes. The second through-box stores goods. The first cargo transport device and / or the second cargo transport device assign goods or second through-boxes to different first through-boxes during sorting.

[0019] According to the logistics system and method provided by the present invention, after the goods enter the logistics system, the cargo transport device completes the sorting of the goods by using the transportation time, so that the sorting of the goods does not occupy the logistics time. Compared with the sorting time consumed at a plurality of multi-stage fixed sorting centers in the existing logistics system, the present invention can effectively shorten the overall logistics time of the goods and effectively improve the logistics efficiency.

[0020] The present invention also relates to a logistics system, which includes a plurality of mobile warehouses, an identification system, and a database. At least a part of the plurality of mobile warehouses constitutes a plurality of warehouse cells. The identification system is configured to identify the goods entering the mobile warehouse. The database records the associated information between the goods stored in the mobile warehouse and the warehouse cells thereof. Among these, the identification system further identifies changes in the warehouse cells storing the goods within the mobile warehouse. In one embodiment, the mobile warehouse includes a stereoscopic warehouse and the transportation equipment. The stereoscopic warehouse includes a plurality of warehouse cells. The transportation equipment is configured to transport the stereoscopic warehouse. In one embodiment, the logistics system further includes one or more fixed warehouses that constitute a plurality of warehouse cells, an identification system that identifies the goods entering the fixed warehouse and determines changes in the warehouse cells where the goods are stored in the fixed warehouse, and a database that records the association of the goods stored in the fixed warehouse with the warehouse cells in which they are arranged. In one embodiment, the identification system is configured to identify fluctuations of goods between mobile warehouses and / or between a mobile warehouse and a fixed warehouse. In one embodiment, the warehouse cell is configured to store a first shipping container. The association of the warehouse cell with the goods includes the association of the goods with the first shipping container and the association of the first shipping container with the warehouse cell. In one embodiment, the first shipping container is configured to store a plurality of second shipping containers, and the second shipping container is configured to store the goods. The association of the warehouse cell with the goods includes the association of the goods with the second shipping container, the association of the second shipping container with the first shipping container, and the association of the first shipping container with the warehouse cell. In one embodiment, the identification system is configured to identify changes in the goods entering the mobile warehouse / fixed warehouse and the warehouse cells where the goods are located based on the associated information between the goods and the warehouse cells. In one embodiment, the logistics system further includes a goods monitoring system configured to give a warning when the specified warehouse cell where the goods are located is not available. In one embodiment, the goods monitoring system identifies the mobile warehouse or fixed warehouse that has given the warning based on the latest associated information between the warehouse cell and the goods. In one embodiment, the logistics system further includes a positioning system configured to determine the positions of the mobile warehouse and / or the fixed warehouse.In one embodiment, the logistics system further comprises a planning system that plans goods based at least on warehouse cells occupied by goods and empty warehouse cells in a mobile warehouse and / or a fixed warehouse. In one embodiment, the planning system is configured to plan goods based at least on the transport direction of the mobile warehouse and the logistics direction of the goods. In one embodiment, the planning system is configured to determine the docking positions and transferred goods between mobile warehouses based at least on the transport direction of the mobile warehouse and the logistics direction of the goods. In one embodiment, the transfer of goods between mobile warehouses completes docking and the transfer of goods via a dedicated device. In one embodiment, the planning system is configured to determine goods to be transferred between the mobile warehouse and the fixed warehouse based at least on the transport direction of the mobile warehouse and the logistics direction of the goods. In one embodiment, the planning system is configured to replan goods during transportation in response to a change in the destination of the goods or a change in the level of time and efficiency.

[0021] In one embodiment, the present invention relates to a method for managing goods in a logistics system and includes the following steps: identifying the goods entering the mobile warehouse; recording the relevant information of the goods stored in the mobile warehouse and their warehouse cells; determining the change of the warehouse cells storing the goods in the mobile warehouse. In one embodiment, the goods management method further includes: identifying the goods entering the fixed warehouse; recording the relevant information of the goods stored in the fixed warehouse and their warehouse cells; determining the change of the warehouse cells storing the goods in the fixed warehouse. In one embodiment, the goods management method further includes identifying the goods fluctuations between mobile warehouses and / or between a mobile warehouse and a fixed warehouse. In one embodiment, the goods management method uses a first container for storing one or more goods, stores the first container in a warehouse cell, and records the association information between the goods and the first container and the association information between the first container and its warehouse cell. In one embodiment, the goods management method further includes using a second container for storing the goods, wherein one or more second containers are contained in the first container, and recording the association information between the goods and the second container, the association information between the second container and the first container, and the association information between the first container and the warehouse cell. In one embodiment, the goods management method further includes determining the changes in the goods entering the mobile warehouse and / or the fixed warehouse and the warehouse cells of the mobile warehouse and / or the fixed warehouse based on the association information between the goods and their warehouse cells. In one embodiment, the goods management method further includes sending a warning when the position of the goods is not in the designated warehouse cell. In one embodiment, the goods management method further includes determining that the position of the goods is not in the designated warehouse cell based on the cessation of the change in the association information between the goods and the warehouse cell. In one embodiment, the goods management method further includes identifying the warned mobile warehouse or fixed warehouse based on the latest association information between the goods and their warehouse cells. In one embodiment, the goods management method further includes determining the positions of the mobile warehouse and the fixed warehouse and adjusting the goods. In one embodiment, the goods management method further includes readjusting the goods during transportation in response to a change in the destination of the goods or a change in the level of time and efficiency.

[0022] By managing and monitoring the entire logistics process of the goods entering the logistics system according to the present invention, the position of the goods in the logistics system can be grasped in real time, the loss of the goods can be quickly detected, and the accidents can be resolved in a timely manner. Therefore, the safety of goods transportation can be improved. The present invention can improve the logistics efficiency of the goods by accurately and timely providing reasonable and appropriate logistics equipment for the goods plan based on the management and monitoring information of the entire logistics process of the goods.

[0023] The present invention also relates to a logistics route planning method, which includes the following steps. Determining a first goods transport device for receiving goods, determining a second goods transport device configured to receive goods from the first goods transport device based on the delivery location and destination of the goods, and determining a first merging location between the first goods transport device and the second goods transport device, and including that the goods are transferred from the first goods transport device to the second goods transport device at the first merging location. In one embodiment, the first goods transport device is configured to directly receive goods from a customer or a cargo collection staff in direct contact with the customer or a home delivery locker. In one embodiment, the logistics route planning method further includes determining a third goods transport device that receives the goods from the second goods transport device at one or more second merging locations or via one or more goods transport devices. In one embodiment, the logistics route planning method further includes determining one or more fixed warehouses configured to receive goods or transfer them externally. In one embodiment, the logistics route planning method further includes from the second goods transport device 、1Determining a third cargo transport device for receiving the goods transferred to the fixed warehouse via one or more cargo transport devices. In one embodiment, the third cargo transport device is configured to deliver the goods to a customer or a delivery staff in direct contact with the customer or a home delivery locker. In one embodiment, when the goods are transferred from the first cargo transport device to the second cargo transport device, the docking and cargo transfer are completed by the device itself of the cargo transport device. In one embodiment, the second cargo transport device is determined based on at least the warehouse cell occupied by the goods in the first cargo transport device, the empty warehouse cell, and the destination of the goods. In one embodiment, the logistics route planning method includes determining the second cargo transport device based on at least the transport direction of the first cargo transport device. In one embodiment, the logistics route planning method includes determining the second cargo transport device based on at least the time and efficiency level of the goods. In one embodiment, the logistics route planning method includes determining a first merging location based on at least the transport directions of the first cargo transport device and the second cargo transport device. In one embodiment, the logistics route planning method further includes determining, in one or more third merging locations and / or one or more fixed warehouses, and transferring the goods through one or more cargo transport devices and / or fixed warehouses, in response to receiving an instruction for the cargo transport device to change the destination of the goods. In one embodiment, the logistics route planning method further includes determining, in one or more fourth merging locations and / or one or more fixed warehouses, based on the new time and efficiency level, for transferring one or more goods, in response to receiving an instruction to change the time and efficiency level of the goods in the cargo transport device.

[0024] In the process of cargo transportation, the present invention ensures that the goods can be transferred over the maximum distance in the shortest time by determining flexible, reasonable, and diverse merging locations, where the goods are transferred from one cargo transport device to another at the merging location of two cargo transport devices, sent from one cargo transport device to a sorting center, and after being sorted, there is no need to transfer them with another cargo transport device. Therefore, the logistics efficiency can be effectively improved.

Brief Description of the Drawings

[0025] Hereinafter, selected embodiments of the present invention will be described in more detail with reference to the drawings. [Figure 1] It is a transport image diagram of a multi-stage cargo transport device according to one embodiment of the present invention. [Diagram 2] It is an image diagram showing the transport distance of a multi-stage cargo transport device according to one embodiment of the present invention. [Diagram 3] It is a three-dimensional structure diagram of a warehouse cell according to one embodiment of the present invention. [Figure 4] It is an image diagram showing a state where a storage device according to one embodiment of the present invention is arranged in a warehouse cell. [Figure 5A] It is an image diagram of a storage device according to one embodiment of the present invention. [Figure 5B] It is an image diagram of a storage device according to another embodiment of the present invention. [Figure 5C] It is a bottom image diagram of a storage device according to one embodiment of the present invention. [Figure 6A] It is a front three-dimensional view of a storage tray according to one embodiment of the present invention. [Figure 6B] It is a rear three-dimensional view of a storage tray according to one embodiment of the present invention. [Figure 7A-7B] It is an image diagram showing a state where an AGV according to one embodiment of the present invention has stopped in a warehouse cell. [Figure 8A-8B] It is an image diagram showing a state where a storage device is mounted on a storage warehouse cell and an AGV has stopped according to one embodiment of the present invention. [Figure 9] It is an image diagram of a warehouse cell according to another embodiment of the present invention. [Figure 10] It is an image diagram of a warehouse cell according to another embodiment of the present invention. [Figure 11] It is an image diagram of a parent shipping box according to another embodiment of the present invention. [Figure 12] It is an image diagram of a warehouse cell connection according to one embodiment of the present invention. [Figure 13]It is an image diagram of a warehouse cell connection according to another embodiment of the present invention. [Figure 14A] It is an image diagram showing a connection structure of a part of a warehouse cell according to another embodiment of the present invention. [Figure 14B] It is an image diagram of a connection structure of a part of a warehouse cell corresponding to the structure shown in FIG. 14A. [Figure 14C] It is an enlarged image diagram of another warehouse cell connection structure based on the structure shown in FIG. 14B. [Figure 15] It is an image diagram of a three-dimensional warehouse according to one embodiment of the present invention. [Figure 16A] It is an image diagram of a three-dimensional warehouse according to another embodiment of the present invention. [Figure 16B] It is an image diagram of cargo movement in a three-dimensional warehouse according to another embodiment of the present invention. [Figure 17A] It is an image diagram of a three-dimensional warehouse having a horizontal single layer according to one embodiment of the present invention. [Figure 17B] It is an image diagram of a three-dimensional warehouse having two horizontal layers according to another embodiment of the present invention. [Figure 18] It is an image diagram of a three-dimensional warehouse according to another embodiment of the present invention. [Figure 19A-19B] It is an image diagram showing the structure of a child carton according to one embodiment of the present invention. [Figures 20A-20D] It is an overall image diagram of an AGV according to one embodiment of the present invention. [Figure 21A-21B] It is an overall image diagram of a drive assembly according to one embodiment of the present invention. [Figure 22] It is an image diagram after removing the drive wheel holder according to one embodiment of the present invention. [Figure 23] It is an image diagram showing a schematic configuration of a part of a wheel assembly and a drive assembly according to one embodiment of the present invention. [Figure 24] It is an image diagram showing a schematic configuration of a wheel assembly and a wheel fork according to one embodiment of the present invention. [Diagram 25] It is an image diagram showing the overall configuration of a steering assembly according to one embodiment of the present invention. [Figure 26] It is an image diagram showing a partial configuration of a steering assembly according to an embodiment of the present invention. [Figure 27] It is an image diagram showing the configuration of a steering mechanism according to an embodiment of the present invention. [Figure 28] It is an image diagram showing the overall configuration of a steering assembly according to an embodiment of the present invention. [Figure 29] It is an image diagram showing the configuration of a lift assembly according to an embodiment of the present invention. [Diagram 30] It is an image diagram of a part of a lift assembly according to an embodiment of the present invention. [Diagram 31] It is the first configuration diagram of a lift mechanism according to an embodiment of the present invention. [Diagram 32] It is the second configuration diagram of a lift mechanism according to an embodiment of the present invention. [Diagram 33] It is the third configuration diagram of a lift mechanism according to an embodiment of the present invention. [Fig. 34A-34B] It is an image diagram showing the configuration of one guide wheel assembly in a guide mechanism. [Diagram 35] It is a schematic block diagram of an AGV stand-alone control device according to an embodiment of the present invention. [Fig. 36A-36D] It is an image diagram of a sorting device applied to a three-dimensional warehouse according to an embodiment of the present invention. [Figures 37A-37C] It is a schematic image diagram of a balance arm of a sorting robot according to an embodiment of the present invention. [Fig. 38A-38C] It is an image diagram of a drive unit of a sorting robot according to an embodiment of the present invention. [Figures 39A-39C] It is an image diagram of a sorting robot grab module according to an embodiment of the present invention. [Figures 40A-40C] It is an image diagram of a sorting robot grab module according to another embodiment of the present invention. [Fig. 41A-41H] It is an image diagram of a cargo grabbing by a sorting robot according to an embodiment of the present invention. [Fig. 42A-42B]It is an image diagram showing the flow of picking up and sorting goods by a sorting robot according to one embodiment of the present invention. [Diagram 43] It is an image diagram of a sorting device applied to a three-dimensional warehouse according to another embodiment of the present invention. [Diagram 44] It is a schematic block diagram of a sorting device control system according to one embodiment of the present invention. [Diagram 45] It is an internal image diagram of a three-dimensional warehouse according to one embodiment of the present invention. [Fig. 46A-46B] It is a configuration image diagram of a delivery locker according to one embodiment of the present invention. [Fig. 47A-47B] It is an image diagram showing one side of the structure of a delivery locker according to one embodiment of the present invention. [Fig. 48A-48B] It is a configuration image diagram of a mini track according to one embodiment of the present invention. [Fig. 49A-49B] It is a configuration image diagram of an intracity circulation truck according to one embodiment of the present invention. [Fig. 50A-50B] It is an image diagram in which the three-dimensional warehouse inside an intracity circulation truck slides out from the housing according to one embodiment of the present invention. [Figure 51] It is a schematic block diagram of a cargo transport device control system according to one embodiment of the present invention. [Figure 52A] It is a schematic block diagram of a docking control module according to another embodiment of the present invention. [Figure 52B] It is a schematic block diagram of a sorting control module according to another embodiment of the present invention. [Figure 53] It is a schematic block diagram of a cargo transport device control system according to another embodiment of the present invention. [Figure 54] It is an overall configuration diagram of a delivery robot according to one embodiment of the present invention. [Figure 55] It is Image Diagram 1 of the inside of the base of a delivery robot according to one embodiment of the present invention. [Figure 56] It is Image Diagram 2 of the inside of the base of a delivery robot according to one embodiment of the present invention. [Figure 57]It is the third internal image diagram of the base of the home delivery robot according to one embodiment of the present invention. [Figure 58] It is an image diagram of the housing frame of the home delivery robot according to one embodiment of the present invention. [Fig. 59A-59D] It is an image diagram showing the housing structure of the home delivery robot according to one embodiment of the present invention. [Figure 60] It is an image diagram showing the inside of the base of the drive assembly of the home delivery robot according to one embodiment of the present invention. [Figure 61] It is an image diagram of the connection between the wheel assembly and the drive assembly of the home delivery robot according to one embodiment of the present invention. [Figure 62] It is an enlarged view of the steering mechanism with the mount removed at A in FIG. 61. [Figure 63-66] It is an image diagram of the power transmission mechanism of the drive assembly according to one embodiment of the present invention. [Figure 67] It is an overall image diagram located inside the base of the steering assembly according to one embodiment of the present invention. [Figure 68] It is an image diagram in which the wheel assembly according to one embodiment of the present invention is connected to the steering assembly. [Figure 69] It is an image diagram in which the wheel assembly according to one embodiment of the present invention rotates at an angle under the control of the steering assembly. [Figure 70] It is a schematic block diagram of the control device of the home delivery robot according to one embodiment of the present invention. [Figure 71] It is a schematic block diagram of the interactive control module of the home delivery robot according to one embodiment of the present invention. [Figure 72] It is a schematic block diagram of the logistics control system according to one embodiment of the present invention. [Figure 73] It is a schematic block diagram of the customer service system according to one embodiment of the present invention. [Figure 74] It is an image diagram of the logistics control module according to one embodiment of the present invention. [Figure 75]It is a flowchart of the operation method during collection of a home delivery robot according to an embodiment of the present invention. [Figure 76] It is a flowchart of the shipping guidance for users during collection by a home delivery robot according to an embodiment of the present invention. [Figure 77] It is a flowchart of a home delivery robot according to an embodiment of the present invention taking out an empty box from a home delivery locker. [Fig. 78A-78C] It is an operation diagram of a home delivery robot according to an embodiment of the present invention taking out an empty box from a home delivery locker. [Figure 79] It is a flowchart of the delivery operation of a home delivery robot according to an embodiment of the present invention. [Figure 80] It is a flowchart when a home delivery robot according to an embodiment of the present invention executes a plurality of tasks. [Figure 81] It is a flowchart of a shipper self - shipping at a home delivery locker according to an embodiment of the present invention. [Fig. 82A-82C] It is a docking image diagram of a mini - truck and a home delivery robot according to an embodiment of the present invention. [Figure 83] It is a docking image diagram of a fixed warehouse and a mini - truck according to an embodiment of the present invention. [Figure 84] It is a docking image diagram of a mini - truck and an in - city circulation truck according to an embodiment of the present invention. [Figure 85] It is a docking image diagram of two in - city circulation trucks according to an embodiment of the present invention. [Figure 86] It is a docking image diagram of a small drone and a fixed warehouse according to an embodiment of the present invention. [Figure 87] It is a docking image diagram of a fixed warehouse and a cargo transportation device according to an embodiment of the present invention. [Figure 88] It is a flowchart of cargo warehousing when a fixed warehouse and a cargo transportation device are docked according to an embodiment of the present invention. [Figure 89] It is a flowchart when a conveying AGV conveys an incoming parent box according to an embodiment of the present invention. [Figure 90] 4 is a flowchart showing a process for unloading cargo according to one embodiment of the present invention. [Figure 91] 13 is a flowchart showing a process for transporting one parent shipping box to a designated warehouse cell according to another embodiment of the present invention. [Figure 92] 1 is a flowchart of cargo exchange between multi-storey warehouses according to one embodiment of the present invention. [Fig. 93A-93D] 1 is a flow chart of a sorting method according to one embodiment of the present invention. [Figure 94] 1 is a flowchart of a logistics method according to one embodiment of the present invention. [Figure 95] FIG. 2 is an image diagram of a flow for generating a logistics order according to one embodiment of the present invention. [Figure 96] FIG. 1 is an image diagram of a collection flow according to one embodiment of the present invention. [Fig. 97A-97B] FIG. 1 is an image diagram of a cargo transport flow according to one embodiment of the present invention. [Figure 98] FIG. 1 is an image diagram of a delivery flow according to one embodiment of the present invention. [Figure 99] 1 is a flowchart of a logistics method for reducing cargo residence time according to one embodiment of the present invention. [Figure 100] 1 is a flowchart of a logistics method for reducing a sorting time according to one embodiment of the present invention. [Figure 101] 1 is a flowchart of a logistics route planning method according to one embodiment of the present invention. [Figure 102] 1 is a schematic block diagram of a logistics system according to one embodiment of the present invention. [Figure 103] 1 is a flow chart of a cargo control method according to one embodiment of the present invention. [Figure 104] 1 is a flowchart of a freight scheduling method according to one embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and fully describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. The described embodiments are obviously some, but not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained on the premise that engineers in the art have not performed creative labor belong to the protection scope of the present invention.

[0027] In the following detailed description, reference may be made to the accompanying drawings of each specification in order to describe the embodiments of the present application as part of the present application. In the accompanying drawings, like reference numerals generally identify like components in different drawings.

[0028] Each embodiment of the present application will be described in sufficient detail below so that those skilled in the art with knowledge and technology related to the technical field can implement the technical solution of the present application. It should also be understood that structural, logical, or electrical changes can also be made using other embodiments of the present application.

[0029] In the existing technology, each part of the logistics chain shares some of the following characteristics.

[0030] First, the warehouse where the cargo is stored is an important part in the logistics chain. Whether it is a traditional warehouse or a modern smart warehouse, the cargo is basically placed on the shelves. Between the shelves, aisles are left for cargo movement operations such as storage and retrieval of the cargo. In some large warehouses, there are various cargo areas, such as storage and retrieval areas and sorting areas. In traditional warehouses, the storage, retrieval and movement of the cargo is realized by manual or manual assisted conveying devices such as forklifts. Patent publication number CN107577215A, invention title "Shelf and Scheduling Method, and Operation Height Method, Center and System" discloses a movable shelf that can move between different areas in the warehouse and improve the distribution efficiency of the cargo. Compared with the traditional warehouse, the aforementioned smart warehouse has greatly improved the automation and work efficiency of cargo movement, but whether it is a traditional warehouse or a modern smart warehouse, it is necessary to ensure sufficient space for the smooth movement of cargo in the warehouse. The warehouse space for storing cargo is less than half of the total warehouse space, and the space utilization rate of the warehouse is not high.

[0031] Secondly, the transportation of cargo in the logistics system includes the unloading of cargo, transportation between the loading dock and the warehouse and within the warehouse, which usually includes several methods of manual, semi-manual, and fully automated equipment. With the development of science and technology, currently most logistics systems are semi-automatic, that is, the equipment is used by workers to transport the cargo. The worker drives the forklift and works with the lift to load and unload the cargo. The smart warehouses that have emerged now mainly use AGVs (Automated Guided Vehicles) to transport the cargo. Depending on the size of the warehouse, the volume and size of the cargo, AGVs have many forms. For example, patent number CN203715182U, entitled "AGV Minicar", provides an AGV with a lifting shelf. Patent publication number CN104317289A, named as the invention "New type forklift type AGV", provides a forklift type AGV that can turn on the spot and reduce the turning radius when turning. There are also other types of AGVs such as backpack type AGVs and tow type AGVs.

[0032] The structures and working methods of the various AGVs described above adapt to the current logistics mode and are mainly applied to various large warehouses, operating in the aisles between shelves. Or they transport goods in different areas such as the sorting area or the shipping area.

[0033] Thirdly, in the process of moving goods from the place of origin to the place of consumption, the goods withstand various conveyances at all stages of circulation. In order to avoid damage to the goods during transportation, it is necessary to package the goods using different packaging means according to the nature of the goods. For example, for general small goods, packaging such as cardboard boxes, plastic bags, tape, hot melt adhesives, etc. are used, and fillers are filled to prevent the goods in the cardboard box from shaking. For fragile goods such as glass products and ceramic products, special packages such as custom-shaped foam cases also need to be added. Therefore, usually, a large amount of packaging materials are required to safely reach the destination for small goods. This excessive packaging method not only occupies a large amount of storage and transportation space, but also wastes a lot of packaging materials. Most of the packaging materials such as plastics and foams are non-recyclable materials, bringing a great burden and harm to the environment.

[0034] Fourthly, sorting is another important part of the logistics chain. In order to improve the efficiency of transportation and circulation, the logistics system usually installs multi-level sorting centers. For example, the goods collected from customers are sorted and transported through the sorting center, sorted by the next sorting center, and re-transported. It is delivered from the distribution station to the destination until it arrives at the distribution station. The sorting center includes at least a warehouse for temporary storage. The goods in the warehouse are sorted to the corresponding levels manually or by equipment, and then collected and transported to the designated area for storage. The transport vehicle arrives and unloads, and is transported from the sorting center to the next sorting center or the distribution station.

[0035] With the development of technology, the sorting technology has also been gradually improved. It has evolved from primitive manual sorting to automatic sorting by various automated devices. For example, in Patent No. CN102218404B, titled "Logistics Sorting System and Method Based on Radio Frequency, Video and Infrared Identification Tracking", a sorting device including a cargo input conveyor, a cargo transfer guide, a plurality of sorting conveyors, and a cargo identification device is disclosed. The cargo input conveyor inputs the cargo onto the cargo transfer guide, which is identified by the cargo identification device and supplied to the corresponding sorting conveyor. Also, for example, Patent No. CN103949408B, titled "High-Speed Cargo Sorting Vehicle and Sorting System", installs a line-type sorting system in the warehouse of the sorting center, provides a plurality of sorting ports on the line-type transfer path, and loads the cargo to be sorted using a sorting vehicle. The sorting vehicle identifies the cargo during the movement on the transfer path and pushes the identified cargo into the sorting port when passing through the corresponding sorting port. There are also other types of sorting devices or sorting robots.

[0036] In the above-mentioned various sorting technologies, it is necessary to ensure an area large enough to accommodate the sorting device, sorting robot, goods to be sorted, and sorted goods. Also, after sorting, it is necessary to ensure an area large enough for transportation facilities such as forklifts to collect the sorted goods. The goods are transported through the transportation passage to the cargo storage area for storage and waiting for outbound. Therefore, the warehouse needs to ensure sufficient space for sorting and transportation. Also, in the warehouse of the sorting center, the goods need to stay in the sorting center for a certain period of time and wait for outbound due to factors such as warehouse management technology, sorting technology, and outbound transportation frequency from inbound to outbound.

[0037] Finally, the loading and distribution at the end of the logistics still need to be done manually. For example, a delivery company needs to drive a vehicle to pick up or deliver goods to the customer's place. Although some delivery robots have emerged, these delivery robots cooperate with workers, and the workers at the delivery center load and unload the goods of the delivery robot. It cannot load and unload goods by itself.

[0038] The present invention (including a plurality of patent applications already related to the present patent application) provides a revolutionary new logistics system. For all parts of the logistics chain, it proposes a plurality of revolutionary solutions different from existing logistics systems, shortening the residence time of goods, improving the transportation efficiency of goods, reducing the use of fixed-position warehouses, increasing the space utilization rate of warehouses, ensuring complete management and monitoring of goods, and reducing the environmental burden caused by excessive packaging.

[0039] According to one or more embodiments of the present invention, the logistics system of the present invention includes a customer service system, a multi-stage intermediate transportation logistics device, and a plurality of logistics control modules. Here, for the sake of clarity in the description of the entire system, in the following description, names are given to various logistics devices for easier understanding.

[0040] Figure 1 is a transportation image diagram of multi-stage logistics equipment according to one embodiment of the present invention. In this embodiment, the terminal logistics device includes a delivery robot 8, a fixed-position warehouse (for example, a delivery locker 10), a drone M1 (including small and large drones. The small drone shown in the figure), and a mini-truck 9a, etc. The dashed line is the terminal logistics chain, where the customer interacts with the terminal logistics equipment, and the goods enter the logistics system from the customer's place or return from the logistics system to the customer's place. The thin line is the secondary logistics chain, which occurs between the terminal logistics equipment and is carried out in a small area of goods transportation. The thick solid line is the tertiary logistics chain, which transfers goods between the terminal logistics equipment and the tertiary logistics equipment with a slightly longer transportation distance, and transports the goods collected in a small area by the tertiary logistics equipment with a slightly longer transportation distance. The thick dashed line is the quaternary logistics chain, which transfers goods between three sets of logistics equipment and intercity logistics equipment. At this level of the logistics chain, the goods are delivered by the tertiary logistics equipment to the intercity logistics equipment, and the intercity logistics equipment transports the goods from one city or country to another city or another country.

[0041] In some embodiments, the logistics equipment includes urban freight transport devices such as relatively large urban circulation trucks 9b and intercity logistics equipment compared to the mini-truck 9a in the figure, and can include freight aircraft, intercity railways, long-distance and short-distance trucks, sea freight ships, etc. according to the distance.

[0042] In some embodiments, a delivery robot is described as an example of the last-mile logistics chain. Those skilled in the art should understand that the work of the delivery robot can also be replaced by a delivery person. This will not be described in this text.

[0043] In some embodiments, the logistics equipment includes fixed warehouses and movable freight transport devices. Each logistics equipment has a unique ID electronic tag, and the freight transport device has a corresponding transport distance range. The overall freight transport device is divided into multiple levels according to the size of the transport distance range. For example, as a whole, it can be divided into three levels: inter-country, inter-city, and intra-city.

[0044] Among these, the freight equipment at the urban level can be divided into multiple different levels according to the size of the city and the transport distance of the freight transport device. Figure 2 is an image diagram of the transport distance of the multi-level freight transport device at the urban level. In this embodiment, the transport distance S1 of the delivery robot 8 at the logistics terminal is the shortest and the number is the largest. Therefore, as a whole, the transport range of the delivery robot 8 can cover all user areas within the city. The mini-truck 9a is a secondary freight transport device with a transport distance S2 larger than the transport distance S1 of the delivery robot 8. The urban circulation truck is a tertiary freight transport device, and its transport distance S3 is the largest within the city. As the transport distance increases, the required quantity decreases. Of course, the quantity is also related to the amount of goods. When the flow of goods is large, the number of freight transport devices increases, and the more freight transport devices there are, the faster the flow of goods. The logistics system of the present invention becomes more advantageous and more efficient as the flow of goods increases.

[0045] In some embodiments, the transportation area of the cargo transportation device at each level changes according to its movement. Therefore, the scheduling becomes more flexible. In the delivery of goods, only the direction of cargo transportation, the distribution of cargo transportation devices, and the transportation direction are used to calculate and determine the docking point of the cargo transportation device and the cargo transportation device to be docked. Therefore, the delivery and docking of goods become more flexible and rapid, the residence time of goods is shortened, and the logistics efficiency is improved.

[0046] As those skilled in the art understand, the cargo transportation device at each level includes transportation equipment adapted to the transportation at that level. However, the present invention is not limited thereto. For example, a large truck, which is usually used as a secondary logistics chain cargo transportation device, can also directly collect goods from customers as a device for the terminal logistics chain. Also, for example, a minitruck as a terminal logistics chain can directly deliver goods to an aircraft that is usually used as a cargo transportation device for the tertiary logistics chain, without the need to pass through other levels of cargo transportation devices.

[0047] In some embodiments, the logistics chain of the present invention can not include a fixed warehouse. Goods can be transferred between the cargo transportation devices at each level of the logistics chain, and there is no need to take out the goods from the fixed warehouse by another cargo transportation device after delivering the goods to the fixed warehouse (or sorting center). Thereby, the residence time of goods is significantly shortened, the logistics efficiency is improved, and the logistics cost is reduced. In some embodiments, a fixed warehouse (including a courier locker) can be added as an auxiliary facility to the logistics chain of the present invention. For example, in the collection and delivery section, when the cargo transportation device of the terminal logistics chain does not match in time, the customer Satisfaction levels ofIf a home delivery locker is introduced, the difference in time can be compensated for, and customer satisfaction can be improved. In some embodiments, a fixed warehouse (including large warehouses in the suburbs) functions as an important part of the logistics chain and becomes an important part of the logistics chain. Such a fixed warehouse can function as a buffer warehouse for a large amount of goods entering and leaving the city in order to facilitate the scheduling of the goods transportation device. In some embodiments of the present invention, the ratio of the number of goods in the goods transportation device to the quantity of goods in the fixed position warehouse is 50% or more, 80% or more, 90% or more, 95% or more, or 99% or more.

[0048] In some embodiments, the goods transportation device includes a three-dimensional warehouse that can not only play the role of goods transportation but also achieve the purpose of goods storage. In some embodiments, the goods transportation device includes a three-dimensional warehouse, a storage device, a moving device, a sorting device, and transportation equipment. The three-dimensional warehouse is loaded on the transportation equipment. Depending on the type and loading capacity of the transportation equipment, the specifications of the three-dimensional warehouse vary. For example, when the transportation equipment is a small vehicle, an aircraft, or a ship, a small-scale three-dimensional warehouse can be operated, and the transportation of large trucks, trains, cargo planes, and sea cargo ships can operate a large-scale three-dimensional warehouse. Goods are stored in the storage device inside the three-dimensional warehouse. In some embodiments, the storage device includes a parent and child container. The goods are stored in the child container, and the parent container holds a plurality of child containers. The parent container is stored in the storage space in the warehouse cell of the three-dimensional warehouse. In some embodiments, for the moving device, for example, it is a small and ultra-thin AGV, located in the moving space of the warehouse cell, and transports the parent container. In some embodiments, depending on the scale of the three-dimensional warehouse, a number of sorting devices are distributed in the three-dimensional warehouse, connected to adjacent warehouse cells, and integrated into the warehouse cells.

[0049] In some embodiments, the goods are placed in the child containers, and the child containers are placed in the parent containers stored in the warehouse cells of the automated storage and retrieval system. This prevents the goods from being stacked and pressed against each other. The child containers have various specifications and can adapt to goods of various shapes and sizes. For some fragile goods, the child containers are designed with structures such as anti-collision to protect the goods in the child containers from collisions and damages during transportation. In some embodiments, the transportation of the goods is carried out by the moving devices provided in the present invention, such as AGVs, to smoothly transport the parent containers when, for example, inside the automated storage and retrieval system and when the automated storage and retrieval system is docking, and like Rough handling Sloppy sorting disappears. Therefore, the goods in the present invention do not require various packaging tapes, packaging boxes, foam boxes, filling materials, etc. required in the conventional logistics system, can avoid the problem of over-packaging in the existing logistics system, and are more environmentally friendly.

[0050] In some embodiments, among each goods transportation device is an automated storage and retrieval system composed of warehouse cells of the same specification, and the parent containers for storing the child containers can be commonly used in each goods transportation device. When delivering the goods, the AGV transports the parent containers directly sorted from the current goods transportation device to another goods transportation device. Since parts such as unloading and loading in the existing logistics system become unnecessary, the time for loading and unloading the goods can be saved. Moreover, each docking part does not require human intervention, is not only highly efficient, but also can avoid contact between the goods and people.

[0051] In some embodiments, during transportation, the goods are transferred from one goods transportation device to another according to the logistics direction. Different levels of goods transportation devices form a plurality of logistics chain levels. The goods are transferred to a plurality of goods transportation devices with different transportation distances from shipment to arrival at the destination, pass through or do not pass through a fixed warehouse, and are finally delivered to the receiving customer.

[0052] Hereinafter, the present invention will be described in detail with specific embodiments.

[0053] In some embodiments, the stereoscopic warehouse has a high space utilization rate. Most of the space inside the warehouse is used as a storage space for storing storage devices. The storage device is, for example, a storage box or a storage tray. In one embodiment, the storage device includes a nested box. The child box for storing goods is a sealing device and is arranged inside the parent box. A moving space for storing a moving device is provided above or below the storage space. The moving device is, for example, an ultra-thin AGV. The moving device moves the storage device in the storage space to complete operations such as the inbound and outbound of goods and the in-warehouse movement. Due to the specific structural design of the storage space and the moving space, the volume ratio of the storage space to the moving space can be ≥4:1, or ≥5:1, or ≥6:1, or ≥7:1, or ≥8:1, or ≥9:1, or ≥10:1. Therefore, the space utilization rate of the stereoscopic warehouse provided by the present invention is much higher than that of conventional warehouses or modern smart warehouses.

[0054] Warehouse Cell Example 1 In one embodiment, the present invention provides a standardized and modularized warehouse cell, and a plurality of warehouse cells can be stacked to form a stereoscopic warehouse with a high space utilization rate.

[0055] FIG. 3 is a three-dimensional configuration diagram of a standardized and modularized warehouse cell according to one embodiment of the present invention. The warehouse cell 1 includes at least one cubic frame, four columns 111, four frames 112 and a bottom plate 113 at the top. The four columns 111 of this cubic frame are connected to a stand mechanism, and the storage device is supported by this stand mechanism. In this embodiment, the stand mechanism is a support block, and two support blocks 12 facing inward are connected to each column. In other embodiments, the stand mechanism may be a fan-shaped structure connected to the column, and the radian angle of the fan-shaped structure is ≤90 degrees.

[0056] The bottom surface of the three-dimensional frame of the cell is a single bottom plate 113. In other embodiments, the bottom plate 113 can be set as a lightweight cut plate or a mesh as needed to save costs. Each warehouse cell is provided with an ID electronic tag 14 so as to grasp the distribution of goods in the three-dimensional space. As shown in FIG. 3, the ID electronic tag 14 is attached to an appropriate position of the bottom plate 113, and the ID information of the warehouse cell such as the number in the warehouse is recorded.

[0057] The space inside the cubic frame of the warehouse cell 1 includes a storage space 101 for storing the storage device from the support block 12 to the upper part of the cubic frame. For example, the storage device in this embodiment is the parent box 2. FIG. 4 is an image diagram showing the state where the parent box 2 is arranged in the warehouse cell 1. The purpose of installing the parent box 2 is to make the best use of the storage space of the warehouse cell. Since the stored goods can have various possibilities such as specifications, volume shapes, etc., the parent box 2 can neatly gather goods of different specifications and different volumes. The four support blocks 12 of the cubic frame support the bottom of the parent box 2 and can be stably stored in the storage space 101.

[0058] In one embodiment, the goods are arranged inside a sub-box (not shown). The sub-box is arranged in the parent box 2. In some embodiments, the parent box 2 includes a first body 20 having dimensions that match the specifications of the storage space 101 of the warehouse cell 1 in this embodiment. As shown in FIG. 5A, the height of the first body 20 of the parent box 2 matches the storage space 101, and the upper part of the first body 20 is open to allow the sub-box to be taken in and out. In some other embodiments, as shown in FIG. 5B, the height of the first body 20 of the parent box 2 is lower than the height of the storage space 101. In some other embodiments, as shown in FIGS. 6A-6B, the first body 20 of the parent box 2 is in the shape of a storage tray and includes an edge 22a. The first body 20 is provided with a plurality of specifications of positioning grooves 23a for storing goods of different specifications and different volumes in an orderly manner.

[0059] In the above three embodiments, the bottom of the first main body 20 of the parent delivery box 2 has a conveying structure. As shown in the figure, the conveying structure can be a positioning structure 21 that cooperates with the lift mechanism of the moving device, and the moving device can push up from the bottom of the first main body 20 of the parent delivery box 2 to the parent delivery box 2. In some embodiments, each parent delivery box 2 is provided with an ID electronic tag 24 as shown in FIG. 5C. In one embodiment, the ID electronic tag is an electronic tag that records the ID information of its parent delivery box 2, for example, the number of the parent delivery box 2.

[0060] In some embodiments, the space from the support block 12 to the bottom of the cubic frame is a moving space 102. It is a walking space as a moving device. In one embodiment, an AGV 3 is used as the moving device. The AGV 3 moves within the moving space 102. The bottom plate 113 of the warehouse cell 1 is the running surface of the AGV 3, and FIGS. 7A-7B are images of the state where the AGV 3 has stopped at the warehouse cell 1. In some embodiments, in combination with FIG. 3, orthogonal guide grooves 1131 are provided on the bottom plate 113. Since the bottom plate 113 is rectangular, the orthogonally provided guide grooves 1131 are parallel to their corresponding bottom sides so that the AGV 3 can move on the bottom plate 11a without interference. Corresponding to the guide groove 1131, two guide wheels 31 are arranged at the bottom of the AGV 3 as shown in FIG. 7B to prevent the AGV 3 from deviating from the running path during running. In this embodiment, a set of guide grooves 1131 in an orthogonal relationship are provided on the bottom plate 113. Two sets or three sets may be provided, and corresponding guide wheels 31 are also provided at the corresponding positions on the bottom of the AGV 3.

[0061] The guide groove and the guide wheel are used to prevent the AGV from deviating from its route during running. According to the same concept, a rib can be provided on the bottom surface of the frame 113, and a groove fitting the bottom surface of the AGV can be provided, which can also function as a guide. The mechanical method has low cost, high stability and is easy to control.

[0062] In addition to these two mechanical structures, the AGV3 guide can adopt structures such as electromagnetic, laser, infrared, ultrasonic, UWB, or optical. Those skilled in the art can select any guide structure according to actual needs, but the description is omitted here.

[0063] In some embodiments, to move the parent tote box 2, a lift mechanism 32 is provided on the upper surface of the AGV3. When not moving goods, the lift mechanism 32 is stored in the upper part of the AGV3. When it is necessary to move goods, the lift mechanism 32 protrudes from the upper surface of the AGV3 and engages with the positioning structure 21 at the bottom of the parent tote box 2. As the lift mechanism 32 rises, it can be lifted from the support block.

[0064] In some embodiments, an electronic tag reader / writer (not shown) is provided outside the lower surface of the base of the AGV3 to read the ID electronic tag of the warehouse cell 1. An electronic tag reader / writer (not shown) is provided outside the upper surface of the base to read the ID electronic tag of the parent tote box 2.

[0065] Figures 8A - 8B show a state where the parent tote box 2 is stored in one warehouse cell 1 and one AGV3 is stopped. To move the parent tote box 2, the AGV3 stops below the parent tote box 2. First, the lift mechanism 32 lifts the parent tote box 2, disengages the parent tote box 2 from the support block 12, and then the AGV3 moves the parent tote box 2. In the warehouse cell 1, a lift space 103 is left to facilitate movement by the AGV3 pushing up the parent tote box 2 from the support block 12 and disengaging it from the support block 12. The height of the lift space 103 only needs to be such that after the lift mechanism of the AGV3 lifts the parent tote box 2, the AGV3 can move without interference according to the lifting distance of the lift mechanism of the AGV3. Therefore, the lift space 103 does not need to be too large. For example, the height of the lift space 103 may be less than 5 cm, or less than 3 cm, or less than 1 cm.

[0066] In this embodiment, the thickness of the AGV3 for moving goods determines the size of the moving space 102. On the other hand, the thickness of the AGV3 occupies only a small part of the height of the warehouse cell 1. Therefore, most of the space in the warehouse cell 1 is storage space. Based on the size and loading weight of the parent shipping box 2 and the size and loading weight occupied by the internal components of the AGV3, the ratio of the thickness of the AGV3 to the height of the warehouse cell 1 is 1 / 8 - 1 / 4. That is, it can be calculated that the space utilization rate of one warehouse cell 1 reaches 75% - 90%. When the moving device adopts other methods such as magnetic levitation, the space utilization rate can reach 95%.

[0067] Warehouse Cell Example 2 FIG. 9 is an image diagram of a warehouse cell according to another embodiment of the present invention. In this embodiment, the warehouse cell 1b includes at least one cubic frame M including a cubic frame M is including four columns 111b, a top plate 112b, and a bottom plate 113b. Among them, a guide rail 1121b is provided on the top plate 112b, and the moving device is a telescopic robot grab 3b connected to the guide rail 1121b via a suspension mechanism 31b. The suspension mechanism 31b can be rotated 360 degrees in the direction of the robot grab 3b and can be extended and retracted up and down to lift and lower the robot grab 3b.

[0068] For the warehouse cell 1b and the parent shipping box 2b, different from the above embodiment, the conveying structure is a handle 21b provided on the four top sides of the first body. In order to facilitate the reading of the upper moving device, an ID tag may be provided on any of the four top sides of the first body.

[0069] The main transfer box 2b is placed on the bottom plate 113b. The lifting mechanism 31b moves the robot gripper 3b above the main transfer box 2b along the guide rail 1121b, extends the robot gripper 3b to correspond to the position of the handle 21b, grabs the handle 21b of the main transfer box 2b, lifts the main transfer box 2b off the bottom plate 113b, and moves it in the x - direction or y - direction through the guide rail, thereby realizing the horizontal cross - transfer of goods. In this embodiment, the movement space 102b for accommodating the moving device is located above the storage space 101b. By providing the configuration of the moving device such as the robot gripper 3b, the space it occupies can be reduced. Therefore, the ratio of the storage space 101b to the movement space 102b in this embodiment can be made at least greater than 2 / 1.

[0070] Warehouse Cell Embodiment 3 FIG. 10 is an image diagram of a warehouse cell according to another embodiment of the present invention. In this embodiment, the warehouse cell 1c includes at least one cubic frame, and the cubic frame includes four columns 111c, a partition plate 112c, and a bottom plate 1113c. Among these, the partition plate 112c is connected to the upper half of the column 111c, and forms a moving space 102c with the plane where the tip of the column is located. The partition plate 112c is provided with a guide rail or a guide groove for guiding the travel of the moving device 3c on the partition plate 112c. The master tote box 2 is arranged on the bottom plate 113c. The master tote box 2 and the moving device 3c have a connection structure that does not come into contact with each other. The moving device 3c generates an attractive force when it is necessary to move the master tote box 2, for example, and the attractive force may be an attractive force generated when evacuating the vacuum, or an electromagnetic attractive force. A suction device is provided on the first main body of the corresponding master tote box 2, which is a vacuum suction device or an electromagnetic suction device corresponding to the moving device 3c. It is attracted by the moving device 3c and separated from the bottom plate 113c, and the cross movement of the goods in the horizontal direction is completed following the movement of the moving device 3c. In this embodiment, a lift space 103c and a storage space 101c are formed between the partition plate 112c and the bottom plate 113c, and the space above the partition plate 112c is used as the moving space 102c. Since the height of the lift space 103c is the height at which the master tote box 2 is separated from the bottom plate 113c when it is adsorbed, the height of this space can be made small at the centimeter or millimeter level. On the other hand, since the volume of the moving device 3c does not need to be large, the height of the moving space 102c is smaller than that of the storage space 101c, and most of the space in the warehouse cell 1c is the storage space 101c, and the storage space 101c can reach more than 75% of the total space.

[0071] Incidentally, corresponding to the warehouse cell in the embodiment, the parent container may have the configuration shown in FIG. 11. A side door 201c that can be opened and closed may be provided on the side surface of the first main body 20c, and may also be provided on two link bars. When opened, it slides toward the upper part and the bottom part respectively, and the child container can be taken in and out from the side surface. In this embodiment, the side door 201c is a roll curtain door, and may also be a slidable door made of other flexible materials. In the storage state, the side door 201c is in a closed state, and when the child container is taken in and out there, the side door 201c opens. For example, the side door 201c is in an open state during warehousing, delivery, and sorting. Among these, an adsorption device 21c adapted to the adsorption structure of the moving device is also provided on the upper surface of the first main body 20c.

[0072] The warehouse cell provided by the present invention is a modular and standardized storage cell. When a plurality of such units are stacked and connected, a three-dimensional warehouse system can be obtained. In some embodiments, adjacent warehouse cells can share columns. That is, the columns of the three-dimensional warehouse can be shared by adjacent warehouse cells on the left and right or up and down. Also in the manufacture of the three-dimensional warehouse, a plurality of warehouse cells are formed simultaneously.

[0073] In some other embodiments, in order to improve the flexibility of the three-dimensional warehouse, the warehouse cells adjacent to all or part of the three-dimensional warehouse can each have their own columns. In order to connect these cells, the three-dimensional frame of the warehouse cell provided by the present invention is respectively provided with a three-dimensional connection structure for connecting different warehouse cells.

[0074] Warehouse cell connection structure Example 1 FIG. 12 is an image diagram of warehouse cell connection. In this embodiment, a connection hole 11a is provided in the three-dimensional frame of the warehouse cell. When two warehouse cells 1 are connected, the respective connection holes 11a communicate with each other. At this time, the two warehouse cells 1 can be connected by bolts and nuts (not shown in FIG. 12).

[0075] Warehouse cell connection structure Example 2 Figure 13 is an image diagram of another type of warehouse cell connection. In this embodiment, one or more grooves are provided on one pillar or edge of the three-dimensional frame. When two cells are arranged side by side, two recesses correspond, and the ring claws 11b are engaged in the recesses, and the two cells are connected. By providing a plurality of grooves on the x, y, and z sides of one warehouse cell, other warehouse cells can be connected in three dimensions, and any number of warehouse cells can be connected as required.

[0076] Warehouse cell connection structure Example 3 Figures 14A - 14C are image diagrams of another type of warehouse cell connection. As shown in Figure 14A, one or more grooves 11c are provided on each pillar or edge of the three-dimensional frame. As shown in Figure 14B, a convex Condition or convex block 11d is provided on the other warehouse cell. When two warehouse cells of the same specification are arranged in parallel, the convex Condition or convex block 11d of one warehouse cell is fitted into the groove 11c of the other warehouse cell. Also, in order to make the connection of the two warehouse cells after fitting stronger, as shown in Figure 14(c), a hook 11e is provided at the end of the convex block 11d, a fitting groove (not shown) corresponding to the groove 11c is provided, and if the convex block 11d is inserted into the recess 11c, the engaging hook 11e and the fitting groove engage with each other and are more firmly connected.

[0077] In the above warehouse cell connection structure, since the connection structures are provided three-dimensionally respectively, any number of other warehouse cells 1 can be connected in both the horizontal X directions, both the vertical Y directions, and both the Z directions, and three-dimensional warehouses with different numbers of warehouse cells and different volumes can be obtained.

[0078] Multi-storey warehouse structure Example 1 Referring to FIG. 15, an image diagram of a stereoscopic warehouse according to an embodiment of the present invention is shown. In this embodiment, the stereoscopic warehouse includes a plurality of horizontally connected warehouse cells. Each warehouse cell can be connected front and back in the x-direction and y-direction to form stereoscopic warehouses of different specifications according to actual needs. When the warehouse cells are connected, their respective moving spaces communicate with each other to form an integrated large moving space. Since the overhanging length of the stand mechanism supporting the storage device is small, it does not prevent the movement of the AGV. As a result, the AGV can freely move crosswise in the x-direction and y-direction within the entire moving space. For example, the AGV can lift the storage device in one warehouse cell and move it to another warehouse cell. After positioning, the lift mechanism retracts Me , places the storage device on the stand mechanism of the new warehouse cell, and completes the movement of the storage device.

[0079] Multi-storey warehouse structure Example 2 Referring to FIG. 16A, an image diagram of a stereoscopic warehouse according to another embodiment of the present invention is shown. In this embodiment, a plurality of warehouse cells are stacked on top of each other to form a two-layer stereoscopic warehouse. Of course, it may be three layers or more according to actual needs. A lifting system 4 is also included so that the moving device and the storage device can move between different layers. The lifting system 4 includes a support column 41 and a lifting platform 42. The lifting platform 42 engages with the support pillar 41 and rises or falls driven by a drive mechanism, and can dock with a warehouse cell at any height. Note that the table of the lifting platform 42 has the same configuration as the bottom plate 113 of the warehouse cell. When the lifting table 42 is docked and positioned with the warehouse cell 1, the table surface of the lifting table 42 becomes a part of the moving space.

[0080] When the AGV3 needs to change layers, the lift 42 moves to the corresponding floor, the AGV3 moves to the table surface of the lift 42, the lift 42 moves to the target layer again, and after determining the docking location with the warehouse cell on the target floor, it stops. The AGV3 moves from the table surface of the lift 42 to the said target floor. When it is necessary to send one lower-level parent container 2 or one parent container 2 received from the outside to one upper-level warehouse cell, the AGV3 moves the said storage device onto the lift 42 as shown in FIG. 16B. The lift 42 rises by the drive of the drive mechanism. When it reaches the upper level, the lift 42 stops rising, and the docking location with the upper-level warehouse cell is determined. The AGV3 moves to the target warehouse cell with the said parent container 2 on board. When it reaches the target warehouse cell and stops, the lift mechanism retracts, and the parent container 2 is placed on the stand mechanism of the target warehouse cell.

[0081] Multi-storey warehouse structure Example 3 Referring to FIGS. 17A - 17B, an image diagram of a stereoscopic warehouse according to another embodiment of the present invention is shown. In this embodiment, the stereoscopic warehouse includes a main frame in which a plurality of beams 111c and a plurality of columns 112c intersect and are connected to form a plurality of storage cells 1. The storage unit 1 is formed by arranging cells in the horizontal and vertical directions. As shown in FIG. 17A, a one - layer stereoscopic warehouse is formed, and as shown in FIG. 17B, a two - layer stereoscopic warehouse is formed. The storage cell 1 houses a storage device (not shown), such as a storage apparatus or a storage tray. A stand mechanism 12 is provided on each column 112c, and the storage device is placed on the stand mechanism 12. As shown by the dashed line in the figure, the space between the stand mechanism 12 and the upper part of the parent box 2 constitutes the storage space 101, and the space between the stand mechanism 12 and the bottom plate 113c constitutes the moving space 102. There is a certain height distance between the upper part of the storage device (not shown) and the beam 111c, or between the upper cargo of the storage device and the upper - stage bottom plate 113c, and this space is a lift space (not shown). The moving device moves the storage device together within this moving space 102. First, the moving device is moved under the storage device, the storage device is lifted by a lift mechanism, and then it is horizontally moved smoothly within the moving space 102. Therefore, the height of the lift space 103 is measured by whether the parent box 2 can move smoothly by the lift mechanism. The height may be, for example, less than 5 cm, or less than 3 cm, or less than 1 cm.

[0082] To enable the moving device to move between the vertical warehouse cells, a lifting system as shown in FIG. 16A may be included. Specifically, since the description of FIGS. 16A - 6B can be referred to, the description is omitted here.

[0083] Multi-storey warehouse structure Example 4 Referring to FIG. 18, FIG. 18 is an image diagram of a stereoscopic warehouse according to still another embodiment of the present invention. In this embodiment, the stereoscopic warehouse includes a plurality of storage layers and a plurality of moving layers (two storage layers and two moving layers are shown in this embodiment), and the structural relationship between the storage layer and the moving layer may be any one of Embodiments 1-3. Different from Embodiments 1 to 3, the heights of the moving layers in this embodiment are not all the same. Here, since the height of the upper warehouse cell 1a1 is lower than the height of the lower warehouse cell 1a2, storage devices of different specifications can be used, and the specifications for storing goods increase. In this embodiment, the main frame adopted in the stereoscopic warehouse may be connected by a combination of a plurality of single warehouse cells.

[0084] Example of child transport box FIGS. 19A-19B are image diagrams showing the structure of a sub-container according to an embodiment of the present invention. In this embodiment, the sub-container 7 includes a second main body 70, a ring claw 71, and an ID electronic tag 72. Here, the second main body 70 is provided with a lid 701. In this embodiment, the ring claw 71 is disposed at an intermediate position of the lid 701, and other protrusions 702 having the same height as the ring claw 71 are provided on the upper surface of the lid 701 so as not to impair the stability after the sub-containers overlap, and the stability of the upper surface of the sub-container can be maintained. The ring claw 71 is used to engage with the grab of the sorting robot during sorting. The ID electronic tag 72 is an RFID electronic tag or a two-dimensional code tag, and records at least the binding information with the ID of the parent container and the logistics information in the circulation process.

[0085] The second main body 70 is used to place goods. To ensure the safety of the goods, the lid 701 is locked to the second main body 70 by one or more locks. As shown in the figure, electronic locks 703 are provided on both sides of the lid 701, one each. Of course, the locks used in this embodiment may be of any type, for example, a mechanical lock, a password lock, a fingerprint lock, etc.

[0086] In this embodiment, the lid 701 is the second main body 70is movably connected via a connecting member 704. In order to control the opening / closing speed and state of the box lid 701, a damper is provided on the connecting member. The box lid 701 and the second main body 70 may be provided separately. The box lid and the second main body are each provided with a fixing structure, for example, a ring claw structure, a fitting structure, an adsorption structure, etc., and the box lid and the second main body are connected when opening and closing. In another embodiment, variously structured buffer members may be provided inside the second main body so as to fit the built-in goods.

[0087] AGV Example Figures 20A - 20D are overall image diagrams of an AGV according to one embodiment of the present invention. In this embodiment, the AGV includes a base 30. Inside its housing, a drive assembly 33, a steering assembly 34, a lift assembly 35, an electrical component main connection box 36, and a battery case 37 are sequentially arranged. A guide mechanism is provided under the base 30. In this embodiment, there are two sets of guide wheels 31, with two in each set, guiding the AGV in two directions perpendicular to each other. A lift mechanism including a lift rod 32 and other structures engages with the lift assembly 35 inside the base 30 and can protrude or retract from the upper surface of the base 30. A traveling mechanism is also provided under the base 30. In this embodiment, four wheel assemblies 38 that cooperate with the drive assembly 33 and the steering assembly 34 inside the base 30 are arranged at the four corners.

[0088] FIG. 21A - FIG. 21B are overall image diagrams of the drive assembly 33. FIG. 21B is an image diagram with the base housing removed. Refer also to FIG. 20D. The drive assembly 33 includes a drive motor 330 that outputs a driving force for traveling. To transmit power to the four traveling mechanisms, a multi - stage power transmission mechanism is also included. In this embodiment, a timing belt power transmission mechanism is adopted. The first - stage power transmission mechanism includes a drive wheel 332 and four drive timing pulleys 334. The power of the drive motor 330 is transmitted to the drive timing pulleys 334 via a timing belt 333. Here, the drive timing pulleys 334 correspond to the traveling mechanisms. In this embodiment, the axis of the output shaft of the drive motor 330 is parallel to the bottom surface, and the power transmission direction is perpendicular to the bottom surface. The axes of the four drive timing pulleys 334 are perpendicular to the bottom surface, and the power transmission direction is parallel to the bottom surface. Thus, in order to change the power transmission direction, the present invention further includes a steering mechanism between the end of the output shaft of the drive motor 330 and the axle of the drive drive wheel 332 。 As shown in FIG. 22, an image diagram after removing the drive wheel 332 and the ring bracket 331 is shown. In this embodiment, a bevel gear 3351 is connected to the end of the drive wheel shaft 3321, and a bevel gear 3352 is connected to the end of the output shaft of the drive motor 330, and they engage with each other. By the two bevel gears, the power in the vertical direction of the output shaft of the drive motor 330 is changed to the power in the horizontal direction. Among them, on both sides of the drive wheel 332, driven wheels are respectively provided to ensure a sufficient contact area for the drive wheel 332 and the timing belt to transmit power.

[0089] As shown in FIGS. 23-24, since the traveling mechanism in this embodiment includes a wheel assembly 38 including a wheel body 381, its center is fixed by a wheel axle 382. By driving the wheel axle 382, the wheel body 381 can be rotated in the radial direction of the axle. Therefore, since the power of the driving wheel axle 382 is in the vertical direction and the power transmitted from the driving timing pulley 334 is in the horizontal direction, a secondary steering mechanism is also included. In this embodiment, a bevel gear 3361 is connected to the end of the driving timing pulley 334, and the horizontal power transmitted from the driving timing pulley 334 can be converted into vertical power by another bevel gear 3362 engaged therewith. The wheel driven wheel 337 is coaxially connected to the bevel gear 3362 (this axis is not shown), and the wheel axle 382 is rotated by a timing belt connecting the wheel driven wheel 337 and the wheel axle 382, and the wheel body 381 is rolled.

[0090] In this embodiment, since it has four wheel assemblies and employs one driving motor, a person skilled in the art can set an appropriate number of wheel assemblies and driving motors according to the size of the AGV base. When there are multiple driving motors, it is necessary to control the synchronous operation of the driving motors.

[0091] Figure 25 shows an image diagram of the overall configuration of a steering assembly according to one embodiment of the present invention. Referring to Figure 20D, in this embodiment, the steering assembly 34 includes a steering motor 340 and a steering mechanism. The steering mechanism is fixed together with the traveling mechanism, and further includes the power transmission mechanism for transmitting steering power to the steering mechanism. In this embodiment, the power transmission mechanism includes a steering drive wheel 342 and a steering driven wheel 344 arranged on the steering mechanism. In this embodiment, the steering drive wheel 342 rotates the steering driven wheel 344 using a timing belt 343. The output direction of the steering motor 340 is the radial direction, that is, perpendicular to the bottom surface. Since the steering mechanism requires horizontal power, a steering mechanism is required between the output shaft of the steering motor 340 and the steering drive wheel 342. As shown in Figure 26, a bevel gear 3451 is connected to the axle tip of the steering drive wheel 342, and a bevel gear 3452 is connected to the output shaft tip of the steering motor 340, changing the axial power transmitted to the output shaft of the steering motor 340 into radial power. That is, it is converted from the vertical direction to the horizontal direction.

[0092] Figure 27 is an image diagram showing the configuration of a steering mechanism according to one embodiment of the present invention. The steering driven wheel 344 is mainly connected to a steering frame including a steering frame 3461 and a wheel fork 3462. The fork of the wheel fork 3462 is fixed to the wheel axle 382, the upper part of the wheel fork 3462 is a fixed surface, a connecting hole such as a screw hole is provided in the upper part, and a convex platform is provided around it. The steering driven wheel 344 is fixed to the convex platform of the fixed surface of the wheel fork 3462. The bottom of the steering frame 3461 fits into the upper part of the wheel fork 3462, and a connecting hole corresponding to the connecting hole on the fixed surface of the wheel fork 3462 is provided, and the steering frame 3461 and the wheel fork 3462 are fixed through this connecting member. The upper part of the steering frame 3461 is fixed to the axle of the drive driven wheel 334.

[0093] When the steering motor 340 rotates, its output shaft is configured to output power in the axial direction. Through bevel gears, the axial power is converted into radial power, and the steering drive wheel shaft coaxial with the bevel gears rotates the steering drive wheel 342. The steering drive wheel 342 rotates the steering driven wheel 344 via a timing belt, and the fixed steering frame is rotated by the steering driven wheel 344. By rotating the steering frame 346 together with the wheel axle and the wheel synchronization mechanism, steering mechanism, and drive driven wheel 334 connected thereto, the rotation direction of the wheel body 381 can be changed, and it can rotate in place with a rotation radius of 0 under the control of the drive mechanism. As shown in FIG. 28, it is an image diagram after a 90-degree turn with respect to FIG. 25.

[0094] In the present invention, by fixing the drive driven wheel of the drive mechanism and the steering driven wheel of the steering mechanism coaxially and integrating them via the wheel assembly and the steering frame in the traveling mechanism, miniaturization, thinning, and reduction of the space occupancy during conveyance of the AGV can be achieved.

[0095] FIG. 29 is an image diagram showing the configuration of a lift assembly according to an embodiment of the present invention. The lift assembly 35 includes a lift motor 350 that outputs lift power. A power transmission mechanism for transmitting power to the lift mechanism is also included. In this embodiment, as a conveyance mechanism when the AGV conveys goods, a total of four lift rods 32 and their associated structures are evenly arranged at the four corners of the base 30. In order to synchronously transfer the power of the lift motor 350 to these four lift rods 32 and their associated structures, the present invention includes a lift drive wheel 352 and four lift driven wheels 354 in the four lift mechanisms, and guide wheels 321 are provided on the four lift rods 32. The lift drive wheel 352 and the lift driven wheels 354 are each provided with driven wheels on both sides to adjust the direction of the timing belt 353.

[0096] FIG. 30 is a partial image diagram of a lift assembly according to an embodiment of the present invention. In this embodiment, a steering mechanism such as a pair of mating bevel gears is provided at the end of the output shaft of the lift motor 350 and the end of the axle of the lift drive wheel 352 to change the transmission direction of the lift power.

[0097] Figures 31 to 33 are image diagrams showing the configuration of a lift mechanism according to an embodiment of the present invention. In this embodiment, the lift mechanism set including the lift rod 32 further includes a gear 321, a power transmission rack 322, a cross bar 323 on the side of the rack, and a solenoid lock 324. In addition, a steering mechanism is also provided to transmit the power transmitted from the lift drive wheel 352 to the gear 321. As shown in the figure, it includes a pair of bevel gears 3541 and 3542. The gear 321 is coaxial with the bevel gear 3542 (the axis is not shown in the figure).

[0098] When the lift motor 350 rotates, due to the direction change of the steering mechanism, the lift motor 350 rotates the lift drive wheel 352, the lift drive wheel 352 rotates the lift driven wheel 354, and through the rolling mechanism, the lift driven wheel 354 rotates the gear 321, and the power transmission rack 322 meshing with the gear 321 along the rotation direction of the gear 321 rises or falls. As shown in Figure 31, the lift rod 32 is in a retracted state. When the power transmission rack 322 rises to a certain height, the cross bar 323 on the side of the rack abuts against the lower end of the lift rod 32. As the power transmission rack 322 continues to rise, the cross bar 323 raises the lift rod 32. When the lift rod 32 protrudes from the upper surface of the base and the lift rod 32 rises to the preset height, the lift motor 350 stops rotating and the power transmission rack 322 stops rising. The solenoid lock 324 locks the lift rod 32 so that it does not fall as shown in Figure 33.

[0099] In this embodiment, four lift mechanisms are provided. However, those skilled in the art should understand that the number of lift mechanisms is not limited to four, and may be a plurality, such as eight. Alternatively, based on the calculation of force, the lift rod can be thickened, the structure of the upper part of the lift rod can be improved to increase its area, or an appropriate locking mechanism can be designed to reduce the number to three, two, or one.

[0100] The present invention also further comprises a positioning mechanism so that the AGV can accurately stop at a predetermined position even when the conveying environment is unstable. Referring to FIG. 33, in this embodiment, the positioning mechanism is a positioning bar 39, and by configuring the mechanism for raising and lowering it with a lift rod 32, not only can the control of the raising and lowering of the positioning bar 39 be achieved, but also the space occupancy rate can be reduced. In this embodiment, the tip of the positioning bar 39 faces the cross bar 323, and when the cross bar 323 moves downward together with the power transmission rack 322, the positioning bar 39 is pushed out from the bottom surface of the base. In this embodiment, the positioning bar 39 and the cross bar 323 can be integrally designed, that is, the positioning rod 39 moves together with the cross bar 323. When the lift motor 350 controls the raising of the cross bar 323, the positioning bar 39 rises synchronously and is retracted into the base. In another embodiment, the positioning bar 39 can be designed with a return structure such as a return spring. When the cross bar 323 presses the positioning bar 39 to lower it, at the same time the return spring is compressed. When the cross bar 323 rises, the return spring returns the positioning bar 39.

[0101] In this embodiment, the drive motor 330, the steering motor 340, and the lift motor 350 can all be stepping motors or servo motors, and the running distance can be accurately controlled. Since the control lifting and lowering distance of the lift motor 350 is small, the moment is large, and in order to achieve the control accuracy, a planetary reducer can be installed.

[0102] Also, according to the mounting direction of the motor, it is possible to determine whether to use a steering mechanism. In this embodiment, since the output shafts of various motors are parallel to the bottom surface, a steering mechanism is required. If the motor is rotated 90 degrees so that the output shaft is perpendicular to the bottom surface, the steering mechanism is not required. Also, in this embodiment, bevel gears are adopted for steering, but a configuration such as a worm gear structure can also be adopted according to the internal space of the base, etc.

[0103] Figures 34A-34B are image diagrams showing the configuration of one wheel assembly in the guide mechanism. When referring to FIGS. 20B and 21A, at the bottom of the housing of the base 30, there is a guide wheel assemblyAn embedded guide groove 301 incorporating [it] is provided. The wheel assembly includes a swing arm 310, a guide wheel 31, a control bar 312, and a position sensor (not shown). Here, one end of the swing arm 310 is fixed to one end of the guide groove 301 via a shaft 3100, the other end of the swing arm 310 holds the guide wheel 31, and is connected to the end of the control bar 312 via a shaft 3120 at an intermediate position. The tip of the control bar 312 is fixed within the guide groove 301, the position sensor is disposed within the guide groove 301, and the guide wheel 31 is adjusted to descend into the guide groove on the running surface and for a trigger to be applied after a positioning signal is issued. In one embodiment, as a guide wheel electromagnetic solenoid, according to the principle of electromagnetic locking, the control bar 312 is set to electromagnetic locking. The state shown in FIG. 34A is a state where the control bar 312 is not energized. At this time, the control bar 312 does not generate an attraction force, and the guide wheel 31 is in a lowered state. Further, a structure such as a spring may be provided inside the control bar 312 or in the carrier to push the swing arm 310 and prevent the guide wheel 31 from bouncing upward. FIG. 34B shows a state where the control bar 312 is energized. At this time, the control bar 312 generates an attraction force, and the swing arm 310 is attracted to lift the guide wheel 31. Referring to FIG. 20B, in this embodiment, there are two sets of wheel assemblies, each set having two guide wheels, and the two sets are set vertically. When the AGV moves in one direction, as shown in FIG. 34(a), the two guide wheels 31 in that direction descend and engage with the guide groove. At this time, the positioning sensor senses and issues a signal. The other two guide wheels, as shown in FIG. 34B, have the corresponding positioning sensor stop sending a signal, and the guide wheels fit well into the guide groove to ensure the normal running of the AGV. When the AGV needs to turn 90 degrees, first, the two guide wheels in the original direction are lifted and stored, and it is determined that the current guide wheels are stored according to the positioning signal, and then a 90-degree turn is made. After steering, when the other two guide wheels descend into the guide groove and it is determined that the guide wheels fit into the guide groove according to the positioning sensor signal, operation is started.

[0104] FIG. 35 shows an AGV stand-alone control device according to an embodiment of the present invention, which is disposed inside a base 30 and includes a task management module 305, a movement control module 302, and a conveyance control module 303. Among them, the task management module 305 communicates with a host computer via a communication module 304, receives a conveyance task, and transmits information regarding the task completion process to the host computer. The conveyance task includes at least the ID electronic tag of the target cargo and the target position. In this embodiment, the target position is an identified warehouse cell. In one embodiment, it is also possible to receive from the host computer a planned travel route, that is, a travel route from the current position to the conveyance target position and the target position of the destination. The task management module 305 transmits the target position or the planned travel route to the movement control module 302.

[0105] When there is only a target position, the movement control module 302 calculates a travel route based on the current self-position and the position relationship data stored internally. When a travel route is received, it controls the drive motor and the steering motor according to the travel route, and travels and / or steers according to the planned route. Among these, the said travel route consists of a plurality of straight line sections. When the AGV of the present invention is applied to a three-dimensional warehouse, two adjacent straight line sections are at 90 degrees, that is, the AGV travels in both vertical and horizontal directions. In a straight line section, the movement control module 302 determines the total number of rotations that the drive motor 330 should rotate based on the distance of the straight line section and the travel distance of the wheel assembly 38 per rotation of the drive motor 330, determines the required number of drive pulses based on the total number of rotations, and can accurately control the travel distance of the AGV. When the straight line section ends and a 90-degree turn is required, the movement control module determines the number of pulses required for a 90-degree turn based on the radius of the steering idler wheel 344, turns the steering motor 340 by 90 degrees, and lowers the left and right guide wheels and raises the front and rear guide wheels. When steering, the drive idler wheels 334 rotate synchronously, and the synchronous rotation of the drive idler wheels 334 causes the wheel assembly to travel. Therefore, while sending pulses to the control steering motor 340, the corresponding number of pulses is sent to the drive motor 330 to offset the positional deviation when turning the idler wheel 334 by 90 degrees. Thereby, the AGV wheels in this embodiment can turn 90 degrees while remaining stationary, and the guide wheels 31 at the bottom of the base 30 can engage with the bottom guide groove even after turning.

[0106] When the AGV moves to the target position, for example, when it is the conveyance target position or the destination target position, the movement control module 302 sends a relevant notification to the conveyance control module 303.

[0107] The conveying control module 303 receives the ID information and the target position of the cargo to be conveyed sent from the task management module 305, and when receiving the notification sent from the movement control module 302, it determines whether the current position is the conveying target position or the destination target position based on the notification content. Then, it reads the ID tag at the current position via the electronic tag reader / writer 3052 outside the lower surface of the base 30, and determines whether it matches the target position in the conveying task. If it does not match, it sends the relevant information to the task management module 305, and the task management module 305 communicates with the host computer to identify the problem. If it corresponds, when the electronic tag of the cargo (for example, the parent shipping box 2) is read by the electronic tag reader / writer 3051 provided outside the upper surface of the base 30 and it is determined that it matches the target cargo (for example, the target parent shipping box) in the conveying operation, the lift motor 350 is activated and the lift rod 32 lifts the cargo. When the lift rod 32 rises to a predetermined position, the cargo is lifted from the original placement position. When the AGV reaches the target position of the destination, after the same identification and confirmation, the lift motor is activated and the lift rod 32 descends to set the cargo at the target position.

[0108] In one embodiment, the AGV is further provided with a weight sensor (not shown), and when the lift rod 32 lifts the cargo, the weight sensor can sense the weight of the cargo. The task management module 305 records the weight of the cargo and uploads it to the host computer.

[0109] In one embodiment, the AGV stand-alone control device further includes a positioning module. When the conveying environment is unstable and it stops at the target position, in order to be able to accurately position, the positioning module first controls the lift motor 350 to protrude the positioning bar 39 from the base 30. After accurate positioning, it controls the lift rod 32 to rise to convey the cargo.

[0110] In one embodiment, the AGV also has various sensors arranged on a laser sensor, a vision sensor, an infrared sensor, etc. that sense distance and position.

[0111] In one embodiment, the AGV can also include a laser SLAM (Simultaneous Localization and Mapping) or visual VSLAM system, which assists in tasks such as path planning, autonomous exploration, and navigation of the AGV in cargo transportation.

[0112] In the operation of the AGV, first, a driving route including one or more straight-line sections where two adjacent straight-line sections are perpendicular to each other is determined. Then, the AGV travels in the moving space of the warehouse cell according to the driving route. When it reaches the transportation target position, it protrudes the lift mechanism to lift the target cargo. And after reaching the target position at the destination while carrying the target cargo along the driving route, it retracts the lift mechanism to lower the target cargo. The target cargo is placed in the parent container located in the storage space of the warehouse cell, and an ID electronic tag is provided at the bottom of the parent container. An ID electronic tag is also provided on the bottom plate of the moving space of the warehouse cell. After the AGV reaches the transportation target position and the destination target position according to the driving route, it reads the ID electronic tag on the bottom plate of the moving space of the warehouse cell to identify whether the current position is the transportation target position or the destination target position. After identifying the transportation target position, it reads the ID electronic tag at the bottom of the parent container to identify whether the cargo at the transportation target position is the target cargo. When the transportation environment is unstable, when the AGV reaches the target position, it is forcibly positioned using the positioning bar after accurate positioning.

[0113] The present invention provides an AGV including various compact structures. For example, the partial structure of the steering assembly, the partial structure of the drive assembly, and the guide wheels are integrated, and the lift structures of the lift rod and the positioning rod are shared, significantly reducing the thickness of the AGV of the present invention and reducing the occupancy rate of the three-dimensional space. The AGV is thin, requires little usage space, and is very suitable for a new three-dimensional warehouse with high-precision control. It can operate normally even in a swaying truck, airplane, or ship, and can cooperate in various moving warehouses and fixed warehouses with the same specifications.

[0114] Sorting device example Each parent shipping box 2 stored in the three-dimensional warehouse of the present invention includes a plurality of child shipping boxes 7, and the destinations of the goods contained in these child shipping boxes 7 may or may not be the same. In order to improve the transportation efficiency, the present invention performs a plurality of goods delivery processes in the logistics process and sends the goods from the shipping place to the destination. Therefore, in the process of the flow of goods, it is necessary to sort the target goods that require delivery for each delivery. Therefore, the present invention provides a sorting robot and a sorting device for sorting the goods in the three-dimensional warehouse, and the AGV collaborative sorting robot in the three-dimensional warehouse sorts the next outbound goods according to the flow of the goods at the next outbound time.

[0115] In this specification, the child shipping box is used as an example, but those skilled in the art should understand that the child shipping box can be replaced by an existing express delivery package. In other words, the existing express delivery package can also be stored in the parent shipping box. Therefore, the sorting robot of the sorter can be replaced by a robot for sorting existing express delivery packages.

[0116] Sorting device example 1 Figures 36A - 36B are schematic diagrams of a sorting device applied to a three-dimensional warehouse according to an embodiment of the present invention. In this embodiment, the sorting device 6 includes a support unit 61, a moving unit 62, and a sorting robot 5.

[0117] Figures 36C - 40C show a sorting robot provided by an embodiment of the present invention. The sorting robot 5 provided by the present invention includes a balance arm 50, a grab module 51, and a drive unit 52. Among them, the balance arm 50 maintains balance during movement, and the grab module 51 for grabbing goods is attached to the end of the balance arm 50. The drive unit 52 is connected to the balance arm 50 and moves the balance arm 50 telescopically.

[0118] Referring to FIG. 37A, the balance arm 50 includes two or more arms 501 to which a first joint 500 is connected. One of the arms 501 includes an upper arm 503 and a lower arm 504 connected by at least a second joint 502. For the convenience of description, one end of the upper arm 503 and the lower arm 504 connected through the second joint 502 is called a connecting end, and the other end is called a free end. Each arm has two free ends, and the second free end of the first arm is connected to the first free end of the second arm through the first joint 500.

[0119] The upper arm 503 is configured, for example, by arranging four link bars 5031 in parallel in pairs, providing a connecting block 5032 at the free end, providing two shafts 5033 thereon, and connecting one link bar 5031 to both ends of each shaft. In order to reduce the distance between two parallel link bars during contraction and reduce the space occupied by the balance arm, one end of the two parallel link bars is designed in an arc shape, and the arc ends of the two link bars are located at the free end and the connection end respectively. Therefore, when the balance arm 50 is contracted, the two link bars 5031 can be arranged in parallel, and when the upper arm 503 and the lower arm 504 are in a contracted state, they can be fitted together to reduce the space occupied by the balance arm. As shown in FIG. 37B, the two arms 501 connected by the first joint 500 are adjacent to each other in parallel, and when in the contracted state, the upper arm 503 and the lower arm 504 movably connected by the second joint 502 are fitted together in the contracted state.

[0120] As shown in FIG. 37C, the second joint 502 includes a set of two connecting plates 5021 and a tie rod 5022. The two link bars of the upper arm that form the upper plane are connected via the connecting plate, and a shaft seat 5023 is provided on the connecting plate. Similarly, the lower arm also has the same shaft seat. A slide rail 5024 is provided on the connecting plate 5021. One end of the tie rod 5022 cooperates with the slide rail 5024, and the opposite tip is fixed to the shaft seat 5023. When the lower arm 504 is opened downward under the control of the movement control unit, the upper arm 503 and the lower arm 504 move the tie rod 5022 in the slide rail 5024, and the upper arm 503 and the lower arm 504 can be contracted or extended.

[0121] As shown in FIGS. 38A-38C, the drive unit 52 includes a drive main box 520, a drive motor for controlling the arm inside it, and a wire winding mechanism. In this embodiment, since there are two sets of arms, the two sets of arms are respectively controlled by two sets of motors and their wire winding mechanisms, that is, wire ropes 521 and 522. Here, referring to FIGS. 38A and 38B, the wire ropes 521 and 522 pulled out from the drive main box 520 are attached to the first free end connection block 5032a of the first arm via guide wheels, and the end of the wire rope 521 is connected to the connection block 5032b at the second free end of the first arm. In order to guide the wire rope 522 to the second arm, the wire rope 522 pulled out from the drive main box 520 is connected to the connection block 5032d at the second free end of the second arm via a guide wheel fixed to the connection block 5032b at the second free end of the first arm and the connection block 5032c at the first free end of the second arm.

[0122] FIG. 377 AC Referring to FIG. 37 B when the balance arm 50 is in the contracted state as shown in FIG. 37, the internal motor of the drive main box 520 controls the wire winding mechanism of the second arm to release the wire rope, as shown in FIG. 38 CObtain a state as shown. At this time, stop the release of the wire rope by the wire winding mechanism of the second arm, and let the wire winding mechanism of the first arm release the wire rope to obtain a state as shown in FIG. 38A. Since the balance arm 50 in this embodiment can individually control the operations of a set of arms, the traveling during extension and contraction becomes smooth. With the design of the single upper arm and the lower arm, the ratio of its own height to the vertical stroke can be 1:7 or more.

[0123] Referring to FIGS. 39A-39C, an image diagram of a sorting robot grab module according to an embodiment of the present invention is shown. In this embodiment, the grab module 51 includes a grab body 510 and a grab recognition part 512. Among them, the grab body 510 is fixed to the free end connection block 5032 of the lower arm of the balance arm. A guide rail is provided on the grab body 510, and there are a plurality of grab claws 511. As shown in the figure, two grab claws 511 are provided, and the fixed ends of the grab claws 511 are provided on the rail via sliders. By adjusting the position of the slider in the rail, the opening and closing dimensions of the grab claws 511 can be adjusted. In addition, the sliding of each grab claw 511 can be individually controlled according to the shape, size or position of different cargo handlers. Among them, the grab claws 511 can grab the cargo using the suction mode and / or the mechanical mode. When grabbing the cargo in the mechanical mode, the end structure of the grab claws 511 fits the handle structure of the cargo. For example, in this embodiment, the end of the grab claws 511 is provided with an inward concave structure. The handle on the child shipping box 7 protrudes outward and has an intermediate inward concave structure, which is called a ring claw 71 here. When the grab enters the concave part of the grab of the child shipping box 7, after the end of the grab claws 511 is aligned with the ring claw 71, the grab claws 511 move inward on the guide rail so as to fit into the ring claw 71, and when the balance arm 50 contracts, the child shipping box 7 is grabbed.

[0124] In addition, the grab claws can also adopt a suction mode, such as a vacuum suction type or an electromagnetic suction type. Those skilled in the art can obtain the specific structure of the suction type grab claws by referring to relevant technical documents.

[0125] The identification unit 512 is provided on the grab body 510 for identifying in the sorting of goods. The identification unit 512 can adopt technologies such as radio frequency identification, image recognition, two-dimensional code recognition, etc. according to the identification principle and the ID electronic tag type of the inner container 7. For example, in this embodiment, the identification unit 512 is an RFID reader / writer corresponding to the RFID ID electronic tag of the inner container 7. When the ID electronic tag of the inner container 7 is a two-dimensional code or a barcode, the identification unit 512 corresponds to a two-dimensional code / barcode reader / writer. Also, the identification unit 512 may be an image recognition unit including a camera and an image recognition sub-unit, the camera acquires an image of the goods or the goods ID electronic tag, and the image recognition sub-unit identifies the goods based on the acquired image or determines the distance of the current position from the goods.

[0126] As shown in FIGS. 40A - 40C, an image diagram of the sorting robot grab module according to another embodiment of the present invention is shown. In this embodiment, the grab module 51 further includes a damping plate 513 movably connected to the grab body 510 via a shaft. When the grab for gripping grabs the sorted goods, it fits between the grab claws and the sorted goods to prevent rattling of the goods. In order to fit well between the grab claws and the sorted goods, this embodiment includes one or more damping plates. For example, one end of it is connected to the grab body 510 by a shaft, and the rotatable damping plate 513 can be deployed or retracted according to different specifications and different sizes of the inner container 7. As shown in FIG. 40A, when all the damping plates 513 are stored, they are completely stored in the lower part of the grab body 510. Alternatively, as shown in FIG. 40C, the damping plate 513 is deployed to correspond to the large area of the inner container 7. In order to achieve sufficient rigidity and damping elasticity, the damping plate 513 has two upper and lower layers. The upper layer is a rigid plate, and the lower layer is a damping elastic plate, which meets the requirements of rigidity and damping elastic shock absorption.

[0127] In addition, the sorting robot includes a drive unit and a grab module connected by signals respectively. According to the received sorting task, the grab module and the drive unit complete the sorting of the target child shipping box. For example, it controls the operation of the internal motor of the drive parent shipping box 520 and controls the extension and retraction of the balance arm by controlling the wire rope. Also, for example, by controlling the grab claw 511, it can control the extension and retraction of the motor and the wire rope, etc., and by controlling the slide of the grab claw 511 on the rail, the opening and closing dimensions of the grab claw 511 can be changed. There is also control of the damping plate, etc.

[0128] Also, various sensors (not shown), such as one or more positioning sensors, anti-collision sensors, laser SLAM (Simultaneous Localization and Mapping) systems, or visual VSLAM systems, are included. They assist in tasks such as path planning, autonomous exploration, and navigation of the sorting robot during cargo sorting.

[0129] When referring to FIGS. 36A - 36B, the support unit 61 is connected to at least one sorting cell 60. The sorting cell 60 corresponds to a warehouse cell provided with a guide groove 631 for a moving device such as an AGV to move. A support block 612 for supporting a storage device such as the parent shipping box 2 to be sorted is provided on the pillar.

[0130] The moving unit 62 includes a slide rail 621 and its drive motor 622, and a beam 623 and its drive motor 624. Among these, slide rails 621 are respectively fixed to the left and right sides of the tip of the support unit 61. In this embodiment, the slide rail 621 is a multi-stage slide rail, and for each stage of the slide rail, in order to expand the moving range of the sorting robot 5, a drive motor 622 that can extend the slide rail forward and is drivable is provided. Both ends of the beam 623 are respectively fixed to the slide rail 621, and a slide rail and its drive motor 624 are provided on the beam 623. The sorting robot 5 is fixed to the slide rail, and the drive motor 624 drives the slide rail and can move the sorting robot 5 in two directions in the x direction. The drive motor 622 moves the beam 623 in two directions in the y direction and moves the sorting robot 5 in two directions in the y direction. On the upper part of the sorting robot 5, as shown in FIGS. 36C - 36D, a connecting and rotating mechanism including a rotating shaft 632 and a drive motor 633 is provided. The rotating shaft 632 is connected to the beam 623 via a bracket, and the drive motor 633 is connected to the rotating shaft 632 via a timing belt, and the entire sorting robot 5 can be rotated.

[0131] In this embodiment, the track surface of the slide rail 621 faces the side surface, and the track surfaces of the two left and right slide rails 621 are provided facing each other. However, those skilled in the art will understand that the track surfaces of the two slide rails 621 may also face upward simultaneously. On the other hand, the rail surface of the beam 623 in this embodiment faces downward, and of course, it can also stand up toward the side surface.

[0132] Also, the moving unit 62 in this embodiment is provided on the upper part of a support unit 61 fixed to the upper part of the sorting cell 60 (corresponding to a warehouse cell). The total height of the support unit 61 plus the slide rail 621 of the moving unit 62 is less than or equal to that of one warehouse cell. The sorting robot 5 takes out goods such as the child shipping box 7 from the parent shipping box 2 in one sorting cell, and the slide rail 621 is put into the parent shipping box 2 of another sorting cell 60 as the moving unit 62 moves.

[0133] As shown in FIGS. 41A - 41H, an image diagram of the grasping of goods by a sorting robot according to one embodiment of the present invention is shown. As shown in FIGS. 42A - 42B for the sorting operation flow of the sorting robot 5, in the standby state, the sorting robot 5 is positioned above the first sorting cell 60, where the parent shipping box 2 is arranged in the first sorting cell 60, and the child shipping box 7 is arranged in the parent shipping box 2 (not shown in FIGS. 41A - 41C, see FIG. 41E). As shown in FIG. 41A, the sorting robot 5 is in a retracted and standby state.

[0134] One sorting process of the goods by the sorting device 6 is as follows as shown in FIGS. 42A - 42B.

[0135] In step S6101, the balance arm is deployed, the grab module 51 is lowered and the lowering height is monitored. The motor inside the drive unit 52 drives the wire winding mechanism, releases the wire rope of the second arm, and the lower arm of the second arm extends downward. FIG. 41B (not shown, see FIG. 38C or FIG. 36C) shows the state of the sorting robot 5. The motor inside the drive unit 52 drives the wire winding mechanism, releases the wire rope of the first arm, and the lower arm of the first arm extends downward. The state of the sorting robot 5 is shown in FIG. 41C (not shown, see FIG. 38A). Also, as shown in FIG. 41D, during the process of deploying the balance arm, the position correspondence relationship with the child shipping box 7 can be adjusted by rotating the sorting robot 5. During the descent of the balance arm 50, the distance from the child shipping box 7 is measured by an identification unit built into the sorting robot 5, such as a camera, a laser SLAM system, or a visual VSLAM system.

[0136] In step S6102, it is confirmed whether the grab module 51 has reached an appropriate height. For example, if it reaches a distance of about 20 - 50 mm from the top of the child shipping box 7, step S6103 is executed; otherwise, it returns to step S6101.

[0137] In step S6103, the RFID reader / writer built into the sorting robot 5 reads the RFID information of the target child shipping box 7.

[0138] In step S6104, it is determined whether the target sub-bin 7 is the designated target. If so, step S6105 is executed to upload the ID information of the sub-bin to the logistics control module system and proceed to step S6107. Otherwise, proceed to step S6106.

[0139] In step S6106, the height and position of the sorting robot 5 are adjusted, and with the other sub-bin as the target, return to step S6103.

[0140] In step S6107, according to the size of the target sub-bin 7, the damping plate 513 is opened at an appropriate angle, which usually does not exceed the size of the sub-bin.

[0141] In step S6108, the balance arm continues to descend, and the horizontal coordinates are finely adjusted until the sensor senses that the grab claw 511 and the ring claw 71 of the target sub-bin 7 are concentric and the grabbing height is reached.

[0142] In step S6109, the grab claw 511 grabs the ring claw 71. Among them, when the grab claw 511 and the ring claw 71 of the target sub-bin 7 are concentric and the grabbing height is reached, the grab claw 511 contracts to tightly clamp the ring claw 71, as shown in Fig. 41E.

[0143] In step S6110, the RFID reader / writer built in the sorting robot 5 updates the RFID information of the parent bin 2. That is, the ID binding between the target sub-bin 7 and the parent bin 2 is released and uploaded to the logistics control module of the cloud system.

[0144] In step S6111, the balance arm of the sorting robot 5 lifts the target sub-bin 7 to an appropriate height, which is 2 - 5 cm higher than the upper part of the parent bin 2, in the state shown in Fig. 41F.

[0145] In step S6112, the sorting robot 5 horizontally moves to the second sorting cell. Here, the second sorting cell is adjacent to the current first sorting cell in the y direction. The drive motor 622 extends the slide rails 621 on both sides of the support unit forward, and extends the sorting robot 5 forward with the beam 623 fixed to the slide rails. It is in the state as shown in FIG. 41G. It horizontally moves to the second sorting cell. It is in the state as shown in FIG. 41H.

[0146] In step S6113, the sorting robot 5 uses a sensor to confirm that its current position is above the second parent box.

[0147] In step S6114, the balance arm 51 of the sorting robot 5 descends to the second parent box and finely adjusts the horizontal coordinates while monitoring the current position of the target child box 7. In one embodiment, the sorting robot 5 sets a 3D coordinate system in its sorting area and monitors the 3D coordinates of the target child box 7, so as to determine whether the target child box 7 has reached the specified position where it should be placed.

[0148] In step S6115, it is determined whether the target child box 7 has reached the specified position. If it has reached the specified position, in step S6116, the grab claw 511 releases the ring claw, places the target child box 7 at the specified position in the second parent box, binds the ID information of the target child box 7 and the second parent box, and uploads it to the logistics control module. If the target child box 7 has not reached the specified position, it returns to step S6114.

[0149] In step S6117, the balance arm is retracted and returns to the standby state.

[0150] Sorting device example 2 In this embodiment, when a moving device such as an AGV is above the storage device, that is, in a warehouse cell with a structure as in Example 2 or 3, the support unit of the sorting device may be provided on the side surface of the sorting cell. The moving unit is a sorting robot that grabs the child bins from the side surface of the sorting cell. As shown in FIG. 43, below the sorting cell 60a is a storage space where a storage device such as a parent bin is arranged. The partition plate 63a serves as the running surface of the moving device in the moving space, and a guide groove 631a for the AGV to run freely is provided. The support unit 61a is connected to the storage space of the sorting cell 60a from the side surface, and two slide rails 621a are provided on the upper and lower sides of both side surfaces respectively. The sorting robot (not shown) is connected to the rail 621a via a beam 623a. It has a structure of a sorting robot like the configuration of Example 1 of the sorting device. It has a balance arm that can extend in the x direction, extends into the sorting cell 60a, and can slide in the y direction along the slide rail 621a, and can move to the side surface of a second sorting cell (not shown). The second sorting cell and the sorting cell 60a are adjacent in the y direction.

[0151] The parent bins 2c in the sorting cell 60a and the second sorting cell may be open on the side. As shown in FIG. 11, the side surface of the parent bin 2c is a door 201c that can slide in both the up and down directions. Its side surface may be entirely a plate or lattice-shaped as shown in FIG. 5A. The parent bin 2c in FIG. 11 is located in the sorting cell 60a in FIG. 43. At the start of sorting, the door 201c opens in both the up and down directions, and the balance arm of the sorting robot can be put into the parent bin 2c. The grab body 510 of the grab module 51 rotates until it is parallel to the upper part of the child bin 7, and the grab claws grab the child bin 7 so that the grab claws are parallel to the grab claws inside the child bin 7. The balance arm contracts, and the child bin 7 is taken out from the parent bin 2c. The slide rail 621a is extended in the y direction, and the sorting robot is moved to the second sorting cell. The sorting process is the same as that in Example 1, and the description is omitted here.

[0152] FIG. 44 is a schematic block diagram of a sorting device control system according to an embodiment of the present invention. In this embodiment, the sorting device 6 may include a sorting system 66 that performs sorting tasks. Among them, the sorting subsystem 66 includes a communication module 661, an identification module 662, an information modification module 663, and a movement control module 664. The communication module 661 receives a sorting task including at least a target sub-bin list, and the target sub-bin list includes at least target sub-bin ID information, originally bound first target parent-bin ID information, and second target parent-bin ID information for arranging the target sub-bin. The identification module 662 corresponds to the ID electronic tags of the parent bin and the sub-bin. When the ID electronic tag is an RFID electronic tag, the identification module is an RFID reader / writer. It may be the same component as the identification unit of the sorting robot 5, and can identify whether the parent bin and the sub-bin therein in the sorting cell are the first target parent bin and the target sub-bin. When the information modification module 663 separates the target sub-bin from the first target parent bin, it releases the ID binding between the target sub-bin and the first target parent bin. When the target sub-bin is placed in the second target parent bin, the ID of the target sub-bin and the second target parent bin are bound. The operation control module 664 controls the operation flow required for the sorting robot 5 and the movement unit 62 to complete one sorting task. FIGS. 41A-41H are one of the sorting flows. The description is omitted here.

[0153] The present invention provides a sorting robot suitable for a three-dimensional warehouse, with a low occupancy rate of the warehouse space, and the sorting time and location of goods are not restricted. The parallel arm structure of the sorting robot stabilizes the posture of the child carton during grasping and transportation, and further accommodates child cartons of various standard sizes. By providing a deformable elastic damping plate, the rattling during child carton transportation can be effectively suppressed. The grab module of the sorting robot can be designed to be adsorption or mechanical in combination with intelligent identification units such as cameras, RFID, two-dimensional code readers, and other sensors, and can accurately identify and grab the child cartons. The drive unit of the sorting robot can quickly and smoothly control the telescopic and moving movements of the robot, and the timing belt adopted during control can achieve low torque, miniaturization, and accurate positioning of the transmission device.

[0154] As shown in FIG. 45, a structural image diagram of a three-dimensional warehouse incorporating a storage device, a moving device, and a sorting device is shown. Note that the structure of the three-dimensional warehouse is as shown in the above-described embodiment of the three-dimensional warehouse structure, and the description will not be repeated here. The goods in the warehouse are stored in the child carton 7, and a plurality of child cartons 7 are stored in the parent carton 2. The parent carton 2 is placed in the storage space in the warehouse cell of the three-dimensional warehouse. The warehouse cell has unique ID information. For example, as ID information, a number, for example, the number C0F11001 represents the first location in the first row, C0F22001 represents the first location in the second row of the second layer, C0F34002 represents the second location in the fourth column of the third layer, etc. The first three characters represent the identification of the logistics warehouse. In order to easily obtain the ID information of the warehouse cell, an electronic tag RFID or a two-dimensional code is used as the ID electronic tag of the warehouse cell to record the number information of each warehouse cell.

[0155] In the following description, RFID will be taken as an example for explanation. Similarly, the parent shipping box 2 and the child shipping box 7 each have a unique ID tag, which is numbered, for example, with letters, numbers, etc. For example, the ID of the child shipping box 7 is A300x180x180, and the ID of the parent shipping box 2 is identified as M500B700C100. Therefore, by binding the ID information of the child shipping box, the parent shipping box, and one warehouse cell of the three-dimensional warehouse, the location where the goods have unique location information throughout the logistics system can be identified. And when any of the above changes, for example, when changes occur such as changing the parent shipping box, changing the warehouse cell, changing the three-dimensional warehouse, etc., the ID binding relationship can be changed in real time to ensure accurate real-time location information of the goods. The small and ultra-thin AGV3 in the three-dimensional warehouse is located in the moving space of warehouse cell 1 and transports the parent shipping box 2. Depending on the size of the three-dimensional warehouse, different numbers of sorting devices 6 are distributed in the three-dimensional warehouse Cloth , connected to adjacent warehouse cells and integrated into the warehouse cells. The sorting device 6 includes two sorting cells 60 connected to other warehouse cells 1 in the three-dimensional warehouse. It passes through the warehouse such as AGV3. By controlling the moving device, the parent shipping box 2 is transported and coordinated with the sorting device 6 to complete the sorting.

[0156] As will be understood by those skilled in the art, when a three-dimensional warehouse including a child shipping box, an AGV, and a sorting device is connected to other components and structures, it can constitute a home delivery locker and other fixed warehouses used at the end of the logistics.

[0157] Delivery lockers at the end of the logistics chain Figures 46A - 46B are configuration images of a home delivery locker according to an embodiment of the present invention. In this embodiment, the home delivery locker 10 includes a housing main body 110. At least one housing door 111, a folding door, a door opened by a support rod, or a shutter door in the figure is provided on the housing main body 110. The inside of the housing 110 is a three - dimensional warehouse having a plurality of storage layers composed of a plurality of warehouse cells, and the number of storage layers and the number of warehouse cells per layer are determined according to specific needs. One or more AGVs 3 are arranged inside the three - dimensional warehouse according to the scale to transport the parent shipping boxes. A lifting system is used to transport goods between different storage layers. In this embodiment, a lifting system is installed on the housing door 111. Among them, the lifting platform 42 can move up and down along the support column, and guides the AGV 3 above it to different storage layers. A sorting device 6 is also provided inside.

[0158] To realize docking with the outside, for example, docking with customers, home delivery robots, various cargo transportation devices, etc., the home delivery locker further includes a lifting docking frame and also includes a rail 120 attached to the housing door 111. The slide rail 121 is interlocked with the docking plate 122. The docking plate 122 is the running surface of the AGV 3 and is provided with a guide groove engaged with the guide wheel 31. As shown in the figure, both the left and right sides of the docking plate 122 are the running surfaces of the running wheels, and the center is the guide groove.

[0159] In this embodiment, the lifting docking frame faces the position of the lifting system 4 in the three - dimensional warehouse, and the docking plate 122 can dock with the lifting platform 42. In order to accurately dock the two and facilitate the AGV running, positioning sensors such as position switches and optical proximity sensors are provided at appropriate positions on the docking plate 122 or the lifting platform 42. When the two are accurately docked, the positioning sensor emits a signal. Based on this signal, it can be determined that the docking of the docking plate 122 and the lifting platform 42 is completed.

[0160] In one embodiment, in addition to the side housing door 111, the other sides of the delivery locker 10 also include a housing door 112 for customers. As shown in FIGS. 47A - 47B, on the other sides of the housing body 110, housing doors 112 are provided corresponding to each warehouse cell, for example, the surface opposite to the housing door 111. The housing door 112 can be locked by an electronic lock, and the opening and closing of the housing door 112 can be automatically controlled by a door control mechanism. FIG. 47B shows an image diagram when the housing door 112 is open. This corresponds to one warehouse cell, contains the parent delivery box 2, and the child delivery box 7 is contained in the parent delivery box 2. The child delivery box 7 may be a child delivery box provided to the shipper or a child delivery box having the goods that the consignee is scheduled to receive.

[0161] In some embodiments, the upper part of the delivery locker 10 is also provided with a drone connection port and a cover plate 112. It is used to receive the child delivery box transmitted from the drone or provide the child delivery box to the drone.

[0162] As understood by those skilled in the art, by combining the three - dimensional warehouse including the child delivery box, AGV, and sorting device with the transportation equipment, various cargo transportation devices for cargo transportation of the present invention can be configured.

[0163] Cargo Transport Device #1: Mini Truck FIGS. 48A - 48B are configuration image diagrams of a mini - truck according to one embodiment of the present invention. In this embodiment, the mini - truck 9a further includes the three - dimensional warehouse 91 in Embodiment 2, the parent delivery box 2 and the child delivery box 7 as storage devices, the AGV 3 as a moving device, the sorting device 6, and the vehicle 90. The vehicle 90 is a small - scale cargo transportation device and forms the mini - truck.

[0164] The vehicle 90 includes a housing frame 93 and a housing cover 92. The housing cover 92 is connected to the housing cover 93 to form a housing body having an internal space, and the three - dimensional warehouse 91 is provided in the internal space of the housing body.

[0165] The housing cover 92 includes one or more housing doors 94, and the area of the housing door is an integral multiple of the warehouse cells in the automated storage and retrieval system. In this embodiment, the housing door 94 surrounds the entire rear part of the parent tote box, and further includes a plurality of support rods 95, such as an electro-hydraulic actuator, so as to be able to hold the housing door in an open state. Both ends of the support rod 95 are respectively connected to the housing door 94 and the housing frame 93, and when the housing door 94 is opened, the housing door 94 can be supported and fixed.

[0166] In this embodiment, it further includes a lifting docking device including a lifting rail 961, a lifting stand 962, and a docking plate 963. The lifting rail 961 is fixed to the housing frame 93 inside the housing door 94. The lifting stand 962 is provided in cooperation with the lifting rail 961 and can move up or down along the rail 961. One end of the docking plate 963 is movably connected to the end of the lifting stand 962, and the upper surface is the running surface of the moving device. As shown in FIG. 48A, the docking plate 963 can be opened outside the housing space when the housing door 94 is opened, and can also be stored so as to close the housing door 94 as shown in FIG. 48B.

[0167] In this embodiment, the length of the docking plate 963 conforms to the width of one warehouse cell. Of course, the amount of cargo exchange during docking can be increased according to the width of the housing door 94.

[0168] Referring to FIG. 48A, an air suspension 97 is also provided between the housing frame 93 of the cargo transportation device in this embodiment and the vehicle body of the vehicle 90 to reduce vibration during running and docking.

[0169] Cargo Transport Equipment 2: City Circulation Truck Figures 49A - 49B are configuration images of an in - city circulation truck according to an embodiment of the present invention. In this embodiment, the transportation device 90 in the urban - area circulation truck 9b is a medium - sized or large - sized cargo transportation device. Among them, the entire housing cover at the rear of the housing is the housing door 941, and as shown in Figure 49B, a part of the side and upper part of the housing cover may be opened upward as the wing 942. This embodiment includes an X - Y drive table 98, an X - direction rail 981, and a Y - direction rail 982 provided at the bottom of the housing cover 93. The X - Y drive table 98 is driven by a driving device and is slidable in the X - direction and Y - direction.

[0170] The three - dimensional warehouse 91 is fixed to the X - Y drive table 98 and is movable along with the movement of the X - Y drive table 98. As shown in Figures 50A - 50B, it is an image diagram of the three - dimensional warehouse 91 in the cargo transportation device 9b sliding together with the X - Y drive table 98.

[0171] The cargo transportation device in the present invention further includes a control system and a connection structure in which, according to the docking with and distribution of the cloud system, the control system of the cargo transportation device has different forms.

[0172] Cargo transport equipment control system embodiment 1 Figure 51 shows a schematic block diagram of a cargo transportation device control system according to an embodiment of the present invention. In this embodiment, the functional module for controlling the vehicle in the control system 99 is built into the cargo transportation device and includes a communication module 990, a navigation module 991, and a docking control module 992. The control of the management, sorting, transportation, etc. of the goods in the warehouse is performed by a three - dimensional warehouse management system composed of a local module or a cloud logistics control module.

[0173] The communication module 990 interacts with the cloud system, and the navigation module 991 that transfers data and information between local and cloud determines the driving route of the vehicle based on the planned route. Among them, the driving route of the cargo transport device is planned and calculated by the cloud system and sent to the cargo transport device. Also, it may be calculated by the cargo transport device 993 based on the docking point obtained from the cargo transport device. Further, the positioning device 993 acquires the real-time position of the cargo transport device and transmits the real-time position information to the cloud.

[0174] The docking control module 992 determines the docking mode based on other cargo transport devices to be docked and controls the operation of the components according to the determined docking mode. FIG. 52A shows a schematic block diagram of a docking control module according to an embodiment of the present invention. In this embodiment, the docking control module 992 includes a housing door control unit 9920 and a lifting docking device control unit 9921. In one embodiment, the housing door includes an electronic lock 950 and an actuator 951, for example, a drive motor of an electro-hydraulic actuator and its hydraulic system. The housing door control unit 9920 can control the opening and closing of the housing door by controlling the housing door electronic lock 950 and the actuator 951. The lifting docking device control unit 9921 controls the lifting, opening, and closing of the docking plate. In one embodiment, the lifting stand includes a motor 9620 such as a stepping motor or a servo motor, and controls the lifting and lowering of the lifting stand on the lifting rail. A corresponding motor 9630 is provided on the docking plate, and is controlled to connect to the end of the lifting stand 962 by the docking plate motor 9630. For example, the rotation of the connecting shaft at the connecting location is controlled by the motor, and the docking plate 963 can be arranged parallel to the lifting stand 962 for storage, or the docking plate 963 can be lowered to make the docking plate 963 perpendicular to the lifting stand 962.

[0175] In addition, in order to ensure the accurate docking of this cargo transportation device with other cargo transportation devices, this embodiment is equipped with various positioning sensors. For example, a docking plate positioning sensor 9631 is provided on the docking plate. When docking the docking cargo transportation device to the warehouse cell using the docking plate 963, after the two are accurately docked, the docking plate positioning sensor 9631 emits a signal, and whether the signal is received can be used to determine the completion of docking.

[0176] A lift positioning sensor 8000 is also provided at the preset position of the docking plate 963. When the bottom of the delivery robot 8 docked thereto reaches the preset position, the lift positioning sensor 8000 emits a signal, and it can be determined that the docking of the delivery robot and the docking plate 963 is completed. At this time, the lifting stand 962 is safely lifted and lowered so that the running surface of the housing movement space of the delivery robot 8 is docked to the warehouse cell in the three-dimensional warehouse. At this time, corresponding to the docking of two warehouse cells, in one embodiment, a positioning sensor 1130 is provided in the docking warehouse cell of the cargo transportation device 9. After the warehouse cell of another cargo transportation device and the warehouse cell in the three-dimensional warehouse are accurately docked, the warehouse cell positioning sensor 1130 is triggered to emit a signal. For example, when the delivery robot is lifted to a certain position and the running surface of the parent shipping box movement space is docked to the warehouse cell of the cargo transportation device 9, the warehouse cell positioning sensor 1130 can be triggered to emit a signal. Based on this signal, it can be known that the docking is accurate and the docking is completed.

[0177] When an X-Y drive table is provided in the cargo transportation device, the docking control module 992 further includes an X-Y drive table control unit 9922. To enable the X-Y drive table to move along the X-direction rail 981 or the Y-direction rail 982 on the housing frame 93, an X-direction actuator 9810 and a Y-direction actuator 9820 such as a motor and a hydraulic actuator are provided on the X-Y drive table. According to the specific actuator type, the X-Y drive table control unit 9922 outputs a drive signal for controlling the movement of the X-Y drive table along the X-Y drive table 981 or the Y-direction rail 982, and can control the movement amount.

[0178] The local module of the control system further includes an air suspension control module 994 for adjusting the air pressure of each air suspension when docking with other cargo transportation devices or the cargo transportation device, so that the horizontal level of the automated storage and retrieval system can be adjusted to enable the accurate docking of the automated storage and retrieval systems of the two cargo transportation devices.

[0179] In this embodiment, the management system of the automated storage and retrieval system includes a movement control system 162, a cargo management system 161, and a sorting system 64, mainly controlling the running of the AGV and the sorting device 6, and performing operations such as outbound, inbound, and exchange of goods. In one embodiment, the movement control system 162 is located locally and includes a travel control module 1621 for controlling the AGV and a lift control module 1622 for controlling the lift system. Here, the travel control module 1621 is the upper control module of the AGV 3 and is mainly used for functional units such as task management, vehicle drive, route planning management, traffic management, and communication management of multiple AGVs in the warehouse.

[0180] Among these, the task management function unit provides an execution environment for the AGV stand-alone. Based on the priority and start time of tasks, it provides various operations for the AGV stand-alone, such as starting, stopping, and canceling multiple AGVs. The vehicle drive function unit is responsible for obtaining the AGV state, issuing a permission request for the driving segment to the traffic management function unit, and sending the confirmed segment to the AGV. The route planning function unit calculates the shortest driving route of the AGV according to the principle of the shortest driving time of the AGV according to the needs of the cargo transportation task, and controls the driving process of the AGV. The traffic management function unit provides an automatic avoidance countermeasure for AGVs according to the AGV driving state and the in-warehouse AGV driving route situation.

[0181] A wireless communication method is adopted between the driving control module 1621 and the AGV stand-alone system. The driving control module 1621 communicates with multiple AGV stand-alone systems in a polling manner. The driving control module 1621 can communicate with other upper-level machines, such as the cloud-related logistics control module, in a TCP / IP manner. An AGV is provided with a stand-alone control device. After receiving the transportation task and its instructions from the upper-level system driving control module 1621, it undertakes functions such as navigation, guidance, route selection, vehicle driving, steering, loading and unloading operations of the AGV stand-alone, and completes the transportation task. This includes a task management module 305, a movement control module 302, and a transportation control module 303. Specifically referring to the above-mentioned AGV embodiments, the description is omitted here.

[0182] The lifting control module 1622 controls the lifting table drive mechanism 163 of the lifting system. Among them, the lifting table drive mechanism 163 adopts a servo system, and the lifting control module 1622 transmits drive information to the servo system according to the lifting stroke, so that the lifting table reaches the preset position. Among them, in the normal state, the servo system can accurately stop at a predetermined position, but due to the unstable state of the stereoscopic warehouse during movement, the position reached by the lifting table deviates from the original predetermined position. When the lifting table deviates from the original predetermined position, the docking state between the lifting table and the warehouse cell becomes poor, making it difficult for the AGV to travel and even causing damage. Therefore, in one embodiment, a plurality of position sensors are provided on the columns at the docking locations of the warehouse cells on each floor, so that the lifting table can be accurately stopped at a predetermined position. In addition, a weight measurement and analysis system is built into the lifting table, and according to the weight of the goods loaded on the lifting table, the magnitude of the output voltage and current required to execute the speed and acceleration set for each lifting stroke is determined.

[0183] The cargo management system 161 and the sorting system 64 can be located in the cloud. For example, the sorting system 64 is a sorting control module in the cloud, and the cargo management system 161 is a cargo monitoring module on the cloud. Here, the cargo management system 161 is used to maintain and manage the cargo information and equipment information in the stereoscopic warehouse 91, such as the current cargo order information, logistics information, binding relationship between the cargo and the child carton and the parent carton, and binding relationship between the parent carton and the warehouse cell in the warehouse. It also includes the number and ID information of the AGVs in the current warehouse, the ID information of the sorting devices, and the position distribution information.

[0184] The sorting system 64 communicates with the sorting device 6 and the AGV 3 via the communication module 990, and assigns sorting tasks and transportation operations. The operation control module 1621 in the operation control system 162, as the upper control module of multiple AGVs 3 in the warehouse, performs task management, vehicle driving, route planning management, traffic management, communication management, etc. on the multiple AGVs 3 according to the AGV transportation tasks transmitted from the sorting system 64, so that each AGV 3 completes the corresponding transportation task. The sorting device 6 receives a sorting task to complete the sorting of the designated target sub-bin

[0185] In one embodiment, as shown in FIG. 52B, the sorting module 64 includes a cargo statistics module 642 and a task planning module 643. The cargo statistics module 642 analyzes the address information of each parent bin and its internal sub-bins in each cargo transportation device based on the sorting address, and determines the target parent bin and the target sub-bin. The task planning module 643 determines tasks corresponding to each sorting device and each moving device based at least on the target storage device distribution information, sorting device distribution information, and the number and position information of the moving devices in the warehouse. In one embodiment, the task planning module 643 includes a sorting task section 6431 and a transportation task section 6432

[0186] For the target sub-bin determined by the cargo statistics module 642, the sorting task section 6431 obtains the specification information of the target sub-bin based on the cargo information, determines the target parent bin that stores the sorted target sub-bin, and obtains a list of target sub-bins. The target sub-bin list includes at least target sub-bin ID information, the original bound target parent bin ID information, the target parent bin ID information that stores the target sub-bin after sorting, and the corresponding warehouse cell ID information. As shown in the following table

[0187] TIFF0007696643000001.tif36169

[0188] For the sake of easy explanation, here, the target parent bin where the target child bin is located is called the first target parent bin, and the target parent bin that stores the target child bins sorted according to the specifications of the target child bins is called the second target parent bin.

[0189] The sorting work unit 6431 allocates an equal number of sorting tasks to each sorting device with near-field priority according to the distribution of the first target parent bin, the second target parent bin, and the sorting device in the three-dimensional warehouse. Or, the sorting task is determined based on the principle of the minimum time required for processing. In this case, sorting one target child bin is called a sorting task.

[0190] The transport task unit 6432 is for allocating transport tasks to each mobile device in real time according to the distribution of the mobile device, the sorting device, and the target parent bin. The transport task is to transport one target parent bin to the sorting cell of the sorting device, or transport the first target parent bin sorted in the sorting cell to its warehouse cell, or transport the sorted second target parent bin to the empty warehouse cell in the shipping area. Therefore, the transport task sent to the mobile device includes the parent bin ID information, the warehouse cell ID information where the parent bin is located, and the warehouse cell ID information for storing the parent bin. Among them, the warehouse cell for storing the parent bin may be a sorting cell, a normal warehouse cell, or a warehouse cell in the shipping area.

[0191] The first target parent bin and the second target parent bin required for sorting can be transported by one mobile device or two different mobile devices. After the mobile device finishes transporting, it stops until the sorting is completed, and can transport again or perform other transport operations after transporting.

[0192] The goods management system 161 maintains the binding of in-warehouse child containers, parent containers, and the binding between parent containers and warehouse cells. For example, when the first target parent container is removed from the first warehouse cell, the binding between the first target parent container and the first warehouse cell is released. When the first target parent container is placed in the sorting cell, the binding between the first target parent container and the sorting cell is established. When the first target parent container is sorted and moved from the sorting cell, the binding between the first target parent container and the sorting cell is released. Similarly, the same ID binding is set and released for the second target parent container.

[0193] Cargo transport equipment control system embodiment 2 In this embodiment, as shown in FIG. 53, the cargo transport device control system includes a vehicle control module and a three-dimensional warehouse management system. The vehicle control module includes the navigation module 991, docking control module 992, positioning device 993, and air suspension control module 994 of the foregoing embodiments. The three-dimensional warehouse management system communicates with the cloud control module, receives exchange tasks, and the exchange tasks include, for example, docking locations, goods to be exchanged during docking, etc. The vehicle control module is connected to the three-dimensional warehouse management system and moves to the docking location according to the planned route according to the docking location in the exchange task, and controls the housing door, lifting frame, docking plate, X-Y drive table, or air suspension in the vehicle at the docking location to dock with other cargo transport devices. The three-dimensional warehouse management system in this embodiment is built into the cargo transport device and mainly controls the conveyance of the AGV3 during cargo sorting and inbound / outbound. It is combined with the lifting system 4 of the three-dimensional warehouse so that each AGV3 runs on the optimal route. The sorting system 64 in the three-dimensional warehouse management system determines the sorting task and the conveyance operation of the AGV during sorting as the upper computer of the sorting system of the sorting device. The sorting device 6 completes the sorting of the exchange goods before docking.

[0194] Delivery robots at the edge of logistics Figure 54 is an overall configuration diagram of a home delivery robot according to an embodiment of the present invention. The home delivery robot 8 of this embodiment includes a base 80, a housing 81, a traveling mechanism, and an interactive mechanism 83. Among these, referring to FIGS. 55 and 56, the base 80 houses a base case 800, various components, and devices. For example, a drive assembly 84 and a steering assembly 85 corresponding to the traveling mechanism, a motor 86 that controls the opening and closing of the top cover 811 and the front cover 812 (see FIGS. 59A - 59D) of the housing 81, and an electric box 87 that integrates electric components, a power source, etc. These components and devices are inside the cover 801, and timing belts 861 connected to the output shaft of the motor 86 are attached to both sides.

[0195] Referring to FIGS. 57 - 58, a housing bottom plate 810 is attached to the base case 800, and a vertical guide groove 8100 for guiding the travel of a moving device such as an AGV that enters the housing 81 is provided on the housing bottom plate 810. Two vertical side frames 811 are provided on the housing bottom plate 810, and support blocks 8110 are provided on each side frame pillar facing inward. By supporting the parent delivery box with the support blocks 8110 on the four pillars, the upper part of the support block 8110 constitutes a storage layer, and a moving layer is formed between the lower part of the support block 8110 and the bottom plate 810, providing a space for the travel of the AGV. Two bearings 8111 for attaching a timing pulley and its shaft are provided at both ends of the side frame 811. On the back side of the housing bottom plate 810, a pillar 812 for connecting various communication cables at the bottom to the upper interactive mechanism 83 is provided.

[0196] FIGS. 59A - 59D are image diagrams showing the configuration of a housing cover according to an embodiment of the present invention. The housing in this embodiment can be opened and closed Ruto and includes a top cover 813 and a front cover 814, and a rear cover 815 is fixed. Two bearings 8111 with a timing pulley 816 and its shaft fixed are provided at both ends of the side frame 811. The timing pulley 816 is a timing belt ToIt is connected to the motor inside the base via. The timing pulleys 816 on both sides correspond to one motor each, and each Let controls the opening and closing of the top cover 813 and the front cover 814.

[0197] In this embodiment, the traveling mechanism is the wheel assembly 82 provided at the four corners of the base 80. Each wheel assembly 82 includes an independent drive assembly and a steering assembly, and the traveling and steering of each wheel assembly 82 can be controlled individually. As a result, the delivery robot can achieve all-wheel independent drive (AWD), and since there are multiple different traveling modes, it can cope with the traveling road surfaces in various environments.

[0198] FIG. 60 is an image diagram of the drive assembly inside the base. FIG. 61 is an image diagram of the connection between the wheel assembly and the drive assembly. In this embodiment, the drive assembly 84 includes a drive motor 840 and a multi-stage power transmission mechanism. Among them, the first-stage power transmission mechanism in the multi-stage transmission mechanism includes a drive wheel 842 and a first-stage driven wheel 844, and power is transmitted between the two via a timing belt. As shown in FIG. 62, it is a first-stage steering mechanism connected between the drive motor 840 and the drive wheel 842. FIG. 62 is an enlarged view of the steering mechanism with the bracket at part A in FIG. 61 removed. A bevel gear 8401 is connected to the end of the output shaft of the drive motor 840, and a bevel gear 8402 is connected to the end of the axle 8421 of the drive wheel 842. The two bevel gears are fitted to each other to change the radial power output by the drive motor 840 into axial power, that is, horizontal direction power. Among them, the drive motor 840 and the drive wheel 842 are fixed inside the base 800 via the first-stage steering mechanism through the bracket 841.

[0199] FIGS. 63-64 show the drive assemblyIt is an image diagram of a power transmission mechanism from which brackets and the like have been removed. As shown in FIG. 63, the first-stage driven wheel 844 in the first-stage power transmission mechanism is connected to the second-stage steering mechanism 845 as shown by a circle in the figure, and has the same configuration as that in FIG. 62. Using a pair of meshing bevel gears, the power transferred in the axial direction to the radial direction, that is, the horizontally transferred power is changed to the vertical direction. The second-stage steering mechanism 845 is sequentially connected to the power transmission mechanisms 846, 847, and 848.

[0200] The wheel assembly 82 has two wheel bodies 821 coaxially connected, a wheel driven wheel 8211 connected to the wheel shaft 8210, and the wheel driven wheel 8211 is attached to the end of the power transmission mechanism 848.

[0201] Output by the drive motor 840. After the power passes through the first-stage steering mechanism, it drives the drive primary wheel 842, and the drive wheel 842 drives the first-stage driven wheel 844 via the timing belt 843. Further, the power transmitted from the second-stage steering mechanism to the first-stage timing belt 844 is steered, and the horizontally transmitted power from the first-stage power transmission mechanism is converted into vertical power, and the power is sequentially transmitted to the wheel driven wheel 8211 by the power transmission mechanisms 846, 847, and 848. The coaxial wheel body 821 is rotated by the wheel driven wheel 8211, and the function of running with the wheel body 821 is realized.

[0202] Referring to FIGS. 64 - 66, the second-stage steering mechanism 845 and the power transmission mechanism 846 are built into the bracket 845. The power transmission mechanisms 846, 847, 848 and the wheel driven wheel 8211 are built into the upper swing arm 822. The tip of the upper swing arm 822 is fixed to the end of the bracket 845, and the end of the upper swing arm 822 is fixed to the wheel shaft 8210 via a bearing. The wheel bodies 821 are arranged at both ends of the wheel shaft 8210.

[0203] FIG. 67 is a steering assembly according to an embodiment of the present invention ofIt is an overall image diagram located within the base. FIG. 68 is an image diagram of the wheel assembly that connects the steering assembly 85. Referring to FIGS. 63 - 66, the steering assembly 85 includes a steering motor 850 and a steering mechanism. Among these, the steering mechanism is fixed together with the traveling mechanism, and further includes a power transmission mechanism in order to transmit the steering power of the steering motor 850 to the steering mechanism. In this embodiment, the power transmission mechanism includes a steering driven wheel 852 and a steering drive wheel 851 located in the steering mechanism. In this embodiment, the steering drive wheel 851 drives the steering driven wheel 852 using a timing belt 853. The output direction of the steering motor 850 is the radial direction, that is, perpendicular to the bottom surface, and since the steering mechanism requires horizontal power, between the output shaft of the steering motor 850 and the steering drive wheel 851, as shown in FIG. 62, there is also provided a steering mechanism configured using a pair of bevel gears that convert the axial power transmitted to the output shaft of the steering motor 850 from vertical to horizontal.

[0204] Referring to FIG. 65, the steering driven wheel 852 is connected to a steering frame mainly including a steering frame 8531 and a steering ring 8532. The steering ring 8532 assembly is fixed in cooperation with the wheel post 8451 outside the second-stage rolling mechanism of the drive. Alternatively, the steering ring 8532 and the bracket 8451 are used as components. The upper part of the steering ring 8532 is a fixed surface, and connection holes such as screw holes are provided on the upper part, and bosses are provided around it. The steering driven wheel 852 is fixed to the convex platform on the fixed surface of the steering ring 8532. Please refer to FIG. 64. The bottom of the steering frame 8531 cooperates with the upper part of the steering ring 8532 and corresponds to the connection hole on the fixed surface of the steering ring 8532. Connection holes are provided, and the steering frame 8531 and the steering ring 8532 are fixed through this connecting member. The upper part of the steering frame 8531 is fixed to the axle of the first-stage driven wheel 844 of the drive assembly .

[0205] When the steering motor 850 rotates, its output shaft outputs axial power. The axial power passing through the bevel gear is converted into radial power, and the steering drive wheel shaft coaxial with the bevel gear drives the steering drive wheel 851. The drive wheel 851 rotates the steering driven wheel 852 by means of a timing belt, and the steering driven wheel 852 drives the steering frame 8531 fixed thereto, the steering frame 8531 drives the steering ring 8532, the steering ring 8532 drives the bracket 8451, and the bracket 8451 drives the upper swing arm 822 of the wheel, and further rotates the wheel body 821. Thereby, the rotation direction of the wheel body 381 changes. FIG. 69 shows an image diagram with an angle changed from FIG. 68.

[0206] Since each wheel assembly is combined with a set of a drive assembly and a steering assembly, various driving modes can be realized by combining with the independent control of each wheel assembly. For example, when the wheel bodies of the four wheel assemblies rotate forward or backward simultaneously, the delivery robot moves forward and backward in the traveling direction. By controlling the different rotation directions of the wheel assemblies, the delivery robot can remain in the original traveling direction, and the wheel bodies under the base can rotate on the spot. By rotating 45 degrees while controlling the wheel assemblies, the main body of the delivery robot can be advanced in the original traveling direction, and the direction of the wheel assemblies can obliquely advance in a direction at a certain angle (for example, 45 degrees) with the original traveling direction. Further, for example, by simultaneously rotating the wheel assemblies by 90 degrees, the main body of the delivery robot can be directed in the original traveling direction as it is, and the direction of the wheel assemblies forms a 90-degree angle with the original traveling direction, that is, the delivery robot moves laterally.

[0207] The above-mentioned different driving modes are used to adapt to various situations of the traveling route. For example, when there are obstacles in the original traveling direction, the delivery robot can move from the front direction to the left or right lateral direction and return to the original route while bypassing the obstacles. Since there is no need to rotate the main body during the above-mentioned traveling, the shaking caused by the rotation of the main body is reduced, and the stability of the delivery robot during traveling can be ensured.

[0208] The interaction mechanism 83 is located above the housing 81, and its signal lines, power lines, etc. are connected to the electrical main distribution box of the base through the passage in the support column 812 provided on the rear side of the housing bottom plate 810. The interaction mechanism 83 is provided with a camera 831, a display 832, and audio devices built in the display 832 such as a speaker and a microphone (not shown). Through the interaction mechanism 83, interaction with customers can be carried out, and the situation of loading and unloading goods in the housing can be monitored during the interaction process with customers.

[0209] In this embodiment, one main distribution box 2 may be arranged on the side frame inside the housing of the delivery robot. Of course, the housing 81 can also be enlarged, or two locations can be provided inside it to arrange two main distribution boxes 2, so that the loading volume, delivery volume, and loading and delivery can be carried out simultaneously. For example, individual control can be performed on one main distribution box inside the housing. Ruto Lid covers are provided, corresponding to the collection main distribution box and the delivery main distribution box respectively. During collection, only the lid cover corresponding to the collection main distribution box is opened. Ruto During delivery, only the lid cover corresponding to the delivery main distribution box is opened to ensure the safety of the goods. Ruto

[0210] FIG. 70 is a schematic block diagram of a control device of a delivery robot according to an embodiment of the present invention. The control device 88 includes a communication module 880, a task management module 881, a traveling control module 882, and an interaction control module 883. Among them, the communication module 880 is configured to communicate with the cloud management system and transfer information, data, etc. to each other. The task management module 881 is configured to receive collection / delivery tasks and docking information through the communication module 880, and transmit the collection / delivery task information to the cloud management system. The cloud management system maintains the logistics information of the goods. The logistics information includes the sub-box ID information of the goods loaded during logistics, the main box ID information for loading the sub-box and the time of occurrence of its change, the ID information of the delivery robot or the goods transport device for transferring the goods, and the change time.

[0211] Among them, the collection task received by the task management module 881 includes part of the order information, for example, the shipper information, name, phone number, delivery address, etc. It also includes cargo information such as the name of the goods, size, and inner carton. When the cloud management system sends the collection task, it determines whether there is an inner carton of an appropriate specification for the current delivery robot. If not, the positions of the inner cartons in the surrounding stations, the three-dimensional warehouse in the delivery locker, and the passing cargo transport device nearby are also obtained and sent to the delivery robot together with the collection task. In addition, the task management module 881 collects the information during the collection process and sends it to the cloud management system. For example, it is the information such as the relationship between the ID binding and release of the goods and the inner carton, the inner carton and the outer carton, and the outer carton and the delivery robot. The task management module 881 receives the delivery task and includes the recipient information such as the destination and the order information of the goods such as the recipient ID information.

[0212] The driving control module 882 is configured to control the driving motor and the steering motor according to the driving route, and drive and / or steer according to the planned route. Among them, the driving route can be received from the cloud management system or automatically calculated based on the information of the road conditions monitored by the target position and the laser navigation SLAM or visual navigation VSLAM system. Therefore, in one embodiment, the control system further includes a position information module 884, which obtains the geographical information between the current position and the target position and provides the geographical information for calculating the driving route. At the same time, the real-time geographical information and road condition information are sent to the cloud management system via the communication module 880.

[0213] The driving route includes urban roads, bridges, and sidewalks where pedestrians can pass. In order to sense the surrounding objects during driving, various corresponding processing units are also provided, such as pedestrians, vehicles, traffic signals at intersections, various visual sensors, audio sensors, distance sensors, etc. The driving control module 882 incorporates driving rules and corresponding control modes, and determines the corresponding control mode based on the information collected by the sensors during driving. For example, stop, deceleration, avoidance, acceleration, power boost, route change, etc. Among these, the camera and its image processing unit in the interaction mechanism can also be used as another visual sensor consisting of a camera sensor, a graphic sensor, a projector, etc. The visual sensor can acquire the overall image information in front of and around the vehicle, and after processing the image information, it can determine whether there are obstacles ahead or whether there is a traffic signal. The sound sensor can distinguish abnormal sounds and, in combination with the visual sensor, can determine abnormalities. The distance sensor is, for example, a laser distance measurement sensor, a photoelectric sensor, an infrared sensor, etc., and can measure the distance from a target object or an obstacle. For example, during driving, if it can be determined by the visual sensor that the road ahead is an uphill slope, it is necessary to adjust each wheel assembly so that the delivery robot can safely pass the slope. When it is determined by the visual sensor that there is an obstacle ahead, the size of the obstacle can be determined and an avoidance strategy can be determined. For example, if the obstacle is only a pedestrian, give the distance that the pedestrian can pass in advance, and after the pedestrian has passed, return to the original route. If the obstacle ahead occupies the entire road, change the route one block ahead.

[0214] The sound sensor captures the surrounding sounds and determines whether a response is required. For example, when sharp ground friction sounds are collected, the possibility of a traffic accident can be determined based on the pitch, magnitude, distance, and direction of the sound, and the currently occurring accident can be identified by arranging the images taken by the visual sensor. Also, a distance sensor such as a laser distance meter can identify the location and distance of the accident site and determine whether avoidance is necessary. Distance sensors such as laser distance measurement sensors and photoelectric distance measurement sensors can detect objects that are far or close in the front.

[0215] The travel control module 882 controls the output power of the drive motor or the steering motor in order to cope with the frictional resistance of different road surfaces according to different road surface conditions. For example, when walking on unplowed snow or driving on a road surface with a large frictional resistance such as a cobblestone road with uneven ground irregularities, the output of the motor increases, and when driving on a smooth road surface such as tiles or ice, the output of the motor is reduced, and the possibility of skidding due to losing the center of gravity depending on the direction of the wheels is reduced.

[0216] The interaction control module 883 is connected to the travel control module 882, the task management module 881, and the communication module 880, obtains the loading / delivery task information and the docking cargo task information from the task management module 881, and corresponds to the cargo task according to the loading / delivery task. According to the interaction scenario, the loading or delivery and the docking of the cargo are completed.

[0217] Specifically, as shown in FIG. 71, a schematic block diagram of the interaction control module according to one embodiment of the present invention is shown. The interaction control module 883 includes an operation unit 8831 for opening the housing according to an instruction. For example, in the loading / delivery scene, at the start To the top cover 813 is opened, and at the end To the top cover 813 is closed, and in order to ensure the safety of the cargo To the top cover 813 is locked. In the cargo docking scene, the front cover 814 is opened at the start, and finally the front cover 814 is closed, ensuring the safety of the cargo. Also, the laser indicator is operated according to the customer's instruction to Indication locate the target sub-container in the parent container, or activate the indicator of the sub-container to emit light or sound to prompt the customer that it is the target sub-container, etc.

[0218] The interaction control module 883 further includes a voice unit 8832 including a voice module, a speaker, and a microphone, and conducts conversations with the shipper or the consignee, guides the shipper through the shipping process, and guides the consignee through the receiving process. For example, it performs operations such as confirming the ID of the shipper or consignee, verifying the goods, showing a demo video to the shipper or consignee to prompt them, and providing guidance when the operation of the shipper or consignee is incorrect.

[0219] The interaction control module 883 further includes a video unit 8833 including an image acquisition device such as a camera 831 and a video output device such as a display 832. The camera 831 collects video images during shipping and receiving, and transmits them to the cloud management system via the energy module 880. Also, the camera 831 can collect the situation inside the parent shipping box to monitor the operations of the shipper or consignee. The video output device interacts with the shipper or consignee. For example, it plays related videos such as greeting videos, operation demo videos, and logistics process demo videos. By interacting with customers via voice and video, necessary information can be visually output to the customers, and questions from the customers can be answered.

[0220] Example of a Logistics Control System The logistics control system in the present invention includes a customer service system and a logistics control module. FIG. 72 is a schematic block diagram of the logistics control system. The logistics control system in this embodiment includes one or more customer service systems and a logistics control module including multiple identical functions or multiple identical functions.

[0221] Among these, as shown in FIG. 73, the customer service system includes a customer service side and a customer service client side. The client side provides a customer connection interface through which a customer can input information regarding goods to be transmitted, such as text, images, audio, or video. For example, the recipient and their address, sender, address, type of goods, name, and special items such as fragile, urgent, general, express, etc. can be input in text, and a goods photo and video can be uploaded to easily identify the size, weight, etc., and the shipping method such as door-to-door collection and customer self-shipping can also be indicated. After the customer has completed the input of information, the customer confirms the transmission. The client side generates a customer logistics order and transmits it to the service side. The service side analyzes the information required by the logistics control system (e.g., destination address, fragile characteristics of the goods, logistics level) and transmits the above order information to the logistics control module. The logistics management module performs corresponding collection, transportation, shipping, and other control operations according to the order. The service side also receives goods circulation information from the relevant logistics control module, for example, information such as the predetermined transportation route and the goods transportation device corresponding to each logistics chain, the current logistics chain and the corresponding goods transportation device and region, the recording of the weight sensor of the goods transportation device at each level during the journey, and the presence or absence of collisions, so that the customer can understand the progress of the goods circulation. The client side can also provide relevant logistics information such as fee inquiry, logistics order, and real-time inquiry of the status of goods.

[0222] The service side transmits the customer's logistics order information to a plurality of logistics control modules, and one of the logistics control modules processes orders such as receipt of shipment, transportation, docking, etc. When the customer selects collection by a home delivery robot or drone or self-shipping, available home delivery lockers can be recommended to the customer, and multiple home delivery lockers recommended by the customer can be rearranged according to the distance from the customer, travel time, etc.

[0223] As shown in FIG. 74, the logistics control module in this embodiment also includes modules with a plurality of different functions. In one embodiment, it includes a geographic information module and a route planning module.

[0224] The geographic information module is used to obtain and maintain the real-time position of the cargo transport device. The geographic information module includes a geographic information system or is connected to a dedicated interface of an existing geographic information system to obtain geographic information. In contrast, various cargo transport devices in the present invention have a positioning system such as GPS, determine actual position information, and transmit the real-time position information to the geographic information module, so as to obtain the real-time position information of each cargo transport device.

[0225] The route planning module transfers the cargo based on the real-time position information, driving ability, geographic traffic information, and logistics information for transferring the cargo of the cargo transport device. It determines the cargo transport device, the delivery location, and the corresponding logistics information. In one embodiment, after the above information is determined, the driving route of the cargo transport device for the delivery target to the delivery point is also calculated. Or in another embodiment, the positioning device in the cargo transport device refers to the real-time traffic information and self-calculates the driving route from the current position to the delivery point. Also, in another embodiment, when determining the docking point and the docking cargo transport device, refer to the logistics level of the cargo, prioritize the logistics information of the cargo with a high logistics level, and determine the docking point and the cargo transport device. If the amount of cargo during docking exceeds the capacity of the docking cargo transport device, prioritize the replacement of the cargo with a high logistics level to enable the rapid and timely transportation of the cargo with a high logistics level.

[0226] In addition, the logistics management module also includes a cargo monitoring module for acquiring and maintaining the logistics information for transferring cargo from the passenger service system. The logistics information includes cargo order information such as the consignee and address, the shipper and address, contact information, and logistics levels such as express and regular. The logistics information also includes ID binding information and change information between the cargo and the cargo transport device, warehouse cell, parent shipping box, and child shipping box. Based on this binding information, the current loading capacity of the cargo transport device, such as the number of warehouse cells in each cargo transport device and its distribution in the three-dimensional warehouse, can be determined. The positions of the cargo transport device for transferring the cargo and in its three-dimensional warehouse can be identified by the ID binding information between the parent shipping box and the child shipping box and the ID binding information between the parent shipping box and the warehouse cell. This information changes along with the cargo transport process, and these change information are detailedly recorded in the logistics information of each child shipping box. Therefore, the entire logistics process of one piece of cargo can be traced, a warning can be issued when the cargo leaves the logistics system during transportation, and based on the relationship between the cargo and the warehouse cell, the logistics equipment when the cargo leaves can be identified.

[0227] The logistics control module in the present invention also includes a sorting control module. Based on the cargo transport device for delivering the cargo, the delivery locker, other possible fixed warehouses, and the delivery location, a sorted cargo list is determined. A sorting task is assigned to the sorting device of the three-dimensional warehouse built in the cargo transport device, a transport task is assigned to the mobile device, and both are combined to complete the sorting of the cargo before docking. The above sorting control module can be arranged in logistics equipment with a three-dimensional warehouse such as a cargo transport device or on the cloud.

[0228] In some embodiments, the present invention adopts a decentered control mode. When goods enter the logistics chain, the goods information is sent to individual modules. One or more modules control the goods transportation devices in one area to complete operations such as receiving, transporting, docking, sorting, and delivering the goods. If one of the functional modules fails, other same modules can continue the control instead of the faulty functional module. When the goods transportation device breaks down, the control module is reasonably planned and calculated to replace the faulty goods transportation device with another one.

[0229] In some embodiments, the present invention provides an in-transit logistics method mainly including the sending and receiving of goods, the transportation of goods, the handover and sorting of goods during transportation.

[0230] In some embodiments, transportable parent-child boxes are set in the logistics system. When collecting goods, they are put into the child boxes. When the goods enter the logistics system, the child boxes are stored in the parent boxes, and one or more child boxes are incorporated in one parent box. The goods transportation device serves as a mobile warehouse, with a three-dimensional warehouse built-in and including one or more warehouse cells. During the goods transportation, the parent boxes are stored in the warehouse cells. Each goods transportation device, each warehouse cell in the goods transportation device, the child boxes and the parent boxes have unique ID tags, and in the logistics process, according to sorting, exchange, etc. during transportation, the binding relationship between them is bound or released to obtain accurate goods circulation information.

[0231] In some embodiments, the multi-stage goods transportation devices in the goods transportation process transfer the goods within the corresponding range of each transportation distance, and according to the distribution position and logistics direction of the goods transportation devices, the goods are passed from one goods transportation device to another, and this transfer process is repeated until the logistics destination is reached. Since the goods need to be transferred between different goods transportation devices, it is necessary to sort the goods from the original goods transportation device before transfer. The sorting of the present invention is carried out by the goods transportation device during the goods transportation.

[0232] According to the flow direction of the goods, the goods are sent from the shipper to the logistics system, and the flow ends when the terminal logistics equipment receives them, transfers them through different goods transportation devices on the way, delivers them by the terminal logistics equipment, and the consignee receives them.

[0233] Next, the logistics method will be described starting from the terminal of the logistics system of the present invention. At the end of the logistics, there are various shipping and delivery methods, such as the home delivery robot interacting door-to-door with the shipper to complete shipping and delivery. Use home delivery lockers and drone self-help to complete shipping and delivery. The home delivery staff drives a mini-truck and interacts with the shipper to complete shipping and delivery. Next, various scenarios will be described.

[0234] Scenario 1: The delivery robot picks up packages at the shipper's location FIG. 75 is a flowchart of the operation method during the cargo collection of a home delivery robot according to an embodiment of the present invention. The cargo collection operation method of the home delivery robot provided by the present invention includes the following steps.

[0235] In step S81a, a parent shipping box with a predetermined child shipping box built into the storage layer inside the housing is incorporated. When the home delivery robot receives a cargo collection task, it also includes the specification information of the child shipping boxes required for the collected goods. Among these, the cloud determines whether the home delivery robot has a child shipping box of the currently required specification. If not, it transmits the address where a child shipping box can be obtained, such as a nearby fixed warehouse, home delivery locker, or other goods transportation device passing through the area. If the home delivery robot has a child shipping box of the currently required specification, it proceeds to step S82a. If there is no child shipping box of the appropriate specification in the housing of the home delivery robot, it is necessary to obtain a child shipping box at the designated address. When obtaining the child shipping box, the home delivery robot exchanges the parent shipping box and its internal child shipping box in the housing with the parent shipping box and the child shipping box of the appropriate specification at the exchange location. Furthermore, the home delivery robot can pick up multiple goods at multiple cargo collection points at one time. Therefore, at the time of departure, the target child shipping boxes for multiple goods are arranged in its housing.

[0236] In step S82a, the delivery robot reaches the pick-up location according to the planned route. From the departure point to the pick-up point, it travels along the planned route and can adjust the driving pattern according to the conditions of the driving road surface. During driving, it monitors the surroundings to prevent collisions and timely avoids obstacles. In one embodiment, to improve efficiency, the delivery robot notifies the consignor by phone / SMS 10 minutes before arrival and after arrival.

[0237] In step S83a, it guides the consignor to complete the shipping process. The interaction with the consignor includes the following processes as shown in FIG. 76.

[0238] In step S831a, the delivery robot verifies the identity of the customer and the goods. Based on the pick-up task information, it checks whether the consignor and the goods match the information of the pick-up task. For example, the consignor's name, phone number, goods name, characteristics, etc.

[0239] In step S832a, after verifying the information, the delivery robot opens the box cover and prompts the customer to find and open the inner box. At the same time, it plays a demo video of the operation of putting the goods into the inner box on the display. If there are multiple inner boxes in the outer box, the delivery robot guides the consignor to open the target inner box in various ways. For example, the inner box is provided with a light-emitting indicator, and the delivery robot activates and blinks the light-emitting indicator of the target inner box, or notifies the number on the surface of the inner box of the consignee by voice. Or, through the cursor indicator, it emits a spotlight on the target inner box. Bodyト (It seems there is a mistake here. Maybe it should be something else. For now, keeping as is.)

[0240] In step S833a, after the customer correctly places the goods in the inner box, closes it, weighs it, pays the fee, and confirms the shipment, the delivery robot locks the inner box, establishes the ID binding of the goods and the inner box, and writes the binding relationship and the inner box password to the ID electronic tag of the inner box. It uploads the inner box ID electronic tag information and the confirmed shipment information to the cloud. The goods monitoring module in the cloud records the information in the logistics information of the goods.

[0241] In step S84a, the home delivery robot reaches the docking point according to the planned route and delivers the goods to the next level of the logistics chain. After the home delivery robot uploads the information confirmed by the customer for shipment, it obtains the delivery information calculated from the cloud, such as the docking point, the ID information of the docked goods transport device, and the planned route, and sends the delivery information to the home delivery robot. The home delivery robot arrives at the docking point according to the planned route. When the goods transport device arrives, the home delivery robot opens the front cover of the housing, the AGV of the goods transport device enters the housing of the home delivery robot, lifts the master shipping box and returns to the goods transport device. Then, the home delivery robot releases the ID binding with the master shipping box, uploads it to the cloud, and completes the cargo collection task. The cloud records the change information of the ID binding information in the logistics information of the goods.

[0242] After receiving the master shipping box, the goods transport device establishes an ID binding between the goods transport device and the master shipping box.

[0243] Scenario 2: The delivery robot delivers goods to the consignee FIG. 79 is a flowchart of the delivery operation of a home delivery robot according to an embodiment of the present invention. The process of the delivery operation includes the following steps.

[0244] In step S80c, receive the goods to be delivered. After receiving the delivery task, when docking, the home delivery robot passes its master shipping box to the docking goods transport device, and then receives the goods in the sub-shipping box transported to the housing of the home delivery robot by the AGV in the goods transport device.

[0245] In step S81c, the home delivery robot heads towards the delivery location according to the travel route planned by the cloud or self-calculated. In one embodiment, to improve efficiency, the home delivery robot notifies the consignee by phone / SMS 10 minutes before and after arrival.

[0246] In step S82c, after arriving at the delivery location, interact with the consignee to complete the delivery task. Among these, there is a time difference in the interaction between the home delivery robot and the consignee. When the home delivery robot arrives and the consignee does not arrive, the home delivery robot waits for the preset time. If the consignee arrives within this waiting time, the cargo delivery process is completed. If the consignee has not arrived yet, information is sent to the cloud customer service system, and wait for a while according to the instructions of the cloud customer service system or store the cargo in a nearby home delivery locker. That is, apply docking scenario 1. In the process of delivering the cargo to the consignee, the home delivery robot guides the consignee to find and open the child box and take out the cargo. After the consignee confirms the receipt of the cargo, cover the child box and click the confirmation key on the display to complete the delivery. The home delivery robot records and collects the interaction video during the interaction with the consignee, and guides timely so that the consignee can operate correctly. Finally, upload the recorded video to the cloud management system.

[0247] Scenario 3: The delivery robot picks up and delivers packages simultaneously The home delivery robot can also deliver during collection. In a better embodiment, the housing of the home delivery robot has two parent boxes, one is the delivery parent box and one is the collection parent box, and each parent box can include a plurality of child boxes. Each child box corresponds to one task. When the home delivery robot executes multiple tasks, its travel route is designed according to the destination address of the task, the docking address at the time of delivery, and the current address of the home delivery robot. This travel route can be planned by the cloud management system or can also be planned by the home delivery robot itself.

[0248] FIG. 80 is a flowchart when the home delivery robot according to an embodiment of the present invention executes multiple tasks. The execution procedure includes the following steps.

[0249] In step S80d, move to the first execution location according to the planned route. The execution location is a collection location or a delivery location.

[0250] Step S81d determines whether to perform consolidation or delivery at the current execution location. If it is determined to perform consolidation at the current execution location, it interacts with the shipper starting from step S831a in FIG. 76, executes the consolidation process, and completes the consolidation task. In the consolidation process, the top cover corresponding to the consolidation master box in the housing opens, and sub-boxes corresponding to the consolidated cargo specifications are arranged inside. If it is determined to perform delivery at the current execution location, step S82c in FIG. 79 is executed, and the delivery task is completed. In the delivery process, the top cover corresponding to the delivery master box in the housing opens, and sub-boxes containing the cargo are arranged inside.

[0251] After the consolidation process and the delivery process are completed, step S82d is executed to determine whether there are still unexecuted locations. If there are, it moves to the new execution location in step S83d, and then step S81d is executed. If there are no unexecuted locations, that is, when all consolidation and delivery tasks are completed, in step S84d, the home delivery robot moves to the docking point according to the planned route. In step S85d, after the home delivery robot docks with the cargo transport device of the next logistics chain, it passes the consolidation master box and the delivery master box (with empty sub-boxes inside at this time) to the transport device. The cargo transport device aggregates the cargo sub-boxes scheduled for delivery into one master box, aggregates the sub-boxes required for the home delivery robot's consolidation into another master box, and passes them to the home delivery robot all at once. At this point, the home delivery robot has completed the execution of the previous multi-task and starts the execution of the next consolidation and delivery tasks.

[0252] In this embodiment, during one run, the home delivery robot can perform consolidation or delivery, ensuring the consolidation efficiency, reducing the wasteful operation of the home delivery robot's empty box movement, and improving the working efficiency of the home delivery robot.

[0253] Embodiment of shipping and receiving using a home delivery locker

[0254] Scenario 4: Customers use a delivery locker for self - shipping When the shipper ships and selects shipping from the parcel locker, the shipper can put the goods into the parcel locker to complete the self-service shipping. Specifically, the following steps shown in FIG. 81 are included.

[0255] In step S1000, the shipper uses a customer service client side such as an APP supported by a mobile phone to generate a logistics order. It includes information such as the name, address, contact information of the consignee, the name, address, contact information of the shipper, the logistics level (air express), dimensions, insurance, and the selected parcel locker.

[0256] In step S1001, after the cloud system receives the customer's order, it sends the shipping information to the corresponding parcel locker. It includes the details of the order and the required sub-box ID information.

[0257] In step S1002, the parcel locker 10 sorts the target sub-box into one parent box based on the sub-box ID information as needed, and sends it to the warehouse cell that interacts with the customer by the AGV3. This warehouse cell corresponds to the housing door 112. Refer to FIG. 47B.

[0258] In step S1003, after the shipper arrives at the parcel locker, the shipper can interact with the parcel locker through the mobile phone client side to confirm the ID information of both parties.

[0259] In step S1004, after confirming that the ID information is correct, the parcel locker 10 opens the customer interaction housing door 112. The shipper opens the sub-box according to the prompt on the client side, puts the goods into the sub-box and returns them to the parcel locker. When the completion of shipping is confirmed, the parcel locker 10 closes the housing door 112.

[0260] In step S1005, the AGV inside the parcel locker 10 reads the ID electronic tag of the sub-box 7, determines the ID binding of the sub-box 7 and the goods, and the ID binding of the sub-box 7 and the current parent box, uploads it to the cloud, and waits for consolidation.

[0261] In a better embodiment, the height of the master shipping box (hereinafter referred to as the master box for the locker) for receiving the shipper's goods is low. As shown in FIG. 47B, when it is different from the height of the master shipping box (hereinafter referred to as the master box for transportation) used during other transportation, the master box with a smaller height can be left in the home delivery locker 10 and dedicated to the interaction with the customer. Therefore, after the shipper's shipment is completed, it is necessary to transfer the sub-box containing the goods to the master box for transportation. Specifically, the AGV can transport the master box for the locker to the sorting cell of the sorting device and transfer it to the master box for transportation by the sorting device.

[0262] Scenario 5: Customers use a delivery locker for self - collection When the goods delivered to the consignee are held in the home delivery locker 10 for various reasons, the consignee can pick them up through self-service at the home delivery locker 10. The consignee can interact with the home delivery locker 10 through the client side. After mutual identification, the sorting device in the home delivery locker 10 sorts the sub-box 7 containing the goods of the customer into the master box 2 for the locker, transports it to the warehouse cell 1 that interacts with the customer by the AGV 3, and opens the housing door 112. The customer can know the password for opening the sub-box 7 based on the information received by the mobile phone client side, and open the sub-box 7 with the prompt of the mobile phone client side such as a demo video guide, and take out the goods. When the customer returns the sub-box to the master box for the locker and the receipt is completed, the housing door 112 is closed.

[0263] When receiving and shipping in the above-mentioned customer self-service, the home delivery locker opens the dedicated housing door 112. Of course, it is also possible to adopt the housing door 111 during docking with the home delivery robot 8 or other cargo transportation devices. The master box 2 is sent out of the housing by the lifting docking plate 122. When the customer picks up the goods, the sub-box 7 loaded with the target goods is carried out. When the customer ships the goods, the corresponding sub-box 7 is sent out.

[0264] Scenario 6: Customers interact with a drone for package pickup and delivery Customers can choose drone collection or receipt at the time of ordering. At the time of collection, the drone brings the child shipping box of the corresponding specification to the customer, and the customer puts the goods into the child shipping box according to the guidance of the drone's audio equipment, the demo video on the customer service client side, text interpretation, etc. A weight sensor is installed on the drone. After the customer packs the goods into the parent shipping box, the weighing fee is billed. After the customer pays, the collection process ends and the goods enter the logistics system. When the drone delivers, it is similar to the interaction process with the customer, but this is not repeated here.

[0265] Scenario 7: Customers interact with a mini - truck In this embodiment, the customer can also interact with a manned or unmanned mini-truck by the delivery staff to ship or receive goods. When the mini-truck is unmanned, an information communication device is installed, and in particular, the information communication device of the delivery robot can be referred to. The process is similar to the information communication process of the delivery robot and will not be repeated here.

[0266] When goods enter the logistics system through terminal logistics devices such as delivery robots, drones, delivery lockers, and mini-trucks, the goods are transferred between different goods transportation devices. Depending on the types of the two goods transportation devices at the time of transfer, the following docking scenarios are included.

[0267] Docking Scene 1: The delivery robot docks with a delivery locker The purpose of docking between the delivery robot and the delivery locker is to obtain an empty parent shipping box, or temporarily store the goods that could not be delivered to the consignee in the delivery locker, or take out the goods scheduled for delivery from the delivery locker. The following takes an empty parent shipping box as an example to explain the docking process between the delivery robot and the delivery locker as follows.

[0268] Among them, when the delivery robot 8 does not currently have a suitable child shipping box, it can be obtained at a nearby delivery locker, specifically including the following steps shown in FIG. 77.

[0269] In step S80b, the cloud system searches for the delivery lockers within the travel range of the delivery robot 8 and the cargo transport device in motion, and determines the position where the delivery robot 8 can acquire the target sub-parcel box according to the principle of the shortest acquisition time. In this embodiment, for example, it is the delivery locker 10.

[0270] In step S81b, the cloud system transmits information that the delivery robot 8 and the determined delivery locker 10 can acquire the sub-parcel box and the parent parcel box. The information received by the delivery robot 8 includes the position of the delivery locker 10 and the planned travel route. The information received by the delivery locker 10 includes the ID information of the sub-parcel box and the delivery robot. Here, according to the need for collection, the number of target sub-parcel boxes may be one or more.

[0271] In step S82b, the delivery robot 8 moves to the position of the delivery locker 10 according to the planned route. At the same time, the delivery locker 10, according to the received information, the internal sorting device sorts the target sub-parcel boxes into one parent parcel box with the cooperation of the AGV3, and establishes the ID binding between the sub-parcel box and the parent parcel box.

[0272] In step S83b, after the delivery robot 8 reaches the position of the delivery locker 10, the delivery locker 10 and the delivery robot 8 mutually verify their identities. As shown in FIG. 78A.

[0273] In step S84b, after both sides verify their identities, the delivery locker 10 opens the housing door, lowers the docking plate 122, and uses the docking plate 122 to lower the slide rail 121. At the same time, the delivery robot 8 opens the front cover of the housing to prepare for docking the two. As shown in FIG. 78B.

[0274] In step S85b, the delivery robot 8 moves forward so that the docking plate 122 slides under its base. When the delivery robot 8 accurately docks with the docking plate 122, the lift sensor is triggered. The slide rail 121 is driven to rise together with the delivery robot 8 until a signal is received from the positioning sensor, indicating that the running surface of the moving space inside the housing of the delivery robot 8 and the running surface on the lifting platform 42 are accurately docked. This is shown in FIG. 78C. Among them, the lifting sensor may be provided at an appropriate position under the base of the delivery robot 8 or arranged at an appropriate position on the docking plate 122. The positioning sensor can be arranged at an appropriate position on the docking plate 122 or the lifting platform 42.

[0275] In step S86b, the AGV3 inside the delivery locker 10 transports the parent box already containing the child boxes to the housing of the delivery robot 8, and then returns to the inside of the delivery locker 10. If there is a parent box inside the delivery robot 8, the AGV3 inside the delivery locker 10 first transports the parent box inside the delivery robot 8 into the delivery locker 10, and then transports the required child box for the delivery robot 8 together with one parent box to the housing of the delivery robot 8.

[0276] In step S87b, the delivery locker 10 drives the slide rail 121 and descends together with the delivery robot 8.

[0277] In step S88b, the delivery locker 10 is separated from the delivery robot 8. When the delivery robot 8 lands, it retreats backward, moves away from the docking plate 122, closes the front cover. At the same time, the delivery locker 10 stores the docking plate 122, rises to a certain height, and closes the housing door 111.

[0278] At this time, the delivery robot 8 can smoothly obtain the required child boxes from the delivery locker 10.

[0279] If the delivery robot is unable to deliver the goods to the consignee, it will deposit them in a delivery locker. When the delivery robot deposits both the goods scheduled for delivery and the parent box in the delivery locker, it sends the ID binding change information of the parent box to the cloud management system, and the delivery task is completed. The cloud management system notifies the consignee to pick up the goods by phone, SMS, or email, etc. The process is similar to the process of taking an empty parent box, but it will not be described here. Similarly, the delivery robot can receive the goods scheduled for delivery at the delivery locker according to the instructions of the cloud, specifically similar to the process of taking an empty parent box, which will not be described here.

[0280] Docking Scene 2: The delivery robot docks with a mini - truck The delivery robot can hand over the goods received from the customer to the mini-truck and receive the goods scheduled for delivery from the mini-truck.

[0281] Figures 82A - 82C show the docking image diagrams of the mini-truck and the delivery robot of this embodiment. When the mini-truck 9a docks with the delivery robot 8, the housing door 94 opens, and the lifting stand 962 of the lifting docking device descends along the lifting rail 961 to a preset position, and the docking plate 963 opens, as shown in Figure 82A. The delivery robot 8 moves forward so that the docking plate 963 slides under the bottom of the housing base of the delivery robot 8. When the housing base position is determined, it controls the lifting stand 962 along the lifting rail 961 to rise to the preset position. When the docking plate 963 of the housing of the delivery robot 8 docks with the running surface of the moving space and the running surface at the bottom of the warehouse cell in the three-dimensional warehouse, it stops rising. At this time, the AGV3 inside the mini-truck 9a enters the housing of the delivery robot 8 and transports the parent box inside it to the mini-truck 9a. Or, if necessary, the corresponding parent box in the mini-truck 9a is transported to the housing of the delivery robot 8.

[0282] Docking Scene 3: The delivery robot docks with an in - city circulation truck Also, as long as conditions such as appropriate location and time permit, the delivery robot can transfer the goods received from the customer to the urban circulation truck and also receive the goods to be delivered from the urban circulation truck. This process is similar to the docking of a minitruck and will not be repeated here.

[0283] Similarly, as long as conditions such as appropriate location and time permit, the delivery robot can also dock with intercity freight transport devices such as long-distance or short-distance trucks, trains, and sea cargo ships that take breaks on the way.

[0284] As a last-mile logistics device, drones can be divided into large drones and small drones. Small drones transfer one child shipping box, that is, one piece of cargo, at a time. On the other hand, there are multiple storage cells inside the large drone, which can accommodate multiple child shipping boxes.

[0285] Docking Scene 4: A small drone docks with a delivery locker The drone can store the goods received from the customer in the delivery locker and obtain the goods to be delivered from the delivery locker.

[0286] After receiving from the customer, the drone can transfer the goods to other logistics devices such as a delivery locker, a mini-truck, an urban circulation truck, etc. based on cloud computing. In this embodiment, the drone stores the goods to be shipped in the delivery locker 10 or takes out the goods to be picked up from the delivery locker. When the drone reaches above the delivery locker 10, it communicates with the delivery locker 10 and verifies each other's identities. Then, the delivery locker 10 opens the cover plate 113 of the upper drone connection port. When the customer deposits the goods, the lifting platform of the lifting system in the housing raises the parent box 2 to reach the drone connection port. The drone puts the child box 7 loaded with the goods into the parent box 2. When the drone collects the goods, the lifting platform raises the parent box 2 containing the child box 7 to reach the drone connection port. The drone grabs the child box 7 from the parent box 2. After the docking with the drone is completed, the cover plate 113 is closed, and the lifting platform descends together with the parent box 2. Alternatively, on the cloud, it is calculated that the drone can deliver the goods in the delivery locker to the consignee, and the docking between the drone and the delivery locker is the same as the above procedure, and the description will not be repeated here.

[0287] Docking Scene 5: A small drone docks with a fixed warehouse FIG. 86 is a docking image diagram of a small drone and a fixed warehouse according to an embodiment of the present invention. In this embodiment, the fixed warehouse (also called the first three-dimensional warehouse) 100 is provided with a drone connection port 106 at its upper part in addition to the warehouse door 105, and corresponds to one or more warehouse cells. When the small drone puts the child box 7 into the first three-dimensional warehouse 100, the first three-dimensional warehouse 100 opens the cover of the connection port and exposes the corresponding warehouse cell below. The small drone can hover above the connection port or be supported by a stand attached to the positioning groove 107 around the connection port and stop above the connection port. After the positioning is completed, the small drone puts the child box into the warehouse cell of the connection port with a robot grab or the like and releases the ID binding between the child box and the drone. When transferring the goods in the first three-dimensional warehouse 100 to the small drone, the small drone arranges the child box to be transported in the warehouse cell of the connection port, recognizes the child box with an RFID reader / writer or the like on the small drone, grabs and takes it out with a robot grab or the like, and at the same time releases the ID binding between the child box and the warehouse cell and establishes the ID binding with the drone.

[0288] Docking Scene 6: A large drone docks with a fixed warehouse The large drone has a storage space similar to that of a three-dimensional warehouse including a lift. There are two ways to dock with the ground or other three-dimensional warehouses.

[0289] One of them is to dock using the drone connection port 106 in FIG. 86. For example, the large drone can hover above its connection port or be supported by a stand attached to the positioning groove 107 around the connection port and stop above the connection port. After the positioning is completed, the large drone lowers the lift, docks with the connection port, and completes the outbound, inbound, and exchange of goods.

[0290] The other is that the large drone hovers or lands on the ground on the side of the three-dimensional warehouse, uses a docking plate or a docking pipe to dock with the three-dimensional warehouse, and completes the outbound, inbound, and exchange of goods.

[0291] Docking Scene 7: Interaction between a drone and a cargo transportation device Drones can also interact with cargo transport devices such as mini trucks and city loop trucks to store or retrieve cargo. Mini trucks and city loop trucks can set up drone connection ports such as parcel lockers and fixed warehouses. Unlike information communication with parcel lockers and fixed warehouses, drones do not need to stop the mobile cargo transport device when interacting with mini trucks, city loop trucks, and other mobile logistics equipment, and can transfer the child box carried by the drone from the drone connection port of the cargo transport device to the cargo transport device or receive cargo from the cargo transport device while both are maintaining the same speed.

[0292] Docking Scene 8: A mini - truck docks with a fixed warehouse FIG. 83 is a docking image diagram of a mini truck and a fixed warehouse according to one embodiment of the present invention. When the mini truck 9a is docked to a fixed warehouse such as a parcel locker (for example, a parcel locker), the mini truck 9a moves to an appropriate position so that the doors of both face each other, and the housing door 94 and the housing door 111 are opened. At the fixed position where the warehouse door 105 is opened, the lifting stand 962 of the lifting and docking device of the mini truck 9a rises to a pre-installed position along the lifting rail 961, carrying the docking plate 963, and the docking plate 963 is opened. The position of the mini truck 9a is adjusted by air suspension or the like, and the docking plate 963 is accurately docked with the lifting platform 42 of the fixed warehouse or the warehouse cell. At this time, the AGV 3 inside the mini truck 9a enters the fixed warehouse and carries the parent transport box containing the child transport box containing the cargo inside to the mini truck 9a. Or, as necessary, the mini truck 9a carries the child transport box and the parent transport box to be picked up by the customer to the fixed warehouse.

[0293] Docking Scene 9: A mini - truck docks with an in - city circulation truck FIG. 84 is a docking image diagram of a mini truck and an in-city circulation truck according to one embodiment of the present invention. The mini truck 9a is a small cargo transport device, and since its height is smaller than that of the in-city circulation truck 9b, the three-dimensional warehouse inside it cannot be directly docked with the three-dimensional warehouse of the in-city circulation truck 9b. When the housing doors of both are opened, the lifting stand in the docking device inside the mini truck 9a rises, and the docking plate is completely docked with the running surface of the bottom surface of the warehouse cell inside the in-city circulation truck 9b.

[0294] Docking Scene 10: Mini - trucks dock with each other Since the transport distance of the mini truck is short, if the transfer of goods cannot keep up with the in-city circulation truck, it can also be transferred to another mini truck.

[0295] Docking Scene 11: In - city circulation trucks dock with each other FIG. 85 is an image diagram showing the docking of two in-city circulation trucks 9b. In this embodiment, the two in-city circulation trucks 9b stop. After the vehicle body posture and position adjustment are completed, the opposing wings 942 are opened sequentially, and then adjusted so that they are horizontal and at the same height level with each other. In the embodiment, an air suspension is provided between the vehicle body frame and the vehicle body of the in-city circulation truck 9b, and by adjusting the air pressure of each air suspension, the level can be adjusted easily and quickly. Then, the X-Y drive table is activated, and the entire three-dimensional warehouse 91 slides to the side, the two three-dimensional warehouses are docked, and after positioning, the slide stops to form an integrated three-dimensional warehouse.

[0296] Docking Scene 12: A fixed warehouse docks with an in - city circulation truck Similar to when the mini truck is docked to a fixed warehouse, the description will not be repeated here.

[0297] Docking Scene 13: An in - city circulation truck docks with other cargo transportation devices Other cargo transport devices such as freight trains, cargo planes, and ocean cargo ships are equipped with three-dimensional warehouses. The in-city circulation truck can, according to the on-site situation, SceneThe docking method of the two in-city circulation trucks at 11 can be adopted. The in-city circulation trucks drive their X-Y drive tables, slide the three-dimensional warehouse, and directly dock with the three-dimensional warehouses of other cargo transportation devices. Alternatively, these cargo transportation devices open their docking plates 300 and use a lifting mechanism to move up or down to an appropriate position to accurately dock with the in-city circulation trucks. In this embodiment, two three-dimensional warehouses are docked. Of course, the bottom surface can also be adopted as the duct of the docking plate, so that the goods can be protected from the influence of weather and climate when entering and leaving the warehouse.

[0298] Positioning sensors are installed on the various above-mentioned logistics warehouses or docking plates, and accurate docking is determined based on the positioning sensors.

[0299] When two logistics devices are docked, it includes the outbound, inbound and outbound, and exchange of goods. Taking the warehouse structure shown in Fig. 87 as an example, the processes of goods outbound, inbound, and exchange will be described.

[0300] Cargo Receiving Flow Example 1 Fig. 87 is a docking image diagram of a three-dimensional warehouse and a cargo transportation device according to an embodiment of the present invention. Taking Fig. 87 as an example, the flow of goods inbound will be described. In Fig. 87, the first three-dimensional warehouse 100 is a fixed warehouse, and the second three-dimensional warehouse 200 is the three-dimensional warehouse in the cargo transportation device. No vehicle is shown in Fig. 87. As shown in Fig. 88, the following steps are included in the process of goods inbound.

[0301] In step S9101, the cargo transportation device travels to the side of the first three-dimensional warehouse 100, and both open the warehouse door. Among them, the first three-dimensional warehouse 100 may be a fixed logistics warehouse.

[0302] In step S9102, the cargo transport device is docked to the first three-dimensional warehouse 100. As shown in FIG. 87, the warehouse cell 20 inside the small second three-dimensional warehouse 200 in the cargo transport device is the same as the warehouse cell specification in the first three-dimensional warehouse 100. When the warehouse doors 105 and 205 of both are opened, as long as the conditions permit, the second three-dimensional warehouse 200 in the cargo transport device can be directly docked door-to-door with the fixed first three-dimensional warehouse 100. For example, by adjusting the angle of the cargo transport device so as to be adjacent parallel to the fixed first three-dimensional warehouse 100, the height and level of the second three-dimensional warehouse 200 in the cargo transport device are adjusted. In one embodiment, by adjusting the air pressure of each air suspension of the vehicle, the level can be easily and quickly adjusted, and the warehouse door 205 of the second three-dimensional warehouse 200 is completely docked with the warehouse door 105 in the fixed first three-dimensional warehouse 100. Also, when the warehouse door 105 fixed to the first three-dimensional warehouse 100 is large, the warehouse door 205 of the second three-dimensional warehouse 200 is small, and the warehouse door 105 of the first three-dimensional warehouse 100 is large, so when it opens, multiple rows and multi-level warehouse cells can be exposed. The docking with the small second three-dimensional warehouse 200 in the cargo transport device can be performed at any row and any layer.

[0303] When the positioning sensor is triggered when the docking of the two three-dimensional warehouses is completed, and the local module in the three-dimensional warehouse receives the positioning sensor signal, it means that the docking is completed, and the three-dimensional warehouse docking completion information is transmitted to the cloud logistics control module via the communication module. The cloud logistics control module sends a command to carry the cargo to the AGV. The number of AGVs for transportation is determined based on the number of storage devices in the second three-dimensional warehouse 200 in the cargo transport device, the number of warehouse cells on the docking surface, and the currently available number of AGVs. In this embodiment, since there is only one parent box to be transferred to the first three-dimensional warehouse 100 in the cargo transport device, it is assumed that only one AGV is required. When determining the AGV, first select an available AGV. If there is no available AGV, interrupt the task of the working AGV and carry it into the storage device for storage. Receiving The number of storage devices, the number of warehouse cells on the docking surface, and the currently available number of AGVs. In this embodiment, since there is only one parent box to be transferred to the first three-dimensional warehouse 100 in the cargo transport device, it is assumed that only one AGV is required. When determining the AGV, first select an available AGV. If there is no available AGV, interrupt the task of the working AGV and carry it into the storage device for storage.

[0304] In step S9103, it is determined whether there are available AGVs in the two warehouses. If so, for example, if the AGV230 is available in the second automated warehouse 200, or if there is an available AGV130 in the first automated warehouse 100, in step S9104, the cloud logistics control module sends a conveyance instruction to the available AGV23 or AGV130. Then, it proceeds to step S9108.

[0305] If there are no available AGVs in both warehouses, in step S9105, it is determined whether there is a spare AGV, such as a spare AGV inside the first automated warehouse 100 or equipped on the cargo transport device.

[0306] If there is a spare AGV, in step S9106, a conveyance instruction is sent to the spare AGV, and then it proceeds to step S9018. If there is no spare AGV, in step S9107, the task of one AGV in the first automated warehouse 100 is interrupted and a conveyance instruction is sent.

[0307] In step S9108, the conveyance AGV enters the warehouse cell 20 of the parent container 220 to be conveyed. If the conveyance AGV is the AGV130 in the first automated warehouse 100, after the door-to-door docking of the two warehouses, the bottom plates of the warehouse cells of both warehouses are docked with each other and are in communication, so the AGV130 can travel to the warehouse cell 20 in the second automated warehouse 200.

[0308] In step S9109, the conveyance AGV lifts and conveys the parent container 220, reads the RFID information of the parent container 220, changes the bound warehouse number therein to the transport state, and sends the RFID information of the parent container 220 to the cloud logistics control module.

[0309] In step S9110, the transport AGV loads the parent container 220 and enters one of the warehouse cells of the first automated warehouse 100. Since only one parent container is stored this time, it can be carried into any empty warehouse cell of the first automated warehouse 100. When multiple parent containers are stored, it is necessary to determine the placement positions and order of the parent containers according to the number of parent containers. For example, the parent container that needs to be transported first should be placed in a warehouse cell far from the warehouse door 105, and the warehouse cell close to the warehouse door 105 should be reserved for the subsequent incoming parent containers. If there are multiple transport AGVs and multiple incoming parent containers, the cloud side calculates the running routes during AGV transportation in a mutual coordination method to obtain a transportation plan with the shortest transportation time, and instructs multiple AGVs according to the plan to complete the incoming tasks of multiple parent containers.

[0310] In step S9111, the transport AGV reads the RFID information of the warehouse cell and obtains the number.

[0311] In step S9112, when the transport AGV sets the parent container 220 in the warehouse cell, it writes the number of the warehouse cell into the RFID information of the parent container 220, completes the binding between the parent container 220 and the warehouse cell, and sends the rewritten RFID information of the parent container 220 to the cloud logistics control module.

[0312] In step S9113, it is determined whether the transport AGV is an in-warehouse AGV of the first automated warehouse 100. If so, in step S9114, it waits to receive a new task. Otherwise, in step S9115, it is determined whether the transport AGV is a standby AGV. If so, in step S9116, it returns to the original position. Otherwise, since the transport AGV is an AGV in the cargo transport device, it returns to the cargo transport device in step S9117.

[0313] In step S9118, the doors of the warehouses on both sides are closed to complete the incoming of the goods. If there is a docking plate, the docking plate is pulled back, and then the warehouse door is closed.

[0314] From the above process, the transport AGV at the time of warehousing can be flexibly selected according to the current situation, and the ultimate goal is to complete the warehousing of goods as quickly as possible. When realizing this, it is necessary to ensure that it does not interfere with the progress of other current tasks.

[0315] Cargo Receiving Flow Example 2 When multiple parent containers need to be warehoused, it also includes the step of determining the number of available transport AGVs. That is, the cloud logistics control module determines the number of available transport AGVs based on the current task volume of the two automated warehouses. Among them, when there is no inbound or outbound of goods for the AGVs in the automated warehouse, they have the task of collaborating with the sorting device 6 to sort the goods in the warehouse to an appropriate level. Specifically, the cloud logistics control module controls the AGVs and the sorting device 6 in the automated warehouse to sort the next outbound goods according to the delivery destination of the goods at the next outbound time. The AGV transports the target parent container to the sorting robot, and the sorting robot sorts it. After the sorting is completed, the AGV moves the next scheduled outbound parent container near the warehouse door or to the designated area. In the case of the goods transport device, after the goods transport device docks with the first automated warehouse 100 and delivers the goods, it needs to move to the next location to transfer the goods, and the AGVs and sorting robots inside it need to sort the next scheduled transfer goods.

[0316] The cloud logistics control module determines the AGV data available for this transportation based on the next goods transfer time (such as the outbound time) of the first automated warehouse 100 and the sorting time required for the outbound of the goods. Similarly, the cloud logistics control module determines the number of AGVs available for this grabbing based on the time when the goods transport device transfers the goods to the next docking point and the sorting time of the scheduled transfer goods.

[0317] Also, usually, spare AGVs are prepared in the fixed automated warehouse in case the workload of each automated warehouse is too large to enable rapid goods transfer. Therefore, when counting the available AGVs, the spare AGVs can also be included to obtain the total number of available AGVs.

[0318] After determining the number of available AGVs, the cloud logistics control module determines the maximum transport volume at one time based on the current incoming quantity, the number of warehouse cells corresponding to the docking surface after the warehouse door is opened, and the number of available mobile AGVs, and can complete the cargo transfer with maximum efficiency. As shown in FIG. 87, when the first stereoscopic warehouse 100 and the second stereoscopic warehouse 200 adopt door-to-door docking, there are two layers up and down and two rows left and right of warehouse cells on the docking surface. Depending on the number of warehouse cells on the docking surface, four incoming parent boxes can be transported at a time. Combining the current total incoming quantity and the number of available AGVs, for example, the current total incoming quantity is 10, there are 4 AGVs in the first stereoscopic warehouse 100, and 2 AGVs in the second stereoscopic warehouse 200 with a cargo transport device. Since there are a total of 6 available AGVs, the maximum transport volume at one time is 4 incoming parent boxes.

[0319] Before the start of transportation, the cloud logistics control module sends the list of incoming parent boxes of the second stereoscopic warehouse 200 scheduled to be transported to the first stereoscopic warehouse 100 to each available AGV. The list of incoming parent boxes records the ID information and status information of each incoming parent box. It is shown in Table 2 below.

[0320] TIFF0007696643000002.tif56169

[0321] Each transport AGV stores the list of incoming parent boxes internally. When the AGV enters the storage space, based on the list of incoming parent boxes, it identifies the incoming parent boxes scheduled for transportation. After transporting one incoming parent box, it sends information to the cloud logistics control module, and the cloud logistics control module updates the list of incoming parent boxes of each available AGV.

[0322] FIG. 89 shows a flowchart of one transport AGV transporting an incoming parent box according to an embodiment of the present invention.

[0323] In step S9210, the cloud logistics control module sends the list of incoming parent boxes to the transport AGV.

[0324] In step S9200, the transport AGV receives the inbound parent tote list and stores it locally, and updates and maintains the inbound parent tote list according to the update information sent from the cloud logistics control module.

[0325] In step S9201, the transport AGV enters the stereoscopic warehouse. The transport AGV may be AGV130 of the first stereoscopic warehouse 100, or AGV230 of the second stereoscopic warehouse 200, or a spare AGV.

[0326] In step S9202, the transport AGV reads the ID electronic tag of one encountered parent tote 220 and obtains the ID information of the parent tote 220 therefrom.

[0327] In step S9203, it is determined whether the parent tote 220 is included in the inbound parent tote list and whether its status is untransported. If so, and if it is untransported, step S9204 is executed. Otherwise, return to step S9202 to read the ID electronic tag of another parent tote.

[0328] In step S9204, lift the parent tote 220 and rewrite the information of the warehouse cell in the electronic tag information of the parent tote 220 to the moving state. That is, release the binding between the parent tote 220 and the current second warehouse cell.

[0329] In step S9205, the transport AGV sends the corrected ID electronic tag information of the parent tote 220 to the cloud logistics control module. That is, send a release of the binding to the cloud logistics control module.

[0330] In step S9211, the cloud logistics control module records the current state of this inbound parent tote and updates the inbound parent tote list.

[0331] In step S9212, the cloud logistics control module sends the updated inbound parent tote list to all available AGVs.

[0332] In step S9206, the transport AGV returns to the first three-dimensional warehouse 100 carrying the parent box 220 and stores it in the first warehouse cell.

[0333] In step S9207, the transport AGV writes the ID information of the first warehouse cell into the ID information of the parent box 220, and binds the ID information of the parent box 220 and the first warehouse cell.

[0334] In step S9208, the transport AGV transmits the ID information of the bound parent box 220 to the cloud logistics control module.

[0335] In step S9213, the cloud logistics control module records the new binding relationship of the parent box 220 and updates the inbound parent box list.

[0336] In step S9214, the cloud logistics control module transmits the updated inbound parent box list to all available AGVs.

[0337] As can be seen from the above process, all transport AGVs are constantly changing, maintaining the recorded inbound parent box list, ensuring that each transport AGV can find the correct inbound parent box.

[0338] Regarding the position of the second warehouse cell for storing the incoming parent shipping boxes in the first automated warehouse 100, usually, under the control of the cloud logistics control module, near the warehouse door of the first automated warehouse 100, an area for receiving goods is kept empty so that the incoming parent shipping boxes can be received quickly. In one embodiment, the conveying AGV randomly places the incoming parent shipping boxes at the innermost end of the empty area, leaving the outer area empty for subsequent incoming parent shipping boxes. For example, when the conveying AGV enters the first automated warehouse 100, it checks whether there are empty warehouse cells around the current position. If there are already parent shipping boxes in the warehouse cells in the front, it moves left or right and places the incoming parent shipping box to the end in the current direction. Then, it returns to the second automated warehouse 200 of the goods transportation device to carry the next incoming parent shipping box. Each conveying AGV can place the incoming parent shipping boxes according to the same placement principle.

[0339] In another embodiment, the cloud logistics control module can divide the incoming area for this incoming operation according to the quantity of these incoming parent shipping boxes, the positions and quantities of the empty warehouse cells in the first automated warehouse 100. The conveying AGV can simply place the incoming parent shipping boxes sequentially in the warehouse cells of the incoming area.

[0340] Cargo Shipping Out Flow Example The present invention also provides a flowchart when goods are shipped out. As shown in FIG. 90.

[0341] In step S9300, when the goods transportation device arrives, the goods transportation device drives to the vicinity of the first automated warehouse 100, and both open the warehouse door.

[0342] In step S9301, the goods transportation device is docked to the first automated warehouse 100. Similar to the docking during incoming, door-to-door docking, or one or more docking plates, docking pipe docking can be adopted.

[0343] In step S9302, the available AGVs are determined.

[0344] In step S9303, the transport AGV transports the outbound parent container 120, releases the binding between the outbound parent container and the current first warehouse cell 10, and transmits the binding release information to the cloud logistics control module.

[0345] In step S9304, the transport AGV transports the outbound parent container to one of the second warehouse cells 20 in the second automated warehouse 200 in the cargo transport device.

[0346] In step S9305, a binding is established between the outbound parent container and the second warehouse cell 20 and transmitted to the logistics control module on the cloud.

[0347] The outbound process and related details are similar to the inbound process, and the description will not be repeated here.

[0348] If it is necessary to exchange goods between two automated warehouses, for example, when transporting some goods in the first automated warehouse to the second automated warehouse, at the same time, it is necessary to transport some goods in the second automated warehouse to the first automated warehouse. It is necessary to include the above-mentioned inbound and outbound processes and perform the inbound and outbound processes simultaneously. In this embodiment, the cloud logistics control module maintains two lists: an inbound list and an outbound list. After calculating and determining the available AGVs, the two lists are sent to the available AGVs. The available AGVs in the two warehouses are driven to transport the outbound parent containers of the warehouses to each other, bring back the inbound parent containers from each other, and the cloud logistics control module maintains the two lists in real time during the transportation.

[0349] In order to improve the efficiency of goods exchange, the storage location of the goods and the transportation route of the AGV during the exchange can be planned.

[0350] Cargo Transportation Flow between Stereo Warehouses Example 1 Figure 91 is a flowchart for transporting one parent shipping box according to another embodiment of the present invention to a designated warehouse cell. In this embodiment, the cloud logistics control module determines in real time the parent shipping box to be transported to each available AGV and the warehouse cell to be arranged based on the positions of the current first and second parent shipping boxes and the first and second warehouse cells. Therefore, in this embodiment, the cloud logistics control module maintains the parent shipping box lists and the outbound and inbound lists of the first and second warehouses in real time. According to the outbound and inbound status of the current two warehouses, first, the AGV is sent the ID information of the parent shipping box to be transported. When the AGV transports the parent shipping box from the first stereoscopic warehouse and reaches the second stereoscopic warehouse, the cloud logistics control module determines the warehouse cell to be arranged based on the current warehouse cell and transportation status of the first stereoscopic warehouse. Then, this warehouse cell ID information is sent to the AGV, and the AGV places its parent shipping box in the designated warehouse cell according to the designated warehouse cell ID information. To avoid excessive duplication of description, in the following description, the ID binding relationship between the parent shipping box and the warehouse cell and the update procedure of the list are omitted. In this embodiment, the process of transporting one parent shipping box to a designated warehouse cell consists of the following steps.

[0351] In step 9401, the cloud logistics control module sends the ID information of the first parent shipping box to be transported to a first AGV in the first stereoscopic warehouse. Among them, the first parent shipping box must be the parent shipping box closest to the first AGV.

[0352] In step 9402, the first AGV transports the first parent shipping box to the second stereoscopic warehouse based on the received information.

[0353] In step 9403, the cloud logistics control module determines the second warehouse cell that can be arranged based on the current state and transportation status of the second warehouse cell, and sends this second warehouse cell information to the first AGV.

[0354] In step 9404, the first parent shipping box is placed in the designated second warehouse cell according to the received second warehouse cell information.

[0355] Repeat the above procedure until all the parent transfer boxes are transported.

[0356] Cargo Transportation Flow between Stereo Warehouses Example 2 Figure 92 is a flowchart of the cargo exchange between automated warehouses according to one embodiment of the present invention. In this embodiment, the two automated warehouses divide the area near their respective warehouse doors into an outbound area and an inbound area. The cloud logistics control module stores and maintains the corresponding outbound warehouse cell list and inbound warehouse cell list. In this embodiment, the transportation processes of the AGVs in the first automated warehouse 100 and the second automated warehouse are the same. Here, one first AGV in the first automated warehouse 100 is taken as an example for explanation. Here, the outbound parent transfer box in the first automated warehouse 100 is called the first parent transfer box, and the outbound box in the second automated warehouse 200 is called the second parent transfer box.

[0357] In step S9500, the cloud logistics control module sends the parent transfer box lists of the first and second warehouses, the outbound warehouse cell list, and the inbound warehouse cell list to all available AGVs.

[0358] In step S9501, each available AGV stores and maintains the above multiple lists.

[0359] In step S9502, the first AGV transports one first parent transfer box in the first automated warehouse 100 to the second automated warehouse. Also, the binding relationship between the first parent transfer box and the original first warehouse cell is released and sent to the cloud logistics control module. The cloud logistics control module changes the status of the first parent transfer box list to the moving state. Using this updated information, the first parent transfer box lists of all AGVs are updated.

[0360] In step S9503, the first AGV identifies the second inbound area of the second automated warehouse. For example, it reads the empty warehouse ID electronic tag in the warehouse, compares it with the second inbound warehouse cell list of the second automated warehouse stored locally, and finds the second inbound area.

[0361] In step S9504, the first parent container is placed in one of the second warehouse cells in the second storage area. At the same time, the IDs of the first parent container and the second warehouse cell are bound and sent to the cloud logistics control module. Based on this information, the cloud logistics control module updates the first parent container list and the second warehouse cell list for storage, and updates the local lists of all AGVs with the updated information.

[0362] In step S9505, the first AGV determines whether there is still an untransported second parent container. If so, step S9507 is executed. If the second parent container has been transported, the first AGV returns to the first automated storage and retrieval system in step S9506.

[0363] Step S9507 identifies the second shipping area.

[0364] In step S9508, the first AGV transports the second parent container from the second shipping area to the first storage area of the first automated storage and retrieval system. When removing the second parent container from the second warehouse cell, the binding between the second parent container and the second warehouse cell is released. When placing the second parent container in the first warehouse cell of the first storage area, the IDs of the second parent container and the first warehouse cell are bound. The cloud logistics control module updates these changed binding information and updates multiple lists of all AGVs.

[0365] In step S9509, the first AGV determines whether the first parent container has been transported. If so, it returns to step S9502. If the first parent container has been transported, the cargo exchange process ends.

[0366] In this embodiment, by partitioning the storage and shipping areas, the AGV can clarify the goals when transporting and placing the parent containers.

[0367] In each of the above embodiments, a cloud logistics control module is adopted. However, those skilled in the art can also arrange it in a local management system, that is, each three-dimensional warehouse can exchange data, information, etc. with each other through a communication module. Similarly, the flow in each of the above embodiments can be completed.

[0368] Sorting during Cargo Transportation The logistics system provided by the present invention does not require a sorting center at a fixed location, and there is no need to unload and sort at the sorting center during transportation and then transport again. The sorting device is installed in the three-dimensional warehouse of the cargo transportation device, and sorting is performed during cargo transportation. Here, the three-dimensional warehouse cargo sorting method in one embodiment is configured as shown in FIGS. 93A - 93D.

[0369] In step S620, the current sorting destination information is determined based on the logistics transportation information. For example, based on the current position of the three-dimensional warehouse and the logistics direction of the cargo transportation device docked at the three-dimensional warehouse, the goods scheduled for transfer are sorted to determine the next docking logistics location. The logistics location may be location information or an administrative region determined based on location information.

[0370] In step S621, based on the sorting address information, the address information of each sub-container in the three-dimensional warehouse and the parent container where it is located are analyzed to determine the target parent container and the target sub-container. In this step, the address information of the sub-container is analyzed, compared with the aforementioned sorting address, the target sub-container that needs to be sorted is identified, and based on the binding between the sub-container and the parent container, the target parent container (hereinafter referred to as the first target parent container) where the target sub-container is located and the first warehouse cell are determined, and the distribution status of the first target parent container in the warehouse can be determined. Based on the specification information of the sub-container, by querying the internal situation of the sub-container, the second target parent container for storing the target sub-container after sorting is determined. In one embodiment, the warehouse can also arrange several empty parent containers that can be used as the second target parent container during sorting, which can improve the sorting efficiency. By binding the parent container and the warehouse cell, after the second target parent container is determined, the position of the second warehouse cell is known, and the distribution status of the second target parent container in the warehouse is determined. In order to monitor and manage the sorting process, a target sub-container for recording the above information in the information shown in Table 1 is formed.

[0371] In step S622, based on the in-warehouse target parent container distribution information, the sorting device distribution information, and the number and position information of the moving devices, the corresponding sorting tasks are determined for each sorting device, and the corresponding transportation tasks are determined for each moving device. In order to improve the sorting efficiency, the proximity principle of allocating the target parent containers in the vicinity to the sorting device with the sorting device as the center is generally adopted. Alternatively, considering that two target parent containers are scheduled to be transported corresponding to the sorting of one target sub-container, based on the positions of the two target parent containers and the position of the sorting device, the time required to transport the two target parent containers to each sorting device is calculated, and the task of sorting the target sub-container is assigned to the sorting device that requires the least time. According to the above method, the sorting tasks corresponding to each sorting device are assigned. In one embodiment, each sorting device generates a sorting list including the target sub-container, the corresponding first target parent container, and the second target parent container.

[0372] Once the first target master bin, the second target master bin, and the corresponding sorting device are determined, corresponding transportation tasks are assigned to the mobile devices according to the distribution of the mobile devices. When the number of mobile devices is small, the first and second target master bins can be transported in two separate trips by one mobile device. When the number of mobile devices is large, the first and second target master bins can also be transported separately by two mobile devices. After transporting the first and second target master bins to the sorting cells of the sorting device, the AGV waits until the sorting is completed and then removes the first and second target master bins from the sorting cells. Or it can be transported to the sorting cells of the sorting device and accept new transportation tasks. When transporting the first and second target master bins, the mobile devices also execute the establishment and release of the ID binding between the master bin and the warehouse cell.

[0373] In step S623, the AGV transports the first and second target master bins to the first and second sorting cells of the sorting device.

[0374] In step S624, the sorting device sorts the target sub-bins from the first target master bin to the second target master bin.

[0375] After the sorting is completed once, corresponding processing is performed according to the status of the first target master bin and the second target master bin. For example, if there are still target sub-bins in the first target master bin and there is also a corresponding position in the second target master bin, the sorting continues. Specifically, it is shown in FIG. 93B.

[0376] In step S625, it is determined whether there are new target sub-bins that have not been sorted in the first target master bin. If so, step S6251 is executed; otherwise, step S626 in FIG. 93C is executed.

[0377] In step S6251, it is determined whether there is a position corresponding to the new target master bin in the second target master bin. If so, the process returns to step S624 and continues sorting with the original two first and second target master bins. Otherwise, the process proceeds to step S6252.

[0378] In step S6252, it is determined whether all of the original second target parent bins are target child bins. If so, in step S6253, the original second target parent bin is transported to the shipping area, and the process proceeds to step S6254. If not all of the original second target parent bins are target child bins, that is, if there are other non-target child bins, the second target parent bin is updated in step S6254, that is, the original second target parent bin is moved, and a new parent bin where the position of the new target child bin is located is carried as the second target parent bin, and then step S624 is executed. Sorting is performed between the original first target parent bin and the new second target parent bin.

[0379] If there are no new target child bins that have not been sorted into the first target parent bin, that is, if the sorting of the first target parent bin is completed, in order to reduce the number of transports and improve the sorting efficiency, the flow shown in FIG. 93C is also included.

[0380] Step S626 determines whether there is a position of a new target child bin in the original first target parent bin. If not, step S627 is executed in FIG. 93D. If so, step S6261 is executed.

[0381] Step S6261 determines whether there is a new target child bin corresponding to the original second target parent bin. If so, step S6265 is executed. If not, step S6262 is executed.

[0382] Step S6262 determines whether all of the original second target parent bins are target child bins. If so, in step S6263, the original second target parent bin is transported to the shipping area and step S6264 is executed. If there are still non-target child bins in the original second target parent bin, step S6264 is executed.

[0383] Step S6264 updates the second target parent bin, that is, the original second target parent bin is carried out, and a parent bin including the new target child bin is carried, and the process proceeds to step S6265.

[0384] Step S6265 swaps the roles of the current first target main sorting box and the new second target main sorting box, that is, converts the original first target main sorting box sorted outward into a second target main sorting box that receives the target sub-sorting box, and exchanges the main sorting box with the current target sub-sorting box as the first target main sorting box for the outward sorted target sub-sorting box. Then, step S624 is executed to perform sorting.

[0385] In FIG. 93D, at this time, the original first target main sorting box has no target sub-sorting box and no position to place the target sub-sorting box. Therefore, it is determined whether there are still target sub-sorting boxes to be sorted in step S627. If not, this sorting is completed and the sorting flow ends. If there are, step S628 is executed. It is necessary to check the status of the current second target main sorting box.

[0386] Step S628 determines whether there is a position to place the new target sub-sorting box in the original second target main sorting box. If there is, in step S6281, the first target main sorting box is updated, that is, the original sorted first target main sorting box is carried out, and the main sorting box corresponding to the position of the new target sub-sorting box in the current second target main sorting box is transported. Then, it proceeds to step S624 to perform sorting. If there is no position for the new target sub-sorting box in the original second target main sorting box, step S629 is executed.

[0387] Step S629 determines whether there is a new target sub-sorting box in the original second target main sorting box. If not, in step S6291, the current two first and second target main sorting boxes are updated, and then it proceeds to step S624 to perform sorting. If there is a new target sub-sorting box in the original second target main sorting box, it proceeds to step S630.

[0388] In step S630, the ID of the original second target main sorting box is exchanged with the ID of the first target main sorting box.

[0389] In step S631, the original first target main sorting box is transported, a new main sorting box is transported as the second target main sorting box, and it proceeds to step S624 to perform sorting.

[0390] During sorting, the sorting device recognizes whether the current parent bin of the first sorting cell is the target first parent bin for sorting, and when placing the target child bin into the parent bin of the current second sorting cell, it identifies whether it is the designated second target parent bin, thereby preventing sorting errors.

[0391] During sorting, the sorting device also changes the ID binding between the child bin and the parent bin. For example, when taking out the target child bin from the first target parent bin, it releases the ID binding between the target child bin and the first target parent bin, and when placing the target child bin into the second target parent bin, it establishes the ID binding between the target child bin and the second target parent bin.

[0392] Among these, before transporting the second target parent bin filled with the target child bin to the shipping area, based on the distribution of the empty warehouse cells in the warehouse, a list of storage warehouse cells for storing the sorted second target parent bin is determined. The empty warehouse cells in the shipping area are preferentially determined as the storage warehouse cells for storing the sorted second target parent bin. When the AGV executes the transportation task of the second target parent bin filled with the target child bin, it transports the second target parent bin to the designated storage warehouse cell. By preferentially arranging it in the shipping area, the goods can be quickly shipped when docking with other automated warehouses or cargo transportation devices.

[0393] Hereinafter, the intermediate transfer type logistics method of the present invention will be described in detail with specific embodiments.

[0394] Scene: When female A in Beijing shipped a box of porcelain to male A in Shenzhen, she selected the air express logistics level Referring to FIG. 94, the logistics flow includes the following steps.

[0395] In step S1, a logistics instruction is generated, including the steps shown in FIG. 95.

[0396] In step S11, female A generates a logistics order through a customer service client such as an APP supported by a mobile phone. Based on information such as the name, address, contact information of the consignee, the name, address, contact information of the shipper, the logistics level (air express), dimensions, insured price, reserved delivery method and time, etc., the customer service client generates a two-dimensional code from this information and sends it to the service side. The required time is about 2 minutes.

[0397] In step S12, after receiving the two-dimensional code, the service side analyzes the two-dimensional code to obtain order information, saves the order information in the database, and notifies each logistics control module on the cloud.

[0398] In step S13, based on the collection point, the relevant logistics control module is determined.

[0399] In step S14, the logistics control module determines one collection and delivery robot numbered R005569 etc. based on the collection location, reserved collection time, current traffic conditions, and the distribution and workload of home delivery robots in the area, and determines the child box based on the cargo information in the order, that is, determines the ID information of the child box such as A300x180x180, and generates a collection task that assigns the determined collection location, time, shipper information, cargo information, etc. to the home delivery robot R005569.

[0400] Step S2, collection. It includes the steps shown in Figure 96.

[0401] In step S21, the home delivery robot R005569 transports the designated child box according to the information in the received collection task, and arrives at the collection point L1 according to the designated route or the route calculated by its own geographic information system. Among them, the home delivery robot R005569 notifies female A by phone / SMS 10 minutes before arrival and after arrival.

[0402] In step S22, the identity of the shipper is verified and the goods are loaded. After verifying the identity with the mobile phone of Female A, the housing top cover is opened, and guidance is provided via voice or video. Female A opens the designated child box A300x180x180, puts in the simply packaged porcelain, caps it, and sets a password.

[0403] In step S23, weighing and fee collection. The delivery robot R005569 calculates the fee based on the weighing information, notifies it via voice and display. After Female A agrees, she confirms by voice or clicks the display confirmation key to complete the goods collection. The delivery robot R005569 uploads the complete video of the interactive goods collection process with Female A to the cloud and saves it in the database for access in case of problems. The delivery robot R005569 takes about 3 minutes for the interaction wit...

Claims

1. A distributed logistics system comprising a plurality of cargo transportation devices and one or more fixed warehouses, A plurality of cargos entering the distributed logistics system are distributed to one or more of the plurality of cargo transportation devices and the plurality of fixed warehouses, Among the plurality of cargo transportation devices, at least some of the cargo transportation devices are directly docked and integrated by connecting the warehouse cells of the three-dimensional warehouses on each cargo transportation device to form a three-dimensional warehouse, and an AGV runs between the connected warehouse cells to enable the transfer of cargos. A distributed logistics system.

2. A distributed logistics system comprising a plurality of cargo transportation devices and one or more fixed warehouses, A plurality of cargos entering the distributed logistics system are distributed to one or more of the plurality of cargo transportation devices and the plurality of fixed warehouses, Among the plurality of cargo transportation devices, at least some of the cargo transportation devices and the one or more fixed warehouses are directly docked and integrated by connecting the warehouse cells of the three-dimensional warehouse on the cargo transportation device and the warehouse cells of the three-dimensional warehouse of the fixed warehouse to form a three-dimensional warehouse, and an AGV runs between the connected warehouse cells to enable the transfer of cargos. A distributed logistics system.

3. In the distributed logistics system according to claim 1 or 2, at least some of the plurality of cargo transportation devices and / or fixed warehouses use all or part of their respective moving devices to enable the transfer of cargos.

4. In the distributed logistics system according to claim 1 or 2, some of the plurality of cargo transportation devices include a cargo sorting system.

5. In the distributed logistics system according to claim 4, the cargo sorting system aggregates one or more cargos to be transferred by sorting.

6. In the distributed logistics system according to claim 4, the cargo sorting system sorts one or more goods scheduled for transfer and changes their positions so as to approach the docking entrance to the cargo transport device or the fixed warehouse.

7. In the distributed logistics system according to claim 1 or 2, the one or more fixed warehouses include a sorting system located in a three-dimensional warehouse.

8. In the distributed logistics system according to claim 7, the three-dimensional warehouse of the one or more fixed warehouses includes a plurality of loaded warehouse cells, and the sorting system occupies at least one of the loaded warehouse cells.

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