Goods shelf, logistics system, control method for logistics system, and storage medium

Abstract

The present application provides a goods shelf, a logistics system, a control method for a logistics system, and a storage medium. The goods shelf provided by the present application comprises a goods shelf body, guide rails, a movable door frame, and a goods picking and placing device. The goods shelf body comprises a plurality of storage layers. The plurality of storage layers are arranged at intervals in the height direction of the goods shelf, each storage layer is provided with a plurality of bin positions arranged in the length direction of the goods shelf, and bin positions that correspond to different storage layers form storage columns arranged in the height direction of the goods shelf. The guide rails are connected to the goods shelf body, and the guide rails extend in the length direction of the goods shelf. The movable door frame is located beside the goods shelf main body, and the movable door frame is movably connected to the guide rails. The movable door frame extends in the height direction of the goods shelf, and the movable door frame can be docked to or detached from the goods picking and placing device. Thus, the manufacturing costs of the logistics system can be reduced, the storage density of the goods shelf can be improved, and the logistics efficiency can be improved.

Description

Shelf, logistics system, logistics system control method and storage medium

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on November 23, 2023, with application number 202311579845.6 and application name “Shelves, logistics systems, logistics system control methods and storage media”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of warehousing and logistics, and in particular to a shelf, a logistics system, a logistics system control method, and a storage medium. Background Art

[0003] The storage method of high-bay warehouses is widely used in the field of warehousing and logistics due to its large storage capacity. With the development of artificial intelligence and automation technology, the degree of automation of logistics systems is getting higher and higher. High-bay warehouses can be connected with external equipment through automated devices to realize automatic picking and placing of goods.

[0004] In related technologies, the shelves of high-rise warehouses are relatively high, with multiple rows and columns of storage locations for storing material boxes. The logistics system can use climbing robots to pick up and place the elevated material boxes. A pair of columns are fixed on both sides of each storage location of the shelf, and the climbing robot can climb along the columns.

[0005] However, in the current logistics system, shelves with multiple columns require multiple sets of columns, which has high production costs. In addition, multiple sets of columns take up a lot of space, resulting in a decrease in shelf storage density.

[0006] Summary of the Invention

[0007] The present application provides a shelf, a logistics system, a logistics system control method and a storage medium to solve the technical problems that the current logistics system has high production costs and multiple groups of columns occupy a large space, resulting in a decrease in shelf storage density.

[0008] In the first aspect, the present application provides a shelf, which includes a shelf body, guide rails, a movable gantry and a cargo picking and placing device. The shelf includes multiple storage layers, and the multiple storage layers are arranged at intervals along the height direction of the shelf. Each storage layer has multiple storage locations arranged along the length direction of the shelf. The storage locations corresponding to different storage layers form storage columns arranged along the height direction of the shelf. The guide rails are connected to the shelf body, and the guide rails extend along the length direction of the shelf. The movable gantry is located on the side of the shelf body, and the movable gantry is movably connected to the guide rails; the movable gantry extends along the height direction of the shelf, and the movable gantry can be docked or detached with the cargo picking and placing device. When the movable gantry is docked with the cargo picking and placing device, the movable gantry is configured to allow the cargo picking and placing device to move along the height direction of the shelf.

[0009] In the logistics system provided in the embodiment of the present application, a mobile gantry that can move relative to the shelf is provided, so that the picking and placing equipment can climb along the mobile gantry, so that the picking and placing equipment can climb to storage layers of different heights through the mobile gantry, and can be moved to storage columns at different positions through the mobile gantry, thereby reducing the manufacturing cost of the logistics system and improving the storage density of the shelf.

[0010] In some embodiments, the guide rail has a slide groove, which can extend along the length direction of the guide rail; the movable gantry can include a bracket body and a roller, which is rotatably connected to the bracket body; the roller is at least partially located in the slide groove, and when the movable gantry moves along the guide rail, the roller rolls along the slide groove.

[0011] Such an arrangement can reduce the friction between the movable door frame and the guide rail, and improve the smoothness of the movement of the movable door frame relative to the guide rail.

[0012] In some embodiments, there may be a plurality of rollers, and the plurality of rollers may be spaced apart and distributed along the width direction of the bracket body; and the plurality of rollers are all rollingly disposed in the slide groove.

[0013] With such an arrangement, the movable door frame has multiple support points on the guide rail, thereby improving the stability of the movable door frame in moving relative to the guide rail.

[0014] In some embodiments, the bracket body may include at least two columns and multiple beams; the columns all extend along the height direction of the shelf, and the beams are connected between the two columns; the mobile gantry may also include a drive assembly, the drive assembly is arranged on the beam, and the drive assembly is configured to drive the roller to rotate.

[0015] With this setting, the position of the mobile door frame in the length direction of the shelf can be accurately adjusted according to the order requirements of entering and leaving the warehouse.

[0016] In some embodiments, the logistics system may further include a first conductive member, which is disposed in the slide and extends along the slide; the mobile gantry may include a second conductive member, which is disposed on the roller and electrically connected to the first conductive member, and the second conductive member is electrically connected to the drive assembly; the first conductive member is configured to supply power to the drive assembly through the second conductive member.

[0017] With this arrangement, there is no need to set up a power supply on the mobile gantry, the space occupied by the mobile gantry can be reduced, and the mobile gantry can operate continuously and stably.

[0018] In some embodiments, the driving assembly may include a driving unit, a control unit and a transmission member, the second conductive member is electrically connected to the control unit, the control unit is electrically connected to the driving unit, and the output end of the driving unit is connected to the roller through the transmission member.

[0019] Such an arrangement can improve the stability and reliability of the roller rolling along the slide groove.

[0020] In some embodiments, the guide rail may include a first guide rail and a second guide rail, the first guide rail is arranged at the top of the shelf, and the second guide rail is arranged at the bottom of the shelf; the height of the movable door frame matches the height of the shelf, and the two ends of the movable door frame are movably connected to the first guide rail and the second guide rail respectively.

[0021] Such an arrangement can improve the reliability of the movable door frame's movement connection on the side of the shelf.

[0022] In some embodiments, the first conductive part may include a live wire conductive part and a neutral wire conductive part, the live wire conductive part is arranged on the first guide rail, and the neutral wire conductive part is arranged on the second guide rail; at least two conductive contacts are respectively arranged on the columns, and the conductive contacts extend along the height direction of the movable door frame, and at least two conductive contacts are respectively electrically connected to the live wire conductive part and the neutral wire conductive part.

[0023] This setting allows access to an external power supply, facilitates wiring, improves safety, and ensures power supply stability.

[0024] In some embodiments, guide grooves may be provided on the inner sides of the two columns, the guide grooves extending along the height direction of the movable door frame, and the conductive contacts may be provided in the guide grooves.

[0025] Such an arrangement can improve the smoothness of the movement of the cargo picking and placing equipment along the movable door frame, and power is supplied through the columns, thereby reducing the power and volume of the motor on the cargo picking and placing equipment.

[0026] In some embodiments, the first conductive member and the guide rail may be an integrally formed member.

[0027] With this arrangement, power can be supplied directly through the guide rails, ensuring power supply reliability.

[0028] In some embodiments, a plurality of beams are spaced apart along the height direction of the shelf, and the distance between adjacent beams matches the floor height of the storage layer.

[0029] This arrangement can prevent the picking and placing equipment from interfering with the beam when picking and placing goods from the storage location.

[0030] On the second aspect, the present application provides a logistics system, including a picking and placing device and the shelves in the above-mentioned technical solution; the picking and placing device can be docked with the movable door frame of the shelf and move along the extension direction of the movable door frame, and the movable door frame can move along the guide rail of the shelf so that the picking and placing device is opposite to different storage locations of the storage layers of shelves of different heights.

[0031] In some embodiments, a conductive contact is provided on the movable gantry. When the cargo picking and placing device is docked with the movable gantry, at least part of the structure on both sides of the cargo picking and placing device is electrically connected to the conductive contact.

[0032] In some embodiments, an identification mark is provided on the side of the movable gantry facing the cargo picking and placing device. When the cargo picking and placing device is opposite to the identification mark, the position of the storage layer corresponding to the cargo picking and placing device can be read through the identification mark.

[0033] With such an arrangement, the accuracy of the moving position of the picking and placing equipment can be improved when the equipment moves along the movable gantry.

[0034] In a third aspect, the present application provides a logistics system control method, which is used for a controller of a logistics system, and the method includes:

[0035] Sending first position information to the mobile gantry, so that the mobile gantry moves along the guide rail to the storage row corresponding to the first target storage location on the shelf;

[0036] Send a pick-up and release instruction to the pick-up and release equipment, so that the pick-up and release equipment moves to the storage column corresponding to the shelf of the first target storage location, and after the pick-up and release equipment is docked with the mobile door frame, it moves along the mobile door frame to the storage layer corresponding to the shelf of the first target storage location to pick up and place the first target goods.

[0037] The logistics system control method provided in this application can use a mobile gantry to allow cargo picking and placing equipment to climb, thereby eliminating the need to set up multiple climbing tracks. This can improve logistics efficiency while reducing costs and increasing storage space utilization.

[0038] In some embodiments, before sending the first position information to the mobile gantry, the method further includes:

[0039] Receive order information, and determine a target shelf and a target storage location based on the order information, wherein the target storage location is located on the target shelf, and the target storage location includes a first target storage location.

[0040] In some embodiments, before the cargo picking and placing device is docked with the mobile gantry, the method further includes:

[0041] The cargo picking and placing equipment identifies the ground identification information and moves to a position relative to the mobile door frame according to the ground identification information.

[0042] In some embodiments, after the cargo picking and placing device is docked with the mobile gantry, the method further includes:

[0043] The picking and placing equipment recognizes the identification mark on the movable gantry and moves to the storage layer corresponding to the shelf of the first target storage location according to the identification mark.

[0044] The logistics system control method provided in this application can be applied to the logistics system in the aforementioned technical solution.

[0045] In a fourth aspect, the present application provides a storage medium storing computer execution instructions, which, when executed, are used to implement the logistics system control method in the above technical solution.

[0046] The present application provides a shelf, a logistics system, a logistics system control method and a storage medium, wherein the shelf includes a shelf body, a guide rail, and a movable gantry. The shelf body includes multiple storage layers, and the multiple storage layers are arranged at intervals along the height direction of the shelf. Each storage layer has multiple storage locations arranged along the length direction of the shelf. The storage locations corresponding to different storage layers form storage columns arranged along the height direction of the shelf. The guide rail is connected to the shelf body, and the guide rail extends along the length direction of the shelf. The movable gantry is located on the side of the shelf body, and the movable gantry is movably connected to the guide rail. The movable gantry extends along the height direction of the shelf, thereby reducing the manufacturing cost of the logistics system, increasing the storage density of the shelf, and improving logistics efficiency.

[0047] In addition to the technical problems solved by the embodiments of the present application described above, the technical features that constitute the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions, other technical problems that can be solved by the shelves, logistics systems, logistics system control methods and storage media provided by the present application, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail in the specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0049] FIG1 is a structural diagram of a logistics system according to an embodiment of the present application;

[0050] FIG2 is a second structural diagram of a logistics system provided in an embodiment of the present application;

[0051] FIG3 is a partial view of position A in FIG1 ;

[0052] FIG4 is a side view of a logistics system provided in an embodiment of the present application;

[0053] FIG5 is a partial view of position B in FIG4;

[0054] FIG6 is a front view of a logistics system provided in an embodiment of the present application;

[0055] FIG7 is a schematic structural diagram of a mobile gantry in a logistics system according to an embodiment of the present application;

[0056] FIG8 is a partial view of position C in FIG7;

[0057] FIG9 is a flow chart of a logistics system control method provided in an embodiment of the present application;

[0058] FIG10 is a flow chart of another logistics system control method provided in an embodiment of the present application.

[0059] Explanation of the accompanying reference numerals: 100-shelf; 101-storage layer; 102-storage row; 103-storage location; 200-guide rail; 201-first guide rail; 202-second guide rail; 210-slide; 220-first conductive member; 221-live conductive member; 222-neutral conductive member; 300-movable door frame; 310-bracket body; 311-column; 3111-guide groove; 312-crossbeam; 320-roller; 330-drive assembly; 340-second conductive member; 350-conductive contact; 360-identification mark; 400-pick-up and release equipment; 500-goods. DETAILED DESCRIPTION

[0060] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0061] First, those skilled in the art should understand that these embodiments are merely used to explain the technical principles of this application and are not intended to limit the scope of protection of this application. Those skilled in the art may adjust them as needed to suit specific applications.

[0062] Secondly, it should be noted that in the description of this application, terms such as "up", "down", "left", "right", "front", "back", "inside", and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and does not indicate or imply that the device or component must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on this application.

[0063] Furthermore, it should be noted that, in the description of this application, unless otherwise expressly specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections, electrical connections, or internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0064] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0065] High-bay warehouses are widely used in the field of warehousing and logistics due to their large storage capacity. High-bay warehouses are usually composed of multiple shelves. Robots used to pick up and place goods can move between the shelves. When goods are shipped out, robots usually take out the material boxes containing the goods from the corresponding storage locations and transport the material boxes along the preset track path to the sorting workbench for sorting. The sorted goods are then packaged and shipped out.

[0066] Currently, the shelves in high-rise warehouses are relatively high, with multiple rows and columns of storage locations for material boxes. The logistics system can use climbing robots to pick up and place the elevated material boxes. A pair of columns are fixed on both sides of each storage location on the shelves, and the climbing robots can climb along the columns. However, shelves with multiple columns require multiple sets of columns for the climbing robots to climb in different columns, resulting in high production costs. In addition, multiple sets of columns occupy a large amount of space, resulting in a decrease in shelf storage density. In addition, after current climbing robots pick up and place goods in a certain column, they need to move from the fixed columns to the ground before moving to another column, resulting in low logistics operation efficiency.

[0067] To address the above-mentioned issues, embodiments of the present application provide a shelf, a logistics system, a logistics system control method, and a storage medium. The logistics system utilizes a movable gantry structure installed on the shelf, allowing climbing equipment to climb and move for loading and unloading goods. This eliminates the need for fixed columns in each storage row, reducing product production costs while improving space utilization and, consequently, increasing storage density. Furthermore, the movable gantry structure can directly drive the climbing equipment to move to different storage rows without requiring the climbing equipment to first land and then climb, thereby improving the logistics system's efficiency.

[0068] To facilitate understanding, the application scenarios to which the embodiments of the present application are applicable are first described below.

[0069] The shelves and logistics system provided in the embodiments of the present application can be applied to the entry and exit of inventory products in manufacturing factories, the entry and exit of inventory products in the retail industry, and can also be applied to different fields such as express entry and exit sorting in e-commerce logistics. The products involved in transportation and entry and exit can be industrial parts, electronic accessories or products, medicines, clothing accessories, food, books, etc., and the goods referred to in this application can be the products listed above themselves, or they can be material boxes or pallets loaded with the above products, etc. The embodiments of the present application do not make specific restrictions on this.

[0070] Figure 1 is a structural schematic diagram 1 of the logistics system provided in an embodiment of the present application, Figure 2 is a structural schematic diagram 2 of the logistics system provided in an embodiment of the present application, Figure 3 is a partial view of position A in Figure 1, Figure 4 is a side view of the logistics system provided in an embodiment of the present application, Figure 5 is a partial view of position B in Figure 4, and Figure 6 is a front view of the logistics system provided in an embodiment of the present application.

[0071] Please refer to Figures 1 to 6. The present application provides a shelf 100, which includes a shelf body, a guide rail 200, and a movable door frame 300. The shelf 100 is used to store goods 500. The guide rail 200 and the movable door frame 300 are both set on the shelf 100, and the movable door frame 300 can move along the guide rail 200.

[0072] The shelf 100 can be used in a logistics system, which includes a picking and placing device 400 , which is used to cooperate with the mobile door frame 300 and pick and place goods 500 on the shelf 100 .

[0073] The shelves 100 form a storage area in the logistics system, and the picking and placing equipment 400 can move on the ground in the storage area and transport goods 500. In addition, the picking and placing equipment 400 can also dock with the mobile door frame 300 and climb along the mobile door frame 300 to different heights of the shelves 100 to pick up and place goods 500.

[0074] In some embodiments, the shelf 100 includes multiple storage layers 101, and the multiple storage layers 101 are arranged at intervals along the height direction of the shelf 100. Each storage layer 101 has multiple storage locations 103 arranged along the length direction of the shelf 100. The storage locations 103 corresponding to different storage layers 101 form a storage column 102 arranged along the height direction of the shelf 100. In this way, the storage locations 103 on the shelf 100 can be arranged in a square matrix.

[0075] It is understood that the guide rail 200 is connected to the shelf 100 and extends along the length of the shelf 100. The movable gantry 300 is located on the side of the shelf 100 and is movably connected to the guide rail 200. The movable gantry 300 extends along the height of the shelf 100. The picking and placing device 400 can be docked with the movable gantry 300. When the picking and placing device 400 moves along the extension direction of the movable gantry 300, the picking and placing device 400 can be opposite to storage layers 101 at different heights. When the movable gantry 300 moves along the guide rail 200, the movable gantry 300 and the picking and placing device 400 on the movable gantry 300 can be opposite to storage rows 102 at different positions. In this way, the picking and placing device 400 can pick up and place goods 500 from storage locations 103 at different positions on the shelf 100.

[0076] Because the mobile gantry 300 in the embodiment of the present application can move along the length of the shelf 100, compared to the prior art, in the logistics system provided by the present application, the shelf 100 does not need to be provided with a fixed track for the picking and placing equipment 400 to climb in each storage row 102, thereby reducing the manufacturing cost of the logistics system and improving the storage density of the shelf 100. In the embodiment of the present application, when the logistics system receives a picking and placing instruction, the mobile gantry 300 can move to the corresponding storage row 102, and the picking and placing equipment 400 only needs to move to a position where it docks with the mobile gantry 300 and climb along the mobile gantry 300 to the storage layer 101 at the corresponding height.

[0077] It should be noted that in the logistics system provided by the embodiment of the present application, the picking and placing process of the picking and placing equipment 400 is more flexible by moving the mobile gantry 300 to the storage columns 102 at different positions. When the picking and placing equipment 400 needs to pick up and place the goods 500 from the storage locations 103 of different storage columns 102 of the shelf 100, the picking and placing equipment 400 does not need to return to the ground to find the corresponding storage column 102 and then climb again, but can directly move to the corresponding storage column 102 through the mobile gantry 300. In this way, the efficiency of the logistics system is improved.

[0078] The specific structure of the movable door frame 300 and the specific matching mode between the movable door frame 300 and the guide rail 200 are described in detail below.

[0079] FIG7 is a schematic structural diagram of a mobile gantry in a logistics system provided in an embodiment of the present application, and FIG8 is a partial view of position C in FIG7 .

[0080] First, define the length of the shelf 100 as the X direction and the height of the shelf 100 as the Y direction. The guide rail 200 extends along the X direction, and the mobile gantry 300 extends along the Y direction and can move along the X direction. The storage locations 103 arranged along the X direction form a storage layer 101, and the storage locations 103 arranged along the Y direction form a storage row 102.

[0081] Please refer to Figures 1 to 8. In some embodiments, the guide rail 200 has a slide groove 210, which can extend along the length direction of the guide rail 200. The movable door frame 300 may include a bracket body 310 and a roller 320. The roller 320 is rotatably connected to the bracket body 310. The roller 320 is at least partially located in the slide groove 210. When the movable door frame 300 moves along the guide rail 200, the roller 320 rolls along the slide groove 210. The slide groove 210 provides a guide for the rolling of the roller 320.

[0082] It can be understood that the slide groove 210 extends along the X direction, and the roller 320 abuts against the slide groove 210, so that the guide rail 200 can support the movable door frame 300. Moreover, since there is rolling friction between the roller 320 and the slide groove 210, when the movable door frame 300 moves along the X direction, the friction between the movable door frame 300 and the guide rail 200 can be reduced, thereby improving the smoothness of the movement of the movable door frame 300 relative to the guide rail 200.

[0083] For example, the notch of the chute 210 can be set upward, and the cross-section of the chute 210 can be a "U"-shaped structure. While providing support and guidance for the movable gantry 300, it can also provide a limit for the roller 320 to prevent the roller 320 from falling out of the chute 210 during the movement of the movable gantry 300. Of course, the notch of the chute 210 can also face the side of the shelf 100, and the cross-section of the chute 210 can also be "L"-shaped or other shapes. It only needs to support, guide and limit the movable gantry 300, and this embodiment of the application does not specifically limit this.

[0084] In some embodiments, there may be multiple rollers 320, which may be spaced apart along the width of the support body 310, and each of the rollers 320 is rotatably disposed in the slide groove 210. In this way, the movable gantry 300 has multiple support points on the guide rail 200, thereby improving the stability of the movable gantry 300 relative to the guide rail 200.

[0085] It can be understood that when the movable door frame 300 moves along the X direction relative to the guide rail 200, multiple rollers 320 roll in the slide groove 210 at the same time, the rotation axes of the multiple rollers 320 relative to the bracket body 310 can be parallel to each other, and the rollers 320 located in the same guide rail 200 are arranged at intervals along the X direction.

[0086] For example, the number of rollers 320 can be two, three, four, or more, which is not specifically limited in the present embodiment. For example, two rollers 320 can be provided in each guide rail 200, and the two rollers 320 are connected to both ends of the bracket body 310 along the X direction via a rotating shaft.

[0087] In some embodiments, the bracket body 310 may include at least two columns 311 and multiple beams 312, the columns 311 all extend along the height direction of the shelf 100, and the beams 312 are connected between the two columns 311. The movable door frame 300 may also include a drive assembly 330, which is arranged on the beam 312, and the drive assembly 330 is configured to drive the roller 320 to rotate.

[0088] It can be understood that when the driving component 330 is started, it can drive the roller 320 to rotate, thereby utilizing the friction force of the roller 320 in the slide groove 210 to push the movable door frame 300 as a whole to move along the X direction relative to the shelf 100, and the distance that the movable door frame 300 moves along the X direction can be preset according to the number of circles driven by the driving component 330 to rotate the roller 320, so that the position of the movable door frame 300 in the length direction of the shelf 100 can be accurately adjusted according to the order requirements of entering and leaving the warehouse.

[0089] In the embodiment of the present application, the drive assembly 330 can be powered by the voltage provided by the movable gantry 300 or by an external power supply. Using an external power supply can help to reduce the weight of the movable gantry 300, thereby reducing the driving force required by the drive assembly 330. This will be explained below.

[0090] Please continue to refer to Figures 1 to 8. In some embodiments, the logistics system may further include a first conductive member 220, which is disposed in the slide 210 and extends along the slide 210. The movable gantry 300 may include a second conductive member 340, which is disposed on the roller 320 and electrically connected to the first conductive member 220. The second conductive member 340 is electrically connected to the drive assembly 330, and the first conductive member 220 is configured to supply power to the drive assembly 330 through the second conductive member 340.

[0091] It can be understood that the second conductive member 340 can be connected to an external power supply. For example, the second conductive member 340 can be electrically connected to an external AC power supply. The second conductive member 340 transmits the electrical energy to the first conductive member 220, and then the first conductive member 220 transmits the electrical energy to the drive assembly 330, thereby supplying power to the drive assembly 330. This eliminates the need to set up a power supply on the movable gantry 300, reduces the space occupied by the movable gantry 300, and allows the movable gantry 300 to operate continuously and stably.

[0092] It should be noted that the second conductive member 340 extends along the X direction in the slide groove 210. During the process of the movable gantry 300 moving along the X direction on the guide rail 200, the second conductive member 340 can always maintain an electrical connection with the first conductive member 220. In this way, during the entire moving stroke of the movable gantry 300, the second conductive member 340 can supply power to the driving component 330.

[0093] In some embodiments, the driving component 330 may include a driving unit, a control unit and a transmission member. The second conductive member 340 is electrically connected to the control unit, the control unit is electrically connected to the driving unit, and the output end of the driving unit is connected to the roller 320 through the transmission member, thereby improving the stability and reliability of the roller 320 rolling along the slide groove 210.

[0094] It is understandable that the drive assembly 330 can be arranged opposite to the guide rail 200, the drive unit can be a motor, and the drive unit can simultaneously drive multiple rollers 320 to rotate through the transmission member, and can also drive a single roller 320 to rotate through the transmission member.

[0095] For example, the transmission member may be a synchronous wheel and synchronous belt structure, or the transmission member may be a multi-gear meshing transmission structure, or the transmission member may be a transmission shaft and gear structure, which is not specifically limited in the embodiments of the present application.

[0096] It should be noted that the second conductive member 340 can be a metal contact structure, which can be arranged on the inner side of the roller 320 and electrically connected to the first conductive member 220 in the slide groove 210 through the contact between the roller 320 and the slide groove 210. The first conductive member 220 can be a part of the guide rail 200, that is, at least part of the guide rail 200 can be made of conductive metal material. After the external power supply energizes the guide rail 200, the electrical energy can be transmitted to the second conductive member 340 through the roller 320.

[0097] In an embodiment of the present application, the power supply voltage achieved by the first conductor on the guide rail 200 can be 220V, 380V, etc. Taking three-phase power supply as an example, there can be multiple guide rails 200, and multiple guide rails 200 can respectively play the role of the neutral wire and the live wire in the three-phase power supply, which will be explained below.

[0098] In some embodiments, the guide rail 200 may include a first guide rail 201 and a second guide rail 202, the first guide rail 201 is arranged at the top of the shelf 100, and the second guide rail 202 is arranged at the bottom of the shelf 100; the height of the movable gantry 300 matches the height of the shelf 100, and the two ends of the movable gantry 300 are respectively connected to the first guide rail 201 and the second guide rail 202 for movement, thereby improving the reliability of the movable connection of the movable gantry 300 on the side of the shelf 100.

[0099] Among them, the first conductive member 220 can include a live wire conductive member 221 and a neutral wire conductive member 222, the live wire conductive member 221 is set on the first guide rail 201, and the neutral wire conductive member 222 is set on the second guide rail 202, and the driving component 330 can be set on the top beam 312 opposite to the first guide rail 201 to improve safety.

[0100] It can be understood that there are two columns 311, and a conductive contact 350 is respectively provided on the two columns 311. The conductive contact 350 extends along the height direction of the movable door frame 300. The conductive contacts 350 on the two columns 311 are respectively electrically connected to the live wire conductive part 221 and the neutral wire conductive part 222, so that an external power supply can be connected, which facilitates wiring, improves safety, and ensures the stability of power supply.

[0101] Exemplarily, the conductive contact 350 can be a metal contact extending along the Y direction. The electrical energy of the first conductive member 220 can be conducted to the conductive contact 350 through the second conductive member 340. The length of the conductive contact 350 can match the height of the movable door frame 300 in the Y direction.

[0102] In some embodiments, guide grooves 3111 can be provided on the inner sides of both columns 311. The guide grooves 3111 extend along the height of the movable gantry 300, and the conductive contacts 350 can be disposed within the guide grooves 3111. When the cargo pick-up and placement device 400 is docked with the movable gantry 300, at least portions of the structures on both sides of the cargo pick-up and placement device 400 abut against the guide grooves 3111 of the two columns 311, and the cargo pick-up and placement device 400 is electrically connected to the conductive contacts 350.

[0103] It is understood that by docking with the guide slots 3111 of the two columns 311, the pick-up and place device 400 can climb along the movable gantry 300 in the Y direction, thereby improving the smoothness of the movement of the pick-up and place device 400 along the movable gantry 300. When docking with the guide slots 3111, the pick-up and place device 400 is also electrically connected to the metal contacts in the guide slots 3111, thereby supplying power to the pick-up and place device 400 through the columns 311.

[0104] It should be noted that the cargo picking and placing device 400 is provided with a motor and other driving components and a power supply to provide power for its climbing. When the cargo picking and placing device 400 climbs along the movable gantry 300, the electric energy input from the external power supply can be used to power the driving components of the cargo picking and placing device 400 through the conductive contacts 350, and to charge the battery of the cargo picking and placing device 400. In this way, when the cargo picking and placing device 400 climbs the movable gantry 300, it does not need to consume the circuit of its own battery, thereby reducing the power and volume of the motor on the cargo picking and placing device 400.

[0105] Furthermore, when the pickup and placement device 400 leaves the mobile gantry 300 and moves on the ground to deliver goods 500, the power supply of the pickup and placement device 400 can be guaranteed to have sufficient power, thereby reducing the number and frequency of charging the pickup and placement device 400 and improving logistics efficiency. This allows the logistics system to be equipped with fewer pickup and placement devices 400 to meet logistics efficiency requirements, thereby reducing costs.

[0106] In some embodiments, the first conductive member 220 and the guide rail 200 can be integrally formed, so that power can be supplied directly through the guide rail 200 to ensure power supply reliability. For example, the guide rail 200 can be made of metal, and the live and neutral wires of the external power supply can be directly electrically connected to the two guide rails 200.

[0107] In an embodiment of the present application, multiple beams 312 are arranged at intervals along the height direction of the shelf 100, and the distance between adjacent beams 312 matches the floor height of the storage layer 101. When the picking and placing equipment 400 picks and places goods from the storage location 103, it can prevent it from interfering with the beams 312.

[0108] It can be understood that the beam 312 extends along the X direction and is parallel to the moving direction of the movable gantry 300. The beam 312 can be set at the upper edge or lower edge of the storage location 103. When the movable gantry 300 moves along the X direction, the beam 312 can always keep the storage opening of the storage location 103 in an unobstructed state.

[0109] Among them, an identification mark 360 can be provided on the side of the beam 312 facing away from the shelf 100. When the picking and placing equipment 400 is opposite to the identification mark 360, the position of the storage layer 101 corresponding to the beam 312 can be read through the identification mark 360. When the picking and placing equipment 400 moves along the movable door frame 300, the accuracy of its moving position can be improved.

[0110] Exemplarily, the identification mark 360 can be a QR code, a photoelectric sensor, etc., and a corresponding reading device can be provided on the picking and placing equipment 400 according to the type of the identification mark 360. When the picking and placing equipment 400 moves along the movable gantry 300, the information of the identification mark 360 can be accurately read to accurately obtain the information of the corresponding storage location 103.

[0111] It should be noted that each shelf 100 may be provided with one, two, or more movable gantries 300, and the movement of each movable gantries 300 relative to the shelf 100 may be independently controlled. In addition, there may be multiple shelves 100, and the multiple shelves 100 may be arranged at intervals, with aisles between adjacent shelves 100. The sides of two adjacent shelves 100 facing the same aisle may both be provided with movable gantries 300. When climbing, the cargo picking and placing device 400 may simultaneously dock with the movable gantries 300 on both sides of the aisle to improve the stability of the cargo picking and placing device 400 during climbing.

[0112] Multiple shelves 100 can form a storage area. After the picking and placing equipment 400 is detached from the mobile gantry 300, it can also move in the aisle or move outside the storage area. The specific path of the picking and placing equipment 400 can be planned according to the tasks it performs, which will not be elaborated here.

[0113] The logistics system provided by the embodiment of the present application may further include a packing device, which may include a packing table and a cache mechanism, wherein the packing table is opposite to the cache mechanism; the picking and placing equipment 400 may be docked with the cache mechanism, wherein the picking and placing equipment 400 may take out an empty material box from the cache mechanism, or the picking and placing equipment 400 may place a material box loaded with completed picked goods 500 into the cache mechanism, and after the goods 500 in the material box are taken out and packed, the picking and placing equipment 400 may bring the empty material box back to the storage location 103 corresponding to the shelf 100, thereby improving the efficiency of the logistics system.

[0114] It should be noted that the space between the packaging device and the shelf 100 only needs to reserve a channel for the movement of the picking and placing equipment 400. Since the picking and placing equipment 400 is relatively small in size, it can effectively reduce the space occupied between the periphery of the shelf 100 and the packaging device, thereby improving space utilization and simplifying the moving path of the picking and placing equipment 400.

[0115] The present application also provides a logistics system control method for use in a logistics system controller. This method can be applied to the logistics system described in the above technical solution. The logistics system control method can achieve all the technical effects of the above-described logistics system and will not be further described here. The logistics system control method is described in detail below.

[0116] FIG9 is a flow chart of a logistics system control method provided in an embodiment of the present application.

[0117] Referring to FIG. 9 , in combination with FIG. 1 to FIG. 8 , in some embodiments, the present application provides a first logistics system control method. The method is executed by a controller of the logistics system, which may be a dispatching center of the logistics system. The method includes:

[0118] S101 , sending first position information to the mobile gantry 300 , so that the mobile gantry 300 moves along the guide rail 200 to the storage column 102 corresponding to the first target storage location 103 on the shelf 100 .

[0119] It is understandable that the first position information includes the coordinate information of the first target location on the shelf 100 along the X direction. After receiving the first position information, the movable gantry 300 can move along the guide rail 200 to the storage column 102 of the corresponding coordinate position.

[0120] Exemplarily, the shelf 100 has a plurality of storage columns 102 , and the coordinates of the plurality of storage columns 102 are (1, 2, 3, 4 . . . a), respectively. The first position information received by the mobile gantry 300 includes one of the above coordinate values.

[0121] S102. Send a pick-up and release instruction to the pick-up and release device, so that the pick-up and release device moves to the storage column corresponding to the shelf of the first target storage location, and docks the pick-up and release device with the mobile door frame and moves along the mobile door frame to the storage layer corresponding to the shelf of the first target storage location to pick up and place the first target goods.

[0122] It can be understood that the pick-up and release instructions include the coordinate information of the first target storage location on the shelf 100 along the X direction and the Y direction. After receiving the pick-up and release instructions, the pick-up and release equipment 400 can move along the ground to first find the corresponding storage column 102, and then move along the movable door frame 300 to the corresponding storage layer 101.

[0123] For example, a shelf 100 has multiple storage columns 102 and storage layers 101. The coordinates of the multiple storage columns 102 are (1, 2, 3, 4, ... a), and the coordinates of the multiple storage layers 101 are (1, 2, 3, 4, ... b). Therefore, the coordinates corresponding to each storage location are ([1, 1], [1, 2] ... [1, b], [2, 1] ... [2, b] ... [a, b]). The coordinate information included in the pick-up and release instructions received by the pick-up and release device 400 includes one of the aforementioned storage location coordinate values.

[0124] It should be noted that the ground beside the shelf 100 can be provided with identifiable marks such as QR codes and magnetic strips. When the picking and placing equipment 400 moves on the ground, it can accurately move to the corresponding storage column 102 by reading the identification marks.

[0125] After arriving at the location of the first target storage location, the picking and placing device 400 can take out the first target goods from the first target storage location.

[0126] The logistics system control method provided in the present application can provide the cargo picking and placing equipment 400 with climbing by moving the gantry 300, thereby eliminating the need to set up multiple climbing tracks, thereby improving logistics efficiency while reducing costs and increasing storage space utilization.

[0127] FIG10 is a flowchart of another logistics system control method provided in an embodiment of the present application.

[0128] Referring to FIG. 10 , in conjunction with FIG. 1 to FIG. 8 , in some embodiments, the present application provides a first logistics system control method. The method is executed by a controller of the logistics system, which may be a dispatching center of the logistics system. The method includes:

[0129] S201. Send a pick-up and place instruction to the pick-up and place device, so that the pick-up and place device moves to the current position of the mobile gantry, and docks with the mobile gantry and moves along the mobile gantry to the first target storage location on the storage layer corresponding to the shelf.

[0130] It is understandable that in order to avoid the picking and placing equipment occupying the aisles between the shelves, the picking and placing equipment can be docked at any position in the length direction of the shelf, that is, the picking and placing equipment can climb onto the mobile door frame when the mobile door frame is opposite to any storage column of the shelf, thereby making full use of the space in the air and improving the efficiency of picking and placing.

[0131] S202. Send first position information to the mobile gantry, so that the mobile gantry drives the picking and placing equipment to move along the guide rail to the storage column corresponding to the shelf at the first target storage location, so that the picking and placing equipment picks and places the first target goods.

[0132] It can be understood that during the process of the mobile gantry moving to the target storage location, the picking and placing equipment can move up and down synchronously. In this way, the picking and placing equipment relative to the shelf does not first take a horizontal path on the ground and then a vertical path along the mobile gantry. Instead, while the mobile gantry moves in the horizontal direction, the picking and placing equipment moves in the vertical direction relative to the mobile gantry. That is, the moving path of the picking and placing equipment relative to the shelf is a composite movement of the horizontal and vertical directions, which shortens the path of the picking and placing equipment to reach the target storage location and improves logistics efficiency.

[0133] In some embodiments, the controller can send a second pick-up and release instruction to the picking and releasing device, so that the picking and releasing device performs the second picking and releasing task after completing the first pick-up and release instruction. When the first pick-up and release instruction is a picking task, the second pick-up and release instruction is a releasing task; when the first pick-up and release instruction is a releasing task, the second pick-up and release instruction is a picking task. The following explanation is based on the first pick-up and release instruction being the picking task and the second pick-up and release task being the releasing task.

[0134] After the picking and placing device 400 takes out the first target goods from the first target storage location, it can also perform a placing operation on the second target storage location, which specifically includes:

[0135] Step 1: Send the second position information to the movable gantry 300 , so that the movable gantry 300 moves along the guide rail 200 to the storage row 102 corresponding to the second target storage location on the shelf 100 .

[0136] The second position information is similar to the first position information, and includes the coordinates of the storage column 102 of the shelf 100 in the X direction, (1, 2, 3, 4, ..., a).

[0137] Step 2: Send a second pick-up and placement instruction to the pick-up and placement device, so that the pick-up and placement device moves along the movable gantry to the storage layer corresponding to the shelf at the second target storage location to place the target goods.

[0138] Among them, since the picking and placing equipment 400 is on the mobile gantry 300 and moves through the mobile gantry 300, there is no need for the picking and placing equipment 400 to return to the ground and then search for the storage column 102 where the second target storage location is located. Therefore, the second picking and placing instruction can include the coordinates of the storage layer 101 where the second target storage location is located on the shelf 100, that is, the coordinates of the second target storage location in the Y direction on the shelf 100, (1, 2, 3, 4...b).

[0139] In some embodiments, after the picking and placing device 400 takes out the first target goods from the first target storage location, the device further includes:

[0140] A warehouse-out instruction is sent to the cargo-picking and placing device 400 , so that the cargo-picking and placing device 400 moves along the movable gantry 300 to the ground and then detaches from the movable gantry 300 , and the cargo-picking and placing device 400 transports the first target cargo out of the warehouse.

[0141] It should be noted that the picking and placing equipment 400 can transport the first target goods to the packaging area or the sorting area when leaving the warehouse, or first transport it to the sorting area and then transfer it to the packaging area, depending on the outbound process of the logistics system. The embodiment of the present application does not make specific limitations on this.

[0142] In some embodiments, before sending the first position information to the mobile gantry 300, the method further includes:

[0143] Receive order information, and determine a target shelf 100 and a target storage location according to the order information, wherein the target storage location is located on the target shelf 100, and the target storage location includes a first target storage location.

[0144] It should be noted that the controller can retrieve the storage location information of the target goods from the storage of the logistics system according to the received order information, thereby determining the target shelf 100 and the target storage location. The shelves 100 and storage locations in the logistics system are all numbered.

[0145] In some embodiments, before the cargo pick-up and placement device 400 docks with the mobile gantry 300, the following steps may also be performed:

[0146] The cargo picking and placing device 400 identifies the ground identification information and moves to a position opposite to the movable door frame 300 according to the ground identification information.

[0147] For example, the ground identification information may include but is not limited to a magnetic stripe, a QR code, etc., and this embodiment of the present application does not specifically limit this.

[0148] In some embodiments, after the cargo pick-up and placement device 400 is docked with the mobile gantry 300, the following steps may also be performed:

[0149] The picking and placing device 400 identifies the identification mark on the movable gantry 300 and moves to the storage layer corresponding to the first target storage location on the shelf 100 according to the identification mark. Among them, the identification mark can be consistent with the technical solution of the aforementioned logistics system and will not be repeated here.

[0150] The above-mentioned logistics system control method is a method for outbound goods with the logistics system controller as the execution body. The method for inbound goods with the logistics system controller as the execution body can be similar to the above-mentioned inbound process and will not be repeated here.

[0151] An embodiment of the present application also provides a storage medium, which stores computer execution instructions. When the computer execution instructions are executed, they are used to implement the logistics system control method in the above technical solution.

[0152] Among them, the storage medium can be a computer-readable storage medium or a communication medium. The communication medium includes any medium that facilitates the transmission of a computer program from one place to another. The computer-readable storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer. For example, a computer-readable storage medium is coupled to a processor so that the processor can read information from the computer-readable storage medium and write information to the computer-readable storage medium. Of course, the computer-readable storage medium can also be an integral part of the processor. The processor and the computer-readable storage medium can be located in an application-specific integrated circuit (ASIC). In addition, the ASIC can be located in a user device. In addition, the processor and the computer-readable storage medium can also exist in a communication device as discrete components.

[0153] Exemplarily, the storage medium can be implemented by any type of volatile or non-volatile memory device or a combination thereof, such as static random-access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0154] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A shelf, characterized in that: The shelf comprises: A shelf body, the shelf body comprising a plurality of storage layers, the plurality of storage layers being arranged at intervals along the height direction of the shelf, each storage layer having a plurality of storage locations arranged along the length direction of the shelf, and the storage locations corresponding to different storage layers forming storage rows arranged along the height direction of the shelf; A guide rail, the guide rail is connected to the shelf body and extends along the length direction of the shelf; A movable gantry, the movable gantry is located on the side of the shelf body and is movably connected to the guide rail; the movable gantry extends along the height direction of the shelf; The movable gantry can be docked with or detached from the cargo picking and placing equipment. When the movable gantry is docked with the cargo picking and placing equipment, the movable gantry is configured to allow the cargo picking and placing equipment to move along the height direction of the shelf.

2. The shelf according to claim 1, characterized in that: The guide rail has a slide groove, which extends along the length direction of the guide rail; the movable door frame includes a bracket body and a roller, and the roller is rotatably connected to the bracket body; the roller is at least partially located in the slide groove, and when the movable door frame moves along the guide rail, the roller rolls along the slide groove.

3. The shelf according to claim 2, characterized in that: There are a plurality of rollers, and the plurality of rollers are distributed at intervals along the width direction of the bracket body; and the plurality of rollers are all rollingly disposed in the slide groove.

4. The shelf according to claim 2 or 3, characterized in that: The guide rails include a first guide rail and a second guide rail, the first guide rail is arranged at the top of the shelf, and the second guide rail is arranged at the bottom of the shelf; the height of the movable door frame matches the height of the shelf, and the two ends of the movable door frame are movably connected to the first guide rail and the second guide rail respectively.

5. The shelf according to claim 4, characterized in that: The support body includes at least two columns and multiple beams; the columns all extend along the height direction of the shelf, and the beam is connected between two of the columns; the mobile door frame also includes a driving component, which is arranged on the beam and is configured to drive the roller to rotate.

6. The shelf according to claim 5, characterized in that: It also includes a first conductive member, which is arranged in the slide groove and extends along the slide groove; the movable gantry includes a second conductive member, which is arranged on the roller and electrically connected to the first conductive member, and the second conductive member is electrically connected to the driving component; the first conductive member is configured to supply power to the driving component through the second conductive member.

7. The shelf according to claim 6, characterized in that: The driving assembly includes a driving unit, a control unit and a transmission member, the second conductive member is electrically connected to the control unit, the control unit is electrically connected to the driving unit, and the output end of the driving unit is connected to the roller through the transmission member.

8. The shelf according to claim 6, characterized in that: The first conductive part includes a live wire conductive part and a neutral wire conductive part, the live wire conductive part is arranged on the first guide rail, and the neutral wire conductive part is arranged on the second guide rail; at least two conductive contacts are arranged on the column, and the conductive contacts extend along the height direction of the movable door frame, and at least two of the conductive contacts are electrically connected to the live wire conductive part and the neutral wire conductive part respectively.

9. The shelf according to claim 8, characterized in that: The inner sides of the two uprights are provided with guide grooves, the guide grooves extend along the height direction of the movable door frame, and the conductive contact pieces are arranged in the guide grooves.

10. The shelf according to any one of claims 6 to 9, characterized in that: The first conductive member and the guide rail are integrally formed.

11. The shelf according to any one of claims 5 to 9, characterized in that: A plurality of the cross beams are arranged at intervals along the height direction of the shelf, and the distance between adjacent cross beams matches the floor height of the storage layer.

12. A logistics system, characterized in that: It comprises a cargo picking and placing device and the shelf according to any one of claims 1 to 11; the cargo picking and placing device can be docked with the movable door frame of the shelf and move along the extension direction of the movable door frame, and the movable door frame can move along the guide rail of the shelf so that the cargo picking and placing device is opposite to different storage positions of the storage layer of the shelf at different heights.

13. The logistics system according to claim 12, characterized in that: The movable gantry is provided with conductive contacts. When the cargo picking and placing device is docked with the movable gantry, at least part of the structure on both sides of the cargo picking and placing device is electrically connected to the conductive contacts.

14. The logistics system according to claim 12, characterized in that: An identification mark is provided on a side of the movable door frame facing the cargo picking and placing device. When the cargo picking and placing device is opposite to the identification mark, the position of the storage layer corresponding to the cargo picking and placing device can be read through the identification mark.

15. A logistics system control method, characterized in that: A controller for a logistics system according to any one of claims 12 to 14, the method comprising: Sending first position information to the mobile gantry, so that the mobile gantry moves along the guide rail to the storage row corresponding to the shelf at the first target storage location; A pick-up and release instruction is sent to the picking and placing equipment, so that the picking and placing equipment moves to the storage column corresponding to the shelf at the first target storage location, and after the picking and placing equipment is docked with the mobile gantry, it moves along the mobile gantry to the storage layer corresponding to the shelf at the first target storage location to pick up and place the first target goods.

16. The logistics system control method according to claim 15, characterized in that: Before sending the first position information to the mobile gantry, the method further includes: Receive order information, and determine a target shelf and a target storage location according to the order information, wherein the target storage location is located on the target shelf, and the target storage location includes the first target storage location.

17. The logistics system control method according to claim 15, characterized in that: Before the cargo picking and placing device is docked with the mobile gantry, the method further comprises: The cargo picking and placing equipment identifies ground identification information and moves to a position relative to the movable gantry according to the ground identification information.

18. The logistics system control method according to claim 15, characterized in that: After the cargo picking and placing device is docked with the movable gantry, the method further comprises: The cargo picking and placing device identifies an identification mark on the movable gantry, and moves to the storage layer corresponding to the shelf at the first target storage location according to the identification mark.

19. A logistics system control method, characterized in that: A controller for a logistics system according to any one of claims 12 to 14, the method comprising: Sending a pick-up and release instruction to the pick-up and release device, so that the pick-up and release device moves to the current position of the mobile gantry, and after the pick-up and release device docks with the mobile gantry, moves along the mobile gantry to the storage layer corresponding to the first target storage location on the shelf; The first position information is sent to the mobile gantry, so that the mobile gantry drives the picking and placing equipment to move along the guide rail to the storage column corresponding to the first target storage location on the shelf, so that the picking and placing equipment picks and places the first target goods.

20. A storage medium, characterized in that: The storage medium stores computer-executable instructions, which, when executed, are used to implement the logistics system control method described in any one of claims 15-19.

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